*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="keepstation" *n code=0068 name="keepstation:NeedComms" *n code=0069 name="keepstation:NeedComms:A" *n code=006A name="keepstation:NeedComms:B.GoToSurface" *n code=006B name="keepstation:NeedComms:C" *n code=006C name="keepstation:NeedComms:C:A_Timeout" *n code=006D name="keepstation:NeedComms:C:A_Timeout:A" *n code=006E name="keepstation:NeedComms:D" *n code=006F name="keepstation:NeedComms:D:A_Timeout" *n code=0070 name="keepstation:NeedComms:D:A_Timeout:A" *n code=0071 name="keepstation:NeedComms:E" *n code=0072 name="keepstation:NeedComms:E:A_Timeout" *n code=0073 name="keepstation:NeedComms:E:A_Timeout:A" *n code=0074 name="keepstation:B" *n code=0075 name="keepstation:StandardEnvelopes" *n code=0076 name="keepstation:StandardEnvelopes:A.AltitudeEnvelope" *n code=0077 name="keepstation:StandardEnvelopes:B.DepthEnvelope" *n code=0078 name="keepstation:StandardEnvelopes:C.OffshoreEnvelope" *n code=0079 name="keepstation:D" *n code=007A name="keepstation:E" *n code=007B name="keepstation:BackseatDriver" *n code=007C name="keepstation:BackseatDriver:A.BackseatDriver" *n code=007D name="keepstation:PowerOnly" *n code=007E name="keepstation:PowerOnly:A" *n code=007F name="keepstation:PowerOnly:B" *n code=0080 name="keepstation:PowerOnly:C" *n code=0081 name="keepstation:PowerOnly:D" *n code=0082 name="keepstation:PowerOnly:E.Wait" *n code=0083 name="keepstation:H.Pitch" *n code=0084 name="keepstation:SurfaceComms" *n code=0085 name="keepstation:SurfaceComms:A" *n code=0086 name="keepstation:SurfaceComms:B" *n code=0087 name="keepstation:SurfaceComms:HandleNan" *n code=0088 name="keepstation:SurfaceComms:HandleNan:SetOnStation" *n code=0089 name="keepstation:SurfaceComms:HandleNan:SetOnStation:A" *n code=008A name="keepstation:SurfaceComms:HandleNan:SetLat" *n code=008B name="keepstation:SurfaceComms:HandleNan:SetLat:A" *n code=008C name="keepstation:SurfaceComms:HandleNan:SetLon" *n code=008D name="keepstation:SurfaceComms:HandleNan:SetLon:A" *n code=008E name="keepstation:SurfaceComms:setTransit" *n code=008F name="keepstation:SurfaceComms:setTransit:A" *n code=0090 name="keepstation:SurfaceComms:setStation" *n code=0091 name="keepstation:SurfaceComms:setStation:A" *n code=0092 name="keepstation:SurfaceComms:setSink" *n code=0093 name="keepstation:SurfaceComms:setSink:A" *n code=0094 name="keepstation:StartingMission" *n code=0095 name="keepstation:DiveCmd" *n code=0096 name="keepstation:DiveCmd:SurfaceSink" *n code=0097 name="keepstation:DiveCmd:SurfaceSink:sink" *n code=0098 name="keepstation:DiveCmd:SurfaceSink:sink:BuoyancyHold.Buoyancy" *n code=0099 name="keepstation:DiveCmd:SurfaceSink:sink:B.SetSpeed" *n code=009A name="keepstation:DiveCmd:SurfaceSink:sink:C" *n code=009B name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch" *n code=009C name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout" *n code=009D name="keepstation:DiveCmd:SurfaceSink:sink:D.Pitch:A_Timeout:A" *n code=009E name="keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit" *n code=009F name="keepstation:DiveCmd:SurfaceSink:sink:sinkToTransit:A" *n code=00A0 name="keepstation:DiveCmd:SurfaceSink:sink:sinkToStation" *n code=00A1 name="keepstation:DiveCmd:SurfaceSink:sink:sinkToStation:A" *n code=00A2 name="keepstation:DiveCmd:TransitToStation" *n code=00A3 name="keepstation:DiveCmd:TransitToStation:dive" *n code=00A4 name="keepstation:DiveCmd:TransitToStation:dive:A.Buoyancy" *n code=00A5 name="keepstation:DiveCmd:TransitToStation:dive:B.Pitch" *n code=00A6 name="keepstation:DiveCmd:TransitToStation:dive:C.SetSpeed" *n code=00A7 name="keepstation:DiveCmd:StationKeep" *n code=00A8 name="keepstation:DiveCmd:StationKeep:A" *n code=00A9 name="keepstation:DiveCmd:StationKeep:B.Pitch" *n code=00AA name="keepstation:DiveCmd:StationKeep:C.KeepStation" *n code=00AB name="keepstation:TransitToStation" *n code=00AC name="keepstation:TransitToStation:Dive" *n code=00AD name="keepstation:TransitToStation:Dive:A" *n code=00AE name="keepstation:TransitToStation:Wpt1.Waypoint" *n code=00AF name="keepstation:TransitToStation:C" *n code=00B0 name="keepstation:TransitToStation:D" *n code=00B1 name="keepstation:OnStation" *n code=00B2 name="keepstation:KeepStation" *n code=00B3 name="keepstation:KeepStation:Dive" *n code=00B4 name="keepstation:KeepStation:Dive:A" *n code=00B5 name="keepstation:KeepStation:B.Wait" *n code=00B6 name="run_backseat_on_surface" *n code=00B7 name="run_backseat_on_surface:Science" *n code=00B8 name="run_backseat_on_surface:Science:A" *n code=00B9 name="run_backseat_on_surface:Science:B" *n code=00BA name="run_backseat_on_surface:Science:C" *n code=00BB name="run_backseat_on_surface:Science:D" *n code=00BC name="run_backseat_on_surface:Science:E" *n code=00BD name="run_backseat_on_surface:Science:F" *n code=00BE name="run_backseat_on_surface:Science:Read_Oil" *n code=00BF name="run_backseat_on_surface:Science:OceanCurrent" *n code=00C0 name="run_backseat_on_surface:Science:OceanCurrent:A." *n code=00C1 name="run_backseat_on_surface:Science:PeakDetectChl" *n code=00C2 name="run_backseat_on_surface:Science:PeakDetectChl:A" *n code=00C3 name="run_backseat_on_surface:Science:PeakDetectChl:B.PeakDetectVsDepth" *n code=00C4 name="run_backseat_on_surface:Science:PeakDetectChl:C" *n code=00C5 name="run_backseat_on_surface:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl" *n code=00C6 name="run_backseat_on_surface:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:A" *n code=00C7 name="run_backseat_on_surface:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:B" *n code=00C8 name="run_backseat_on_surface:Science:EdgeDetectChl" *n code=00C9 name="run_backseat_on_surface:Science:EdgeDetectChl:A" *n code=00CA name="run_backseat_on_surface:Science:EdgeDetectChl:B.EdgeDetectVsDepth" *n code=00CB name="run_backseat_on_surface:Science:EdgeDetectChl:C" *n code=00CC name="run_backseat_on_surface:Science:EdgeDetectChl:D" *n code=00CD name="run_backseat_on_surface:Science:HighestChlPeakReport" *n code=00CE name="run_backseat_on_surface:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=00CF name="run_backseat_on_surface:Science:PeakDepthAvgProfilesChl" *n code=00D0 name="run_backseat_on_surface:Science:PeakDepthAvgProfilesChl:A" *n code=00D1 name="run_backseat_on_surface:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal" *n code=00D2 name="run_backseat_on_surface:Science:PeakDetectNO3" *n code=00D3 name="run_backseat_on_surface:Science:PeakDetectNO3:A" *n code=00D4 name="run_backseat_on_surface:Science:PeakDetectNO3:B.PeakDetectVsDepth" *n code=00D5 name="run_backseat_on_surface:Science:PeakDetectNO3:C" *n code=00D6 name="run_backseat_on_surface:Science:PeakDetectOil" *n code=00D7 name="run_backseat_on_surface:Science:PeakDetectOil:A" *n code=00D8 name="run_backseat_on_surface:Science:PeakDetectOil:B.PeakDetectVsDepth" *n code=00D9 name="run_backseat_on_surface:Science:PeakDetectOil:C" *n code=00DA name="run_backseat_on_surface:Science:HighestOilPeakReport" *n code=00DB name="run_backseat_on_surface:Science:HighestOilPeakReport:A.PeakDetectHorizontal" *n code=00DC name="run_backseat_on_surface:Science:PeakDetectFDOM" *n code=00DD name="run_backseat_on_surface:Science:PeakDetectFDOM:A" *n code=00DE name="run_backseat_on_surface:Science:PeakDetectFDOM:B.PeakDetectVsDepth" *n code=00DF name="run_backseat_on_surface:Science:PeakDetectFDOM:C" *n code=00E0 name="run_backseat_on_surface:Science:PeakDetectSalinity" *n code=00E1 name="run_backseat_on_surface:Science:PeakDetectSalinity:A" *n code=00E2 name="run_backseat_on_surface:Science:PeakDetectSalinity:B.PeakDetectVsDepth" *n code=00E3 name="run_backseat_on_surface:Science:PeakDetectSalinity:C" *n code=00E4 name="run_backseat_on_surface:Science:HighestSaltPeakReport" *n code=00E5 name="run_backseat_on_surface:Science:HighestSaltPeakReport:A.PeakDetectHorizontal" *n code=00E6 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI" *n code=00E7 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:A" *n code=00E8 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth" *n code=00E9 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreLMavgROI:C" *n code=00EA name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI" *n code=00EB name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:A" *n code=00EC name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth" *n code=00ED name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:C" *n code=00EE name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreLMavgROI:D" *n code=00EF name="run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI" *n code=00F0 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:A" *n code=00F1 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth" *n code=00F2 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreHMavgROI:C" *n code=00F3 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI" *n code=00F4 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:A" *n code=00F5 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth" *n code=00F6 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:C" *n code=00F7 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreHMavgROI:D" *n code=00F8 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms" *n code=00F9 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:A" *n code=00FA name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth" *n code=00FB name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDiatoms:C" *n code=00FC name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms" *n code=00FD name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:A" *n code=00FE name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth" *n code=00FF name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:C" *n code=0100 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDiatoms:D" *n code=0101 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates" *n code=0102 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:A" *n code=0103 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth" *n code=0104 name="run_backseat_on_surface:Science:PeakDetectPlanktivoreDinoflagellates:C" *n code=0105 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates" *n code=0106 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:A" *n code=0107 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth" *n code=0108 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:C" *n code=0109 name="run_backseat_on_surface:Science:EdgeDetectPlanktivoreDinoflagellates:D" *n code=010A name="run_backseat_on_surface:Science:ChlThreshTrigger" *n code=010B name="run_backseat_on_surface:Science:ChlThreshTrigger:A.ValueDetect" *n code=010C name="run_backseat_on_surface:Science:ChlThreshTrigger:B" *n code=010D name="run_backseat_on_surface:Science:ChlThreshTrigger:C" *n code=010E name="run_backseat_on_surface:BackseatDriver" *n code=010F name="run_backseat_on_surface:BackseatDriver:A.BackseatDriver" *n code=0110 name="run_backseat_on_surface:C" *n code=0111 name="run_backseat_on_surface:PowerOnly" *n code=0112 name="run_backseat_on_surface:PowerOnly:A" *n code=0113 name="run_backseat_on_surface:PowerOnly:B" *n code=0114 name="run_backseat_on_surface:PowerOnly:C" *n code=0115 name="run_backseat_on_surface:PowerOnly:D" *n code=0116 name="run_backseat_on_surface:PowerOnly:E.Wait" *n code=0117 name="run_backseat_on_surface:E.GoToSurface" *n code=0118 name="run_backseat_on_surface:CheckIn" *n code=0119 name="run_backseat_on_surface:CheckIn:Read_GPS" *n code=011A name="run_backseat_on_surface:CheckIn:Read_Iridium" *n code=011B name="run_backseat_on_surface:CheckIn:Read_Iridium:A_Timeout" *n code=011C name="run_backseat_on_surface:CheckIn:Read_Iridium:A_Timeout:A.Execute" *n code=011D name="run_backseat_on_surface:CheckIn:Read_Iridium:A_Timeout:B" *n code=011E name="run_backseat_on_surface:CheckIn:C.Wait" *n code=011F name="run_backseat_on_surface:CheckIn:D" *n code=0120 name="run_backseat_on_surface:CheckIn:E" *n code=0121 name="run_backseat_on_surface:G" *n code=0122 name="run_backseat_on_surface:H.Execute" *n code=0123 name="marl" *n code=0124 name="marl:AbortDrift" *n code=0125 name="marl:AbortDrift:A" *n code=0126 name="marl:AbortDrift:B.AbortDrift" *n code=0127 name="marl:AbortDrift:C.Execute" *n code=0128 name="marl:AbortDrift.Redefine.AcousticTimeout" *n code=0129 name="marl:B." *n code=012A name="marl:SendObservationData" *n code=012B name="marl:SendObservationData:A" *n code=012C name="marl:SendObservationData:B" *n code=012D name="marl:SendObservationData:C" *n code=012E name="marl:SendObservationData:D.SendDirect" *n code=012F name="marl:SendObservationData:E" *n code=0130 name="marl:UpdateContactLabel" *n code=0131 name="marl:UpdateContactLabel:A" *n code=0132 name="marl:UpdateContactLabel:B" *n code=0133 name="marl:NeedComms" *n code=0134 name="marl:NeedComms:A" *n code=0135 name="marl:NeedComms:B.GoToSurface" *n code=0136 name="marl:NeedComms:C" *n code=0137 name="marl:NeedComms:C:A_Timeout" *n code=0138 name="marl:NeedComms:C:A_Timeout:A" *n code=0139 name="marl:NeedComms:D" *n code=013A name="marl:NeedComms:D:A_Timeout" *n code=013B name="marl:NeedComms:D:A_Timeout:A" *n code=013C name="marl:NeedComms:E" *n code=013D name="marl:NeedComms:E:A_Timeout" *n code=013E name="marl:NeedComms:E:A_Timeout:A" *n code=013F name="marl:F" *n code=0140 name="marl:StandardEnvelopes" *n code=0141 name="marl:StandardEnvelopes:A.AltitudeEnvelope" *n code=0142 name="marl:StandardEnvelopes:B.DepthEnvelope" *n code=0143 name="marl:StandardEnvelopes:C.OffshoreEnvelope" *n code=0144 name="marl:H" *n code=0145 name="marl:I" *n code=0146 name="marl:J" *n code=0147 name="marl:SpeedTimeout" *n code=0148 name="marl:SpeedTimeout:A" *n code=0149 name="marl:SpeedTimeout:B" *n code=014A name="marl:UpdateSpeed" *n code=014B name="marl:UpdateSpeed:A" *n code=014C name="marl:UpdateCommandMode" *n code=014D name="marl:UpdateCommandMode:A" *n code=014E name="marl:UpdateHeading" *n code=014F name="marl:UpdateHeading:A" *n code=0150 name="marl:UpdateHeading:B" *n code=0151 name="marl:UpdateRudder" *n code=0152 name="marl:UpdateRudder:A" *n code=0153 name="marl:UpdateRudder:B" *n code=0154 name="marl:Science" *n code=0155 name="marl:Science:A" *n code=0156 name="marl:Science:B" *n code=0157 name="marl:Science:C" *n code=0158 name="marl:Science:D" *n code=0159 name="marl:Science:E" *n code=015A name="marl:Science:F" *n code=015B name="marl:Science:Read_Oil" *n code=015C name="marl:Science:OceanCurrent" *n code=015D name="marl:Science:OceanCurrent:A." *n code=015E name="marl:Science:PeakDetectChl" *n code=015F name="marl:Science:PeakDetectChl:A" *n code=0160 name="marl:Science:PeakDetectChl:B.PeakDetectVsDepth" *n code=0161 name="marl:Science:PeakDetectChl:C" *n code=0162 name="marl:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl" *n code=0163 name="marl:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:A" *n code=0164 name="marl:Science:PeakDetectChl:SyslogSendDataPeakDepthAvgProfilesChl:B" *n code=0165 name="marl:Science:EdgeDetectChl" *n code=0166 name="marl:Science:EdgeDetectChl:A" *n code=0167 name="marl:Science:EdgeDetectChl:B.EdgeDetectVsDepth" *n code=0168 name="marl:Science:EdgeDetectChl:C" *n code=0169 name="marl:Science:EdgeDetectChl:D" *n code=016A name="marl:Science:HighestChlPeakReport" *n code=016B name="marl:Science:HighestChlPeakReport:A.PeakDetectHorizontal" *n code=016C name="marl:Science:PeakDepthAvgProfilesChl" *n code=016D name="marl:Science:PeakDepthAvgProfilesChl:A" *n code=016E name="marl:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal" *n code=016F name="marl:Science:PeakDetectNO3" *n code=0170 name="marl:Science:PeakDetectNO3:A" *n code=0171 name="marl:Science:PeakDetectNO3:B.PeakDetectVsDepth" *n code=0172 name="marl:Science:PeakDetectNO3:C" *n code=0173 name="marl:Science:PeakDetectOil" *n code=0174 name="marl:Science:PeakDetectOil:A" *n code=0175 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code=02A8 name="lineCaptureHoming:InitialDive" *n code=02A9 name="lineCaptureHoming:InitialDive:A.SetSpeed" *n code=02AA name="lineCaptureHoming:InitialDive:B.Mass" *n code=02AB name="lineCaptureHoming:InitialDive:C.Pitch" *n code=02AC name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout" *n code=02AD name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:A" *n code=02AE name="lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute" *n code=02AF name="lineCaptureHoming:RepeatHack" *n code=02B0 name="lineCaptureHoming:RepeatHack:A" *n code=02B1 name="lineCaptureHoming:Lap" *n code=02B2 name="lineCaptureHoming:Lap:A" *n code=02B3 name="lineCaptureHoming:Lap:B" *n code=02B4 name="lineCaptureHoming:Lap:C" *n code=02B5 name="lineCaptureHoming:Lap:D" *n code=02B6 name="lineCaptureHoming:Lap:E" *n code=02B7 name="lineCaptureHoming:Lap:Docked" *n code=02B8 name="lineCaptureHoming:Lap:Docked:A" *n code=02B9 name="lineCaptureHoming:Lap:Docked:SetNavAcoustic" *n code=02BA 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code=0003 elementURI="acoustic_contact_address" type=04 *e code=0004 elementURI="acoustic_contact_range" type=04 *e code=0005 elementURI="concentration_of_colored_dissolved_organic_matter_in_sea_water" type=04 *e code=0006 elementURI="depth" type=04 *e code=0007 elementURI="depth_rate" type=04 *e code=0008 elementURI="direction_of_sea_water_velocity" type=04 *e code=0009 elementURI="distance_from_shore" type=04 *e code=000A elementURI="downwelling_photosynthetic_photon_flux_in_sea_water" type=04 *e code=000B elementURI="downward_sea_water_velocity" type=04 *e code=000C elementURI="eastward_sea_water_velocity" type=04 *e code=000D elementURI="fix_distance_made_good" type=04 *e code=000E elementURI="fix_horizontal_path_length_since_last_fix" type=04 *e code=000F elementURI="fix_residual_distance" type=04 *e code=0010 elementURI="fix_residual_bearing" type=04 *e code=0011 elementURI="fix_residual_percent_distance_traveled" type=04 *e code=0012 elementURI="grid_latitude" type=04 *e code=0013 elementURI="grid_longitude" type=04 *e code=0014 elementURI="height_above_sea_floor" type=04 *e code=0015 elementURI="horizontal_path_length_since_last_fix" type=04 *e code=0016 elementURI="northward_sea_water_velocity" type=04 *e code=0017 elementURI="latitude" type=04 *e code=0018 elementURI="latitude_fix" type=04 *e code=0019 elementURI="location_fix" type=14 blobType=11 fixedSize=0002 *e code=001A elementURI="longitude" type=04 *e code=001B elementURI="longitude_fix" type=04 *e code=001C elementURI="mission_started" type=04 *e code=001D elementURI="mass_concentration_of_chlorophyll_in_sea_water" type=04 *e code=001E elementURI="mass_concentration_of_oxygen_in_sea_water" type=04 *e code=001F elementURI="mass_concentration_of_petroleum_hydrocarbons_in_sea_water" type=04 *e code=0020 elementURI="mole_concentration_of_nitrate_in_sea_water" type=04 *e code=0021 elementURI="platform_average_current" type=04 *e code=0022 elementURI="platform_average_power" type=04 *e code=0023 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element=07E4 universal=3FFF unitName="none" type=00 size=0018 fl=05 *a code=1270 owner=0287 element=07E5 universal=3FFF unitName="meter" type=00 size=0018 fl=05 *a code=1271 owner=0287 element=07E6 universal=3FFF unitName="meter" type=00 size=0018 fl=05 *a code=1272 owner=0287 element=07E7 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=1273 owner=0287 element=07E8 universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=1274 owner=0287 element=07E9 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1275 owner=0287 element=07EA universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1276 owner=0287 element=07EB universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=1277 owner=0287 element=07EC universal=3FFF unitName="radian" type=1F size=0008 fl=05 *a code=1278 owner=0287 element=07ED universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=1279 owner=028A element=099A universal=3FFF unitName="count" type=1F size=0008 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universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=129A owner=02AB element=0522 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=129B owner=02AB element=0515 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=129C owner=02AB element=0514 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=129D owner=02AB element=0520 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=129E owner=02AB element=051D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=129F owner=02AD element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=12A0 owner=02B0 element=09A0 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=12A1 owner=02B2 element=0999 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=12A2 owner=02B4 element=0999 universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=12A3 owner=02B9 element=031B universal=3FFF unitName="angular_degree" 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*a code=12AE owner=02B9 element=0A69 universal=3FFF unitName="minute" type=0B size=0003 fl=05 *a code=12AF owner=02B9 element=054A universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=12B0 owner=02B9 element=07DE universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=12B1 owner=02BB element=07DE universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=12B2 owner=02BC element=054B universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=12B3 owner=02BC element=054C universal=3FFF unitName="degree" type=2F size=0004 fl=05 *a code=12B4 owner=02BC element=054A universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=12B5 owner=02BD element=0998 universal=3FFF unitName="second" type=1F size=0008 fl=05 *a code=12B6 owner=02BE element=099D universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=12B7 owner=02BF element=0320 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=12B8 owner=02BF element=0322 universal=3FFF 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type=0B size=0003 fl=05 *a code=12CE owner=02BF element=0515 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=12CF owner=02BF element=051D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=12D0 owner=02BF element=051E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=12D1 owner=02BF element=0514 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=12D2 owner=02BF element=0522 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=12D3 owner=02BF element=0531 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=12D4 owner=02BF element=0536 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=12D5 owner=02BF element=0513 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=12D6 owner=02C1 element=099D universal=3FFF unitName="bool" type=02 size=0001 fl=05 *a code=12D7 owner=02C2 element=099F universal=3FFF unitName="count" type=1F size=0008 fl=05 *a code=12D8 owner=02C5 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universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=12EE owner=02C8 element=051D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=12EF owner=02CC element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=12F0 owner=02CC element=051E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=12F1 owner=02CC element=051F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=12F2 owner=02CC element=0522 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=12F3 owner=02CC element=0515 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=12F4 owner=02CC element=0514 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=12F5 owner=02CC element=0520 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=12F6 owner=02CC element=051D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=12F7 owner=02CD element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=12F8 owner=02CD element=0513 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=12F9 owner=02CD element=0523 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=12FA owner=02CE element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=12FB owner=02CE element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=12FC owner=02CE element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=12FD owner=02CE element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=12FE owner=02CE element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=12FF owner=02CE element=0537 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1300 owner=02CE element=0531 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=1301 owner=02CE element=0532 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=1302 owner=02CE element=0533 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=1303 owner=02CE element=0274 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=1304 owner=02D0 element=0334 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=1305 owner=02D1 element=0284 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=1306 owner=02D1 element=0029 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1307 owner=02D1 element=0521 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=1308 owner=02D1 element=008E universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=1309 owner=02D2 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=130A owner=02D2 element=051E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=130B owner=02D2 element=051F universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=130C owner=02D2 element=0522 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=130D owner=02D2 element=0515 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=130E owner=02D2 element=0514 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=130F owner=02D2 element=0520 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=1310 owner=02D2 element=051D universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=1311 owner=02D2 element=00AD universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *a code=1312 owner=02D3 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1313 owner=02D3 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1314 owner=02D3 element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1315 owner=02D3 element=0531 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=1316 owner=02D3 element=0534 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1317 owner=02D3 element=0535 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=1318 owner=02D3 element=0536 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=1319 owner=02D3 element=0532 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=131A owner=02D3 element=0533 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=131B owner=02D4 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=131C owner=02D4 element=0513 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=131D owner=02D4 element=0523 universal=3FFF unitName="second" type=0B size=0003 fl=05 *a code=131E owner=02D5 element=0334 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=131F owner=01D0 element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1320 owner=01CE element=0776 universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=1321 owner=01CE element=0779 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=04 *a code=1322 owner=01CD element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1323 owner=01CD element=005C universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1324 owner=0232 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1325 owner=0235 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1326 owner=023F element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=1327 owner=0238 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04 #UݼInitialize.ݼCUݼInitialize.񪿒ݼcUݼInitialize.ݼ|S?ݼ|S?ݼ >ݼJ@i?ݼ)?ݼ?ݼ?ݼi?ݼ?ݼI?ݼI?ݼ=ݼ0got command restart logsEݼ EݼEݼ E?ݼ"Eݼ[:*Eݼ[:VEݼ6ZE?ݼBEݼ6S:,nNV@AFd@F@FcĽٱFe NAHRS rotation from veh to nav: [[0.344391,0.937335,0.052892],[-0.933931,0.336305,0.121123],[0.095745,-0.091111,0.991227]]FH ??`???‚?@S`"?iFd@IF `;FCY^(>y^D f49!I!=%bGy!-<E->qQ 5;4u>?Q 9;4u8)u?Yy?Q I?u3?Iu3E  E E -E "E ;*E R:VE 6ZE a @a @a @a @b9A,l"V@AF@FW@FٱF RAHRS rotation from veh to nav: [[0.369543,0.923582,0.102147],[-0.925056,0.355272,0.134364],[0.087806,-0.144145,0.985653]]FH??@S&?@Ǽ?2?sz?`Ys¿x?iF@IFq`;FCY^K=y^qDU%U"U U+)U#IU$i$""$ bD[JVD9y%Q=ٔ9I=bGyV=E>Q 5;4k<?Q 9;4G5)Q?Yy?Q I?6U?I#B9B=DB=6>B==B9B9B= <B=Eɢ) Gi)顑i(&;Iv:II)O5>jG,aV@A>\@>@>ٱ>kK!bE6jE6rE4EJ EJEJEH"EJ:*EJc:VEJԺ6ZEHBEJH???@f?@\O?8?Eÿ`_?i>\@I>Ns`;>CYf=yjeDjp=ja=bDrRVDr9y~%~V=ٔ~䳽Q-~>9I=bGy E >1Q 5=;45T:?Q 9=;451)5?Y9y=?Q I=?5x?I5:i5:5ʻ;4yIɮB”ʔ@ɢ)= Gi)7Cilu;I!i)I)II)O5=M,M8V@A2?P@2J@2Vcٱ2_G >AHRS rotation from veh to nav: [[0.321652,0.932164,0.166165],[-0.945232,0.305834,0.114028],[0.055474,-0.193742,0.979483]]2H`?@I?D?`V?ʒ?0?g?ȿ`W?i2?P@I2X`;0YJ=yJ{DPRAAbDVVDVH9yjo<%jM=ٔj)>Q-n>9lIl=nbGylrEr>tQ 55;4v9?Q 95;4vJ.)v ?Y1y5?Q I5?v?Iv# Gi)页Ƿi;IE EEE"E:*EC:VE~6ZEa@a@a@a@z:9II O>B! B% CB% DB% ,>B% =B! B! B% <B% EBBCBBBC5tzT,RV@AY\=yDa=@a= a=@a= a=@a= a=@a= y=~jthjtX9v=D==9 9)=Mb@Mb@Mb@I=i=‰===ĈB =)=B=Y=(BbDУVD&:y<%"=ٔQ->9I=bGyE>Q 5E;48?Q 9E;4))?Q AE+:YAQ EE:yIQ IM??I%Z,;lV@A2ؚ@2eӡ@29<ٱ2s0 :AHRS rotation from veh to nav: [[0.337838,0.926227,0.167240],[-0.941066,0.335460,0.043146],[-0.016140,-0.171960,0.984972]]2H$?`?`h? 6.x?-?􆐿 ƿ`?i2ؚ@I2}`;2CYnY=yn~DbDz VDzq:yE9%E=ٔM|g>Q-M ?9IIQ=UbGyQ]V=E] ?aQ 5u;4e7?Q 9u;4e')eR?Q A :YQ EP:y?Q I?e?IeR3 Gi)顭Hil <Iʃ:C=I IO%,>E  E E E "E V:*E ga:VE ?6ZE a @a @a @a @a,jV@A2mҚ@2͡@2':ٱ2Ƚ :AHRS rotation from veh to nav: [[0.337150,0.936883,0.092625],[-0.941450,0.335631,0.031984],[-0.001123,-0.097985,0.995187]]2Hݓ??`F?`\ z?1`?dR?i2mҚ@I2`m`;2CY^ >y^DbDf/VDf9y]L=%]I=ٔeQ-e>9aIi=mbGyimEm>qQ 5;4u5?Q 9;4u$)u?Q A9YQ E(:y6?Q I?un?IuX'BBDB=BBBB<BZE)> tGi ]ހG)Qmzu`]AW9`]AYb:AiiW'<I:==eB=IAIQOeU>Աg,FV@AEB EBEB&E@"EB:*EBx:VEB6ZE@BEBynDbDzYSVDz9y}=%}H=ٔQ->9I=bGyE>Q 5;4%3?Q 9;4!)@Q A9YQ E:yQ I?J?I&IIIYOe4>m,O V@A2r@2 @2;ٱ2K< :AHRS rotation from veh to nav: [[0.345871,0.937958,-0.024652],[-0.938279,0.345685,-0.011568],[-0.002329,0.027132,0.999629]]2H`"??{> b?,@c@ț?`?i2r@I2b;2CYN->yR|DbDZoVDZ9yrA=%rU=ٔrM;Q-r>9tIt=vbGytz<Ez>|Q 5E;4~|.?Q 9M;4~/)~~@Q AU9YQQ EU9y4@Q I?~e?I~:JA}[AzA}ZAB>BBaDB=BBBBq<BEII O >Vt, ԵV@AY>yDa=a= a=a= a=a= a=a= y=(\п{Gz rh==ף=C 9 99=Zd;/$տMb?Y=yy==<=@B=RB =B)=B=Y=B@AbDVD8y%0=ٔQ->9I=bGyE>Q 5E<4!?Q 9M<4)w@Q AMT:YM>Q EM;yM=Q IM??I(]5>]#@]@ɢ) dGi)ʸi--<I [A[Á:[A\Au5 >E EEE"E:*E[:VE6ZEBE ,z,0V@AYr>yrDbDkiVD9y54[%5f=ٔ9Q-E?9AIA=MbGyIIEU?yQ 5<4}?Q 9<4}w )}q@YyQ I?}t?I}9;i}x1;}S<4yɮB”ʔYYYYɢ)> hGi)T⸉i<I<: >E  E E $E "E :*E X:VE /6ZE a @a @a @a @AE ?II IY Om >Ձ,V@A2D@2ߢ@2xٱ2W :AHRS rotation from veh to nav: [[0.367195,0.924005,0.106685],[-0.926220,0.352709,0.133089],[0.085346,-0.147684,0.985345]]2H!?s?`O?@ ɒ?  ??ٵ?L¿?i2D@I2,a;2CYN!=yNDbDZVDZ89y l% M=ٔ aQ- >9@=I@==bGy2z=E=>9Q 5E<4= ?Q 9M<4=!)=@YIyMq=Q IM?=J@I=4:i=o:=.<4yyɮ}B}+E”ʔ@ɢ)^= Gi )   i y<1I1Bu=Au<B}>ByB}DB}#>B}=ByByB}D<B}ݯEm:->A=AAp@I!I1OEQ>,!V@AE2 E2E2 E0"E2[:*E2ga:VE26ZE0BE25@>Ξ@>.˽ٱ>)= JAHRS rotation from veh to nav: [[0.359359,0.911920,0.198149],[-0.927896,0.326564,0.179904],[0.099350,-0.248512,0.963520]]>H?r.?\?Rj?@?o?>Ͽ`(?i>5@I>1[a;>CYna=yn1uDbDv9VDvg:y~"%K=ٔQ->9 n>I n>= bGy  E >Q 5=<4 ?Q 9=<4!)!@YAyE?Q IE?@I;i*;*<4yIɮMBQ”ʔF@ɢ) Gi)  i < II=>)=>:==">Ae 2AIq I O >*,h;V@A2@2I@2Gٱ2 BAHRS rotation from veh to nav: [[0.390034,0.879782,0.271766],[-0.920138,0.361201,0.151258],[0.034912,-0.309058,0.950402]]2HQ?-'?`d?q?l\?ߡ?ӿi?i2@I2a;2CY^ǝ=ybBDbDr&VDrN:y~M%J=ٔ#>Q->9 ?I ?=bGy6F=̞=E=>AQ 5U<4E?Q 9}<4EU")E$@Yyy}P 5Gi9)9=9i=iIA]AIaIqO}Y>BqBqBuDBuw>Bu=BqBqBu5<BuͯE,BUV@AYn=yn{Da@a a@a a@a a@a yJ +?+tV?H=? )Mb@Mb@Mb@Ii‰B )=BYBbDjVDS9y &=%:=ٔQ->9 ?I ?=bGy%E%>!Q 5-<4%?Q 95<4%#)%'@Q AU+:YQQ EU:yQQ IU?%1!@I%2;i%>%D<4yaɮeBe*E”ʔɢ) Gi)#i<I|:=DyzD}@AbEL6jEa6rEƀ3E EEE"E,:*EF:VE۾6ZEBE;,oV@A>)@>@>)=ٱ>RP NAHRS rotation from veh to nav: [[0.372226,0.905927,0.201850],[-0.927359,0.371941,0.040798],[-0.038116,-0.202373,0.978566]]>H?[?`7? `?w? ^ɿjP?i>)@I>`;>CYn=yn)DzAAzAAbDVD~+:y4=%\=ٔ%H>Q-%>9%?I-?=-bGy)5RE5>YQ 5e<4]!?Q 9e<4]#)])@Q Am :YiQ Em:ym;Q Im?]<)@I];i] P?]]M<4yqɮB”ʔɢ)<3> Gi)%/!i%H#,V@A2X@2S@2X<ٱ2\ :AHRS rotation from veh to nav: [[0.381532,0.917113,0.115482],[-0.924077,0.381493,0.023318],[-0.022670,-0.115611,0.993036]]2Hk?`X?@4? bj? ?6ਘ ?i2X@I2`;2CAAB!B!B%DB% A>B%=B!B!B%g<B%EBCBBB=BC4Y&=y_wD!!bDMR" VDM:y]A%] =ٔeQ-e>9I=bGy7F<E>Q 5<4?Q 9<4$)P+@Q A9YQ E:yg;Q I?Y4@IK;iE?V<4yɮB!”!ʔ!!)ɢi)mn%> uGiq)qu>qiuA AI I O >M,$ԢV@AD"=D E& E&E&E$"E&:*E&rN:VE&6ZE$BE&y~ DbDVDz9yE"=%M=ٔM1Q-M?9M??IU??=UbGyQU@E}?yQ 5<4}m?Q 9<4}?%)}+@Q A9YQ E:y A-?A?A0AI)IAOUS>{,˼V@AF2{@Fu@FҸٱFbC; ZAHRS rotation from veh to nav: [[0.414028,0.909692,0.032266],[-0.909985,0.412762,0.039439],[0.022559,-0.045691,0.998701]]FH@m?3?:?@@j?i1??d`[?iF2{@IFqsa;FCY58=y5cDbDM/VDM9y}Qʽ%}G=ٔ}Q-}>9?I?=bGy8F=E>Q 5<4?Q 9<4"&)Y,@Q A9YQ EX:yX9Q I?C@I<;i@\`<4yɮB”ʔɢQ)U*> UGiQ)Q]JYi]&{w:u2> B>BCBDBM>BBBBB]Gm\Ad9\AYNAI I O5 >t_,ֶV@A6@6K@6HՀٱ6Y >AHRS rotation from veh to nav: [[0.426851,0.903395,0.040937],[-0.902134,0.422235,0.088721],[0.062865,-0.074802,0.995215]]6HQ?@??`H ?`s??7&?i6@I6`;6CY,=yFQDa%a% a%a% a%a% a%a% y%KǿMbx&%^:%%7 ! !9%tVֿS㥫@5^I ?Y%y%/]%b>%/B%VB %B)%}B%Y%BbD]f\VD]i:ym%m<=ٔVQ->9I=bGy =E>Q 5<42?Q 9<4z")3@Q AT:Yc>Q E:y@Q I?N@I2>].@u?ɢ ) V> Gi )(ѷi%/=Iv:KP&>Ee EeEeEa"Ee,:*EeE7:VEew6ZEaBEe`,kV@ABBm@Bg@Bn\ٱBI RAHRS rotation from veh to nav: [[0.383682,0.918192,0.098550],[-0.922793,0.377141,0.078855],[0.035237,-0.121197,0.992003]]BH@?`a?:?`@#?/? ?@|?iBBm@IBhw`;BCYn;=yn DbDvVDv9y]RN=%]^=ٔ]S=Q-]>9aIa=ebGye9FmEm>iQ 5}<4mi?Q 9}<4m_)m:@Yyy}4@Q I}?muV@Im?;im ;mo|<4yɮB”ʔPB*** querying acoustic contact ***2 ƴ?ɢ1)="> =Gi9)9=29i=Ȳ=AIA-t:U2Acoustic response timeout]Querying Benthos address 50 with one ping in standard two-way mode.5)]>A=ZAzA=XAIIO>Em  Em Em Ei "Em :*Em ga:VEm 6ZEi au @au @au @a} @ *DAT read: user:354>  BDAT read: Tx time:00:07:55.8791  $Ping request sent. 9hIh=jbGyhnkOE~>Q 5 <4ݭ?Q 9 <4)A@Y y 4?Q I ?W_@I:iv: <4y9ɮ=B=)EQ”QʔQQQ?B<AB>BBDBs=BBBBj<BEɢ) Gi)?Ii31 =I ZAZADs:=H!>I1IAOM>echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250898ȭ,$V@AE EEE"E,:*EX:VE۾6ZEBEa2EaJEx;a:Ey;aB}@Bx@B$ٱB & JAHRS rotation from veh to nav: [[0.356493,0.924128,0.137477],[-0.933430,0.345946,0.095019],[0.040250,-0.162199,0.985937]]BH@?t?֘?#? ,S??@Ŀ`ˌ?iB}@IB9`;BCY^=ybDbDjmVDj9y 逼% F=ٔ Q- >9I=bGy:FE=>AQ 5E<4E(?Q 9M<4Ed)E?H@YIyMl?Q IM?Eh@IE:iE':Er<4yyɮ}By”ʔchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502789?ɢ ) Gi) |is=Iq:P">IqIO>u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754865Iέ,=V@AY~(>y~DbD  VD 9I=bGyE>Q 5<4`?Q 9<4)O@YyQ I?r@IX&BCBDBM>B=BBBd<BEA AI1 IY O} >խ,1WV@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2587106b@6!]@6Rٱ6Z BAHRS rotation from veh to nav: [[0.409969,0.911984,0.014511],[-0.908309,0.406764,0.097558],[0.083069,-0.053176,0.995124]]6Hy8DyB`"ɿ\(\ϿZd;ϿNz~ 9/$ѿ(\տ?Y1y<fB ÕB)BYLB Up=%%=ٔ-Q-->9-c?I-c?=5bGy5;F5)=E5>9Q 5<4= ?Q 9<4=E)=@P@Ye>Q E:y;9@Q I?=n@I='<4yɮB”ʔEE EEEEEA"EEO:*EEc:VEE6ZEABEE  >NӃ@_/@ɢ)> UGi)𴸉ik&"= I Ie6?)e>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511075U;n:A ڗAI I O >ۭ,qV@A2\ʜ@2ģ@2 ٱ2!+ :AHRS rotation from veh to nav: [[0.392014,0.919948,-0.004654],[-0.913407,0.389819,0.117170],[0.109605,-0.041682,0.993101]]2H ?6p?s :?`? ? JW{?i2\ʜ@I2w`;2C5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762759Y0>yKD==bD=TVD=R9y8<%#=ٔiZQ->9?I?=bGy!Q 5m<4%v?Q 9u<4%)%P@Yqyu8@Q Iu?%Y@I%3&p@,V@AA,A,B2>B2CB2EB2i>B2=B0B0B2<B2 Er5{@ru@rLK.ٱrý 5AHRS rotation from veh to nav: [[0.379922,0.924739,0.022752],[-0.909377,0.368881,0.192250],[0.169388,-0.093730,0.981082]]rHP?u?RL?`@?৛?@?@e?ir5{@Ir8`;rC=C9iAIAAIE3CiEKUA II)IMC Mr@IȑȑɑɑIɑ)əiə)ʝCIʙəə ʡʥCʡʥDiʡʡi˩˭9`A)˩ IYY=>yDbD'GVD&9y-T=%%=ٔ%Q-%8?9-"?I-"?=mbGyim*Eu2?qQ 5}<4uw?Q 9<4u)uP@Yy6@Q I?uϊ@Iu:iu.:uv<4yɮB!”!ʔ)))L!@ɢ)X5= BGi)顥x三i֩+=Ik:Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267316IIOm>bEʮ6jE6rEʑ*3EY  E] E] EY "EY *E] VL:VE] {6ZEY BE] I y=%DbDMVDM&@9y~%U=ٔQ->9I=bGyE>Q 5<4Pj?Q 9<4)Q@YyQ I?@I:i:<4y5Bɮ5B=EI”IʔIIɢ);~> ZGi)i0= II QQ-j:U!>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776436IQ Ii O} >N,KV@A2a@2[@2Jӽٱ2Îd :AHRS rotation from veh to nav: [[0.409032,0.898313,0.160395],[-0.906669,0.380209,0.182738],[0.103172,-0.220171,0.969990]]2H-??`ԇ? n`WU?c?{i?.̿ ( ?i2a@I2HM`;2CY~W>y~D  AbDVD$L9ye6%eL=ٔm+>Q-m>9iIq=ubGyu=Fu=E>Q 5<4{\?Q 9<4)R@Yy[7@Q I?@I :i:<4E EE0E"E:*ErN:VE6ZEa%@a-@a-@a-@y)ɮ-B1”ʔ!!!%@ɢq)u!> }~Giy)y}< yi}5=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.026735)i:e!8>IIOI>Bu>BqBu@EBu~>Bu=BqBqBu<BuEB%CB%CB!B%Ƹ=B!C%5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278878y,x&۷V@AY~>yDa@a a@a a@a a@a y{Gz?7A`¿rh|?#== )Mb@Mb@Mb@Ii‰ĈB )sBYBbD[.VD 9y\%=ٔQ->9I=bGyE>D!zD!E- E-E-E)"E-:*E-|;:VE-6ZE)BE- I! I1 O= >,%V@A2KZ@2T@2`&ٱ2a :AHRS rotation from veh to nav: [[0.376721,0.926260,0.011075],[-0.912001,0.368774,0.179611],[0.162283,-0.077764,0.983675]]2H3???`/??? Y賿Dz?i2KZ@I2Z`;2CY!>yD 4<bDVDb9Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.782609ym=%ue=ٔu*Q-}>9I=bGy>F鲽E>Q 5-=4>?Q 9-=4 )^U@Q A- :Y)Q E5:y56@Q I5?@IU< ^Gi ) ?%i-@=IXf: >IQIiOuy>Ee EeEe&Ea"EeI:*Eek:VEe6ZEaa}@a@a@a@ checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034909 G `]A) {,ZV@AB=AB>BBTEBˬ>BBBB<B#EBǦ@B`@B .ٱBꦓ JAHRS rotation from veh to nav: [[0.356231,0.934378,0.006188],[-0.918962,0.349139,0.183333],[0.169142,-0.070995,0.983031]]BH{?k?Xy?"h@LX?tw?@o?,`t?iBǦ@IB`;@Y^^/>y^D 9 `]AY AbDj+VDj9y]i#=%es=ٔeQ-e?9aIi=mbGyimEm ?qQ 5=4u2?Q 9=4u )urU@Q A9YQ E:yw5@Q I?u@Iuz;iu?u =4yɮB!”!ʔ)))ɢ) PGi)0iD=I7e:j >I)I9OE0>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.286782Ee  Ee Ee Ea "Ee :*Ee ?:VEe 6ZEa BEe yn%DbDz;VDza8yE ˼%EL=ٔM Q-M>9IIQ=UbGyU?FUL:=E>Q 5=4$?Q 9=4W )U@Q A9YQ ES:y76@Q I?@I;i?=4yɮBE ” ʔQɢ) ZGi)=i#I=Ic:MR!>}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791277A! I1 II OU >,QBV@A2lk@2f@2-ٱ2 :AHRS rotation from veh to nav: [[0.378204,0.924954,0.037703],[-0.910192,0.364121,0.197398],[0.168856,-0.108973,0.979598]]2H~4?9?@M?J M?YD??廿 X?i2lk@I2"`;0YN">yRDTTbDZTVDZt9yfڻ%fS=ٔf+=Q-f>9hIh=jbGyhns<E>!Q 5-=4%?Q 9-=4%)%%V@Q A-9Y)Q E5+:y56@Q I5?%@I%;i%?%=4yyɮ}By”ʔE EE,E"E:*ET:VEg6ZEa%@a%@a%@a%@ɢ9)=> E]GiA)AEjIAiEaM=III5]b:checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043475E'>B->B)B)B)B-=B)B)B-<B-2EA},AIIO^> checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294807,8\V@ANi@N|@N@;ٱNS% ^AHRS rotation from veh to nav: [[0.351226,0.934284,0.061265],[-0.918462,0.331091,0.216349],[0.181847,-0.132257,0.974392]]NH}z??^? d@0?O?F?@8.?iNi@INX$`;LYn>ynDaa aa aa% a%a% y%1Zd?"~j̿ʡE%"=%Sc%-! !9%Zd;?Zd;OMbXɿY%=y%j%J%AB%B !)%#B%Y%QBbD}VD}9y6޼%1=ٔQ->9>(?I>(?=bGy@FxE>Q 5-=4c?Q 9-=4 )0Q@Q A-T:Y-Oo>Q E-c;y5Q I5?~@I~(i>n?>ɢA)A MjGiI)IMQIiM?R=QIQE- E-E- E)"E-y:*E-rN:VE-6ZE)BE-'checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546808AAIIO>,vV@A2/[@2U@2?ٱ2w7 :AHRS rotation from veh to nav: [[0.346644,0.932407,0.102247],[-0.919315,0.316068,0.234439],[0.186276,-0.175264,0.966739]]2Hj/?H?,?ku:?@?@? oƿ@?i2/[@I2-`;0YN0>yRKDbDZKVDZ9yr=%rj=ٔrXQ-r?9v%?Iv%?=vbGytza`Ez?|Q 5E=4~h?Q 9E=4~ )~M@YAyEȿQ IE?~M@I~:i~:~2=4yQɮUBQ”ʔJ >=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798677ɢY)Y ]OGiY)aaaieV=iIi5_:QAazAeZAE5 E5E5E1"E5[:*E5P:VE5+6ZE1aE@aE@aE@aE@Ii I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050753A A AAB! B% CB% aEB% >B! B! B! B% <B% #E#,i㏸V@A2@2+@2Jtٱ20/ :AHRS rotation from veh to nav: [[0.337169,0.933887,0.119051],[-0.933188,0.314818,0.173351],[0.124410,-0.169545,0.977638]]2H+? f? !z?%?Y0?[ٿ?@ſH?i2@I2`;2CY6>yDbD-VD-;9y6A<%:=ٔ>Q->9I=bGyAF )E >Q 5}=4C?Q 9}=4W )H@Yyy}I̿Q I}?}@Iiɢ)"$> IGi)i\=I!I#?)$?Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.302965e]:%>IIO>EE  EE EE EA "EE :*EE |;:VEE 6ZEA BEE I yDbD5jVD5EC9yEé%EW=ٔM9III=MbGyIU;EU>Q 5=4,?Q 9=4)ED@YyH˿Q I?n@Iz:i:O=4yɮ5B1I”IʔIIQ999= 3/>ɢ) jGi)ia=)I1\:checking for new query: numPingsReceived=0, elapsed TxPingTime=6.815917 M>I I O >0,øV@ARE@R@RUTٱRo ZAHRS rotation from veh to nav: [[0.365758,0.928370,0.065962],[-0.918989,0.349031,0.183405],[0.147245,-0.127700,0.980822]]RHh?`4?@?Zh`V?`y? ?@yXb?iRE@IR`;RCYV>yBDE EEE"EI:*EP:VE]6ZEa @a @a @a @bD^VD885checking for new query: numPingsReceived=0, elapsed TxPingTime=7.074864ymgQ<%m!=ٔmL_Q-u>9qIq=ubGyuBF}nt=E}>Q 5=4?Q 9 =4)>@Y y Q I ?@I̔ɢ)M a> M cGiI )I Q Q iU h=Q IY m Z: _!> checking for new query: numPingsReceived=0, elapsed TxPingTime=7.327472II Ia Ou >J7,ݸV@AE@E@EѽٱEh AHRS rotation from veh to nav: [[0.356743,0.933269,0.041745],[-0.928630,0.349388,0.124794],[0.101881,-0.083285,0.991304]]EH?W?_?@W`^\??? 2R@ø?iE@IE`;ECY>yDae@ae ae@ae ae@ae am@am yezG?Mbȿq= ףp?e >e@e>a a)eMb@Mb@Mb@Ieie‰eeeB a)eߌBeYẻBybEm6jEmı6rEm2E EE0E"E*ErN:VE6ZEBE9I=bGyCF=ڼE>Q 5=4?Q 9=4)9@Q A+:YQ E7;yUQ IU?@I[m=4yaɮaa”ʔchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.578734ɢ)n,> dGi)in=IcY:M $>I I O >=,V@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=7.831750vP@v3K@vPٱvֽ AHRS rotation from veh to nav: [[0.319708,0.945653,0.059384],[-0.939386,0.308149,0.150328],[0.123859,-0.103846,0.986851]]vHv?B?@g? s?=? 4? H?ivP@Iv`;vCY>yDbD%VVD%9y % V=ٔmQ->9I=bGyؽE>Q 5=4L?Q 9=49)/5@Q A :YQ E;ykĿQ I?@I;iU?}v=4yɮB9Q”QʔQQYɢ)> pGi)ir=I E} E}E}Ey"E},:*E}VL:VE}]6ZEya@a@a@a@:X:M[+>AYzAYchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.083076B% <A% <B- >B- CB- @NEB- >B) B) B) B- z<B- EBBCBBBC24A .AI I O >DD,{V@A2hO@2J@2^ٱ2 :AHRS rotation from veh to nav: [[0.318492,0.944086,0.085235],[-0.936261,0.299236,0.184046],[0.148250,-0.138419,0.979215]]2H+b?`5?ѵ?&?ώ?@?U?i2hO@I21`;2CY>y=DbD5өVD5ٜ9yE4%EY=ٔEɅQ-M>9M ?IM ?=MbGyMDFʹE>Q 5=4N?Q 9=4)1@Q A9YQ E:yȿQ I?@I;i?W}=4yɮBI”QʔQQQchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.335620ɢ) |Gi)顑iDpw=IIu0?)u?V:E  E E E "E :*E T:VE 6ZE BE  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.586835A I I O >.K,1V@A~2@~'-@~ٱ~( AHRS rotation from veh to nav: [[0.345855,0.931321,0.114130],[-0.931185,0.325748,0.163656],[0.115239,-0.162877,0.979893]]~H`{"?a?7?C ?`? F?)ĿI[?i~2@I~_;~CY%=yDbD5[VD59yEq%2=ٔO=Q->9I=bGys=E>Q 5%=4<?Q 9%=4)+@Q A-9Y)Q E-:y-ʿQ I-?@IF Gi)项iv~=IeT:% I >E  E E E "E *E rN:VE 6ZE a @a @a @a @A I I O >R,*KV@Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.090788 lnC5ހGB>BBHEB>BBBBl<BEmv9iYmKA;%@@iٱ|< AHRS rotation from veh to nav: [[0.373297,0.918956,0.127158],[-0.920565,0.349945,0.173488],[0.114929,-0.181819,0.976593]]H@?`h?`F?`Eue?4?k?Eǿ?@?i;%@I_;Cy%ce?%FAYM>yMPD QQaUaU aUaU aUa aa a@a a@a a@a a@a yy&1?J +ɿJ +?`>H> )Mb@Mb@Mb@IiB )BY=Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.343926bD$VD@8y_p<%=ٔ:Q->9I=- bGy- EF- B=E5 >1 Q 5= =45 2?Q 9E =45 ")5 $@Q AE 9YA Q EE :yE ɿQ IE ?5 @I5 ShA؟AIIO?9\,DsV@A6C@6e>@6 Uٱ6  AHRS rotation from veh to nav: [[0.349673,0.929996,0.113300],[-0.935428,0.339860,0.097314],[0.051996,-0.140012,0.988784]]6H@ a?`?8?B? ?.??i6C@I6_;4Y-Y=y5~DbDjVD[:yӫ%T=ٔi'>Q->9"?I"?=bGyE>Q 55=4)?Q 95=4) @Q A=o9Y9Q E=:y=ʿQ I=?@Ik Gi)顱iPم=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=9.846961 R:'>A-AI1IAOM>   E  E E E "E :*E C:VE %6ZE a @a @a @a @)c,V@A2AHRS rotation from veh to nav: [[0.354851,0.933111,0.058178],[-0.931799,0.347898,0.103529],[0.076364,-0.090947,0.992924]]6H@?` ?@uɭ?KC?ۀ??OH?i6v@I6_;6CY?=y0D))bD5pVD58yE<%ER=ٔMQ-M>9M%?IM%?=UbGyUFFUf<EU>YQ 5e=4]?Q 9e=4])]@Q AmB9YiQ EmO:ym˿Q Im?]@I];i]C@]=4yqɮB”ʔQAqAqB}>ByB}"EB}#>ByByB}DB}<B}1Eɢ)l3> Gi)i=I P:5zl+>Ae AIi Iy O >Gi,릹V@A2Û@2@2,/Xٱ2(4 :AHRS rotation from veh to nav: [[0.364153,0.931082,0.021899],[-0.929844,0.362135,0.065177],[0.052755,-0.044098,0.997633]]2HFN?l?l?@H`:-?v?`?󓦿?i2Û@I2Vm`;0Y :>y &DD9D=<EE EEEE EA"EEm:*EEVL:VEE6ZEABEEd9c?Ic?=bGyGFU<E>Q 5=4'?Q 9=4u)@Q A9YQ E(:ylQ I?[@Iq* }Gi))1i5 Ջ=1I9 @O:2>A5ڗAIAIQO]v>/p,CV@A2@2@2 ➽ٱ2 :AHRS rotation from veh to nav: [[0.372715,0.927929,0.005596],[-0.924704,0.370902,0.085758],[0.077502,-0.037138,0.996300]]2H?`?v?,ۼ?>?(׳?  ?i2@I2wy`;2CYb=ybGDbDjVDj9ye\%m1=ٔXQ->9?I?=bGyJ<E>Q 5=4?Q 9=4- )*@Q A8YQ E:yQ I?y@I; Gi)iM=AIA=M:BBB@EB~>B=BBB<BTEI% >)% >- 3>Au .AIy I O >|v,4۹V@AY\=yDaa aa aa aa y㥛 ?QտK7>I  9(\¿Zd;I +Yzy94BYB !B) BYB 4<bDVDQ:yQ9%2=ٔQ->9 ?I ?=bGyHFE>Q 5=4?Q 9=4-)@Q AT:Y4G>Q E;y*@Q I?(@Ip;i;h=4yɮ!!1”1ʔ9YY:>:>]X!@^?ɢ) Gi)顱i w=IK:DzDE EE?E"E:*ET:VE6ZEBEA AI I O >Q},V@ABZ@BoU@BzeٱBqx` ZAHRS rotation from veh to nav: [[0.293184,0.936622,0.191786],[-0.954407,0.274954,0.116218],[0.056120,-0.217115,0.974531]]BH? ? q?``٘?~?`ѻ?o˿\/?iBZ@IB%a;BCYf=yf(\DbD׊VD8yާ%5=ٔ5=Q-=?9=c?I=c?==bGy9EEE?IQ 5u=4Mt?Q 9u=4M])M<@YqyuM&@Q I}?M@IM};iMy;M<=4yɮB”ʔ8?ɢ))5E> 5Gi1)111i5Ք=9IAMNK:QQQQIIO>Em  Em Em Ei "Em غ:*Em rN:VEm 6ZEi au @au @au @au @iߙ Iߙ 胮,eV@A2@2@2p<ٱ2c :AHRS rotation from veh to nav: [[0.340682,0.902412,0.263797],[-0.939903,0.333693,0.072329],[-0.022757,-0.272585,0.961863]]2H? ?@?`8[?&?Mrѿ?i2@I2a;2CBAB%>B!B%DB%w>B%=B!B!B%<B%REYs=yaDbDVD9yM>;%M!=ٔM: >Q-M>9QIQ=UbGyUIF]=E]>YQ 5=4]/?Q 9=4]#)] @Yy_)@Q I?]5@I];iY]=4yɮB”ʔ    ?ɢA)M{`> MGiI)QQQi]X=I}^I:BDAT read: Response Not Received  *response not received iq ) ) ԙ @,)B*V@AD<D<bE5Z6jE56rE5/3E EE E"E:*EP:VE6ZEBEԡ ,XDV@A2@2@2_;ٱ2|V :AHRS rotation from veh to nav: [[0.340993,0.918968,0.198046],[-0.940040,0.334886,0.064620],[-0.006939,-0.208206,0.978060]]2H?@/h?Y?``n?`?k| }ʿ`EL?i2@I22`;2CY~$>y~DbD tAVD 9ye=%eL=ٔm"QQ-m>9iIi=ubGyuJFu'ӼEu>Q 5=4?Q 9=4g)h@Yy.)@Q I?@I:i:=4yɮB”ʔ!!!%?ɢY)]U> e[Gia)aeHaie=iIiI%?)$?E= E=E=E9"E=,:*E=1]:VE=I6ZE9aE@aE@aM@aM@mF:A}[AzAyIIO >B=>B9B=DB=M>B==B9B9B=<B=\EBBCBBBCQ5) Q G',^V@A2nManaging dock network, ignoring radio surface power off:19@:3@: m<ٱ: Nk BAHRS rotation from veh to nav: [[0.348815,0.910443,0.222308],[-0.936829,0.345322,0.055707],[-0.026050,-0.227696,0.973384]]:HR? Z"?@t?? ?@ެ$%Ϳ%?i:19@I:&`;8YK=yqDa@a a@a a@a a@a yʡE?7A`ҿ(\ȿo>G )Mb@Mb@Mb@Ii‰B B)Y3BbD]bVD]:ym%m;=ٔu2=Q-u>9qIq=}bGyy}<E}>Q 5=4?Q 9=4])@Q A+:YQ E];y)@Q I?]@I;ia>9=4yɮB”ʔ)ɢY)e`> eGia)aeͷi=IvE:E= E=E=E9"E=[:*E=;J:VE=6ZE9BE=I I% >)% >I1 OM >ԁ [O,|wV@A,2@21@23sٱ2} >AHRS rotation from veh to nav: [[0.328675,0.918426,0.220153],[-0.943776,0.310632,0.113117],[0.035503,-0.244953,0.968885]]2H@ ?@c?-?h3e?7?l-?ZϿ`?i2@I2L`;2CYNe=yNDbDZVDZ`:yr%vg=ٔv82Q-v>9xIx=zbGyxzvE~>Q 5%=4x?Q 9-=4z) @Q A- :Y)Q E-3;y-(@Q I-?@I&:i Gi!)!%p!i%{=)IYMC:ԉ =>IIO>ԹEU  EU EU EQ "EU :*EU R:VEU 6ZEQ a] @a] @a] @a] @ ]G - Ϳ9) Y- AF7,ͮV@A2wB@2=@2Uٱ2K :AHRS rotation from veh to nav: [[0.378098,0.897688,0.226270],[-0.922933,0.346404,0.167926],[0.072365,-0.272325,0.959480]]2H2?۹?l?z+?@~?|?mѿ?i2wB@I2g`;2CYNa=yN1uDA\A\Bb>B`BbDBb=Bb=B`B`Bb<Bb:ElbDZVDZ+8yv%vJ=ٔz캽Q-z>9xIx=zbGyzKF>E>!Q 5-=4%?Q 9-=4%)%. @Q A-9Y1Q E5;y5D,@Q I5?%@I%:i%g?%=4y=Bɮ=BE$EQ”QʔQyyɢ) Gi)=Hic=IB:uf\>A}?A}(?A.AIIOE>!A EY  E] E] EY "EY *E] H:VE] 6ZEY BE] I 9 ?I ?=bGyLFɚ<E>Q 5>4=?Q 9>4) @Q A9YQ E:y,@Q I?&@IW;i4?a>4yɮB)9”9ʔ9AAɢ) Gi)fi&=I!A:[A[AY % 7`>ԉ A] ؟AIa Iq O >!m,vźV@AR@RO@R,ٱRR zAHRS rotation from veh to nav: [[0.390657,0.892448,0.225662],[-0.916613,0.354514,0.184770],[0.084897,-0.279026,0.956523]]RH??|?`T@\?@?ѻ? ѿ֛?iR@IR_;RC&_AixIEI @Ci \UA  ) 15C =Mr@99999IA)AiA)AIAAA IMCIuiqqiqu5`A)}D yIyYyY>yDbDEVD9y>%l=ٔd$Q->9"?I"?=bGy\<E>Q 5>4 ?Q 9->4) @Q A-9Y)Q E-:y-8-@Q I-?R@I;i@>4y9ɮ=B9q”qʔqqqɢ) pGi)i=E EEE"E :*E&p:VEF6ZEa@a@a@a@I@:av]>IIOl>B>BBzDBJ=B=BBB<BREԉԹ ,ߺV@A6?ݝ@6פ@6I2ٱ6P >AHRS rotation from veh to nav: [[0.424972,0.871723,0.243922],[-0.905141,0.405975,0.126114],[0.010910,-0.274378,0.961560]]6H`2?'?8?`~?$? ,X?iѿ`?i6?ݝ@I6ڸ_;6CY~>y~Dԙamam amam amam amam ymn?V-?^I +?mVN?mm=mX>i i9m"~?zGʿK7ɿYm?ym WmIim+B mB)mɒBmYmQBbDHVD:9y`%;=ٔU/>Q->9I=bGyMFŪ=E>Q 55>4?Q 95>4)@Q A5T:Y=O%?Q E=:y= ƿQ I=?@Iu'4yAɮEBA”ʔ)?)?!=@ZE@ɢI)Me> MzGiQ)QUSQiUbb=YIYeY>:E EEE"E*E n:VE6ZEBE\"! IA IY Oe >?,4V@A23?@29@2^ٱ22 :AHRS rotation from veh to nav: [[0.463700,0.872665,0.153098],[-0.885992,0.456663,0.080475],[0.000313,-0.172960,0.984929]]2H@??? Z9?`? 4?@#ƿ`?i23?@I2_;2CY>y/DbD%РVD%?9y6=%]=ٔ9I=bGyC=E>Q 5>4G?Q 9>4$)@Yy㽿Q I?@I:ip: >4y1ɮ=B9I”IʔIQq&C@ɢ) iGi)|ʷi  = IQ5'=:M>!IIO=>YI>)>E EEE"E:*E H:VEt6ZEa @a @a @a @y ܣĮ,>vV@ABAB>BBDBJK>BBBB<BEB;@BԄ@BD36ٱBj JAHRS rotation from veh to nav: [[0.443576,0.895678,0.031636],[-0.895133,0.441003,0.065224],[0.044468,-0.057250,0.997369]]BH@c?e?2?`c9??`|Ħ?Or?iB;@IBu`;BCY^$>ybDbDjPiVDj<&9y==%=T=ٔE.Q-E>9AIA=MbGyMNFMejEM>QQ 5]>4UL?Q 9]>4UZ*)U@YayeYQ Ie?U<@IU;iU;U2.>4yqɮuBq”ʔ)))-L@@QɢY)]Q> ][GiY)ae_aieѹ=iԁIe;:ԩ wf>A ?A ?IA IQ Oe > E  E E E "E m:*E T:VE I6ZE BE d?`8?BX??i2j@I2a;2CYN88>yRDbDZVDZ9ybaH=%bR=ٔf /Q-f>9hIh=jbGyhnڸEn>pQ 5v>4r?Q 9v>4r0)r?YxyzQ Iz?rAIr& ;irC ;r;>4ymޒBɮmBm-E”ʔԱt9C@ɢ)=?> EGGiA)顭gSi+=I [A[A  Q9: EV>I! I9 OE >9 Ѯ,+GV@AYr|>yr`DbDzVDzݞ9y % F=ٔ Q- >9I=bGyOFE>!Q 5->4%l?Q 9->4%7)%d?Y1y1Q I5?%AI%B:i%[:%9J>4y9ɮEBAE EEE"E,:*EF:VE6ZEa@a@a@a@Y”ʔɢ)I> lGiIB]>BYB](EB]8>B]=BYBYB] <B]°E)顝5i,=I'8: AAi (Q>ԙ A AI IO>Lخ,KdV@AYn-=ynDԩonly read 0 of 1 data item for altitude. Device response is::BD, , +1947.68, +64.44, 73.17, 0.00 a@a a@a a@a a@a bE6jEr6rE2E EEE"E:*EVL:VE?6ZEBEl 9%?I%?=bGyE>Q 5>4?Q 9 >4vA)2?Q A +:Y Q E :y Q I ? AI;i?Z>4yɮ%B!”ʔɢ) Gi )   i=QIY56:  H>AZAzAA] .AIa Iq O} >9 Mޮ,%z~V@A2Q@2ꢥ@2䲽ٱ2Q :AHRS rotation from veh to nav: [[0.445598,0.891118,0.085743],[-0.890972,0.432105,0.139476],[0.087239,-0.138545,0.986506]]2H ? ?`F?؂?W?NU? ػu?i2Q@I2pT`;2CYN=yRtDbDZVDZ 8yf꙼%f=ٔf=Q-f!?9j ?Ij ?=jbGyjPFn>En!?9Q 5E>4=?Q 9M>4= F)=?Q AM :YIQ EMW:yMDQ IM?=AI=:i=^?=Fa>4yɮB”ʔɢA)EV> EGiA)IMIiM)=QII)a?m5:uuqqAEU EUEUEQ"EU:*EU H:VEU6ZEQae@ae@ae@ae@qiI II Ae AIq I O >Aa Ae @ABm >Bi Bi Bi Bi Bi Bi Bm ' <Bm аEB)B)B)B-ʹ=B)C-q4ԙ B,UV@A2m5@20@2-Qٱ2 :AHRS rotation from veh to nav: [[0.462327,0.878678,0.119080],[-0.885940,0.452147,0.103310],[0.036934,-0.153260,0.987495]]2H–?` ?|?`Y?r? ?ÿ?i2m5@I2{`;2CYN>yRDbDZ(VDZ9yv`=%vH=ٔv=Q-v>9zc?Izc?=zbGyxz,=E~>!Q 5->4%?Q 9->4%L)%?Q A-9Y)Q E-.:y5Q I5?%AI%]:i%?%h>4yɮBA”AʔAAIqɢ)g> lGi)aʸiQ=I -4:ԡIAIQOmW>I5>)5>D% =D% 4=E-  E- E- E) "E- :*E- C:VE- 6ZE) BE- ByNKDbDVVDV9yrh=%rJ=ٔrTQ-r>9tIt=vbGyvQFv"Ez>Q 5>4?Q 9%>4lS)4y5גBɮUBU6Ea”iʔiiiɢ)آV> OGi)⸉ib=IE 3:IAIQOe4>! ?, ̻V@A23@2.@2\~ٱ2 :AHRS rotation from veh to nav: [[0.458376,0.885352,0.077744],[-0.878766,0.438404,0.188607],[0.132900,-0.154771,0.978971]]2H V?T??`?C$?`?ÿ@S?i23@I2_;2CEv EvEvEt"Ev:*Ev H:VEvf6ZEtaz@az@az@az@ ||]Gqyǿ9YAY;>yDbD?#VDȸ9yϾ<%0=ٔQ->9I=bGy=E>B>BB@5EBb>B=BBB0 <BڰEQ 5m>4{?Q 9m>4[)?Q Am9YiQ Eu9yuNQ Iu?AIs4yyɮ}yB}7Eԁ”ʔɢ9)=C> =DGiy)顅$il=I e1:ԹIIO> ,V@AYn=yn?]DԱaa aa aa aa yRQȿ"~ʿI +?BS94= 9A`"ӿ/$ſ(\?Yy,z>B rB)BYB  bDz<VD9y%~%%T=ٔ-Q-->9)I1=UbGyURFUE]>YQ 5e>4]?Q 9e>4]IY)]?Q AmT:Ym ?Q Em:ym@Q Im?]AI]/;i];] >4yɮB6E”ʔ>>;3@P?ɢ) Gi)顥iҫ=E EEE"EI:*E[:VEB6ZEBEIi Iy O >9 ]3,V@A6;]@6W@6E?ٱ6- BAHRS rotation from veh to nav: [[0.431449,0.899299,0.071509],[-0.882817,0.404564,0.238669],[0.185705,-0.166103,0.968464]]6H`ݜ? ?mN?@_??.?Bſ ?i6;]@I6;>`;6CYN=yRDbDZ" VDZd:yvm=%va=ٔvQ-v>9xIx=zbGyxzE~>Q 5%>4O?Q 9->4xV)?Y)y-@Q I-?"AI:i[:э>4y1ɮ5BYi”iʔiqqƿ?ɢ)7> Gi);i_=I/:B>I IO5.>AE EEE"E:*EL_:VE6ZEa @a @a @a @iB =A B >B B /EB M>B =B B B <B zEԙ I,V@A2{@2@2ٱ2#) :AHRS rotation from veh to nav: [[0.424177,0.901488,0.085985],[-0.893157,0.400795,0.204046],[0.149483,-0.163349,0.975178]]2H@%?`???1?D"?Ŀ4?i2{@I2/`;2CYu>yDbD5VD5 8ya;%?=ٔ=Q->9I=bGySF6ּE>Q 5>4?Q 9>4CS)@Yy@Q I?$AI:i:˜>4yɮB)”)ʔ)1q9?ɢ1)5yN> 5Gi1)1=,Ƿ9i=K=9IAIM?)M+?-j-:ԡMC>E  E E 1E "E ,:*E F:VE k6ZE BE  LE ,w3V@A2@2Z@2[ٱ2C$ :AHRS rotation from veh to nav: [[0.455841,0.882137,0.118505],[-0.888444,0.442940,0.120295],[0.053626,-0.160120,0.985640]]2H,?v:?SV?`"n"Y?˾?@t?~Ŀ`\?i2@I2P,`;2CYn=yndDbDzrVDz9y}%}M=ٔ}w>Q->9I=bGy=E>Q 5>4?Q 9>4P)3@Yy@Q I?&AI;i%;>4yɮB”ʔAAAE.?ɢq)up> uGiy)y}yi}J8=IJ,:\A\AJ>AAIIOk>I5>)5>) c-,SMV@A2@2/@2[ٱ2| :AHRS rotation from veh to nav: [[0.453979,0.886769,0.086852],[-0.889399,0.445135,0.104044],[0.053602,-0.124479,0.990773]]2H ? j`?;?@u}??q?ݿ@j?i2@I2_;2CYNM=yR|lDEb EbEbE`"Eb:*EbP:VEb 6ZE`af@af@af@af@bDZ)VDZ9y=;%EN=ٔE{8Q-E>9M%?IM%?=MbGyMTFM7EM>QQ 5->4Um?Q 9u>4URN)U@Yyy@Q I?U(AIU^"=iU4yޒBɮB,E”ʔB>BB"EB#>B=BBB<BsEe?)ɢ)M 2f> MGiI)IMeJIiM|=QIQe*:Qm N>ԉ A I I O >W,,gV@AY~-=y~DYa@a a@a a@a a@a y rh?kt/$ݿC ?  )Mb@Mb@Mb@Ii‰iB )YkBbDTVDA9y=%B=ٔQ->9I=bGyE>Q 5>4?Q 9>4K)&@Q A+:YQ E:yQ I?@+AI ;i>N>4yɮB”ʔɢ) Gi)zzi~=I p):E EEE"E:*EVL:VE 6ZEBEA.AIIOj>Ա > ,BV@A2":@24@2yٱ2F :AHRS rotation from veh to nav: [[0.462150,0.875515,0.141038],[-0.884362,0.443222,0.146488],[0.065742,-0.192428,0.979106]]2Hۓ?`7? ?L]?`"? s԰?|ȿT?i2":@I2_;2CYF^=yFXDbDNVDNГ9yV追%V^=ٔZQ-Z>9Z ?IZ ?=^bGy^UF^<E >Q 5>4b?Q 9>44y)ɮ-B)A”AʔAAAɢq)y }Giy)y}i/C=IԹ':==f>IIOA>E EEE"E:*EL_:VE۾6ZEa@a@a@a@ 11B >B B DB A>B =B B B <B E9 j&,隼V@AY%=y% DbD5VD5!Z9y=%==ٔQ->9I=bGyE>Q 5>4R?Q 9>4sF)l<@Q A9YQ EQ:yQ I?/AI]:i_?>4yɮB”ʔɢ) Gi)ik=I &:%%%%AA[AzAiIIO>bEmt6jEmɾ6rEml3E  E E E "E ,:*E VL:VE 6ZE BE yFDF8Not Powering down - fast GPS)FIJiJJJJJJ J)JINiNNNNN NbDVRVDV9y^=%^X=ٔb&>Q-b>9`I`=bbGyfVFfEf>hQ 5n>4j?Q 9n>4jeD)jXG@Q An9YpQ Er):yr@Q Ir?j[1AIj;ij?j>4ytɮvBv+E”ʔ  ɢ1)5 > 5yGi1)1=%Ǹ9i==AIAIM?)M?5u%:yIIO=ԡ @{3,,μV@A:ҝ@:ͤ@:6P=ٱ:y JAHRS rotation from veh to nav: [[0.423314,0.896205,0.132748],[-0.904557,0.426304,0.006450],[-0.050811,-0.122809,0.991129]]:H??`?!H?jz?`bpS?i:ҝ@I:P_;:CER EREREP"ER>:*ERC:VERj6ZEPaV@aV@aV@aV@Y'->yDbD:VDG9y=%=6=ٔEZ;Q-E>9qIy=}bGyy(E> Q 5>4 ?Q 9>4 A) T@Q A9YQ E :y@Q I? 3AI v:i o@ <>4y!ɮ-B)BU>BQBUDBU#>BU=BQBQBU <BUEBBBBø=BCC5”ʔɢ) RGi)⸉i=I#:IiIyO9>!I=>)=>I 9,sV@AYf>yfDaeae aeam amam amam ymMbX9?p= ף)\(m!>mmGai i9mkt?(\ſ?Ym ?ym.mff>m=Bm9I=bGyWFE>Q 5>4}?Q 9>4G)Y@Q AT:Y2!?Q E:yׯQ I?7AI;iK; >4yɮB”ʔ??@@ɢ) fGi)Bi=I!IU":DzDE EEE"E:*EP:VE86ZEBE yԩ K@,TV@A2@2P@28ٱ2꽽 :AHRS rotation from veh to nav: [[0.455719,0.888672,0.050811],[-0.887415,0.449141,0.103762],[0.069389,-0.092376,0.993303]]2H ~*?@p??e@??wñ?`$?i2@I2 `;2Cy^DbDfVDf :yr4%rV=ٔr|Q-r>9tIt=vbGytv2=Ez>xQ 5>4z??Q 9>4z M)z`@Yy_Q I?z:AIz:iz:z_>4y ɮB!”)ʔ)))IIIM@ɢa)eu]> e~Gii)imf iimI=qIq y}\Au!:ԩ G) 9YAE EEE"Ey:*EF:VEt6ZEa@a@a@a@e>IyIO~>iIBM >BI BM DBM 6>BI BI BI BM <BM ȰE! F,4V@A:An@:h@:ٱ:  FAHRS rotation from veh to nav: [[0.440755,0.890737,0.111007],[-0.897127,0.432996,0.087628],[0.029988,-0.138210,0.989949]]:H@S5?@?j?B4?n??ܰ@?i:An@I: `;:CYf8=yfcDbDr`EVDr9yvﴽ%vI=ٔz=Q-z>|9|I|=bGyXF2E> Q 5?4 l?Q 9?4 S) vg@YyQ I? @>AI ;i ; ?4y%ؒBɮ%B%5EA”AʔAAAaaae.@ɢq)uR~> }Giy)y}yi}[=I:m^>!AIIOE>}nManaging dock network, ignoring radio surface power off 11QD <D <E  E E E "E :*E VL:VE ~6ZE BE Q-f>9dId=fbGydjK<Ej>lQ 5r?4n ?Q 9r?4nX)nm@YpyvhQ Iv?nAAIn;in :nx?4yzגBɮzBz6EY”ʔT@ɢ) > Gi)"i5=I5:ԁ]>A ZAzA [AԱAI IQ Ii Ou > MS,OV@AEN ENENEL"EN:*EN H:VENm6ZELab@ab@ab@ab@Y=>yEDBBBaDB=BBBB4 <BްEy=?MbX9~jtx=>=ʡ=Ļ9 99=Gz?MbX9ĿDl?Y=p?y=!=O >=B=B =B)=B9Y=BbDUPVDUs9ye=%e'=ٔmQ-m>9iIq=ubGyuYFuEu>yQ 5?4}?Q 9?4}`)}@r@YX&?Q E:yҨQ I?}FAI}K ;i} ;}'?4yɮB”ʔ>>=@@ɢ) gGi)z0i=II?) ?:k>AAII1O=>9 5Y,ûiV@AF@Fۥ@FT ٱF3 RAHRS rotation from veh to nav: [[0.453213,0.885454,0.102802],[-0.890744,0.445425,0.090399],[0.034254,-0.132540,0.990586]]FHr?U?6Q?؁?e$???iF@IF`;FCYZ;>yZDbDfVDf8yj`=%n=ٔn1Q-r ?9r%?Ir%?=rbGypv<Ev ?xQ 5z?4z?Q 9~?4ze)zu@Y|y~cQ I?zJAIz;iz3;z2?4y ɮ zB !”!ʔ!!!AAAE@ɢQ)Ut> UDGiY)Y]Yi]:>aIaEm:>E EEE"E,:*EC:VEf6ZEBEI5>)5>q /`,SV@A2!x@2r@2O<ٱ2; :AHRS rotation from veh to nav: [[0.441928,0.887145,0.132943],[-0.896781,0.440547,0.041251],[-0.021972,-0.137451,0.990265]]2H H?}c?D?o1??@??i2!x@I2_;2CYFTR>yFTEbDjVDj8yr^=%rJ=ٔr>Q-v>9v ?Iv ?=vbGyvZFzpEz>|Q 5?4~?Q 9?4~l)~y@YywQ I?~8NAI~;i~;~@?4yɮnB1”1ʔ111QQQUKi@ɢa)e > e-Gii)im Jiima >qIqԑL:8j>E EEE"E:*EVEZEa@a@a@a@AA?ABBBDB6>B=BBB3 <BܰEA 0AI I! 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VD3:y$% *=ٔ X`:Q- >9*?I*?=bGy}FO E>Q 5%B4w?Q 9-B4L)?Q A-+:Y)Q E-x:y-ɿQ I5?AI;i>,B4y=Bɮ=B9Q”QʔQQQɢy)y Gi)顅Wiɪl>Iijl9 99A.AIIOj>ԑ ,a~V@A2r@2 ۡ@2:ٱ2P! :AHRS rotation from veh to nav: [[0.336296,0.935622,0.107318],[-0.934025,0.316791,0.165047],[0.120425,-0.155742,0.980430]]2H߅??*y?@MF?D ?%Ծ?[ÿ_?i2r@I2M-`;2C@B_AiBžIBE@IDiFKUA DD)DH Jq@HHHHJsAIL)LiL)LILPP PPPPiTTiTT)VD TIXYXY^P=y^dDbDj'VDj"9yr=%ru=ٔr=Q-r?9v ?Iv ?=vbGytvʊEz?xQ 5~B4zow?Q 9B4zR)z?Q A :YQ EH:yɿQ I?zKAIz ;izN?zЬB4y BɮjBE)”)ʔ)))D9zD=AAEE EEEE'EA"EE:*EET:VEEd6ZEAaM@aM@aM@aM@ɢi)i mGiq)quqium>ԹI h9AMAIYIiO}7>mGyu9YA9 %,zޘV@A((V66@V0@V'ҺٱVOTN fAHRS rotation from veh to nav: [[0.348593,0.918424,0.187032],[-0.937273,0.341240,0.071237],[0.001603,-0.200133,0.979767]]VH WO?c??#@?`Q->9c?Ic?=bGy~FJ<E>Q 5B4 x?Q 9B4-Z)I?Q A9YQ E":yiſQ I?AIz ;i8?ĴB4yɮbBY”YʔYaaɢ) Gi)页Sio>IB>BBDB,>BBBB <BEc9EM EMEMEI"EM:*EMV:VEMI6ZEIBEM iԙ ,,WV@A2R@2@2QLٱ2=. :AHRS rotation from veh to nav: [[0.342304,0.926155,0.158318],[-0.939586,0.336989,0.060131],[0.002339,-0.169337,0.985556]]2H`O? ?C?`;? }ɮ?)c?Ѭſ?i2R@I2`;2CYv5>yv DbD~VD~1':y =% T=ٔQ->9I=bGy;E%>!Q 5-B4%px?Q 9-B4%a)%?Q A59Y1Q E5:y59ǿQ I5?%AI%:i%?%B4y9ɮE\BAQ”QʔQaaɢ) yGi)顕ʷi?q>Iq\9A>A>AI IAOM1>ԡI=>)=>DU=DQE] E]E]EY"E]:*E]VL:VE]6ZEYam@am@am@am@ Y2,LV@A2 A@2;@2bPٱ2Y :AHRS rotation from veh to nav: [[0.319977,0.942070,0.100597],[-0.946060,0.312010,0.087297],[0.050853,-0.123104,0.991090]]2H~z?@o%?@?F@?Y?a ??i2 A@I2`;2CYNfB>yRDbDZEVDZ8y8>% K=ٔ nQ- >9I=bGyFlE>9Q 5EB4=w?Q 9MB4=)h)=@Q AM9YIQ EM9yM̿Q IM?=AI=:i=@=B4yɮ>B ”ʔ!ɢ) =Gi9)9=9i= s>AIieU9AIIO>B>BBDB=BBBDB <BE) Em  Em Em Ei "Em :*Em H:VEm 6ZEi BEi au 2Ei au JEm ;a} :Em ;a} Q *9,?sV@A6@6%@65 ٱ6Ă BAHRS rotation from veh to nav: [[0.315863,0.942214,0.111637],[-0.948180,0.309192,0.073182],[0.034435,-0.128968,0.991051]]6H7?&?`D?|W@?@? ?`?i6@I6vS`;4)Y]&>y]D aaaa aa aa aa a@a a@a a@a a@a yoʡ?HzGѿ/$M?= )Mb@Mb@Mb@IiB ݑB)YfBbDEVDE9yU A%U =Qٔ]9aIa=ebGyeFeEe>iQ 5B4mw?Q 9B4mGr)m# @Q Ao9YQ E9yL̿Q I?mAImC;im&@m4B4yBɮEBE”ʔɢ) YGi)giDu>I % N9ԁ Au ؟AI I O >@,pCV@A02@2x@2ٱ2= >AHRS rotation from veh to nav: [[0.314744,0.942387,0.113326],[-0.946622,0.302898,0.110271],[0.069592,-0.141984,0.987420]]2H$?(??J`b?:?@б?,¿?i2@I2+`;2C FC)FaAFDDDHiJxiIHHIHiJ`A JL)LNsC NaARQ8REPPR`AIR)V\EiV)TIV`AV\V{F TXZlAXiXXi^3C\E! E%E%"E!"E!*E%P:VE%a6ZE!a@a@a@a@)\ IYYu5>yu DiIbD VD8ԉyMT%Ur=ٔUսQ-U?9]"?I]"?=]bGyYeݺEe?Q 5B4v?Q 9B4=x) @Q AB9YQ E9yp̿Q I?AIzI AAԹJ9AM .AIQ Ii Ou > BBBB <BEii)   i w>IF9E1 E5E5E1"E1*E5 H:VE5۾6ZE1BE1aE2E1aEJE1aE:E1aMA5AIAIQO]U>A dL,3V@A2@2@2Saٱ25ʽ :AHRS rotation from veh to nav: [[0.313417,0.945833,0.084678],[-0.949185,0.309340,0.057940],[0.028607,-0.098535,0.994722]]2H`? CD?z?_`:?H?`$K?9?i2@I2 5`;2CYNu>yRD TTbDZKVDZ9yr=%rW=ٔrVd9v%?Iv%?=vbGyvFzDEz>|Q 5%B4~u?Q 9%B4~p)~@Q A-8Y)Q E-79y-dͿQ I-?~tAI~z:i~i@~B4y1ɮ5XB!”!ʔ!))ɢ) Gi)EiYy> I1I=?)=? vA9A?A?IA.AI!I1OEQ>E= E=E=E9"E=غ:*E=VL:VE=6ZE9aE@aE@aE@aE@qԡ MS,MV@A2ޘ@2Fٟ@2_Hٱ2d :AHRS rotation from veh to nav: [[0.278792,0.952523,0.122374],[-0.959106,0.269672,0.085983],[0.048900,-0.141341,0.988753]]2H? {?S?NB??@q ?s¿`ܣ?i2ޘ@I2U`;2CY~ >y~DbD dVD $9yyU<%]5=ٔe7Q-m>9} ?I} ?=bGyE>Q 5EB4t?Q 9EB4)@Q AE8YIQ E9yѿQ I?AI?ԡI:9I]>)]>AAII O>B>BBDBJK>BBBB <BEEM  EM EM EI "EM :*EM H:VEM 6ZEI BEM l t> 9ʡE?L7A`?7A`?Y/?y+=?ɞBB B)ɒBYBbD*VDU9y%T %%N=ٔ%9-c?I-c?=-bGy-F-ɻE>Q 5B4?Q 9B4))@Q AT:Yg?Q Ej:y~Q I?&AI* ;i ;B4yBɮSBE” ʔ  )Eۨ>Eۨ>EuM>E@ɢy)y }Giy)顅 i\|>I69IIOe>1Y ^`, V@A2a˗@2Ş@2pٱ2v :AHRS rotation from veh to nav: [[0.246029,0.945419,0.213663],[-0.966436,0.222455,0.128510],[0.073965,-0.238109,0.968418]]2H`}?@?RY? jy? s?_?\zο`G?i2a˗@I2`;2CYN=yRyDTV=V@ATbDZVDZ%:yfu%fc=ٔfQ-f>9hIh=jbGyhn|D9zD=?AbE6jE6rEW3EE EEEAEA"EEy:*EE|;:VEAZEAaU@aU@aU@aU@En>Q 5B4?Q 9B4;)7@YyQ I?"AI$:iR:B4yɮ^B” ʔ   1aaae:8@ɢ) Gi);i}>I/9aIIOJ>ԉԹ ˆf,hV@A2)@2a$@2 ٱ2Bn :AHRS rotation from veh to nav: [[0.255746,0.947737,0.190760],[-0.958282,0.222473,0.179448],[0.127630,-0.228695,0.965095]]2H&^?S?@j?>@y?@%? 1V?@EͿ?i2)@I2uU`;2CYN=yR DbDZ\VDZv 9yf6 <%fJ=ٔfQ-f>9hIh=jbGyjFn<E~>Q 5 B4?Q 9 B4)G@Y y =~Q I ?AI:ib:B4y9ɮ=]B9Q”QʔQQQ!!!%ϫ@ɢQ)Q ]GiY)Y]3ǸYi]B>aIaAqAu?AByByByByB}=ByByB}= <B}EBQBQBQBQBQCUS4ԙ*9II1O= >EM EMEMEI"EM:*EML_:VEM6ZEIBEM Q-f>9dIh=jbGyhj=Ej>|Q 5C4~?Q 9C4~ӣ)~VW@Y y Q I ?~FAI~:i~F:~7C4yɮ5bB9I”IʔIQQAAAE>@ɢ) Gi)顝ฉiJh>I$9IiIyO>DU=DU=E] E]E]EY"E]m:*E]:VE]6ZEYae@ae@ae@ae@A s,V@A 6l>4juG|)9Y˥AIYU=yU(\Donly read 0 of 1 data item for BIT error. Device response is::TS,00050503571540,35.0, 0.0,1506.6, 0 a@a a@a a@a a@a p<<bD*VD!9y W% =ٔQ->9I=bGyFE%>Q 5C4?Q 9C4)k@Q A+:YQ E=:yQ I?AIH;i ?%C4yBɮeBE”ʔɢA)A EGiA)IMWIiMXg>QIQyI?)-?U9Ae>AaIIO>Bu>BqBu EBu_>BqBqBqBuF <BuEԡ Em  Em Em Ei "Em :*Em ga:VEm w6ZEi BEm AHRS rotation from veh to nav: [[0.273668,0.961532,0.023697],[-0.961164,0.272484,0.043777],[0.035636,-0.034757,0.998760]]2Hǃ? ? D?bp?`i?>?ˡ?i2@I2M`;<2CYN>yR#DbDZ1~VDZ/9yf>%f=ٔfȤ=Q-f?9hIh=jbGyhn=;En?Q 5C4ӷ?Q 9 C4m)v@Q A  :Y Q E :y Q I ?AI:iTO?C4y=Bɮ=GB=EQ”QʔQQQɢQ)Y ]xGiY)Y]Yie`>aIiU(9ԱIIO>I]>)]> ,V@A2/G@2A@2׵ٱ2c :AHRS rotation from veh to nav: [[0.260292,0.965473,0.010500],[-0.961449,0.258178,0.094651],[0.088672,-0.034732,0.995455]]2H?@'?΀?1?;?;?@^ȡ?i2/G@I2^a;2ClYr(>yrDbDzHmVDzZ:y|=%G=ٔ CQ- >9 I = bGy F]E>E% E%E%!E!"E%:*E%=:VE%6ZE!a-@a-@a-@a-@1Q 5=C45j?Q 9=C45)5׃@Q A=9Y9Q EE9yE̕Q IE?5AI5u ;i51?52!C4yIɮM7BIa”aʔaaaPmB*** querying acoustic contact ***i iɢ) WGi)顝MEi>I2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.9A%؟AI9IIOU2>1U *DAT read: user:355> ] BDAT read: Tx time:00:08:56.1291 e $Ping request sent.e ? <%?!?iB @IB`;BCY~>y DAAAAbD%ȃVD%9y5:i%5G=ٔ5Q-5>99E"?IE"?=EbGyAE#<EM>IQ 5UC4M?Q 9]C4M)M@Q A]9YYQ E]9y]Q I]?MAIM;iMd?MT'C4yiɮmCBiy”ʔɢ) oGi)页ǷiJ>IB<AB>BB@EBtU>BBBDBL <BE9E= E=E= E9"E=I:*E=;J:VE=6ZE9BE=9-c?I-c?=-bGy-F5E5>AQ 5MC4E?Q 9MC4E)E@Q AU9YQQ EU9yUaQ IU?ԙEAIEIuc 9AII YYOZ>E= E=E=E9"E=:*E=ga:VE=6ZE9aE@aE@aE@aE@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752621 등,qPV@AmZ@m@mٱmb )Mb@Mb@Mb@Ii‰fB )+BYnjBbDVVD::ys3=%0=ٔ;Q->9I=bGyCE>Q 5C4z?Q 9C4)@Q A o9Y Q E 9y Q I ?4AI ;ix@0C4yɮdBQ”QʔQQQchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005603ɢ))1 5Gi1)15U1i=؄>aIi!}X9IIO>B>BBDB6>BBBBZ <BEIEE  EE EE EA "EE I:*EE V:VEE I6ZEA BEA aM 2EE 9IAIA)E:?58YIQIaOm>ԁ%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509417ԩ <,V@A61@6,@6%ٱ62M BAHRS rotation from veh to nav: [[0.258607,0.948550,0.182689],[-0.965134,0.245791,0.090020],[0.040485,-0.199599,0.979041]]6H@?Z?Vb?`` v? ? m?`rɿMT?i61@I6e`;6CYJ=yJDbDVVDV9yZ\=%^J=ٔ^Z>Q-^>9`I`=bbGy`fO;Ef>dQ 5jC4f?Q 9jC4f)fe@Q An9YlQ En-9yn7Q In?f AIf ;ifN@f6C4yvBɮvOBvEE EEE"E:*ET:VE6ZEa @a @a @a @”ʔ!ɢA)I MGiI)IMOIiM >QIQU8iyIy}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760989ԱIIO=I]>)]> - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0130409 $,wV@A2}@2@2:ٱ2_h :AHRS rotation from veh to nav: [[0.238784,0.959793,0.147580],[-0.971073,0.235899,0.037012],[0.000710,-0.152149,0.988357]]2Hv???1?;?"CG?`yÿ?i2}@I2}`;2CYf=yf-DbDnVDn~9yvY<%vG=ٔz?=Q-z>9xIx=~bGy~F~'NE>Q 5 C4?Q 9 C4j)@Q A8YQ E 9yˍQ I?pAI:ih@68C4yɮ%IB!1”1ʔ199ɢa)a mGii)imGiiiqIqAAAAB>BBDB">B=BBBL <BE8I I!O-=E EEE"Em:*E[:VE{6ZEBEdynIDvchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517645bDu9VDu8yv=%A=ٔ㨽Q->9I=bGy1=E>Q 5C4 ?Q 9C4()@Q A8YQ E8yQ I?AI:i@:C4yɮ%%}! !9%MbX?"~j̿~jtۿY% ?y%Sc%۾!%ɆB %B)%B%Y%fBbD=VD=a9ٔMP=Q-M>9QIQ=UbGyUFUl<E]>YQ 5eC4]?Q 9mC4])]@Q AmT:Ym9?Q Em:ymtQ Iu?]AI][;i];] IC4yyɮyy”ʔ+>+>U>g@ɢi)i iiq)quyiyIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0215568 YYAII1O=r>B>BBDB=B=BBDBE <BEBqBqBqBuǹ=BqCuq5E%  E% E% E! "E% :*E% VL:VE% 6ZE! BE% 9pIp=rbGypvw;Ev>tQ 5zC4v?Q 9~C4v)v@Y|y~Q I~?vAIv;iv@;v{UC4y ɮ  !”!ʔ!))AAAE@ɢQ)Y YiY)Y]aiaaIiu8IA.AIIO*>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525186qԡ WH,(aV@A20ϙ@2ɠ@2٢ٱ2l :AHRS rotation from veh to nav: [[0.306224,0.944814,0.116423],[-0.948640,0.292660,0.120135],[0.079433,-0.147232,0.985907]]2H +?;?ͽ?A[@? 2?U?}¿`?i20ϙ@I2qZ`;0YBO >yFۨD J49 ?I ?= bGy F =E >Q 5C4y?Q 9C4)@Y!y%ۿQ I%?AI;i;cC4y-Bɮ-:B-EA”AʔAIIaaae@yɢq) vGi)顅`ȸiI]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7767538ԡAAIIO (>? ̴?M`?@*?? ?i2!@I2`;0Y^}=y^@DbDjVDjI9yrܼ%rL=ٔri=Q-r>9vc?Ivc?=vbGytv<Ez>xQ 5C4z?Q 9C4z )zA@Yy#ؿQ I?zAIz<;iz&;zqC4y ɮ@B)”)ʔ)))BYAYBe>BaBeDBe">BaBaBaBeI <BeE!!!%Y@ɢ1)9 =Gi9)9=\⸉9i9AIAm 8E EEE"E:*EX:VEB6ZEBE I]>)]>1Թ bͱ,39V@AR@R@R ٱRC^checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532726 nAHRS rotation from veh to nav: [[0.300164,0.949595,0.090396],[-0.947279,0.285608,0.145225],[0.112087,-0.129221,0.985260]]RH5?`c?-$?P eG?`? ±?TA?iR@IRz`;RCYv=y ‚DbD%(?VD%9yU=%UC=ٔUQ-U>9]%?I]%?=]bGy]F]Ee>aQ 5-C4e?Q 9=C4e)eǤ@YAye\ڿQ Ie?eAIe =ie#=enC4yqɮuJBqԁ”ʔצ@ɢ) Gi)qulqiqyIԱD<D<E  E E E "E :*E  H:VE  6ZE a@a@a@a@8mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.784710A ؟AI I O > Ա,S SV@AvT@v@vٱv]T AHRS rotation from veh to nav: [[0.357332,0.919805,0.162091],[-0.930028,0.334477,0.152227],[0.085803,-0.205145,0.974963]]vH? o?i?`h? /|? 7?2Bʿ2?ivT@Iv`;vCY5=y5#DyS?Mҿ~jt?/}?n> 9Cl?L7A`пrh|ϿY/?y+{BĈB )=BYB@A@AbD!VDn9y-M%50=ٔ=bh=Q-=>9e"?Ie"?=ebGyeFm>Em>qQ 5}C4us?Q 9}C4u )uߢ@Y}F?Q E}:y}IϿQ I}?checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040742uAIumBUCBUDBU,>BQBQBQBUO <BUEA.AIIO>A E  E E E "E :*E V:VE 6ZE BE AHRS rotation from veh to nav: [[0.337457,0.916919,0.213033],[-0.941080,0.323284,0.099279],[0.022161,-0.233983,0.971988]]2H?eW?`D?S?Yj?W?`(Ϳ?i2՚@I25m`;2CYN>yNIDbDZVDZ59yfw>%f|=ٔfI>Q-f ?9j ?Ij ?=jbGyhjE= ?AQ 5MC4E?Q 9UC4E&)E'@YQyUӿQ IU?EAIE;iEN;EtC4yxBɮ/BE”ʔIIIMA@ɢ) mGi)iIQA]AIqIOF> Y]AAychecking for new query: numPingsReceived=0, elapsed TxPingTime=5.544673ԡ ,iV@A2S@2AN@2=ٱ2 :AHRS rotation from veh to nav: [[0.351704,0.887763,0.296953],[-0.935337,0.346161,0.072918],[-0.038059,-0.303397,0.952104]]2HR?h?H?@H'?Ȫ?|jӿw?i2S@I2Ga;0Q-r>9vc?Ivc?=vbGytv=Ez>xQ 5%C4z?Q 9%C4z)z@Y1y<ԿQ I?z+AIzA checking for new query: numPingsReceived=0, elapsed TxPingTime=6.048685 A,†V@A2 @2<@2Xޘ=ٱ2% :AHRS rotation from veh to nav: [[0.402921,0.878962,0.255109],[-0.912192,0.408377,0.033684],[-0.074574,-0.246281,0.966325]]2H t?t ?S?0"???@Ͽ#?i2 @I2Qa;2ClA|A~@AB>BBDBw>BBBBBEE EEE"E:*ET:VE6ZEBEyDA bD͟VD9y5#=%5=ٔ==Q-=>99IA=EbGyEFe=Em>iQ 5uC4m?Q 9}C4m%)m+@Yyy})̿Q I}?m?AIm:im :mSC4yɮ#B”ʔmchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.300636YP@ɢ) UGi)ٷ1iAIAA .AI I O >a R,aV@A6>M@6G@6u=ٱ6H̽ BAHRS rotation from veh to nav: [[0.380115,0.919052,0.104195],[-0.924387,0.381363,0.008457],[-0.031964,-0.099531,0.994521]]6HS?h?`?``@h?Q?]`z?i6>M@I6 4a;6CDF^AiF˾IFEDIHiH HH)HL LLLLPPIP)PiP)TITTT TXXXiXXiX^1`A)\ \bchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.552793IdYdYj"L>yj DbD VD V99y=1=%E=ٔE`Q-E?9M ?IM ?=MbGyIMEU?QQ 5}C4U?Q 9C4U*)Uט@YyLʿQ I?UBIU[:iU:UC4yɮBy”yʔyyys@ɢ)) -3Gi1)151i19I9 EEIE)EiI]>)]>D=D4=E EEE"E:*EV:VE 6ZEa@a@a@a@ԙ}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805119Ae ,AIq I O > ,KV@A>'@>2"@>ndpٱ>{̻ FAHRS rotation from veh to nav: [[0.375408,0.926717,-0.016275],[-0.925002,0.375709,0.056696],[0.058656,-0.006230,0.998259]]>H? ?m ?A?`#?/y?i>'@I>xb;>CY5>yDԙa@a a@a a@a a@a y+?Mb`e;Oο=t )Mb@Mb@Mb@Ii‰YB )YWBbDXVDu:yHG%1=ٔHQ->9->(?I->(?=-bGy-F5d!E5>9Q 5EC4=:?Q 9EC4=4)=͕@Q Ae+:YaQ Ee]:yeƿQ Im?=BI=;i=>=C4yurBɮuBuĪE”ʔchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.056768ɢq)q uJGiq)q}UyiyyIAzAAAIIBBB@EBtU>B=BBB@ <BEO=r>E  E E E "E غ:*E F:VE j6ZE BE yD = =bDmVDm8y%a=ٔQ->9-?I-?=bGyF%=E>Q 5 C4 ?Q 9 C4Q;)œ@Q A  :Y Q E 3:y  Q I?BI:iS?oC4y9ɮ=B9q”qʔqqqɢ) WGi)顥ǷiIԑA.AIIO%M>checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560649ԩ ,V@A2a@2u\@23ٱ2E :AHRS rotation from veh to nav: [[0.382632,0.923900,-0.001021],[-0.923890,0.382632,0.004439],[0.004492,-0.000755,0.999990]]2H }??P }?`.r?@nfr?H@?i2a@I2w&c;2CDN?AzDLbE%w6jE%\6rE%P3EP EREREP"EP*ER;J:VER6ZEPaV@aV@aV@aV@Y>ymDbD-VD-9yɽ%J=ٔن>Q->9 ?I ?=bGyE>Q 5C4?Q 9C44C)@Q A%9Y!Q E%:y%ſQ I%?6BI':i ?C45checking for new query: numPingsReceived=0, elapsed TxPingTime=7.812665y)ɮm2Bq”ʔԩɢI)I UGiQ)QUQiQYIYIaIqO9> QU@A  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.0647361 m,!V@A2@2@2jGr=ٱ2 :AHRS rotation from veh to nav: [[0.387268,0.915459,0.109353],[-0.920070,0.391348,-0.017828],[-0.059116,-0.093708,0.993843]]2H?@qK??7q ?vA hDA ?i2@I2V+b;2CBLALBR>BPBRDBRJK>BPBPBPBR= <BRްEBmCBmCBiBm=Bm=Cmj5Yb;=yf DbDn'VDne9yn%K=ٔA">Q->9I=bGyFFh<E>Q 5C4?Q 9C4J)K@Q A9YQ E9yɿQ I?`BI;i{?C4y!ɮ%>B!Y”YʔYYYɢ) Gi)顭Hi 1I1AE ?AE>E EEE"E:*EA:VEt6ZEBE Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.3167349i :,ծ;V@A2ϝ@2ʤ@2~ uٱ2T >AHRS rotation from veh to nav: [[0.422721,0.900546,0.101609],[-0.904285,0.411744,0.112851],[0.059791,-0.139588,0.988403]]2H ?E?`?Z??✮??i2ϝ@I2a;2CRchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.568606YV >yVԴDbD^hQVD^g9y=%V=ٔ QQ- >9 I =bGy=E=>AQ 5MC4E?Q 9UC4ER)ED@Q AU9YQQ Eu9yucĿQ Iu?EBIE;iEN@EC4ylBɮ"BͪEQ”QʔQYYɢ) lGi)iI iIIO=ԙE EEE"E:*ET:VEZEa@a@a@a@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.820753 gl> ґC -G ^A 9 ^AY Ay ? MAZ!,UV@A>k@>!f@>ٱ>ҡ FAHRS rotation from veh to nav: [[0.411573,0.909673,0.055703],[-0.909198,0.405597,0.094081],[0.062990,-0.089366,0.994005]]>H`5W? ?@?`%K??# ?඿?i>k@I> a;>CLY^>y^Donly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 0.00, 0.00, 0.00 bD5[7VD5@9ymܼ%mD=ٔuQ->9I=bGyFE>Q 5C4?Q 9C4Z)@Q Ao9YQ E9y*ĿQ I?BIC;i@C4yɮ(B”ʔɢ1)9 =xGi9)9=K9i9AIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.072721IIO >I]>)]>BBBDB=B=BBB> <BEE  E E E "E :*E e:VE w6ZE BE a 2E a JE d;a :E d;a ! e checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324667K,`oV@ABȜ@BPã@BTٱBӽ NAHRS rotation from veh to nav: [[0.394127,0.914936,0.086923],[-0.918840,0.390216,0.058862],[0.019937,-0.103067,0.994475]]BH_9?(G?@?"g@M?`/#? @j?b`?iBȜ@IBQ`;BCY=Ć=y=%DbDMVDM:y])%]K=ٔe=Q-e>9aIa=ebGyimCMEm>qQ 5}C4u?Q 9}C4ub)uP@Q AB9YQ Ez9yǿQ I?uBIu ;iu5@uC4yɮJB”ʔɢ) Gi)iIA[AzA]AIYIiO =)checking for new query: numPingsReceived=0, elapsed TxPingTime=9.576691Yԁ 2",m8V@A2XМ@2ʣ@2iٱ2o* :AHRS rotation from veh to nav: [[0.394418,0.911756,0.114611],[-0.917158,0.382841,0.110694],[0.057048,-0.148776,0.987224]]2H`&>?@-?@%W?\Y`w?@nV?`c5? ÿV?i2XМ@I2`;2CDB@AzD@EF EFEFED"EF[:*EFP:VEFI6ZEDaJ@aJ@aJ@aJ@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=9.828626YY=y~DbD%SVD%29y5U=%50=ٔ=֣Q-=>99I9=EbGyEFE;EE>IQ 5UC4M?Q 9UC4Mk)M߃@Q AU9YYQ E]J9y]ȿQ I]?Md BIMi ;iMR@MC4yaɮe8Bay”yʔyɢ) Gi)页{XiIԉA=AIAIQOeV>Ա q@Bk@B|"ٱB~<2 JAHRS rotation from veh to nav: [[0.384067,0.911873,0.144845],[-0.922451,0.372214,0.102671],[0.039710,-0.173045,0.984113]]BH?.?E?`[?H? T?`T&ƿ}?iB>q@IBl`;@ T)V"aAZQ8^ F\hjaAijtIjEhIlinOaA nHnaF)lrC r`Arpptv`AIv̼)tit)xIz`Azļx x|~lA|i||i~@C) IYY =y {DbD%VD%3 :y5e<%5q=ٔ5Q=Q-=?9=%?I=%?==bGy9EC EE?IQ 5MC4M?Q 9UC4Mr)M @Q AU8YQQ EU$9yU-˿Q I]?Mk BIM ;iMh@MC4yefBɮe0Be֪Ey”yʔyyyԱɢA)A EGiA)AMc˷IiIQIQE EEE"E*E|;:VE6ZEBE aa 9 .,V@A6>=@67@6ٱ67 FAHRS rotation from veh to nav: [[0.407128,0.900443,0.153132],[-0.913075,0.396967,0.093336],[0.023256,-0.177821,0.983788]]6Hc?`m?֙?7g??UЗ?ƿ1{?i6>=@I6t`;4Y]q=y]DbDmVDm9y}2<%}F=ٔb#=Q->9c?Ic?=bGyF,w=E>Q 5C4?Q 9C4z)X@Q A8YQ E9yTȿQ I? BIG;it@zC4yɮ+B”ʔɢ) Gi)顕siIAAAIQIaOm5>D%=D<E EEE"E:*E;J:VE6ZEa@a@a@a@qԙ n5,V@A6y@6@6PG=ٱ6* VAHRS rotation from veh to nav: [[0.391551,0.907477,0.152227],[-0.919405,0.392523,0.024886],[-0.037169,-0.149703,0.988032]]6H+? ?,|?k?{?t)ÿ?i6y@I6T`;4Y- >y-MDaa aa aa aa yGz?x&1ؿi|?5?p>q= 9x&1?A`"ӿnٿYA?yVξ̆B WB)BYB <<bDVD 9y[=%C=ٔ>Q->9I=bGyM$E> Q 5D4 ?Q 9D4 D) \u@Q AT:Y5?Q E:yBQ I?  BI N;i ; ! D4y!ɮ%B!9”9ʔ9AAq,>,> ? /@ɢ) rGi)KiIAe.AIiIyO:>ԡBE>BABEzDBEJ=BABABABE <BEEE  E E E "E *E VE P6ZE BE ?ƿ@b?iR*@IRWi`;RCYb>yfPDbDn5VDn 9yv2R%v]=ٔv?Q-z>9z ?Iz ?=zbGyzF~ =E~>Q 5 D4?Q 9 D4g)/n@Y y Q I?BI:i-:D4yɮ"B”ʔ@ɢ) wGi),|iIAM؟AIQIiOu>I]>)]>) B,؂ V@AEB EBEBE@"EB:*EB]t:VEBS6ZE@aF@aJ@aJ@aJ@R@R@RAٱR^7+ ZAHRS rotation from veh to nav: [[0.397934,0.906105,0.143607],[-0.917123,0.388963,0.087140],[0.023101,-0.166381,0.985791]]RHw??`a?`Y?N? ?Kſ`?iR@IRĉ`;RCYb>ybDbDnWVDn9yv\%vJ=ٔvP >Q-v>9z"?Iz"?=zbGyxz<E~>|Q 5D4~?Q 9 D4~)~e@Y y Q I ?~BI~:i~[:~/&D4yeBɮ$B)”)ʔ111IIIM@ɢa)a e~Gia)im˖iiiiIqA9zA=ZA1A.AIIO>Yԁ B9 A= <BE >BA BE DBE #>BE =BA BA BE <BE GEH,_$V@A0f%@f@f;ٱf, rAHRS rotation from veh to nav: [[0.401081,0.906047,0.134957],[-0.916027,0.397552,0.053353],[-0.005312,-0.145024,0.989414]]fHN?U?IF?P|q?"Q?u#¿`G?if%@Ifc`;fCY~D=y~HvDbDщVDa9y%*%%G=ٔ%v=Q-%>9- ?I- ?=-bGy-F-S<E5>1Q 5=D45Q?Q 9ED45])5\@YAyE@Q IE?5BI5:i5g:54D4yM`BɮU-BUߪEa”aʔiiiƦ@ɢ) Gi)顥CiIUnManaging dock network, ignoring radio surface power offԉE EEE"Ey:*E H:VE6ZEBE'iI BDAT read: Response Not Received  *response not received V@ABs@B@B=ٱBE- NAHRS rotation from veh to nav: [[0.390166,0.913020,0.119016],[-0.920208,0.391080,0.016552],[-0.031433,-0.115978,0.992754]]BH@y?v7?w? Xrr? ??iBs@IBb`;BCpYrG=yrJDbD~VD~9y<% K=ٔ +=Q- >9"?I"?=bGyE>!Q 5%D4%?Q 9-D4%)%GR@Y)y- Q I-?%BI%:i%;%BD4y9ɮ=(B9I”QʔQQQqqqu*_@ɢ) Gi)額pɸiIA=.AIIIYOe> QQD=D=bE6jE6rE2E EEE"E*EC:VE 6ZEa@a@a@a@Aa jU,$(XV@AF@F{|@F}<ٱF VAHRS rotation from veh to nav: [[0.442949,0.892999,0.079684],[-0.896161,0.443614,0.010131],[-0.026302,-0.075897,0.996769]]FHFY?q?)f?Y@*d?v?m?iF@IF+`;FCY^}=yb@D1yZd;OQ?x&1?j<A> 9S㥛?nѿ#~j?Y$?yV>B B)ƕBYBbDVD(8y =%@=ٔFQ->9 ?I ?=bGyF >E>Q 5D4?Q 9D4)^@Ys>?Q E:yĿQ I?BI ;i" ;pQD4yɮ B”ʔ-?-?Φ@-@ɢ!)! %Gi!))-N㸉)i)1I1AE?AE>YAIIO>B>BBDBw>B=BBB<BEBBBBBŸ=C~4ԑE  E E E "E :*E n:VE L6ZE BE By^DbDjVDj:yrB<%rY=ٔr|Q-r>9tIt=vbGytv9Ez>xQ 5D4z?Q 9D4z)zaj@YyοQ I?ztBIz;iz;z^D4y ɮB!”)ʔ)))AAAE]”@ɢY)Y ]yGiY)aeaiaiIiԙAE,AIQIaOm> b,ȋV@AD2?AzD2?AE6 E6E6E4"E6:*E6VL:VE6Ժ6ZE4a:@a:@a:@a:@BWS@BM@B&ٱBGo NAHRS rotation from veh to nav: [[0.433049,0.901275,-0.013089],[-0.888807,0.429384,0.160161],[0.149970,-0.057724,0.987004]]BH ?@??9Ίq {?`+?42??iBWS@IBa;BCYVS>yVDbDb VDba:yjS%jK=ٔjUQ-j>9n>(?In>(?=nbGynFrmEr>tQ 5vD4v?Q 9zD4v)v8x@YxyzjпQ Iz?vHBIv):iv:vlD4yɮB”ʔ1115Z@ɢI)I MzGiI)QUj QiQQIYG=99Y=/fAA֧AIIO=1I]>)]>Qy A A AAB >B B B B B B B <B "E;h,HV@A2@2E@2%ٱ2( :AHRS rotation from veh to nav: [[0.458896,0.880910,0.115811],[-0.886147,0.444322,0.131611],[0.064480,-0.163021,0.984513]]2H^?@j0?@ʥ?Q[o?@??@Ŀ"?i2@I2Ia;2CYn5>yn DbDʵVD :yD ;%F=ٔrU>Q->9*?I*?=%bGy!%r=E%>)Q 55D4-?Q 95D4-ڱ)-@Y1y=Q I=?-(BI-];i-Y;-{D4yEZBɮEBEEY”YʔYYayyy}T@ɢ) yGi)顕*iIAzA[AQE} E}E}Ey"E}y:*E}P:VE}6ZEyBE}'ԁԱ #o,,V@A2@2@2ٱ2GJ :AHRS rotation from veh to nav: [[0.449612,0.878107,0.163636],[-0.892800,0.436146,0.112631],[0.027533,-0.196734,0.980070]]2Hq?t?`?Б`?@^ռ?1?.ɿ \?i2@I2a;2CYN=yRoDbDZ%VDZD9yf(%fO=ٔf=Q-f>9j ?Ij ?=jbGyjFnEn>QQ 5}D4U?Q 9}D4U)U@YyyQ I?U BIU;;iU;UbD4yɮ*B”ʔė@ɢ1)1 5Gi9)9= $9i9AIAԱAe؟AIqIO>E EEE"E:*EV:VE~6ZEa@a@a@a@ 9 v,cV@A22@2͙@2@qٱ2E :AHRS rotation from veh to nav: [[0.445531,0.883268,0.146083],[-0.893322,0.427855,0.137537],[0.058979,-0.191776,0.979665]]2H?C?ײ? a? ͚?2? ȿ`jY?i22@I2`;0YNV>yN Ea@a a@a a@a a@a a@a ysh|??y&1Q>`\ )Mb@Mb@Mb@Ii‰ )IbDpFVD19yɄ>%9=ٔQ->9"?I"?=bGyE>!Q 5-D4%?Q 9-D4%)%@Q AM+:YQQ EUg:yUQ IU?%BI%;i%>%D4yYɮ]BY”ʔɢ) )Gi) iIB>BBDB#>B=BBB<B\EAII9OEQ> YYa E  E E E "E O:*E g:VE 6ZE BE yR 2EbDZ,VDZ 9yf$L>%f_=ٔfl4=Q-f>9hIh=jbGyjFnEn>Q 5 D4n?Q 9 D4)@Q A  :Y Q E ;:y lQ I ?BI':iL?D4y9ɮ=ɑB9Q”QʔQQQɢQ)Y ]Fia)aaaiiiIqA ?AC?iA.AIIO (>ԡ , V@AE& E&E&E$"E&:*E&|:VE&6ZE$a*@a*@a*@a*@:"@:@:Bٱ:B+D FAHRS rotation from veh to nav: [[0.432098,0.889013,0.151484],[-0.900574,0.416516,0.124425],[0.047520,-0.190187,0.980597]]:H?r?@c?1?Sڿ?T?`Xȿ a?i:"@I:`;:CLYz4>yz;VE p<bDiVD[9yE( >%EC=ٔM5Q-M>9M ?IU ?=UbGyQU%EU>yQ 5D4}?Q 9D4})}@Q A9YQ E:yQ I?}BI}:i}?}ʥD4yɮB”ʔɢ) Fi)iIAMAIYIO;>! B A =B B B @EB tU>B =B B B <B EG,F&V@A2Ν@2Ȥ@2`Uٱ2i4 :AHRS rotation from veh to nav: [[0.422738,0.895832,0.137030],[-0.904746,0.408470,0.120773],[0.052220,-0.175033,0.983177]]2H!??2?_$?@??`xgƿ /v?i2Ν@I2p`;0YNj>yR'zEbDZVDZe9yf>%fS=ٔfFQ-f>9jc?Ijc?=jbGyjFnؼ9EU>yQ 5}D4}B?Q 9D4}E)}@Q A9YQ E9yQ I?}BI}7:i}?}ܫD4yɮB”ʔɢ)1 5iFi1)999i9AIAEU EUEUEQ"EU:*EU҆:VEU6ZEQBEUU-I]>)]>ԑ /,\@V@A6?<@66@6uٱ6 >AHRS rotation from veh to nav: [[0.434683,0.893213,0.114987],[-0.898584,0.421665,0.121430],[0.059977,-0.156109,0.985917]]6H?2?@o?3?? 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R?`?`?`{U?i6@I6,`;6CE EE E"E>:*EL_:VE6ZEBE9!I!=%bGy%F%<E->1Q 5=E45x?Q 9=E45@)5@Y9y=^Q I=?5+BI5:i5=:5DE4yAɮMBIY”aʔaaaԩ@ɢ))) -Di1)15Q1i19I9i߉I߉IIO > g,\EV@A2lj@2b@2Kٱ25 :AHRS rotation from veh to nav: [[0.462506,0.886268,0.024845],[-0.864461,0.444546,0.234702],[0.196964,-0.130028,0.971750]]2H?O\?p? rs?@ ?6?Ĥ@?i2lj@I2s`;0 @)B+aAB@@DFaAiF`IDDIHiJXaA JH)HH J`ANԼLLlppIrԼ)pip)tItvԼt tzLCzlAxixxizLC|)| |IYY%?Q?y-FbD]VVD]9ym=%mj=ٔmQ-u>9qIq=ubGyq(E>Q 5E4?Q 9E4B)E@YyQ I?m+BI-:ig:QQE4yɮB”ʔ1115j@ɢa)i mDii)imiiiqIyII O= D=D<E EEKE"E:*E H:VE6ZEa%@a%@a%@a%@ aa1a a,'_V@A2@2@2#_ٱ2 :AHRS rotation from veh to nav: [[0.463610,0.885875,0.017084],[-0.859136,0.444734,0.253174],[0.216682,-0.132052,0.967270]]2Hʫ?Y?~?@ ~v?4???@?i2@I2k`;2CY-+P> )Mb@Mb@Mb@Ii‰ĈB )BY#BbDH/VD 9y <%C=ٔDQ->9I=bGyF <E>Q 5E4#?Q 9E4E).@Q A+:YQ E;yQ I?+BI:i>]E4yɮB)”)ʔ)))ɢQ)Q UDiY)Y]fFYiYaIaA}?A}?II1O==B>BBFBi?BBBDB <BEaԑE  E E )E "E :*E rN:VE 26ZE BE l 9III=MbGyIMlG<EM>QԙQ 5E4U?Q 9E4UZH)U@Q A :YQ E:yQ I?Uc,BIUt@>@>Qٱ>2 VAHRS rotation from veh to nav: [[0.460932,0.887361,-0.011441],[-0.850214,0.445258,0.280860],[0.254319,-0.119730,0.959680]]>H?Ce?n4??`F??i>@I>Ip`;>CY^SY?y^FbDfiVDf88ynY=%rQ=ٔrQ-r>9pIt=vbGyvFvEv>xQ 5~E4z?Q 9~E4zK)z@Q A9YQ E:yQ I?z,BIz ;iz?z mE4y ɮ B!”!ʔ!))ɢQ)Q UDiQ)QUaiaaIiA.AIIO=!I]>)]>QB >B B `FB ?B =B DB DB <B Ey *,]QV@A2g@2@2vٱ2"9Ľ :AHRS rotation from veh to nav: [[0.449799,0.891304,-0.057079],[-0.840804,0.444135,0.309505],[0.301214,-0.091223,0.949183]]2H? ?z9l??G?`\Z_?i2g@I2*`;2CYZb?yZ{ FbDb;MVDbQ9yj=%jK=ٔn=Q-n>9r ?Ir ?=rbGyprbEr>tQ 5zE4v?Q 9zE4vM)v@Q A~9Y|Q E~:y[Q I?vV-BIv#=;ivC?v1sE4y HBɮB E)”1ʔ111ɢi)i utDiq)quDqiyIQDzD?AE EE;E"E[:*E1]:VEr6ZEBEԁԱ ӵ1,^,V@A2*@2@2ٱ2 :AHRS rotation from veh to nav: [[0.451875,0.889356,-0.069678],[-0.820977,0.445145,0.357551],[0.349007,-0.104365,0.931291]]2H@?u?dֱ`qE A}?@?!V?!?i2*@I2a;2CYBn?yFFbDNVDNc9yV=%VM=ٔVQ-V>9Z"?IZ"?=ZbGyZF^<E^>`Q 5fE4bU?Q 9fE4bP)b@Q Af9YdQ Ej^:yjQ Ij?b-BIb;ib'?b xE4ynEBɮhBE1”1ʔ111ɢ) EDi)顥iIԱA%AI1IAOU>E EE E"E:*Ek:VE6ZEa @a @a @a @ 9 7,V@A2s@2n@2оٱ2A :AHRS rotation from veh to nav: [[0.456001,0.885918,-0.084921],[-0.796790,0.448898,0.404495],[0.396470,-0.116786,0.910589]]2H`/?qY?`aM࿺?@>?_?彿#?i2s@I2F`;2CY^w?y^EFa}a} aa aa aa a@a a@a a@a a@a y:v rhSӿԼC )Mb@Mb@Mb@IiYB )9%?I%?=bGyF=E>Q 5E4F?Q 9E4{S);@Q Ao9YQ E3:yQ I?L.BI;i@]|E4yɮVB”ʔɢ!)! %!Di!))-K)i))I1B]>B]CB] 2FB]ؐ?B]=B]DBYB] <B]EAIIO >9 Y]AAE EE%E"E:*E[:VE6ZEBE,V@A 2@2Z@2f޾ٱ2 >AHRS rotation from veh to nav: [[0.453296,0.886445,-0.093474],[-0.785322,0.446776,0.428555],[0.421653,-0.120855,0.898667]]2H?`]?\!?sm?@]?Y?i2@I2ja;2CYFM?yFFbDNTVVDN9yV=%V\=ٔZQ-Z>9XIX=^bGy\^"<Eb>`Q 5fE4b?Q 9fE4bU)b-AQ AjB9YhQ Ej:yjpQ Ij?b.BIb:ibW3@bUE4ypɮrDBpx”|ʔ|||ɢ!)! %Ci!))-ķ)i)1I1iA؟AIIO=ԙ bEed6jEe˘6rEe'l3E  E E 1E "E :*E C:VE k6ZE a @a @a @a @D,V@AJ ~@Jx@J ٱJP VAHRS rotation from veh to nav: [[0.450089,0.888588,-0.088500],[-0.784114,0.440692,0.436985],[0.427300,-0.127288,0.895105]]JH A?`Oo?秶vM4??X?J`?iJ ~@IJ`;HY^?ybFfAfA fp9 "?I "?= bGy FE>!Q 5-E4% ?Q 95E4%X)%`AQ A59Y1Q E59y=Q IM?%//BI%;i%#N@%E4yQɮ]CBYy”yʔɢ) Ci)#iIA.AIIO>BU >BQ BU IFBU ?BU =BU DBQ BU  <BU EBCBCBBBCɦ~5! 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A7??c꺿?i~@I~1a;~CqYM@yM_GyK7A?"~ʿʡEƿ B?S-2 9bX9?y&1MbX9ĿYE>y`彙!BB )YB  <bD* VD6y >%%=ٔ%:%Q-%>9)I)=-bGy)-l<E5>1Q 5=F45 ?Q 9EF45D)5gAYE?Q EE:yEQ IE?5EBI5 ;i5& ;5F4yQɮUBQE EEE"EI:*E;J:VEB6ZEa@a@a@a@Ա”ʔ(>(>3@?ɢ))1 5+i1)111i=g>9IAe u=Ai zAi I I O > yZ,lV@AB>BB|GB:@BBBB3<B{EF F@F@@FZyٱFJG RAHRS rotation from veh to nav: [[0.412037,0.782363,-0.467047],[-0.379293,0.613333,0.692791],[0.828470,-0.108308,0.549461]]FH^?  ?ݿVFؿl?W+?҂?@/?iF F@IF-|a;FCTV3_AiVIZEXIXiZKUA XX)\\ ^q@\\```I`)`i`)dIddd djChhihhiln1`A)l lIlYlYv@yvGbD~ VD~А6y To?% =ٔ#Q-?9I=bGyF=E?!Q 5-F4%?Q 9-F4%")%OiAY1y5Q I5?%?FBI%N:i%g:%-F4y9ɮ=BAY”YʔYYa?ɢ) *i)顩iI9=IIO=!I>)>E EEE"E:*EA:VEq6ZEBE;a2E;aJEs;a:Es;aQy a,hV@A2V@2@2yٱ2 H :AHRS rotation from veh to nav: [[0.415954,0.776638,-0.473091],[-0.375435,0.620485,0.688511],[0.828270,-0.108774,0.549670]]2H@?8?!G޿ؿ@? H?/? ػ?i2V@I2a;2CYc@ymGbD-H VD-6y=>%=G=ٔEc:Q-E>9AII=MbGyIM<EM>QQ 5]F4U<?Q 9]F4U)UokAYayeVQ Ie?UFBIUn;iU;UF4ym@Bɮm*BmIQԉ=IIO^>ԩE  E E E "E g:*E ;J:VE 6ZE a @a @a @a @ g,BV@A64ת@6ѱ@6tyٱ6DF >AHRS rotation from veh to nav: [[0.419675,0.770765,-0.479369],[-0.372805,0.627897,0.683200],[0.827581,-0.108011,0.550857]]6H@?@?޿׿@?@?{?@?i64ת@I6ia;6CY-<@y-GbD=hVD=w6yM?%MI=ٔUoF;Q-U>9QIQ=UbGy]F]<E]>aQ 5mG4eȶ?Q 9mG4e)emAYqyu0Q Iu?eGBIe:ie :eG4yyɮ}B”ʔa?ɢ) (i)ilc>IԱA!A%@AB)B)B-GB-@B-=B)B)B- <B-KEIaIO> 9 Jm,iV@A2@2@@2 yٱ2dE :AHRS rotation from veh to nav: [[0.423001,0.766676,-0.482989],[-0.371490,0.632900,0.679288],[0.826478,-0.107914,0.552530]]2Hp??I޿׿@??`r?: S?i2@I2Ղa;2CYF4@yFGbDNVDN4d6yVg?%VU=ٔZ;Q-Z>9XIX=ZbGyX^Zr<E^>`Q 5fG4b ?Q 9fG4bl)boAYhyj[Q Ij?b1HBIb:ib9:bG4ylɮnMBlx”xʔxx|CL?ɢ!)) -(i)))))i5Ob>1I9E EEE"E:*E=:VE 6ZEBEs%53=ٔ=;Q-=>99I9==bGyEFE5<EE>IQ 5UG4M?Q 9UG4M)MsAY]5?Q E]:y]#Q I]?M"IBIM:iM:MG4yaɮeBmEEy”yʔy>>&MC@$@ɢ) R'i)顱iq`>IIIIYaO=E EEE"Ey:*E|;:VE86ZEa@a@a@a@ԑԹ B >B B 0GB AB =B B B <B (Ez,AV@A2@4@2.@2wٱ2s= :AHRS rotation from veh to nav: [[0.428661,0.758842,-0.490314],[-0.372163,0.642832,0.669523],[0.823253,-0.104521,0.557970]]2H-o?oH?Oa߿׿ ? l?X?`?i2@4@I2Ca;2ClY~Ay¥GbDVDXD6ym,?%mY=ٔu9yIy=}bGyy^;E>Q 5G4?Q 9G4)vAYyQ I?IBI/;i6;=+G4yɮgB”ʔE#@ɢ ) M&i)i@_>I!II)O5=E EEE"E:*E,:VE6ZEBE;a2E;aJE@;a:E@;a ! Ձ,uV@A2D@2z?@2?vٱ2: :AHRS rotation from veh to nav: [[0.431775,0.755954,-0.492041],[-0.373334,0.646370,0.665453],[0.821092,-0.103631,0.561310]]2H4?0?}߿׿?cK?bF?`??i2D@I2Oa;2CYBw AyFHGbDNVDN26yfn?%fU=ٔj6"9hIh=rbGyr¦Fzf;Ez>9QQ 5]G4U?Q 9]G4Ur)UyAYayeQ Ie?UJBIU;iU;U9G4ymABɮmBmFE”ʔY "@ɢ) b%i)项i]>II9IIO]=iI}>)}>ԑ bE-ʡ6jE-#6rE-ʄ2E  E E E "E *E .:VE ?6ZE a @a @a @a @,ۈ!V@ABV@B2Q@B-uٱB5M: JAHRS rotation from veh to nav: [[0.435095,0.753924,-0.492230],[-0.374562,0.648697,0.662492],[0.818777,-0.103876,0.564637]]BH?% ?߿׿ ?`!3? k3?`?iBV@IBF7a;BCYRy AyRGbDZVDZ."6yb>%bK=ٔf[$9dIh=jbGyhj;Ej>lQ 5rG4nc?Q 9vG4n6)n|AYtyv{Q Iv?nKBIn:inF:nFG4yxɮzB| ” ʔ )))-!@ɢA)A E$iA)AIIiMs\>IIQAe>AaԙIIO=B<AB>BCBGBAB=BBDB<BEBCBCBŔCBź=BŸ=CD6! ),g;V@A2Mk@2e@2ftٱ2 : :AHRS rotation from veh to nav: [[0.438417,0.752101,-0.492072],[-0.375496,0.650697,0.659996],[0.816574,-0.104582,0.567688]]2H? 5?@~߿"ؿ??`_!?@ź*?i2Mk@I2Ga;2CYfHAyfGbDrVDr6yv?%zH=ٔz!9|I|=~bGy~æF?;E> Q 5 G4 ?Q 9G4 <) EAYyQ I? hLBI :i N: UG4y!ɮ%B!1”9ʔ999QQQU!@ɢi)i m#ii)qqqiu[>yIyE E|EE"E%:*EP$:VE;6ZEBE;a2E;aJE};a:E};aiQIQA%.AI1IIOU>!Q k>  G) ,xCUV@A*`9(Y*iAf@@f|@f"sٱf\< vAHRS rotation from veh to nav: [[0.441214,0.751102,-0.491097],[-0.375754,0.651586,0.658973],[0.814948,-0.106216,0.569718]]fH9m ?Im ?=mbGyiuj;Eu>yQ 5G4}?Q 9G4}` )}>AYyQ I?}IMBI}-:i}$:}cG4yɮ?B”ʔ _"@ɢ)= "i)iMY>IQII!O= >E ExEE"EU:*E:VE*6ZEa@a@a@a@ԁ y}@AԩB >B CB zGB BAB =B DB DB '<B E T<,2 oV@A>ז@>s@>Sbsٱ>`1< JAHRS rotation from veh to nav: [[0.443349,0.749041,-0.492319],[-0.375654,0.653957,0.656677],[0.813834,-0.106195,0.571312]]>H@_?%?@)߿ ؿ 7?~? ?/@0H?i>ז@I>BCa;>CYVAyVGbDfVDfX5yn?%nS=ٔrc;Q-r>9tIt=vbGyvĦFzG;Ez>|Q 5 G4~?Q 9 G4~$)~AY y +Q I?~NBI~;i~;~4qG4y%CBɮ%P~B%GEA”AʔAAAD"@ɢ )  !i )iX>IA5\AzA5ZAԱI)IAOM>E EEE"E:*E.:VEZEBE;a2E;aJE;a:E;a 1 M#,V@A6Z@6@6 sٱ6JH7 BAHRS rotation from veh to nav: [[0.445019,0.745080,-0.496803],[-0.375344,0.658872,0.651923],[0.813065,-0.103646,0.572872]]6H/{??߿ؿ@{?? ?@@T?i6Z@I6!&a;6CYJAyJG R49`I`=bbGy`fĹ;Ef>hQ 5nG4j?Q 9nG4j)jAAYlyrQ Ir?jNBIj7;ij;jG4yvDBɮv_}BvPE”ʔ!!!%!@ɢ1)1 5 i9)999i=V>AIAII1O}=Ai E  E wE E "E I:*E :VE e6ZE a @a @a @a @YM,[ҢV@A 6t@6@6drٱ6[N0 NAHRS rotation from veh to nav: [[0.447194,0.739819,-0.502679],[-0.375212,0.665331,0.645407],[0.811932,-0.100011,0.575121]]6Hў??@xؿdJ?-?Y?Q`cg?i6t@I6Ha;4YV! AyVGbDbVDb5yj, ?%jI=ٔjj;Q-n>9lIl=nbGyrŦFr=;Er>tQ 5zG4vm?Q 9zG4v)v΅AYxy~슿Q I~?vOBItivP;vYG4yɮ|B”ʔ!999=G5@ɢI)Q UiQ)QQQiU^U>YIaiAaAeAABm>BmCBmGBmO"ABm=BiBm DBm:<BmޮE=A>A>IIIaOmW>ԙ bw,V@A2 ҫ@2̲@2qٱ2e* :AHRS rotation from veh to nav: [[0.449862,0.735172,-0.507095],[-0.375620,0.670880,0.639397],[0.810268,-0.097165,0.577949]]2H??@ :`* ؿ@w?u? ?߸~?i2 ҫ@I2<%a;2CPYR#AyRGbDZVDZ5yb?%fK=ٔf;Q-f>9dIh=jbGyhj;Ej>1Q 5=G45?Q 9=G45)5`AYAyECQ IE?5PBI5;i5;5˛G4yIɮM{BIa”aʔaii?@E EtEE"E:*Ev:VE6ZEBE;a2E;aJE`;a:E`;aɢ) i)项iS>IV=I1IIO]=) v`,LV@A>@>*߲@>Jpٱ>& FAHRS rotation from veh to nav: [[0.453221,0.731424,-0.509519],[-0.376691,0.675203,0.634197],[0.807895,-0.095500,0.581537]]>H`?g?@M ؿ`B?VK?F?r?i>@I> a;>CYN'AyRG|only read 2 of 4 data items for bottom velocity. Device response is::BS, -188, +734, :BE, -188, +734, +13,A a@a a@a a@a a@a AAbDVD5y?%9=ٔ9I =bGyƦF ;E>!Q 5-G4%`?Q 9-G4%r")%AQ A-+:Y)Q E-q:y-Q I-?%QBI%* ;i%>%G4y=EBɮ=zB=QEQ”QʔQQYɢy)y i)顁iovR>I)E EvEE"E:*E:VE6ZEa@a@a@a@I=A[AzAQAE ؟AIQ Ia Om >ԁ Be >Be CBe GBe \+ABe =Be DBe DBe .<Be E,V@AJ@J@JAoٱJ/6% VAHRS rotation from veh to nav: [[0.457647,0.728975,-0.509073],[-0.378904,0.677854,0.630036],[0.804357,-0.095444,0.586429]]JHJ?S?SJ?ؿ?@)?K?o?iJ@IJ^!a;HY^x+AybGbDjVDj~5yr'?%rZ=ٔr9v"?Iv"?=vbGytzͧ;Ez>|Q 5G4~_?Q 9G4~')~hAQ A :YQ E C:y Q I ?~cRBI~:i~N?~G4yɮyB)”)ʔ))19ɢY)Y e!ia)aaaie6Q>iIia YYE ExEnE"E:*E:VE6ZEBE;a2E;aJEbo;a:Ebo;aԱA II)O5>iI II Թ Vq´,> V@A6@6@6+mٱ6H*& BAHRS rotation from veh to nav: [[0.463519,0.727352,-0.506073],[-0.382053,0.679368,0.626494],[0.799491,-0.097045,0.592787]]6H K?@wF?1sؿc? < ?`n?@׸?i6@I6a;6CYJ.AyJGbDRfVDR#5yZ?%ZP=ٔ^9\I\=bbGybǦFbѶ;Eb>dQ 5jG4f'?Q 9jG4f+)fދAQ An9YlQ En:ynQ In?f1I9IqIO=E  E E aE "E %:*E 1]:VE 6ZE a @a @a @a @9 Zȴ,$V@A6@6@6jٱ6( >AHRS rotation from veh to nav: [[0.470429,0.725950,-0.501691],[-0.385630,0.680491,0.623074],[0.793717,-0.099645,0.600070]]6H@?:? )ؿ?`9? f?`P3?i6@I6 /a;6CYF02AyJ#G Np;NbDR@VDRf5yZ ?%ZJ=ٔZ9I=bGy  &;E >Q 5G4/1?Q 9G41)dAQ A%9Y!Q E%:y%Q I%?!TBI;i?G4y-HBɮ-xB5[EA”AʔAIIɢq)q usiq)qqyi}͕N>yIIIO=B<A<B G>B CB GB A4AB B DB DB <B CEAqԙ δ,=V@A2 :@24@2$Ahٱ2, :AHRS rotation from veh to nav: [[0.477755,0.724790,-0.496417],[-0.388725,0.681161,0.620413],[0.787809,-0.103435,0.607172]]2H?z1?M߿ؿ? l?5? zm?i2 :@I2Ja;0Y^5AybhGbDjVDjF5yrt?%rG=ٔr9tIt=vbGyvȦFzq<Ez>|Q 5G4~?:?Q 9G4~6)~ڎAQ A9YQ E 9y 1Q I ?~UBI~;i~@~G4yɮ&wBE EjE#E"Eҝ:*E9VEgU6ZEBE;a2E;aJEl<;a:Em<;a”ʔɢA)A EiA)AIIiM<;M>IqIqII O=ԡIy)}> մ,lWV@A2X@2S@22fٱ2d#3 :AHRS rotation from veh to nav: [[0.484134,0.724619,-0.490451],[-0.390887,0.680587,0.619685],[0.782830,-0.108299,0.612739]]2H ?0?c߿Iٿ`^?t? ??i2X@I2ea;2CYx9AyGaEaE aEaE aEaE aEaM yM\(\?Cl˿:v?M:?M;_MT=I I9Mi|?5?sh|?y&1YM1?yMM`eMBMB I)MeBIYMװBbDeVDeڨ5yu>%u'=ٔ}9yIy=bGyV;E>Q 5G4E?Q 9G4[:)AQ AT:Y2?Q E:y8_Q I?UBI;i;G4yɮ2vB”ʔ:>:>Fk??ɢ) i)iK>IIiIbE^6jE6rER5E EzE E"E:*E :VEB6ZEa@a@a@a@OE0>) B >B CB lGB IIQiIiO}=ԙE EoEE"Em:*E:VEG6ZEBEd%eF=ٔm9iIi=ubGyqu<Eu>yQ 5G4}W?Q 9G4}@)}.AYy[Q I?}-WBI}:i}|:}G4yIBɮmtB\E”ʔ?ɢ) i)iI>IIIO=]-Gq=9Yo^A yy! E  E pE E "E :*E  :VE ?6ZE a @a @a @a @{,9aV@A6@62@6Tcٱ6f?B >AHRS rotation from veh to nav: [[0.498499,0.717596,-0.486369],[-0.386784,0.686222,0.616033],[0.775820,-0.118972,0.619636]]6Hg?? ߿ؿ??`?t?i6@I6@a;6C|Y2DAyHGbDeEVDe5y_ ?%G=ٔс;Q->9I=bGyʦF<E>Q 5G4b?Q 9G4D)AYyYQ I?WBI;i;FG4yɮsB”ʔ# ?ɢ ) i)i]H>I!)AIIAAB>BݏCBGBEAB=BDBDB<BEO">Yԁ ,C :AHRS rotation from veh to nav: [[0.501766,0.712182,-0.490946],[-0.382487,0.691737,0.612539],[0.775844,-0.119571,0.619490]]2H@w?1?@k߿zؿ "???,?i2=@I2a;0Y^HAybGdfA f49|I=bGy <E>!Q 5-H4%k?Q 9-H4%G)%AY1y5WQ I5?%XBI%:i%:% H4y9ɮ=rBAQ”QʔQQEe EemEeEa"Ee:*Ee:VEe:6ZEaBEe;am2Ee;amJEeXG;au:EeXG;auq)))- ?ɢA)A EiA)AIIiM^#G>IIQԁAII O)>Թ ,V@A:@:@: wcٱ:iM< BAHRS rotation from veh to nav: [[0.504872,0.702619,-0.501429],[-0.377752,0.702163,0.603548],[0.776149,-0.115299,0.619919]]:H'?{? -ؿ@x?@DP?`6?8`_?i:@I:4a;8YJKAyJGyE?ktƿv/?E,?E 0Ex=A A9EK7A`?%mB=ٔmkQ-m>9qIq=ubGyu˦F}J<E}>Q 5H4Jt?Q 9H4J)AY>-?Q E:y"MQ I?.YBI/:i:RH4yKBɮqB]E”ʔԹU#=U#=U?US?ɢi)i m8ii)qqqiaE>IEu EupEuEq"Eu:*Eu :VEu?6ZEqa}@a}@a}@a}@A.AIIO-->I}>)}>A B .>B ͏CB SHB 1WAB =B DB DB <B E%,V@A2d˭@2ƴ@2cٱ20 :AHRS rotation from veh to nav: [[0.507510,0.691164,-0.514515],[-0.373163,0.714533,0.591770],[0.776648,-0.108331,0.620549]]2H=??v׿`s??M? ?i2d˭@I2t>a;0Y=OAyGbD%VD%cs5y3!?%H=ٔXQ->9 ?I ?=bGy/<E>Q 5H4|?Q 9H4dM)pAYyKQ I?YBI{W;iX;&H4yɮpB”ʔ!!!%cx?ɢ1)q u0iq)yyyi}ɹD>IA؟AIIO (>AE}} E}oE} Ey"E}݉:*E}:VE}FA6ZEyBE}e;a2E}f;aJE}N;a:E}N;aqԙ , V@A2@2| @2?cٱ2$ >AHRS rotation from veh to nav: [[0.510126,0.678985,-0.527969],[-0.368462,0.727184,0.579172],[0.777179,-0.100914,0.621135]]2H R?>? ׿E??@?~չ`V?i2@I2`.a;2CYFgRAyFaHJ=J=V@ATbDbVDbY5yj ?%jW=ٔn!Q-n>9r"?Ir"?=rbGyr̦Fr<Ev>tQ 5zH4v̈́?Q 9zH4vO)v.AY|y]RJQ I]?vLZBIvgIqAAIYIqO>ԡE  E nE E "E :*E :VE 76ZE a @a @a @a @ 8 ,&V@A6P@6\K@6v dٱ6 >AHRS rotation from veh to nav: [[0.512565,0.667578,-0.540016],[-0.364176,0.738564,0.567362],[0.777594,-0.094149,0.621678]]6H`f?\? G N׿P?'? ?+?i6P@I60`;6CYZVAy^HbDfVDfL5yn?%nJ=ٔrbպQ-r>9pIp=rbGypv͝<Ev>xQ 5~H4zY?Q 9~H4zR)z AYyIQ I?zZBIz;iz;z BH4y MBɮ oB fE!”!ʔ!!)AAAEn?ɢQ) i)iaB>IA!I1BM=AM4=IYOm>B] >B]̏CB] HB]_ABYBYB]DB]<B]E yy) ,@V@AN5ή@Nȵ@NcٱNe ZAHRS rotation from veh to nav: [[0.518578,0.648907,-0.556773],[-0.356625,0.755980,0.548919],[0.777107,-0.086098,0.623452]]NH1??ֿ0?`?? Q?iN5ή@IN`;LYb^YAybHbDjVDjI5yvk?%vJ=ٔv:Q-v>9xIx=zbGyzͦFz=E~>Q 5H4 ?Q 9 H43U)AY y EQ I ?s[BI :i:8PH4yNBɮEnBgE1”1ʔ111EE EEmEEEA"EEs:*EE:VEE36ZEABEE$;aU2EE&;aUJEEWG;aU:EEWG;aUiiimSB%?ɢ) i)顉iX'A>IQAIIO=yԱ I,_ZV@ADJk@J @JUvcٱJl VAHRS rotation from veh to nav: [[0.522429,0.641071,-0.562223],[-0.353088,0.762817,0.541700],[0.776142,-0.084486,0.624872]]JH@?@?ֿh?U?(?ؠ?iJk@IJP`;JCY^\AybHyMS?Q뱿~jtxMO?M\MĻI I9Mp= ף?Mby&1|YM%?yMM`MBMB I)M_BIYMB ]9yIy=}bGyy<E>Q 5H4̡?Q 9H4W)AY.%?Q E:y"Q I?$\BI ;i ;^H4yɮhmB”ʔ0>0>O4@@ɢ)#V= i)i=?>IA>A>ԩA!I1IAEU EUoEUEQ"EU:*EU:VEU76ZEQa]@a]@a]@a]@Oe> B] >B] ˏCB] HB] hAB] =BY BY B] <B] {Es,:tV@AR]@RyX@RbٱR ^AHRS rotation from veh to nav: [[0.527222,0.634427,-0.565278],[-0.349112,0.768233,0.536599],[0.774699,-0.085561,0.626515]]RH?9M?Wֿ ]?+?T?W絿i ?iR]@IR`;RCtYv`Ayv7 HbDMVDM-<5y]?%]L=ٔe;Q-e>9aIa=ebGyeΦFm<Em>qQ 5H4u?Q 9H4urZ)u/AYy, Q I?u\BIuD;iuE;ulH4yɮklB”ʔ@ɢ) i)i>>I AaIqIO>I}>)}>1E] E]pE]EY"E]غ:*E] :VE]/6ZEYBE]%9=ٔr;Q->9I=bGyϦF<E>Q 5H4?Q 9H49])AYy_Q I?]BI/;i;s|H4yOBɮkBhE”ʔH@ɢ)  i)顑i7h=>IiAI!I9OMS>ԑbE896jEf66rEc3Em  Em yEm Ei "Em O:*Em :VEm 6ZEi au @a} @a} @a} @ ),)V@A>i@>@>]aٱ>Az JAHRS rotation from veh to nav: [[0.539183,0.622637,-0.567102],[-0.338987,0.776860,0.530638],[0.770954,-0.093870,0.629935]]>H@? ?%@տ ??@?@`n(?i>i@I>!`;>CLLiRhIRfEPIPiP PT)TT Vq@TTTXXIX)Xi\)\I\\\ \`b9`A`i``idf5`A)fD dIdYdYnhAynHbDvVDv45y~8?%~g=ٔ 9I=bGy =E >Q 5H4?Q 9%H4j_)XAY!y%Q I%?^BIt:i:؈H4y1ɮ5jB1A”AʔIIIaaae (@ɢy)y } iy)顁i^<>IԑAA@AB>BǏCBWHB=qAB=BBDB;BעEB̏CBΏCBěCB=B=C7ԹV=A zA \AAAIIIaOm> o0,V@A2T@2@2`ٱ2 :AHRS rotation from veh to nav: [[0.545518,0.615292,-0.569057],[-0.332659,0.782173,0.526824],[0.769252,-0.098090,0.631372]]2H t? y?5`IJտ???`r24?i2T@I2T`;2CYrjAyr`HbD~VD~[45yM>% J=ٔ  ;Q- >9 I=bGyЦFE%} E%kE%E!"E%݉:*E%:VE%6ZE!BE%f;a-2E%g;a-JE%@;a5:E%@;a5R =E5>9Q 5EH4=?Q 9MH4=a)=AYIyMQ IM?=^BI=6:i=:=H4yYɮ]iBYi”iʔqqq!@ɢ) M i)顩i/;>I(S=A.AIIO(>! yyQ wk>M uGi i{9 Y ZAy 6,V@A2@25@2 `ٱ2! :AHRS rotation from veh to nav: [[0.551819,0.605998,-0.572941],[-0.325849,0.789069,0.520761],[0.767671,-0.100674,0.632888]]2H?Vd?`UԿ@??? Ź@?i2@I2`;2CY%nAy-Hyv?y&1Mbp?X?`; 9Cl?Q#~jYd;?y㥽OBfB )XBYQBbDVD15y?%>=ٔɻ;Q->9 ?I ?=bGy=E>Q 5H4Z?Q 9H4Oe)AYE(>E,k!@EA?QɢY)a eS ia)aaaie9>iIiE5| E5pE5E1"E5 :*E5 :VE5(5ZE1a=@a=@a=@a=@ԁ2=AA>ԩA- ؟AI1 IA OU >B =>B CB HB yAB =B DB ׻DB g;B @E [<,HV@AF4x@Fr@F_ٱF4H# NAHRS rotation from veh to nav: [[0.557797,0.595510,-0.578127],[-0.318759,0.796845,0.513255],[0.766326,-0.102009,0.634302]]FH@y? j? fԿ?l??`>3L?iF4x@IF`;DYVVrAyVHbDbiVDb&5yj?%j]=ٔj;Q-j>9n"?In"?=nbGynѦFr=Er>tQ 5zH4v?Q 9zH4v7h)v:AYxyzvQ Iz?v}`BIvM;iv;vH4yɮ hB”ʔ999= օ?ɢI)I Mj iI)QQQiU8>IԱE9 E=qE=E9"E9*E=$ :VE=5ZE9BE=D;aM2E=E;aMJE=U;aM:E=U;aMAIIO> 1 JC,F[V@A6@6B@6_ٱ6>Y! BAHRS rotation from veh to nav: [[0.563428,0.582864,-0.585506],[-0.311438,0.806266,0.502934],[0.765216,-0.101018,0.635799]]6H? Ӧ?wӿ? ?|?VܹvX?i6@I6``;6CYJ{uAyJHbDV[VDV5y^f>%^L=ٔ^<;Q-b>9`I`=bbGy`fc=Ef>hQ 5nH4j?Q 9nH4jMk)jޭAYlynQ Ir?jVaBIj;ij/;jH4yvRBɮvFgBvjE”ʔP B*** querying acoustic contact ***  !!!%gU?ɢ1)9 = i9)99AiEm7>AIIAIIO=m2Acoustic response timeoutuQuerying Benthos address 50 with one ping in standard two-way mode.AI>)i EM  EI EM EI "EM a:*EI VEM 5ZEI aU @aU @aU @aU @% *DAT read: user:356> % BDAT read: Tx time:00:09:56.3790 - $Ping request sent.- AHRS rotation from veh to nav: [[0.568088,0.567126,-0.596359],[-0.304242,0.818034,0.488115],[0.764665,-0.095855,0.637259]]2H-?%?_xӿV-?G=?"x?􉸿md?i2]Y@I2`;2CY xAy HbD}BVD}&5yO>%==ٔ;Q->9I=bGyҦFq<E>Q 5H4U ?Q 9H4n)AYyQ I?CbBI;iq;0H4yɮpfB9”9ʔ999yyy}?ɢ)  i)顱i{6>IAzAZAiB<A<B <>B CB HB FAB =B  DB DB ;B ΝEA.AI IO-,>ԙ}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250813 P,YCV@A2K@2絹@2L^ٱ2I) :AHRS rotation from veh to nav: [[0.571531,0.548014,-0.610764],[-0.297350,0.832032,0.468300],[0.764811,-0.086038,0.638484]]2HI?U?``ӿ? ? Ty?vn?i2K@I2`;2CPYRG|AyR!HbDZ2VDZ 5yb?%fX=ٔfQ-f>9j ?Ij ?=jbGyhj=Ej>E EhEE"E*E]9VE5ZEBEx;a2Ez;aJE$5;a:E$5;aYQ 5eH4])?Q 9eH4]wq)]>AYaye\Q Im?]cBI]y:i]p:]H4yuUBɮueButE”ʔg?ɢ) i)ie5> I iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503798AE؟AIQIaOm>!  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754825BV,9\V@A2E@2@2)_ٱ2 :AHRS rotation from veh to nav: [[0.574126,0.528703,-0.625182],[-0.290644,0.845439,0.448062],[0.765445,-0.075539,0.639053]]2H=_? #?}ҿ ? ? ~?`V@s?i2E@I29a;2CYRAyRH|a5@a5 a5@a5 a5@a5 a5@a5 a5@a5 y5/$?B`"۹y&1?5&1?5ν5`e=1 1)5Mb@Mb@Mb@I5i5‰555 1)55I5bDM/VDMh 5y?%8=ٔzQ->9"?I"?= bGy ӦF <E >Q 5H4+?Q 9H4t)AQ A%+:Y!Q E%i:y% Q I%?dBI:i>H4y)ɮ-dB)A”AʔAIIɢi)q uiq)qyyi}14>yIE} EEqE"E݉:*EVE5ZEa%@a%@a%@a%@)A.AI IO-,>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006803 yyQB >B CB [$HB AB =B "DB DB ;B ԛEԁ ],vV@A6&e@6_@6_ٱ6fڽ BAHRS rotation from veh to nav: [[0.575591,0.513747,-0.636207],[-0.284456,0.855211,0.433242],[0.766668,-0.068397,0.638390]]6H@=k?p?`[4ҿ]?;??r@m?i6&e@I62Da;6CYJׁAyJHbDR(VDR05yZ?%Zb=ٔZhQ-^>9^ ?I^ ?=bbGy`b<Eb>dQ 5jH4f9?Q 9jH4fw)fxAQ Aj :YlQ En=:ynQ In?fdBIf ;ifJ?f9H4yrWBɮrcBvuE|”|ʔ|ɢ!)-ӌ= -i)))))i5_'3>1Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258925I9AU>YAU>A؟AIIO>ԁEs EeEiE"Eso:*E9VEz~5ZEBE ;a-2E ;a-JE7*;a-:E7*;a-Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510857 c,ߤV@A2@2N@2`ٱ2Fѽ :AHRS rotation from veh to nav: [[0.576805,0.503449,-0.643300],[-0.278815,0.861550,0.424257],[0.767827,-0.065352,0.637315]]2H@/u? B?ѿ`Б?'? ? 躰d?i2@I2!La;2CYbAyb!H fp9v"?Iv"?=vbGyzԦFz<Ez>|Q 5H4~dI?Q 9H4~y)~'AQ A 9Y Q E :y Q I ?~eBI~:i~ՙ?~H4ySBɮbB)”)ʔ))1ɢQ)Y ]*iY)YYaie1>aIiԹA.AIIO>Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762806E- | E- fE- pE) "E- :*E- 9VE- 5ZE) a5 @a5 @a5 @a5 @A  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014840"j,VV@AYrAy $HbDVD4y- ?%-F=ٔ-Q-5>95 ?I5 ?=5bGy1=E=>AQ 5MI4E`Y?Q 9MI4E|)EطAQ AM9YIQ EU9yQQ IU?EfBIE:iE?EI4y]TBɮ]aBYq”qʔqqyɢ) Fi)顡i0>IA=AAA9B->BxCB)HBAB=B#DBDBf;B%EA%؟AI1IAOU>AI}>)}>]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266860iԙ  q,]V@A6C@6@6`ٱ6(ѽ BAHRS rotation from veh to nav: [[0.579191,0.491748,-0.650170],[-0.270301,0.868296,0.415933],[0.769074,-0.065163,0.635829]]6H່?x?2@Lѿ@??A?@@X?i6C@I6e&a;6CY^SAy^m&HbDfVDfr4Ery ErjErlEp"Er:*Er9VEr5ZEpBErؤ;av2Er٤;azJErj<;az:Erj<;azy~?%~M=ٔOQ->9"?I"?= bGy զF  =E >Q 5I4h?Q 9I4){AQ A%9Y!Q E%9y%=Q I%?[gBI ;i@I4y)ɮ-`B1A”AʔAIIɢq)q uViq)yyyi}~/>yIqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518833ԡ=AEZAzAAIYIqO>m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770828 4w,Y6V@A:G@:+B@:(`ٱ:mؽ FAHRS rotation from veh to nav: [[0.580543,0.489607,-0.650581],[-0.267204,0.869323,0.415787],[0.769137,-0.067544,0.635505]]:H@ϓ?@U?@ѿ ?@A?Ŝ?`J V?i:G@I:`;8Y^Ayb{(H ``aMaM aMaM aMaM aMaM aMaM yMM?~jtx?%}C=ٔ}cuQ-}>9I=bGylN<E>Q 5I4t?Q 9I4')AQ AT:YI@?Q E:y<Q I? hBI;i;I4yUBɮ*`BvE”ʔIJ>IJ>-{@|a@ɢ)q uiq)yyyi}Fh.>Imõ=bEuЙ5jEuÚ5rEuñ3E{ EpEE"E=:*E :VEZEa @a @a @a @IiIychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022807OD>9 B >B lCB 2/HB tAB  =B $DB DB 7;B 8EBMɃCBMɋCBMɰCBM=BM=CMw7^},QV@A2i@2Cd@2`ٱ2 >AHRS rotation from veh to nav: [[0.581962,0.489468,-0.649416],[-0.264928,0.869126,0.417653],[0.768852,-0.071010,0.635472]]2Ho?oS?п`?Ӻ?o?-@U?i2i@I2a;0YFAyF*HbDRVDRH4yZ#?%ZX=ٔZj:Q-Z>9\I|=~bGy~֦F50<E> Q 5I4 ?Q 9I4 ) AYyQ I? hB%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274929I :i ; !I4yAɮE2_BAy”yʔyyy䀞@ɢ) i)i=->I)==%=Y yyIIOa>E~ EjEsE"E:*E9VEX5ZEBE;a 2E;a JEi<;a :Ea checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526830ԉ F,V@A2@2O@2,`ٱ2o :AHRS rotation from veh to nav: [[0.583858,0.490604,-0.646852],[-0.263296,0.868118,0.420769],[0.767975,-0.075356,0.636032]]2H`?`f?@п?@???`J`_Z?i2@I2u`;2C%bI=ٔb-];Q-f>9dId=fbGydj <Ej>lQ 5rI4n1?Q 9rI4n)nAYpyrQ Iv?nXiBIn;in ;n.I4yxɮ~k^B|Iԉ5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778884A>A>ԹIIOn> E  E oE eE "E a:*E :VE q5ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030821p,:+V@A:u@:@:U_ٱ:Q BAHRS rotation from veh to nav: [[0.585921,0.492385,-0.643626],[-0.262355,0.866721,0.424222],[0.766725,-0.079702,0.637009]]:Hܿ?;?@@nп@-? v&??Zgab?i:u@I: `;:CYNwAyN6/HbDVVDV4\y^?%bK=ٔb%;Q-b>9dId=fbGyfצFjr;Ej>hQ 5rI4jϖ?Q 9rI4jz)jAYpyrjQ Ir?jjBIj;ij/;j=I4yzVBɮzp]BzwE ” ʔ   )))-<Ğ@ɢ9)9 =iA)AAAiE"*>IIIIIO-=B=AB>BhCB4HBAB =BBDBi;BE=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282857A X,ۥEV@A6@6@6^ٱ6 >AHRS rotation from veh to nav: [[0.588406,0.495636,-0.638845],[-0.261959,0.864336,0.429303],[0.764955,-0.085254,0.638417]]6H9?`?@jqп?y? z?6ӵ@m?i6@I6F`;6CEb} E`EbiE`"Eb݉:*E`VEbz~5ZE`BEb`;af2Ebb;afJEbN;aj:EbN;ajYnEAynn1HbDvVDv̺4y~ ?%~F=ٔ;Q->9I= bGy  I;E >Q 5%I4?Q 9%I4)AY!y%EQ I-?jBIR2;i3;KI4y1ɮ5\B1I”IʔIIIiiim@ɢy)y i)顁i)>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.534805IIO=II>)qM checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786798ԡ ǂ,_V@A2!@2@2"^ٱ2״ :AHRS rotation from veh to nav: [[0.591066,0.499540,-0.633325],[-0.262093,0.861491,0.434903],[0.762855,-0.091066,0.640124]]2H? w?`2D`#п`U?r?Ni?@P{?i2!@I2q`;0YvAyv3Hym? rh?~jt?m,?mC9I=bGyئFe;E>Q 5I4M?Q 9I4)AYd/?Q E:yaQ I?QkBI ;i ;SZI4yɮ[B”ʔ==I@4i@ɢ) i)i%(>!I!A=[AzA=\AE{ EfEfE"E=:*E9VEt5ZEa@a@a@a@AaIqIO>ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.038943B>BeCB":HBYAB =BBDBz;BE >,YyV@A2´@2@2|8]ٱ2O :AHRS rotation from veh to nav: [[0.593823,0.503840,-0.627311],[-0.262591,0.858329,0.440815],[0.760539,-0.097041,0.641999]]2H ?u?Hпmw?P6?@VV?׸B?i2´@I2m`;2CY^Ayb5HbDjVDj4yr#?%rW=ٔr9tIt=vbGytz0;Ez>checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291018|Q 5 I4~?Q 9 I4~)~WAYyQ I?~kBI~i;i~j;~gI4yWBɮZBxE”ʔ1i@ɢ )  i ) i}'>IAe.AIqIOE ElEvE"E:*E:VE-5ZEBE;a2E;aJEC;a:EC;a1checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542840Y L,4V@AB˴@Bƻ@B-\ٱB1! NAHRS rotation from veh to nav: [[0.596937,0.507146,-0.621666],[-0.263184,0.855771,0.445411],[0.757892,-0.102270,0.644314]]BH@?:?`пyb?@?@?^.8?iB˴@IB`;BCY^Ay^8HbDnVDn24yz?%zI=ٔz $9 ?I ?=bGy٦F 0;E >Q 5%I4?Q 9-I4o)9AY)y-Q I-?{lBIC;i(;uI4yAɮEYBEEQ”YʔYYYh@ɢ )  ai )  i`&>I9checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795195Ae؟AIqIOa y}AAԉE  E qE cE "E :*E $ :VE &k5ZE a @a @a @a @Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047390d,V@A>ش@>(ӻ@>[ٱ>r' RAHRS rotation from veh to nav: [[0.600525,0.509129,-0.616569],[-0.263624,0.854042,0.448458],[0.754898,-0.106768,0.647093]]>H@7?J? 7пPT?@? (?$U?i>ش@I>6`;>CY^zAy^J:HbDfVDf4yny?%nL=ٔr:9r"?Ir"?=rbGytv;Ev>xQ 5~I4z:?Q 9~I4z9)zAYyQ I?zmBIz';izU;zӃI4y ɮ XB )”)ʔ))1QQQUh@ɢq)q uiq)yyyi}/U%>IA>A>Au@AAuAAB}]>B}aCB}?HB}˛AB}=ByB}DB};B}HEԑAIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298804 ڦ,V@A2@2@2 Yٱ2, :AHRS rotation from veh to nav: [[0.604530,0.509816,-0.612071],[-0.263676,0.853124,0.450171],[0.751678,-0.110753,0.650165]]2H`NX?@jP?`п@L?? ? UZ'?i2@I2`;0ER ERpER[EP"ERO:*ER :VERaQ5ZEPBERȺ;aZ2ERʺ;aZJER@R;aZ:ERAR;aZY~Ay~P%ED=ٔEp@9III=MbGyMڦFM!;EU>YQ 5eI4]?Q 9eI4])]AYayeQ Ie?]mBI]6:i]:]gI4ymXBɮu!XBuE”ʔh@ɢ)! %i)))))i-3$>1I9iyIychecking for new query: numPingsReceived=0, elapsed TxPingTime=6.551744A.AIIO%>!I - checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802933Xз, V@A 2@2;@2aXٱ2_/ >AHRS rotation from veh to nav: [[0.609082,0.508406,-0.608722],[-0.263305,0.853607,0.449473],[0.748124,-0.113487,0.653782]]2H }?D?z п P?+??z ?i2@I2"a;2CY}Ay};>Hy+?ʡE? rh???=C = 9uV?I +? rh?Yr(?y94<C=B )FBYQBbD-VD-4y=>%=.=ٔE;9E ?IE ?=EbGyAM;EM>QQ 5]I4Uj?Q 9]I4U)UAYe^)?Q Ee:yeJQ Ie?UnnBIUQ:iU:UɢI4iyqɮuYWBq”ʔE EEUE"E:*EVE >5ZEa@a@a@a@==8q@5R@ɢ) Qi)i}">Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=7.055554A=؟AIAIQOeU>I}>)yԙBu>BuWCBuDHBu)ABu=Bu%DBuDBu:;Bu;E ,^V@A2&@2X!@2)Wٱ2&1 :AHRS rotation from veh to nav: [[0.613752,0.505184,-0.606710],[-0.262473,0.855328,0.446680],[0.744591,-0.114906,0.657556]]2Hۣ?`x*?+jYп@^?f?@?yj ?i2&@I2`;0 @)B"aABj<@@DFaAiF`IFEDIHiJXaA JH)HL N`ANļLLPPPIRԼ)TiT)TIV`AVjT TXXXiXXi\\)\ \I\Y\YfAyfAHrchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.306945bDnVDn4yz3`?%~x=ٔ~׃IAzAZAAAIQIaOu>E EERE"EC:*EVEc45ZEBED;a2EE;aJEAR;a:Eachecking for new query: numPingsReceived=0, elapsed TxPingTime=7.558901) ĵ,V@AJG@JaB@JUٱJ 2 RAHRS rotation from veh to nav: [[0.618350,0.501708,-0.604923],[-0.261494,0.857205,0.443645],[0.741123,-0.116144,0.661247]]JH?` ?[Rп8n?@d? H?(?iJG@IJJ`;H|Y]dAy]BHe=aimAAbDuVDu4ys>%B=ٔRI9I=bGy<E>Q 5I4?Q 9I4[)-AYyyQ I?oBId:i[: I4yɮUB”ʔPFS@ɢ) i)i#!> I checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815134)A.AI IO-,>QbEM^n5jEMf5rEMɤ2E  E E OE "E ~:*E VE *5ZE a @a @a @a @ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062815 ˵,W.V@A2e@2`@2aTٱ2^2 :AHRS rotation from veh to nav: [[0.622805,0.498183,-0.603264],[-0.260674,0.859140,0.440372],[0.737674,-0.117011,0.664940]]2H@?9 ?I ?=bGyܦF<E>Q 5I4 ?Q 9I4Ě)AYy­Q I?BpBIz;i;@I4yɮTB”ʔqS@ɢ ) B<AR=B%n>B%FCB%&JHB%^AB% =B%&DB%DB%w;B%iEBaCB\CBCB =B =C77i9)9AAiE0 >AIIAe؟AIqIԉO> y}@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=8.314884Ա Oѵ,r2HV@A2>@2z@2ESٱ2M@I2`;2CEB EBrEBPE@"EB:*EB?:VEB-5ZE@BEB ;aJ2EB ;aJJEBY;aJ:EBY;aJYRáAyRFHbDZVDZ4yb?%fX=ٔf<9j"?Ij"?=jbGyhj <Ej>lQ 5rI4n?Q 9vI4n)n~AYtyvQ Iv?npBIn:in6:nsI4yzZBɮzSB~E ” ʔ )))-S@Թɢ) IA>A>echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.567589I I1Oe> 57k>5ґCGu9YUAyE?EkA checking for new query: numPingsReceived=0, elapsed TxPingTime=8.8188499 ص,R bV@A6=@6َ@6&KRٱ6t* BAHRS rotation from veh to nav: [[0.629811,0.487783,-0.604488],[-0.259438,0.865639,0.428208],[0.732141,-0.112863,0.671738]]6Hj'?7?WࠚпO?g?m?伿~?i6=@I6m`;6CYJ}AyJIHy/$?Mb ףp= ?9III=MbGyMݦFU~;EU>YQ 5eI4]+?Q 9eI4])] AYm1?Q Em:ym/Q Im?]qBI]:i]H:]I4yqɮuRBq”ʔ:>:>}?b?ɢY)Y ]ia)aaaie>iIiE| EoEQE"E :*E:VE*15ZEa@a@a@a@IIO>Amchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.070937B[>BCCB:OHBAB =B'DBDB;BEqԙ H޵,{V@A29@2՝@2lQٱ2K% :AHRS rotation from veh to nav: [[0.632579,0.483090,-0.605366],[-0.259225,0.868608,0.422282],[0.729826,-0.110200,0.674692]]2H@>?`?(_&п`??Z?6?i29@I2*`;2Cbchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.322784Yf.Ayf%KHbDnVDnZ4yv ?%vP=ٔzX 9xI|=~bGy|~V;E>Q 5 I4<?Q 9I4)}AYy-Q I?rBI:i_:I4y%[Bɮ%RB%E1”1ʔ999QQQUd?ɢi)i mii)qqqiu">yIyIIqO=ԡI}>)yE EjEVE"E~:*E9VEFA5ZEBE;a2E;aJEh<;a:Ei<;auchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.574780 e0,ÕV@A2έ@2j@2Pٱ2KL :AHRS rotation from veh to nav: [[0.634676,0.478453,-0.606853],[-0.259128,0.871585,0.416164],[0.728038,-0.106877,0.677154]]2HCO?? Vkп@?@n? L?G\>?i2έ@I2A`;2CY^Ayb MHbDjVDj4y>%H=ٔ;Q-%>9!I!=%bGy%ަF-N;E->1Q 5=J45N?Q 9=J45)5AY9yE4,Q IE?5hsBI5;i5;5-J4yIɮMYQBIa”aʔaaif?ɢ) Fi)顙i'>III)O==checking for new query: numPingsReceived=0, elapsed TxPingTime=9.8269011 E  E rE PE "E :*E ?:VE -5ZE a @a @a @a @ @>K@>>Pٱ>tT JAHRS rotation from veh to nav: [[0.636208,0.477056,-0.606348],[-0.259221,0.872401,0.414393],[0.726667,-0.106462,0.678691]]>H[??3gп? h?@?`Aշ?i>@I>'`;>CYVwAyV/OHbDfVDfx4yr7 ?%rN=ٔr;Q-v>9tIt=zbGyxz:E~>Q 5J4_?Q 9 J4ҟ)sAY y +Q I ?=tBI:id:J4yɮ|PB)”)ʔ1AA@ABT>BBNTHBAB =BBB;BE1115zg?ɢq)q uiy)yyyi #>II)IAIOU=qԡ E,%/=ٔ:;Q->9I=bGyߦF';E>Q 5J45t?Q 9J4))AYy+Q I?8uBI>:iG:x!J4y\BɮOBEԩ!”ʔSf?ɢI)Mـ= MiQ)QQQi} >I yyAIIO> l,UV@A2ʵ@2ļ@2Oٱ2S. :AHRS rotation from veh to nav: [[0.638171,0.483320,-0.599282],[-0.257995,0.867641,0.425015],[0.725380,-0.116621,0.678398]]2H`k?? Q-п`?q3?O6?ڽ`o?i2ʵ@I2`;2CTXiZIIZIEXIXiX \\)\\ bxq@`````I`)did)dIf^Add hhj5`Ahihhillp)r pIpYpYzAyzSHyu#~j?Zd;O?p= ף?uE?ujBqYuWBbDVD}4y.?%`=ٔ:Q->9I=bGy/;E>Q 5J4?Q 9J4)AYH?Q E:yۯQ I? vBI ;i':.J4yɮNB”ʔ==I?$@ɢ) i)顱i ?>IE} E}nE}TEy"E}:*E}:VE}:5ZEya@a@a@a@ IIO)>1BN>BBbYHBAB =BBBz;BEa ,+0V@A2ص@2~Ӽ@2jOٱ2+9 :AHRS rotation from veh to nav: [[0.638759,0.488049,-0.594807],[-0.256884,0.863989,0.433052],[0.725257,-0.123819,0.677253]]2H p?3%eN=ٔm9Q-m>9iIi=ubGyuFu;Eu>yQ 5J4}o?Q 9J4})}jAYyXQ I?}vBI}9:i}:};J4y]BɮNBE”ʔ(@ɢ) i)iO>IIIO >iE EEZE"E:*EVE(N5ZEBE ;a2EaJEJ;a:EJ;aԑfsetting unavailable, lastComms_.elapsed()=60.535477  9 I ~~,A V@A2@2@2UOٱ2R/= :AHRS rotation from veh to nav: [[0.638991,0.488878,-0.593876],[-0.255653,0.863142,0.435462],[0.725487,-0.126430,0.676523]]2H`r?I?\пܞ?? 17?.?i2@I2`;2CYFAyWHbD5VD5r4yuI?%uI=ٔ}WQ-}>9I=bGy;E>Q 5J4ԙĨ?Q 9J4)(AYyQ I?wBI4;i5;.JJ4yɮMB”ʔA@ɢ) i)iY>I '=IaIqI}>)}>OZ>E  E ~E UE "E :*E (:VE >5ZE a @a @a @a @ - ,0V@A>@>@>Oٱ>d> FAHRS rotation from veh to nav: [[0.639042,0.487832,-0.594681],[-0.254102,0.863631,0.435402],[0.725988,-0.127131,0.675855]]>Hs?@8?` 3Cпܢ??@J;?E?i>@I>%o`;>CYNAyNYHbDVVDVm4y^n?%bV=ٔbQ-b>9dId=fbGyfFfE;Ef>hQ 5nJ4j?Q 9rJ4j)jAYpyrQ Ir?jxBIj3;ij/;jWJ4y~^Bɮ~KLB~E)”)ʔ)11B]<A]<BeL>BaBev^HBeABe =BaBaBe;BeE)))-@ɢ9)A EiA)AAAiM^>qIТ=IIO>BDAT read: Response Not Received *response not received%~G=ٔQ->9I = bGy  ;E >Q 5J4?Q 9J4)AY!y%Q I%?yBI3;i;eJ4y)ɮ-KB1A”AʔAII]nManaging dock network, ignoring radio surface power offiiim@ɢ) i)顉ix>IQiYIYԁj$=I!I1OEQ>ԩ ,dV@A2 @2@2A4Pٱ2? :AHRS rotation from veh to nav: [[0.639073,0.486280,-0.595917],[-0.252390,0.864461,0.434750],[0.726557,-0.127434,0.675186]]2H Js?7?&'п`????O`?i2 @I2G7`;0YB9yI=bGyF:E>Q 5J4w?Q 9J4)]AQ A+:YQ E\:yVQ I?zBIz ;i>qJ4yɮJBE”ʔɢ) i)i,{>IԱbEœ75jEA85rE0EU EUEUPEQ"EUҝ:*EU,:VEU-5ZEQae@ae@ae@ae@ yyB}(>B}@CB}cHB}AB} =ByB}}DB};B}EB-CCB-BCB-ǔCB- =B- =C-ҵ6A II9O]>! 9 ,[x~V@A21@2 @2Pٱ2s; :AHRS rotation from veh to nav: [[0.639618,0.483853,-0.597307],[-0.252136,0.866110,0.431603],[0.726166,-0.125458,0.675976]]2Hw?@s?""п ,?a?9XIX=ZbGyXZ:EZ>`Q 5fJ4b?Q 9jJ4b)bAQ Aj :YhQ Ej2:yj竾Q Ij?b{{BIb ;ibL?bnzJ4yr_BɮrIBrE|”|ʔ|||ɢ!)! %i)))))i->1I1AIIQIiOu=9Ee Ee~EeOEa"Ee:*Ee(:VEe*5ZEaBEe;am2Ee;amJEe;au:Ee;aui M Ga y |9 Y 1[A%,RV@A $$B| @B@BeOٱB9 JAHRS rotation from veh to nav: [[0.640313,0.483025,-0.597232],[-0.252925,0.866757,0.429839],[0.725278,-0.124176,0.677165]]BHq}??@/пx?{?y5?ʿU?iB| @IB_;BCYRzAyRaH XZbD^VD^i4yf>%fH=ٔfO;Q-f>9hIh=jbGyjFnvߺEn>pQ 5vJ4r?Q 9vJ4r)rAQ Av9YtQ Ev:yv3Q Iz?rh|BIrQ:ir?rJ4y|ɮ~IB~E”ʔɢ9)A EiA)AAAiEş>IIIiAIIO>ԙEu  Eu wEu QEq "Eu :*Eu :VEu *15ZEq a} @a} @a} @a} @ +,I.V@AF@F@F=OٱFA8P ZAHRS rotation from veh to nav: [[0.641021,0.484201,-0.595518],[-0.254882,0.866156,0.429894],[0.723966,-0.123784,0.678638]]FH >?'?`{Oп@?`?*?@Nh?iF@IF_;FCYjAyjcHbDzVDzq4AAAAB >B ;CB hHB $AB  =B B yDB ;B 3Ey=c>%=C=ٔEݔ;Q-E>9AIA=MbGyIM㰻EM>QQ 5]J4U?Q 9]J4U)UAQ Ae9YaQ Ee9ye[Q Ie?U\}BIU ;iU'?UKJ4yiɮm0HBuE”ʔɢ) i)项i>IA\AzAA II!O5 >I}>)}>! 2, V@AE} EsEME"E݉:*EZ:VEH$5ZEBE`;a2Ea;aJE+];a:E,];a>@>nܼ@>Nٱ>u: FAHRS rotation from veh to nav: [[0.642158,0.487318,-0.591739],[-0.257438,0.864191,0.432319],[0.722052,-0.125282,0.680401]]>H`?70?yп`s?`? ?9 ?i>@I>_;>CY^AybfHbDjzVDj`4yU?%UI=ٔUA;Q-]>9YIY=ebGyeFeuEe>iQ 5uJ4mf(?Q 9uJ4m)mEAQ Au9YyQ E}9y}쮾Q I}?mJ~BIm ;im @mAJ4yɮ;GB”ʔɢ) i)is>IIAIIQIiOu>yԡ 9,V@A2ӿ@2p@2խMٱ2 < :AHRS rotation from veh to nav: [[0.643309,0.491871,-0.586700],[-0.261003,0.861312,0.435912],[0.719744,-0.127295,0.682469]]2H ?z?? Dпޏ??$?8K?i2ӿ@I2_;2CYBAyFhHa a aa aa aa a@a a@a a@a a@a aa y rh?+v/?CK?x= )Mb@Mb@Mb@IiB )3BYf]B))bD5yVD5^4yEg?%EK=ٔE9III=MbGyMFU2)EU>YQ 5eJ4]:?Q 9eJ4]ʶ)]AQ Aeo9YaQ Ee9ym3Q Im?]6BI]:i]@]9J4yu^BɮufFBԹuE” ʔ   ɢq)q uTiq)yyyi}M>IE= E=rE=IE9"E=O:*E=?:VE=e5ZE9aM@aM@aM@aM@A!I)IQOe4>B>B/CBmHBZAB =B(DBpDB¾;B~E9 2?,wV@A6$@6@6Lٱ6v@@ BAHRS rotation from veh to nav: [[0.644632,0.496927,-0.580958],[-0.264632,0.857990,0.440253],[0.717230,-0.130061,0.684591]]6HӠ?? 6п@t?-??֥@+?i6$@I6,`;4YJ]AyJjHbDZwVDZ[4yb ?%bS=ٔb9dId=fbGydj-Ej>lQ 5rJ4nCL?Q 9rJ4n͸)nAQ ArB9YpQ Evx9yvQ Iv?n BIn;in4@nQJ4yxɮzEBx ” ʔ  ɢ) i)顑i>IAA>A.AIIO=AEE EEnEEMEA"EE:*EE:VEEH$5ZEABEE/;aM2EE0;aUJEEJ;aU:EEJ;aU yyqԙ F,V@A2y@2t@2IKٱ2*E :AHRS rotation from veh to nav: [[0.645794,0.503050,-0.574361],[-0.268449,0.853833,0.445987],[0.714762,-0.133829,0.686443]]2H@X??+a D.ѿR? ?`U?P! X?i2y@I2D`;2CYvAyv8lHbDpVDN4y R?%E=ٔ 9 ?I ?=bGyF.E%>!Q 5-J4%!_?Q 95J4%)%^AQ A59Y1Q E5I9y5Q I5?%BI%#:i%O@%J4yAɮEDBAQ”QʔYYYɢ) i)顉i >IyA%؟AI1IAOM>ԡEU  EU vEU HEQ "EU :*EU :VEU -5ZEQ a] @a] @a] @a] @ EL,v3V@AFT@FO@FyJٱF KBR<AR<BVM>BV&CBVrHBVABV =BV)DBViDBVü;BV{E bAHRS rotation from veh to nav: [[0.647117,0.509775,-0.566894],[-0.272474,0.849107,0.452521],[0.712038,-0.138370,0.688372]]FH`.?P?#7pѿ+??`?$?iFT@IFP)`;FCYjAyjenHbDrlVDrF4yz ?%zL=ٔ~9"?I"?=bGy:E > Q 5J4 nq?Q 9J4 $)  AQ A]8YYQ E]#9y]Q I]? 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AF "?i6@I6A_;6CYJE/ByJHbDRVDR!3yZ>%Z^=ٔ^;Q-^>9\Y\=bbGy`b;Eb>dQ 5jO4f?Q 9jO4f)fIGBYhyn%Q In?fBIf:iff;ftO4ypɮrSAp|”|ʔ|ɢ%E)) -i- Z9))))i5eZ=1I9A A AA!Bt>B\CBy F,V@A]N@]슽@] ٱ]3 AHRS rotation from veh to nav: [[0.803728,0.422664,-0.418779],[-0.302505,0.896355,0.324097],[0.512359,-0.133803,0.848284]]]H$? ?Gڿ`<\ӿ??`>e?v #%?i]N@I]_;]CY/ByFHQiMb@Mb@Mb@ 9ˡE?Mb+?Y'?y=BB )AYBAAAAbDVDy8>%+=ٔ9Q->9Y=bGyF:E>Q 5 O4?Q 9 O48)GBYn(?Q E:ysоQ I?BI ;i ;$O4yɮ,A!1”1ʔ199ɢe ƾ)e== e7ie{9)iiiim+=qIq 5f>5C`]A 9`]AYIkAyMe8ԩEE  EE EA EA "EE ;*EE 1:VEA ZEA aM @aM @aM @aU @u X=A zA [A I I! O5 >&,V@AY0By,HbD%VD%0yE>%EX=ٔMQ-U>9YYY=]bGyaeEm>yQ 5O4}?Q 9O4}_)}HBYyQ I?}}BI}x;i}n;}}O4y8BɮA Ei”qʔqqqɢ;Ͼ) ]i r9)项i_H=I8V=AIiIyO>B% W>B% YCB% HB% #2BB! B! B% ʺDB% 1;B% LEq X ,XV@AE EE/E"E;*E:VEJ4ZEBED @>@>W ٱ>j0 JAHRS rotation from veh to nav: [[0.805219,0.419681,-0.418914],[-0.300620,0.897863,0.321668],[0.511126,-0.133080,0.849141]]>H[?@?~ڿ Z=ӿJ?6?$[?),?i> @I>\?_;>CYr1ByrHbDzVDz3y>%O=ٔ n;Q- >9 Y =bGyF;E>Q 5%O4g?Q 9%O4)'IBY)y-ϾQ I-?BI:i1:&O4y1ɮ5A1I”IʔIIQɢ9־) 4idk9)i֑=IYiyIyԉV8Ա5 O==I I O > 3,6V@A2^@2@2eٱ2 >AHRS rotation from veh to nav: [[0.806604,0.418704,-0.417225],[-0.299764,0.898111,0.321773],[0.509442,-0.134475,0.849932]]2H@? ?ѳڿT/ӿS?? ZM?v6`2?i2^@I2mk_;0YF1ByFHHHiMMb@Mb@Mb@IIII I9Mjt?~jth?~jtx?YM ?yMD;M;MBMB MOB)M7AIYM3B ep%}C=ٔ};Q-}>9Y=bGyi;E>Q 5P4<?Q 9P4)IBY ?Q E:yvQ I?\BIS;i;P4yɮA E”ʔPB*** querying acoustic contact *** ɢJľ) IJi}9)i=IԱ8E5 E5E51E1"E5l;*E5҆:VE5-4ZE1aE@aE@aE@aE@2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.I I!O=r> 9 ] ,V8V@A2p@2@2ٱ2!e" :AHRS rotation from veh to nav: [[0.808481,0.417693,-0.414596],[-0.299107,0.898331,0.321771],[0.506846,-0.136137,0.851219]]2H?`}?ڿ$ӿ!?@?8?l /=?i2p@I2{_;2CYBL2ByBIHbDN VDN2yV>%VX=ٔV9XYX=ZbGyZF^;E^>`Q 5fP4b\ ?Q 9fP4bi)b/JBYdyjQ Ij?bŲBIb:ib:b P4ylr*DAT read: user:357> vBDAT read: Tx time:00:10:56.6289 v$Ping request sent.v>BVCBHB3BB =B9DBǺDBh;BKE9EM EMEM.EI"EM:*EM:VEMـ4ZEIBEM>%/=ٔ 9Y=bGyfl;E>Q 5P4I ?Q 9P4)JBY;#?Q E:y^Q I?JBI ;iP ;DP4y9BɮFA E”ʔɢ)= i9)iE= I achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502668 8A1I9IQO]U>ԙEI  EI EM 1EI "EI *EI VEM -4ZEI aU @aU @aU @aU @Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754781Cp,GkV@A2۶@2ս@2ٱ2$ :AHRS rotation from veh to nav: [[0.813552,0.414131,-0.408201],[-0.297752,0.899660,0.319303],[0.499476,-0.138227,0.855229]]2H?`?ڿ_ӿ?wo?i?l ^?i2۶@I2_;2CPYVl3ByVHbD5VD51y>%]=ٔK9Y=bGyF;E>Q 5P4. ?Q 9P4G)1KBYy|Q I?BI:i;4+P4y;BɮAE”ʔɢ`ھ) i%9)!!!i%Y=)I1IE?)E1?}Z8checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007496 IIO>B 7>B UCB HB 5BB =B B B ;B JE! xW!,V@AE EE/E"E;*EM:VEJ4ZEBE;C @>@>ٱ>n" JAHRS rotation from veh to nav: [[0.816414,0.411213,-0.405427],[-0.296999,0.901110,0.315900],[0.495237,-0.137494,0.857809]]>H@ ?RQ?ٿӿ`?7??@h+s?i> @I>_;>CYR3ByRKHbD^ VD^2yf>%fW=ٔfR9hYh=jbGyhn;En>pQ 5vP4r$@ ?Q 9vP4r)rKBYtyzQ Iz?r#BIr:ir:r|8P4y~ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510812ԁ ]',~V@A2w@2@2_ٱ2 :AHRS rotation from veh to nav: [[0.819114,0.408587,-0.402628],[-0.296687,0.902482,0.312254],[0.490948,-0.136317,0.860458]]2H.6?K&?`ٿ@ҿ@"?? k? r߈?i2w@I2J_;0YF{4ByFHi Mb@Mb@Mb@     9 L7A`?{Gz?MbY +'?y ף< @ B hA bCB) jA Y QBbD%VD%1y5>%5D=ٔ=5A9AYA=EbGyE FEZ;EE>IQ 5UP4MS ?YQ 9UP4M)MLBYe'?Q Ee:ye9Q Ie?MBIM88;iM7;MGP4ym=BɮmAmE”ʔɢM)I U%iut9)顁i =IE= E=E=4E9"E=;*E=h:VE=4ZE9aE@aE@aE@aE@M8ԉmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762853+E=ԹI9IQOe> 7-,XV@A6L@6@6ٱ6 BAHRS rotation from veh to nav: [[0.821930,0.406322,-0.399166],[-0.296478,0.903572,0.309287],[0.486345,-0.135869,0.863139]]6H@@M?/?ٿҿ`?\?F ?#dԞ?i6L@I6 `_;4bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014675Yf 5ByfHbDn VDn2yv>%vO=ٔz[9xYx=~bGy|~[;E>Q 5 P4f ?Q 9 P4)LBYyQ I?BI:i:TP4yɮ%A!1”1ʔ199ɢe)a eie^9)iiiimq =qIq }ZA}ZAԹAqAu@AB}+>B}TCB}]HB}l6BB} =ByB}ƺDB};B}AJE#8EI EMEM1EI"EI*EM1:VEM-4ZEIBEMDuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2667869 4,CV@Ae @e@e_ٱe9 AHRS rotation from veh to nav: [[0.824751,0.404402,-0.395278],[-0.296502,0.904453,0.306676],[0.481532,-0.135731,0.865855]]eH[d??=Lٿҿ`H?@?i?@_@?ie @Ie_;eCY5ByUHiMb@Mb@Mb@ 9K7?X9vYI,?y}?BMA @B)AYBbDVDP)3y>%0=ٔA9Y=bGy!FT;E>Q 5P4c} ?Q 9P4ù) MBY-?Q E:yQ I?BIu;i;"eP4yɮAE ” ʔ ɢ=)9 =Ri=9)AAAiE{=III checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5271019iDA zDA EM  EM EI EI "EM ;*EM M:VEI ZEI aU @aU @aU @aU @ԑ I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778880I O >\:,;V@AJ@J @JSٱJ ZAHRS rotation from veh to nav: [[0.827523,0.402457,-0.391451],[-0.296815,0.905443,0.303436],[0.476556,-0.134912,0.868731]]JH {?@?` ٿҿ d?@~k?`?`D ?iJ@IJ_;JCYf6ByfHbDr VDr:2yvH>%zn=ٔziQ 5uP4m֎ ?Q 9}P4mл)mlMBYyy}+Q I?mBIm<;im*;mqP4yɮA”ʔɢɨ) iߌ9)i=I qԡ8IIOa>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030837Bm >Bm RCBm HBm 7BBm =Bi Bm źDBm ђ;Bm JEB-UCB-UCB-ɕCB-ə =B-ə =C-N6 A,uV@AbEjE>4rE/E EEE"E*E:VEZEBEO%fM=ٔjy}9hYh=nbGyn"Fn):En>pQ 5vP4rС ?Q 9vP4r )rMBYxyzQ Iz?rBIr:irl:rP4y~>Bɮ~AE”ʔɢEdP)A EiE9)IIIiM `=IIQI#?)$?checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2833408 A؟AG^AI xݿ9 ^AY AI! ) O5 >- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534758Y G,t V@A6@6; @67ٱ6 BAHRS rotation from veh to nav: [[0.833084,0.400147,-0.381907],[-0.298743,0.906555,0.298180],[0.465535,-0.134318,0.874777]]6H??(qؿ`ӿ~?c?`T?Q1`-?i6@I6 _;6CYJ7ByN5HiMb@Mb@Mb@ 9K7?I +V-Yy9mBrA 9B)vAYz BbD5 VD52yE*>%EB=ٔM`v9M"?YM"?=UbGyQUl߹EU>YQ 5eP4]' ?Q 9eP4])]FNBYiQ Em:ymvɾQ Im?] BI]:i]:]ȍP4y}?Bɮ}A}E”ʔɢ)  i—9)i=I))DU=DU<E} E}E},Ey"E};*E}h:VE}g4ZEya@a@a@a@Aychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.787229IIOD>Yԁ M,:V@A02 @2s@2ٱ2 >AHRS rotation from veh to nav: [[0.835841,0.399331,-0.376703],[-0.300167,0.906980,0.295443],[0.459642,-0.133869,0.877957]]2H4?ऎ?`ؿ5ӿ??j?"`9?i2 @I2_;2CYF7ByFHbDjVDjk2rchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.038930yz>%zP=ٔz؊9|Y|=~bGy~#F<E> Q 5P4 - ?Q 9P4 #) NBYyɾQ I? BI :i : }P4y!ɮ%A!1”9ʔ999ɢeJ䓾)a mim9)iiiimϜ=qIqBA<B>BBHB9BBBBB;BIEԉo8EM EIEM0EI"EM ;*EIVEM4ZEIBEIa]2EIa]JEM;a]:EM;a]ԹAIIYIiOu>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291678 ]T,g|TV@A` @c@ٱ AHRS rotation from veh to nav: [[0.838630,0.398068,-0.371809],[-0.301522,0.907729,0.291740],[0.453635,-0.132553,0.881275]]H ?y?׿$Lӿ ?߫?`Y?@g3?i @I_;CBDAT read: Rx Time:00:11:00.6754 TRx dataTimestamp_ set to:1761696661.449125checking for new query: numPingsReceived=0, elapsed TxPingTime=4.543855Y98ByH!%AiMb@Mb@Mb@ 9m?/$&1Y.?y,PBA 3B)AYB 4<bDVDy>%=ٔUE9Y=bGy$F.E>Q 5P4M ?Q 9P4)JOBY=h/?Q E=:y=ؾQ I=?RBIgA- > checking for new query: numPingsReceived=0, elapsed TxPingTime=4.795989A1 IA IQ Oe >Ֆ[,̛pV@ARi @R@RٱR ZAHRS rotation from veh to nav: [[0.841502,0.396115,-0.367379],[-0.302597,0.908915,0.286895],[0.447559,-0.130255,0.884717]]RH?@Y?"׿]ӿ@?z\? Ф?@/@O?iRi @IR_;P \)b"aAbj<``df`Aif7IddIdij7aA jQh)hh j`An llln`AInxi)r@Eip)pIr`Artt ttvlAtittixx)x xIxYxY8ByHbDVD 3y%E%?%-=ٔ5ο )t޿=I4QO?i=B>BBHB2:BB =BBB:;BhIEԉ EM  EM EI EI "EM ;*EM :VEI ZEI BEM 3N%A=ٔ9Y=bGy%FA!E>Q 5 P4!?Q 9 P4) PBYy^ؾQ I5?:BI;i;;P4y9ɮ=\AAq”qʔqyy525m}V@AJ5`DR5`Dj52g>5,G@/@3:@6$ar5'?ޒq? -V:Z54QO?b5=50_Q@@`@z5oC7?.9-a?:M;?25tC:5D"5`֍?*58B55Cɢ̅) jiɞ9)i9[=Iԩ]8AIIOn> h,vV@A2@2W@2ٱ2zc :AHRS rotation from veh to nav: [[0.846741,0.395278,-0.356069],[-0.305028,0.909070,0.283812],[0.435877,-0.131704,0.890318]]2H? >L?ֿ@ӿ? )?`g?@{}?i2@I2Wr_;0pY~9By~H = iMb@Mb@Mb@ 9Gz?%I=ٔ9Y=bGyE>Q 5 P4\!?Q 9 P4)PBY 1?Q E:y-Q I?BE EE+E"ET;*E?:VE [4ZEa%@a%@a%@a-@I;i;4P4y5BBɮ5tA5EI”IʔIIIɢu߰)y }dci}g9)yyyi==Im8uTDAT read: user:358>Rx Time:00:11:01.9494 }TRx dataTimestamp_ set to:1761696662.7104099u3=A .AI I O >a Gn,V@A6@6@6ٱ6ui >AHRS rotation from veh to nav: [[0.849176,0.395157,-0.350358],[-0.306223,0.908936,0.282955],[0.430264,-0.132991,0.892853]]6Hs,?@J?Clֿ 'ӿ?`?s???i6@I6_;4YJX:ByJ0HbDR VDR:2yZC>%Z`=ٔ^9^ ?Y^ ?=bbGyb&FbCnEb>dQ 5jP4f+!?Q 9jP4f)fPBYlyn2Q In?f3BIf:if;fP4yrEBɮrcAv$E|”|ʔ|ɢ-x)) -uZi-a9)))1i5T=19I9AAAAB>BBxHBc;BB =BBB;BEIEiE) E-E-*E)"E)*E-Z:VE-(N4ZE)BE-GZu,V@AYM:ByMHiMb@Mb@Mb@ 9B`"?kt~jtY.?y DBrA o(B)AAYBbD VD2y ?>% )=ٔQ->9Y=bGyE>)Q 5-P4-'B!?Q 95P4-F)-{QBY5A0?Q E5:y5Q I5?-ͺBI-:i-/:-P4y=FBɮE`AE%EY”YʔYYaɢFV)X[< ?Rip9)顑i=I*8E- E-E-.E)"E- ;*E-:VE-ـ4ZE)a=@a=@a=@a=@9Q A I I O >|,V@A2@2@2eݾٱ2n :AHRS rotation from veh to nav: [[0.853793,0.393296,-0.341110],[-0.307785,0.909763,0.278566],[0.419888,-0.132850,0.897800]]2HER?@+?տӿ??r?6 Ǻ?i2@I2̉_;2CYBq;ByFHHbDR VDR:2yV>%ZX=ٔZ9\Y\=^bGy^'Fb-9Eb>dQ 5fQ4fS!?Q 9jQ4f,)fQBYhyjoQ Ij?fFBIf;if;fQ4yrGBɮr9Ar&E|”|ʔ|||ɢ%g)! -Hi-9))))i-Ȓ=1I1 =[A=[AJ8B->B-QCB-HB-E  E E ,E "E ;*E :VE g4ZE BE q_%MA=ٔM\9U"?YU"?=UbGyQ] ;E]>aQ 5mQ4eg!?Q 9mQ4ej)eeRBYiymQ Im?eͻBIe:ie:eQ4yyɮ}GAy”ʔɢ])R)Y ]YAi]R9)aaaieL@=iIi18YA .AI I! 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B% ĺDB% ;B% HEBRCBQCB˓CB˚ =B˚ =Cy5Ɯ,BV@A2 @2@2վٱ2q :AHRS rotation from veh to nav: [[0.860970,0.387126,-0.329945],[-0.306911,0.912650,0.269953],[0.405631,-0.131157,0.904578]]2H? ?տoӿn4?F??M?i2 @I2^_;2CYB%VZ=ٔVS9Z"?YZ"?=ZbGyX^t;E^>`Q 5fQ4bӊ!?Q 9fQ4b)bLSBYdyfQ If?b¼BIby:ib:bK+Q4ylɮnvAYi”iʔiqqԹɢV) 2i[9)iU=IbE4jE~4rE·0Eu EuEu/Eq"Eu;*Eu^:VEuJ4ZEqBEu%d] CI U }Gu `]A ꛿9 `]AY ԆAI9 Iq O >㖹,:\V@Ay.w?.VA^/@^3*@^nӾٱ^it nAHRS rotation from veh to nav: [[0.863343,0.384816,-0.326427],[-0.305915,0.913587,0.267910],[0.401315,-0.131439,0.906460]]^H`?Ԡ?.Կӿ%m;=ٔu19qYq=}bGy})F;E>Q 5Q4!?Q 9Q4)SBQ A+:YQ E:yYQ I?LBI ;i>7Q4yIBɮA(E”ʔɢ}x0) s+i9)顁iw=I DAzDE?AEM EMEM.EI"EM;*EM:VEMـ4ZEIaU@aU@aU@aU@-89S<I I O >i \,'vV@A2<@@2:@2оٱ2\ :AHRS rotation from veh to nav: [[0.865780,0.382379,-0.322817],[-0.304799,0.914562,0.265847],[0.396890,-0.131771,0.908358]]2Hy?x?@ Կҁӿ D??`f?` E?i2<@@I2_;2CYB=ByBHbDJVDJyR>%VZ=ٔVR9XYX=ZbGyXZ;EZ>Q 5Q4!?Q 9Q4)8TBQ A% :Y!Q E%O:y%xQ I%?ýBI~ ;iS?@Q4y)ɮ-iA)A”AʔAIIɢmG)q u("iuT9)qqqi}-M=IԑB>BNCBHB>BB =B:DBºDBG;BWHEu8Eu  Eq Eq Eq "Eu ;*Eq VEq ZEq BEu ] L裹,cV@A2dS@2N@2rξٱ2P :AHRS rotation from veh to nav: [[0.868319,0.378941,-0.320042],[-0.303412,0.916232,0.261650],[0.392382,-0.130091,0.910556]]2H`D?@? {Կkӿ Q?߾??ѦF#?i2dS@I2~_;2CY^I>Byb HbDjVDj1yr0>%rG=ٔraC9tYt=vbGyv*Fz;;Ez>|Q 5Q4~!?Q 9Q4~)~TBQ A9YQ E(:yQ I ?~@BI~ ;i~Μ?~GQ4yJBɮA)E”ʔɢt)) iiuַ9)qqyi}N=yI!]g8qqqqI I I O >w,>V@AD%=D<E EE1E"E;*E:VE-4ZEa@a@a@a@>f@>a@>}f˾ٱ>- JAHRS rotation from veh to nav: [[0.871234,0.374854,-0.316916],[-0.302093,0.918334,0.255738],[0.386899,-0.127070,0.913325]]>H`&?@?`XHԿ~Uӿ`b?@^??C@9?i>f@I>_;>CYR>ByRHaa aa aa aa iMb@Mb@Mb@ 9{Gz?S㥫y&1?Y#?y/]`e<BA EB)AYQAbD VD2y>%/=ٔ Q9Y=bGy§;E>Q 5Q4!?Q 9Q4)*UBQ A T:Y v$?Q E :y "ؾIQ I?̾BIXyԩ A A @AB >B MCB ;HB @BB B B B ;B HEP,V@A@Fz@Fwu@F%ǾٱFƮ RAHRS rotation from veh to nav: [[0.874409,0.370634,-0.313111],[-0.300823,0.920470,0.249482],[0.380676,-0.123958,0.916363]]FH )?y? 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Q??"̿@Dp0?i~u@I~ a;|Y=JBy=@HiMb@Mb@Mb@ 9L7A`?X9v?~jtY+=y}=ļ AtA )AYAbDVDP)3y@%?=ٔxֻQ->9Y=bGyw(<E>Q 5 W4&?Q 9 W4En)UBY =Q E 2BBHB\IBB =BBDB;B,>Ee,s9/"@ @@@IIO )>A \,cV@A Fk@F @FL`>ٱFo) RAHRS rotation from veh to nav: [[0.966507,0.130870,0.220765],[-0.136555,0.990576,0.010621],[-0.217295,-0.040412,0.975269]]FH@?V?B?z˲?@l?N˿װg5?iFk@IF*(`;DYZJByZSH^=^=bDb VDb2yjy(=%j^=ٔnQ-n>9pYp=rbGypr[8<Ev>tQ 5zW4v&?Q 9zW4vm)vUBY|y~?Q I~?vqBIv3;iv;vW4yɮ fA E% E%E%,E!"E%L;*E%r:VE%g4ZE!BE%yԩ 􆞼,l|V@A@J@J[@JYt]>ٱJ͍ VAHRS rotation from veh to nav: [[0.967551,0.128160,0.217761],[-0.133414,0.991015,0.009532],[-0.214582,-0.038275,0.975956]]JH-?`g??`d?}?nw˿Ø`;?iJ@IJ `;JCY^JBy^EHbDf VDf2ynjڼ%nJ=ٔrQ-r>9pYt=vbGytv<Ev>xQ 5~W4z&?Q 9~W4zm)zUBYy?Q I?zBIz;iz;zW4y ɮ |A R)z)b1j1Z1ʎ111j9Z=J@YYY]?ii)i)iiiiqqIyIA?)O?Umu9ԩ%'@ @@00@IIO>D1zD1EM EIEM*EI"EM:;*EIVEM(N4ZEIaU@aU@aU@aU@B x>B ?CB HB zIBB =B B B 3;B =E -t,ߖV@AxYzJBy~HHi}Mb@Mb@Mb@yyyy y9}?i|?5?ˡEY}=ٔQ->9Y=bGyE>Q 5W4&?Q 9W4l)UBY˛=Q E.E5 E5E1E1"E5a?;*E5:VE1ZE1BE5ٱB JAHRS rotation from veh to nav: [[0.969439,0.123159,0.212178],[-0.127923,0.991745,0.008820],[-0.209340,-0.035693,0.977191]]BH? Q?(?__??ʿKF&E?iBv@IB1_;BCYRJByRMHXZAbD^VD^02yf)<%fZ=ٔfHjQ-j>9hYh=jbGyhn{~<En>pQ 5vW4rp&?Q 9vW4rk)rUBYtyz?Q Iz?rBIr:ir:rW4y9ɮ=pA9YRyzybyjyZyʎjZ@mJ@4?i))iIw9@,@ @@@ԉIIO>ԱEA  EE EE +EA "EA *EE :VEE [4ZEA aU @aU @aU @aU @ 2,V@A$@@GU>ٱ -AHRS rotation from veh to nav: [[0.970269,0.120762,0.209750],[-0.125782,0.992000,0.010709],[-0.206779,-0.036773,0.977696]]Hq ? A?`?w??wʿ@ӢII?i$@I_;CY=JBy=EHԱiMb@Mb@Mb@ 9V-?I +?)\(Y9)Y)=-bGy15;E5>9Q 5EW4=D&?Q 9EW4=}k)=UBYE=Q EM.B@CBHBIBB =BBDB;B=EByByByByByC}v5i))顉iI ZAy9IZA)YA/@ @@/0@I)I9O]U> f>C AU\Ai9\AYA9 , YV@A6>@6@6R>ٱ6@I6'^;6CYJJByJJHR@ARAAbDRVDR:yZ2<%Ze=ٔ^]Q-^>9`Y`=bbGy`bO;Ef>dQ 5jX4f&?Q 9jX4fk)fUBYlynڇ?Q In?fBIf{;if;fX4ypɮvtAtbEjEY4rEDN0E EE.E"EB;*E:VEـ4ZEBEwAqԙ վ,8V@A2@2i @2KP>ٱ2' :AHRS rotation from veh to nav: [[0.971675,0.116901,0.205383],[-0.122631,0.992334,0.015350],[-0.202014,-0.040102,0.978561]]2H?`@? I? d@2?o? ɿ/_P?i2@I2^;0YBJByFTHbDNVDNJ2yn<%rG=ٔrQ-r>9tYt=vbGytvQ;Ez>xQ 5~X4z&?Q 9X4zj)zkUBYy?Q I?zBIz;iz;zjX4y ɮeAR1z1b1j1Z1ʎ119j9Z=K@YYY])?ii)i)qqqiqyIyq/|9 3@  @@/0@IIIaO>EE EEEE)EA"EE:;*EE:ԩVEEFA4ZEAa@a@a@a@B{>BBHBIBB =BBB;B=E ż,V@A2r@2@2>M>ٱ2<) :AHRS rotation from veh to nav: [[0.972322,0.115510,0.203096],[-0.121307,0.992481,0.016287],[-0.199688,-0.040473,0.979023]]2H@B?`? ?@ `h??^ɿ 츤(T?i2r@I2^;2CYRJByV>HieMb@Mb@Mb@aaaa a9eQ?:v?i|?5Ye\=ye9Y=bGy [;E>Q 5X4&?Q 9X4xj)NUBY>=Q E4K@>=>=ߏ#?)0?i))i!I!I->?)-F?L~9m26@i @i@m00@iIyIOE- E-E-*E)"E-C;*E-:VE-(N4ZE)BE-@ٱ2}% >AHRS rotation from veh to nav: [[0.972963,0.114050,0.200837],[-0.119663,0.992686,0.015996],[-0.197543,-0.039596,0.979494]]2H"?Y2?`???3a?@Iɿ@E X?i2*@I2^;0YFJByF=H N9\Y\=^bGy\b;Eb>dQ 5fX4fb&?Q 9jX4fCj)f5UBYhyj0?Q Ij?fBIfh:if:fs-X4ypɮrApP~B*** querying acoustic contact ***| |RzbjZ ʎ   j ZDnK@)))-0?i9)A)AAAiAIIIp~9)2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.O8@ @@/0@IIO$>Yԁ E  E E )E "E 1A;*E g:VE FA4ZE a @a @a @a @e DAT read: m BDAT read: Tx time:00:11:56.8788 m $Ping request sent.m ٱ AHRS rotation from veh to nav: [[0.973610,0.112619,0.198498],[-0.117921,0.992909,0.015057],[-0.195395,-0.038067,0.979986]]H@'?Լ?``h? 0?;֎?@ɿ z} \?i9@I^;CB]y>BYBYBYBYBYB]DB];B]=EYJByHHi}Mb@Mb@Mb@yyyy y9}l?~jtx?y&1Y}=y};}`e}A}A }`A)} AyY}AbD VD2y<% =ٔ㌻Q->9Y=bGy3m;E>Q 5X4{&?Q 9X4Aj)UBY =Q E Dew ؼ,eV@A24@2u/@2G>ٱ2 FAHRS rotation from veh to nav: [[0.973889,0.113552,0.196585],[-0.118560,0.992850,0.013857],[-0.193606,-0.036802,0.980389]]2H*?? )?Ym?@`?ȿעX_?i24@I2`;2CYVJByVHbDfVDf:3!y-b%-=ٔ5gQ-5?9YYa=ebGyamEm ?Q 5X4/&?Q 9X4?j)UBYyq checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754550ԡ g#߼,~V@A23@2.@2xVE>ٱ2h :AHRS rotation from veh to nav: [[0.974283,0.113890,0.194428],[-0.118712,0.992840,0.013294],[-0.191522,-0.036033,0.980827]]2HR-?'?@?`cW?@9?`˃ȿ@rb?i23@I2`;0Y^JBy^$HfAAf@AbDj VDj2yr=%rO=ٔrBQ-v>9tYt=vbGytz3Ez>|Q 5X4~&?Q 9X4~=j)~TBYy=Q I ?~BI~;i~:~XX4yɮAJ58Undocking sequence complete.5q5ʎ199j9ZE* L@y)=i )   i 1I9Em EmEm)Ei"Em1A;*Em:VEmFA4ZEiau@au@au@a}@ԡ@ @@/0@IIO&>-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006524B]x>B]?CBYBYBYBYBYB];B]w=E 0 ,`YV@A:w5@:0@:C>ٱ:Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258644 JAHRS rotation from veh to nav: [[0.974636,0.113554,0.192845],[-0.118574,0.992837,0.014653],[-0.189800,-0.037148,0.981120]]:H80??@$?Z@R?k?ZKȿ `Ue?i:w5@I:`;:CYnJByn!HieMb@Mb@Mb@aaaa a9e?I +S㥫YeL=ye94e/]aeA a)eAaYe AbD}VD}k1y(%@=ٔQ->9Y=bGy9E>Q 5X4Z&?Q 9X4pj)TBYd=Q E2]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514638ԩ L5,r4V@A29@2=4@2A>ٱ2% :AHRS rotation from veh to nav: [[0.975015,0.112619,0.191478],[-0.118119,0.992845,0.017522],[-0.188134,-0.039701,0.981341]]2HQ3?Լ?`V?=b? +?ȿ`S`$g?i29@I2s_;2CYnJBynHHbD VD  3y%=%%Q=ٔ-)Q-->9)Y1=5bGy15:E5>9Q 5EX4=&?Q 9MX4=j)=TBYIyMZQ IM?=BI=):i=B:=tX4yQɮU|AYu@}J}Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guideq}J}Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guideJ}Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDockʎjZrL@-ʺ@i)项iI)9IԱI O=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766617 D =D =E  E E -E "E E;*E >:VE t4ZE a @a @a @a @e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018542A U ,V@Aef?@e:@e6*@>ٱe0 AHRS rotation from veh to nav: [[0.975396,0.111456,0.190213],[-0.117466,0.992863,0.020586],[-0.186561,-0.042423,0.981527]]eHp6?`?X? H?`u?@?ǿ y h?ief?@Ie^;eCYJByKHBBBHBIBBBBB;Bx=EimMb@Mb@Mb@iiii i9m?Zd;OZd;OYiymjmj9Y=bGyT:E> Q 5X4 %&?Q 9X4 k) TBY=Q E9ԡ YI,RV@A>ٱN]6Ef EfEf*Ed"Efa?;*Ef:VEf(N4ZEdBEf*SW?22checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522547!!!ʎ!!)j)Z-`L@iiim@颙ɢkLc=) Y/?i)9顡ix:eɧ'c=駍5;iǬ߽I> >IԱeȄ9IIO>i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774742 0/,V@A2I@2QD@2<>ٱ27J2 :AHRS rotation from veh to nav: [[0.976113,0.110277,0.187194],[-0.116309,0.992980,0.021517],[-0.183507,-0.042775,0.982087]]2H R9tYx=zbGyxz;Ez>|Q 5X4~b&?Q 9X4~k)~qTBY y *Q I ?~BI~:i~:~X4yɮbA"19*92999AʎAAAjAZM M@aaaeָ@yɢ}ϛN=)y }]-?iy)n:顁i: eɧ=駍Nk;iZwIb> b>Iڄ9IIO==DzDAAE EE)E"E<;*E#:VEFA4ZEa@a@a@a@ 5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0278179BB@CBHBIBB =BBDBކ;Bt=EBBBBǠ =BǠ =CǬ4a JY,V@AV_Gb^Ajchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.285223l >9 ^AY A9mO@m6J@mN;>ٱmM& }AHRS rotation from veh to nav: [[0.976458,0.110148,0.185465],[-0.115637,0.993110,0.019011],[-0.182093,-0.040010,0.982467]]mH$??2?M?i?@w?Nǿ@&|^p?imO@Imi^;mCYJBysHiMb@Mb@Mb@ 9&1?X9vlYP=y$AA )/AYA-@A)bD5VD50yEA=%E6=ٔM RQ-M>9IYI=UbGyQU:E]>YQ 5eX4]&?Q 9eX4]l)]]TBYmЏ=Q Em< >Ii9bEƷG4jEƔK4rE@o/E EEE"EB;*Er:VEZEBEw y ,W|4V@A2U@2uP@2~:>ٱ2dv :AHRS rotation from veh to nav: [[0.976790,0.109950,0.183828],[-0.114922,0.993236,0.016580],[-0.180762,-0.037321,0.982819]]2HA?`%?@?k@?:?@2#ǿ@s?i2U@I2a^;2CԙY]JBy]HbDmVDmy}A=%}G=ٔWQ->9Y=bGy7:E>Q 5X4@&?Q 9X4gl)JTBYyDAQ I?BI:i:X4yɮA"a*a2aaaiʎiiijqZu ]}M@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782680Q@颵HBɢHZT=) .8?i)K ;项i2\;6bɧV=ϫ;i=NI|> |>I 9jZX<IIOF>E  E E +E "E y>;*E :VE [4ZE a @a @a @a @ E checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034692n,dNV@ABw>BB1HBIBB =BBDBۆ;Bo=E-[@-xV@-D8>ٱ-F =AHRS rotation from veh to nav: [[0.977108,0.109381,0.182470],[-0.114232,0.993321,0.016256],[-0.179474,-0.036727,0.983077]]-H xD?l?@1[?@P>@I?N?ƿ͢]u?i-[@I-O^;) I)M`AM7IIQU`AiU IQQIYi]r@ YY)Ya e`Aeףaaam`AIm94)mFim)iIu`Au/ݼq qqqyiyyYyYJByHiMb@Mb@Mb@ 9J +?X9vS㥛YH=y/ݼ1AA )YbD5VD5:yE$<%E>=ٔEGQ-M>9IYI=McGyIU:EU>YQ 5eX4]&?Q 9eX4]l)];TBY=Q EO`ɧ >/;i):>IW > W >I9checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286632t=Y^A q:ԑ I I O >,7hV@A69a@6[@67>ٱ6? >AHRS rotation from veh to nav: [[0.977381,0.108447,0.181565],[-0.113614,0.993357,0.018271],[-0.178377,-0.038486,0.983209]]6HF?@*û?=?`??ƿm@sv?i69a@I6Me^;4ER ER$ER(EP"ER[I;*ER;VERc44ZEPBERZ;i%=}>!%EI%y> %y>I)Q;9ԁ^AuIQIaOu>Թ checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790491 Տ ,F[V@Aed@ei_@e\6>ٱe- }AHRS rotation from veh to nav: [[0.977651,0.107500,0.180673],[-0.113214,0.993336,0.021586],[-0.177148,-0.041559,0.983306]]eH@H??J ?h??̬ƿ+G>w?ied@Ie0O^;eCY5KBy5HbDUVDU02yu =%u8=ٔu_8Q-u>9yYy=cGy':AEE>IQ 5UX4Md'?Q 9UX4Mm)MTBYYy]?Q I]?M9BIM+;iMI;MX4yaɮeAiE E E+E"E1A;*E:VE [4ZEa@a@a@a@"*2ꏩʎjZ 4N@@HBɢ[=) E?i);igd;[ɧM2>gxq4I> >IDAT read: 00:12:00.9052 LVL= 26752, 32753, 32754, 32755, AGC= 78, IDX= 463, 0.17,-0.308,-2.349,-1.150,-0.825, PHS= 0.619,-1.479,-0.369, RAW= 121.9, 13.4, CAL= 122.3, 14.7, ROT= 27.7, -14.7 Ygot valid direction response: 00:12:00.9052 LVL= 26752, 32753, 32754, 32755, AGC= 78, IDX= 463, 0.17,-0.308,-2.349,-1.150,-0.825, PHS= 0.619,-1.479,-0.369, RAW= 121.9, 13.4, CAL= 122.3, 14.7, ROT= 27.7, -14.7 q9MPDAT read: Bearing 177.1, 15.9 (Local) ]~Local bearing/azimuth received: Bearing 177.1, 15.9 (Local) ^A)amDAT read: Range 11 to 50 : 1216.7 m (Round-trip 1622.3 ms) speed 0.1 m/s IIOj>R#Rx 1: Read range and direction messages.U\direction in FSK: [0.856413,0.449627,0.253758]]Fpublishing direction and range infoy$)g?;?N=?YDBv>B?CBWHBIBB =BBB;B=Eh )NIv?iO)@|o>D@ G\>)>IG\&1??.\~? v =)>pI>iG\ԁ &,V@A6j@6d@6/5>ٱ624 >AHRS rotation from veh to nav: [[0.977925,0.106564,0.179740],[-0.112606,0.993356,0.023725],[-0.176018,-0.043441,0.983428]]<6H)K?`G??Ӽ@? tK? ƿ=>x?i6j@I6h^;6CY\y^Hi}Mb@Mb@Mb@yyyy y9}J +?{Gz~jtYyy}ף}yy y)};AyY}AbD VD2y\:%Z=ٔpIQ->9Y=cGy:E>Q 5X4'?Q 9X4m)TBYSf=Q Ek=tX36@*o7@U7s@r=$)g?;?N=?Z=>b=G\= q;@}nz@jfX@z=d%?-( fY?qwK?2=C:=D"=U?*=2B=C"*2ʎ!!j%@Z%1?ESf=ESf=EB@E\@UHBɢ]=)Y ]SE?iY)];YYiey;eYɧmT@>mWimj@Imq> mq>IIԱ-I9@5=@5=^AIIOC>E EE)E"EM;*EZ:VEFA4ZEBEٱ2>2 :AHRS rotation from veh to nav: [[0.978254,0.105806,0.178392],[-0.111735,0.993460,0.023497],[-0.174739,-0.042919,0.983679]]2HM??? m?`?`]ƿq@Lz?i2q@I2ES^;2CYBBKByBHHHbDLVDLyVQ=%V\=ٔV9eQ-Z>9XYX=ZcGyX^";E^>`Q 5fY4b'?Q 9fY4bn)b TBYdyf Q Ij?bLBIb:ib:b3Y4ylɮnUAlp"*2   ʎ   jZ?1115@GBɢ#=) P?i)%J;i,;t1Wɧ=O>%ICֽ> Cֽ>IMj9 ^AMIIO >1E  E E ,E "E CJ;*E g:VE g4ZE a @a @a @a @a U3,¢V@Aj|@jnw@j2>ٱj7( AHRS rotation from veh to nav: [[0.978592,0.104922,0.177056],[-0.110416,0.993654,0.021442],[-0.173683,-0.040533,0.983967]]jHP?&ܺ?@ǩ?`9qYq=ucGyqu5;E}>yQ 5Y4})'?Q 9Y4}+n)}TBYd=Q EF,>t;I> >IAAq^A >A= п@II Ia Ou >ԙ p9,yV@A>@EF EFEF/ED"EF&U;*EF:VEFJ4ZEDBEFG@>1>ٱ>$ VAHRS rotation from veh to nav: [[0.979026,0.103011,0.175777],[-0.108185,0.993928,0.020081],[-0.172641,-0.038677,0.984225]]>H-T?@^? ?B?:?ƿjͣ~?i>@I>T^;Yv`C>=vcGytv;Ev ?xQ 5~Y4z'?Q 9Y4z6n)zTBYyAQ I?zXBIz;iz;zY4y ɮ CA"11*121111ʎ999jAZEI?qɢul=)q uS?iq)}%;yyi};Qɧ\>駅0'i;I3> 3>IU9@e\A@e\Ay^AUA}uAIIԡO=> Y@,TV@A2<@2ܪ@21>ٱ23 :AHRS rotation from veh to nav: [[0.979401,0.098263,0.176404],[-0.104285,0.994229,0.025171],[-0.172913,-0.043049,0.983996]]2H`@W?'?@k? h ?vƙ?"ƿ@ |?i2<@I2E^;0YBgKByB+H J49Z>YZ>=ZcGyZ9F^$<E^>Q 5%Y4'?Q 9%Y4En)SBY!y->Q I-?^BI:i:+Y4y1ɮ5 A1"aa*i2iiqqʎyjZ@'}?GBɢy=) Z?i)0;iwF;Nɧzb>/5\;Ib> b>I 1]9DzDE EE+E"Ea?;*E:VE [4ZEa@a@a@a@^Aq-iA2ABUu>BQBUHBUEJBBQBQBQBU9;BU=EIIO]>ԉ yF, 0V@A06Ǿ@6X@61>ٱ6%n BAHRS rotation from veh to nav: [[0.979719,0.092868,0.177558],[-0.101479,0.994032,0.040028],[-0.172781,-0.057235,0.983296]]6H Y?@0Ʒ?5?`?~?`ƿ M )w?i6Ǿ@I6W^;4YJaKByJ$HiMb@Mb@Mb@ 9~jt?9?Y?=cGyW;E>Q 5Y4'?Q 9Y4n)SBYHE|2MO;IIMR> MR>IQԉ9E EE*E"E*E:VE(N4ZEBE!M,'7V@A2ݾ@2~@2 *1>ٱ2v> :AHRS rotation from veh to nav: [[0.980099,0.087950,0.177961],[-0.098841,0.993676,0.053273],[-0.172150,-0.069803,0.982594]]2H`\?`݃?k?`M 2?@F? ƿޱjq?i2ݾ@I24D^;2CYBpKByF6HbDNVDN0yV!=%V\=ٔVwQ-V>9Z?YZ?=ZcGyZ:F\^;Eb>`Q 5fY4b;'?Q 9fY4bm)bSBYhyj/?Q Ij?bhBIb:ib:bGY4ylɮrAp"*2 ʎ   j Z/@=GBɢ=D=)9 EE\?iA)E M40UcfD;QIU E> U E>IYUˍ9@]@]@]@]A AI!I1OE>E  E E ,E "E F;*E #:VE g4ZE a @a @a @a @A {T,XPV@AF@F@Fd/>ٱF$ fAHRS rotation from veh to nav: [[0.980618,0.084352,0.176844],[-0.095864,0.993727,0.057583],[-0.170877,-0.073420,0.982553]]FH`8a??@Ң??{?Oſ˲q?iF@IFZ^;FCBtAt!BBBHBnJBBBBBa;B=EB?CB?CBB =B =C"5YKByLHbDVD1y=%/=ٔ5Q->9??Y??=cGyh;E>Q 5Y4'?Q 9Y4m)SBYy/?Q I?nBI%:i:KXY4yɮMճAQ"*2ꏑʎjZ w| @ɢ̹=) `?i)<i; nEɧ KX>7 -75;I\3> \3>II%7?)%E?I9 5g>=ґC`]A9`]AY%hAy?6AA1IAIQO]v>qԡ 1Z,jV@AbEu [4jEuY4rEu0E2 E2E2*E0"E2O;*E2:VE2(N4ZE0BE28JE2,:E2,B3@B@B->ٱB JAHRS rotation from veh to nav: [[0.981334,0.081037,0.174402],[-0.091670,0.994336,0.053791],[-0.169055,-0.068775,0.983204]]BH@g?Ѿ?R?w??ſ4hv?iB3@IBF^;@YRKByV^HyiMb@Mb@Mb@ 9/$?I +?:vY,=y94=T AA )MAYbDVD:2y*=%X=ٔ^Q->9Y=cGy;F:<E>Q 5Y4U '?Q 9Y4\m)SBY~=Q EU?Q I?yBIS;i;XeY4yɮA"!!*)2))))ʎ119j9Z=Z @Yɢ]K=)Y ]us&});yI}> }>Im9ԩA0AIIOf>ii Ii  a,МV@A2D@2-?@21+>ٱ2#} :AHRS rotation from veh to nav: [[0.982117,0.077387,0.171630],[-0.086624,0.995132,0.046989],[-0.167158,-0.061016,0.984040]]2H`m?@ϳ?@?@,? ?peſs=A}?i2D@I25b^;2CYBKByFfHbDNVDN:yZ<%^^=ٔb誻Q-b>9f?Yf?=jcGyhnd<En>tQ 5zY4v '?Q 9zY4vl)vSBYy @?Q I?vBIvV;iv4X;vTrY4yɮA"*2ʎjZ ]z@=HBɢ=aŗ=)9 Ee?iA)E/MUs;qIuMӽ> uMӽ>IyM 9E  EE-E"EE;*E:VEt4ZEa@a@a@a@AIIOA>Br>BB8HBJBB =BBBz;B >E9Y Fg,V@A6v@6-q@6)*>ٱ66` >AHRS rotation from veh to nav: [[0.982922,0.072636,0.169082],[-0.080652,0.995898,0.041022],[-0.165408,-0.053959,0.984748]]6Ht? M?w?e??,ſ`w ?i6v@I6H^;6CYNKByN^Hi%Mb@Mb@Mb@!!!! !9%~jt?~jt?~jtY%=y%D=%ļ%A%A !)!!Y%A 5<1bD=VD=k2yMz%MA=ٔMQ-M>9QYQ=UcGyQ]Hm<E]>aQ 5mY4eI'?Q 9mY4el)eSBYm=Q EmɧB>駥?B.;mB6Ip> p>I09aAڗAI!I1O=P>E} E}E}/Ey"E}sH;*E}:VE}J4ZEyBE}ٱ6\LJ BAHRS rotation from veh to nav: [[0.983709,0.067406,0.166654],[-0.074534,0.996536,0.036884],[-0.163591,-0.048704,0.985325]]6Hz?A? 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I?*G@O?I,?ÿ:@ؙ?i2@I2[^;2CYBYKByBH J49XYX=ZcGyX^X<E^>Q 5%Y4&'?Q 9%Y4Zj)DSBY)y-">Q I-?.BI{:i:cY4y1ɮ5*A19"YY*Y2aaaaʎaiijiZm@频ɢߘ=) }V?i)<顡iEB<)/ɧPZ>駭ئ.K:I2m> 2m>I [A[A9^A2/II O>iԑEu  Eu Eq Eq "Eu y>;*Eu :VEq ZEq a} @a} @a} @a} @ ,uSV@AB<ABq>B>CBQHBJBB =BBB;B}=EB@BC@B=>ٱBE JAHRS rotation from veh to nav: [[0.988172,0.028641,0.150650],[-0.033619,0.998966,0.030599],[-0.149618,-0.035302,0.988113]]BH@?T?@H? t6?MU?@&ÿ  ?iB@IBF^;BCYRZKByTbDjVDj:yv:%vF=ٔv5߻Q-v>9xYx=zcGyz?F~<E~>Q 5 Y4d+'?Q 9 Y4j)(SBY y +>Q I ?OBI%:i:bY4yɮyԡ"*2ꏱʎ!jIZU@颙ɢ8=) V?i)o<顡i*<+ɧ7g>8A:Iƾ> ƾ>I9l=! 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CI ;i  ; ѡ_4y!ɮ%A!"AA*I2IIIIʎIQQjQZUH@颁ɢ7a{=) a>i)5==顉iƵZO:ɧX駕Z}iNP>uݺINP> NP>I U9ԱAIIO >E5 E5E5,E1"E5U,;*E5d:VE5g4ZE1aE@aE@aE@aE@ B,H W@AlYtytiuMb@Mb@Mb@qqqq q9uv? rh?:vYu?yuC =uTu3Aq u9A)u-AqYuAbDVD2y%@=ٔQ->9Y=cGyuFE>Q 5_4a-?Q 9_4@t):QBY?Q E:y>Q I?GCI ;ij:_4yBɮA`E"*2ʎjZKI@)ɢ-z=)1 5@a>i1)5==19i={=]7:ɧE蠿EiE>EٺAIE> E>II9 AaIiIyO9>9Bg>BBDHB IBB =BBB;B"6>6Z:ٱ6 % >AHRS rotation from veh to nav: [[0.926507,-0.371614,-0.059064],[0.376275,0.914412,0.149223],[-0.001445,-0.160480,0.987038]]6H@?@׿=?B??@ZWĿЕ?i6*+>I6sX];6CYJHByJH PR;bDTVDTyZ.%^Z=ٔ^;:Q-^>9`Y`=bcGy`f5Ef>dQ 5j_4fy-?Q 9n_4fq)f3QBYlyn{>Q In?fCIf;ifL;fɽ_4yvBɮvCAvaE"  * 2  ʎjZ C8I@y颡ɢy=) P>i)y>=顩i»C:ɧ \pi0>ԺI0> 0>IAAIQIyO>ԩ HP,@W@A)>܏>:ٱ% =AHRS rotation from veh to nav: [[0.927205,-0.369937,-0.058621],[0.374548,0.914955,0.150237],[-0.001942,-0.161257,0.986911]]H? ׿ `?OG?:?_ Ŀ`Ŕ?i)>I6];CYUHBy]HԹE EEE"E%;*E:VEZEa@a@a@a@i-Mb@Mb@Mb@)))) )9- +?Q?{GztY-?y-\=-ף-&A) ))))Y-AbDEVDE1yU%]1=ٔ]q:Q-]>9aYa=ecGyevFeEe>iQ 5u_4m/.?Q 9}_4mn)m-QBY}?Q E}:y}>Q I}?mCIm;im ;m_4yBɮ@AWE"*2ꏩʎjZNsI@ɢ2r=) B>i)$-?=iDɻsM9ɧhil>ϺIl> l>IA.AIIO J>A :V,.ZW@A6'>6>6M;ٱ69& BAHRS rotation from veh to nav: [[0.927907,-0.368235,-0.058231],[0.372805,0.915578,0.150776],[-0.002206,-0.161615,0.986851]]6Hj? +׿ lЭ?jL?L?b@̯ĿI?i6'>I62];4YJHByJHbDVVDV0yZ=%^l=ٔ^G:Q-^?9b ?Yb ?=bcGy`fVEf?dQ 5j_4f.?Q 9n_4fhl)f)QBYlyn>Q Ir?fCIf ;if;f_4yvBɮv4AvXE"  * 2 ʎjZ I@AɢEN ~=)I MO>iI)M+?=IIiMλUp9ɧU])i]>]̺YI]> ]>Ia9B]f>BYB]+HB]HBBYBYBYB];B] E  E E +E "E (;*E  :VE  [4ZE BE 2Ù>2;ٱ2' :AHRS rotation from veh to nav: [[0.928633,-0.366368,-0.058442],[0.370993,0.916085,0.152157],[-0.002207,-0.162979,0.986627]]2H`\?r׿$쭿Z? P?y?`b Ŀr?i2w%>I2];2CY]HBy]HiibDu VDu:2yƼ%0=ٔ 6Q->9"?Y"?=cGywFԑʉE>Q 5_4*.?Q 9_4[i)#QBYy>Q I?ACIr;i;>_4yɮKA"*2ʎjZ&I@ɢ%VLs=)! %C>i!)%Gz@=!)i-0ջ5ɧ5D57i5>>5lƺ1I=>> =>>I9AM?AM ?AII1OmV>E EE/E"E);*E:VEJ4ZEa%@a%@a%@a%@ Mc,ڍW@A `)b`A```ddif#If$FdIdij=r@ hh)hh hnllln`AIrL)pip)pIr`Arp tvLCttittYtYuHBy}HiMb@Mb@Mb@ 9zG?Mb?~jthY ?y=D3A )YAbD-VD-2y=[%=O=ٔ=Q-=>9AYA=EcGyExFMEM>QQ 5]_4U<.?Q 9]_4Uf)UQBY]C?Q E]:y]>Q I]?U|CIUL:iU:U_4ymBɮmAmYE"*2ꏑʎjZp J@AɢE_5q=)A E->iI)} A=yyi}̾ۻɧQ駅ۉi>oºI> >I I)BQBU=CBUHBUHBBU =BQBUDBUb;BU;EI I I O >E%  E% E% +E! "E% %;*E% 8:VE% [4ZE! BE% -F->Fs;ٱF2Z' NAHRS rotation from veh to nav: [[0.929993,-0.363007,-0.057789],[0.367572,0.917471,0.152110],[-0.002197,-0.162703,0.986673]]FH?`;׿K?[?Yx?`a@tĿҒ?iFK">IFI\;FCY=HBy=HbDMVDMN2y]<%eZ=ٔeHQ-e>9iYi=mcGyim Eu>qQ 5`4uM.?Q 9`4u]d)uQBYy>Q I?uCIu@J@9ɢ=BHu=)9 =v1>i9)E,A=AAiETứMɧM+MUiMu1>M>QIUu1> Uu1>IQIIIO>yԩ =bp, W@A@eJT >e,Կ>e;ٱeK' }AHRS rotation from veh to nav: [[0.930628,-0.361435,-0.057421],[0.365960,0.918101,0.152194],[-0.002290,-0.162649,0.986681]]eH?!׿9f@k?a?{?bĿ?ieJT >IeV,];aE EE)E"E&;*E:VEFA4ZEa @a @a @a @Y-HBy-HiMb@Mb@Mb@ 9ʡE?+?Mb`?Y-?y=;&AA )"AYA ;4<bDVD0y=%4=ٔV9Q->9Y=cGyyFyE>Q 5`4Sa.?Q 9`4oa)QBY ?Q E :y >Q I ?CIz ;i7 ;`4yBɮiAZE"11*929999ʎ9AAjIZMwJ@ԡɢt=) A>i)LKB=!i%rY軩EsɧEɰEmiM뀖>MmIIM뀖> M뀖>IIIIO )> v,fW@A2>2d>2;ٱ2p' :AHRS rotation from veh to nav: [[0.931454,-0.359341,-0.057161],[0.363852,0.918898,0.152439],[-0.002252,-0.162788,0.986659]]2H`x?rֿ;D@[I? g??@Psb<Ŀഒ?i2>I2_.];0YFHByFHbDjVDjklyr<%rr=ٔv\Q-v?9tYt=zcGyxzۻEz?|Q 5`4~p.?Q 9`4~D_)~QBY y i>Q I ?~) CI~:i~:~ `4yBɮgA[E"11*929 Mg>MCAIaʎiyjGZJ@^AAABB>CBHBHBB =BBDBU;B;EBBBBBC#5-.9-^AY-Aɢ5}=)  H>i1)5B=11i5=ƛɧEEiE>MiIu> u>Iy IQIaOm>E  E E +E "E );*E خ:VE  [4ZE BE O2׽>2o(;ٱ2+' :AHRS rotation from veh to nav: [[0.932040,-0.357877,-0.056798],[0.362347,0.919387,0.153079],[-0.002564,-0.163256,0.986580]]2H@E?tֿ0?`k??`e@Ŀ ?i26[>I2!];2CYRHByRHbDZVDZk2yb%bL=ٔfL:Q-f>9dYd=jcGyjzFj]Ej>lQ 5r`4n.?Q 9v`4n\)nQBYtyv>Q Iv?nd CIn:ina:n.`4yzBɮzǺA|"9*2ꏙʎjZ7J@ɢs=) %>i)_C=i6󻩧%ѽɧ%ܴ%i%Pl>% 󱺉!I-Pl> -Pl>I)IIO=iԙbE} [4jE}2`4rE}7/E- E-E-,E)"E-&;*E-:VE-g4ZE)a=@a=@a=@a=@ ,W@A2>2>2R$=;ٱ22( :AHRS rotation from veh to nav: [[0.932868,-0.355776,-0.056404],[0.360208,0.920076,0.153980],[-0.002886,-0.163960,0.986463]]2H ? ֿ@ᬿ ?Cq? ? g@Ŀ`?i2>I2kQ];2CYbHBybHiMMb@Mb@Mb@IIII I9Mn?+?Mb`?YM?yIIMAMA MAA)MAIYMA]@A]AAbDeVDeyuBy<%u@=ٔuE:ԙQ->9Y=cGyE>Q 5%`4~.?Q 9%`4Y)QBY-Y?Q E-:y->Q I-? CIj:i:Y>`4yUBɮQU\E"*2ꏙʎjZ K@ɢr=) (,>i)C=i@ %Zɧ%:%唒i->ʔ>-|)IM>ʔ> M>ʔ>IQAIIOE>Bg>BBHBHBB =BBBA;B;ED zD E%  E% E! E! "E% /;*E% *:VE! ZE! BE% V>Vy=;ٱV4) ^AHRS rotation from veh to nav: [[0.933628,-0.353799,-0.056262],[0.358233,0.920745,0.154592],[-0.002891,-0.164486,0.986375]]VH`G?ֿkάI?@v??@1g ſb?iV=>IVk];VCYfHByfHbDrVDryz<%zS=ٔz\7Q-z>9|Y|=~cGy~{F⹻E> Q 5`4 .?Q 9`4 nWQ =tI) QBYyo>Q I?  CI i  ; K@yɢz=) U6>i)~D=顉i}ɧ駕9iG>I񩺉IG> G>IAIIO>!Qԁ },?BW@Am >m>mdG;ٱm( AHRS rotation from veh to nav: [[0.934272,-0.352179,-0.055719],[0.356547,0.921426,0.154427],[-0.003045,-0.164143,0.986432]]mH`?`ֿ??`S|? A? hſ`ِ?im >Im];mCYHByHE EE+E"Em+;*E:VE [4ZEa@a@a@a@IiMb@Mb@Mb@ 99v?l?{Gzt?Y?y=ף;"A 5A)YbDVDk2y%/=ٔ$9Q->9Y=cGy|E>Q 5`4.?Q 9`4sT)QBYL?Q E:yr>Q I?$ CI:i#:[`4y  Bɮ ޺A ]EP5B*** querying acoustic contact ***1 1"99*92AAAAʎIIIjIZU@vzK@yɢ}Tp=)y }I'>iy)E=顁i,ѧɧ`駍敽iJ>?IJ> J>IԁAu.AIyIO]>ԡ 2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode. ֖,O\W@A2٭>2>2Ia;ٱ2H( :AHRS rotation from veh to nav: [[0.935074,-0.350151,-0.055050],[0.354435,0.922178,0.154800],[-0.003438,-0.164261,0.986411]]2H!?`hֿy/ ? |?z?@.)lſ?i2٭>I2];2CY^HBy^H fpQ Im?]X CI]:i] :]g`4yqɮuӺAqB<A<Bh>BBHBHBBBBB8;B;E"*2ꏹʎjZK@ɢr y=) ,>i ) E=  i+ɧ%%w6i%0>-¡)I-0> -0>I1AM\AzAMZAԱAE؟AIQIaOm>DD4=E EEE"E<;*E:VEZEBEē MBDAT read: Tx time:00:12:57.3787 M$Ping request sent.M2w>2MZ;ٱ2( :AHRS rotation from veh to nav: [[0.935791,-0.348316,-0.054515],[0.352541,0.923029,0.154056],[-0.003341,-0.163383,0.986557]]2H?Jֿf髿`?`s??@^kĿ ?i2>I2];2CY^HBy^HbDjVDj1yr d<%rJ=ٔrzQ-r>9v"?Yv"?=vcGytzsEz>xQ 5`4z/.?Q 9`4zO)z QBYy@>Q I?z CIz ;iz ;zu`4yBɮATE"11*121199ʎAAAjAZM9K@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250888ɢw=) Z2>i)&0F=i%?ɧ%ƾ%i-=>-֝)I-=> -=>I1IQIaOi9E  E E ,E "E %;*E :VE g4ZE a-@a-@a-@a-@u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506997q 5,,cW@A :6~>:$i>:+4[;ٱ:( BAHRS rotation from veh to nav: [[0.936516,-0.346383,-0.054381],[0.350610,0.923662,0.154668],[-0.003345,-0.163916,0.986469]]:H?"+ֿ@׫@cp??@+?fk0Ŀ&?i:6~>I:];:CYJHByNHPPi%Mb@Mb@Mb@!!!! !9%On??Mbp?Y%?y%L=%;%A! %(A)!!Y%AbD= VD=2yE%MD=ٔMU7Q-M>9QYQ=UcGyU}FUEU>aQ 5m`4e7.?Q 9m`4eL)e QBYu?Q Eu:yu?>Q Iu?e CIe;ie ;e`4yyɮ}A"*2ꏡʎjZL@Qɢ]^m=)Y ] >iY)]F=Yaie͹ m.TɧmDmim>m<䙺iIm> m>IqIIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754943O>ԙBBBBBBBB);B;E E  E E *E "E *;*E E:VE (N4ZE BE 2N>2;ٱ2( :AHRS rotation from veh to nav: [[0.937267,-0.344479,-0.053525],[0.348591,0.924374,0.154977],[-0.003909,-0.163914,0.986467]]2H ? ֿgOO?w?L?pĿ@#?i2I >I2g];2CYBHByFHTnAAn@AbDnVDnk1y=%L=ٔ:Q-%>9!Y!=%cGy!-E->1Q 5=`45p/?Q 9=`45EJ)5QBYAyE$>Q IE?5 CI5:i59:5`4yM BɮMƺAUUE"qq*q2qyyyʎyyyjZAL@颩ɢx=) 0>i)x3G=顱i³IgɧÿKxii>3DIi> i>IIIO=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258812 ,B%W@AUUc>UO;ٱU( AHRS rotation from veh to nav: [[0.937890,-0.342840,-0.053136],[0.346908,0.924921,0.155484],[-0.004160,-0.164260,0.986408]]UH1?տ`4 3??? qvſ@?iUIU];E EE+E"E);*E8:VE [4ZEa@a@a@a@QYHByHiMb@Mb@Mb@ 9l?)\(?y&1|?Y?yGa=`; )AYAbD VD2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510960yԻ%/=ٔc :Q->9Y=%cGy%~F%:{E%>)Q 55`4-/?Q 95`4-G)-QBY=7?Q E=:y=*>Q I=?-W CI-:i-:-l`4yE BɮMںAMVE"ii*i2iiqqʎqqqjyZ}}L@颡ɢ~t=) {->i)G=i*,ɧ ƿ ٞi > đ I > >IaI!I9OE0>ԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762871 $,W@A2( >2>2e;ٱ2m( >AHRS rotation from veh to nav: [[0.938365,-0.341630,-0.052535],[0.345616,0.925375,0.155660],[-0.004563,-0.164223,0.986413]]2H@?Cտ媿??@?`(rBſ@?i2( >I2b];2CYFHByFHJ=J=bDRVDRyV=%Zz=ٔZ:Q-Z ?9\Y\=^cGy\b劻Eb ?dQ 5f`4f?%/?Q 9j`4fD)fQBYhyjv>Q Ij?f CIf:ify:fƭ`4ypɮrĺAp"*2  ʎ   jZ0L@AAAABQBQBQBQBQBQBQBU;BU;Eԙɢ=)  8>i );TH=11i5d=Jɧ=ȿ=/ziE.>EAIE.> E.>IIIIO=E EE*E"EU,;*ES:VE(N4ZEBE2>2A;ٱ2>( :AHRS rotation from veh to nav: [[0.938786,-0.340569,-0.051910],[0.344467,0.925834,0.155478],[-0.004891,-0.163842,0.986474]]2H ?տ@ ?n??@5t`Ŀ2?i2>I28Z^;2CYfHByfH ln<bDrVDr:2yz2 <%zF=ٔzO:Q-~>9|Y|=cGyF-BE> Q 5`4 7/?Q 9`4 "B) QBYy>Q I?  CI U;i ; 2`4y%Bɮ%ʺA%WE"AA*I2IIIIʎIQQjQZUL@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266973频ɢ|=) ;>i)H=顙ipɧ#˿駥ij>kIj> j>IAzA1IyIO=aE EE.E"E*E8:VEـ4ZEa@a@a@a%@Ա5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518917 6,dW@A2:>2VG>2ϥ;ٱ2( :AHRS rotation from veh to nav: [[0.939308,-0.339187,-0.051505],[0.343038,0.926347,0.155582],[-0.005060,-0.163807,0.986479]]2H?=տ^`T? ??tĿ =?i2:>I2Q^;2CYRHByRHi]Mb@Mb@Mb@YYYY Y9]n? rh?I +?Y]?y]C=]94<]A]A ]A)] AYY] AbDuVDuyՖ%B=ٔw9Q->9Y=cGy^lE>Q 5`4J/?Q 9`4/?)PBY ?Q E:y0>Q I? CI:i:`4yɮںA"*2ʎjZM@ɢb|z=) 3>i)$I=i%ɧ%lο%#i-[>-Z)I-[> -[>I1ԱAE.AIQIaOm>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770893m_GP9YxABaBaBeHBeHBBaBaBaBe;Be;EBBBBǠ =BǠ =Cǃ4 E  E E (E "E :;*E :VE c44ZE BE 32>2;ٱ2' :AHRS rotation from veh to nav: [[0.939733,-0.338111,-0.050821],[0.341866,0.926831,0.155282],[-0.005400,-0.163298,0.986562]]2HK?@տ/#??I?`vĿ?i2>I23^;2CYRHByRHTVAbDZ VDZ2yvN<%vU=ٔvh:Q-v>9z ?Yz ?=zcGyzFzqTE~>Q 5`4[/?Q 9 `4<)PBY y >Q I ?A CI>:i:c`4yBɮAXE"*2ꏹʎjZWEM@!ɢ-}=)) -77>i))5&J=Qqiu}ᨻɧ}bѿ駅遧iOҍ>gIOҍ> Oҍ>IA=؟AIIIYOe5>9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274890i J,^hEW@A0rl>r>r;ٱr<( %AHRS rotation from veh to nav: [[0.940168,-0.336944,-0.050538],[0.340667,0.927211,0.155649],[-0.005586,-0.163553,0.986519]]rH@?{տ੿{??N? vKĿ?irl>Ir 9^;pY]HBy]HbE1jE5T\4rE5n/E  E E ,E "E (;*E :VE g4ZE a=@aE@aE@aE@bDuVDu1y|%0=ٔz9Q->9"?Y"?=cGy74E>Q 5`4ap/?Q 9`4F9)PBYy>Q I? CI:i:`4checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526954y BɮAYE"QQ*i2iiiqʎqqqjqZ})M@ԉ颁ɢy=) 2>i)J=顑i!ȵɧԿ駝Ti>&}I> >IԱA1I9IIO]v>  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778866/s,O?_W@A6g>6A>6gL;ٱ6' FAHRS rotation from veh to nav: [[0.940432,-0.336293,-0.049952],[0.339931,0.927507,0.155492],[-0.005960,-0.163210,0.986573]]6H ?Ӆտ`Ql?`#?)?`ix`Ŀ`?i6g>I6nx^;4YVHByVH`B<A4=B B B B B B B B ;B ;EiMb@Mb@Mb@ 9On?V-?~jth?Y?yh=D; $A)YAbDVDP)3y<%\=ٔ:Q->9Y=cGyF E>Q 5`4+/?Q 9`46)PBY?Q E:y>Q I? CI:i:`4yɮA"*2ʎjZ`αM@!ɢ%ݕ=)) -<>i))-bK=11i5.#=𰿻ɧ=׿=i=/>=Gv9I=/> E/>IAE  E E E "E &;*E :VE ZE BE checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030960A ,yW@A2u>2>2;ٱ29' :AHRS rotation from veh to nav: [[0.940889,-0.335091,-0.049406],[0.338655,0.927944,0.155667],[-0.006316,-0.163197,0.986573]]2H@?@!rտ K?`??yĿ?i2u>I2_^;2CYvHByvHz=z=bD~VD~:3y % W=ٔLu:Q->9Y=cGy-ohE->1Q 55a45s/?Q 9=a453)5PBY9y=7>Q IE?5 CI5;i5n;5a4yMBɮMAIechecking for new query: numPingsReceived=0, elapsed TxPingTime=4.282966"qy*y2yꏁʎjZ`M@ɢ=) 4>i)>K=i"&ɻɧڿir>jcoIr> r>IYA.AIIO>yE- E-E)E)"E-C#;*E-|:VE)ZE)aU@aU@aU@a]@ BDAT read: Rx Time:00:13:01.3672  TRx dataTimestamp_ set to:1761696782.189520 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536358ԡ ,W@A2(x>2"f>2;ٱ2~& :AHRS rotation from veh to nav: [[0.941214,-0.334302,-0.048559],[0.337746,0.928461,0.154557],[-0.006583,-0.161872,0.986790]]2H m?4eտ ܨ???`2z4Ŀ`ȓ?i2(x>I2<^;2CY^HBybHyiuMb@Mb@Mb@qqqq q9uK?9 ?Y ?=cGyFE>Q 5a4ȥ/?Q 9a40)PBYw?Q E:y >Q I?< CI:i:a4yɮA"*2ʎjZ 3N@1ɢ5|=)1 =0>i9)=~L=99i=)E ջɧEݿEiE>MRgIIM> M>IIAe؟AIqIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.792205ԡBg>BBHBHBBBBB;Br;E D zD E-  E- E- +E) "E- );*E- E:VE- [4ZE) BE- OR#Rx 1: Read range and direction messages.R\direction in FSK: [0.977077,0.052917,0.206204]RFpublishing direction and range infoyimKn47D?e?Fa5d?YmDimii i)mOImТ>im md;_>ml$@mB>m$@ mȭT>)mk]=ImȭTiimq)mBImk]=imȭTiin_>nٯ>n;ٱnq& zAHRS rotation from veh to nav: [[0.941574,-0.333338,-0.048204],[0.336736,0.928785,0.154814],[-0.006835,-0.162000,0.986767]]nH `!?jUտ$? ?`? {nĿ`?in_>InPM^;nCYHByHbD VD2y=H<%=A=ٔEl:Q-E>9M"?YM"?=McGyIU%E>Q 5a4/?Q 9a4-)PBYy>Q I? CI:id: a4yBɮAQEimŏW@AJmDRmDjm:>mY@@qCNO@on@rmKn47D?e?Fa5d?Zmk]=bmȭTm@:_(T~@!zHk@zm$Ԣ?sl>?X\<?2mC:mD"mT?*m SBmsCmT?m S“msCmDDmj>"*2ʎj-@3@Z-@?qɢ {=) 5>i)60M=顉i -nɧ駝iÉ>]IÉ> É>IAIIO%o>1Y {,W@A$$B"%=BR3>B;ٱB& fAHRS rotation from veh to nav: [[0.942000,-0.332169,-0.047956],[0.335541,0.929176,0.155063],[-0.006948,-0.162161,0.986740]]BH$?`CBտ`y?λ??Su|Ŀ_?iB"%=IB];@Y~HBy~HbDVDkE EE/E"E';*E:VEJ4ZEa@a@a@a@9yMc%UJ=ٔ}i9Q->9Y=cGyFOGE>Q 5a4Y/?Q 9a4+)PBYy>Q I? CI6:i;/a4yɮA"AA*A2AAAIʎIqqjqZu`C?ɢr~=) ,>i)M=i%/%zɧ--{i- >-AVV)I- > 5 >I1iAyIIO^>ԉԹ ,8W@AALAN@ABRh>BPBPBPBPBPBPBR;BRx;Eb=b>bE;ٱbh& jAHRS rotation from veh to nav: [[0.942395,-0.331113,-0.047498],[0.334424,0.929554,0.155211],[-0.007241,-0.162154,0.986739]]bH (?0տQ 5g?`??} xĿ`]?ib=Ib];bCYrHByrHimMb@Mb@Mb@iiii i9m`"?x&?MbpYm?ym7=mimA mA)mAiYmAAAbDVDN2yTC%M=ٔmC:Q->9Y=cGy!%HE%>)Q 55a4-/?Q 95a4-[()-PBY=?Q E=:y=>Q I=?- CI- :i-X:-i!)%9N=!!i-2-ɧ55i5L>5fO1I5L> 5L>I9DD%=E EE+E"E=-;*E*:VE [4ZEBErԱ ,l_W@A2/=2׭>2c;ٱ2_& :AHRS rotation from veh to nav: [[0.942884,-0.329752,-0.047268],[0.333042,0.930007,0.155465],[-0.007306,-0.162327,0.986710]]2H,?տs3`P??D? l}"Ŀ ?i2/=I2];2CYbHBybHbDjVDj2y~%~_=ٔ99Q->9Y= cGy F  E >Q 5a4n/?Q 9a4%)PBY!y%%>Q I%?2CI3;i/;kIa4y)ɮ-A)"IQ*Q2QQQQʎQaajaZm.?频ɢEw=)  >i)KN=顙i5,ɧ駥si짇>HI짇> 짇>IAAIQIaOm>E EE0E"E(;*E:VE4ZEa5@a5@a5@a5@Q ,q:W@A02=2>2$U;ٱ2D' >AHRS rotation from veh to nav: [[0.943360,-0.328430,-0.046969],[0.331688,0.930456,0.155674],[-0.007426,-0.162436,0.986691]]2H0? տD `:?K?@"? j~Ŀ@?i2=I2 ^;2CYFHByFHiMb@Mb@Mb@ 9l?X9v?{GztY?y}=ףAA $A)AY AbDVDP)3y<%>=ٔ 9Q->9Y=cGyF[E>Q 5a40?Q 9a4#)PBYb?Q E:y%>Q I?tCIY;iM;jXa4yBɮASE"*2ʎ!j!Z%?IɢM#w=)Q U>iQ)UO=YYi]8e!ɧeenie>e?aIe> m>IiԙAAIIIYOm5>BBBHBHBBBBB;B;EԹ E  E E )E "E ';*E *:VE FA4ZE BE 2;ٱ2o( :AHRS rotation from veh to nav: [[0.943795,-0.327160,-0.047094],[0.330447,0.930674,0.157005],[-0.007536,-0.163743,0.986474]]2H3?1Կ &?@??`~Ŀ2?i2=I2!^;2C\YbHBybH n49Y = cGy F -cE>Q 5%a4"0?Q 9-a4z )PBY)y-t>Q I-?CI;i;ea4yBɮATE"*2ʎ j Z )@aɢms=)i m>ii)m*O=iqiuK:}ɧ}}&i}V>}7yIV> V>IAIIO$>A ,oGW@A>=>t>>;ٱ>^]( JAHRS rotation from veh to nav: [[0.944288,-0.325762,-0.046899],[0.329036,0.931176,0.156989],[-0.007470,-0.163674,0.986486]]>H7? JԿ#?2?7?ɘ~GĿ`K?i>=I>`^;>CYVHByVHbD^ VD^2yf'U%fM=ٔj/Q-j>9lYp=rcGypztE~>!Q 5=a4s%0?Q 9Ea4)PBYIyU>Q I]?CIi)wP=i?=:ɧi:>/I:> :>IIIIO%M>qԡ Gg> C9 Q i 2J9 Y [/Ay ? ؔAz,=aW@AB<A<B B B"HB"HBB B B B";B"v;EB B B B B C \{4b]==bd>b%[;ٱb&( jAHRS rotation from veh to nav: [[0.944893,-0.324029,-0.046711],[0.327292,0.931687,0.157605],[-0.007549,-0.164208,0.986397]]bH9Y=cGyFBE>Q 5a4490?Q 9a4)PBYek?Q Ee:ye>Q Ie?,CI'I> >IԡE EE-E"Em+;*Eخ:VEt4ZEBE 8,P{W@A2,=2>2;ٱ2X}) >AHRS rotation from veh to nav: [[0.945402,-0.322532,-0.046780],[0.325822,0.932110,0.158151],[-0.007405,-0.164758,0.986306]]2H@?[Կ E?`?`I>?T~ ſҏ?i2,=I2^;2CYFeHByFxHLLbDR VDR:2yZz%Z_=ٔZA͹Q-^>9\Y=cGy TE >Q 5a4uJ0?Q 9a4)PBY!y%>Q I%?fCI;i;a4y)ɮ-^A)"QQ*Q2YYYYʎaaajaZe@ @频ɢjxn=) =i)̭P=顙iB!!ɧR駥½i<>| I<> <>IAA>I!I9OM=bEu^n4jEuǨo4rEu(0E EEE"E&;*E*:VEZEa@a@a@a@1Y !%,W@A2=2 >2`;ٱ25) :AHRS rotation from veh to nav: [[0.945964,-0.320924,-0.046470],[0.324184,0.932626,0.158474],[-0.007519,-0.164976,0.986269]]2HVE?Կʧn??@H?@~ ſ?i2=I2d>^;0YNaHByRtHiUMb@Mb@Mb@QQQQ Q9U$C?:v?=ٔ9Q->9Y=cGyFΆE>Q 5a4^0?Q 9a4)PBY?Q E:yO>Q I?CI:i:a4y BɮqAUE"*2ʎjZ@D @ ɢ fk=) =i)Q=iE%'ɧ%%ýi%_>%T !I%_> %_>I)1I!I1Ou=aBABABEHBEHBBABABABE;BEs;EԉE  E E E "E 2;*E :VE ZE BE % s=>>>/;ٱ>#^* ^AHRS rotation from veh to nav: [[0.946606,-0.319030,-0.046455],[0.322309,0.933164,0.159127],[-0.007416,-0.165604,0.986165]]>HJ?@jԿȧ`?@{?G^?`~`2ſ਎?i> s=I>];>CYjXHByjhHr=r=bDzVDz2y V% R=ٔQ->9Y=cGy%E%>)Q 55a4-Fp0?Q 95a4-)-PBY1y5I>Q I5?-CI-:i-n;-Xa4yEBɮEAEVE"aa*a2iiiiʎiqqjqZu ]@ɢj=)! %=i!)%JQ=!!i% 'H-`.ɧ-Q5 Ži5>5{1I5> =>IQԑIIO%= 22,8W@A:\=:GA>:{.;ٱ:) BAHRS rotation from veh to nav: [[0.947090,-0.317647,-0.046053],[0.320882,0.933722,0.158737],[-0.007421,-0.165116,0.986246]]:HN?RTԿ@PT? ?@Q? e~"ſ T?i:\=I:F^;:CE EE.E"E0;*ES:VEـ4ZEa@a@a@a@Y5OHBy5^HiMb@Mb@Mb@ 9Zd;?ˡE?:vY?y'=T )AYGA p<<bD VDf2yj%=ٔ*7Q->9Y=cGyF:E>Q 5ea40?Q 9ea4R)PBYm??Q Em:ym>Q Im?5CIiI(> (>IA[AzA\A!AIIO>I A9 A9 BA BA BE HBE |HBBA BA BA BE ;BE ;EC]8,W@A24=2Z>2[;ٱ2}) :AHRS rotation from veh to nav: [[0.947498,-0.316473,-0.045740],[0.319676,0.934184,0.158457],[-0.007418,-0.164759,0.986306]]2H@Q? AԿ?ku??@OH? a~@ſ@я?i24=I2d^;2C @)B`ABj@DDF`AiFļIDDIHiJr@ HH)HL N`ANj||aAI`)i)I `A ף     iYY}DHBy}OHbDVDJ2yl%=ٔHQ-?9Y=cGyF#E?Q 5a420?Q 9a4)}PBYy1>Q I?cCI;i ;Ta4y BɮANE"  * 2 ʎjZ@颙ɢg=) Z=i)Q=ivrME;ɧbƽid>0Id> d>IQE EE+E"Eg5;*E:VE [4ZEBEyԡ r>,JW@A2R=2>2͠;ٱ2u') >AHRS rotation from veh to nav: [[0.947875,-0.315415,-0.045232],[0.318550,0.934599,0.158276],[-0.007648,-0.164435,0.986358]]2HT? /Կ( c?;?@bB?T0 ſ`??i2R=I2|)_;2C@YE?HByEIHaeAbDVD2y{?%I=ٔ:Q->9Y=cGy>E>Q 5a4b0?Q 9a4 )sPBY y >Q I ?CII8;i8;a4yɮ%A!"II*Q2QQQYʎYYYjaZe U@QɢU c=)Q ]@}=iY)]Q=YYi]>OeAɧemƽimp>mԹiIp> p>I AYIaIqOY>E EE/E"E&;*E:VEJ4ZEa@a@a@a@ 7oE,.W@A2#=23>2f;ٱ2( :AHRS rotation from veh to nav: [[0.948369,-0.313972,-0.044912],[0.317076,0.935145,0.158008],[-0.007611,-0.164090,0.986416]]2H Y? 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Q?`eT?¿Ȩ?i24=I2r^;2CY^CBy^H f9tYt=vcGyv§FvD<:Ez>xQ 5g4z78?Q 9g4z))zLBYy>Q I?zS+CIz:izN:zg4yYBɮAGE"11*121999ʎAAAjAZE@#I@qɢuS}v)q i)<iq @ɧeMiN>I N> N>I91IqIO>YD)zD-AAE5 E5E5)E1"E5;*E55:VE5FA4ZE1BE5a2ٱ2# :AHRS rotation from veh to nav: [[0.965661,-0.256667,-0.040268],[0.259795,0.955394,0.140457],[0.002421,-0.146095,0.989268]]2H`?:mп{?@?}?c?>¿?i2^(7=I2[^;2CYnCBynHimMb@Mb@Mb@iiii i9m5^I ?y&1{GztYm?ym`弙mףimpA i)mAiYmAbDVD3y%@=ٔ7Q->9Y=cGyն:E>Q 5h4 9?Q 9h4Y()Y<?Q E:y%\>Q I?+CI7 ;i ;h4yɮA"*2ʎjZII@颹ɢa) Ƈi){<i _ rAɧw LFit^>9It^> t^>IIqIԉO=Թ EE  EE EE .EA "EE x;*EE :VEE ـ4ZEA aM @aM @aM @aM @V,s,gW@A29=2͆>24wٱ2 :AHRS rotation from veh to nav: [[0.965532,-0.256893,-0.041873],[0.260256,0.955191,0.140985],[0.003779,-0.147023,0.989126]]2H ? pп@op ?`? ?n?¿@?i29=I2F^;2CYBCByBHbDJVDJk2yR/c%VZ=ٔVmQ-V>9XYX=ZcGyZçFZ:EZ>`dQ 5jh4f{9?Q 9jh4f')fLBYhyn\>Q In?f+CIf:if:eI >  >IIIO=B=AB>BECBHBCBB =BBB;B;EiyIyA > ,W@A2t:=2(>2+ ٱ2% :AHRS rotation from veh to nav: [[0.965415,-0.257088,-0.043356],[0.260669,0.955025,0.141347],[0.005067,-0.147760,0.989010]]2H?"tп2@ή?? ?_t?`¿?i2t:=I2^;2CY^CBybHdfAiMb@Mb@Mb@ 9v?~jtMb?Y?y< A)YA@A@AbDVDy"%:=ٔy@Q->9Y=cGy:E>Q 5h449?Q 9h4}%) LBY?Q E:yq>Q I?,CIz ;i ;A!h4y\BɮAIEE EE/E"Es!;*E:VEJ4ZEBExp) Si)_<顉i`Bɧf駝8id>.Id> d>IIQIiOu=Iqԡ wm&,W@AF<=FE>FpлٱFI VAHRS rotation from veh to nav: [[0.965281,-0.257443,-0.044234],[0.261137,0.955189,0.139360],[0.006374,-0.146072,0.989253]]FH@? yп@˥x???`z?¿?iF<=IFΙ^;FCYzCByzHbDVDNy+J<%T=ٔ^Q->9!Y!=%cGy%ħF%:E%>)Q 55h4-G9?Q 9=h4-$)-LBY9y=Pr>Q I=?-K,CI-;i-b:-.h4yAɮMAI"ii*i2iiqqqʎyyyjyZ}`I@AɢE1|)I mii)mR}:¹yI}Ј> }Ј>II I!O==ԙE EE(E"E;*E:VEc44ZEa @a @a @a @B B DCB B B =B B B 5;B ;E ,,W@A6LS@=6>6ٱ6z >AHRS rotation from veh to nav: [[0.965054,-0.258098,-0.045349],[0.261950,0.954959,0.139412],[0.007325,-0.146420,0.989195]]6H? п` 8 ? ?C?~?¿@}?i6LS@=I6^;6CYFCByJHbDPVDPyZ^L=%ZR=ٔZQ-Z>9\Y\=^cGy\b ;Eb>dQ 5jh4fZ9?Q 9jh4f")fLBYhyj0s>Q Ij?f,CIf>:if:fVUĹQIU5> U5>IYA؟AIIOm>E9 EE)E"Eso;*E:VEFA4ZEBE2-ٱ2 :AHRS rotation from veh to nav: [[0.964902,-0.258476,-0.046418],[0.262482,0.954794,0.139544],[0.008251,-0.146830,0.989127]]2Hy?пħ?@?`?@?V¿@?i2B=I2^;2CY^CBybHdf=i}Mb@Mb@Mb@yyyy y9}K?{Gzt+?Y}^?y}ף}=y}dA }A)}AyY}A 4<bDVDyü%<=ٔX Q->9"?Y"?=cGyŧF:E>Q 5h4p9?Q 9h4 )2LBY?Q E:y>Q I?,CI;i;Kh4y_BɮAKE"!!*!2))))ʎ))11j9Z=`\MJ@aɢe%q)i mii)mUH6ƹIU0Ì> U0Ì>IYaIIO@>ԉ *C= (GQ i vD9 Y a*AE%  E% E% +E! "E% 1;*E% k:VE% [4ZE! a- @a- @a5 @a5 @Թ 9,sW@A2̡F=2T~>2#5ٱ2غ :AHRS rotation from veh to nav: [[0.964636,-0.259368,-0.046958],[0.263432,0.954726,0.138212],[0.008985,-0.145694,0.989289]]2HL?}п `? ?? f?¿ A?i2̡F=I2T^;2CYBCByFHbDNVDNyZ=%Z[=ٔZ Q-^>9\Y\=^cGy`bC-;Eb>dQ 5jh4fV9?Q 9jh4f?)fCLBYhyj>Q In?f-CIf:ifW:fXh4ypɮrAp"* 2    ʎ jZ@B|J@ɢ) 肿i)*<i𻩧EɧKq#i<>0ȹI<> <>IA\AzAԑAIAM?AII O >B>BECBHBCBB =BBB|;B.6 ٱ6  >AHRS rotation from veh to nav: [[0.964249,-0.260654,-0.047784],[0.264816,0.954464,0.137370],[0.009802,-0.145112,0.989367]]6H!?п"w@??@S?*? ¿@?i6DL=I6*^;6CY^CBybHiEMb@Mb@Mb@AAAA A9EA`"?X9v?J +?YE?yE9qYq=ucGyuƧF}f\;E}>Q 5h49?Q 9h4)YLBY?Q E:y>Q I?E-CI5;i.;gh4yaBɮALED=DE EEE"E;*E:VEZEBE%dMʹQIU\> U\>IQIIO>I F,j.W@A0:6 R=:A>:-ٱ:L9 BAHRS rotation from veh to nav: [[0.963884,-0.261922,-0.048209],[0.266112,0.954395,0.135329],[0.010564,-0.143270,0.989627]]:H#?Uп`ʮ?g?vR??V¿?i:6 R=I:^;:CYvCByvHxzAbD~ VD~:2y &=% P=ٔQ->9Y=cGy`;E%>!Q 5-h4%t9?Q 95h4% )%mLBY1y5.>Q I5?%-CI%:i%/;%>uh4yAɮEAA"aa*i2iiiiʎiqjZJ@ɢ) ?i)t<i廩{FɧG iz>˹Iz> z>IIIO=ԉbEm [4jEmģf4rEm0E EE-E"E*E:VEt4ZEa@a@a@a@Թ BM >BI BM HBM DBBI BI BI BM ;BM C2Uv;ٱ2Q :AHRS rotation from veh to nav: [[0.963413,-0.263507,-0.048995],[0.267779,0.954119,0.133983],[0.011442,-0.142201,0.989772]]2HF?`KпI#?$?[&? n?3¿5?i2E!Y=I2P^;2C`YbCBybHbDj VDj2yrF<%vM=ٔv*Q-v>9xYx=zcGyzǧFzp;Ez>|Q 5h4~t9?Q 9 h4~)~LBY y >Q I ?~-CI~N:i~:~,h4ybBɮAME"*2ʎjZ@K@颙ɢu) i)9~<顡iJ2໩èGɧ F niv> \͹ I=v> Ev>IiA?A>IIO">E EEE"Ex;*E:VEZEBEGg2#HBٱ2A :AHRS rotation from veh to nav: [[0.962696,-0.266015,-0.049522],[0.270326,0.953547,0.132939],[0.011858,-0.141367,0.989886]]2Hg?eѿZM?@t?&? H?`Q¿%?i2c=I2L^;0YZCByZHiUMb@Mb@Mb@QQQQ Q9UK?㥛 ?I +?YU^?yU=U94=UAUXA U~A)UAQYUAbD}VD}:y\"%@=ٔIQ->9Y=cGy;E>Q 5h4{9?Q 9h4Q)LBY?Q E:yz>Q I?.CI:ih; h4ydBɮANEPB*** querying acoustic contact *** "*2ʎjZNK@颙ɢ3Ł) 0i)d;顡i,ڻwLHɧH i^<>͹[I^<> ^<>IIAI-2Acoustic response timeout5Querying Benthos address 50 with one ping in standard two-way mode.IO>>qԡ E  E E ,E "E %;*E :VE g4ZE a @a @a @a @%Y,iW@A2m=2g>27Kٱ21 :AHRS rotation from veh to nav: [[0.962030,-0.268309,-0.050085],[0.272662,0.953056,0.131680],[0.012403,-0.140337,0.990026]]2H?`+ѿɤLs?@o? ?`f?@K?i2m=I2_;0B*DAT read: user:360> FBDAT read: Tx time:00:13:57.4302 F$Ping request sent.J9dYh=jcGyjȧFj;Ej>yQ 5h49?Q 9h4)LBYy>Q I?@.CI:i:Ch4yɮA"*2ʎjZ @ЂK@频ɢ) ~i) ;顙iy\ջHɧHK駥T"i>PP͹I> >B<AIBBBBHB(DBB =BBB̅;B~=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251754 `,W@A2^y=2Վ>2\Qٱ2 :AHRS rotation from veh to nav: [[0.961259,-0.270983,-0.050485],[0.275349,0.952479,0.130256],[0.012789,-0.139110,0.990194]]2H?Wѿ`0٩Q?`z?`6?1? ^૯?i2^y=I2^;0Y^DByb"HiMb@Mb@Mb@ 9X9v?y&1?Mb?Y?y`==KA )YAD=DE EE*E"E;*E':VE(N4ZEBEb9 ?Y ?=cGy;E>Q 5 h4$9?Q 9 h4)LBY  ?Q E :y >Q I ?.CI:i:h4yeBɮyA"99*929AAAʎAAIjIZMK@qɢ}()y }M|iy)}k;yiLл3IɧQ駍'i$>5̹I$> $>IAzAZAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502873A؟AIIO%>1E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755105Y )g,qW@AF\=FAA>F+_ٱF RAHRS rotation from veh to nav: [[0.960482,-0.273553,-0.051412],[0.278009,0.951863,0.129102],[0.013621,-0.138293,0.990298]]FH`D? ѿ R@?u?`g?`A??iF\=IFǺ^;FCYnDByn1HbDVDy%=%%X=ٔ-Q-->9-"?Y-"?=-cGy5ɧF5;E5>9Q 5Eh4= :?Q 9Eh4= )=LBYIyM>Q IM?=.CI=:i=:=h4yUVBɮU"AUEE"qq*y2yyyʎjZK@颱ɢʅ) 4yi)6};项i}ʻGJɧ#X,i!p>5WʹI!p> !p>I1E EE,E"E;*EVEg4ZEa@a@a@a@i^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006917Am.AIyԑIO>B >B DCB NHB 3DBB =B B B ;B 2kٱ2j :AHRS rotation from veh to nav: [[0.959667,-0.276214,-0.052402],[0.280772,0.951156,0.128331],[0.014395,-0.137868,0.990346]]2H?|ѿaԪ*?o?#m? X{?`?i2B=I2;^;2CY DBy!HAA%AA%AAbD-VD-2y=|%=I=ٔ=Q-E>9E ?YE ?=EcGyAM;EM>QQ 5mh4U9:?Q 9mh4U )ULBYqyue>Q Iu?U/CIU;iUd;U&h4yWBɮCAFE"*2ʎjZFL@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2598699ɢ=)A E|iA)Mh|;IIiMtŻԑ5Kɧ _m2iT>\!ǹI T> =T>II^A qIIOn>DzD?AE EE-E"E;*E:VEt4ZEBEa2EaJE 2yٱ2E :AHRS rotation from veh to nav: [[0.958779,-0.279054,-0.053594],[0.283744,0.950336,0.127869],[0.015250,-0.137805,0.990342]]2HP? ѿp (?@'i? ^?`J;??i2=I2^;2CY^DByb/Hi]Mb@Mb@Mb@YYYY Y9]ףp= ?S㥛?Y]?y]$>]YY Y)YYYYbDuVDu3yn<%E=ٔ]Q->9Y=cGyʧF;E>Q 5h4/:?Q 9h4)LBY9"?Q E:y>Q I?C/CI:iZ:h4yɮ,A"*2ʎjZ )QL@频ɢz) yi)vI;顙ih7Kɧg駥!b9ih>G?ùIh> h>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763471^A9A?A?II O >I E  E E )E "E &U;*E P:VE FA4ZE a @a @a @a @FAz,2W@A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014785:1=:>:Keٱ:ڝ BAHRS rotation from veh to nav: [[0.957987,-0.281503,-0.054933],[0.286351,0.949608,0.127464],[0.016283,-0.137839,0.990321]]:H`ӧ?@'ҿ S?@1c?@P? y?`@?i:1=I:^;:CYRDByRHbDfVDfynP%=V=ٔ=+Q-=>9AYA=EcGyAM;EM>IQ 5Uh4M'B:?Q 9]h4Mu)MLBYYy]M>Q Ie?M/CIMG;iM;M]h4ymYBɮm[AmGE"*2ꏑʎjZL@ɢP) ~i);i㺻Lɧ1p'@it>b t>I@@@@AA@AB=>B9B=[HB==DBB9B9B9B=X;B==EQIIO%M>yiI%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267889ԩ ),7W@A2==2%>2ڍٱ2 :AHRS rotation from veh to nav: [[0.957164,-0.283946,-0.056677],[0.289029,0.948673,0.128377],[0.017315,-0.139259,0.990105]]2H?@-,ҿt?@[?n? #?A?i2==I2u^;2CDYn DBynHE EE*E"Ea;*E8:VE(N4ZEBEh9Y=cGy˧F;E>Q 5h46V:?Q 9h4.)LBY!?Q E:y>Q I ?/CI:if:>h4y[BɮYAHE"11*129999ʎ99AjAZE`L@iɢme)q u}iq)u:yyi}m{i_MɧLx駅wFiՇ>aIՇ> Շ>IIYuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518975IyO=ԩ % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770852a,W@AN=N f>N일ٱN ^AHRS rotation from veh to nav: [[0.955850,-0.287691,-0.059878],[0.293223,0.947147,0.130127],[0.019277,-0.141940,0.989688]]NHR? iҿR@+?O?`?@H?`+¿`?iN=INF^;NC`YfCByfHbDrVDr02yz悔%zY=ٔzrQ-z>9|Y|=cGy><E> Q 5i4 g:?Q 9i4 B) LBYy>Q I? 0CI :i ; ni4yIɮUAaG ={99Y=ZA"AA*A2AAIIʎIIIjQZUwL@颹ɢَ) ˂i)t:i:NɧLi>ﰹI> >IA5[AzA5\AIIO=E EE+E"E;*E:VE [4ZEa@a@a@a@echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022817B>BCCBNHB3DBB =BBDB;B?=EB9B9B9B=ɒ =B=ɒ =C=Q5A X},`8W@AJ =J>JFٱJt ZAHRS rotation from veh to nav: [[0.955113,-0.289817,-0.061360],[0.295543,0.946413,0.130218],[0.020332,-0.142508,0.989585]]JH@I?]ҿ@j@-?I?@? Ҕ?=¿୪?iJ =IJ ^;JCYjCByj HbDxVDxy 08=% K=ٔ<+Q->9!Y!=%cGy%̧F%#;E->91Q 5Mi45{:?Q 9Mi45)5LBYQyU>Q IU?5F0CI5;i5BM;5i4ym\Bɮm{AmIE"*2ꏩʎjZ M@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274939ɢv) yi)iu۪} Oɧ}}Si}>}I> >III)O==iԑDzDAAE EEE"E ;*E':VEZEBEvB2ٱB@ NAHRS rotation from veh to nav: [[0.954612,-0.291057,-0.063251],[0.297069,0.945770,0.131414],[0.021572,-0.144239,0.989308]]BH`/? ҿ@91,?@C?`,??@ov¿h?iB5=IBz^;BCYVCByVHimMb@Mb@Mb@iiii i9m)\(??)\(YmG!?ym=mGamAmdA mrA)mAiYibDVDynڼ%B=ԙٔ@Q->9Y=cGyͧF$z;E>Q 5i4]:?Q 9i4)vLBY#?Q E:y>Q I?0CIP;i;Ei4yɮA"*2ʎjZTM@!ɢ-')) -避i))-)1i5ƃ=Oɧ==*Wi=h>=9IEh> Eh>IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778842^AA ؟AI I! O5 >bEM|a4jEM2`4rEM١/E  E E -E "E x;*E E:VE t4ZE a @a @a @a @ t,KlW@A&checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030880JL=J>JٱJ RAHRS rotation from veh to nav: [[0.954243,-0.292002,-0.064461],[0.298201,0.945285,0.132333],[0.022292,-0.145500,0.989107]]JH(?*ҿ? ??`L?Ӗ? Ÿ¿æ?iJL=IJy^;JCYZCByZHbDfVDf0ynLQ%nW=ٔrQ-r>9r"?Yr"?=vcGytvuM;Ev>xQ 5~i4zɡ:?Q 9~i4zR)z`LBYyO>Q I?z0CIz;izD;z,i4y ^Bɮ A JE"*2ʎjZM@IBYAYɢup)q }fiy)}yyi Pɧ>駍[iɄ>"IɄ> Ʉ>IB>BBBHB(DBB =BBB;Bl=E^A;!A.AIIO%M>BDAT read: Rx Time:00:14:01.3710 TRx dataTimestamp_ set to:1761696841.953183checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283954Qy },@W@A:=:$>:ٱ:; BAHRS rotation from veh to nav: [[0.954187,-0.291992,-0.065328],[0.298321,0.945228,0.132473],[0.023068,-0.145893,0.989031]]:H?ҿN?N??`?.?¿ %?i:=I:VA^;:CYjCByjHiUMb@Mb@Mb@QQQQ Q9UX9v?Q?QYU?yU\=UuUAQ Q)UAQYUADiDm%=Eu EuEqEq"Eu;*Eu:VEqZEqBEup=ٔDQ->9 ?Y ?=cGyΧFŸ9E>Q 5i4:?Q 9i4)HLBY?Q E:y>Q I?1CIU:i ;;i4y`BɮAI"*2ꏑʎjZ@QM@ ɢ )  i)q2i nQɧ ]Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.534891iMj>MBIIUj> Uj>IQ@\A@\Aq^Ah%<ԡA ؟AI I O% > checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786854 ƣ, W@A-=-}>-üٱ- mAHRS rotation from veh to nav: [[0.954192,-0.291732,-0.066401],[0.298239,0.945143,0.133261],[0.023882,-0.146960,0.988854]]-H?`ҿ@Y? >? ? t?¿`?i-=I-];-CY}CByHbD VDf2ym%K=ٔ[Q->9"?Y"?=cGy`NE>Q 5i4:?Q 9i4)1LBYy>Q I?N1CI):id:Ii4yɮA"*2ʎjZZM@)ɢ5Σ)5k< 5 i1)5>7g99i=۔ERɧEEv_iE>E[lAIE> E>IIԩ@@@@E EE*E"E%;*E:VE(N4ZEa@a@a@a@DAT read: 00:14:01.3710 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 468, 0.35, 2.233, 0.619, 2.197, 1.944, PHS= 0.390,-1.280, 0.209, RAW= 144.3, 8.6, CAL= 143.9, 9.4, ROT= 6.1, -9.4 Ygot valid direction response: 00:14:01.3710 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 468, 0.35, 2.233, 0.619, 2.197, 1.944, PHS= 0.390,-1.280, 0.209, RAW= 144.3, 8.6, CAL= 143.9, 9.4, ROT= 6.1, -9.4 PDAT read: Bearing 180.8, 5.3 (Local) ~Local bearing/azimuth received: Bearing 180.8, 5.3 (Local) DAT read: Range 11 to 50 : 1152.5 m (Round-trip 1536.7 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.980986,0.104837,0.163326]Fpublishing direction and range infoyY] ,=d?cֺ?$vz?Y]DYYYY Y)YI]>i] ף]V>]E/!@]`>] @ ]'>)]^ =I]'YY]?Ą]?]DT2? ]o>)]'I]^ =i]'YYB>BBCBHB DBB =BBB;B=EAI I O >9 ͭ,W@AJ=JԚ>J]ɼٱJ  VAHRS rotation from veh to nav: [[0.954334,-0.290938,-0.067832],[0.297728,0.944938,0.135831],[0.024578,-0.149824,0.988407]]JH?ҿi] ?9aYa=ecGyeϧFe7Ee>iQ 5ui4m:?Q 9}i4m)mLBYyy}>Q I}?m1CIm;im;mwWi4yRBɮABEUW@AJwDRwDjH>V*@u\^@"Png@r ,=d?cֺ?$vz?Z^ =i߹I߹b'|W @}r}@.]h@zKТ?is?1 3?20C:XD"ȷ،?*։1BsCȷ،?։1“sCaD>"*2ʎj@Z`y? ɢ c<)  i) iOJu}SɧȌ%@ai%>%Nu!I%> %>I) AIIO5.>9DzD@AE EE/E"E;*E:VEJ4ZEBEa2<ͼٱ2pK >AHRS rotation from veh to nav: [[0.954629,-0.289728,-0.068850],[0.296734,0.944964,0.137814],[0.025132,-0.151992,0.988062]]2HS?ҿ%?@$=??5?utÿ4?i2=I2T];0YFCByFHiMb@Mb@Mb@ 9/$?~jtx?:vY?y;TAjA nA)AYbD-VD-1y=%=L=ٔ=~Q-=>9AYA=EcGyAM)EM>IQ 5]i4M:?Q 9]i4M)M LBY]>?Q E]:y]>Q I]?M1CIM;iM;Mrei4ymTBɮmAmCE"*2ꏑʎjZ4c?aɢek)a e8ii)mrƫiiim`u>iTɧuu]i} >} cyI} > } >IԉAIIO (>Ա E  E E )E "E s!;*E B:VE FA4ZE a @a @a @a @ݺ,W@A:>W=:>:Ҽٱ:f BAHRS rotation from veh to nav: [[0.955079,-0.288071,-0.069566],[0.295235,0.945251,0.139058],[0.025699,-0.153350,0.987838]]:H?oҿ ϱ#?`~???P?ÿ^?i:>W=I:OE^;:C\YbCBybHbDnVDnyv.%zO=ٔz[Q-z>9|Y|=cGyЧFE >Q 5i4V;?Q 9%i4)KBY!y%ʗ>Q I-? 2CIiD;iuE;Hsi4y1ɮ5A9"ii*i2iiqqʎqyyjyZ@ ?颹ɢ) (i)Pƻijփ?UɧZiI[>rRII[> I[>IAqAqB}>ByB}HB}DBByByByB};B}=EeA I I1 O= >I a,mW@A2q=2ј>2ּٱ2[% :AHRS rotation from veh to nav: [[0.955457,-0.286774,-0.069734],[0.293962,0.945733,0.138478],[0.026238,-0.152809,0.987907]]2H?`ZҿڱD?`qC??.ޚ?:ÿ ?i2q=I22*^;2CYFCByFHiEMb@Mb@Mb@AAAA A9EZd;O?Zd;Oy&1YEj?yEjE`EAA ExA)EAAYE AD]%=D]R=Ee EeEe.Ea"Ee%;*Ee:VEeـ4ZEaBEe~9Y=cGyME>Q 5i4n;?Q 9i4)KBY?Q E:y7>Q I?L2CI/:i: i4yVBɮADE"*2ʎjZਇ?ɢfY) i!)%!!i% {-!Vɧ--(Ti-P>5?A1I5P> 5P>I9=;IA.AIIO>>qԡ (,{K!W@A2=2$>2_ܼٱ2ak :AHRS rotation from veh to nav: [[0.955828,-0.285345,-0.070499],[0.292695,0.945966,0.139565],[0.026866,-0.154034,0.987700]]2H%?Cҿ; ?`ZE? @?ಂ?fÿ@=?i2=I2>^;2CYBCByBHbDNVDN:yVW%VZ=ٔVqۺQ-V>9Z ?YZ ?=ZcGyZѧFZfE^>`Q 5bi4b',;?Q 9fi4b)bKBYdyf>Q If?b2CIb`:ib6:b'i4yhɮnAl"||*|2|ʎj Z  ?yɢn) i)!ipVɧkOim>2Im> m>IEm EmEm+Ei"Em;*Em:VEm [4ZEiau@au@a}@a}@ԡ<Am؟AB}>ByB}HB}CBByByByB};B}=EIIO> 8,[&;W@A:^=:R>: #ٱ:* BAHRS rotation from veh to nav: [[0.956274,-0.283652,-0.071292],[0.291157,0.946359,0.140119],[0.027723,-0.154749,0.987565]]:H ˙? Y'ҿ`6@P?H?j?rc?ÿ`!?i:^=I:V^;:CYJCByNHbDVVDV1y^D=%^I=ٔbG Q-b>9b"?Yb"?=bcGy`fEf>hQ 5ni4jr@;?Q 9ni4j)jKBYlyr>Q Ir?j2CIj3;ija;jZi4yvXBɮvAvEE"  * 2ʎjZ@AɢM3꫽)I MbiI)ML QQiU9d]EWɧ]Z|]Ii]">]$aIe"> e">IaiiiiAu.ADyzD}?AE EE*E"Ea;*E:VE(N4ZEBEh)Y ,7TW@A6>g=6Ö>6ٱ6]h BAHRS rotation from veh to nav: [[0.956551,-0.282460,-0.072296],[0.290103,0.946835,0.139083],[0.029167,-0.154013,0.987638]]6H?ҿ ?xL? y?`ݝ?@ÿ`?i6>g=I6f^;6CYJCByJHiMb@Mb@Mb@ 9K?Q~jth?Y^?yD;vA )YAbD5VD50yE%EB=ٔE`Q-M>9M ?YM ?=McGyMҧFU)EU>YQ 5ei4]8U;?Q 9ei4]D)]KBYe?Q Ee:ym{>Q Im?]3CI]:i]o:]i4yuZBɮuAuFE"*2ꏙʎjZb@ɢ 樽) ሿ9i)}Syyi}XݘXɧt駍^Ciʆ>sIʆ> ʆ>IA!I)I9OM1>a gg> %CmGUP9Y4Ay-[?5d>AԉE  E E )E "E C#;*E :VE FA4ZE a @a @a @a @Թ z/,KnW@A:8=:!8>:dٱ:M FAHRS rotation from veh to nav: [[0.956831,-0.281234,-0.073366],[0.289074,0.947059,0.139696],[0.030195,-0.154873,0.987473]]:H[?ѿ Ȳ/?`ON??k? ÿ`?i:8=I:u^;8YrCByrHbD~ VD~:2y E<%M=ٔ)Q->9Y=cGy!%/E%>)Q 5=i4-h;?Q 9=i4-)- LBYAyEz>Q IE?-E3CI-;i-9;- i4yQɮUAQ"qy*y2yyyyʎjZӗ@颱ɢ/c) i)*项igMQYɧdmS=in> In> n>IAA?B<AB>BBBBBBB;B=EBBCBBCBB =B =C44ԉAI IOU>ԹiߩIߩ ,W@A2=2ԕ>2Vٱ2O :AHRS rotation from veh to nav: [[0.957001,-0.280275,-0.074795],[0.288334,0.947344,0.139296],[0.031815,-0.154873,0.987422]]2H ?ѿ%t?P? v? J?ÿ ?i2=I2^;2CYBCByBHJAJAEE EEEAEA"EEx;*EE:VEAZEABEEGg9Y=cGyӧFZE>Q 5i4K};?Q 9i4) LBY?Q E:yZ>Q I?3CIi:i~:i4y[BɮGE"*2ʎjZ @ɢܫ) i)%w8!!i%B-Zɧ-g-8i-i>-h?)I5i> 5i>I9Ae؟AIIO >I =,W@A02R =2nm>2 ٱ2* >AHRS rotation from veh to nav: [[0.957169,-0.279260,-0.076429],[0.287562,0.947668,0.138685],[0.033700,-0.154723,0.987383]]2H!?dѿאhg? 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Ŀ`p?iFh=IF];FCYVGByVHi5Mb@Mb@Mb@1111 1955^I ?~jt?MbpY5?y5=55A5A 1)5ZA1Y5AbDMVDMk1y?=%F=ٔ:Q->9Y=cGyFѺE>Q 5l4??Q 9l4mV)OBYN?Q E:y>Q I?ACI<:if:l4yɮܾA"*2!ʎ!!!j!Z- H;@QɢU9)Y ]<=iY)]*YYi](8eRɧe䑿ezmiimXw>mƀ:iImXw> mXw>IqiEE EEEE*EA"EE%;*EE˭:VEE(N4ZEAaM@aM@aM@aU@B<ABu>BB$HB!HBBBBBs;B;E^AԡII On> b,AW@A6 =6,>6߾ٱ6& >AHRS rotation from veh to nav: [[0.955357,-0.263404,-0.133829],[0.280412,0.951051,0.129888],[0.093066,-0.161617,0.982455]]6HI?@пR!D?o?*?&ӷ?`ۯĿFp?i6 =I6$];6CYFGByFHPbDVVDVNyZ,<%Z]=ٔ^:Q-b>9dYd=fcGydfS2Ej>hQ 5nm4j??Q 9rm4jT)jOBYpyr >Q Ir?jACIj;ij;jm4yvBɮz޾AzAE"*2ʎ!j!Z% ~;@IɢMz7)I UH-iQ)U+QQiU+ B]`ɧ]5ekie%v>ey:aIe%v> e%v>Ii@} >@}>^AAzA]AE EE+E"Ea?;*E:VE [4ZEBEA  (G 1 h,4hW@Ao9YOA6(=6@>6ٱ6d( RAHRS rotation from veh to nav: [[0.955696,-0.262485,-0.133217],[0.279558,0.951067,0.131599],[0.092156,-0.163011,0.982311]]6H`?п D `G?$o?@??@?Ŀ@o?i6(=I6v];6CYZGByZH`bAiEMb@Mb@Mb@AAAA A9E/$?L7A`? rhYE?yE+=ECEAEA A)EfAAYEAbD]VD]1ym0=%m?=ٔm ;Q-m>9u"?Yu"?=ucGyuF} E}>Q 5m4#??Q 9m4Q)OBY?Q E:y>Q I?BCI ;iX ;lm4yBɮABE"*2ʎjZI;@ɢ,) @`i)+iIM 0↽ɧ  @li v v>k:Iv v> v v>IA^AqA I I) O= >E  E E 'E "E ;*E u:VE '4ZE a @a @a @a @ԙ B s>B B oHB ^HBB =B B B ;B :EB@CB@CBBʛ =Bʛ =C=M5n,D6W@A2+=25>27ٱ2t( :AHRS rotation from veh to nav: [[0.956000,-0.261615,-0.132744],[0.278641,0.951296,0.131891],[0.091774,-0.163075,0.982336]]2H@?Kп@??`q??~~?ĿKo?i2+=I2];0YBHByBHbDNVDN2yV<%VX=ٔV:Q-Z>9XYX=ZcGyX^(E^>`Q 5fm4bS@?Q 9fm4b5O)bOBYdyf,>Q Ij?bUBCIby:ib:bm4ynBɮn^A=8Ey"*2ꏁʎjZP<@颹ɢ+) 8i)+iW}ZɧBmiu>:Iu> u>Iԡ^AA-.AI9IIOU> DY zD] @Aeu,4W@AE* E*E*-E("E*+$;*E*:VE*t4ZE(BE*8}J1ٱJ,=( RAHRS rotation from veh to nav: [[0.956297,-0.260956,-0.131900],[0.277856,0.951511,0.131998],[0.091059,-0.162878,0.982435]]JH?`п@e?`r?L?O?1Ŀ p?iJs=IJƸ];JCYZHBy^HbDfVDf1ynӫ<%nF=ٔnl:Q-n>9r ?Yr ?=rcGyrFrEv>xQ 5~m4z!@?Q 9~m4zL)zOBY|y~>Q I~?zBCIz6:ixz+m4y Bɮ VA 9E"*2ꏩʎjZ͹<@1ɢ=v()Q U0ni&u>]:I&u> &u>I@)@)!^AYA ؟AI I O >I {,W@A>s =>,>>칽ٱ>( FAHRS rotation from veh to nav: [[0.956658,-0.259861,-0.131443],[0.276742,0.951759,0.132545],[0.090659,-0.163176,0.982423]]>H?п `$?t?:?k5?Ŀp?i>s =I>];>CYNHByNHi%Mb@Mb@Mb@!!!! !9%Gz?J +?Y%p?y%H=%̼!%ƹA %\A)%ZA!Y% AbD5VD5kyE7=%EE=ٔM,}:Q-M>9M"?YM"?=UcGyQUS9EU>YQ 5em4]f*@?Q 9em4]_J)]OBYm?Q Em:ym>Q Im?]BCI]:i]]:]9m4yqɮu0Aq"*2ꏙʎjZ=@1ɢA#) P-y:1I5t> 5t>I9bE [4jEÞ]4rEb0E EE/E"E4;*Ea:VEJ4ZEa@a@a@a@AiAmAABuq>Bu?CBuHBuHBBqBqBqBu;Bu:Ea^AԑA I I O >Թ ς, W@A2Tf=2Ï>2ʸٱ2l( :AHRS rotation from veh to nav: [[0.956928,-0.259189,-0.130804],[0.275987,0.951948,0.132763],[0.090108,-0.163144,0.982479]]2H'?п .`ǩ?[v?\?`O?Ŀ@wp?i2Tf=I2N=^;2CY^1HBy^8HbDjVDj02yrY=%rQ=ٔr\:Q-r>9tYt=vcGyvFvEz>xQ 5m4z|=@?Q 9m4z.H)zOBYy>Q I?zCCIz;iz ;z?Gm4yBɮA:E"11*121119ʎ99AjAZE @=@iɢmDE)q uD=iq)u*qqiuJw}#Ɉɧ駅5mit>mg:It> t>Iԑ^A'<D%=D%<E- E-E-*E)"E-(;*E-:VE-(N4ZE)BE- ,à%W@A2kz=2>2 )ٱ2D( :AHRS rotation from veh to nav: [[0.957425,-0.257781,-0.129944],[0.274516,0.952263,0.133548],[0.089315,-0.163534,0.982486]]2H:?{п? x??Qݶ?@Ŀ@p?i2kz=I2^;0YBMHByF[HiEMb@Mb@Mb@AAAA A9EZd;?~jt?L7A`堿YE?yE=E+EAA EhA)EfAAYEQAbD]VD]2ym=%mB=ٔm:Q-m>9qYq=ucGyquRrE}>Q 5m4hR@?Q 9m4E)OBY?Q E:yV>Q I?YCCI:i:Um4yBɮA;E"*2ʎjZ=@ɢX) Л=i)D*iC cHɧ o ki (u> 㛐: I (u> (u>I@!@%>!^A=m<I!I9OU>E5  E5 E5 (E1 "E5 [";*E5 :VE5 c44ZE1 a= @a= @a= @a= @I B n>B B HB HBB =B B B ;B :E#,Z?W@A 2epu=2,X>2pٱ2:) >AHRS rotation from veh to nav: [[0.957859,-0.256793,-0.128701],[0.273381,0.952508,0.134132],[0.088145,-0.163663,0.982570]]2HǦ?`JoпHy ?`z?8+?@?Ŀ7q?i2epu=I21_;2CY^GHBy^THddbDjVDjk1yr%rS=ٔrF;Q-v>9tYt=vcGyvFzMEz>|Q 5m4~e@?Q 9m4~C)~OBYy>Q I ?~CCI~:i~:~cm4yɮA"11*121ꏙʎjZV>@ɢ6j)! %n=i!)%]*!!i-6- Éɧ-_51jiU>u>Uì:QIU>u> U>u>IYq^AԙIIOn> D9 zD9 EE  EE EE *EA "EE ;*EE :VEE (N4ZEA BEE buBٱB)( JAHRS rotation from veh to nav: [[0.958288,-0.255814,-0.127449],[0.272220,0.952810,0.134349],[0.087067,-0.163439,0.982704]]BH`K?@C_пCP` l?@k}?U2?J?ĿOr?iB]p=IB'`;BCYVPHByV_HbD^VD^:3yfƮ<%fJ=ٔj(/;Q-j>9hYh=jcGylniHEn>pQ 5vm4ry@?Q 9vm4rA)rOBYxyz>Q Iz?rCCIr:ir:rqm4y~Bɮ~A@Yɢ]-)Y ] =ia)e*aaiehm4ɧm8m([himb{u>m:qIub{u> ub{u>IqԱ^A='<IIOb> W5,4sW@A6ok=6>6'ٱ6vF( >AHRS rotation from veh to nav: [[0.958712,-0.254911,-0.126066],[0.271094,0.953129,0.134360],[0.085907,-0.162988,0.982881]]6Hĭ?tPп`"`Y? ?2??Ŀs?i6ok=I6M`;6CYFdHByJwH|iMb@Mb@Mb@ 9jt?~jt?QY ?y<ҸA tA)rAYAbD5VD502yE;=%EE=ٔM7;Q-M>9IYI=McGyMFU=EU>YQ 5em4]@?Q 9em4]?)]OBYm!?Q Em:ym`>Q Im?]DCI]:i]Z:],m4yqɮuAq"*2ꏹʎjZ@&?@颉ɢL ) =i))项iJɧD":eiv>Ȗ:Iv> v>IE EE,E"E(;*E˭:VEg4ZEa@a@a@a@@1@1B A Bl>BBHBHBBBBDB;)B:E^Am<A?A?QIyIO~>ԁ A,W@A2/(f=2%o>2حٱ2;' :AHRS rotation from veh to nav: [[0.959153,-0.253898,-0.124745],[0.269884,0.953450,0.134520],[0.084784,-0.162692,0.983028]]2Ha?@?п@L￿ E??7?g?`Ŀ t?i2/(f=I2Ka;2CYF|HByFHbD^VD^!3y~av=%~O=ٔ:;Q->9Y = cGy  UE >Q 5m4@?Q 9m4=)PBY!y%>Q I%?YDCI;iU;m4y-Bɮ-A5=E"IQ*Q2QQQQYʎYaajaZe@}?@颉ɢ F) =i)Ee)顙idm!ɧ_駥]2biPv>3:IPv> Pv>IԉE EE*E"E;*EVE(N4ZEBEa2EaJEԹ ?G,W@A24a=2G݋>2ٱ2' :AHRS rotation from veh to nav: [[0.959529,-0.252994,-0.123689],[0.268838,0.953703,0.134824],[0.083853,-0.162619,0.983119]]2H@u?@1п`4??A?]w?Ŀu?i24a=I2b;2CYB~HByBHi Mb@Mb@Mb@     9 /$?y&1?I +Y ?y `e< 9 A ߷A A)  Y AbD%VD%:2y5Љ;%5G=ٔ=;Q->9Y=cGyF+E>ԹQ 5m4@?Q 9m4;)PBY?Q E:yj>Q I?DCIa:i:Μm4yBɮA>E"*2ʎjZ 1?@1ɢ5Ѱ)1 5F=i9)=(99i=6E@ɧE芿E@^iEKOw>M:IIMKOw> MKOw>II^A]'<AIIO>E  E E E "E ;*E :VE ZE a @a @a @a @B k>B B +HB HBB B B B ;B &:EA Y2,,W@A2.^=2o>2ٱ29i' :AHRS rotation from veh to nav: [[0.959838,-0.252420,-0.122451],[0.268061,0.953926,0.134790],[0.082785,-0.162201,0.983279]]2H?'пX'??@?j1?`Ŀ@w?i2.^=I2@c;2CYBHByBHbDNVDN0yR=%VS=ٔVu5;Q-V>9XYX=ZcGyX^`E^>`Q 5bm4b%@?Q 9fm4b:)bPBYdyf>Q If?bDCIb:iby:b۩m4ylɮnbAl"||*|2||ʎj Z E+@@1ɢ58U)=p =:>i9)=i(99i=Mo:IIMw> Mw>IQ@a@e >9^A<AIIO>iԑ E  E E )E "E C#;*E y:VE FA4ZE BE {NٱNIA' VAHRS rotation from veh to nav: [[0.960238,-0.251385,-0.121443],[0.266887,0.954223,0.135020],[0.081942,-0.162063,0.983372]]NH E?`п@?@?TH?)?yĿ@w?iNPY=INtc;NCY^HBy^HfAAdbDjVDjJyr <%rG=ٔr;Q-v>9tYt=vcGyvFznFEz>|Q 5m4~q@?Q 9m4~08)~$PBYy]>Q I ?~ECI~;i~B:~4m4yBɮdA?E"11*121199ʎ99AjAZE_@@iɢm)q u>iq)u 'qqi}ϧ}ssɧH駅Vi~x> :I~x> ~x>I@@@@q !5Cb9YDAԡAQIYIqO}z> h,|W@A2U=2b>23ٱ2c% :AHRS rotation from veh to nav: [[0.960546,-0.251000,-0.119794],[0.266135,0.954603,0.133807],[0.080771,-0.160409,0.983740]]2Hʼ?cп@ת[?? ?`?HĿz?i2U=I22tc;2CYBHByFHonly read 0 of 1 data item for altitude. Device response is::BD, , +2117.56, +61.75, 25.24, 0.00 a@a a@a a@a a@a bDVD:y=%==ٔf2;Q->9Y=cGyE>Q 5m4@?Q 9m466)0PBQ A+:YQ E:y>Q I?ZECI:i>ym4yBɮMA"*2!!ʎ!!!j)Z-M@@E EEE"E*ES:VEZEa@a@a@a@ɢ<) 0>i)M]'i\ɧ(Ri%}y>%:!I%}y> %}y>I)AABl>BBPHBIBBBBBV;B9EB}?CB}?CByB}Ý =B}Ý =C}74IiIyO;>) j,TW@A2^IS=2K>2bٱ2# >AHRS rotation from veh to nav: [[0.960791,-0.250778,-0.118282],[0.265574,0.954925,0.132621],[0.079692,-0.158834,0.984084]]2H;?` пG*??? f?TĿ }?i2^IS=I2Kb;2CYFHByFHbDNVDNyV,=%V]=ٔV$@;Q-Z>9XYX=ZcGyZF^غE^>`Q 5fm4bA?Q 9fm4b4)b9PBQ Af :YdQ Ejc:yj>Q Ij?bECIb:ib{M?bm4ylɮr-At"  * 2    ʎjZ@@ɢښ߼) @>i)&ixOɧskOi=z>:I=z> =z>IQE EE-E"E ;*E:VEt4ZEBEvԩ Ԕ,/(W@A@Y~HBy~H  = =aa aa aa aa iMb@Mb@Mb@ 9^I +?Mb?MbP?YX?y<:A۷A A)nAYpA p<4<bDVD02y+=%9=ٔQ->9Y=cGyE>Q 5m4ZA?Q 9m42)NPBQ AT:Yf?Q E:y>Q I?ECI;iZ;Ym4y Bɮ A @E"))*)2))11ʎ119j9Z=@@aɢe}м)i mvc>ii)mw%iiimu/ɧ}U~}wKi}$z>}:yI}$z> }$z>ImvԩIIO% >bEu(N4jEuȔK4rEu/E EE'E"Em+;*E:VE'4ZEa @a @a @a @B B B HB =IBB B B B ;B 9E ,UBW@AFK=F >FCٱFݯ" NAHRS rotation from veh to nav: [[0.961435,-0.249447,-0.115840],[0.263833,0.955457,0.132267],[0.077686,-0.157728,0.984422]]FH@?Ͽ ?@?@?`??`q0Ŀb?iFK=IFa;DYVHByZ HbDbVDb0yju<%j\=lٔn;Q-n>9pYp=rcGyrFrKEv>tQ 5~m4vK-A?Q 9~m4v0)v_PBY|y~̖>Q I~?vFCIvI;iv;v]m4y ɮ ۼA "))*)2)))1ʎ119j9Z=.A@aɢeJ^)i mn>ii)mI%iiiu R}ɧ}cz}OHi}S{>}3:}> S{>I(I!I1O=P>1a E  E E ,E "E C#;*E :VE g4ZE BE {2H*ٱ2%" :AHRS rotation from veh to nav: [[0.961652,-0.249152,-0.114666],[0.263339,0.955617,0.132092],[0.076665,-0.157223,0.984583]]2H?`8Ͽ@Z?j?@d?Y?@Ŀ?i2z~I=I2V|a;2CYB IByBEHbDJVDJ02yR<=%VM=ٔV(;Q-V>9XYX=ZcGyXZEZ>9AQ 5Mm4E?AA?Q 9Mm4E.)ErPBYIyM>Q IU?EPFCIE:iEt:Em4y]BɮevAe8E"*2ꏁʎjZcA@颹ɢ6) >i)f$i@ĻɧuDil8|>V:Il8|> l8|>IiAzA\AIIO%M>ԑ ,uW@AJuF=Jx>JWdٱJ# VAHRS rotation from veh to nav: [[0.961946,-0.248542,-0.113516],[0.262653,0.955620,0.133432],[0.075315,-0.158169,0.984535]]JHD?7ϿjN?@p?H?@G?@>ĿP?iJuF=IJ`;HYfIByfUHlnAiMb@Mb@Mb@ 9l?:v?~jtx?Y?y<;A߷A A)rAY AbDVD2y<%9=ٔ@H;Q->9Y=cGyFFۺE>Q 5n4rUA?Q 9n4,)PBY?Q E:y>Q I?FCI;i?;n4y Bɮ gA 9E"))*)2)111ʎ199j9Z=`/A@aɢm)i mF>ii)mq#iqiuIʻ}ɧ}r}[Bi}_|>}gq:yI}_|> _|>IBUk>BQBUHBUfIBBQBQBQBU;BU)9EIqIE EE+E"E[";*E:VE [4ZEBEz<2Ez<JE <:E <O=1Y ,MW@A2EA=2҇>2Cfٱ2h# :AHRS rotation from veh to nav: [[0.962383,-0.247523,-0.112030],[0.261464,0.955835,0.134227],[0.073858,-0.158470,0.984598]]2H ?ӮϿһ?2?Y.?_?HĿҁ?i2EA=I2`;2CY^0IBy^rHbDjVDj0yr =%r[=ٔr;Q-r>9tYt=vcGytz^Ez>|Q 5 n4~gA?Q 9 n4~!+)~PBY y >Q I ?~FCI~A;i~LC;~n4yBɮA"99*929AAAʎAAIjIZMA@qɢuP) 9>i)!"i¾ϻ%,Oɧ%o%?i%g}>%`:!I-g}> -g}>I)1aEe EeEe)Ea"Ee*;*Ee:VEeFA4ZEaam@am@am@am@^Au]<Au>Au>Am.AIyIԉO>Թ ,zW@A6==6d>6ٱ6 " >AHRS rotation from veh to nav: [[0.962730,-0.247043,-0.110094],[0.260688,0.956027,0.134363],[0.072059,-0.158055,0.984797]]6H?`Ͽ/?Ɨ?@2?yr? &;Ŀv?i6==I6AEa;6CY^EIBybHiEMb@Mb@Mb@AAAA A9EzG?/$?:v?YE ?yE,=ET9u ?Yu ?=ucGyuF}E}>Q 5n4zA?Q 9n4()PBYu?Q E:y9>Q I?GCI:i/:z"n4yBɮA:E"*2ʎjZ A@ԑ颙ɢvI) ע>i)e!顡iջɧm駭^>i9}>R:I9}> 9}>I^AX<IIOF>BU i>BU >CBU HBU IBBQ BQ BQ BU p;BU 8EEu  Eu Eu *Eq "Eu /;*Eu 8:VEu (N4ZEq BEu 2ʷٱ2C# :AHRS rotation from veh to nav: [[0.963120,-0.246364,-0.108184],[0.259774,0.956150,0.135258],[0.070117,-0.158373,0.984887]]2H?@ވϿ𱻿$?ǘ?#P?@3?`EĿ0?i29=I2Rza;2CYfOIByfHj=j=bDrVDrk1y%<%-O=ٔ-Z;Q-->91Y1=5cGy15#E5>9Q 5En4=gA?Q 9Mn4=&)=PBYIyM>Q IM?=DGCI=l:i=B:=K0n4yQɮ]AY"yy*y2yyʎjZ@c2B@颱ɢ*) >i)` 项i\ۻɧ^l=i$^}>4:I$^}> $^}>I@@@@!I9IQO]v>I .,.W@AE EE(E"EC#;*EE:VEc44ZEa@a@a@a@>5=>g>>[Lٱ>2# FAHRS rotation from veh to nav: [[0.963478,-0.245721,-0.106451],[0.258892,0.956323,0.135724],[0.068451,-0.158327,0.985011]]>H ?sϿb@?2?h_?? DĿ@6?i>5=I>b;>CYNgIByRHbDZVDZ1ybt=%fQ=ٔf;Q-f>9hYh=jcGyjFj~En>pQ 5rn4rǟA?Q 9vn4r$)rPBYtyv9>Q Iv?rGCIr:ir:r=n4yzBɮ~A~;E"*2ꏙʎjZfB@ɢjo) >i)1i,ứ%tɧ%j%c;i%>}>-:)I->}> ->}>I)AazAaIIO=Qyԩ ,W@AB+ٱB# NAHRS rotation from veh to nav: [[0.963860,-0.245094,-0.104412],[0.258008,0.956431,0.136647],[0.066371,-0.158648,0.985102]]BH?`@_Ͽ 2??}?@?NĿ?iB1=IB5c;@YVsIByVHi5Mb@Mb@Mb@1111 195㥛 ??:v?Y5?y5L=15A5A 5A)11Y5AbDMVDM:y<%A=ٔœ;Q->9Y=cGyE>Q 5n4A?Q 9n4")PBY?Q E:y>Q I?GCI;i;6Mn4yBɮnAiQ)UQQiU滩],אɧ]i]? ;ie}}>e1:aIe}}> e}}>IiIIE5 E5E53E1"E5m+;*E5:VE54ZE1BMf>BIBM%HBMIBBIBIBIBM;BM9EO=ԩ k,W@A6/=6ؤ>6e ٱ6# >AHRS rotation from veh to nav: [[0.964116,-0.244928,-0.102420],[0.257532,0.956541,0.136769],[0.064470,-0.158237,0.985294]]6H ?`YϿ@,8@i{????AĿ?i6/=I6-d;6CYFIByFHLNAbDRVDRyZ˃=%ZV=ٔZ;Q-^>9\Y\=bcGybFbEb>dQ 5jn4fA?Q 9jn4f )fPBYhyn>Q In?fGCIf:pifVk;f!Zn4yxɮziQ)UCQQiU8컩]/ɧeheMe:ieo{}>eV:aIeo{}> eo{}>IiIIO= EE EEEE,EA"EE;*EE:VEEg4ZEABEEbu25Iٱ2S" :AHRS rotation from veh to nav: [[0.964415,-0.244569,-0.100449],[0.256876,0.956689,0.136973],[0.062599,-0.157902,0.985469]]2H|?NϿp?1?@U?w?`6Ŀ?i2,=I2f;2CYRIByRH~only read 0 of 1 data item for BIT error. Device response is::TS,00050504030085,3.7, 0.0,1495.9, 0 a~@a a@a a@a a@a bD VD :2y=%D=ٔ%1;Q-%>9!Y!=%cGy!-ߺE->19Q 5=n45cA?Q 9En45~)5QBQ AE+:YAQ EE:yE\>Q IE?56HCI5$1;i5>5en4yUBɮUAQ"qq*q2qyyyʎyyjZ $C@颩ɢ) >i)[顱i򻩧ɧh_9iu{}>v:Iu{}> u{}>IA?A?IAIO=iԑB5 d>B1 B5 cHB5 IBB5 =B1 B1 B5 Ă;B5 E9EB>CB>CEU  EU EU +EQ "EU %;*EU :VEU [4ZEQ BEU -<2EU -<JEU H<:EU H<BBBCȂ4 ,DW@A2|'=2>2qwٱ2# :AHRS rotation from veh to nav: [[0.964879,-0.243592,-0.098345],[0.255664,0.956803,0.138437],[0.060375,-0.158718,0.985476]]2H`I? .Ͽ`!- \? ?J?i?`PĿ?i2|'=I2"pg;0YNIByR0HbDZVDZ02yvئ=%vM=ٔv;Q-v>9xYx=zcGyzFz3UE~>Q 5n4A?Q 9 n4i)QBQ A  :Y Q E m:y >Q I ?rHCI:iQ?on4ԙyɮźA"*2ʎjZ@6C@ɢXڻ) >i)i uɧ g ;8i ~}> : I ~}> ~}>IAe؟AIqIO> EY  E] EY EY "EY *E] :VEY ZEY ae @ae @ae @am @N,v^W@A2b"=2>2[oٱ2# >AHRS rotation from veh to nav: [[0.965284,-0.242762,-0.096402],[0.254589,0.956946,0.139425],[0.058404,-0.159128,0.985529]]2H?Ͽ ǭ 0K?L??"?J^Ŀ t?i2b"=I2ig;2CYFIByF?HJ=J=bDN VDN2yV\<%ZM=ٔZ;Q-Z>9^"?Y^"?=^cGy\^;E^>`Q 5fn4bXA?Q 9jn4bT)b(QBQ Aj9YhQ Ej@:yj>Q Ij?bHCIb:ib?byvn4ynBɮrAr=E"*2  ʎ   jZ gC@9ɢ=p)9 Eg>iA)EeAAiMzJMNɧMeU7iU)}>U+:QIU)}> U)}>IYIIOE>9i m,iSxW@A6@$=6n>6hٱ6!$ BAHRS rotation from veh to nav: [[0.965674,-0.241893,-0.094661],[0.253485,0.957150,0.140035],[0.056731,-0.159224,0.985611]]6H?Yο@;9?? ?` ?paĿ ?i6@$=I6Qh;6CYJIByJ9Haa aa aa a%a% i%Mb@Mb@Mb@!!!! !9%A`"?~jt?MbpY%?y%D=%%+A%A %A)%rA!Y!bD=VD=NyE'(%MB=ٔM};Q-M>9QYQ=UcGyUFU#6EU>aQ 5en4elB?Q 9mn4e&)e2QBQ AmT:Ym?Q Em:yme>Q Im?eHCIe:ie:e.n4y}Bɮ}ºA}>E"*2ꏡʎjZC@QYɢ]/)Y ]1>iY)eaaieumĴɧmdmr6im}>m殫:iIu}> u}>IA\AzAB<A<BBBHBJBBBBB;B9EDzDbE [4jE2`4rEg0E EEE"E*E:VEZEBEa52Ea5JEvԁԩ &U$,,W@A2=2>2ݓaٱ2 $ :AHRS rotation from veh to nav: [[0.965952,-0.241444,-0.092956],[0.252797,0.957254,0.140562],[0.055045,-0.159275,0.985699]]2H?@ο ˷-?ԡ? ?.?cĿ׊?i2=I2Rh;2CYFIByF_HihIhbDN VDN2yv=%vQ=ٔvK;Q-v>9xYx=zcGyxzE~>Q 5 n4 $B?Q 9 n4 ):QBY y >Q I?*ICIB:i:n4yɮA"99*92AAAAʎAIIjIZM@C@qɢuP )y }u>iy)IE顁i- ɧEb駍m5i}>:I}> }>II)ԱIO=E% E%E%-E!"E%';*E%:VE%t4ZE!a5@a5@a5@a5@ 9 *, W@A2nV=2T>25Zٱ2^$ :AHRS rotation from veh to nav: [[0.966403,-0.240341,-0.091118],[0.251457,0.957478,0.141441],[0.053249,-0.159602,0.985744]]2H@?zοzS`??@?@pC?mĿ7?i2nV=I2h;2CY^IBy^mHddiMb@Mb@Mb@ 9A`"?~jt?~jtYyDAA A)fAYbDVDky<%>=ٔ;Q->9Y=cGyFVE>Q 5n48B?Q 9n4)@QBY?Q E:y+>Q I?mICI0;i*;n4yBɮtA?E"))*121199ʎ99AjAZE`D@yɢ5) 5>i)}顉i5tɧ5 `5=3i5"~>5u:9I="~> ="~>I9IIO=9BBBHB;JBBBBBp;B9EE5  E5 E5 )E1 "E5 s!;*E5 *:VE5 FA4ZE1 BE5 x65Sٱ66[$ >AHRS rotation from veh to nav: [[0.966875,-0.239133,-0.089266],[0.249993,0.957780,0.141991],[0.051542,-0.159604,0.985835]]6H?`ο ڶ?"?`,? c?@mĿ`?i6 =I6i;6CYJJByJtHbDRVDRN2yZ^x<%Z]=ٔ^8;Q-^>9\Y`=bcGy`bEb>dQ 5jn4fuJB?Q 9jn4f)fDQBYlyna>Q In?fICIf;if<;fn4ypɮriAt"  * 2   ʎjZ5D@AɢE`:)A E?iI)MIIiM^ U“ɧU^Uפ1iUb~>Ǫ:Ib~> b~>IA>A?IYIiO}=iԙ EE  EE EE ,EA "EE %;*EE :VEE g4ZEA aM @aM @aM @aM @!7,W@ABL =B>BhMٱB# JAHRS rotation from veh to nav: [[0.967172,-0.238510,-0.087696],[0.249128,0.957994,0.142068],[0.050128,-0.159252,0.985965]]BH?}οEsn?@?`J/?@^? _bĿ?iBL =IB8i;BCPYv JByvHbDVD1y G<%E=ٔ7_;Q->9Y=cGyF%E%>)Q 5-n4-Z^B?Q 95n4-)-HQBY1y5>Q I5?-ICI-y:i-:-in4yEBɮEAE7E"aa*a2aiiiʎiiijqZujD@颙ɢ0) 2?i)?顡iR ^ ɧ[駵/i|~>gڬ:I|~> |~>IIaIqO=! =,W@A2b@=2.R>2%Gٱ2]$ :AHRS rotation from veh to nav: [[0.967612,-0.237298,-0.086116],[0.247718,0.958230,0.142933],[0.048601,-0.159636,0.985979]]2H?_ο ;?ө?K?0?nĿ`#?i2b@=I2i;2CYfJByfH hhn=n=|i]Mb@Mb@Mb@YYYY Y9]A`"?l?~jtYYy]=YYY Y)YYYYbDuVDu1yi1=%C=ٔ#o;Q->9Y=cGygE>Q 5n4rB?Q 9n4 )MQBYi?Q E:y>Q I?&JCI:iE: n4yBɮA8E"*2ʎjZ`}D@ɢ k:) ?i)emi%,}ɧ%4X%s,i-k0>-\:)I-k0> -k0>I1AqAu@AB}c>ByB}HB}ZJBByByByB}v;B}9EE EE*E"EC#;*Ea:VE(N4ZEBE{aԁ ãD,uW@A2=2y>2Aٱ2# :AHRS rotation from veh to nav: [[0.967956,-0.236462,-0.084543],[0.246632,0.958531,0.142797],[0.047271,-0.159073,0.986135]]2H`~?`Dο@ ?@I?/G?3?@}\Ŀj?i2=I2h;2CYF2JByFHbDNVDN02yVO=%VY=ٔZg;Q-Z>9Z ?YZ ?=ZcGyZF^FE^>dQ 5jn4fB?Q 9jn4f )fQQBYhynU>Q In?f_JCIf:ifW;f:n4yxɮzֹA|Y"*2ʎjZ-VD@Yɢ] *h;)Y e ?ia)e< aaie*m<הɧmTmW*iu>u:u‡:Iu> u>IyA[AzAZAԉA؟AIIO$>E EE)E"E&;*E:VEFA4ZEa @a @a @a@Ա J, Q-W@A2x<2 ~>2`/<ٱ2# :AHRS rotation from veh to nav: [[0.968360,-0.235321,-0.083078],[0.245293,0.958796,0.143323],[0.045927,-0.159167,0.986183]]2H ?@οD e?u?kX?̓?`_Ŀ@ώ?i2x%8=ٔ)F;Q->9"?Y"?=cGyME> Q 5n4 B?Q 9n4  ) XQBY?Q E:y>Q I? JCI 5;i (; n4y-Bɮ-߹A-9E"II*I2IQQQʎQYYjYZ]@ E@颁ɢ ;) ` ?i)! 顉iy.ɧO駝[&i??>ʬ:I??> ??>IIIO!>Bua>Bu=CBuHBuxJBBqBqBqBu<;Bu9EE  E E E "E 0;*E :VE ZE BE :6ٱ:d# FAHRS rotation from veh to nav: [[0.968692,-0.234492,-0.081543],[0.244226,0.959072,0.143299],[0.044603,-0.158727,0.986314]]:H? οിB??@W?C֦?+QĿ`?i:b9dYd=fcGyfFfHEf>hQ 5rn4jB?Q 9rn4j})j]QBYtyz>Q Iz?jJCIja;ij;jn4y ɮ A"QQ*Q2ꏑʎjZ@>E@ɢ@˪;) ?i)Ŝij<ɧK?#ix>:Ix> x>IAIIOI>qԙ E%  E% E% ,E! "E% =-;*E% n:VE% g4ZE! a- @a- @a- @a- @W,aW@A2J<2*{>2c1ٱ2a{" :AHRS rotation from veh to nav: [[0.969015,-0.233737,-0.079853],[0.243191,0.959399,0.142868],[0.043217,-0.157861,0.986515]]2H@,?Ϳ9q ?f?I? ?`4Ŀ@?i2J9XYX=ZcGyX^1E^>1 IIQ 5Uo45B?Q 9]o45)5bQBYqy}>Q I?5KCI5'<KA:I`> `>Iԩ^Ah%<A>A?I9IIO]v> ^,zW@A2"<2Lz>2#+ٱ29C" :AHRS rotation from veh to nav: [[0.969428,-0.232579,-0.078208],[0.241795,0.959714,0.143125],[0.041769,-0.157660,0.986610]]2H?&Ϳo#??Q?b?0.ĿN?i2"[;Q->9Y=cGyF\E>Q 5o4B?Q 9o4)jQBY*?Q E:yM>Q I?ZKCI;i* ;o4yBɮA:E"*2ʎjZ@/E@B<AB%]>B!B%HB%JBB% =B!B%DB%;B%g9EBB=CBB =B =C4AɢE><)A E?iI)MIIiM[vU#ɧUAU#i]h>]֫:YI]h> ]h>IaDzDE EE-E"E4;*Ea:VEt4ZEBEJQ:%ٱJn! bAHRS rotation from veh to nav: [[0.969671,-0.232102,-0.076591],[0.241063,0.959915,0.143009],[0.040328,-0.157135,0.986753]]JH ?Ϳ@t %? ? N? ۥ?Ŀ{?iJ+t9)Y)=-cGy)5GE5>9Q 5Eo4=VB?Q 9Eo4=)=qQBYAyM>Q IM?=KCI=:i= :=U o4yQɮUAQ"*2ʎjZ `KE@aɢePH<)i m?ii)miiim$urɧu)=}Ti} ρ>}N:yI} ρ> } ρ>I)E EE*E"E=-;*E:VE(N4ZEa@a@a@a@Y^A]"IIOi>ԉ k,W@A0>F<>=x>>ٱ>vs! JAHRS rotation from veh to nav: [[0.970030,-0.231168,-0.074850],[0.239873,0.960180,0.143235],[0.038758,-0.156897,0.986854]]>H } ?`Ϳ\)&?ʹ?U?@أ? 0Ŀ@O?i>FBf;>CYZXJByZHieMb@Mb@Mb@aaaa a9eʡE? rh?~jth?Ye-?yeC =eD;e7Aa eA)aaYefAbDVD2y%C=ٔu;Q->9Y=cGyF|BE>Q 5o4B?Q 9o4?)yQBYo?Q E:y>Q I?KCI ;i~ ;.o4yBɮA;E"*2ꏙʎjZ F@ɢ <) ?i) i7!G–ɧ]9 Ki\>:I\> \>I@@@@ԉԹB\>BB8HBJBBBBB;B`9EAIIO>bEu(N4jEu-W4rEu/E EEE"E(;*EE:VEZEBE2jzٱ2G! :AHRS rotation from veh to nav: [[0.970358,-0.230256,-0.073401],[0.238751,0.960424,0.143467],[0.037461,-0.156739,0.986929]]2H , ?yͿaʲ f?̻?"]?'.?Ŀ?i29|Y|=cGyFGE> Q 5o4 8 C?Q 9o4 ) QBYy>Q I?  LCI ;i ; Z:Ie> e>IA II!O5 >A E  E E )E "E +$;*E :VE FA4ZE a @a @a @a @.x,UOW@A2&!<2k8v>2RIٱ2 :AHRS rotation from veh to nav: [[0.970603,-0.229751,-0.071723],[0.237985,0.960623,0.143407],[0.035951,-0.156260,0.987061]]2H`.?@whͿo\Nv?@m?*[?@&h?WĿ?i2&!9XYX=ZcGyX^rE^>`Q 5fo4b_C?Q 9fo4b)bQBYdyf>Q If?bDLCIb:ibB:b#Jo4ynBɮnyAn&%Rɧ-'2-7i-ం>-5:)I-ం> -ం>I1I1IIIOU>q -X~,9*W@A2T!<2rv>2ٱ2 :AHRS rotation from veh to nav: [[0.970670,-0.229993,-0.070025],[0.237876,0.961003,0.141028],[0.034859,-0.153549,0.987526]]2H ?gpͿ+@r?`?@8 ?١?`ÿЙ?i2T!B9Y=cGyFmE>Q 5 o41C?Q 9o4)QBY?Q E:y˜>Q I?LCI;i;Yo4y%Bɮ%qA%=E"AA*A2AIIIʎIIQjQZU@^F@yɢKE<) ?i)顉i[)0ɧf.駕 i`>\:I`> `>IDzDE EE+E"E%;*E˭:VE [4ZEBE-9 &A, W@Ai@IBARR|ٱR  ZAHRS rotation from veh to nav: [[0.970815,-0.229929,-0.068199],[0.237505,0.961215,0.140206],[0.033316,-0.152312,0.987771]]RH`?QnͿuuf?@E?H??`~ÿ`ћ?iR9xYx=zcGyxz~PExceeded connect timeout, disconnecting.E> Q 5 o4 BC?Q 9o4 ) QBYy>Q I? 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GxͿŰ~b?'?@?吟?`rYÿ?i2#9tYt=vcGytzs9Ez>|Q 5Uo4~gC?Q 9Uo4~l)~QBYYy]>Q I]?~0MCI~S:I> >IIYIiO}= nManaging dock network, ignoring radio surface power off) E  E E E "E %;*E :VE ZE a @a @a @a @|,ԙcW@A2_<28u>25ٱ2FM :AHRS rotation from veh to nav: [[0.970876,-0.230754,-0.064440],[0.237706,0.961373,0.138772],[0.029928,-0.150049,0.988226]]2Hj?WͿ!`&m?`?K? ?4ÿ@?i2_9XYX=ZcGyZ F^X:E^>`Q 5fo4byC?Q 9fo4b)bQBYdyj#>Q Ij?bjMCIb6:ib:bo4ynBɮnOAn?E"||*2ʎ  j Z @pG@1ɢ=я<)9 =#?i9)EAAiE& 3MɧM!M]iMx>MϤ:IIUx> Ux>IQII)O==)aԉ N,q}W@A0:n<:iu>:tٱ:[: BAHRS rotation from veh to nav: [[0.971016,-0.230489,-0.063272],[0.237275,0.961447,0.138998],[0.028795,-0.149982,0.988269]]:H?Ϳ@2 _?`,??`c|?@2ÿ?i:n ףp=?l?I +YE?yE=E94E=AEA E A)EVAAYEAB]<A]<Be\>BaBejHBeJBBe =BaBaBe!;Be9EbD}VD}yF<%==ٔ+;Q->9Y=cGyE>Q 5o4yC?Q 9o4)YA?Q E:y>Q I?MCI:iE:۟o4yɮGA"YY*Y2YaaaʎaaijiZm`KG@E EE)E"E);*E8:VEFA4ZEBEOEP:AIEoM> EoM>IIA]>A] ?ԉA.AIIOE> ⍥,KW@A6Iή<6.u>6 ٱ6 >AHRS rotation from veh to nav: [[0.971093,-0.230413,-0.062359],[0.237060,0.961515,0.138892],[0.027957,-0.149660,0.988342]]6H1?-~ͿW??:?? 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E  E E )E "E &;*E :VE FA4ZE a @a @a @a @f,&fW@A|YJByHbD VD:2yE=%MA=ٔMQ-M>9IYQ=UcGyUFUEU>YQ 5ep4]Q5D?Q 9mp4])]QBYiyiQ Im?]OCI]:i]:]p4yuBɮuA};E"*2ꏙʎjZxI@ɢ<) 9?i)!di7CLX䚽ɧi]>՗:I]> ]>I^AzA\AzAZA)A.AII!O5.>Yԁ ?,W@A2C<2to>2q4ٱ2k :AHRS rotation from veh to nav: [[0.972592,-0.226116,-0.054186],[0.231673,0.962223,0.143022],[0.019799,-0.151655,0.988235]]2Hy?[̿`6 u? ?N?@7F?@qiÿ@?i2C9 ?Y ?=cGy\E>Q 5p4HD?Q 9p4)QBY?Q E:ỷ>Q I?OCI#:i:/-p4yɮ"*2ʎ  j Z I@9ɢ=b<)9 =9?i9)EsAAiEWNMɧMbվM+iM>M:IIM> U>DQzDUAAE] E]E]*EY"E]m+;*E]:VE](N4ZEYBE] -,W@A6}y<6!n>6iٱ6 >AHRS rotation from veh to nav: [[0.972733,-0.225793,-0.052993],[0.231171,0.962357,0.142927],[0.018726,-0.151280,0.988313]]6H ?`̿!??oK?,?@']ÿC?i6}y9^"?Y^"?=^cGy^F^?Eb>`Q 5fp4bZD?Q 9jp4b)bQBYhyj>Q Ij?b/PCIbX ;ib ;b6:p4yrBɮrArUK:QI]a> ]a>IYԱAe.AIqIO=Ea EeEe-Ea"Ea*Ee:VEet4ZEaam@am@am@am@ 9 W,P³W@Az<Mn>Սٱbk =AHRS rotation from veh to nav: [[0.972735,-0.226129,-0.051496],[0.231247,0.962597,0.141182],[0.017645,-0.149241,0.988643]]H ?̿]|? ?<? }?Pÿ?iz9u ?Yu ?=}cGyy}m&9E}>Q 5p48oD?Q 9p4)QBYd?Q E:y>Q I?rPCI ;i; ;PJp4yɮ{A"*2ʎjZJ@ɢ<)  :I> >IAA}؟AIIO<>BBBHBKBBBBBE;B8EiDm%=Dm<Eu EuEu+Eq"Eu';*Eu:VEu [4ZEqBEu22ٱ2* :AHRS rotation from veh to nav: [[0.972629,-0.226888,-0.050148],[0.231764,0.962753,0.139258],[0.016684,-0.147069,0.988986]]2H? Ϳ`q??@4?@?&¿ť?i2yQ I ?PCI :i[:Vp4yBɮ=\A==E"yy*y2yꏁʎjZFJ@ɢ Z=) A?i)\祿i%VlɧʷWiC>8c:IC> C>IqAIIqIO>ԡ g> C- GA Y E  E E (E "E *E :VE c44ZE a @a @a @a @ !I9 Y n.A f,mW@A2A<2o>2ၼٱ2a< :AHRS rotation from veh to nav: [[0.972569,-0.227355,-0.049186],[0.232074,0.962779,0.138556],[0.015854,-0.146171,0.989132]]2HH?Ϳ .? ?7? 9TYX=ZcGyXZM:EZ>\Q 5bp4^D?Q 9fp4^)^QBYdyf>Q If?^PCI^W:i^ :^dp4yjBɮjAn>E"||*|2|ʎj Z }xJ@频ɢ+5=) a=?i)#项iRYɧ̢i$>y:I$> $>III O >) O,K W@AB&]>B$B&HB&KBB$B$B&DB&C;B&8EB B B B B C a4F\FtٱF3 NAHRS rotation from veh to nav: [[0.972410,-0.228304,-0.047915],[0.232802,0.962851,0.136826],[0.014897,-0.144205,0.989436]]FH?9Ϳ`Vv?? ?s?Ru¿t?iF\9aYi=mcGymFmU:Em>qQ 5p4uGD?Q 9p4u)uQBY?Q E:y˛>Q I?uQCIuB\:IF> F>IA[AzA)I IO-,>aԉ {,Y1 W@A06ۓ<6q>6whٱ6v BAHRS rotation from veh to nav: [[0.972149,-0.229646,-0.046778],[0.233932,0.962924,0.134361],[0.014188,-0.141562,0.989828]]6H ?` eͿM{? F?`2? ?¿?i6ۓ9`Y`=bcGy`f F;Ef>hQ 5np4jD?Q 9np4j)jQBYlyn^>Q Ir?jVQCIjb;ijo;jـp4yvBɮvZAv?E"  * 2 ʎjZQJ@AɢER =)I MC?iI)M9IIiU"^]ɧ]]ji]S>]:YI]S> eS>IaIIiO}=ԉEE EEEE'EA"EE%;*EE8:VEE'4ZEAaM@aM@aM@aM@ , 5 W@Al= <=gr>=?_ٱ=i UAHRS rotation from veh to nav: [[0.971978,-0.230553,-0.045878],[0.234678,0.962997,0.132529],[0.013626,-0.139582,0.990117]]=Hq?ͿW} ? ???` ?i= 9Y=cGyF :E%>!Q 55p4%D?Q 95p4%)%QBY5?Q E5:y5z>Q I=?%QCI% ;i%q ;%p4yAɮEAA"*2ʎjZK@Yɢ]T<)a e=?ia)e{~ais`ɧї駕eri>Br:I> >II IO- >)BE[>BE2Nٱ2V  :AHRS rotation from veh to nav: [[0.971829,-0.231365,-0.044923],[0.235347,0.962854,0.132380],[0.012626,-0.139223,0.990181]]2H9?^Ϳ@???ۉ?@?i29tYt=vcGytz:Ez>|Q 5p4~{D?Q 9p4~D)~QBYyԘ>Q I ?~QCI~;i~w:~EF:AIE > E >IAAyA}>IIO%=ԉԱ Ee  Ee Ea Ea "Ee +$;*Ee *:VEa ZEa am @am @am @am @<,h W@A:`<:s>:?ٱ: BAHRS rotation from veh to nav: [[0.971759,-0.231827,-0.044053],[0.235687,0.962736,0.132632],[0.011664,-0.139269,0.990186]]:H@?@Ϳ*?`?@?3? `?i:`9`Y`=fcGyfFfc:Ef>hQ 5np4jD?Q 9np4j~)jQBYpyr>Q Ir?jRCIj;ij<;j/p4ytɮvYAtPB*** querying acoustic contact ***  "*2ʎ!j!Z%q{K@IɢM*s=)Q UD?iQ)UoMQQiUǽe]Hɧe0ew[ieh>e:aIeh> eh>IiԹ2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.IYIiO}=m *DAT read: user:361> u BDAT read: Tx time:00:14:57.6786 } $Ping request sent.} BE =CBA BA BE =BA BA BE ;BE 09Ež ,ᙂ W@A><>kt>>I0ٱ>p JAHRS rotation from veh to nav: [[0.971592,-0.232699,-0.043136],[0.236419,0.962616,0.132203],[0.010760,-0.138645,0.990284]]>HG?ͿB? ?? ? `g?i>_;>CY^ KBy^Hi}Mb@Mb@Mb@yyyy y9}Gz?l?9Y=cGy:E>Q 5p4E?Q 9p4)QBY?Q E:y<>Q I?GRCI:i:[p4yBɮpADzD?AE EE)E"E);*EVEFA4ZEBEOʂ:I8Ō> 8Ō>I checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251196AIQIiOu6>iԙ &,k W@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503885:3<:Ut>:#ٱ: BAHRS rotation from veh to nav: [[0.971516,-0.233163,-0.042328],[0.236764,0.962574,0.131887],[0.009993,-0.138152,0.990361]]:H?KͿ@DN? h??`Fw??i:39!Y!=-cGy-F-o:E->1Q 5=p45QE?Q 9Ep45)5QBYAyEl>Q IE?5RCI5 ;i5 ;5p4yMBɮMAU8E"qq*q2qqqqʎyyyjZjK@颩ɢ2#=) f8?i)z顱ij}ɧt駽Ci> :I> >IA\AzA\AqIIO>E- E-E-*E)"E-;*E-a:VE-(N4ZE)a5@a5@a5@a5@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754895 ,,S W@Amlmkٱm AHRS rotation from veh to nav: [[0.971411,-0.233698,-0.041783],[0.237215,0.962499,0.131619],[0.009457,-0.137768,0.990419]]mH? Ϳd]?? ?^? b?iml9QYQ=UcGyQ]:E]>aQ 5mp4e(E?Q 9mp4e)eQBYm?Q Eu:yu>Q Iu?eRCIe ;iee ;eYp4yyɮ}]Ay"*2ꏡʎi)I-A5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007282jQZ]  L@ɢ=) `>?i)G.oiTm<ɧ`S3i%損>%x}:!I%損> %損>I)IIO>B[>BBBB =BBB;BD-=D-<E5 E5E5-E1"E53;*E5:VE5t4ZE1BE56ٱ6 BAHRS rotation from veh to nav: [[0.971332,-0.234107,-0.041340],[0.237565,0.962332,0.132211],[0.008832,-0.138241,0.990359]]6H%?7Ϳ*h?l?@H? M??i6\9\Y\=^cGybFbŅ:Eb>dQ 5jp4f8E?Q 9jp4f)fQBYhyjڒ>Q In?fRCIf:if';fp4yrBɮrsAr9E"* 2    ʎ jZJL@AɢE1=)Et EU,`z:QI]> ]>IYIIO-=QEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510863yԡ EE  EE EE (EA "EE %.;*EE :VEE c44ZEA aM @aM @aM @aM @:,a W@A@F{F>NٱF NAHRS rotation from veh to nav: [[0.971303,-0.234309,-0.040855],[0.237699,0.962289,0.132281],[0.008319,-0.138196,0.990370]]FH?Ϳꤿ@l?@? ? ?`i@?iF{9Y=cGy!%Q9E%>)Q 55p4-KE?Q 95p4-)-QBY1y5>Q I=?-.SCI-;i-/;-,p4yAɮEAA"aa*i2iiiiʎiqqjqZu[L@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763011颩ɢٮ=) 9?i)w]顱iqɧ>駽ސib>4v:Ib> b>IA=>A=>IIO=ԩU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014981 A A AAB B B HB KBB B B B C;B 8E}@,!W@A2x<2^u>2ٱ2߱ :AHRS rotation from veh to nav: [[0.971355,-0.234173,-0.040414],[0.237510,0.962222,0.133110],[0.007716,-0.138896,0.990277]]2H V?bͿf?? ??U`Y?i2x9Y=cGyFE>Q 5q4 _E?Q 9q4)QBY?Q E:y>Q I?kSCI ;ia;q4yBɮA:E"*2DzDAAE EE/E"E[";*E:VEJ4ZEBEzq: I V> 5V>I1 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267289A.AIIO>>1a ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518895 G,!W@A27<2UWu>2ٱ2? >AHRS rotation from veh to nav: [[0.971410,-0.234015,-0.039991],[0.237299,0.962183,0.133766],[0.007175,-0.139432,0.990206]]2H?5Ϳy_?3?@?c}?ï?i279^ ?Y^ ?=^cGy\^Eb>`Q 5fq4bfpE?Q 9jq4b)bQBYhyjw>Q Ij?bSCIbI;ib;bq4ynBɮrAr;E1"Ya*a2aaaaʎiijZmL@ɢ&=) i)6Iiv ߜɧ  Si z> ̩m:Iz> z>IGFm9YMAYE EE(E"Em+;*Eخ:VEc44ZEa @a @a @a @M+wԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771816A؟AIIO> /CM,o7!W@AEEٱElԱ AHRS rotation from veh to nav: [[0.971214,-0.234876,-0.039707],[0.238107,0.962088,0.133009],[0.006961,-0.138635,0.990319]]EH/?`kο uT`Jz?@m?o?|?@Ǿ౰?iE9"?Y"?=cGyF:E>Q 5q4΅E?Q 9q4)QBY?Q E:y>Q I?SCIX ;i ;;q4yBɮɸA checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023046"*2ꏡʎjZv$M@ɢ: =) 7?i)=>AAiEryMsɧMM7iM>M}h:IIM> U>IQ=&ּB^>BBHBKBBBBB;B|8EBQBQBQBUŠ =BUŠ =CUY4A.AIIO> E EE+E"E=-;*Ea:VE [4ZEBEr6Իٱ6@ >AHRS rotation from veh to nav: [[0.971243,-0.234821,-0.039324],[0.238003,0.962053,0.133452],[0.006494,-0.138974,0.990275]]6Hk?οD" v?"??z?T?i6u9z ?Yz ?=zcGyxz`E>Q 5%q4 E?Q 9%q4_)QBY)y-݊>Q I-?TCI|j;i?|;*q4yEBɮE͸AEmAd:iIm> m>IqA%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527037qA ؟AI I! O5 >E%  E! E% *E! "E% 1;*E! VE% (N4ZE! a- @a- @a- @a- @ԙ PZ,Dk!W@A2<2v>28ɻٱ2 :AHRS rotation from veh to nav: [[0.971127,-0.235426,-0.038559],[0.238484,0.962201,0.131508],[0.006141,-0.136906,0.990565]]2Hy?`r"ο򽣿? Z?@=?`'y?$`?i295"?Y5"?=5cGy5F=G:E=>AQ 5Mq4EE?Q 9Mq4E)EQBYIyM$>Q IU?ETTCIE`:iE:E8q4yYɮ]AYchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779035"*2ꏉʎjZ M@ɢ<%=) *;?i)3-i~6ɧ%Vi>n`:I> >IqA?A?ԩAIIO>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030953By A} <B a>B B HB KBB =B B DB .;B 8E ?8a,!W@AZ?Z<ٱZi rAHRS rotation from veh to nav: [[0.971010,-0.236030,-0.037811],[0.238980,0.962084,0.131466],[0.005348,-0.136690,0.990599]]ZH ?=6ο[? d??u?`?iZ? ףp=?I +?~jth?Y?y94<D;nA =A)YAbDVD:bEe(N4jEeU4rEeEC0E EE,E"E);*E:VEg4ZEBEO9)Y)=-cGy-F-:E5>9Q 5=q4=.E?Q 9Eq4= )=QBYE?Q EE:yE>Q IE?=TCI=:i=:=Hq4yMBɮUǸAU=E"*Q2QYYYʎYaajaZeM@颉ɢ(G=) :?i)0"顑iXɧV駥Z+i>9.[:I> >IBDAT read: Rx Time:00:15:01.5715 TRx dataTimestamp_ set to:1761696902.229188checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284088AI IO-N>) E checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535432bg,!W@A2<2mw>2줋ٱ2H >AHRS rotation from veh to nav: [[0.970941,-0.236478,-0.036778],[0.239283,0.961991,0.131590],[0.004262,-0.136566,0.990622]]2H? DοԢѠ?`??tq? {`,?i29XY\=^cGy\^'d:Eb>`Q 5fq4bE?Q 9jq4b)bQBYhyjޅ>Q Ij?bTCIb:ib:bTq4ypɮrAp"*2   ʎ  jZM@9ɢ=ޜ;=)A E6?iA)E&AAiM-lMMɧMU ϺiUD>UcW:QIUD> UD>IQA .AII!O5 >E EE*E"E%;*E:VE(N4ZEa@a@a@a@ԁ5DAT read: 00:15:01.5715 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 458, 0.43, 0.303,-1.467, 0.160, 0.075, PHS= 0.329,-1.497, 0.041, RAW= 141.6, 13.2, CAL= 140.9, 14.2, ROT= 9.1, -14.2 =Ygot valid direction response: 00:15:01.5715 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 458, 0.43, 0.303,-1.467, 0.160, 0.075, PHS= 0.329,-1.497, 0.041, RAW= 141.6, 13.2, CAL= 140.9, 14.2, ROT= 9.1, -14.2 MPDAT read: Bearing 182.5, 6.8 (Local) M~Local bearing/azimuth received: Bearing 182.5, 6.8 (Local) ]DAT read: Range 11 to 50 : 1116.6 m (Round-trip 1488.8 ms) speed 0.4 m/s eR#Rx 1: Read range and direction messages.m\direction in FSK: [0.957244,0.153326,0.245307]uFpublishing direction and range infoy|D?g,?/;f?YD )LIr>i'=2+@k>c@ }>)">I}w?VJP?V2 4? >)dzkI">i}Ա ^m,׸!W@A@MM/ٱM; AHRS rotation from veh to nav: [[0.970916,-0.236820,-0.035202],[0.239407,0.961952,0.131654],[0.002684,-0.136252,0.990671]]MH? Pο@?O??4e?p?iM9% ?Y% ?=%cGy%F-m9E->1Q 5=q451E?Q 9=q45)5QBYEl?Q EE:yEn>Q IE?5UCI5/:i5E:5ueq4yMBɮMAQ1!W@AJDRDjٿ>kbq@<6tOe@T q@r|D?g,?/;f?Z">b}an@Хak|@IK:o@z{xM?`N`,?.?2\C:uD"yy?*aKBGCyy?aK“GCnDy>"  * 2 ʎj`fr@ZJ|?aɢa=) 7?i)顉iR ɧP駕#&id>o_Q:Id> d>IA[AzAB5c>B1B5HB5JBB5 =B1B1B5;B59EAIIOf>E EE+E"E%;*E:VE [4ZEBE~/<>Xx>>ٱ>5y JAHRS rotation from veh to nav: [[0.970794,-0.237531,-0.033743],[0.239913,0.961843,0.131530],[0.001213,-0.135784,0.990738]]>H?`ngο@F@y?j?@?``S?@\a?i>/]_;>CYZJByZ`H|bDVDy]%]l=ٔe;Q-e?9aYa=ecGyim:Em?qQ 5}q4uDE?Q 9}q4u)uQBYy>Q I?uBUCIuY;iu;uqq4yBɮ#A>E"*2ꏱʎjZ(?ɢ6:=) 0?i)OiC ɧ E:8i>M:I> >I A-؟A)I1IIOU>Qԁ E  E E ,E "E &;*E :VE g4ZE a @a @a @a @ z,z!W@A2;<2x>219ٱ2 :AHRS rotation from veh to nav: [[0.970634,-0.238405,-0.032150],[0.240562,0.961705,0.131353],[-0.000396,-0.135230,0.990814]]2H@n? οu@?@I? +? 93O?i2;a;2CYBJByFgHbDNVDN1yV^<%VV=ٔVQ;Q-Z>9Z"?YZ"?=ZcGyZF^:E^>`Q 5fq4bF?Q 9fq4bM)bQBYdyf>Q Ij?bzUCIb:ibN:b~q4ylɮnAl"||*|2ʎ  j Z ?Yɢs;)=) 1?i)iTɧ#}< J:i|y>5H:1I=|y> =|y>I9ԉA.AIIO >Թ A! A! B- e>B- >CB- HB- JBB- =B) B) B- ;B- u9E,f"W@A6<6ggy>6%;ٱ6J >AHRS rotation from veh to nav: [[0.970483,-0.239322,-0.029803],[0.241157,0.961695,0.130330],[-0.002529,-0.133670,0.991023]]6H 2?`οÄ`:?5??d u?i69E ?YM ?=McGyIM&:EM>QQ 5]q4UF?Q 9eq4UA)UQBYe?Q Ee:ye>Q Ie?UUCIUm ;iU ;Uq4ymBɮuAu?EE EE(E"EU,;*E:VEc44ZEBE޹C:I> >IA>A>Ae؟AIiIyO9>9 !, C "W@A6<6evz>6G;ٱ6} BAHRS rotation from veh to nav: [[0.970228,-0.240529,-0.028330],[0.242159,0.961501,0.129905],[-0.004006,-0.132898,0.991122]]6H@ ?ο@?`??hp`D?i6z;Q-b>9b"?Yb"?=bcGybFf.;Ef>hQ 5nq4j+F?Q 9nq4j`)hYlyn>Q Ir?jUCIjw;ij;j2q4ytɮv*At"  * 2 ʎjZ?AɢM6=)I M0?iI)M~{ػIQiUUɧ]=]*:i]>]C?:YI]> e>IaAIIO>E EEE"E(;*En:VEZEa@a@a@a@Aqԙ ߍ,1:"W@AF=FY;ٱF -AHRS rotation from veh to nav: [[0.970007,-0.241601,-0.026734],[0.243006,0.961227,0.130350],[-0.005795,-0.132937,0.991108]]FHL ?ο !` ?^?`O?`w`@'?iF=%7=ٔ4;Q->9Y=cGy!5:E5>iQ 5q4AF?Q 9q4)Yy>Q I?9VCIb:i:{q4yBɮ=A@E"*2ʎjZ T0@)ɢ-XU=)) -T/?i))5û11i5g=5ɧ=A==;i=L>=0::AIEL> EL>IABBBvHBJBB =BBB ;B9EԑA.AIIOE>D=D<E EE*E"Es!;*Eخ:VE(N4ZEBExF<ٱFO1 RAHRS rotation from veh to nav: [[0.969924,-0.242103,-0.025184],[0.243283,0.960877,0.132395],[-0.007855,-0.134540,0.990877]]FH ?>οə#?@?U?*8C?iF̚9 ?Y ?=cGyFA:E>Q 5q4SF?Q 9q4?)QBY?Q E:yܧ>Q I?qVCIN;ia:q4yBɮoAAE" *2ʎjZ%/@IɢMo5=)I M0?iQ)UQQiU]ɧ]a=]4;ie>eG5:aIe> e>IiA؟AIIO> C]Gq2J9Y[/A) y- Y?- :F<ٱ:9 BAHRS rotation from veh to nav: [[0.969713,-0.243102,-0.023631],[0.244066,0.960716,0.132122],[-0.009416,-0.133888,0.990952]]:H`?Ͽ2@=?/?_? H>#`?i:q?9f"?Yf"?=fcGyhj;Ej>pQ 5vq4rdF?Q 9vq4re)rQBYxyzG>Q Iz?rVCIr;ir;rq4yBɮ6A 8E"11*12199AʎAAAjIZMT2@ ɢ 1=)  /?i)ؠ11i5=5ɧ==EM;iE >EF=1:AIE > E >IIQAIIO>yԩ B A <B f>B B ]HB JBB B B B ؂;B Z9EB>CB>CBBʞ =Bʞ =CR5(ա,ɯ"W@A6 K<6}>6.?9<ٱ6S >AHRS rotation from veh to nav: [[0.969543,-0.243928,-0.022013],[0.244658,0.960441,0.133024],[-0.011306,-0.134358,0.990868]]@6H?@ 9Ͽ@ P???`'21?i6 K9aYa=mcGyuF:E>Q 5q4qxF?Q 9q4^)QBDzD@AE EE+E"E&;*E:VE [4ZEBEQ I?VCI`;i;q4yBɮxA9E"*2ʎjZ` @ɢ$=) (?i);iW眽ɧ=u;i>S,:I> >IԩAIIO?> P, "W@A2[T<2}>296R<ٱ2 :AHRS rotation from veh to nav: [[0.969345,-0.244839,-0.020594],[0.245368,0.960240,0.133171],[-0.012830,-0.134141,0.990879]]2H?VϿ:h?`H? ?F`+ H?i2[T9XYX=ZcGyXZI:E^>|Q 5%q4F?Q 9%q4)QBY!y%>Q I%?#WCI:i:q4y1ɮ5A1"yy*y2yyyʎjZ@颱ɢu2=) |%?i)0}项iߜɧ=fό;iQ>"(:IQ> Q>IA .AII!)O5 >E EE(E"E%;*Ea:VEc44ZEa@a@a@a@Qԁ D),we"W@AB0BReo<ٱBfE JAHRS rotation from veh to nav: [[0.969236,-0.245397,-0.019046],[0.245701,0.960032,0.134050],[-0.014611,-0.134606,0.990791]]BH`?`*iϿ@ s?@?(?d썿@:@?iB09% ?Y- ?=-cGy5 FeG:Ee>Q 5q4F?Q 9q4W)QBYyϡ>Q I?gWCIC;i;q4yBɮA:E"aa*a2aaaaʎiijZ B>@颱ɢ.!=) (?i)hTiՋlӜɧ =;i>":I> >IBug>BqBuDHBuJBBu =BqBqBu;Bu99EԁA]؟AIaIqOZ>ԱDDbE9jE=(N4rE=ǃ/E EE,E"Es!;*E:VEg4ZEBEx23<ٱ2 :AHRS rotation from veh to nav: [[0.969188,-0.245687,-0.017674],[0.245789,0.959884,0.134948],[-0.016190,-0.135134,0.990695]]2H? rϿ'v?^?`E?`L Ƴ?i2,9e"?Ym"?=mcGyim9Em>ԹqQ 5q4uF?Q 9q4u)uQBY?Q E:y>Q I?uWCIuY:I&> &>IA!I)I9OM0>E  E E (E "E &;*E :VE c44ZE a @a @a @a @9 J;,"W@AF FБ<ٱF RAHRS rotation from veh to nav: [[0.969247,-0.245550,-0.016277],[0.245444,0.959808,0.136109],[-0.017799,-0.135918,0.990560]]FH?.nϿ檐j?`?l?`9e@?iF 9Y=cGy!F%hE%>)Q 55r4-F?Q 9Er4-)-QBYAyM˝>Q IM?-WCI-Wg;i-a;- r4yQɮUAQ"qq*y2yyyyʎjZ5@颱ɢL8=) %?i)项iP,ɧ==;iS>D:IUS> ]S>IYAzA[AA.AIIO*>AqiIAAa Aa Bi Bi Bm +HBm JBBi Bi Bi Bm ;Bm A9Eԙ H#,w#W@A2w<2~>2u<ٱ2p :AHRS rotation from veh to nav: [[0.969191,-0.245865,-0.014796],[0.245549,0.959736,0.136427],[-0.019342,-0.135858,0.990540]]2H? xϿM(n? 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G?j)"?i2-=I2ĸd;2CYBIByBkHbDJVDJyV%VJ=ٔZ7;Q-Z>9XYX=ZcGy^*F^uS;E^>`Q 5fs4bH?Q 9fs4b)bQBYhyju>Q Ij?b \CIb:iby:b; s4ynBɮn An;E"|*2ʎ   j Z @6(@9ɢ=(=)9 =S>i9)E;AAiEMɧM<>McM>f9QIU> U>IQAazAaBm>B?CBWHBIBBBBDBւ;B^9EIiIO>E= E=E=(E9"E=&;*E=a:VE=c44ZE9BE=2tT=ٱ2w :AHRS rotation from veh to nav: [[0.964607,-0.263153,0.016836],[0.258532,0.956372,0.136063],[-0.051907,-0.126894,0.990557]]2H?пb=?ʋ?`?j? >ल?i2tF3=I2d;2CY^IBy^UHi}Mb@Mb@Mb@yyyy y9}I +?p= ף?{GzY}9?y}=}#}jAy y)}AyY}AbD VD2y%<=ٔ:Q->9Y=cGyF;E>Q 5s4&H?Q 9s4)PBY-?Q E:y>Q I?J\CIH:i:ss4yɮ,A"*2ʎjZ 3})@1ɢ=2=)9 =>i9)E;AAiEMɧMR>MoMR9IIUWޛ> UWޛ>IQII O=) 15C2L9Y1AYԁ EU  EU EQ EQ "EU %;*EU :VEQ ZEQ a] @a] @a] @ae @s<,K;$W@A028=2Ć>2 W=ٱ2 >AHRS rotation from veh to nav: [[0.964227,-0.264556,0.016635],[0.259832,0.955705,0.138260],[-0.052476,-0.128992,0.990256]]2H@?{п??!??ު ΂-?i28=I2c;2CYbIByfAHbDnVDn 83yv,%vW=ٔvO:Q-z>9xYx=zcGyz+F~i;E~>Q 5 s47H?Q 9 s4)PBY y >Q I?\CI):id:&s4yBɮWAi);i b%hɧ%e>%-!A9)I-ڛ> -ڛ>I1IIO=ԉԹAAAAB o>B B %HB IBB B B B r;B 8EBBBBBCe 5 [C,%W@A6R:<=6x1>6LZ=ٱ6s& >AHRS rotation from veh to nav: [[0.963968,-0.265463,0.017203],[0.260620,0.955387,0.138970],[-0.053326,-0.129479,0.990147]]6H`?@Yп????`MÒ@I?i6R:<=I6c;6C\YbIByb HD|zD~@AE EE*E"EC#;*E8:VE(N4ZEBE{9Y=cGy:E>Q 5s4KH?Q 9s4|)PBYy?Q E:y%>Q I?\CI ;ii ;5s4yɮA"*2ꏙʎjZ%+@ɢ(;=) c>i)Ȫ;i܎ uDɧ >-5&/91I5> 5>I9AM?AM?IIO>I ɅI,'%W@A2Cg?=2>2^=ٱ2 :AHRS rotation from veh to nav: [[0.963713,-0.266335,0.017957],[0.261353,0.955097,0.139583],[-0.054327,-0.129825,0.990047]]2H? ѿlc??`(?`?Ыx?i2Cg?=I2-c;2CYBIByBHHHbDNVDNkyV5%VZ=ٔV//;Q-Z>9XYX=ZcGyZ,F^;E^>Q 5 s4B]H?Q 9 s4z)PBY y >Q I ?\CI:i:Bs4yBɮ=żA==E"yy*y2yꏁʎjZ+@ɢ\=) J>i);iuv@%ɧ>˃9 I  >  >I E EEE"E1;*E:VEZEa%@a%@a%@a%@I1IIQO]>qԩ mP,%A%W@A2B=2>2^a=ٱ25 :AHRS rotation from veh to nav: [[0.963465,-0.267208,0.018302],[0.262127,0.954763,0.140417],[-0.054994,-0.130489,0.989923]]2H?ѿ?@?k?-?;(޳s?i2B=I2Vb;0YBIByFHbDN VDN2yV+/%VJ=ٔV:Q-Z>9XYX=ZcGyX^;E^>`Q 5fs4boH?Q 9fs4bx)bPBYdyf>Q Ij?b7]CIb:i`bPs4ylɮnAl"||*2ʎ  j Z V,@yɢ=) q>i ) <  i 퍼ɧ>LD9IB> B>I!iAIEABq>BBHBIBB =BBB|;B9EIQIaOm>ԡD=D<bEƙT4jEwX4rE).0E% E%E%+E!"E%9;*E%E:VE% [4ZE!BE%j2,c=ٱ2 :AHRS rotation from veh to nav: [[0.963300,-0.267797,0.018407],[0.262642,0.954477,0.141393],[-0.055433,-0.131370,0.989782]]2HY?#ѿ7ْ?!??@,? a`L?i2dD=I29b;2CY^}IBybHiEMb@Mb@Mb@AAAA A9El?Q?{GzYE?yE\=EףE-AA EhA)AAYE=AbD] VD]:2ymZ%m?=ٔmx:Q-u>9qYq=ucGyu-F :E >Q 5s4H?Q 9s4av)PBY?Q E%:y%>Q I%?z]CIr;i;n`s4y-Bɮ-"A->E"II*I2QQQQʎYYYjYZ]<-@颉ɢh =) >i)i<<顑iSݙɧ>駝K 8Is> s>IAzA]AIQIiO=1E5  E5 E5 ,E1 "E5 g5;*E5 *:VE5 g4ZE1 a= @a= @a= @a= @a \,8u%W@A6*E=6b>6F?e=ٱ6j BAHRS rotation from veh to nav: [[0.963221,-0.268056,0.018721],[0.262822,0.954332,0.142036],[-0.055939,-0.131892,0.989684]]6H?'ѿ}+???<.?~?i6*E=I6Va;6CYV`IByVHbD^VD^fyf敽%fU=ٔj:Q-j>9hYh=jcGylno :En>pQ 5vs4rH?Q 9vs4rt)rtPBYxyz/>Q Iz?r]CIr:irF:r5ms4y~ Bɮ~eA?E"!!*!2!!!!ʎ)))j)Z-AH.@Yɢ] =)Y ]V>ia)e[ muz8qIu > u >Iq1IyIO=aBBBHBfIBBBBB;BB9E c,^%W@A2^#G=2>2gg=ٱ2G^ :AHRS rotation from veh to nav: [[0.963103,-0.268461,0.018990],[0.263142,0.954125,0.142834],[-0.056465,-0.132567,0.989564]]2H`?`u.ѿ=r?O?1?eH?`謿?i2^#G=I2Aca;2CDn?AzDlEr ErEpEp"Er);*Er:VEpZEpBErO9Y=cGy.F@:E>Q 5s4H?Q 9s4Աr)_PBYY?Q E:yC>Q I?]CI3;i2;T}s4yɮkA"*2ʎjZ4/@!ɢ%t[<)! %ɮ>i!)%<))i-5ɧ5g>5o5hC89I=D> =D>I9IIO> 9 i,;%W@A2`I=2߈>2di=ٱ2U :AHRS rotation from veh to nav: [[0.962915,-0.269089,0.019638],[0.263726,0.954087,0.142011],[-0.056950,-0.131565,0.989670]]2H@3?`8ѿ???`j-?`("`?i2`I=I2Sa;2CYN1IByNtHbDZVDZ0yv%vi=ٔvǵ:Q-z>9xYx=zcGyx~:E~>Q 5 s4QH?Q 9 s4p)NPBY y>Q I?+^CI:i:s4y Bɮ̽A@E"*2ꏹʎjZ/@ɢ]$<) >i)<ibXlɧ> 1% 8 I > >IA!A%?IIOE=E EE.E"E8;*E8:VEـ4ZEa@a@a@a@9i ֻp,%W@A06=N=6q>6!,l=ٱ6_ >AHRS rotation from veh to nav: [[0.962582,-0.270244,0.020116],[0.264794,0.953756,0.142247],[-0.057627,-0.131598,0.989627]]6H x?KѿS?`?*?@'5?@T2?i6=N=I69\Y\=^cGy^/Fb9;Eb>dQ 5js4f H?Q 9js4f:o)fQ Ij?fg^CIf:ifW:fqs4yrݓBɮrAr7E"  * 2    ʎjZ`Y0@AɢE I<)E" EX>iI)MU١Uʢk8YI]"> ]">IYB9B9B=vHB=3IBB9B9B9B=;B=9EAm.AԑIIO>ԹD=D<E EE)E"E';*E:VEFA4ZEBE29Nn=ٱ21 :AHRS rotation from veh to nav: [[0.962359,-0.271003,0.020557],[0.265488,0.953565,0.142231],[-0.058147,-0.131420,0.989620]]2H?Xѿ ???4?zŭ [?i2L;Q=I2%u`;2C\Yj#IByjbHieMb@Mb@Mb@aaaa a9en?{Gzt?~jth?Ye?yeף;eD;e-AeA a)eAa}PExceeded connect timeout, disconnecting.YeAbDVDyҊ%==ٔ^:Q->9 ?Y ?=cGy0F:E>Q 5s4H?Q 9s4em).PBY?Q E:y>Q I?^CI[;i;s4yޓBɮ5A"*2ʎjZ0@颡ɢq<) >i)X<顩i*ЉMɧl>S)8IQ> Q>IAE؟AIQIaOm5>I E  E E E "E 1;*E :VE ZE a @a @a @a @g},q%W@A2U=2[>2/p=ٱ2Y :AHRS rotation from veh to nav: [[0.962045,-0.272082,0.021023],[0.266495,0.953281,0.142253],[-0.058745,-0.131251,0.989607]]2H?iѿ???@G? 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BAHRS rotation from veh to nav: [[0.948201,-0.313135,-0.053499],[0.317520,0.939428,0.129061],[0.009845,-0.139363,0.990192]]6HW? h Կ@Ad?R??? )??i6=I6c;6CYJEByJKHbDVVDVkyZ<%^y=ٔ^~RQ-^?9`Y`=bcGybPFbEf ?dQ 5jw4fwM?Q 9nw4f)fMBYlyn>Q In?fmCIf;if;fww4yv̓BɮvAv4E"  * 2  ʎjZE@AɢECF6)I M iI)MܨIIiMO(U ɧUd>U/P]ݠYI]أ> ]أ>IaE EE)E"Ex;*E:VEFA4ZEa@a@a@a@qAIIO>ԡBU u>BU @CBQ BQ BU =BQ BQ BU L;BU :E ,PT,W@A6S=6">6\5ٱ6#2 >AHRS rotation from veh to nav: [[0.948154,-0.313069,-0.054694],[0.317617,0.939448,0.128675],[0.011098,-0.139376,0.990177]]6HGW?Q ԿS??`ox?l??i6S=I6^c;4YFEByJHHbDjVDj1yr%rG=ٔv+HQ-v>9tYx=zcGyxz*9Ez>|Q 5w4~M?Q 9w4~)~MBY y '>Q I ?~mCI~:i~):~&w4yɮA"19*92999AʎAAAjAZMrQE@qɢu")q ux iy)}yyi} Պɧ>駅CI> >IA II)O5 >E EE%E"E;*E8:VE 4ZEBEa2EaJE4CG  ) M UN9I YM 2AY 0,xn,W@AJg+=J u>JCٱJÞ VAHRS rotation from veh to nav: [[0.948169,-0.312914,-0.055319],[0.317541,0.939582,0.127880],[0.011961,-0.138818,0.990246]]JHgW?ԿRR??`^^? ??iJg+=IJ^b;HYfEByf.HiMb@Mb@Mb@ 9`"?y&1?+?Y?y`<= A)AY=AbDVDyF%;=ٔQ->9Y=cGyQF8E>Q 5w4GM?Q 9w4&)MBYN?Q E:y>Q I? nCI:i:6w4y ͓Bɮ A 5E"11*121111ʎ999j9Z=`E@频ɢ$) i)顙i~ɧ>駥A-YV칉)I-o> -o>I1AAzAEZAAU.AIaIqO}7>QE EE)E"E;*EP:VEFA4ZEa@a@a@a@y ",,W@A0jO=j}>jSٱj֙ %AHRS rotation from veh to nav: [[0.948136,-0.312851,-0.056229],[0.317601,0.939606,0.127555],[0.012927,-0.138797,0.990236]]jH!W? 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Կ@_?`?y*?@I? ?i2=I2a;2CYBEByFmH9iEMb@Mb@Mb@AAAA A9Ev?:v?kt?YE?yET=E 0=AA A)EAAYEzAbD]VD]2ymyO=%mP=ٔuyQ-u>9u ?Yu ?=ucGyy} :E>Q 5w4M?Q 9w4)MBY?Q E:y>Q I?nCEy EEE"E;*E:VEZEa@a@a@a@I:iI;_w4yBɮA7E"*2ʎjZ"F@1ɢ5*)1 5i1)5hg99i=EhɧE>EyE鹉IIMO> MO>IA?A ?iA9IIIYOeV>ԑB s>B B HB EBB B B B ;B D;E 'P5,H,W@A2=2WS>2ٱ2ܡ :AHRS rotation from veh to nav: [[0.947580,-0.314070,-0.058752],[0.319132,0.939338,0.125694],[0.015711,-0.137855,0.990328]]2HR?Կ@l??? ?<ð?i2=I2a;2CiPIPYVEByVwHbD^VD^k1y<% Q=ٔ 7Q- >9Y=cGySFp ;E>Q 5%w4M?Q 9-w4{) NBY)y-{>Q I-?nCI:iW:mw4y1ɮ5A9ԙ"*2ʎ  j Z GWF@Yɢ]@1")Y eia)em 蹉IO> O>ID=D%=bE5ķG4jE5ķG4rE5ć 0E EE)E"E;*E':VEFA4ZEBE?r $|;,+,W@AB=B2զ>B4"ٱBgY ^AHRS rotation from veh to nav: [[0.947250,-0.314899,-0.059640],[0.320066,0.939101,0.125089],[0.016617,-0.137579,0.990351]]BHO?L'Կ {? ?? ?3`?iB=IBa;BCYjEByjHi]Mb@Mb@Mb@YYYY Y9]zG?{Gz?Q?Y] ?y]ף=]\=]A]tA ]A)]AYY]AbDmVDm0y}K<%C=ٔr Q->9Y=cGy;E>Q 5w4M?Q 9w4)NBY?Q E:yX>Q I?=oCIH:i:8|w4yBɮA8E"*2ʎ   j Z  F@颱ɢo1) ji)]项iZɧ>n 繉I"> ">IA؟AI I!O-->E EEE"E[";*Eخ:VEZEa@a@a@a@Iy aB, -W@A27=2D(>2ٱ2- :AHRS rotation from veh to nav: [[0.947032,-0.315387,-0.060510],[0.320661,0.938962,0.124609],[0.017517,-0.137412,0.990359]]2H@N?K/Կ&@? ? \??`?i27=I2 `;2CYYFByHAA@ABBBHBFBBBBBń;B\;EAbD-VD-k2y=4=%=2=ٔ=#Q-E>9E"?YE"?=EcGyETFM:EM>QQ 5]w4U)N?Q 9]w4UD)U+NBYYy]>Q Ie?UoCIU:iU:ULw4ymړBɮmBAm0E"*2ꏑʎjZ`3F@ɢv) ni)眻i?OAɧ> A义I> >IAzAԁA9IAIQOeU>ԩD zD @AE  E E *E "E ;*E VE (N4ZE BE p~Vٱ~ EAHRS rotation from veh to nav: [[0.946788,-0.315818,-0.062060],[0.321327,0.938557,0.125939],[0.018473,-0.139179,0.990095]]~HL?[6ԿLƯ`??`??ۮ?i~l=I~.a;~Cnr@iI) IUyQYim_AIy)yiy)ŅfCIŁĉĉ ʼnԉ^Aii) I )YYFByHiMb@Mb@Mb@ 9n?I +?~jt?Y?y9=D<ApA A)AY\AbDVD0yNF<%?=ٔCQ->9Y=cGyUF:E>Q 5w4.#N?Q 9w41)/NBY?Q E:y>Q I?oCI';i;Iw4y ɮ 8A "))*)2)111ʎ119j9Z= F@aɢma)i mii)m!Lqqiu.}YVɧ}.>}}⹉yI}O> O>IԹAIIOb> N,ճ=-W@A6=6>6ğٱ6Z BAHRS rotation from veh to nav: [[0.946529,-0.316362,-0.063225],[0.322028,0.938324,0.125879],[0.019502,-0.139509,0.990029]]6HI?E?Կ/??? K?lP?i6=I6la;6CYFByHbD-VD-3y=%==ٔEVQ-E?9AYI=McGyIM;EM?QQ 5]w4U1N?Q 9ew4U)U3NBYaye>Q Ie?UoCIU ;iU ;UAw4E EEE"E+$;*E:VEZEa@a@a@a@yܓBɮBA1E"*2ʎjZL%G@颁ɢ+) pi)۴顉i3 8ɧO>駝=?߹I@̠> @̠>IAI IO=/>9BBBHB/FBBBBB;BH;Ei U,7W-W@A 6c=60>6陨ٱ6A >AHRS rotation from veh to nav: [[0.946125,-0.317359,-0.064272],[0.323148,0.938040,0.125127],[0.020580,-0.139155,0.990057]]6HF?@OԿ%tr?`l?)???i6c=I6a;6CYFByHbD- VD-2y=!%EJ=ٔE.Q-E>9IYI=McGyIMA;EM>iQ 5w4m"CN?Q 9w4m)m8NBYy>Q I?m1pCImR;im8;m|w4yɮPA"*2ꏹʎjZXG@ɢq%) i)i92Jɧ >Ԁ 7?ܹ I > >I A>A?yA%.AI1IAOU>E EE)E"E[";*E˭:VEFA4ZEBEz6(ٱ6N >AHRS rotation from veh to nav: [[0.945806,-0.318183,-0.064889],[0.324053,0.937716,0.125218],[0.021006,-0.139459,0.990005]]6H D?]ԿF??!?`}??i6 [=I6=a;6CYF(FByFHPi}Mb@Mb@Mb@yyyy y9}A`"?:v?y&1|Y}?y}=}`y}|A y)}AyY}AbD VD2yi=%D=ٔ Q->9 ?Y ?=cGyVF;E>Q 5w4UN?Q 9w4)4NBYe?Q E:yv>Q I?rpCI:i:w4yݓBɮ'A"*2ʎjZZG@)ɢ-)1 5i1)=ͻ99i=X[򻩧EɧE>E#eE]%عAIEG> MG>IIA؟AIIO >E EE-E"E+$;*E:VEt4ZEa@a@a@a@! ίb,D-W@A2=2>2J۳ٱ2r| :AHRS rotation from veh to nav: [[0.945400,-0.319162,-0.065982],[0.325171,0.937357,0.125001],[0.021953,-0.139631,0.989960]]2H @? (mԿ7䰿 ?`?`?z? q?i2=I27a;2CYB%FByFHbDLVDLyV%%V\=ٔV&Q-V>9Z"?YZ"?=ZcGyXZQ;E^>`Q 5fw4bkfN?Q 9fw4b)b1NBYdyf?Q If?bpCIbK:ib:bw4ylɮn-Al|"|*2ʎ   j Z G@aɢe#)a e[ia)mػiiim𻩧6ሽɧ >LhӹIބ> ބ>I B9A=<BABABEHBECFBBE =BABABEń;BE[;E)AIIO$>Qԁ E  E E +E "E %;*E VE [4ZE BE ~:ٱ:VT RAHRS rotation from veh to nav: [[0.945261,-0.319364,-0.066994],[0.325524,0.937167,0.125506],[0.022702,-0.140444,0.989828]]:H??tpԿ&b?F?? ??? `?i:=I:`;8YZFByZH\^AbDf VDff2yjLB%nG=ٔrwQ-r>mPExceeded connect timeout, disconnecting.yGI9D9Y *AY=cGyWFO:E>Q 5w4{N?Q 9 w4X)-NBY y ?Q I-?pCIG;i;w4y=ߓBɮ=\A=2E"yy*y2yꏁʎjZG@ɢvV) Pi)hvi:Aƈɧ-W>- ,-M͹-E 5׈>I1AAzAE\AԉAIIOc>Ա o,<-W@AYFBy H5only read 0 of 1 data item for BIT error. Device response is::TS,00050504041090,35.0,9 a5@a5 a5@a5 a5@a= a=@a= bDEVDE1yU&<%UC=ٔUQ-U>Ee EeEe)Ea"Ee;*Ee˭:VEeFA4ZEaam@am@am@am@9qYq=ucGyquE}>Q 5w4ƋN?Q 9w4)*NBQ A+:YQ E:yQ I?-qCI{:i>w4yɮUAԹ"*2ʎjZ@'H@ɢP3) i)+ip컩 'ɧ 9> } 3ɹI̜> ̜>IAe.AIqIO>BABABEHBEMFBBABABABE;BE;EBBBBBǙ =Clj49 u, -W@A6=6>6AHRS rotation from veh to nav: [[0.944748,-0.320501,-0.068778],[0.326904,0.936683,0.125532],[0.024190,-0.141080,0.989703]]6H `;?Կq?O?`q? IŘ?¿?i6=I6_^`;6CYFFByJHbDRVDRyZ\;%ZU=ٔZ>~Q-Z>9^ ?Y^ ?=^cGy^XFbP};Eb>lQ 5zw4nN?Q 9~w4n)n'NBQ A~ :Y|Q E~e:y~~?Q I?nhqCInz;in>?nzw4y Bɮ ZA 3E"*2ꏩʎjZ[H@ɢ<.() i )   i uLɧ>K;i>m(ù!I%> %>I!Ae؟AEu EqEqEq"Eu[";*EqVEqZEqBEuzAenManaging dock network, ignoring radio surface power offqԙ |,_-W@A2x=2>2@/̼ٱ22  :AHRS rotation from veh to nav: [[0.944521,-0.321000,-0.069559],[0.327503,0.936505,0.125298],[0.024922,-0.141127,0.989678]]2H9? CԿα?? ?:?@u¿p?i2x=I2_;2CYBFByBHa5a5 a5a5 a5a5 a5a5 i5Mb@Mb@Mb@1111 195v?i|?5?L7A`堿Y5?y5q=5+5A5tA 5A)5A1Y5AbDMVDM0y]W%e@=ٔeQ-e>9e"?Ym"?=mcGymYFm:Em>qQ 5x4u}N?Q 9x4u)uNBQ AT:Y?Q E:y>Q I?uqCIu{;iu;uGx4y Bɮ mA4E"IIq*Q2qyyyʎyyjZH@ɢ ') i)۹i,黩ɧT >;iq>{fIq> q>IԡE} E}EyEy"E}%;*E} :VEyZEya@a@a@a@^A"5:A?A ?I I O > , .W@A6=6V>6Ӽٱ6- BAHRS rotation from veh to nav: [[0.944375,-0.321226,-0.070492],[0.327854,0.936409,0.125101],[0.025823,-0.141254,0.989637]]6HR8?Կ@ `?`? R?`_q?¿`?i6=I6l_;6CYTyZHbDrVDry]:%P=ٔQ->9 Y = cGyB}:E>!Q 55x4%N?Q 9=x4%a)%NBY9y=>Q I=?%qCI%T;i%V;% x4yIɮUlAQ"*2ꏑʎjZH@AABu>BBHBCFBBBBBل;Bp;Eqɢu2)y }iy)}ܡ yyi}o绩ϊɧ=駍;iE>IE> E>I^A0;IaIyO8>) bE jE rO4rE ?/E  E E ,E "E m+;*E k:VE g4ZE BE 6B8ؼٱ6y ^AHRS rotation from veh to nav: [[0.944191,-0.321545,-0.071495],[0.328338,0.936110,0.126067],[0.026391,-0.142506,0.989442]]6H6?/Կ|M~?@?`"?:?=¿?i6=I6^;6CYvFByvHbDVDN3yS!%I=ٔnQ->9Y=%cGy%ZF%d:E%>)Q 55x4-LN?Q 95x4-)-NBYAyM4>Q IU?-$rCI-Ρ;i-;--x4yuՓBɮuSA},E"*2!))ʎjZH@Qyɢ*) i)顉i 廩~ɧ=駕L;i>I> >I@\A@\Ay^AΒ;IyIO>ԩ ,B@.W@ADN=N&>NAٱNg VAHRS rotation from veh to nav: [[0.944277,-0.320925,-0.073134],[0.327961,0.936229,0.126162],[0.027982,-0.143117,0.989310]]NH7? Կ Q?`?&? G? Q¿m?iN=IN^^;NCY\y`ddEE EEEAEA"EE';*EE:VEAZEAaM@aM@aM@aM@iMb@Mb@Mb@ 9zG?+?Q롿Y ?y=\AA A)AYAAAbDVDyv%@=ٔtQ->9Y=cGy?lE>Q 5x4N?Q 9x49)MBY?Q E:y9>Q I?erCI:if:-x4yɮTA"*2ʎ!!j!Z%+I@IɢUۈ<)Q UiQ)]YYi]㻩eKuɧe=eZ;ieg>eƑiImg> mg>Iiԩ^Ah%<I!I9OMt>Bv>BBBB =BBB;BV;E :,Z.W@AJ|=JXɪ>J}ٱJ RAHRS rotation from veh to nav: [[0.944490,-0.320118,-0.073915],[0.327281,0.936431,0.126433],[0.028743,-0.143606,0.989217]]JHC9?|Կ@첿@*? =?`.?n?@a¿`?iJ|=IJO^;JCYZFBy^HbDfVDfkyn.=l%rZ=ٔrQ-r>9tYt=vcGyv[Fv5Ez>xQ 5x4z@N?Q 9x4z)zMBYy>Q I?zrCIzo;iz;z.:x4y דBɮ;A-E"11*121119ʎ99AjAZE@[I@ɢh4) i)N iL⻩kɧ=9;iW>%<!I%W> %W>I!@u@u@q@q DIDM4=EU EUEU'EQ"EU%;*EU:VEU'4ZEQBEU-9a 0d,s.W@AJ=J>J-FٱJR VAHRS rotation from veh to nav: [[0.944570,-0.319678,-0.074791],[0.326976,0.936514,0.126605],[0.029570,-0.144042,0.989130]]JH9?uԿ%+??4?`G? o¿ ?iJ=IJ^;JCY^EBy^qH9iEMb@Mb@Mb@AAAA A9EZd;?y&1?:vYE?yE`e9qYq=}cGyy}SCE}>Q 5x4[O?Q 9x4)MBY ?Q E:y:>Q I?rCI;iQ;Hx4yɮ~A"*2ʎjZI@颙ɢ$9) ,i)r'顡i/໩aɧ=駭~;i>#I> >IA>A>IYIyO=iE] E]E],EY"E];*E]:VE]g4ZEYae@ae@ae@ae@ԑ Q,.W@A^'=^>^mٱ^ nAHRS rotation from veh to nav: [[0.944982,-0.318246,-0.075685],[0.325729,0.936755,0.128024],[0.030156,-0.145633,0.988879]]^H@K=?@$^Կ``?@?c??`¿?i^'=I^];^CYzEBy~vHbD VD yN<%O=ٔ%FºQ-%>9!Y!=%cGy%\F-YE->1Q 5=x45/!O?Q 9=x45)5MBY9yE>Q IE?5sCI5:i5:5Vx4yMٓBɮIM.E"ii*q2qqqqʎqyyjyZ}@,I@ԉBA<Bu>BBBBBBB̄;Bc;EɢLrB) Ji)-iq޻$WɧX=y;imΚ>AImΚ> mΚ>IA.AI IO% >ԹDY zDY Ee  Ee Ee *Ea "Ee m+;*Ee :VEe (N4ZEa BEe 6ٱ6 >AHRS rotation from veh to nav: [[0.945281,-0.317171,-0.076463],[0.324797,0.936991,0.128663],[0.030837,-0.146457,0.988736]]6H??LԿ `z? ?`x?`ȓ?¿ ?i6%=I6];6CYJEByJyHbDVVDVk1y^;%^Q=ٔbQ-b>9b ?Yf ?=fcGydf#Ef>hQ 5nx4j3O?Q 9nx4jv)jMBYpyr>Q Ir?jXsCIjK:ihjpdx4yvۓBɮvAM/E"*2ꏡʎjZI@qɢ}6) i)i5顩iG0ݻJɧ*=駽;i>XI> >IAM؟AIYIiOuY>Aq C^,].W@A2Q=2v>2)ٱ2 :AHRS rotation from veh to nav: [[0.945709,-0.315698,-0.077267],[0.323483,0.937325,0.129540],[0.031529,-0.147501,0.988559]]2H>C?d4Կ@dz??`Ô?$?S¿F?i2Q=I2];2CYBEByBHi Mb@Mb@Mb@     9 5^I ?MbP?y&1Y ?E% E%E%,E!"E%+$;*E%:VE%g4ZE!a-@a-@a-@a-@y : `e   A) A Y bD=VD=0yMW<%MB=ٔUW׺Q-U>9U"?YU"?=cGy]F7OE>Q 5x4HO?Q 9x4C)MBY?Q E:yЧ>Q I?sCI:iM:sx4yɮqAQ"aa*a2aiiiʎiiqjZ@B0J@ɢ@) i);iEۻg?ɧ[=;i*>I*> *>I!A=ZAzA=ZAAԁIIO=>Bv>BBHB9FBBBBB;B;Eԩ -,e.W@A:,=:>:mٱ:J BAHRS rotation from veh to nav: [[0.946092,-0.314456,-0.077643],[0.322305,0.937743,0.129455],[0.032101,-0.147501,0.988541]]:HaF? Կj೿??@?o?Q¿` ?i:,=I:];:CYHyNHV@AV@AbDV VDV:2y^%^T=ٔbºQ-b>9`Yd=fcGydf[Ef>hQ 5nx4jZO?Q 9nx4ji)jMBYpyr.>Q Ir?jsCIj;ij;jx4yvݓBɮvzAv0E"*2ʎ!j!Z% ]J@IɢMݥI)Q UiQ)UAQQiU7ڻ]'4ɧe=e~;ie@c>eaIe@c> e@c>IiԱAIIO>D-<D)E5 E5E5)E1"E5m+;*E58:VE5FA4ZE1BE1a=2E1a=JE5G)9mfQ9iYm5A 9 ,?.W@A2V=2 >2`ٱ2x~ :AHRS rotation from veh to nav: [[0.946411,-0.313356,-0.078187],[0.321318,0.937986,0.130143],[0.032557,-0.148291,0.988408]]2HI?@Կ z???P?7¿ ?i2V=I2ۥ];0YBFByBHiEMb@Mb@Mb@AAAA A9EK?MbMbPYE^?yEEAEA EA)AAYE=AbD]VD]ym<%m@=ٔu:Q-u>9qYq=ucGyu^F}hE}>Q 5x4nO?Q 9x4S)MBYa?Q E:y>Q I?tCI:i{:x4yɮhA"*2ʎjZ`)J@ɢq;) i)Hiػ /%ɧ 9 > e;iA>;~IA> A>IA-.AI1IAOU>9E= E=E=,E9"E=%.;*E=:VE=g4ZE9aE@aM@aM@aM@i ښ,/W@A >=>Ϧ>>,ٱ>| JAHRS rotation from veh to nav: [[0.946875,-0.311798,-0.078807],[0.319895,0.938354,0.130994],[0.033106,-0.149245,0.988246]]>HL?ӿ ,'y??f?:?rÿ?i>=I>t];>CY^ FBy^HbDf VDf2y4<% Q=ٔ ෺Q- >9  ?Y ?=cGy{E>Q 5%x4O?Q 9-x4k)MBY)y->Q I-?QtCIt:ik:3x4y5ߓBɮ99AAAAAABBBBBBBB;B;EB!B!B!B% =B% =C%ka4"* 2    ʎ jZ J@AɢE">)A EiA)Mc6OIIiM׻U[ɧU>U]y;iU>]puYI]> ]>IYAm?Am?iA؟AIIO$>ԙ EM  EM EM )EI "EM %;*EM :VEM FA4ZEI BEM -:. ٱ: BAHRS rotation from veh to nav: [[0.947207,-0.310677,-0.079235],[0.318858,0.938663,0.131308],[0.033580,-0.149640,0.988170]]:HO? ӿH ,h? ??q1?g'ÿ?i:[=I:];:CYJFByJHP PPV=Vp=bDZVDZybs=%bO=ٔbQ-b>9f"?Yf"?=fcGyf_Fj4Ej>hQ 5nx4jO?Q 9rx4j)jNBYpyrh>Q Ir?jtCIjo:ij:jx4yvBɮzUAz1E"*2ʎjZ%J@AɢM7C)I M7iI)MUQQiUջmɧus">unId> d>IAIIO>! R,B/W@A2n=2Pۥ>2 ٱ2 :AHRS rotation from veh to nav: [[0.947444,-0.309906,-0.079430],[0.318120,0.938928,0.131199],[0.033920,-0.149572,0.988169]]2H uQ?ӿU@\? ??]?`)%ÿ?i2n=I2 ];2CYv$FByvH|E  E E E "E ;*E :VE ZE a@a@a@a@iMb@Mb@Mb@ 9^I +?Mbp?I +?YX?y;94<A )AYbDVD1y~<%;=ٔ LQ->9Y=cGy?E>Q 5x4tO?Q 9x4B)NBY_?Q E:y>Q I?tCI ;i; ;8x4yɮ}eI> >I1AE.AIQIiO}7>QBBBHBCFBBBBBτ;Bf;Eԁ =,Ͻ\/W@A2=2p>2j ٱ2Q :AHRS rotation from veh to nav: [[0.947558,-0.309453,-0.079824],[0.317725,0.939083,0.131051],[0.034407,-0.149541,0.988157]]2HeR?`ӿUoU? ?`J?`ɝ?`'$ÿ?i2=I2];2CYB/FByBHbDLVDLyRe<%V]=ٔVެQ-V>9V ?YZ ?=ZcGyZ`FZE^>\Q 5bx4^O?Q 9fx4^[)^NBYdyfp>Q If?^ uCI^:i^:^'x4yjBɮn.An2E"||*|2ʎ  j Z _K@Qɢ<) Ei) kaiIUӻᇽɧ1> ^I Ϝ>  Ϝ>IA%[AzA!bEjEL4rEI"0E  E E 'E "E s!;*E :VE '4ZE BE xԁ ,Έv/W@A2 =2m>2 ٱ2t :AHRS rotation from veh to nav: [[0.947688,-0.309115,-0.079598],[0.317319,0.939366,0.130001],[0.034586,-0.148458,0.988314]]2H@uS?ӿ@`N?H??@L?ÿC?i2 =I2];0Y^;FBy^HddiEMb@Mb@Mb@AAAA A9En? rh?Թ9Y=cGy JzE>9Q 5Ex4=O?Q 9Ex4=)=/NBYE&?Q EM:yMx>Q IM?=MuCI=@:i=:=x4yqɮuAqPB*** querying acoustic contact *** "*2ꏹʎjZњK@2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.1ɢM11)Q UiQ)UgQQiUMһ]V̇ɧ]3>eye$VaIe> e>IiA؟AIIOE>E EE)E"E[";*Eخ:VEFA4ZEa%@a-@a-@a-@ *DAT read: user:362>  BDAT read: Tx time:00:15:57.9285  $Ping request sent. 2Meٱ2n! :AHRS rotation from veh to nav: [[0.947966,-0.308156,-0.080004],[0.316442,0.939612,0.130360],[0.035002,-0.148894,0.988234]]2HU?Ըӿ&{@? M???ÿ ?i2*=I2];2CYn6FBynHbDzVDz02yKj%P=ٔQ->9%"?Y%"?=%cGy%aF- E->)Q 55x4-O?Q 9=x4-)-Q I=?-uCI-;i-;-x4yMBɮM)AM3E"ii*i2iiqqʎqqB}<AyBu>BBHBWFBB =BBB;BH;EjZ K@ɢ2B) i) 0mi ѻ仇ɧ5>@QIV> V>IIIO>A%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250772iD! zD% ?AE-  E- E- (E) "E- &;*E- :VE- c44ZE) BE- 2QXٱ2- :AHRS rotation from veh to nav: [[0.948299,-0.307050,-0.080302],[0.315415,0.939861,0.131051],[0.035233,-0.149604,0.988118]]2H xX?ӿ `/?W?F?` ?7&ÿ?i2B=I2>];2CY^'FBy^HbDjVDjyr%rN=ٔr#Q-r>9tYt=vcGytv2Ez>xQ 5x4zlO?Q 9x4zԏ)zKNBYyv>Q I?zuCIz;iz;zx4yדBɮA+Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503378"  * 299AʎIԑQjZ L@9ɢ=6)9 =AiA)EYtAAiEoϻMɧM7>MUIQIUQ> UQ>IYAm?Am?ԩIAIQOeU>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754823 J,/W@A2J=2<>2|ٱ2 :AHRS rotation from veh to nav: [[0.948392,-0.306859,-0.079936],[0.315105,0.940222,0.129196],[0.035512,-0.147717,0.988392]]2H:Y?ӿ`v *?L??`.? d¿ ?i2J=I2];0YZWFByZHEr ErEr)Ep"Er%;*Er:VErFA4ZEpav@av@av@az@iUMb@Mb@Mb@QQQQ Q9U9v?/$?/$?YU?yU,=U9Y=cGybFGE>Q 5y4P?Q 9y4P)ZNBYy?Q E:y~>Q I?uCI;i;y4yɮA"*2ʎjZ&2L@ ɢ H>)  \Ծi)8yixλEɧR/>駽A %VDI Ӝ>  Ӝ>IIQIiOu=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007510ByByB}HB}vFBB} =ByByB}̈́;B}c;E) = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258761 $,^/W@A6=6>6Gٱ6߳ BAHRS rotation from veh to nav: [[0.948479,-0.306536,-0.080150],[0.314806,0.940360,0.128921],[0.035851,-0.147511,0.988410]]6HY? Iӿ%? m??[?¿?i6=I6-^;4YJJFByJHbDVVDV03yZ%^X=ٔ^jQ-^>9`Y`=bcGy`f!WEf>hQ 5ny4jP?Q 9ny4j)jhNBYYy]U>Q I]?j7vCIj[-/:-x>)I5> 5>I1IIO=QD=D<E EE*E"E[";*E˭:VE(N4ZEBEz2Yٱ25n :AHRS rotation from veh to nav: [[0.948520,-0.306346,-0.080384],[0.314640,0.940463,0.128573],[0.036210,-0.147246,0.988437]]2HFZ?,ӿ #?E?u?)?¿@F?i2M=I2^;0@YNcFByRHi%Mb@Mb@Mb@!!!! !9%I +?y&1? rh?Y%9?y%`e=%C9Y=cGycF͹E>Q 5y4E+P?Q 9y4Z)uNBY?Q E:y>Q I?xvCI ;i] ;y4yɮA"*2  ʎ   jZaL@9ɢ=73)A E*ξiA)E/ AAiE+ͻMtɧM=>Mg/;iUM>U 8QIUM> UM>IYAmZAzAichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762738II)Ou=ԩE EEE"E4;*E*:VEZEa @a @a @a @y  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015776<8,ղ0W@A.h=.>.z{ٱ. :AHRS rotation from veh to nav: [[0.948587,-0.306168,-0.080280],[0.314436,0.940575,0.128253],[0.036243,-0.146902,0.988487]].H@Z??ӿ? ?0?j?d?¿ ?i.h=I.];.CYB|FByBHbDJVDJJ2yn=%rX=ٔr7Q-r>9tYt=vcGytvEv>xQ 5~y4z*Q I?zvCIz]:iz:z6*y4y BɮA-EAAB!B!B%=HB%FBB!B!B!B%;B%z;E9"YY*Y2YYYYʎaaajaZe\L@频ɢJ1) i)2jiTw̻%Qfɧ% >%;i%>%F1!I%> ->I)IIO=achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266853ԑD zD E  E E E "E U,;*E :VE ZE BE 9IYI=McGyMdFMEU>echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519320qQ 5}y4uNP?Q 9y4ub)uNBYyQ I?uvCIuD;iub6;u8y4ԙyɮA"*2ʎjZ5M@ɢ\$) zi)a6))i5˻mVɧmt=u;iu>}y)yI}> }>IA.AI!I1O=r> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770807 sH,aE0W@A2=2䗣>2ٱ2 :AHRS rotation from veh to nav: [[0.948762,-0.305708,-0.079962],[0.313902,0.940869,0.127397],[0.036288,-0.145970,0.988623]]2H A\? ӿgx? ? N?L?`#¿`͢?i2=I2A];0Eb EbEb)E`"Eb;*EbL:VEbFA4ZE`af@af@af@af@Y%FBy%?HiMb@Mb@Mb@ 9n?l?I +?Y?y=94< )AY=AbDVD1y]<%A=ٔ߸Q->9 ?Y ?=cGyOE>Q 5y4aP?Q 9y4)NBY;?Q E:y>Q I?.wCI3;i 3;Gy4yBɮ A .E"))*)2)))1ʎ111j9Z=.6M@aɢe`.)a mii)m+Siiime˻Mɧ=@;i'>կ#I'> '>IA->A->}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024127!Ae؟AIiIyO9>B%r>B!B%bHB%FBB!B%;DB!B%;B%O;EBBBBBC/4Qy % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275296r,6=_0W@A2!=2~`>2Vٱ2c? :AHRS rotation from veh to nav: [[0.948890,-0.305285,-0.080050],[0.313500,0.940986,0.127526],[0.036394,-0.146103,0.988600]]2HO]?ɉӿ@#~b?? R?=?@¿?i2!=I2=];0QY]FBy]NHm=m= imp<bDuVDu!3yp<%?=ٔQ->9"?Y"?=cGyeFE>Q 5y4tP?Q 9y4})NBYyo>Q I?owCIK:i:sVy4yBɮA/E"AA*A2AAIIʎIIQjQZU@nM@yɢ}1#) i)$ɋ顁i˻Dɧ)=駕{T;i>@I> >ID=DR=E EE0E"Es!;*E*:VE4ZEBExchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527520Ա ՟,%y0W@A2/=2>2^ٱ2 :AHRS rotation from veh to nav: [[0.949153,-0.304493,-0.079949],[0.312732,0.941125,0.128383],[0.036150,-0.146857,0.988497]]2Hv_?|ӿw`??n?`C?9¿ ġ?i2/=I2t@];09qYq=ucGyq}E}>Q 5y48P?Q 9y4{)NBY?Q E:y>Q I?wCIr=UA;iUj >]YI]j > ]j >IYA.AIIO@>E EE*E"E*E:VE(N4ZEa@a@a@a@  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.0308001 $,E0W@A.=.xբ>.tsٱ.O :AHRS rotation from veh to nav: [[0.949236,-0.304291,-0.079732],[0.312498,0.941209,0.128342],[0.035991,-0.146743,0.988520]].H$`?@yӿMi?`a?m?im?u¿ ?i.=I.];,B`Ab<Bfo>Bf?CBfHBfFBBf =BdBdBf;BfK;EY~FBy~NHbD VD 2yMۖ<%MM=ٔM.9Q-M>9U ?YU ?=UcGyUfFU#E]>aQ 5ey4eP?Q 9my4eLx)eNBYiym>Q Im?ewCIe:ie:eDqy4y}Bɮ}A}0E"*2ꏙʎjZM@ɢ.) i) i8ɻ:ɧ~ ={:i5e> I5e> 5e>IA[AzA\AA ؟AII!O5 >iIBDAT read: Rx Time:00:16:01.7756 TRx dataTimestamp_ set to:1761696962.489579checking for new query: numPingsReceived=0, elapsed TxPingTime=4.2843329i bEu(N4jEuɼP4rEu?0E  E E +E "E +$;*E :VE [4ZE BE 8}JrpٱJ ZAHRS rotation from veh to nav: [[0.949410,-0.303680,-0.079990],[0.311969,0.941237,0.129419],[0.035988,-0.147826,0.988358]]JH a?@|oӿAz`L? ?ː?` m?¿ࡠ?iJɈ=IJ65];HEchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.535116YFByIHAAbDVDy%%?=ٔ6Q->9 "?Y "?= cGy E>!Q 5-y4%ߩP?Q 9-y4%Hu)%NBY1y57>Q I5?%#xCI%a';i%\(;%?y4yAɮMAQ"*2ꏉʎjZ`N@ɢA() iq)yi(1ɻ9ɧ;s[9i)>RI)> )>I1ԙAIIO5q> DAT read: 00:16:01.7756 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 485,-0.21, 3.031, 1.407, 3.075, 2.948, PHS= 0.185,-1.496, 0.083, RAW= 146.9, 14.9, CAL= 146.8, 16.4, ROT= 3.2, -16.4 % Ygot valid direction response: 00:16:01.7756 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 485,-0.21, 3.031, 1.407, 3.075, 2.948, PHS= 0.185,-1.496, 0.083, RAW= 146.9, 14.9, CAL= 146.8, 16.4, ROT= 3.2, -16.4 - PDAT read: Bearing 186.7, 2.4 (Local) 5 ~Local bearing/azimuth received: Bearing 186.7, 2.4 (Local) = DAT read: Range 11 to 50 : 1082.2 m (Round-trip 1443.0 ms) speed 0.4 m/s E R#Rx 1: Read range and direction messages.M \direction in FSK: [0.957818,0.053550,0.282341]M Fpublishing direction and range infoydޒOr?'dj?Ix?YFD )NIp=>i|=$@%>(#@ C>)d=ICmH?iCH'?58T6s? \>)"Id=iC 1, 0W@A6=6R>6vٱ6c >AHRS rotation from veh to nav: [[0.949539,-0.303203,-0.080275],[0.311550,0.941336,0.129707],[0.036238,-0.148171,0.988298]]6Hb?gӿ@錴@n?@l?9?Ս?`E¿@"?i6=I6I ];6CEP ERER*EP"EP*ER:VER(N4ZEPaV@aZ@aZ@aZ@XY^FBy^]HiEMb@Mb@Mb@AAAA A9E +? ףp= ?{GzYE?yEQ=E#EAA A)EAAYAbD]VD]:ym)=%mT=ٔuo*Q-u>9qYq=}cGy}gF}_E}>Q 5y4P?Q 9y4r)Y?Q E:y>Q I?^xCI:io:y4yBɮA0W@AJDRDjYf> QC @VS3L@(Us@rdޒOr?'dj?Ix?Zd=bC<>HQ@:K y@2w t@z~I?y@?Шn?2C:jD"v?*nBCv?n“CAD{`>"yy*y2yyʎj@Z>?ɢ%') i)iAȻ5;ɧ5ʄ5wTi=.>=ԡ9IE.> E.>IAAIIOE>Bn>BBHBFBBBBB;Bs;E! 7,{0W@A28=2:8>2ٱ2j :AHRS rotation from veh to nav: [[0.949597,-0.302989,-0.080396],[0.311355,0.941401,0.129702],[0.036387,-0.148197,0.988288]]2H c?@*dӿ۔;??@? O?¿?i28=I2#];2CYBFByB>HbDJVDJkynd%rT=ٔrɹQ-r>9tYt=vcGytv Ev>x|Q 5y4zoP?Q 9y4zo)zNBY y >Q I ?zxCIz7;iz{8;z%y4yBɮA'E"19*92999AʎAAAjAZM#?qɢu.e6)q uiq)};Ėyyi}uǻ8?ɧ 駅iN>V%鸉IN> N>IA?A?E EE+E"E(;*E:VE [4ZEBE)aԉ =,[_0W@A2u=2G>2&yٱ2& :AHRS rotation from veh to nav: [[0.949557,-0.302976,-0.080918],[0.311466,0.941191,0.130950],[0.036484,-0.149548,0.988081]]2Hb?cӿ  ?@=? ??c$ÿ@\?i2u=I2];2CY^FBybYHf=f=YiMb@Mb@Mb@ 95^I ?kt?~jtY?y =ļAA )AYAbDVD:2yXI=%>=ٔumQ->9Y=cGyhF9E>Q 5y4 P?Q 9y4l)NBY?Q E:y>Q I?xCI ;ii ;4y4yBɮ|A(E"*2   ʎ  jZF?9ɢ=i()A EiA)EAAiMeǻM=FɧUULiU>U%ոQIU> ]>IYIqԉIO>E EE*E"E[";*E:VE(N4ZEa@a@a@a@Ա D,G1W@AA.@AA.@AB2o>B0B0B0B0B0B0B2;B2;EB#=B?>BSٱB JAHRS rotation from veh to nav: [[0.949642,-0.302588,-0.081363],[0.311169,0.941210,0.131521],[0.036783,-0.150216,0.987969]]BHxc?`]ӿ1Դ1? d?@?3բ?@C:ÿp?iB#=IB];BCYRFByR9hYh=jcGyhnyWEn>pQ 5vy4r P?Q 9vy4rNj)rNBYtyv>Q Iz?ryCIr:irK:rSy4y~Bɮ~A~)E"*!2!!!!ʎ!))j)Z-@?Yɢ]#6)Y ] iY)eZKaaieƻmUNɧmgmuimg>m-!øiIug> ug>IqԱII)O5= E  E E E "E %;*E V:VE ZE BE ~BۢٱBә NAHRS rotation from veh to nav: [[0.949693,-0.302310,-0.081806],[0.310959,0.941286,0.131476],[0.037256,-0.150300,0.987938]]BH c?@ Yӿ9??4?:?`=ÿ0?iB:c=IBi1];BCYZFByZAHbDf VDf2yr-<%rI=ٔv`Q-v>9xYx=zcGyziF~k E~>Q 5y4Q?Q 9y4}g)NBYy%>Q I%?SyCIP|;i~;y4y1ɮ5A9"aa*a2aiiiʎiqqjyZ}`8l?颱ɢl1) ׳i)i|ŻYɧԽ+@i֕>eI֕> ֕>IAzAZAIqIO=9iԙ Q,G1W@A2=2lߡ>2Hٱ2 :AHRS rotation from veh to nav: [[0.949767,-0.301990,-0.082131],[0.310698,0.941347,0.131654],[0.037556,-0.150558,0.987888]]2H|d?Sӿ@`x???:? |Eÿ`Ɯ?i2=I2p!];2CEJ EJEJ)EH"EJC#;*EJn:VEJFA4ZEHaN@aN@aN@aN@YZFBynOHzAzAiMb@Mb@Mb@ 9\(\?333333?lY?y= A)AYAAbDVDN2y<%;=ٔ3Q->9Y=cGy"E> Q 5y4 !Q?Q 9y4 d) NBYZ?Q E:y>Q I? yCI " ;i X ; y4y%Bɮ%A%*E"II*I2QyꏱʎjZ@@IɢM+)i Oi)A8顑ipŻ]hɧ'駝ͅƻi b>жI b>  b>III!O5 >ԡBaBaBaBaBaBaBaBe;Be;E X,a1W@A2=2>26ٱ2Cl :AHRS rotation from veh to nav: [[0.949928,-0.301372,-0.082530],[0.310163,0.941460,0.132107],[0.037885,-0.151090,0.987794]]2H@e?Iӿ ?p ??e?Vÿ?i2=I29];2CYBFByB=HbDNVDNkyVo%Vb=ٔVnQ-V>9XYX=ZcGyZjF^ʺE^>`Q 5fy4b)Q?Q 9fy4b)b)bNBYdyj7>Q Ij?byCIb6:ib:by4ylɮnAl"||*2ʎ  j Z @颱ɢ9=) ci)(EiĻtɧ ݻi>ÄI> >IIIO= /C5GIaD=D<E EE+E"E%;*E:VE [4ZEBE-2ٱ2 :AHRS rotation from veh to nav: [[0.949963,-0.301171,-0.082865],[0.310017,0.941498,0.132179],[0.038209,-0.151255,0.987756]]2Hf?aFӿ6@Q? ?`=??O\ÿ?i2Pa=I2];2CYFFByF4HiMb@Mb@Mb@ 9x?&1? ףp= YK?yP=Q8 A)AYbD- VD-2y5%=A=ٔ=IQ-=>9AYA=EcGyAE=EM>IQ 5]y4MQ I]?MzCIMm ;iM;MDy4ymBɮmAm+E"  * 2    ʎ11j1Z=@@颁ɢX6) &i)6Ҥ顉iûɧ 駝-iԔ>!]IԔ> Ԕ>IA?A>1IIO$>YE EE)E"E(;*E:VEFA4ZEa@a@a@a@ԁ 4 e,1W@AB=ABp>BBHBFBB =BBB%;B;EBU?CBU?CBQBU =BU =CU40f=fr#>fsٱf rAHRS rotation from veh to nav: [[0.950180,-0.300424,-0.083092],[0.309325,0.941677,0.132527],[0.038431,-0.151626,0.987691]]fHg?@&:ӿ|E?7"??>? hÿ )?if=IfE,];fCYzFByz1HbDVD!3y %M=ٔ%Q->9!Y!=%cGy%kF%E->)Q 55y4-&OQ?Q 9=y4-L])-jNBY9y=>Q I=?-MzCI-#;i-r;-;y4yIɮMAI"ii*i2iiqqʎqqqjyZ}" @颡ɢ67?) 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B! B! B! B% =B! B! 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CI:i:94yɮPA"99*929AAAʎAAIjIZMeXI@yɢ}:<)y }?i)w۝顁ij$ɧ?駍XI> >IԉA؟AIIO">ԱnManaging dock network, ignoring radio surface power off S/`,~ƀ=W@A2==2.>2Տ<ٱ2 :AHRS rotation from veh to nav: [[0.958935,-0.282135,-0.029049],[0.283513,0.950610,0.126338],[-0.008030,-0.129385,0.991562]]2H ?ҿ%?ek? +?q`?i2==I2{%_;2CER ERER(EP"ER=-;*ER:VERc44ZEPBERq9v"?Yv"?=vdGytv;Ez>xQ 54zlY?Q 94zdj)zPBYy>Q I?z'CIz ;izP;z@4yBɮIA"E"11*121119ʎ99AjAZE`ćI@iɢmv =)q u?iq)u93qqԹiuykOÀɧ?(\IΩ> Ω>IA=ZAzA=[AAe.AIqIO>9 VYf,'=W@A6 =6Ȍ>6 <ٱ6+# BAHRS rotation from veh to nav: [[0.958727,-0.282903,-0.028443],[0.284201,0.950478,0.125786],[-0.008551,-0.128678,0.991650]]6H?ҿ X0? Pj? ?N@x?i6 =I6}^;6CY^JBybHbDjVDj1yrf;%rJ=ٔr,:Q-r>9v ?Yv ?=vdGyvFv3:Ez>xQ 54zyZ?Q 94zSh)zPBYyh>Q I?zFCIz;iz;z"G4y Bɮ A#E"11*121119ʎ99AjAZEwI@iɢmz<=)q uK?iq)u Oqqi}mZɧf?駅psaI: > : >IBA<BM>BBHB1JBBBBB%;B7EA؟AE  E E -E "E 1;*E E:VE t4ZE BE \<2E ]<JE <:E <IiIO>Aqԙ l,J}=W@A2"ݑ=2!>2*<ٱ2% :AHRS rotation from veh to nav: [[0.958399,-0.284090,-0.027650],[0.285287,0.950316,0.124540],[-0.009104,-0.127247,0.991829]]2H4?`.ҿEP%B?h??N@I?i2"ݑ=I2^;2CYfJByfHj=j=iUMb@Mb@Mb@QQQQ Q9U-?Mb?MbYU??yU=UQUĸA Q)UAQYUQAbDmVDmy}&%A=ٔӪ:Q->9"?Y"?=dGyB/;E>Q 54$%Z?Q 94#f)}PBY|?Q E:y>Q I?fCI:i:N4yɮA"*2ʎjZ`I@ ɢ &/=) 0?i)0iiXn%>ɧ%?%Ы%e!I%TA> -TA>I)yAIIO (>ԡE EE,E"Eg5;*E:VEg4ZEa @a @a @a@ os,f=W@A2ē=2r>2-<ٱ2 :AHRS rotation from veh to nav: [[0.958128,-0.285066,-0.026983],[0.286177,0.950132,0.123901],[-0.009683,-0.126435,0.991928]]2H?>ҿXP?{g? ?`ԃ /޽?i2ē=I2y^;2CY^JBy^rHbDfVDfyn T%nU=ٔn:Q-r>9pYp=rdGyrFv;Ev>xQ 5~4z6Z?Q 9~4z(d)zvPBY|y>Q I?zCIz/;iz|:zAU4y Bɮ JA $E"*2ꏩʎjZ`F%J@ɢ+=) ?i)MOio =ɧ  ? =i p>MjIp> p>IA%?A%>AYIiIyO>! B B B HB JBB B B B ;B 7EE  E E *E "E %;*E :VE (N4ZE BE ~V8&<ٱV0 bAHRS rotation from veh to nav: [[0.957911,-0.285846,-0.026424],[0.286884,0.949979,0.123437],[-0.010182,-0.125822,0.992001]]VH@5?@NKҿ `P\? ;f??`/ڄx?iVH=IVX^;VC !)GvH9Y-AYmJBymuHԉi%Mb@Mb@Mb@!!!! !9%㥛 ?S㥛?MbY%?y%/9aYi=mdGymFm:Eu>yQ 54}OZ?Q 94}a)}mPBY?Q E:y>Q I?}CI} ;i}A;}U^4yBɮGA"11*12999YʎYYYjaZegJ@颉ɢ <) ?i),顑iӽp/Kɧ;#?駥=i>pI> >IԱAIIO>) 7},0 >W@A:D=:Vo>:}3<ٱ:Ci BAHRS rotation from veh to nav: [[0.957651,-0.286794,-0.025559],[0.287722,0.949794,0.122917],[-0.010976,-0.125066,0.992088]]:H ?Zҿ.,j?`d?@~w?z@&.?i:D=I:1#^;:CHJ r@iJIHHL N^ANxiNELPR^AIP)PiP)TITTT TVYCV^AXiXXiXX)X \I\Eb EbE`E`"Eb';*Eb:VE`ZE`af@aj@aj@aj@ h)hhhhYhYrIByriHtvA|bD|VD|y  %=ٔ 0;Q-?9Y=dGy%B;E%?!Q 5-4%\Z?Q 954% `)%gPBY1y5>Q I5?%CI%:i%:%zc4yEBɮEfAE%E"aa*a2aaiiʎiiijqZu J@颙ɢA =) p>i):顡iq~ɧu$?駭=i># sI> >IA.AIIO>)Qԁ \,h>W@A2=2ʕ>2G><ٱ2 :AHRS rotation from veh to nav: [[0.957443,-0.287541,-0.024945],[0.288387,0.949610,0.122771],[-0.011614,-0.124741,0.992121]]2H``?gҿ@>t?`5c?m?@ȇu?i2=I2)^;2CYIByqHbD5 VD52yEg<%EG=ٔE:Q-E>9M ?YM ?=MdGyIM:EU>aQQ 5m4UoZ?Q 9m4U])U`PBYiyme>Q Im?UދCIUOJ;iU:Uj4yɮYA"*2ꏩʎjZ߿J@ɢ=) >i)9iar\b~ɧ &?=i&>wI&> &>IA zA ZAAQAU?ABeN>BaBeHBeJBBaBaBaBe!;Be7EBBBBBC6E4E EE'E"E0;*E&:VE'4ZEBEԹ ь,5>W@A2+ =2O2>2+B<ٱ2 :AHRS rotation from veh to nav: [[0.957213,-0.288327,-0.024727],[0.289143,0.949413,0.122523],[-0.011851,-0.124430,0.992158]]2H@|?sҿQ@Q?a?]?@REڿ@?i2+ =I2];2CYEIByMmHԹiMb@Mb@Mb@ 9"~?L7A`?~jtxY?y+=Ļ "A)YA 4<p<bDVDk1yAƻ%?=ٔ*:Q->9 Y = dGy F:E>Q 5%4Z?Q 9-4[)XPBY-7?Q E-:y->Q I-?CI:i:'r4y=Bɮ=iA=&E"YY*Y2YaaaʎaaajiZm@J@频ɢX=) m>i)Ⱥ顙it}ɧ'?駭=iQ>yB|IQ> Q>I1A}؟AIIO=>E EE*E"Em+;*E*:VE(N4ZEa @a @a @a @9 ,O>W@A2+=2,>2J<ٱ2Ĥ :AHRS rotation from veh to nav: [[0.956917,-0.289335,-0.024375],[0.290097,0.949098,0.122708],[-0.012369,-0.124493,0.992143]]2H@? xҿ `?`_?i?&U@޿?i2+=I2];2CYBIByBYH DDbDNVDN1yV5%Vc=ٔZ:Q-Z>9Z"?YZ"?=ZdGyX^5;E^>`Q 5f4bZ?Q 9f4bY)bRPBYdyj>Q Ij?bCIb:ib:box4ynBɮnAn'E"|*2ʎ   j Z $K@9ɢ= =)9 =>>iA)ElkAAiEuMpT}ɧM'?MH=iMt>UD QIUt> Ut>IQAiIqIO=AiBQ BQ BU |HBU JBBU =BQ BQ BU ;BU 7EE  E E (E "E ';*E VE c44ZE BE W@Abl =b,>b]'P<ٱb nAHRS rotation from veh to nav: [[0.956649,-0.290247,-0.024082],[0.290967,0.948858,0.122499],[-0.012704,-0.124195,0.992176]]bHݜ?hҿ@`5? ]?`\?@F˿?ibl =Ibɶ];`YvIByvUHiuMb@Mb@Mb@qqqq q9u"~?Mb?Mb`Yqyu=uu^Au̷A u/A)uAqYuAbDVD2y%<=ٔI:Q->9Y=dGyF ;E>Q 54Z?Q 94W)LPBY2?Q E:y>Q I?9CI:i: 4yɮAIi"*2ꏑʎjZ^K@ɢV<) >i)hzCi vM|ɧM(?M=iMO>UOzQIUO> UO>IYԙAIIOI> ˠ,U>W@A2=2ӗ>2!V<ٱ2 8 :AHRS rotation from veh to nav: [[0.956272,-0.291488,-0.024068],[0.292186,0.948388,0.123233],[-0.013095,-0.124876,0.992086]]2H Ǚ?ҿ@;/?2Y?1?ъ *?i2=I2B];0YBIByFDHJAAJ@AbE-(N4jE-L4rE-0Eb EbEb*E`"Eb*;*EbE:VEb(N4ZE`aj@aj@aj@aj@bDN VDN2yM%MP=ٔM:Q-M>9QYQ=UdGyQ]T;E]>aQ 5m4eZ?Q 9m4eU)eGPBYiym>Q Iu?eVCIe:iek:e膀4y}Bɮ}þA}(EPB*** querying acoustic contact *** "*2ꏡʎjZ`K@ɢ=) e>i)ϋӹi#w K4|ɧ )? =ië>YIë> ë>IAIIO$>2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.) ,->W@A6=6jg>6)^<ٱ6 f >AHRS rotation from veh to nav: [[0.955936,-0.292583,-0.024103],[0.293261,0.947900,0.124433],[-0.013559,-0.126018,0.991935]]6H?ҿ?2U? ڿ?ŋ]!?i6=I69];4YFIByF6HbDRVDR2yZ+ݼ%ZU=ٔZY:Q-Z>9\Y\=^dGy^Fb?;Eb>dQ 5j4fZ?Q 9j4fS)fAPBYlynG>Q In?frCIf;if;f4ypɮrؾAte*DAT read: user:363> mBDAT read: Tx time:00:16:58.2284 m$Ping request sent.mi)ixh{ɧ0*? &=i > Y I > >IB<A<BBBcHBIBBBBBM;B7EQE EEE"E%;*E:VEZEBE~y checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251166ԩ !,8>W@A2=2>2%e<ٱ2-M :AHRS rotation from veh to nav: [[0.955629,-0.293610,-0.023799],[0.294241,0.947595,0.124442],[-0.013986,-0.125923,0.991941]]2H?ҿ^ ? R?sۿ?|A?i2=I2];09qYq=udGyq}J;E}>Q 54Z?Q 94LQ):PBYa?Q E:y&>Q I?CI:i<4y=Bɮ=A=)E"yy*y2yyyʎjZ`K@颱ɢҘ<) >i)r]9项iaxT{ɧ+?3=i>zvI> >IA[AzA[Aԩmchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502780AIԑIO>Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754755,>W@AY~IBy~H  <bDVD2y%%%O=ٔ%Q-%>9)Y)=-dGy-F5E5>1Q 5E45Z?Q 9E45DO)54PBYAyAQ IE?5CI5;i5-:54yUBɮUAU!E"qq*q2qqyyʎyyjZ)L@ԙ颱ɢ=) >i)*,:项iyҎzɧ+? =it4>JIt4> t4>IIIO>}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006804BO>BBJHBIBBBBB;B8E! 3,h>W@A~f=~C>~0]o<ٱ~  AHRS rotation from veh to nav: [[0.954850,-0.296160,-0.023480],[0.296730,0.946825,0.124396],[-0.014609,-0.125747,0.991955]]~H !?`HҿE ?cL?`eؿ?@`덿v ?i~f=I~0];~CY%IBy%H-=-=iMb@Mb@Mb@ 99v?I +?y&1|Y?y9<`EAA )YAbDVDk2y;%?=ٔ7:Q->9Y=dGyF;E>Q 54[?Q 94M),PBY?Q E:y>Q I?ΌCI94;i3;v4y ɮ ܾA "11*121999ʎ9AAjAZM `L@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259374AɢE<)A E>iA)mGى:iiimzuWyɧu-?u =iuVt>}oyI}Vt> }Vt>Iy!IIO=>I checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510736y ,R?W@A2;=2<>2kt<ٱ2i :AHRS rotation from veh to nav: [[0.954579,-0.297049,-0.023234],[0.297583,0.946575,0.124259],[-0.014918,-0.125529,0.991978]]2H@?ӿʗ ?WJ?kϿ?`5U@H?i2;=I2];2CYFIByFHDPzDPEV EVEV-ET"EV0;*EV:VEVt4ZETaZ@aZ@aZ@aZ@bDNVDN2yb?%b^=ٔfw[:Q-f>9dYd=jdGyhj;Ej>lQ 5r4n[?Q 9r4n:K)n%PBYtyv&>Q Iv?nCIn=:inw:n詀4yzBɮz Ax"y*y2yꏁʎjZL@ɢ5=)9 =,>i9)=gs:99i=n{EhyɧE.?E =iMը>MIIMը> Mը>IQQAe>Ae>IIO=ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762755ԩ C,x?W@A6=6<)>6z<ٱ6 BAHRS rotation from veh to nav: [[0.954319,-0.297898,-0.023047],[0.298397,0.946279,0.124562],[-0.015298,-0.125749,0.991944]]6Hȉ?@ӿ`?G?M?dT?i6=I6j];6CYJIByJHPRAAbDV VDV2yZV<%^K=ٔ^w:Q-^>9`Y`=bdGybFb$ ;Ef>dQ 5j4f5([?Q 9n4f.I)fPBYlyn>Q In?fCIf;if;fﰀ4ytɮvAt"  * 2  ʎjZL@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014803IɢU=)Q U'>iQ)U{:YYi]OX|exɧe{0?e^/ =ie>e ϏiIm> m>IiIYIiO}=AABBB1HBIBB =BBDB;B8EԱE EE(E"EU,;*Eخ:VEc44ZEBE9Y=dGyE>Q 542<[?Q 94F)PBQ A+:YQ E:yQ I?(CIC ;iI> 4yBɮA"E"*2ʎjqZuL@颙ɢ{<) *>i);;顡i1}L>xɧ2?u=iD>RܑID> D>IIQIaOu=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5188009E EE)E"E';*EVEFA4ZEa@a@a@a@i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770701U,.R?W@A06ț=6:ћ>62<ٱ6= >AHRS rotation from veh to nav: [[0.953927,-0.299193,-0.022533],[0.299617,0.945899,0.124516],[-0.015941,-0.125530,0.991962]]6H?%ӿ@,?D?E?R`_&?i6ț=I6 ];6CYFIByFHbDRVDRyZ%ZZ=ٔZ:Q-Z>9\Y\=dGyFX;E%>)Q 5-4-N[?Q 954-E)- PBQ A5 :Y1Q E5o:y5>>Q I5?-ECI-U:i-i);i}%wɧ%p3?%=i%Q>%䖓!I%Q> %Q>I)A9zA=ZAIIO=ԉԹ]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022758BBBHBIBB =BBBv;B7EBYBYBYB]Ȣ =B]Ȣ =C]L4 E  E E E "E );*E :VE ZE BE OMu<ٱM, eAHRS rotation from veh to nav: [[0.953788,-0.299640,-0.022456],[0.300047,0.945745,0.124655],[-0.016114,-0.125632,0.991946]]MHn?K-ӿ@@3? C?[??`?iM=IMY];IYuIByuHaa aa% a%a% a%a% i%Mb@Mb@Mb@!!!! !9%㥛 ?MbP?MbpY%?y%:%%QA! %;A)!!Y%QAbDEVDEy]<%]2=ٔ]K9Q-e>9aYa=mdGyiu|:Eu>yQ 54}#c[?Q 94}B)}PBQ AT:Y?Q E:yz>Q I?}fCI}P;i}|O;}SÀ4yBɮ;A#Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.282879"AA*A2AiiiʎiiqjqZugM@颹ɢSd<) >i)[2;i]~ wɧV7?=i˭>MI˭> ˭>IAqIyIO]>9  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534895i,}?W@A6{߲=6&b>6q <ٱ6, JAHRS rotation from veh to nav: [[0.953584,-0.300312,-0.022122],[0.300668,0.945509,0.124943],[-0.016606,-0.125795,0.991917]]6H`Ã?Q8ӿ $>? A?`B? `ɽ?i6{߲=I6Ѭ];6CE EE+E"E(;*E:VE [4ZEa@a@a@a@Y%IBy%HbD= VD=:2y]%]<=ٔe:Q-e>9aYa=edGyeFmQ:Em>qQ 5}4uw[?Q 9}4u@)uPBYyϜ>Q I?uCIu:iu6:uʀ4yBɮiA$E"*2ꏱʎjZ vM@ɢ<) >i)F;iegvɧ;?=i>>I>> >>IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.787097AQIaIqO^>qԙ ,ğ?W@A2(=2R.>2<ٱ2# :AHRS rotation from veh to nav: [[0.953697,-0.299962,-0.022004],[0.300289,0.945496,0.125951],[-0.016976,-0.126727,0.991792]]2H?2ӿ 07?A?*?`)b`8`ü?i2(=I2];0 T)TZXXXXiZ,I^DF\I\i^`A b`)`` b`Abʽ`ddfoAId)did)hIj`Ajh hlllin0EliprA)p pIpYpYzIByzHbDVDyj%w=ٔw:Q-?9Y=%dGy!%~E%?)Q 554-[?Q 954-d?)-OBY9y=>Q I=?-CI-{;i-;-Ѐ4yAɮErAAechecking for new query: numPingsReceived=0, elapsed TxPingTime=4.038903"qqy*y2yyyʎjZM@颱ɢ9=) y>i)q{W;项i  uɧ=?=i>I> >IA?A ?B9A=<BEN>BABEHBEIBBABABEDBE;BE7EA .AII1O= >E EE*E"E77;*E:VE(N4ZEBE2<ٱ2j :AHRS rotation from veh to nav: [[0.953664,-0.300079,-0.021862],[0.300381,0.945423,0.126281],[-0.017225,-0.126997,0.991754]]2H j?~4ӿ co9?@?)?@mAr?i2QC=I2o];0YIByHiMb@Mb@Mb@ 9X9v?~jth~jtx?Y?yD;^AA /A)YAbDVDk1y<%@=ٔH:Q->9 ?Y ?=dGyF$p9E>Q 54Ӛ[?Q 94x=)OBY?Q E:yD>Q I?CI:i:$؀4yBɮgA%E"*2!!!ʎ!!)j)Z-i)@9m;i0e,7uɧA?=i><I> >Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.543081AE؟AIIIYOm5>D=D<EU EUEU)EQ"EU/;*EU:VEUFA4ZEQa]@a]@a]@a]@1Y M DAT read: 00:17:02.0271 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 453,-0.17, 1.958, 0.240, 2.006, 1.880, PHS= 0.180,-1.594, 0.082, RAW= 147.2, 15.2, CAL= 147.1, 16.8, ROT= 2.9, -16.8 U Ygot valid direction response: 00:17:02.0271 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 453,-0.17, 1.958, 0.240, 2.006, 1.880, PHS= 0.180,-1.594, 0.082, RAW= 147.2, 15.2, CAL= 147.1, 16.8, ROT= 2.9, -16.8 ,t?W@A"PDAT read: Bearing 187.3, -0.7 (Local) &~Local bearing/azimuth received: Bearing 187.3, -0.7 (Local) *DAT read: Range 11 to 50 : 1045.9 m (Round-trip 1394.6 ms) speed 0.6 m/s .R#Rx 1: Read range and direction messages.B=B6>B-<ٱB@ JAHRS rotation from veh to nav: [[0.953478,-0.300683,-0.021653],[0.300955,0.945252,0.126193],[-0.017477,-0.126839,0.991769]]BH?e>ӿ, B?`??'?|呿`A<@?iB=IBt];@N\direction in FSK: [0.956094,0.048434,0.289032]NFpublishing direction and range infoyIMmQ?=}IJ̨?\.?YMDIIII I)MKIMQ8>iM1̿M=Ml$@Mԇ>MO$@ MQ >)M4QO=IMQ IIM'v?A45?\, %? M>)MKIM4QO=iMQ IIYIByH9bDVDy %?=ٔ,:Q->9"?Y"?=dGyƸ:E>Q 54ݮ[?Q 94;)OBYy>Q I?ߍCIp:i:߀4yɮAIMD?W@AJM.DRM.DjM>Mz@“~8I@"6r@rMmQ?=}IJ̨?\.?ZM4QO=bMQ M@@VwZx@u+q@zM Z,`?I?:va?2MC:MgD"M?*MzfdBMCM?Mzfd“MCM#{DM4>"qq*q2qqqyʎyyyjW@Z0?ɢEA<) ^>i)ʁ;iItɧE?OE=iX>`IX> X>IqAyIIO^>B=M>B9B=HB=IBB= =B9B9B=;B=8EԉEe  Ee Ee (Ea "Ee );*Ee :VEe c44ZEa BEe O-<ٱ-] ]AHRS rotation from veh to nav: [[0.953280,-0.301334,-0.021355],[0.301565,0.945083,0.125999],[-0.017786,-0.126552,0.991800]]-H`D? Iӿݕ L?>? ?x62`Լ?i-Hд=I-^w];-CYqIByHiMMb@Mb@Mb@IIII I9M"~?{Gzt9Y=dGyF:E>Q 54[?Q 949)Y?Q E:y|>Q I?CIa:i/:4yBɮA&E"*2ʎjZiQ?颉ɢ<) >i)܊;顑i qsɧI?駝S!=i>QI> >IAZAzAԩAI!I1OUT> ,U4@W@AD,zD.@AbEG4jEK4rE/E^ E^E^+E\"E^O6;*E^S:VE^ [4ZE\af@af@af@af@Z^=ZA>Z2<ٱZ rAHRS rotation from veh to nav: [[0.953045,-0.302094,-0.021052],[0.302288,0.944900,0.125645],[-0.018065,-0.126110,0.991852]]ZH@Y? Uӿ`X?9Y=dGy:E>Q 54G[?Q 947)Yyޙ>Q I?CIu:iK:4yBɮ A 'E")1*121111ʎ999j9Z=f?aɢmPC<)i mc>ii)u>ؔ;qqiu\}:sɧ}kM?}U$=i}y>}LDyIy> y>IAqIIO]>A ,W!@W@A2(=2>2s<ٱ2 >AHRS rotation from veh to nav: [[0.952775,-0.302973,-0.020677],[0.303119,0.944685,0.125258],[-0.018417,-0.125611,0.991909]]2H!}?cӿ`c, Mf?:?w?ے `?i2(=I2.@];2CYF~IByFHbDNVDN 83yV8<%Vm=ٔZ:Q-Z?9XY\=^dGy^F p!;E >Q 54[?Q 94O6)OBY!y%P>Q I%?4CI;i;4y)ɮ-A1"QY*Y2YYYaʎaaajaZm@k>?频ɢQ=) a>i)A;顙i%rɧP?駥&=i߰>󢺉I߰> ߰>IAA@ABL>BBHBIBB =BBB;Ba8EQIIO >E EE'E"Eg5;*E:VE'4ZEBE2ꄙ<ٱ2 :AHRS rotation from veh to nav: [[0.952582,-0.303599,-0.020377],[0.303704,0.944515,0.125119],[-0.018739,-0.125375,0.991932]]2H`{?`)nӿݔo?x9??S0 F ?i2l=I2\];2CPYVlIByVHi-Mb@Mb@Mb@)))) )9-X9v?~jtx?{Gz?Y-?y-;-#<)) ))-A)Y-AbD VD2y*%<=ٔXB:Q->9Y=dGy:E>Q 54_[?Q 94E4)OBY?Q E:yj>Q I?TCI:i:Y4yBɮпA(E"*2ʎjZ?)ɢ-<)1 5>i1)51#;19i=EqɧE`S?EW)=iE;>E AIE;> E;>IIA]>A]>I1IAOU>D}=D}R=E EE)E"E*;*E:VEFA4ZEa@a@a@a@9 U,T@W@A2=2S>2<ٱ2q :AHRS rotation from veh to nav: [[0.952395,-0.304201,-0.020143],[0.304274,0.944345,0.125021],[-0.019009,-0.125199,0.991950]]2Hz?@ xӿw@;y?@8?? 1w ?i2=I2T];2CYBwIByBHHHbDNVDN0yV<%V[=ٔV@>:Q-V>9XYX=ZdGyZFZ(:E^>`Q 5f4b \?Q 9f4b|2)`Ydyf>Q If?boCIb6:ib:b4yhɮnAl|"*2 ʎ   j Z@o@9ɢ==)9 Eֻ>iA)E;AAiE MM\MqɧMU?M*=iM]>U]ߦQIU]> U]>IYII O=!YBB:CBHBzIBB =BBB5;B8EE  E E +E "E 3;*E E:VE [4ZE BE z<ٱ AHRS rotation from veh to nav: [[0.952259,-0.304648,-0.019796],[0.304669,0.944187,0.125250],[-0.019466,-0.125302,0.991928]]Hx? YӿUE@?6?4?` ߽?ik=Iɢ];CYqIByHAiMb@Mb@Mb@ 9㥛 ?{Gz?y&1|?Y?yף<`;EAA "A)YAbDVDk2y^%+=ٔ{:Q->9Y=dGyke:E>Q 54\?Q 940)OBY?Q E:y>Q I?CIf:iZ:/ 4y Bɮ ҿA)E"11*121119ʎ999j9ZE #N@iɢmJJ<)q u>iq)uY;qqiu헂}{pɧ} W?}z,=iDZ>7IDZ> DZ>II)I9OM>ԁԩia Ie A ",t@W@AE" E"E"-E "E"1;*E"|:VE"t4ZE a*@a*@a*@a*@:cJ=:>:v<ٱ:u FAHRS rotation from veh to nav: [[0.951988,-0.305510,-0.019579],[0.305497,0.943922,0.125232],[-0.019778,-0.125201,0.991934]]:Hv?xӿ @C?4??@@ ?i:cJ=I:N];:CYRYIByRHbDZVDZ3yb%bt=ٔb4t:Q-f?9dYd=fdGyfFj*;Ej?lQ 5E4n!/\?Q 9E4nC.)nOBYAyE%>Q IE?nCIn}ei)2L;iڂ%oɧ%W?%ſ,=i->-F)I-> ->I1AE[AzAE\AIIO=9 .(,HO@W@A2Ӯ=2U>2G<ٱ2m :AHRS rotation from veh to nav: [[0.951771,-0.306213,-0.019099],[0.306141,0.943758,0.124896],[-0.020220,-0.124719,0.991986]]2H t? ӿ җ?`C3?'?` Y?i2Ӯ=I2];2CYBZIByD Jp9XY\=^dGy\^:Eb>`Q 5f4bA\?Q 9f4b+,)bOBYhyj}>Q Ij?bʎCIb:ibW:b 4ynBɮrϿAr!E"*2 ʎ   jZ91 @B}<A}<BJ>BBHBpIBB =BBBn;B8EBQBQBQBU =BU =CUL5ɢTR<) >i)%;!!i%-(oɧ-X?5-=i5#>Uh鬺QI]#> ]#>IaII O=EU EUEU+EQ"EU=-;*EUE:VEU [4ZEQBEUq2<ٱ2N >AHRS rotation from veh to nav: [[0.951465,-0.307204,-0.018434],[0.307043,0.943474,0.124825],[-0.020955,-0.124427,0.992008]]2Hfr?<ӿi?0??u@kڿ?i2=I2];2CYFQIByFHiMb@Mb@Mb@ 9d;O?y&1?Y?y`<QA ;A)AY AbD-VD-1y=b%=A=ٔE:Q-E>9AYA=MdGyMFM;EM>QQ 5]4U U\?Q 9]4U))UOBYe?Q Ee:yeK>Q Ie?UCIUj:iU:Up4ymBɮmAm"E"*)2)111ʎ199j9Z= @i颡ɢ5<) >i)O;顩i)Tlnɧ9Y?駽[-=iA>箺IA> A>IAII O%+>ԙEu EqEu*Eq"Eu0;*EqVEu(N4ZEqa}@a}@a}@a}@ @5,)@W@A6B=6X >6f<ٱ6Ҁ >AHRS rotation from veh to nav: [[0.951274,-0.307817,-0.018073],[0.307603,0.943277,0.124934],[-0.021409,-0.124406,0.992000]]6H@p?Eӿï?S/??`U앿` ٿw?i6B=I6];4Y^LIBybHbDjVDj0yrw4%rP=ٔv:Q-v>9tYx=zdGyxz:Ez>|Q 54~g\?Q 94~')~OBY y >Q I ?~CI~:i~:~J%4yɮA"19*92999AʎAAAjAZM6[@qɢu<)q ua>iy)},";yyi}mɧjY?駅 -=iZ>wIZ> Z>IA?A?AIIO>ByByB}HB}\IBByByByB}w;B}8E) Eu  Eu Eu )Eq "Eu %.;*Eu a:VEu FA4ZEq BEu :}0<ٱ} AHRS rotation from veh to nav: [[0.950947,-0.308837,-0.017889],[0.308598,0.942989,0.124653],[-0.021628,-0.124059,0.992039]]}H'n?`ӿQ?@,?@9Y=dGyFR;E>Q 5 47|\?Q 9 4%)OBY?Q E:y[>Q I?)CI:i:-4!yBɮ%ͿA%#E"AI*I2IIIIʎQQQjQZU?@颁ɢg<) (>i)2;顉i3lɧW?駕,=iG>μIG> G>IAIIOC>Iy RB, AW@AE EE+E"E&;*E8:VE [4ZEa@a@a@a@0>*=>4>>+<ٱ>B JAHRS rotation from veh to nav: [[0.950612,-0.309879,-0.017635],[0.309606,0.942699,0.124351],[-0.021909,-0.123669,0.992082]]>Hjk?@ӿ`?*?oտ?ooĨ"?i>*=I>YY];>CYn;IBynHbDz VDz:2yZF%q=ٔY:Q-?9 Y = dGy  `M;E?Q 5%4Z\?Q 9%4 #)OBY)y->Q I-?BCI;i!;v34y1ɮ5A1"*2ʎjZ@@)ɢ-1<)1 5>i1)=p;99i=1]Zlɧ]TV?]v+=i]9>]yPYI]9> e9>IaԉAIIO$>Թ }H,#AW@A2=2n>2GK<ٱ23 :AHRS rotation from veh to nav: [[0.950467,-0.310342,-0.017347],[0.310021,0.942507,0.124773],[-0.022373,-0.123970,0.992034]]2H8j?ӿYÑ`?)??薿`?i2=I2c];2C\Yb>IBybHbDjVDjN2yr;%rL=ٔv:Q-v>9tYt=vdGyvFzΏ:Ez>Q 5 4N\?Q 9 4 )OBYy >Q I?`CIK:i :|:4AAAAB%H>B!B%HB%QIBB!B!B!B%f;B%8Ey]Bɮ]Ae$E"*2ʎ!!)j)Z-gR@频ɢ<) >i)|;顙iikɧT?駭0*=i'>I'> '>IAzAE5 E5E5(E1"E5%.;*E5n:VE5c44ZE1BE1aE2E1aEJE5A fN,Pr=AW@A6=6A>6<ٱ6Ux >AHRS rotation from veh to nav: [[0.950384,-0.310603,-0.017193],[0.310248,0.942366,0.125267],[-0.022706,-0.124386,0.991974]]6H`i? ӿ? '??Y@ ׿`@?i6=I6O];6CYM)IByMjHiMb@Mb@Mb@ 9M?ˡE?MbYy'=EAA ;A)YAbDVDkys,%-=ٔC9:Q->9Y=dGy k:E >Q 54b\?Q 94')OBY?Q E:y% >Q I%?CI:i:B4y-Bɮ-#A-%E"II*Q2QQQQʎQYYjYZ]@颁ɢ <) >i)99;i%=QMjɧJS?駍t)=i>I> >IDE4=DE<bEjEJJ4rEa0EM EMEIEI"EM:;*EM:VEIZEIa]@a]@a]@a]@AIIOn>qԡ U,LWAW@A2^:=28>2D<ٱ2g :AHRS rotation from veh to nav: [[0.949977,-0.311844,-0.017235],[0.311484,0.941954,0.125298],[-0.022839,-0.124399,0.991969]]2H5f?Bӿ`$[?`}$?` ?@c`ؿ6?i2^:=I2p];2C@Bq@iBD;I@@D F^AF/]FEDDJ_AIH)HiH)HIHHL LLN^APiPPiPP)P PIT T)VS{ATTTYXY^%IBy^dHbD VD y%KN%%n=ٔ%9Q-%?9)Y)=-dGy-F-zx;E5?1Q 5]45\?Q 9e454)5OBYaye>Q Ie?5CI5e;i5;5H4yiɮu,Aqy"*2ꏱʎjZ @)ɢ-<)) ->i))5<11iUc]Mjɧ]-R?]$(=i]>ehaIe> e>IaԡA.AIIO%>B=G>B9B=HB==IBB9B9B=DB==;B=8EEU  EU EU +EQ "EU U,;*EU :VEU [4ZEQ BEU ^G<ٱ^O AHRS rotation from veh to nav: [[0.949691,-0.312733,-0.016871],[0.312319,0.941672,0.125344],[-0.023312,-0.124307,0.991970]]^Hc?Կ F ?,"?G ? ߗҿ7?i^ =I^l];\YIByYHiMb@Mb@Mb@ 9> ףp=?J +?y&1|Y?yH=`A /A)YbDVD1y%.=ٔ:Q->9 ?Y ?=dGy%:E%>)Q 554-\?Q 954-t)-OBY5x?Q E5:y5>Q I=?-CI-:i-:-P4yEBɮEHAA"aa*a2iiiiʎiqqjqZu W@颙ɢ<)  >i)E<顩i*|%iɧO?駵&=i!>'I!> !>IAA>A1IAIQO]U>)Y DQ zDQ E]  E] E] -EY "E] m+;*E] :VE] t4ZEY ae @ae @ae @ae @4b,1AW@A={> <ٱ AHRS rotation from veh to nav: [[0.949414,-0.313577,-0.016782],[0.313135,0.941345,0.125764],[-0.023639,-0.124657,0.991918]]H`a?Կ;/f ?~?@ ?@4鿿@˽?i=I ];!Y}IBy}\HbDVD0y;%Q=ٔ&[:Q->9Y=dGyF';E>Q 54\?Q 94&)OBYy>Q I?ڏCI;iB:W4yɮCA"*2ʎjZ@)ɢ-&<)1 5_>i1)5 <11ihɧiM?駽T$=ihı>Ihı> hı>IQAE؟AIIIaO}Y>yԡ Ch,HޤAW@A2=2ѣ>2.<ٱ2B0 >AHRS rotation from veh to nav: [[0.948978,-0.314909,-0.016535],[0.314433,0.940954,0.125447],[-0.023945,-0.124246,0.991962]]2H`^?y'Կ@? L? ? *ο(?B`A`BdBdBfiHBf)IBBf =BdBdBf;Bf8Ei2=I2j];2CYeIBye=HbDVDyÉ%_=ٔ0[:Q->9"?Y"?=dGyu;E>Q 54\?Q 94)OBYy>Q I?CI;i;$^4yBɮ~A&E"*2ʎjZ@_@Yɢe1<)a eÂ>ia)e u󽺉qIuh> }h>IyԙEM EMEM)EIy"EM/;*EME:VEMFA4ZEIBEMˈ xn,ùAW@A2=2P>28<ٱ2j :AHRS rotation from veh to nav: [[0.948664,-0.315863,-0.016343],[0.315349,0.940620,0.125652],[-0.024317,-0.124355,0.991940]]2Ht[?7Կ`.??^?v昿 տ?i2=I2}];2CYBIByF8HiEMb@Mb@Mb@AAAA A9EM? ףp= ?{GztYEn?yEQ8=EףEQAEA A)AAYAbD]VD]kymm%mM=ٔus:Q-u>9qYq=udGy}F};E}>Q 54 ]?Q 94)OBY?Q E:y>Q I?CI8:i:e4yɮA"*2ʎjZ@@ɢi<) ŀ>i) <i  gɧ JI?!=iŁ>7FIŁ> Ł>IA)zA-ZAAe.AIqIO>D=D<E% E%E%*E!"E%*;*E%:VE%(N4ZE!a-@a-@a5@a5@1I u,ՕAW@A2Z^=2>21$<ٱ2$ >AHRS rotation from veh to nav: [[0.948233,-0.317154,-0.016365],[0.316635,0.940203,0.125540],[-0.024429,-0.124223,0.991954]]2H W?ALԿ` C?$??Ϳ?i2Z^=I28];2CYFHByF%H LNp;bDRVDR1yZ'%ZW=ٔZך9Q-Z>9^ ?Y^ ?=^dGy\bi;Eb>dQ 5j4f]?Q 9j4fm)f|OBYhyj^>Q Ij?f.CIf:ifB:fk4yrBɮrAr'E"*2   ʎ  jZ@> @颹ɢz<) q>i)<iDŽ gɧTG?v=ic>WIc> c>IQAE؟AIQIaO}>yBH>BBDHB IBBBBB;B8EB:CB:CBBƤ =BƤ =CX4E5  E5 E5 )E1 "E5 1;*E5 :VE5 FA4ZE1 BE5 \uAW@AB<ٱB NAHRS rotation from veh to nav: [[0.947753,-0.318590,-0.016239],[0.318043,0.939723,0.125574],[-0.024747,-0.124178,0.991951]]BHS?@cԿ`蠐Z?6??4W!ʿ?iBi=IB@^;@YfHByf6HbD VD 3y==%EB=ٔMD:Q-U>9e"?Ye"?=mdGymF}2d;E}>Q 54-]?Q 94 )qOBYy!>Q I?NCIi)8<i˄lMfɧE?=i@>I@> @>IAYIaIyOZ>! 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P¿?iF>IF];FsCYjeFByjHbDzE EE(E"Es!;*E:VEc44ZEBEa%2Ea%JE 9iYi=mdGymFmEu>Q 54d?Q 94)"MBYy>Q I?7CId:i:f4yjBɮAE"*2ʎjZI@iɢu|))q u;iq)}yyi}A Jɧ駕Riaa>#1Iaa> aa>IA?A>IPExceeded connect timeout, disconnecting.A.AI IO%,>qԙ {6,0LW@AF]>F4>FLeٱF jAHRS rotation from veh to nav: [[0.941270,-0.331740,-0.062928],[0.337364,0.931718,0.134485],[0.014017,-0.147816,0.988916]]FH ?`8;տ` _?@?`6? ?¿ 2?iF]>IF^;FtCY dFByHԙU=U=bD VD:2y}%}9=ٔ_Q->9 ?Y ?=dGy,E>Q 54e?Q 94)'MBYy>Q I?XCIN:ig:ln4yɮA"ii*i2iqqqʎyyyjZ@J@E EE,E"E;*E˭:VEg4ZEa@a@a@a@ɢN ) %;iA)EAAiE M;KɧMgM[iU>U7+QIU> U>IYIyIO]> = GY y B9 Y (AB p>B B B B =B :DB B ;B H:E S<,LW@AB#>B>BkٱB JAHRS rotation from veh to nav: [[0.941333,-0.331441,-0.063550],[0.337171,0.931684,0.135203],[0.014397,-0.148698,0.988778]]BHg?S6տD@6?[?`UN?@|?ÿ@?iB#>IB_^;BvCYViFByVHi5Mb@Mb@Mb@1111 195 +? ףp= ?9aYa=mdGymFm/Em>qQ 5}4u) e?Q 9}4u)u+MBY=?Q E:y>Q I?usCIu;iuK;ut4ylBɮAE"*2ꏱʎjZ\KJ@颁ɢF{) J˾i)G 顱i\oKɧ駽ei׸>'I׸> ׸>IIIO$>!D=DE EE*E"Es!;*E:VE(N4ZEBEa2EaJE!2ů>2\rٱ2v :AHRS rotation from veh to nav: [[0.941543,-0.330744,-0.064065],[0.336565,0.931837,0.135659],[0.014830,-0.149291,0.988682]]2H!?*տfI?? F]?"_?@ÿH?i27>I2h^;2uCYBgFByBHbDNVDN0yn%rS=ٔrgQ-r>9tYt=vdGytvغEv>xQ 5~4z1e?Q 94z)z/MBYy>Q I?zCIz;iz;z{4y nBɮ AE"11*121111ʎ999jAZE|J@iɢm)i m-̾iq)uqqiu}SKɧ}i}mpi\>E#I\> \>IAZAzAZAIIO=QԁԱE  E E 'E "E ;*E k:VE '4ZE a @a @a @a @ ĴI,ݵ(MW@A2>>2v>2|ٱ2! :AHRS rotation from veh to nav: [[0.941428,-0.330978,-0.064552],[0.336861,0.931808,0.135124],[0.015427,-0.148955,0.988724]]2H- ?.տ "?^? K?`b?`ÿ?i2>>I2 >^;0Y^lFBy^ HdfAiMb@Mb@Mb@ 95^I ?)\(?Mb?Y?yGa=<AA )AY3AbDVD02y<5<%>=ٔGQ->9Y=dGyFA:E>Q 54\Ee?Q 948)3MBY?Q E:y>Q I?CIQ:i: 4yɮA"*2ʎ j Z J@1ɢ=p)9 =ɾi9)=AAiEƩMKɧMMiMؘ>MɡIIMؘ> Uؘ>IQԹII)O==AABr>BBBBBBBЃ;Bc:E A P,OBMW@A:9>:tj>:.ٱ:A, BAHRS rotation from veh to nav: [[0.941106,-0.331864,-0.064691],[0.337743,0.931638,0.134090],[0.015769,-0.148042,0.988855]]:H@?@C=տ@??@)? %?¿ ?i:9>I:];:tCDLzDLER ERER.EP"ER;*ER˭:VERـ4ZEPBERbu9 Y=dGyj ;E>Q 5%4Ve?Q 9-4)7MBY)y-0>Q I-?ϝCI:i:4y5oBɮ=A=E"*2ʎjZJ@)ɢU"3)Q U˾iQ)]pYYi]7e'4Lɧeeꆼie a>ee{ m a>Ii II)O==9i V,l\MW@A J>J>JF-ٱJ RAHRS rotation from veh to nav: [[0.940915,-0.332329,-0.065081],[0.338251,0.931537,0.133510],[0.016256,-0.147635,0.988908]]JH?`Dտ@'?&??x?¿"?iJ>IJW];JuCYb]FBybHbD VD2ye)%eE=ٔuWQ-u>9Y=dGyF::E>yQ 54}5ke?Q 94})};MBYyw>Q I?}CI}$5vI.ԗ> .ԗ>IA?A?ԙA؟AIIOf>iIA B t>B B B B B B B ;B {:EBm@CBm@CBiBmʙ =Bmʙ =Cm4\,FvMW@A2>2(>2)vٱ2\i :AHRS rotation from veh to nav: [[0.940609,-0.333251,-0.064797],[0.339101,0.931412,0.132219],[0.016291,-0.146339,0.989100]]2Hw?Sտ`ճ? ?`??>¿?i2>I2];0YBVFByFHhiEMb@Mb@Mb@AAAA A9E333333?)\(?{GztYE?yAEףEAA A)EAAYAbD]VD]kymgt%mJ=ٔmjQ-u>9u"?Yu"?=udGyq} ;E}>Q 54_|e?Q 942):MBY??Q E:y>Q I?CIQ;i:4yqBɮAE"*2ʎjZ`"NK@ɢ*) Ծi)z&i, Lɧ  ڞiDc>PIDc> Dc>IA%.AI1IAOM>E EE*E"E;*E:VE(N4ZEBEp2(>2ٱ2 :AHRS rotation from veh to nav: [[0.940237,-0.334241,-0.065089],[0.340111,0.931153,0.131447],[0.016673,-0.145729,0.989184]]2Hl?3dտ a??@?@?<¿`e?i2>I2x];0Y^EFBy^HddbDjVDjyr2%rS=ٔvZQ-v>9v ?Yv ?=vdGyvFz|6;Ez>9YQ 5e4]e?Q 9e4])]9MBYaymb>Q Im?],CI]:i]:] 4yubBɮuAu EPB*** querying acoustic contact *** "*2ꏙʎjZ`6K@ɢ7') 6ݾi)oT,iMɧþix>` Ix> x>Ii^A=&$<2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ԙAm؟AIIO= >E  E E E "E ;*E ^:VE ZE a @a @a @a @ j,~MW@A2=>2t$>2ߋٱ2/ :AHRS rotation from veh to nav: [[0.939942,-0.335014,-0.065379],[0.340907,0.930965,0.130716],[0.017074,-0.145154,0.989262]]2H@?`pտ଼k?w?O?@{?f¿@?i2=>I2i];2sCY^_FBybHiEMb@Mb@Mb@AAAA A9E$C?A`"?y&1YE?yEY=E`EAA EA)EAAYEAԙbDVDy*p=%<=ٔqQ->9"?Y"?=dGy:E>Q 54Oe?Q 94).MBY?Q E:y)>Q I?MCI ;i ;p4ydBɮ A  E"))*)2)))1ʎ119j9Z=SK@aɢe)i m(оii)m1iiiup}iqMɧ}O̾} si}p>}9yI}p> }p>I*DAT read: user:364> BDAT read: Tx time:00:17:58.4783 $Ping request sent.m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249561! p,+MW@A2r>2y>2Cٱ2 :AHRS rotation from veh to nav: [[0.939716,-0.335611,-0.065574],[0.341516,0.930824,0.130128],[0.017365,-0.144678,0.989326]]2H&?zտuɰd?O? ?@<ȑ?ф¿?i2r>I2a)];0EB EBEB,E@"EB[";*EB:VEBg4ZE@BEBz9M ?YM ?=UdGyUFU:EU>yQ 54}_e?Q 94}))}$MBYy>Q I?}kCI}:i}:}@4yfBɮA E"*2ʎj Z  ?K@1ɢ=*)9 =޾i9)=7AAiEMMɧMԾMqiM<>MIIM<> M<>I!checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501578^A y nw,MW@A2>2>2lٱ2  :AHRS rotation from veh to nav: [[0.939359,-0.336580,-0.065719],[0.342483,0.930581,0.129322],[0.017629,-0.143987,0.989423]]2H :?տ@Ұ`I23];2rC=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756184abEjE(N4rE~m0E EE&E"E;*EP:VE4ZEa@a@a@a@Y9FByHiMMb@Mb@Mb@IIII I9MS?Q?ˡEYM?yM9}"?Y}"?=}dGԁyy:E>Q 54e?Q 94)MBY+?Q E:y!>Q I?CIu ;i ;4yɮ%A"*2ʎjZ -L@ɢ Kr)  /i ) gR?i^>칉!I%$> %$>I!@1@1@1@1ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006033BI BI BM $HBM FBBI BI BI BM ;BM :E A .AI I O% >>},;MW@A>>>>>oٱ>1S FAHRS rotation from veh to nav: [[0.939318,-0.336647,-0.065961],[0.342589,0.930505,0.129586],[0.017753,-0.144320,0.989372]]>H?ࡋտⰿ?@?D?@-?y¿ ?i>>I>];>vC L)NaANtLLPPiPIPPITiV`A V+T)TX ZaAZ#ZFX\^oAI\)\i\)`I`bC ` ``df\iddidd)h hIhYhYn;FBynHbDzVDzNy, <%=ٔQ-,?9  ?Y  ?= dGy F L9E-?Q 5%4e?Q 9%4])MBY!y%,>Q I%?CI;iD;#4y5hBɮ5(A5E"QQ*Q2QQQYʎYYajaZeNL@颉ɢgN): i)e C顑ivNɧLھ駥|iF>>{义IF> F>IԹAII O>5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257635E EE)E"E);*Ey:VEFA4ZEBEO2>2n6ٱ2 :AHRS rotation from veh to nav: [[0.939391,-0.336344,-0.066464],[0.342364,0.930567,0.129736],[0.018213,-0.144628,0.989318]]2H}?տJ? 5?`1? ?`*¿@?i2>I2];2sCY=FByH-=-=bD5VD5:2yelK;%eD=ٔeQ-m>9iYi=mdGyiuEu>yQ 54}e?Q 94})}LBYy >Q I?}ɞCI}:i}:}k„4yɮ&A"*2ꏹʎjZ;L@ɢ-) ji)VIi  Nɧݾ5iUh>4׹ I Uh> Uh>I II!O- >9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762495y E  E E +E "E ;*E VE [4ZE a @a @a @a @P,D+NW@A 2jP>2R>2ŗٱ2r >AHRS rotation from veh to nav: [[0.939798,-0.335030,-0.067343],[0.341229,0.930697,0.131779],[0.018526,-0.146824,0.988989]]2H? "qտ\=?E?@?h?#¿̥?i2jP>I2J];2tCсGY>FByH^A ꕿ9 ^AY `Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014376i=Mb@Mb@Mb@9999 99=^I +?Mb?J +Y=X?y=<=H=A=A =A)=A9Y=AUAAU@AbD]VD]yeoq;%m.=iٔu/.Q-u>9qYy=}dGy}F}'E}>Q 54f?Q 94N)LBY?Q E:y>Q I?CIT;i;ʄ4yjBɮ*AE"*2ʎjZL@AA@ABu>BBHBvFBBBBB;B9Eɢ{X') i!)%O!!i%X򻩧-?Oɧ-j۾-i5u>5%ɹ1I5u> 5u>I9ԙIIOb> U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266517,9,!ENW@AE2 E2E2&E0"E2s!;*E2:VE24ZE0BE2x4>>>> ٱ>* FAHRS rotation from veh to nav: [[0.940032,-0.334261,-0.067895],[0.340562,0.930843,0.132474],[0.018919,-0.147652,0.988858]]>H`?dտa?v? ?@x_?C¿`?i>4>I> ];>sCLYn5FBynHbDvVDv1y~^%{=ٔkQ- ?9 Y = dGy  E ?Q 54Pf?Q 9%4)LBY!y%>Q I%?CI;i;QЄ4y-lBɮ5FA5E"QQ*Q2QQYYʎYYajaZeL@)ɢ-|@)) -ei))5 T1Qi]ﻩOɧپ駕Sis>Is> s>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517524$I9IIO]v>! c,C^NW@A6\H>6N>6P`ٱ6K >AHRS rotation from veh to nav: [[0.940461,-0.332931,-0.068490],[0.339359,0.931086,0.133842],[0.019210,-0.149116,0.988633]]6HA?Nտ?`u?!??>ÿ?i6\H>I6<];6tCchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771269Eu EuEu*Eq"Eu;*Euk:VEu(N4ZEqa}@a}@a}@a}@)Y@FByHAi Mb@Mb@Mb@     9 \(\?MbpQ롿Y ?y  \ A A )  Y bDeVDe:2yuJ<%u=ٔu Q-}>9yYy=dGyFE>Q 54-f?Q 94)LBY$?Q E:y>Q I?1CI;i ;ل4yɮ/A"*2ʎjZ{0M@ɢ #)  ߾i ) Jz\i컩!OɧOԾ٩iҸ>찹!I%Ҹ> %Ҹ>I!9A%>A%>QIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021986Ba Ba Ba Ba Ba Ba Ba Be };Be 9Eԁ ,xNW@A2\>2X>2씟ٱ24S :AHRS rotation from veh to nav: [[0.941091,-0.331009,-0.069146],[0.337593,0.931455,0.135727],[0.019479,-0.151075,0.988330]]2H@j?A/տ`?{?_?J?@lVÿ g?i2\>I2H0];2sC<@iB(IB̾E@I@i@ DD)DD F r@DDHHJsAIJD)HiH)NCILLL LRCR_ARiPPiTV_A)Vu VEITYTY^JFBy^HYbD VD y=%=ٔ}Q- ?9Y=dGyrݻE ?Q 54F;f?Q 94G)LBYy>Q I?FCI;i;ބ4y]BɮAE"*2ʎjZ`TM@IɢMA8J) ھi)gm`顱i޽껩)>PɧTѾvi ו>񨹉I ו>  ו>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274590ԉE EEE"E;*E:VEZEBE?rԹ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525560u,NW@A.=.BY>.^ٱ.Թ :AHRS rotation from veh to nav: [[0.941740,-0.329050,-0.069648],[0.335756,0.931929,0.137024],[0.019819,-0.152426,0.988116]].H"?)տtԱ@}?]??K?ÿफ़?i.=I.L];.rCYEFByHbD-VD-k2yuc1%}M=ٔ}a_Q-}>9Y=dGyF֟E>Q 54Nf?Q 94<)LBYy~>Q I?eCI;i-;4y_BɮAԹ"*2ʎjZ@CM@1ɢ5NY5)1 =6ݾi9)=`f99i=,軩EPɧE̾EңiE;>MߞIIM;> M;>IIIQIiOu=%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777831E  E E 'E "E ;*E k:VE '4ZE a @a @a @a @9 ,NW@A2B=2 ;>2Wٱ2OK :AHRS rotation from veh to nav: [[0.942467,-0.326873,-0.070074],[0.333697,0.932447,0.138525],[0.020060,-0.153938,0.987877]]2H@(?|Կ XL[??,???ÿ?i2B=I2C];2qCYYFByH==i5Mb@Mb@Mb@1111 195On? rh~jtxY5?y5C5Ļ5A5A 5A)5A1Y5AbDUVDUJ2uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.029615yu9=%}:=ٔ}Q-}>9Y=dGyaE>Q 54cf?Q 94")LBY?Q E:y>Q I?CI:if:k4yaBɮAE"*2ʎjZ7M@ɢ Ш,)   Ӿi ) .k i廩PɧžiW>MIW> W>BA<BBBBBBBB';B8EBIBIBIBMØ =BMØ =CM*4I!9A؟AII)O=Q>a- BDAT read: Rx Time:00:18:02.2308 - TRx dataTimestamp_ set to:1761697083.0301725 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283989ԑ N,eNW@AD"?AzD"?AE& E&E&-E$"E&&;*E&:VE&t4ZE$BE&b.ٱb_ jAHRS rotation from veh to nav: [[0.943126,-0.324857,-0.070575],[0.331800,0.932979,0.139496],[0.020528,-0.154979,0.987704]]bH`.?sԿ,@69"?Y"?=dGyFE>!Q 5-4%tf?Q 9-4%p)%LBY)y->Q I5?%CI%6:i%:%4y=cBɮ=AEE"aa*a2aaaiʎiiijiZuM@颙ɢlt7) Ͼi)p顡i>h㻩,Qɧ駭Pi>"I> >IqAIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533612ԡ 鲷,JNW@AJf)=J4>JةٱJ ZAHRS rotation from veh to nav: [[0.943766,-0.322925,-0.070886],[0.329963,0.933449,0.140705],[0.020732,-0.156183,0.987511]]JH U3?@ͪԿ%@??@? :?`ÿ?iJf)=IJ]v];JrCDAT read: 00:18:02.2308 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 476,-0.42, 2.782, 1.179, 2.805, 2.531, PHS= 0.353,-1.307, 0.230, RAW= 146.2, 9.1, CAL= 145.8, 9.9, ROT= 4.2, -9.9 %Ygot valid direction response: 00:18:02.2308 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 476,-0.42, 2.782, 1.179, 2.805, 2.531, PHS= 0.353,-1.307, 0.230, RAW= 146.2, 9.1, CAL= 145.8, 9.9, ROT= 4.2, -9.9 -PDAT read: Bearing 181.0, 3.7 (Local) 5~Local bearing/azimuth received: Bearing 181.0, 3.7 (Local) DAT read: Range 11 to 50 : 1011.3 m (Round-trip 1348.4 ms) speed 0.7 m/s -R#Rx 1: Read range and direction messages.e\direction in FSK: [0.982464,0.072148,0.171929]mFpublishing direction and range infoY}QFBy}HyprݸWp? YDx?!?Yr|Dpppp p)rNEe EeEaEa"Ee;*Ee:VEaZEaa@a@a@a@bDVDy%%=ֹٔQ->9Y=dGy_E>Q 54Xf?Q 94)LBYy>Q I?ȟCIB:i:O4Irj>irKrk>rN#@r">r4"@ r;0>)rQ =Ir;0pprnw [?W1? 2? r>)r="IrQ =ir;0ppyɮ%A!prNW@AJr{DRr{DjrZ>rY(}d@NK)*R@He@rrݸWp? YDx?!?ZrQ =br;0r`b@1=N*z@O@ńf@zr&? \i?q*4?2rTC:r`D"rV(?*r>~BreCrV(?r>~“reCrwDr7T>"*2ʎj`f@Z/?iɢm&)i mu׾ii)uwqqiup໩}Qɧ}駅{_iT>9IT> T>IA?A?AIIO>) B B B $HB FBB B B B 0;B 8E۽, NW@A>=>X>>a^ٱ> FAHRS rotation from veh to nav: [[0.944305,-0.321372,-0.070761],[0.328373,0.934250,0.139098],[0.021406,-0.154587,0.987747]]>H 7?\Կ\?_??`^?ÿ?i>=I>`];>qCYnkFByn HieMb@Mb@Mb@aaaa a9eQ?Mb`?S㥛?Ye?ye;e/Q I?CI ;ii ;!4yVBɮA E"*2ꏁʎjZལ?ɢ<) ) /ʾi1)5)|99i=M޻EQɧEMiM>m[sqIu> u>IyAIIOI>Ee Ee3Ee,Ea"Ee);*Eet ;VEeg4ZEaBEeO2ٱ2e >AHRS rotation from veh to nav: [[0.944714,-0.320127,-0.070955],[0.327170,0.934678,0.139059],[0.021804,-0.154585,0.987739]]2H;?|Կ* [? ??@S?oÿ?i2=I2~];2sCYFyFByJHbDR VDR:2yZ=%Z[=ٔZTQ-^>9\Y|=~dGy|f[E> Q 54 af?Q 94 d) LBYy>Q I? CI :i ; 4yAɮEiAA"*2ꏹʎjZ?ɢ1) Sþi)d I t#> t#>I ԉII!O- >bE jE rO4rE W0E  E E *E "E [";*E ^:VE (N4ZE a @a @a @a @ ,-OW@A2a"=2>2;ʳٱ2 :AHRS rotation from veh to nav: [[0.945187,-0.318735,-0.070920],[0.325791,0.935135,0.139222],[0.021945,-0.154696,0.987718]]2H>?&fԿ@'??? x?ÿc?i2a"=I2t];2qCYRFByR+H`iMb@Mb@Mb@ 9 ףp= ?l? ףp= ?YQ?y=Q8=A A)YbDVDk1y^<%7=ٔQ->9Y=dGyFZE > Q 54 f?Q 94 ) LBY ?Q E:yd>Q I? 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JAHRS rotation from veh to nav: [[0.966988,-0.250537,-0.046529],[0.254677,0.956337,0.143382],[0.008575,-0.150499,0.988573]]6H ?п`ҧL?P?WZ?໏?Cÿc?i6}!=I6 +_;6cCqY}rIBy}HbD VD2yH %1=ٔ:Q->9Y=dGyRE>Q 54o?Q 94)NBYy>Q I?CIl:id:G\4yɮAE"*2ʎ jZ@H@AɢMaL<)I M.>iI)U?3QQiU4V]nɧ];]=yi]>]:YIe> e>IaA?A>ԡA.AIIOE>E  E E )E "E ;*E S:VE FA4ZE BE mF"ٱFf RAHRS rotation from veh to nav: [[0.967696,-0.248133,-0.044664],[0.252026,0.956901,0.144306],[0.006932,-0.150901,0.988525]]FH ]?Ͽ)ަ0!? ?x? Nd|?Pÿ`?iF@=IFM_;F`CTV_AiXIXXIXiZOUA X\)\\ \`````I`)`id)dIddd dhj_AjzijFhiln_A)n nEIlYlYvIByvHz=z=iMb@Mb@Mb@ 9d;O?{Gz~jthY?yףDAAA (A)YAbD-VD-02y=-'=%=Q=ٔ=y;Q-=>9E ?YE ?=EdGyE?FMEM>QQ 5]4Uʸo?Q 9]4US)UNBY]?Q E]:y]Ca>Q I]?UCIU:iU:Uc4ymtBɮm˾Ai"*2ꏉʎjZwI@AɢEP<)A E^>iA)M.IIiM`fWiQIQrɧ駥<_iM>z4:.IM> M>IA؟AI I!O-N>) Q Q,L[W@AB:h>B8B:HB:IBB: =B8B8B:Z;B:;EEF EFEDED"EF1;*EFk:VEDZEDBEFk<2EFk<JEFF<:EFFbc/ٱb: jAHRS rotation from veh to nav: [[0.968056,-0.246931,-0.043496],[0.250664,0.957194,0.144730],[0.005896,-0.151009,0.988515]]bH Q? rϿE ? V??@%x?GTÿ?ibz=Ib#_;b^CYxIByHbDVD0y%ʼ%%K=ٔ-(;Q-->9U"?YU"?=UdGyQU)cE]>YQ 5e4];o?Q 9m4])]NBYiym_>Q Im?]֮CI]o;i];]9j4yyɮ}߾Ay"*2ꏙʎjZ~GI@ɢ]<) G>i)*iX>ɧs/Ci>:I> >I)IIO%,>Yԉ :,[W@A4jWV =j05>jCjٱj vAHRS rotation from veh to nav: [[0.968313,-0.246089,-0.042540],[0.249686,0.957465,0.144628],[0.005140,-0.150667,0.988571]]jH@l? Ͽǥ ??(?@B u? Iÿ@`?ijWV =Ij`;jaCY}nIBy}Hi=Mb@Mb@Mb@9999 99=I +?MbQ?Y=9?y==u<=5A9 9)99Y=AbDUVDU:ye3%eG=ٔm:Q-m>9iYi=udGyu@Fu"Eu>yQ 54}o?Q 94})}NBYT?Q E:ypj>Q I?}CI}:i}v:}Wq4yɮAE"*2ꏹʎjZ@{I@ɢq<) i>i)PI%i YNɧ~SS2)i )^> eށ: I )^> )^>IA!zA%ZAE EEE"E;*E:VEZEa@a@a@a@ I)I9OE0>1a d,[W@A$$F!=F>F}ٱF NAHRS rotation from veh to nav: [[0.968573,-0.245229,-0.041579],[0.248692,0.957702,0.144771],[0.004318,-0.150562,0.988591]]FH ?cϿI` ??ۇ?`q?Eÿ ?iF!=IF_;F`CYVIByVH\^AbDbVDbN2yj=%jh=ٔj;Q-n>9)Y)=-dGy)59E5>99Q 5E4=o?Q 9M4=S)=NBYIyMbi>Q IM?=CI9i=Q:=w4yUuBɮUA] E"yy*y2yꏁʎjZ&I@颱ɢc<) >i) 项idZCˊɧ]6"i]>q(:I]> ]>Ii^A?B:B]<A]<BaBaBaBaBaBaBaBe;Be;EIIO^>bE jE ƏB4rE n/E EE(E"E;*E*:VEc44ZEBE?r:{yٱ:' BAHRS rotation from veh to nav: [[0.968758,-0.244620,-0.040839],[0.247977,0.957950,0.144357],[0.003810,-0.149974,0.988683]]:H?OϿ`褿೽?@?Fz?`*5o?@X2ÿI?i:=I:_;8YNIByNHbDVVDV02y^K %bK=ٔbx:Q-b>9`Yd=fdGyfAFfEf>hQ 5n4j|p?Q 9r4j)jNBYpyrh>Q Ir?j,CIj:ij:j~4ytɮvAx"*2ʎj!Z%@LI@ԑɢf<) >i)i[$ۊɧ/iۓ>s1|:Iۓ> ۓ>I^AIaIqO}=D zD AAE  E E E "E ;*E :VE ZE a @a @a @a @ uy,@A2Q=2>2oWٱ2 :AHRS rotation from veh to nav: [[0.968868,-0.244303,-0.040131],[0.247555,0.958125,0.143923],[0.003289,-0.149377,0.988775]]2H?@PEϿ??l?Jj?ÿ@ ?i2Q=I2_;2_CYBIByBHi Mb@Mb@Mb@     9 (\?{Gz?Q?Y z?y #< \= AA A )  Y AbD%VD%1y5` =%=C=ٔ=:Q-=>99YA=EdGyAETEE>IQ 5U4M.p?Q 9]4M<)MNBY]?Q E]:y]l>Q I]?MKCIM>;iM;Mڅ4yevBɮmAm E"*2ꏉ)ʎ111j1Z5J@颁ɢ<) >i)0顑i)\"銽ɧ駝 λic>w:Ic> c>I U'i>UCkG!-CC9)Y-)A^A0AA>I9IIOUu>Iy ],ʉ\W@AEF EFEF*ED"EF;*EF':VEF(N4ZEDB8B8B:HB:IBB: =B8B8B:;B:;ER=Rh>R$ٱR ZAHRS rotation from veh to nav: [[0.968712,-0.245101,-0.039031],[0.248176,0.958200,0.142345],[0.002510,-0.147578,0.989047]]RH? v_Ͽ`@=?@?Z8?Td?¿F?iR=IR_;R^CY~IBy HbD VDf2y%qB=%%L=ٔ%:Q-%>9)Y)=-dGy-BF5:E5>9Q 5E4=*p?Q 9E4=)=NBYAyE>Q IE?=iCI=y:i=:=ڌ4yQɮU~AQ"qq*q2qyyyʎyyjZ,EJ@颩ɢx<) >i)z项i8'^ɧ@ؽin>s:In> n>I@@@@QԁIyIO~>ԩ ,g\W@AF@=F}>F ٱF  RAHRS rotation from veh to nav: [[0.968634,-0.245573,-0.037982],[0.248486,0.958308,0.141072],[0.001755,-0.146085,0.989270]]FH` ?@nϿ@_r f?t?@?\?@¿?iF@=IF `;F`CY^IBy^HiuMb@Mb@Mb@qqqq q9u-?+?l?Yu??yu=u=quA q)u5AqYuAbDVD0y%B=ٔB:Q->9Y=dGy$G:E>Q 54=p?Q 94|)NBY?Q E:y!>Q I?CI:i;94yɮA E"*2 ʎ   j Z/{J@9ɢ=<)9 =>iA)E AAiEQ_M,ɧMSŽMܝiMQ>ԱUrho:IQ> Q>IDD=E EE+E"E;*EǙ:VE [4ZEBEo 1 b ,A5\W@A2 =2HZ>2hٱ2Q :AHRS rotation from veh to nav: [[0.968255,-0.247237,-0.036827],[0.249963,0.958290,0.138563],[0.001033,-0.143370,0.989669]]2H?wϿۢ?N?p?@P? Y¿]?i2 =I2=`;2^CY^IBy^HbDjVDjyr1(=%rX=ٔr:Q-r>9tYt=vdGyvCFvك;Ez>xQ 5~4zPOp?Q 94z)zNBYy֧>Q I?zCIz+;iz&;zҚ4y eBɮ2AE"11*1219ʎjZJ@ ɢ m<)  >i) ia~`=zɧ==͐i=9Q>=Mk:9IE9Q> E9Q>IAAqzAu]AIIO=9AYA]?ABaBaBe HBeIBBe =BaBaBe ;Be;EE EE*E"E;*E:VE(N4ZEBEN\<2EO\<JE<:E:ٱ: FAHRS rotation from veh to nav: [[0.967922,-0.248650,-0.036047],[0.251249,0.958185,0.136947],[0.000487,-0.141611,0.989922]]:H8?Ͽ@tt?t?@~?_??P ¿`q?i:=I:/`;:_CYIByH 4<p<bDVD1y<%/=ٔ:Q->9Y=dGy:;E>Q 54ep?Q 94M)OBYyw>Q I?ǯCI:iB:4yɮ,AE"*2ʎ!j!Z%J@IɢM[<)Q U>iQ)UQQiUa]ɧ]eFie>ef:aIe> e>IiԱIIaO>>PExceeded connect timeout, disconnecting.D zD @AE  E E ,E "E 1;*E B:VE g4ZE a @a @a @a @Y <,h\W@A2ap=2r؂>27ٱ2H[ :AHRS rotation from veh to nav: [[0.967523,-0.250314,-0.035259],[0.252785,0.958056,0.135012],[-0.000016,-0.139540,0.990216]]2H?$пm -?e?H?Cpگ?i2ap=I2_;0 @)@@@@FsCDiF`eIDFIDiD JףH)HH J`AJDLLLLINT)PiP)RCIR`ARTP TTVlATiTTiZ@CX)X XIXYXY%IBy% HiMb@Mb@Mb@ 97A`?T㥛 ?Zd;O?Y?y=j<MAA A)(AYbD VD 0yϯ<%V=ٔX:Q->9!Y!=%dGy%DF%;E->)Q 5=4-vp?Q 9=4-+)- OBY=?Q E=:y=>Q IE?-CI- ;i-` ;-4yMfBɮMAME"*2ꏩʎjZK@)ɢM<)Q U>iQ)U`YYi]pbe ɧeӢeBim>mc:I> >III1O= >Iqԡ BY BY B] %HB] IBBY BY B] DB] ;B] ;EB)B)B)B-̙ =B-̙ =C-̋4 ,\W@AE  E"E".E "E *E":VE"ـ4ZE BE"kHF=>.>>^_:ٱ>M JAHRS rotation from veh to nav: [[0.967161,-0.251841,-0.034291],[0.254163,0.957861,0.133806],[-0.000852,-0.138127,0.990414]]>H?@(п 4D?˦? ?@K$y?i>HF=I>b_;>`CQYIBy"HbDVD0yƋ;%J=ٔV;Q->9Y=dGy  {f;E >Q 54p?Q 94)OBY!y%o>Q I%?CI`:i6:4y)ɮ-A1"IQ*Q2QQQQʎYYYjYZ]KK@颉ɢ2<)  >i ) Aicdw!ɧ᤽烻iS~>[_:IS~> %S~>I!A5>A5?IIO=ԁԩ  nManaging dock network, ignoring radio surface power off&, \W@A2%=2\^>2~:ٱ2k :AHRS rotation from veh to nav: [[0.966765,-0.253454,-0.033554],[0.255662,0.957640,0.132527],[-0.001457,-0.136701,0.990611]]2H? 8п-\???@OW h?i2%=I2^;0Y~IBy*H %> B?ԹiMb@Mb@Mb@ 9x?+?Mb?YK?y=<AAԶA (A)AYAbD VD2y<%K=ٔ:Q->9Y=dGyEFb|;E> Q 54 ^p?Q 94 ) OBY?Q E:y>Q I? "CI ;i ; 4y%gBɮ%A-EPEB*** querying acoustic contact ***A A"II*I2IQQQʎQYYjYZ]K@颁ɢ2"<) >i)ܻ顉iMeF*ɧݱ駝KiR>\:IR> R>IEU EUEU'EQ"EUs!;*EU':VEU'4ZEQa]@a]@a]@ae@A.AIIO)>5 2Acoustic response timeout5 Querying Benthos address 50 with one ping in standard two-way mode.A -,%ʶ\W@A6%/=6j>6^~:ٱ6s> BAHRS rotation from veh to nav: [[0.966146,-0.255799,-0.033606],[0.257992,0.957040,0.132339],[-0.001690,-0.136529,0.990635]]6H ?_п4 ?@?}?ʯ[y`G?i6%/=I6 ^;6]CYJIByJHbDR VDR:2yZr%Za=ٔ^7(:Q-^>9^ ?Yb ?=bdGy`b;Eb>dQ 5j4f8p?Q 9j4fR)f OBYlyn>Q In?f>CIf ;ifB;f4ypɮv'At"  * 2   ʎjZK@AɢEx<)A M>>iI)MHһIIiMmfU3ɧUUi]'>]6Y:YI]'> ]'>IaA؟AIIO=*DAT read: user:365> BDAT read: Tx time:00:18:58.7282 $Ping request sent.BB1HBIBBBBB(;B;EEe EeEe*Ea"Ee1;*Ee:VEe(N4ZEaBEaam2EaamJEe2K ;ٱ2 :AHRS rotation from veh to nav: [[0.965813,-0.257092,-0.033298],[0.259231,0.956720,0.132238],[-0.002141,-0.136349,0.990659]]2H? 3tп i 95"?Y5"?=5dGy5FF=dH;E=>AQ 5M4Ep?Q 9M4Eˡ)E OBYIyM>Q IM?E^CIE):iE:Emň4yYɮ]A]E"yy*y2ꏁʎjZK@颱ɢ<) >i)a:ƻiSg.>ɧν{㤻i6>U:I6> 6>IAzA[AqA%.AI1IQO}>ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502896Em  Em Em ,Ei "Em ;*Em ՚:VEm g4ZEi au @au @au @au @ ":,\W@A2z;=2>210;ٱ2 :AHRS rotation from veh to nav: [[0.965385,-0.258778,-0.032651],[0.260816,0.956450,0.131069],[-0.002689,-0.135048,0.990835]]2Hn?`ҏп 5?`9 ?Y ?=dGy;E>Q 54p?Q 94[)OBY?Q E:y>Q I?}CI:i:̈4yhBɮSAE"*2ʎjZL@ɢ<) >i)i.h%Iɧ%ٽ%%i%˔>% S:)I-˔> -˔>I)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755438AIIO>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006916B j>B B B B B B B `;B ;E A,^]W@AbE5T4jE5T4rE5 0E EE+E"E;*E:VE [4ZEBEq_F6;ٱFze NAHRS rotation from veh to nav: [[0.964945,-0.260406,-0.032694],[0.262436,0.956051,0.130744],[-0.002789,-0.134741,0.990877]]FH@?`~п R?@? 9?f2?C?iFZB=IFP^;DYVIByVHbDbVDb1yjo%jV=ٔj09Q-j>9lYl=rdGyrGFr;Er>tQ 5z4vp?Q 9z4v)vNBYxy~>Q I~?vCIv;ivL;vYӈ4yɮZA"!)*)2))))ʎ)11j1Z5@IL@aɢe<)a e>ia)m湰iiimiuTɧuuiu>gP:I> >I9AAIQIaOm>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258875Yԁ 4G,6]W@A0>PF=>z>>VF;ٱ>S FAHRS rotation from veh to nav: [[0.964678,-0.261399,-0.032677],[0.263416,0.955739,0.131053],[-0.003026,-0.135031,0.990837]]>H?ºп `?j?W?`h@H ?i>PF=I> ];>]CYRIByR Hi%Mb@Mb@Mb@!!!! !9%`"?v/?9Qechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511023YY=edGyam8;Em>qQ 5}4uIp?Q 9}4u̚)uNBY?Q E:y>Q I?uCIu ;iu ;uڈ4yiBɮOAE"*2ꏱʎjZ}L@颁ɢo<) >i)顉i jaɧ{駽0ciQ>gM:IQ> Q>IA>A>E= E=E=*E9"E=;*E=B:VE=(N4ZE9aM@aM@aM@aM@ԑAE؟AIIIYOm5>Թ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763268u G  9 Y kA^M,Q8]W@A2zJJ=2>2sHP;ٱ2h :AHRS rotation from veh to nav: [[0.964434,-0.262276,-0.032835],[0.264305,0.955401,0.131728],[-0.003178,-0.135721,0.990742]]2H?@#п@Ϡ^?ऒ?@t? j@P_(?i2zJJ=I26];2_CYFIByF'HJ=J=LL`bDrVDr1y~w=%~P=ٔ9Q->9 "?Y "?=dGyHFv;E>)Q 554- q?Q 9=4-)-NBYAyEz>Q IE?-ذCI-XD;i-D;-4yQɮUAQ"*2ꏑʎjZ²L@ɢ<) >i) illɧ޽Di>րK:I> >I AAIQIamchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014972O}>AA@ABBBBB =BBB;B 2R_;ٱ2 :AHRS rotation from veh to nav: [[0.964233,-0.263045,-0.032597],[0.265035,0.955249,0.131357],[-0.003414,-0.135298,0.990799]]2H?пW?`g? Q?fkuQ ?i2,eM=I2];2aCYRIByRHbDZVDZ02yb%fN=ٔf:Q-f>9dYh=jdGyhj5:Ej>pQ 5r4r]q?Q 9v4rv)rNBYtyv>Q Iv?rCIr:ir:r4yzjBɮ~i)MiEm xɧ ܽ hi > f$I:I> >IAaqIIO#>}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518967ԑDI zDI EU  EU EQ EQ "EU +$;*EU :VEQ ZEQ a] @a] @a] @a] @ *pZ,k]W@A2 %N=2o>2me;ٱ2R :AHRS rotation from veh to nav: [[0.964184,-0.263220,-0.032629],[0.265212,0.955153,0.131701],[-0.003501,-0.135637,0.990752]]2H ?п:?? ?l\`>?i2 %N=I2];2\CYBIByBHiMb@Mb@Mb@ 9A`"?L7A`? rhY?y+=CMAA )AYAbD-VD-1y55%=C=ٔ=yX9Q-=>9AYA=EdGyEIFM9EM>QQ 5U4ԙUg2q?Q 94Ue)UNBYa?Q E:yn>Q I?UCIUpi)*i_hnchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771066ɧŽiX>ՖF:IX> X>IA[AzAZAAE.AIIIYOm5> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022973! B l>B B %HB IBB B B B ;B MB{;ٱB8 fAHRS rotation from veh to nav: [[0.964056,-0.263738,-0.032222],[0.265671,0.955088,0.131248],[-0.003841,-0.135091,0.990826]]BH?п_`?@?@?@/vo J ش?iBP=IB%];B^CYnIBynHbDzVDzk2y(ݼ%L=ٔ^:Q->9  ?Y  ?= dGy $:E>Q 5%4Eq?Q 9%4j)NBY!y%>Q I%?5CI;i;4y1ɮ5{A1"QQ*Q2QQYYʎYYajaZeHMM@颉ɢ1<) >i)U r顑iso7ɧ駥i@>|kD:I@> @>IAm؟AIqIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2749321i φg,]W@A6jS=6>6x;ٱ6 >AHRS rotation from veh to nav: [[0.963826,-0.264520,-0.032678],[0.266504,0.954717,0.132254],[-0.003786,-0.136178,0.990677]]6H?пd? ??VoJn?i6jS=I6];6[CYFIByFH=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526944i]Mb@Mb@Mb@YYYY Y9]On??I +Y]?y]<]94YY Y)]AYY]\AbDqVDqy1%C=ٔA Q->9"?Y"?=dGyJF,;E>Q 54Yq?Q 94k)NBY?Q E:y>Q I?UCIj:i;4ykBɮA E"*2ʎjZڂM@ɢc<) >i)ӱ\ip%"ɧ%%cli%>-A:I)I> >ID =D <E EEE"Ex;*E՚:VEZEa%@a%@a%@a%@AI!I1OE0>yԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778940 Dm,.Y]W@ABíS=B >B.Y;ٱB) NAHRS rotation from veh to nav: [[0.963823,-0.264568,-0.032398],[0.266514,0.954709,0.132293],[-0.004069,-0.136142,0.990681]]BH`?@п@???"pm?iBíS=IB5\];B]CY^IBy^HbDjVDjyvX]<%zU=ٔzA:Q-z>9|Ya=edGyam_7Em>qQ 5}4ulq?Q 9}4u)uNBYyy>Q I?usCIu ;iuL ;u4yZBɮ>AE"*2ꏱʎjZ@M@ɢ<) >i)XHiqJɧq Ai>Վ?:I> >IA?A>ԱUchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030971AaIqIO>B%<A!B-m>B)B-HB-IBB)B)B)B-Ņ;B-U2ǐ;ٱ2 >AHRS rotation from veh to nav: [[0.963803,-0.264676,-0.032084],[0.266577,0.954674,0.132419],[-0.004418,-0.136179,0.990674]]2H@z?tп`Vm??@?rNn?i2XS=I2E6];0Y~IBy~HbDVD1y%5Ƽ%%G=ٔ%^:Q-%>9)Y)=-dGy-KF5f/9E5>9Q 5E4=q?Q 9E4=)=NBYIyM$>Q IM?=CI=:i=:= 4yU[BɮUVAUE"*2ʎjZM@ ɢ i<) >i)b3ir%:ɧ%<%i%@>%W=:!I%@> -@>I)AIIO>A]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534915D) zD) EE  EE EE )EA "EE ;*EE ՚:VEE FA4ZEA aU @aU @aU @aU @i z,]W@A 6<8T=6n1>6務;ٱ6. >AHRS rotation from veh to nav: [[0.963785,-0.264768,-0.031888],[0.266640,0.954621,0.132670],[-0.004686,-0.136368,0.990647]]6H S?пS ?A?U?x1sta?i6<8T=I6I];4YfIByfHimMb@Mb@Mb@iiii i9mzG?Mbp?MbpYm ?ym;mii i)iiYibDVD:2y<%B=ٔ&:Q->9Y=dGy1#9E>Q 54ܓq?Q 94؊)NBY ?Q E:y(>Q I?CIB;iTA;`4y\Bɮ@AE"*!2!!!)ʎ)))DAT read: 00:19:02.4310 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 448,-0.14,-1.859, 2.577,-1.969,-2.044, PHS= 0.286,-1.618, 0.031, RAW= 142.9, 14.4, CAL= 142.3, 15.6, ROT= 7.7, -15.6 Ygot valid direction response: 00:19:02.4310 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 448,-0.14,-1.859, 2.577,-1.969,-2.044, PHS= 0.286,-1.618, 0.031, RAW= 142.9, 14.4, CAL= 142.3, 15.6, ROT= 7.7, -15.6 PDAT read: Bearing 184.8, 5.0 (Local) ~Local bearing/azimuth received: Bearing 184.8, 5.0 (Local) DAT read: Range 11 to 50 : 974.1 m (Round-trip 1298.8 ms) speed 0.7 m/s R#Rx 1: Read range and direction messages. \direction in FSK: [0.954478,0.129050,0.268920] Fpublishing direction and range infoyyEH?M㹄?]^|5?YsD )In>iϿ<@>\@ 'g>) >I'g\0?kb"?VlZ? >)ĀI >i'gj1ZM s?i颱ɢj<) >i)r项iDs ɧ-ż-i-ϖ>-u::)I-ϖ> 5ϖ>I1AyIԙIOb> B! B% @CB% HB% IBB% =B! B! B% ̅;B% ]?Bn~?ih4?2C:TD"0@?*%yjGBnC0@?%yjG“nC0kD>"11*121999ʎ9AAjEp@ZE@'?ɢv;<) ,>i) itɧ%̛%Gyi%N>%<7:!I%N> %N>I)A]\AzA]\AIQIaOm>! Շ, ^W@A44x%WV=%>%t9;ٱ%q 5AHRS rotation from veh to nav: [[0.963606,-0.265469,-0.031471],[0.267280,0.954514,0.132151],[-0.005042,-0.135753,0.990730]]%H?qп@@?`a?R?(tZ`@?i%WV=I%4];%[CYMoIByMHi Mb@Mb@Mb@     9 bX9?Mb`?Y E?y  ;  ԶA )  Y AbD!VD!y5j%55=ٔ=e9Q-=>99Y9==dGyEMFEfZ:EE>IQ 5U4MKq?Q 9U4Me)MNBY]E?Q E]:y]Ŋ>Q I]?MCIM8;iM;M!4yaɮmAmE"*2ꏉʎjZ)?ɢH/<) ڷ>i)i|uTɧ٢<;G:i>4:I> >IE EE*E"E+$;*EVE(N4ZEa@a@a@a@IIO+>Iy , :^W@AFsZ=F>F;ٱF NAHRS rotation from veh to nav: [[0.963375,-0.266343,-0.031142],[0.268105,0.954375,0.131486],[-0.005299,-0.135020,0.990829]]FH? ѿ 㟿(?9Y=dGy;E>!Q 5-4%q?Q 9-4%)!Y1y55>Q I5?% CI%>:i%:%1(4y9ɮ=AAY"aa*a2iiiiʎiiqjqZuF?颙ɢ<) ,>i)?ʺ顩ivɧ "=駵;ir>^G2:Ir> r>II9IIO=ԁAAAABn>BBHBIBBBBBۅ;Bm2o;ٱ28 :AHRS rotation from veh to nav: [[0.963160,-0.267181,-0.030607],[0.268865,0.954204,0.131174],[-0.005842,-0.134571,0.990887]]2H`5?~ѿiW`5?ֈ?`S?w9 X?i2<]=I2<2];0Y^gIBybHbDjVDj2yr!%rM=ٔr:Q-r>9tYt=vdGyvNFv';Ez>xQ 5~4zq?Q 94z:)zNBYy>Q I?z)CIz;iz;z$/4y ]BɮAE"*2ꏱԹʎjZ`7^?ɢ<) >i)iғw씋ɧ *y= UG;i > b/: I > >IA%?A%>IIO =E  E E E "E 7;*E :VE ZE a% @a% @a% @a% @9 ,KYn^W@A2]`=2 >2i;ٱ2- :AHRS rotation from veh to nav: [[0.962983,-0.267831,-0.030497],[0.269495,0.954028,0.131164],[-0.006035,-0.134528,0.990891]]2H?`&$ѿ`:f??d??@x48b?i2]`=I2F];0YNUIByRHV=V=iUMb@Mb@Mb@QQQQ mi>mvC Q9UzG?~jtx?Mb`?YU ?yU;QQQ Q)QQYQ5PGIabDiVDiiߑIߑxX9YB9Y=dGy~:E> Q 5m4 /q?Q 9u4 .) NBYu ?Q Eu:yu>Q Iu? MCI ;i  ; e74y}^BɮоAE"*2ꏡʎjZj@ɢn<) ͪ>i)THvi"yxŠɧz=a;i&> ,:I&> &>IIiIO>AiB B B HB zIBB B B B Ӆ;B eN;ٱN5 VAHRS rotation from veh to nav: [[0.962873,-0.268258,-0.030228],[0.269880,0.953903,0.131274],[-0.006381,-0.134558,0.990885]]NH`?`$+ѿ E?`?`?@"z /9T?iNb=IN?];N]CqY}jIBy}HbDVDyAV=%N=ٔ g:Q->9Y=dGyOF:E>Q 54r?Q 94y)NBYyO>Q I?jCIB:i:A>4yɮA"*2ʎjZ?w@!ɢ-v<)) -l>i))5x/11i5cy=ɧ=f==;i= >=P):9IE > E >IAIIO >ԩ V!,^W@Ard=r+>r;ٱr zAHRS rotation from veh to nav: [[0.962739,-0.268732,-0.030286],[0.270354,0.953687,0.131870],[-0.006555,-0.135144,0.990804]]rH?@2ѿ ,@yM???zeL@?ird=Ir];rZC_Ai I  I i KUA ) q@I)i!)!I!!! !)-_A-i-F)i15_A)5% 5EI1Y1YEfIByEHiMb@Mb@Mb@ 9(\?:v?Yz?yT<A )Y\AbDVDy9%V=ٔ99Q->9Y=dGyc:E>Q 5 4r?Q 94~)NBY?Q E:y>Q I?CI;i/;D4y_Bɮ%A%EE EEE"E;*E:VEZEa@a@a@a@"*2!ʎ!!!j!Z-Q@频ɢ<) 5>i)?Ź顙iSzsɧF=Qk;i w>R@&:I w>  w>IAzAZAA1IAIYOmV>! H,d^W@A6+f=6pk>6;ٱ6 >AHRS rotation from veh to nav: [[0.962604,-0.269231,-0.030135],[0.270826,0.953517,0.132133],[-0.006840,-0.135353,0.990774]]6H@?@;ѿ۞5U?5?? |@AS`k?i6+f=I6L[];6[CY-[IBy5H9=AbDEVDEyټ%R=ٔ?:Q->9Y=dGyPF#:E>Q 54 -r?Q 94})NBYyɗ>Q I?CIK:i :K4yɮǾA"*2ʎjZ@ @ɢ(<) >i)iL,{%gɧ%A>%@i;i-ޚ>-%#:)I-ޚ> -ޚ>I)QAm.ABm<Am<BqBqBuHBupIBBqBqBqBuȅ;BuZE EE(E"E;*EVEc44ZEBE%d2=;ٱ2 :AHRS rotation from veh to nav: [[0.962507,-0.269630,-0.029654],[0.271158,0.953465,0.131826],[-0.007271,-0.134924,0.990829]]2H`? Aѿ ~]@Z?Ȃ??}`/Eߴ?i2-sg=I2];2ZC@YYIByHbD-VD-βy=%EO=ٔE:Q-E>9E ?YM ?=MdGyIMe:EM>QQ 54U?r?Q 94UE{)UNBYy>Q I?UCIUdiq)u9qyi} |jWɧ>駅r;iF> :IF> F>IԱA؟AIIO$>DzDAAE EE+E"E;*E:VE [4ZEa @a @a @a @ Z,4^W@AF%k=FO!>F;ٱFY RAHRS rotation from veh to nav: [[0.962225,-0.270625,-0.029764],[0.272160,0.953216,0.131562],[-0.007232,-0.134693,0.990861]]FH?Qѿ qzk?`??`џ}= "?iF%k=IFR];F\CY^VIBy^Hli]Mb@Mb@Mb@YYYY Y9]㥛 ?{Gz?MbPY]?y]#<]]AAY ]5A)]AYY]AbDm VDm2y %F=ٔWQ->9"?Y"?=dGyQF%;E>Q 54Rr?Q 94ry)NBY?Q E:y>Q I?CI:i:Y4yaBɮ۾A E"*2QQQYʎYYYjYZe@颩ɢ<) >i)%9iu|}Eɧ(>e:I> >IA?A? AE.AIQIiO}7>1Bi Bi Bm HBm fIBBi Bi Bi Bm ą;Bm V2u ;ٱ2 :AHRS rotation from veh to nav: [[0.962191,-0.270735,-0.029863],[0.272279,0.953111,0.132076],[-0.007295,-0.135213,0.990790]]2H D?Sѿ Km?@??@}} N?i28l=I22];2ZCYB_IByBH DDbDN VDN2yEP<%MN=ٔM%9Q-M>9U ?YU ?=UdGyQU~9YE]>aQ 5m4eer?Q 9m4ew)eNBYqyu•>Q Iu?eCIe:ie :e`4yyɮ}ǾA"*2ꏡʎjZ@B@ɢo<) >i)1:i#}3ɧ9>sl:I,> ,>IA ؟AII!O5 >ԁԱ p,c#_W@AOm=aT>G[;ٱL -AHRS rotation from veh to nav: [[0.962117,-0.270994,-0.029881],[0.272535,0.952981,0.132485],[-0.007427,-0.135609,0.990735]]H ?@Wѿ5q?~?A?Vk~`[?iOm=Iʏ];[CYEPIByEHԱiMb@Mb@Mb@ 9 +?{Gz?MbPY?yף< )AY\AbDVD0y%?=ٔ\9Q->9"?Y"?=dGyRF3#:E> Q 54 yr?Q 94 u) NBY?Q E:yn>Q I? 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BA,!+bW@AFL=F}>FaW<ٱF NAHRS rotation from veh to nav: [[0.955317,-0.294136,-0.029204],[0.295290,0.945316,0.138495],[-0.013129,-0.140930,0.989932]]FH?ҿ睿 ?@?0?㊿` ¿?iFL=IF+];FWCYZHByZHbDjVDjk1y7=%%O=ٔ-a9Q-5>9 ?Y ?=dGyD=DE EE.E"E;*EP:VEـ4ZEaE@aE@aE@aE@/Em>Q 54t?Q 94G5)MBYyB}>Q I?CIpi)i;顑i XЈɧ>駝c9I+> +>IAI)I9OMs>Qԁ *,GDbW@A2=2l>2Z<ٱ2 :AHRS rotation from veh to nav: [[0.955353,-0.294074,-0.028670],[0.295166,0.945482,0.137622],[-0.013364,-0.139940,0.990070]]2H?? ҿ[?dA??^@ম?i2=I2*];2UCYBHByBHiMb@Mb@Mb@ 99v? rh{Gz?Y?yC#=AA )AYbD-VD-y=<%=H=ٔ=:Q-=>9AYA=EdGyEbFMPEM>IYQ 5]4Mt?Q 9]4M3)MMBYeh?Q Ee:ye>Q Ie?MԶCIM/;iM>/;MB4yiɮmAq"*2BBBBBBBB;Bi)U;顑ioɧЩ>駝=ڇi9I> >IAzAԁIIO%>E  E E 'E "E ;*E 5:VE '4ZE BE a6_f[<ٱ6R >AHRS rotation from veh to nav: [[0.955241,-0.294462,-0.028421],[0.295527,0.945499,0.136735],[-0.013391,-0.139014,0.990200]]6HT? uҿ~?@A?? l3?i6Χ=I6Q];6TCYJHByJH R49`Y`=bdGy`fF:Ef>hQ 5n4j@t?Q 9n4j2)jMBYlyn>Q Ir?jCIj;ij;jqI4yvJBɮvAv E"  * 2 ʎjZl1@AɢM <)I M6>iI)M ;IQiU]ɧ]n>]]%69YIe*> e*>IaԱIqIO=DzDE5 E5E5+E1"E5;*E5B:VE5 [4ZE1aU@aU@aU@aU@qԙ f~,̘xbW@AF{=FF>Fqa<ٱF RAHRS rotation from veh to nav: [[0.955064,-0.295060,-0.028156],[0.296080,0.945302,0.136894],[-0.013776,-0.139078,0.990185]]FH?CҿԜ??? ?6R?iF{=IFx];FUCY HBy HiMb@Mb@Mb@ 9ʡE? rh?S㥫?Y-?yC</]=ȷA (A)AYAbD VD2y]=%:=ٔf:Q->9Y=dGycFѭ:E>Q 54%t?Q 94/)MBY?Q E:y>Q I?CI:if:Q4y:BɮKAE"*2!ʎ!!!j!Z-)2@Qɢ]v)<)Y ]O>iY)]o;Yaie㈼e:iɧm>m᭑m:9iImV> mV>I)IIO=Bt>BBHBHBB =BBB;B2wh<ٱ2Q >AHRS rotation from veh to nav: [[0.954815,-0.295895,-0.027840],[0.296863,0.945056,0.136899],[-0.014198,-0.138978,0.990194]]2H@׍?ҿ` ?`=?? ?i20=I2F];0YFHByFHbDNVDNkyV<%V^=ٔZF:Q-Z>9XYX=ZdGy\^k;E^>`Q 5f4bt?Q 9f4b.)bMBYhyj>Q Ij?b,CIb:ibw:bW4yn;BɮlrE"*2   ʎ  jZ`χ2@颙ɢP<) 2R>i)Sc;顡iaEɧ=>駭Pde9I<{> <{>IA?A>IYIiO}=Qyԩ ,TbW@A6P̫=6~>6q<ٱ6*%< BAHRS rotation from veh to nav: [[0.954645,-0.296470,-0.027529],[0.297382,0.944826,0.137364],[-0.014714,-0.139320,0.990138]]6H@t?]ҿ0@M?^a=bDfVDf0yj,%nG=ٔn:Q-n>9pYp=rdGyrdFvc:Ev>tQ 5~4vsu?Q 9~4v+)vMBY|y~j>Q I~?vJCIv;ivD;v^4y ɮ TAE EE+E"Ea;*E:VE [4ZEa @a @a @a@"qq*y2yꏁʎjZ2@iɢm@<)i uM>iq)uL}&ÿ9I> >IԩI I!O- >a w,1'bW@A6~_=6J>6s<ٱ60K >AHRS rotation from veh to nav: [[0.954414,-0.297216,-0.027515],[0.298115,0.944570,0.137531],[-0.014887,-0.139464,0.990115]]6H?`ӿ,P?@9??|@?i6~_=I6];6VCY^HBy^H9iMMb@Mb@Mb@IIII I9M-?Q?~jt?YM??yMu=MD=M5AMA MA)MAIYMAbDmVDm:2ByA}<BBBHBHBBBBB;B9Y=dGy:E>Q 54!u?Q 94=))MBY?Q E:y>Q I?jCI:i]:0f4y=BɮCAE"*q2qqqyʎyyyjyZ`b3@ɢR0<) GY>i)<ikɧ>Og@9IW> W>IiE EE)E"E;*E:VEFA4ZEBEaԑ ,bW@A2=2,>2u<ٱ2w :AHRS rotation from veh to nav: [[0.954025,-0.298452,-0.027625],[0.299351,0.944156,0.137693],[-0.015013,-0.139632,0.990090]]2H@_?ӿ@I(?6??󾎿sЮ?i2=I2y];0YrHByvHbD~VD~1y `% R=ٔ 9Q- >9Y=dGyeF\;E>!Q 5-4%L3u?Q 9-4%&)%NBY)y-p>Q I-?%CI%K:i%:%l4y=rBɮ='A=E"aa*a2aaaaʎiiijiZm 3@ԙ颡ɢN<) PQ>i)q<顩i1Շɧŭ>駽@9IL> L>IAzA^AIIO=E  E E +E "E  ;*E k:VE  [4ZE a5@a5@a5@a5@AY ˽,jbW@A2۲=2Pa>23y<ٱ2 :AHRS rotation from veh to nav: [[0.953607,-0.299774,-0.027717],[0.300668,0.943693,0.137990],[-0.015210,-0.139922,0.990046]]2H?/ӿa&>?2??0&`t?i2۲=I2i];2UCY^HBy^HdfAiMb@Mb@Mb@ 9Q?&1?L7A`?Y?y=+=(AȷA )AYAbDVD2y;=%@=ٔ{9Q->9Y=dGyT;E>Q 54,Fu?Q 94#)NBYA?Q E:y>Q I?CI ;i? ;Yt4yɮA"  * 2    ʎjZ`.4@1IɢM<)I M8e>iI)M? ]8}]u9aIeeS> eeS>IaII)O5=aBBACBHBHBBBBB;B)=>u>>q̀<ٱ> A FAHRS rotation from veh to nav: [[0.953276,-0.300846,-0.027524],[0.301693,0.943283,0.138561],[-0.015722,-0.140390,0.989971]]>H;?`AӿJ/ N?`_/?[?@Oح?i>)=I>]^;>TCY^HBy^HbDjVDjkyr.%rY=ٔr?:Q-r>9tYt=vdGyvfFz+;;Ez>|Q 54~Vu?Q 94~ Q =tI)~ NBYy[>Q I ?~ķCI~e ;i~L:~z4ysBɮ AE"11*121999ʎ9AAjAZE 4@iɢu<)q uc>iq)uK <iy&%kɧ%`>%Sg-l9)I-> ->I1ԑIIO= ,-cW@A6y=6>6j<ٱ6, BAHRS rotation from veh to nav: [[0.952591,-0.302999,-0.027610],[0.303847,0.942696,0.137841],[-0.015738,-0.139696,0.990069]]6H{?VdӿE ;r?*?ɤ?८?i6y=I6^;6VCYJHByJHbDRVDRN2yZ(%ZM=ٔ^ 8Q-^>9`Y`=bdGy`b;Eb>hQ 5n4jhu?Q 9n4j)jNBYpyr>Q Ir?jCIjX);ijF;j聊4ytBɮ -A"99*92AAAAʎIIIjQZUr4@D=D%=E EE/E"E0;*E8:VEJ4ZEa @a @a @a @颱ɢ<) 2R>i)F<i nXe xɧep>meO 9I> >IA>A>II9OM>I m,mGcW@A 2wн=2>2<ٱ2; >AHRS rotation from veh to nav: [[0.951976,-0.304916,-0.027709],[0.305763,0.942122,0.137533],[-0.015831,-0.139401,0.990110]]2Hv?ӿ`_`?%?`? 6 ?i2wн=I2"%^;2TCYFHByFHA!A%@AB%v>B!B%HB%HBB% =B!B!B%;B%9Y=dGygFL;E>Q 54&|u?Q 94)NBYM?Q E:yL?Q I?CI ;iP ;4yuBɮAE"*2 ʎ   j Zd5@9ɢ=<)9 =[`>i9)EMv0Mu9QIU:> U:>IYIIO=ibEUęT4jEUļP4rEUs0E EE'E"E;*E:VE'4ZEBEo2u<ٱ29 :AHRS rotation from veh to nav: [[0.951386,-0.306685,-0.028426],[0.307593,0.941332,0.138854],[-0.015826,-0.140848,0.989905]]2Hq? ӿ?`d??@4K¿L?i2=I2`^;2UCPYRHByRHbD^VD^yfO<%fZ=ٔfpQ-f>9hYh=jdGyhjc;En>pQ 5v4ru?Q 9v4r)rMBYtyv?Q Iv?r"CIr:ir[:r4yxɮ~ A|"!!*!2!!!)ʎ)))j)Z5"5@ɢl<) 8e>i)<i͊dPɧ4;>9IS0> S0>IAIIO>iIE EE.E"E;*EǙ:VEـ4ZEa@a@a@a@ %kCPG C9 Y H*A) ,#{cW@A6=6>6 <ٱ6.f >AHRS rotation from veh to nav: [[0.950774,-0.308577,-0.028438],[0.309471,0.940761,0.138549],[-0.016000,-0.140530,0.989947]]6Hl?@ӿ `a??? 6b@?i6=I65r^;6WC|YHByHonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 272.58, 230.39, 252.34 a@a a@a a@a a@a bDVDfyf%,=ٔ9Q->9Y=dGyhF ;E> Q 54 Vu?Q 94  ) MBQ A+:YQ E:yJ?Q I? GCI E:i m> ˖4y%wBɮ-JA-E"II*I2IQQQʎQQQjYZ]=6@颁ɢ*<) I>i))-<))i55>ɧ=G>=k;i=">=99I="> =">IAAqzAqA؟AIIOf>B%t>B!B%HB%HBB% =B!B!B%E;B%20<ٱ2 :AHRS rotation from veh to nav: [[0.950015,-0.310885,-0.028663],[0.311797,0.940084,0.137928],[-0.015934,-0.139971,0.990027]]2H f?`ӿY`{?+? ?P@N?i2Z=I2)C^;2VC @)@Bף@@@DiDIDDIDiF`aA F9H)HH HJTHLLN`AIL)LiP)PIPPP PTTTiTTiXX)X XIXYXY%HBy%HY=A9bDmVDmy3I%c=ٔ>Q->9"?Y"?=dGy;E>Q 54̲u?Q 9%4*)MBQ A% :Y!Q E%d:y%?Q I%?cCI;iY?4y-xBɮ5tA5 E"qq*y2yyyyʎyjZ-6@ɢ n<) 7>i))<i%C4ɧ%%=%h;i%L>%G9!I%L> %L>I)ԉIIIYOm5>Ա +,ڮcW@A:=:i>:҂<ٱ:  FAHRS rotation from veh to nav: [[0.949376,-0.312803,-0.028980],[0.313736,0.939416,0.138084],[-0.015969,-0.140186,0.989996]]:HIa?Կ 㬝@? ??,Z` ?i:=I:^;:TCYmHBymHDD<E EEE"E[";*E:VEZEa@a@a@a@bDԹVDJ2y;%F=ٔԱ8Q->9 Y=dGyiF%R;E->AQ 5]4Eau?Q 9e4E )EMBQ Am9YiQ Eu8:yuq?Q I}?ECIEG;iE?Eڞ4yhBɮ2AE"*2ʎjZ7@qɢu|u<)y }8>iy)D<顁iO+ɧ׏=駵$f;iW>s9IW> W>IIIOn>9 ,ݵcW@A2d=2C>2<ٱ2s >AHRS rotation from veh to nav: [[0.948852,-0.314357,-0.029311],[0.315312,0.938812,0.138601],[-0.016053,-0.140754,0.989915]]2H@\?mԿ.? ? ?/p6¿@a?i2d=I2 ^;2SCYFHByFHB`Ab<Bfw>BdBfHBfHBBf =BdBdBf_;Bf9iYi=mdGyimҎ;Eu>qQ 54uu?Q 94u0 )uMBQ AT:Y?Q E:y:>Q I?uCIu;iu;ut4y jBɮ XAE"IQ*Q2qqqyʎyyyjyZl7@ɢp&<) (>i)<ir'ɧC=Jk;iBř>]9 Bř>IA ?A IIO=E EE-E"E ;*E:VEt4ZEBER6 ܄<ٱ6 BAHRS rotation from veh to nav: [[0.948692,-0.314815,-0.029576],[0.315785,0.938492,0.139683],[-0.016217,-0.141856,0.989754]]6H[?%Կ1I5?`!?$?Q W(¿?i6j=I68_;6RCYHByH !!-=-=bD5VD52yEX%EL=ٔMq9Q-M>9IYI=UdGyUjFU:EU>YQ 5e4]Uu?Q 9e4]P)]MBYiymn>Q Im?]CI]N:i]:]u4yqɮuAq"*2ꏙʎjZ`(7@ɢ <) U>iQ)Uy!eJ.9aIe(> m(>IiqI1IIOm=ԡDzD@AE EE'E"E;*E:VE'4ZEa@a@a@a@ g, lcW@A29=2>2+<ٱ2_ :AHRS rotation from veh to nav: [[0.948413,-0.315630,-0.029850],[0.316622,0.938130,0.140222],[-0.016255,-0.142439,0.989670]]2H`eY?@I3Կ𐞿 C?*??2p;¿`?i29=I2y_;0YBxHByFHiMMb@Mb@Mb@IIII I9M1Zd?)\(?v/YM"?yMGa=MxiII MA)MAIYMAbDeVDeNyu%uG=ٔu8Q-}>9yYy=dGy ;E>Q 54u?Q 94)MBYt?Q E:y>Q I?CI ;i ;4ykBɮAE"*2ʎjZ468@ɢJ<) =i ) #<  i #ɧQx<F:i>U 9I> >I!IIO=Bv>BBHBHBB =BBB^;B2fa<ٱ2@ FAHRS rotation from veh to nav: [[0.948201,-0.316245,-0.030056],[0.317252,0.937858,0.140617],[-0.016281,-0.142868,0.989608]]2HW?Z=ԿƞM?@??`I¿ު?i2֕=I2KY_;2TCYZ`HByZrHbDf VDff2yv{%vS=ٔv8Q-z>9|Yq=udGyukF}:E}>Q 54v?Q 94G)sMBYyk>Q I?CI:i:4yɮA"*2ʎjZ38@ɢƇ<) =i)&K$<i "ɧ ; >x9i 4> 99 I 4> 4>Iԩ^AΒ{A[AzA[APExceeded connect timeout, disconnecting.A I I! O5 > iz ,$0dW@AB6=B>B ؅<ٱB=( NAHRS rotation from veh to nav: [[0.947948,-0.316988,-0.030219],[0.318006,0.937557,0.140920],[-0.016338,-0.143195,0.989560]]BH U?IԿ4Z?`x? ?`к 6T¿y?iB6=IB_;BQCYZ^HBy^oHbAbAbDjVDj0lyr;%vJ=ٔv9Q-v>9tYx=zdGyxzk;Ez>|Q 54~!v?Q 9 4~)~VMBY y >Q I ?~CI~:i|~m4ymBɮAE"99*9299AAʎAAAjIZMe9@D}4=D}R=E EE,E"E;*E:VEg4ZEa@a@a@a@颹ɢ$z<) =i)@%$J9Iz> z> I^A%<1AU.AIaIyO{>a a,IdW@AA0A2AAB6u>B4B6HB6|HBB4B4B4B6Y;B6F׆<ٱF. NAHRS rotation from veh to nav: [[0.947938,-0.316998,-0.030425],[0.318029,0.937403,0.141894],[-0.016460,-0.144183,0.989414]]FH@U?`IԿ`'Z?3? )?@ڐt¿G?iFC=IFA_;DYZEHByZQH9i5Mb@Mb@Mb@1111 195l?:v?&1Y5?y5T<5P11 5A)11Y5=AbDU VDU:2yek%eC=ٔm39Q-m>9m ?Ym ?=udGyulFu|8Eu>yQ 54}5v?Q 94})};MBY&?Q E:y>Q I?}>CI}*:i}:}Ȋ4yoBɮ1AE"19*929999ʎAAAjAZEp9@频ɢEs<) =i)w&<顡i&"ɧ;79i>g9I> >I@1@1@1@1iE EE(E"EO;*E*:VEc44ZEBE,Y ҋ,bcdW@A2nManaging dock network, ignoring radio surface power off6g=6>67<ٱ6 RAHRS rotation from veh to nav: [[0.947825,-0.317379,-0.029988],[0.318358,0.937431,0.140965],[-0.016627,-0.143158,0.989560]]6HT?OԿ@ _?@o?' ?R¿@z?i6g=I6f_;6TCYZ*HByZ0HbDbVDb1yj%jT=ٔnY9Q-n>9n"?Yr"?=rdGyprl:Er>tQ 5z4vGv?Q 9z4v)v"MBY|y~>Q I~?v[CIv;iv&;vϊ4yɮfA "))*)2)))1ʎ111j1Z=`9@aɢeLY<)a m+=ii)m&};9yI}> }>IA>A?ԡA.AIIO>E EEE"E ;*E՚:VEZEa@a@a@a@! ڵ, }dW@A2[U=2ſ>2Z<ٱ2  :AHRS rotation from veh to nav: [[0.947923,-0.317075,-0.030098],[0.318059,0.937398,0.141859],[-0.016766,-0.144044,0.989429]]2HaU?`JԿҞ[?)?o(?`!+ p¿g?i2[U=I2r_;2RCY^HBybH ``f=f=iMb@Mb@Mb@ 9zG?~jtX9vY ?yļԶA A)YA@AbDVD:y'%==ٔ9Q->9 ?Y ?=dGymF>E>Q 54{\v?Q 94)MBY_?Q E:yB>Q I?|CIa;i;׊4ypBɮAE" *2ʎjZ%`=:@IɢMA<)I Mxe9aIet> et>IiAIIO >!Bev>BaBeVHBeIHBBaBaBaBea;Be^<ٱ^H fAHRS rotation from veh to nav: [[0.947947,-0.317032,-0.029799],[0.317958,0.937298,0.142741],[-0.017323,-0.144786,0.989311]]^HU?AJԿ mY?X?TE?T¿p?i^'=I^̨^;^QCYrHByrHbDzVDzyJ^;%V=ٔ t:Q- >9 Y =dGy E>Q 5%4nv?Q 9%4U)MBY)y-0>Q I-?CI:id:݊4y1ɮ5A1"QQ*2ꏹʎjZ:@ ɢ E<)  E~9AIE> E>IAQA؟AIIOԁԩ -+,jdW@A:=:&>:ݑ<ٱ: fAHRS rotation from veh to nav: [[0.948276,-0.316047,-0.029785],[0.316947,0.937344,0.144673],[-0.017805,-0.146631,0.989031]]:HFX?:Կ  H? ??z;¿$?vGi:=I:W^;:UCMwL9IYM1AYU HByU HD]=D]<Ee EeEe*Ea"Ee;*Ee:VEe(N4ZEaam@am@am@am@bD}VD}k2y,%B=ٔ:Q->9"?Y"?=dGynFA%E>Q 54v?Q 94)LBYy>Q I?CII:i:4yrBɮAEԹ"*2ʎ!j)ZU ;@aɢ4<) F9I܋> ܋>IA\AzAZAAIIOn> 9 F2,BdW@ABA<Bw>BB$HB!HBBBBBw;B=EBw=Bj>BΕ<ٱBe JAHRS rotation from veh to nav: [[0.948650,-0.314951,-0.029468],[0.315798,0.937560,0.145782],[-0.018286,-0.147602,0.988878]]BHW[?)(Կ,6?`~?@?¿ ?iBw=IB$m^;BRCY~GBy~HiMb@Mb@Mb@ 9-?~jt{GztY??yף )YbDVDNy͓%I=ٔۚ:Q->9Y=dGyBE>Q 54Gv?Q 94)LBY?Q E:y>Q I?׹CI:i:44ysBɮAE"*2ʎjZ s;@)ɢ5<)1 Xi){'<iɊɧ_=L;i]6> 9I]6> ]6>IEu EuEu(Eq"Eux;*Euy:VEuc44ZEqBEuGgAi 8,4-dW@A2K=2b>2s<ٱ2 >AHRS rotation from veh to nav: [[0.949128,-0.313540,-0.029124],[0.314325,0.937827,0.147240],[-0.018853,-0.148904,0.988672]]2H B_? 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FAHRS rotation from veh to nav: [[0.951581,-0.305369,-0.035258],[0.307093,0.939255,0.153274],[-0.013689,-0.156681,0.987554]]>H Zs?+ӿ^ i?a?~?Ŀ ?i>ɧ=I>Z^;>HClYEByHbDVD:2yл%+=ٔӺQ->9  ?Y  ?=dGy^E>Q 5%4z?Q 9%4jg)*KBY)y-d>Q I-?CI :i|:4y5|Bɮ=A=E"YY*Y2YYYaʎaaajaZmUI@频ɢ) i)Q顙i>5奉ɧ+駥(iю>:Iю> ю>IA[AzA\A A%؟AIiIO`>9BAB>BBHBFBBBBB;B"6^O<ٱ6! >AHRS rotation from veh to nav: [[0.951984,-0.304001,-0.036204],[0.305887,0.939607,0.153533],[-0.012657,-0.157236,0.987480]]6H`v?tӿ\@?A?@?`뉿`M Ŀo?i6 =I6*^;6DC D)F3aAFףF8 FDHHiHIHHIHiL NjL)LP PPPPPV`AIT)TiT)TITVTX XXXXiX\i\^A)\ \I`Y`YfEByf[Hhh9i]Mb@Mb@Mb@YYYY Y9]I +?Mbp?MbPY]9?y];]YY Y)]AYY]zAbDuVDuky%d=ٔ9"?Y"?=dGyFkE>Q 54z?Q 94e)'KBY:?Q E:y>Q I?CI:i:4yɮ8A"*2ꏙʎjZI@ɢn) i)%r!!i%v2--ɉbE:4jE?4rE­<0E5 E5E5+E1"E5a;*E5:VE5 [4ZE1BE5hU ":QIU> U>IYaAIIOA>ԑ \C,jW@AG 0bJ9dYf20A &= > ><ٱ X! AHRS rotation from veh to nav: [[0.952279,-0.302967,-0.037092],[0.305007,0.939897,0.153509],[-0.011646,-0.157497,0.987451]] H`y?@cӿ=??1?`ه`(Ŀ`2?i &=I U_; FCԁYEByLHbDVDy%D=ٔ Q->9Y=dGyE>Q 54z?Q 94c)#KBYy>Q I?CI6:iN:4y}BɮUAE"*2!!!ʎ!!)j)Z-@ J@ɢ )  i)ji3/쉽ɧq]'i H> : I H> H>I ԱAiIqIO:>D!zD%AAE- E-E-*E)"E-;*E-5:VE-(N4ZE)a5@a5@a5@a5@ u,kW@ANʹ=N*>N,<ٱN." nAHRS rotation from veh to nav: [[0.952641,-0.301712,-0.038015],[0.303914,0.940264,0.153425],[-0.010545,-0.157712,0.987429]]NH |?>OӿvTs?@?j?`/Ŀ`?iNʹ=IN_;NHCB>BBuHBEBBBBBC;B;EYEByEOHi=Mb@Mb@Mb@9999 99= +?~jt?~jt?Y=?y=D<=<=A9 =A)99Y=AbDeVDe:2yu;%}2=ٔ}/Q->9Y=dGyF2$E>Q 54d{?Q 94ja)(KBY?Q E:y>Q I?:CI4X;iN;4y~BɮTAE"*2ʎjZ"HJ@ɢ)! % i!)%y!!i-,-Qɧ5J駭Յijt>`:Ijt> jt>IAA>AI IO-o>9E=  E= E= )E9 "E= ';*E= :VE= FA4ZE9 BE= 2Z<ٱ2{=" :AHRS rotation from veh to nav: [[0.953016,-0.300411,-0.038896],[0.302772,0.940671,0.153189],[-0.009431,-0.157769,0.987431]]2H@? 9ӿ9ꣿ`?`??P1Ŀ ?i2jT=I2[m`;2ICYBEByBCHJ=J=bDNVDN2yVW%V=ٔVDlQ-Z?9XYX=ZdGyX^E^?`Q 5f4b {?Q 9f4b_)b,KBYdyff>Q Ij?bRCIb:ib:bd4ylɮngAl"||*|2ʎ  j Z OoJ@1ɢ5<)9 =w i9)=mRAAiE7*M,ɧMfM+iM>Mcx:IIM> U>IQQAm.AIyIO=ԁԩ ,BkW@AD%=D=E EEE"E%;*Ey:VEZEa@a@a@a@Z=ZԌ>Z%#<ٱZ.! bAHRS rotation from veh to nav: [[0.952996,-0.300370,-0.039715],[0.302871,0.940855,0.151860],[-0.008248,-0.156751,0.987604]]ZH~?A9ӿ@U ?b? {?&p? X䀿@gĿ@s?iZ=IZa;ZHCYnEByn=HbDvVDvy~h;%~E=ٔ:Q->9 ?Y ?= dGy F 9E >Q 54P4{?Q 94])1KBY!y%o>Q I%?qCI;iW:4y-Bɮ-uA-E"II*Q2QQQQʎYYYjYZ]tJ@颉ɢ,&) i)3顑i-(7Nɧ駝ii&>::I&> &>IԩA؟AIIO >AA@ABBB\HBEBBBBB.;B;E 1 ,![kW@A2U=2Gh>2 ;ٱ2d :AHRS rotation from veh to nav: [[0.953089,-0.299942,-0.040699],[0.302609,0.941050,0.151172],[-0.007043,-0.156396,0.987669]]2H`? ?2ӿ֤ ]??Y?|Ŀ?i2U=I2a;0YFEByF*HiEMb@Mb@Mb@AAAA A9E ףp= ?+?Mb?YEQ?yE=E=AEA EA)AAYEpAbDeVDe1ym1%uC=ٔu9"?Y"?=dGyS.E>Q 54G{?Q 94P[):KBY?Q E:y>Q I?CI;iP;4yɮA"*2ʎjZ 'J@ɢ +)  i ) x4 igm%%qɧi[>k:I[> %[>I!A\AzAE= E=E=/E9"E=;*E=:VE=J4ZE9BE=%d9i ,ukW@A :;=:Н>:Y;ٱ:e FAHRS rotation from veh to nav: [[0.952856,-0.300565,-0.041536],[0.303365,0.941077,0.149478],[-0.005840,-0.155032,0.987892]]:H}?@t<ӿ-DUj?M?@"?@.w@ÿ М?i:;=I:a;:GCY^EBy^;H`bA ddbDjVDjyr=%rT=ٔvLQ-v>9v ?Yv ?=vdGyvFz;Ez>YQ 5e4]qZ{?Q 9e4]X)]CKBYaye)>Q Im?]CI]t:i]:]齌4yuBɮu}AuE"*2ꏙʎjZ@ K@ɢ3.)  i)cQi"ɧȃiu>:Iu> u>IyAIIO>EE EEEE)EA"EE;*EE:VEEFA4ZEAaM@aM@aM@aM@ԙ ,,kW@ABZ=BA>B;ٱB NAHRS rotation from veh to nav: [[0.952601,-0.301233,-0.042557],[0.304189,0.940999,0.148291],[-0.004624,-0.154207,0.988028]]BH {?eGӿɥw??`3?rÿ@?iBZ=PIBb;@YZEByZHbDzVDz:y%)%-F=ٔ5@Q-=>9AYI=MdGyIBBBOHBEBBBBBf;BiQ 54mn{?Q 94mmV)mMKBYy>Q I?mCImf:IK> K>IA}؟AIIO]>EU  EU EU 'EQ "EU 1;*EU :VEU '4ZEQ BEU k6)S;ٱ6 >AHRS rotation from veh to nav: [[0.952467,-0.301478,-0.043799],[0.304626,0.940994,0.147425],[-0.003231,-0.153760,0.988103]]6H`z?iKӿl`~??? xj@gÿ?i6J=I6ca;6DCYFEByJH|iMb@Mb@Mb@ 9K?i|?5?y&1?Y^?yq=`<A )Y3AbD5VD5yE<%EH=ٔMy`Q-M>9M"?YU"?=UdGyUFUV:EU>YQ 5e4]4{?Q 9e4]T)]SKBYmE?Q Em:yms>Q Im?]CI]:i]f:] ̌4yuBɮ}A}EPB*** querying acoustic contact *** "*2ꏡʎjZ@tK@颙ɢA) ni) ݈顡iUۊɧɬ駭:i>:I> >I2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.A?A>1AAIQIaO}7>Qԁ  *DAT read: user:366>  BDAT read: Tx time:00:19:58.7280  $Ping request sent. 2':ٱ2 RAHRS rotation from veh to nav: [[0.952241,-0.301999,-0.045100],[0.305342,0.940905,0.146503],[-0.001809,-0.153277,0.988182]]2Hx?`Sӿ`I?? ?]ÿ/?i2Ӽ=I2b;2FCYrEByvHbD~VD~y Z% M=ٔ tiQ- >9Y=dGyF:E>!Q 5-4%ݒ{?Q 9-4%Q)%[KBY)y->Q I-?% CI%;i%;%ӌ4y=Bɮ=A=EA"YY*a2aaaaʎiiijiZm@K@频ɢA) i)g顙i7Aɧ駭+iF>:IF> F>IA.AII O >qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250907BABBB6HBEBBBBB;BI29ٱ2 :AHRS rotation from veh to nav: [[0.952101,-0.302193,-0.046723],[0.305783,0.940796,0.146285],[-0.000250,-0.153565,0.988138]]2Hw?!Wӿ 짿?`?`u?`^0@ÿԞ?i2ƽ=I21b;2HCYREByRHechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502915imMb@Mb@Mb@iiii i9mZd;O?~jt?y&1?Ymj?ym=m`e9 ?Y ?=dGy:E>Q 54{?Q 94N)\KBY?Q E:y>Q I?.CI ;i ;Tڌ4yrBɮAE"*2ʎjZCK@)ɢ- B)) -i))511i5=%ɧ==ՖiE|>Eɀ:AIE|> E|>IAE EE(E"Ex;*E՚:VEc44ZEBEGgPExceeded connect timeout, disconnecting.1 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755392a ,= kW@A2=2>2:ٱ2] :AHRS rotation from veh to nav: [[0.951809,-0.302895,-0.048118],[0.306690,0.940650,0.145320],[0.001245,-0.153074,0.988214]]2H`7u?bӿᢨϠ??`֙?_gT?ÿr?i2=I2b;2ECY^EBybHbDjVDjyrG=%rW=ٔrQ-r>9tYt=vdGyvFv$;Ez>xQ 54zy{?Q 94zL)z]KBY y >Q I ?zLCIz";iz#;z4ysBɮAE"11*129ꏹʎjZL@ ɢ C) Li)-r))i-<$1=Nɧ=[ž=㝼iEz>E5[:AIEz> Ez>IAAYzA]ZAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006886A؟AIIOaE% E%E%'E!"E%7;*E%:VE%'4ZE!a-@a-@a-@a-@ԉԹ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258839,7lW@AFH=F>F3ٱF2 VAHRS rotation from veh to nav: [[0.951572,-0.303368,-0.049782],[0.307413,0.940420,0.145282],[0.002742,-0.153550,0.988137]]FHGs?`jӿ}???[wf?@ÿў?iFH=IFb;FGCY^EBy^H f49z"?Yz"?=zdGy|7:E>BABABABABABABABEۅ;BE~Q I?-oCI-s֖:I3> 3>IԩA%.AI)I9O]T>echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510926bEjErE_0E  E E (E "E ;*E B:VE c44ZE BE b6rcٱ6 BAHRS rotation from veh to nav: [[0.951291,-0.304030,-0.051095],[0.308264,0.940333,0.144039],[0.004254,-0.152774,0.988252]]6H`p?`:uӿ)?5?@o?jlq?ÿŸ?i6=I6b;4Y^EBy^HEnManaging dock network, ignoring radio surface power offiUMb@Mb@Mb@QQQQ Q9UQ? rh?YU(?yUC=UUAQ Q)QQYUpAbDmVDm1y}<%}B=ٔVkQ->9 ?Y ?=dGyF ;E>Q 54r{?Q 94lF)[KBY ?Q E:y>Q I?CI ;iX ;s4ytBɮAE"*2ʎjZwL@颉ɢO) i)Tٻ顡iKɧ־駽di>m:I> >Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763531G 9e%u9aYe3UAAaIqIO:>I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014830E=  E= E= -E9 "E= I;*E= P:VE= t4ZE9 aE @aM @aM @aM @,4DlW@A2A=2ݺ>2Pٱ2/ >AHRS rotation from veh to nav: [[0.951113,-0.304345,-0.052521],[0.308790,0.940283,0.143239],[0.005790,-0.152455,0.988294]]2Ho?ezӿ 䪿5?? U?`w?ÿ?i2A=I2b;2DCYF~EByFHbDNVDNyV`%VY=ٔVzQ-Z>9XYX=ZdGyX^:E->1Q 5=45{?Q 9E45C)5YKBYAyE>Q IE?5CI5j;i5f;5M4yMuBɮMAUE"qq*q2qyyyʎyjZL@颩ɢʘV) ~ i)项iIҋɧD޾бiD>Pa:ID> D>IA?A ?QA II!O5 >checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266865ԁAAAEAABaBaBe*HBeEBBaBaBaBe;Be2ٱ2#R :AHRS rotation from veh to nav: [[0.950970,-0.304492,-0.054222],[0.309194,0.940143,0.143286],[0.007347,-0.153026,0.988195]]2HYn?@|ӿ «@??2W?~?YÿJ?i2"=I2}b;2EC@YREByRHV=V=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519051iMb@Mb@Mb@ 9rh|?T㥛 ?:vY?y=TA A)AYfAbDVD02y;%:=ٔ=hQ->9Y=dGyF:E>Q 54|?Q 94A)QKBY?Q E:yq>Q I?CI:i':4yɮA"*2ʎj!Z%gL@IɢM$WM)Q U iQ)U0$QQi]R ]ɧee% ie>e{:e e>IiE EE,E"E;*E:VEg4ZEBEachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771158 m,3SxlW@A2=2>2Kٱ2Sd :AHRS rotation from veh to nav: [[0.950976,-0.304174,-0.055883],[0.309140,0.940077,0.143833],[0.008784,-0.154058,0.988023]]2H en?wӿ?? i?@:?(ÿ ?i2=I2 rb;2DCYBqEByFHbDNVDNβyV%V^=ٔVzQ-Z>9Z"?YZ"?=ZdGyX^E^>`Q 5f4bi|?Q 9f4b>)bJKBYdyfd>Q Ij?bCIbK:ib :b)4ynvBlɮnArE"*2   ʎ   jZ`M@9ɢ=_)A E#iA)EAAiEf M/ɧMqUiUu>U:QIUu> Uu>IYAIIO= Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022875DzD?AE EE)E"E(;*E:VEFA4ZEa@a@a@a@1a  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274896U$,f.lW@AFL=FH>FD&ٱF NAHRS rotation from veh to nav: [[0.950987,-0.303885,-0.057258],[0.309065,0.940123,0.143693],[0.010164,-0.154347,0.987964]]FH{n?rӿ@P?|?d?Є?ÿg?iFL=IF8b;DB~>B|B~HB~EBB|B|B|B~:;B~=ٔGQQ->9Y=dGyF"3E>Q 54G,|?Q 94;)CKBYyX>Q I? CIk:I-y+> -y+>I)A=[AzA=]AiAyIIO^>]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526850ԑE  E E 'E "E ;*E ':VE '4ZE BE e22=ٱ2I :AHRS rotation from veh to nav: [[0.951122,-0.303193,-0.058666],[0.308600,0.940252,0.143845],[0.011548,-0.154919,0.987860]]2Ho?@gӿh ??i?9?_ÿ?i2=I2a;0YzzEByzHi}Mb@Mb@Mb@yyyy y9}Zd;O?/$?MbY}j?y},=}yy y)}AyY}AԙbDVDy ;%F=ٔ\Q->9Y=dGyE>Q 54?|?Q 94t9)=KBY?Q E:yE>Q I?,CIF;i F;4yxBɮA E"19*92999AʎAAIjIZM7|M@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7791081ɢ5&8_)9 =}!i9)=B99i=EɧEMNX¼iM >Mą:iIm > m >Iq^A8<A I I O >m BDAT read: Rx Time:00:20:02.3856 m TRx dataTimestamp_ set to:1761697203.029188u checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032007 D =D =E%  E% E% *E! "E% a;*E% :VE% (N4ZE! a- @a- @a- @a- @g1,lW@AJ=Jjp>JoUٱJ VAHRS rotation from veh to nav: [[0.951223,-0.302575,-0.060188],[0.308228,0.940350,0.144001],[0.013027,-0.155528,0.987745]]JHkp?d]ӿ Ю`?Y?n??`Zÿ`?iJ=IJa;HY^dEBy^HbDdVDdynAf%rY=ٔr倻Q-r>9tYt=vdGyvFvkEv>xQ 5~4zQ|?Q 94z<7)z7KBYy>Q I?zICIz;iz;zt4y yBɮAE"*2ꏱʎjZM@ɢi)! %&i!)%z!!i--1ʌɧ5{5üi5b>5A:1I5b> =b>I9^A-hWchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.282849B<ABBBBB =BBBC;Bj}jٱj  AHRS rotation from veh to nav: [[0.951353,-0.301945,-0.061289],[0.307770,0.940574,0.143521],[0.014312,-0.155402,0.987748]]jH{q?Sӿ@Ma ?@.?^?@pO?4ÿ?ijd==checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537489Ij]b;jCCYmcEByiQiMb@Mb@Mb@ 9$C??:vY?y<TA A)YAE EE+E"E;*E:VE [4ZEBEa2EaJEUD9Y=dGy ʃE >QQ 5]4Uh|?Q 9]4U4)U3KBY]G?Q E]:yew>Q Ie?UnCIU":iU :U!4yɮA"*2ʎjZ:M@AɢMA`V)I M'iI)Md(QQiU8L])ɧ]}]i]'>]S":YI]'> e'>Iaԁ^Ae<ԱA?A? DAT read: 00:20:02.3856 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 496, 0.07, 2.610, 0.899, 2.613, 2.467, PHS= 0.245,-1.524, 0.102, RAW= 145.8, 13.7, CAL= 145.5, 15.0, ROT= 4.5, -15.0 - Ygot valid direction response: 00:20:02.3856 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 496, 0.07, 2.610, 0.899, 2.613, 2.467, PHS= 0.245,-1.524, 0.102, RAW= 145.8, 13.7, CAL= 145.5, 15.0, ROT= 4.5, -15.0 5 PDAT read: Bearing 185.0, 2.7 (Local) 5 ~Local bearing/azimuth received: Bearing 185.0, 2.7 (Local) E DAT read: Range 11 to 50 : 940.1 m (Round-trip 1253.5 ms) speed 0.5 m/s M R#Rx 1: Read range and direction messages.U \direction in FSK: [0.962948,0.075786,0.258819]] Fpublishing direction and range infoyHx?f?V!}?YkDA .AI I O > )LIHz>ioÿ`=4"@Gt>j"@  >)|٠=I `6ۺ?C?S]f? >)uI|٠=i  F=,RlW@A2&=2$>2d~ٱ2 :AHRS rotation from veh to nav: [[0.951367,-0.301660,-0.062458],[0.307668,0.940631,0.143366],[0.015502,-0.155610,0.987697]]2H q?gNӿ ְ??@Y? ? ÿ6?i2&=I2a;0YR`EByRHbD^ VD^:2yv%vs=ٔvAhQ-v?9z ?Yz ?=zdGyzF~hE~?!Q 5-4%]x|?Q 9-4%2)%1KBY)y-i>Q I-?%CI%y:i%-:%'4y]zBɮ](A]E  RlW@AJ jDR jDj R> (,@jԵ߼Q@,In@r Hx?f?V!}?Z |٠=b  C@w@pdHn@z M ?}3i?_$s?2 lC: HMD" Ċ?* %0GB ͑C Ċ? %0G“ ͑C bD L>"*2ʎj`@Zۃ?1ɢEw)A E'iA)E30IIiM].ɧ]]i]>]r:YI]> ]>Ia@@@@ԱE EEE"E;*E:VEZEa@a@a@a@Am؟AIyIO>) ID,9|mW@ABDBDBFHBFEBBDBDBDBFO;BF^E凼ٱ^# jAHRS rotation from veh to nav: [[0.951320,-0.301586,-0.063530],[0.307758,0.940635,0.143144],[0.016588,-0.155727,0.987661]]p^H6q?/Mӿ{C@N?`?`R?u?ÿ?i^=I^Ub;\YeEByHbDVD02yR2<%;=ٔ"Q->9"?Y "?= dGy 3m9E%>9Q 5]4=^|?Q 9e4=i0)=.KBYqyuu>Q I}?=CI=Qmk:iIuN> uN>IqA.AIIOj>9E EE(E"E;*EB:VEc44ZEBEO\2򯑼ٱ2< :AHRS rotation from veh to nav: [[0.951517,-0.300708,-0.064730],[0.307081,0.940820,0.143381],[0.017783,-0.156307,0.987548]]2H r?>ӿ` 7?@3?QZ?`5?Ŀ ?i2=I2Ma;2ECY^hEBy^H9ieMb@Mb@Mb@aaaa a9eOn?y&1?Ye?ye`Q-%>9- ?Y- ?=-dGy-F5&E5>9Q 5E4=a|?Q 9E4=0.)=0KBYE?Q EE:yE>Q IM?=CI=:i=/:=l64yUkBɮUAUE"yy*y2yyyʎjZ?颹ɢu) %i)Aiɧ侼i>e:I> >IAzA\AaA=؟AIIIYOe4>ԑԹ E  E E *E "E ;*E :VE (N4ZE a @a @a @a @Q,,GmW@AJG=J^|>JٱJQ! RAHRS rotation from veh to nav: [[0.951706,-0.299887,-0.065748],[0.306428,0.941041,0.143331],[0.018889,-0.156557,0.987488]]JHat?@X1ӿ԰`?? X?W? 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RAHRS rotation from veh to nav: [[0.952142,-0.298029,-0.067857],[0.304923,0.941530,0.143332],[0.021172,-0.157164,0.987346]]FHw?ӿ _`ڃ?!?X?@9pYp=rdGyrFvuEv>xQ 5~4z|?Q 9~4zf%)zDKBY|y~>Q I?z?CIz :izp:zQ4y ɮ A "))*)21111ʎ199j9Z= 4@yɢ}v}) +i )κci&廩=Wɧ=!=iE>mV:iIu> u>IԩAQIaIqO}7>E EEE"E;*E5:VEZEBEO\BٱB! 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M2-;IIU >  >IAm[AzAm^AAIIO J>!A 2~%, xW@A2?=2٢>2MHٱ2& :AHRS rotation from veh to nav: [[0.963961,-0.250778,-0.088820],[0.261514,0.954525,0.143150],[0.048882,-0.161218,0.985707]]2H@? п缶?y?R??̢Ŀ`?i2?=I2:;];0YF-HByF3Hi Mb@Mb@Mb@     9 l?9Y=eGy!)E>Q 54K?Q 94I4)eNBY?Q E:y>Q I?QCI ;iz ;S4ypBɮhA"*2ʎjZ@QG@ɢ%R))! %4=i!)%1+6!)i-L-mɧ5w5i5X[>5z(-;1I=X[> =X[>I9iID1zD5?AE= E9E9E9"E= ;*E9VE9ZE9aE@aE@aE@aE@ԉAB>BBHBrHBBBBB;B;EIIO!>Ա ;+,ZxW@A><=>E>>Hٱ>0% FAHRS rotation from veh to nav: [[0.964143,-0.250098,-0.088761],[0.260829,0.954715,0.143136],[0.048944,-0.161155,0.985715]]>H`C? пm??ER?`.?`Ŀ?i><=I> c];>.CYN HByR#HbDZVDZk1yb%bX=ٔb+Q-b>9dYd=feGyfөFfEj>lQ 5r4n:?Q 9r4nl2)njNBYpyr>Q Ir?nnCIn:in:niZ4yxɮzAx"*2ʎ!j!Z%G@IɢM,)Q UP=iQ)U'6YYi]/ Reɧeeie>ek-;aIe> m>IiԱ5zGIa2H9Y.AIIO >bEŷG4jE#E4rEœ/E= E=E=)E9"E=%;*E=:VE=FA4ZE9BE=~:Hٱ:% BAHRS rotation from veh to nav: [[0.964440,-0.249003,-0.088621],[0.259725,0.955009,0.143183],[0.048981,-0.161109,0.985721]]:H@?`WϿ䯶W?@n?S?`?`4Ŀ?i:h+8=I:S];:/CYLyN$HiMb@Mb@Mb@ 9x?9QYY=]eGyYe1Ee>iQ 5m4mT?Q 9u4m0)msNBYu^?Q Eu:yu>Q Iu?mCIm;imm ;ma4yrBɮA"*2ꏩʎjZ G@颡ɢfE-) =i)-5iRXòɧlsz}i>L,;I> >IA?A>IIO >IiDM =DM <EU  EU EQ EQ "EU ;*EU :VEQ ZEQ a] @a] @a] @a] @B A <B B B HB |HBB B B B 0;B ;Eԙ 8,xW@A2 3=2 >29Iٱ2% :AHRS rotation from veh to nav: [[0.964758,-0.247782,-0.088583],[0.258517,0.955313,0.143337],[0.049108,-0.161186,0.985702]]2H`K?@QϿ[ ??X?$?ྡĿ݊?i2 3=I2];0Yv#HByv'HbD VD2y ;%N=ٔQ->9Y=eGyԩF%OE%>)Q 5-4-6.?Q 954-.)-|NBY1y5>Q I5?-CI-:i-=:-h4yEbBɮEBAEϫE"aa*a2aiiiʎiiqjqZu G@颙ɢ܋+)  =i)F5顡i]Υɧ駵3~oif> ,;©If> f>II9IIqO=ԡ E]  E] E] .EY "E] ;*E] :VE] ـ4ZEY BE] s,lxW@A2k/=2◅>2:Iٱ27% :AHRS rotation from veh to nav: [[0.964980,-0.246947,-0.088490],[0.257661,0.955588,0.143046],[0.049236,-0.160837,0.985752]]2H? Ͽ@N}?-?RO?k5? MĿ H?i2k/=I2a];21CYF$HByF(HbDNVDN2yV;%VO=ٔZ䩹Q-Z>9XY\=^eGy\^E^>`Q 5f4bA?Q 9f4b-)bNBYhyjn>Q Ij?bCIb_:ib4:bo4yncBɮrGAp"y*2ꏁʎjZ@H@ɢ"+) <=i )R599iEIYd}ɧ}Ռ駅Uai:Љ>,;I:Љ>Թ :Љ>IIIO% > .E,QyW@A6F-=6RS>6Jٱ6# BAHRS rotation from veh to nav: [[0.965111,-0.246593,-0.088054],[0.257155,0.955978,0.141339],[0.049325,-0.159051,0.986037]]6H/?[Ͽ@:u?`?a?A?[Ŀ?i6F-=I6];6/CY?HByJH=DzDAAE EE+E"E);*E:VE [4ZEa%@a%@a-@a-@iMMb@Mb@Mb@ԉIIII I9M7A`?I +?Mb`?YM?yM949Y=eGyթFRE>Q 54X?Q 94*)NBY?Q E:y>Q I?CI:ij:Qx4yeBɮA"*2    ʎjZ]H@B1B1B5HB5HBB1B1B1B5p;B5uD,;qIuxj> }xj>IyIiIyO9>ԙ K,f.2yW@A2`(=2>2=Jٱ2# :AHRS rotation from veh to nav: [[0.965412,-0.245423,-0.088024],[0.255999,0.956264,0.141505],[0.049445,-0.159145,0.986016]]2H?jϿ@Jb?඙? ?P?`^Ŀr?i2`(=I2g];0T T)Z/aAZ9XXXZaAi\I^IE\I\i` ``)`` ``ddddIf`e)dih)hIj`Ahh hlppippiprA)t tItYtYz>HByzHHbD VD y脻%=ٔƹQ-% ?9!Y!=%eGy!-uE- ?1Q 5=45g?Q 9=45))5NBY9y=u>Q IE?5CI5;i5;5}4yIɮMAI"ii*i2iqqqʎqqyjyZ}H@颡ɢ!) y=i)$S5顩itɧo駽?iΊ>,;IΊ> Ί>I^A<E- E-E--E)"E-%;*E-:VE-t4ZE)BE-~) R, LyW@A2o&=2|x>2Jٱ2f# :AHRS rotation from veh to nav: [[0.965531,-0.245005,-0.087875],[0.255541,0.956445,0.141108],[0.049475,-0.158700,0.986086]]2H ?N\Ͽ@~ Z?2?@?T?HPĿ@?i2o&=I2W];20CYMFHByMSHi Mb@Mb@Mb@     9 Zd;?~jth?Y ?y  D;   A) AA Y bD%VD%2y5<%=9=ٔ=Q-=>99YA=EeGyE֩FEEE>IQ 5]4M}?Q 9]4M')MNBY]?Q E]:y]>Q I]?M)CIMo;iM;M4ymgBɮmAi" * 2   ʎjZWH@aɢe1")a e=ia)mR5iii}9ɧS駕c)i|>ƚ+;I|> |>I)^AAIIOf>QE5  E5 E5 )E1 "E5 ;*E5 ˭:VE5 FA4ZE1 a= @a= @a= @a= @A! A% @AB) B) B- HB- HBB) B) B) B- ;B- ?2Jٱ2$ :AHRS rotation from veh to nav: [[0.965768,-0.243977,-0.088132],[0.254633,0.956485,0.142472],[0.049537,-0.160036,0.985867]]2H?:ϿՏ`K??9Y=eGy!E>Q 54(?Q 947&)NBYyf>Q I?FCI$:i:A4yhBɮAЫE"*2ʎjZ H@ɢ ) =i)I4i% Jɧ%;%i%H>%<+;)I-H> -H>I)@9@9@A@AԩAII O> E=  E= E9 E9 "E= ;*E= خ:VE9 ZE9 BE= s9IYI=MeGyMשFUEU>YQ 5e4]?Q 9e4]$)]NBYayiQ Im?]eCI]:i]$:]=4yqɮuAqԹ"*2!ʎ!!!j!Z-Z$I@Qɢ])a e=ii)m4qyi})뇺[ɧJ!駝i->*;I-> ->IA.AI I!O-->9 f,yW@A6}=6"Z>6ZLٱ6" BAHRS rotation from veh to nav: [[0.966068,-0.242903,-0.087807],[0.253426,0.957074,0.140661],[0.049871,-0.158140,0.986156]]6H ?tϿz`#8?X?)??=Ŀ?i6}=I6f];6.CYJpHByJHiMb@Mb@Mb@ 9x?Mb?~jth?YK?y<AA A)YAbD-VD-:y==%EM=ٔEZQ-E>9E ?YM ?=MeGyIMPLEM>QQ 5e4UԶ?Q 9e4U")UNBYeO?Q Ee:ym>Q Im?UCIU';iUP';U64yujBɮuAq"*2ꏙʎjZ@gUI@ɢ ) =i)d24iqhɧ K"޻iC>H*;IC> C>I1DzD?AE EE&E"E*E:VE4ZEa @a @a @a @B>BBHBHBBBBB;BLaԉԹ Dl,vyW@A2w=2>2N/Lٱ2N! :AHRS rotation from veh to nav: [[0.966195,-0.242509,-0.087501],[0.252950,0.957305,0.139939],[0.049829,-0.157342,0.986286]]2H ? Ͽ`~f W0?`>?? 5?#Ŀ@?i2w=I2 ];0YBtHByBHbDN VDN2yV7<%VT=ٔV8Q-V>9Z"?YZ"?=ZeGyZةF^E^>Q 5%4Ʌ?Q 9%4Q!)NBY!y%\>Q I%?CIa;iס;4y1ɮ5A1"QQ*Q2QQQYʎYYajaZe`I@频ɢ) =i)3顙i>tɧ4駥i΍>);I΍> ΍>IԑA II!O5 >E EE+E"E;*E5:VE [4ZEBE?r=>T>>bLٱ>?z! JAHRS rotation from veh to nav: [[0.966272,-0.242216,-0.087466],[0.252630,0.957461,0.139451],[0.049968,-0.156844,0.986359]]>H? Ͽ@0d+? ??q?vĿ??i>=I>];>-CYn{HBynHiMb@Mb@Mb@ 97A`?Mb?Y?y<AA A)MAYAbD VD2y^<%7=ٔQ->9Y=eGyUAE> Q 54 ޅ?Q 94 m) NBY?Q E:y>Q I? CI ;i ?; 4y%lBɮ%A!"AI*I2IIIIʎQQQjQZ]ĿI@颁ɢ]) =i) f3顉iucɧf駕Qi0U>K);I0U> 0U>IIIO >D D <E  E E )E "E +$;*E :VE FA4ZE a @a @a @a @Q B A B B B HB HBB B B B ;B <2jLٱ2$'! :AHRS rotation from veh to nav: [[0.966426,-0.241684,-0.087227],[0.252054,0.957646,0.139220],[0.049886,-0.156532,0.986412]]2H@?ο@T!? ??`?< Ŀ`?i2Ы=I2];2,CYFHByFHbDN VDN2yVR=%Vb=ٔVo9Q-Z>9XYX=ZeGyZ٩F^yغE^>`Q 5f4b?Q 9f4b)bNBYdyfe>Q Ij?bCIbu:ib:b4ylɮnAl"||*2ʎ  j Z  I@9ɢ=* )9 =>i9)E2AAiE5MɧMMwiMvŎ>M2(;IIMvŎ> UvŎ>IQII)OM=iԙ i>C2G^AEL9E^AYE0A bEFA4jE(N4rES0E  E E E "E [";*E k:VE ZE BE z,zW@APY=HBy=HbDMVDM!3y]%]@=ٔeQ-e>9aYa=meGyimEm>qQ 5}4u?Q 94u )uOBYyQ I?uCIu;iu>;u4ymBɮA"*2ꏱʎjZ$J@ɢ )  >i)up2qqi}}ɧa駅4iJ>3';IJ> J>IAA?I9IO>! h,zW@A2I=2%>2Mٱ2P :AHRS rotation from veh to nav: [[0.966645,-0.240893,-0.087001],[0.251147,0.958134,0.137495],[0.050237,-0.154759,0.986674]]2H?@οE ?`?r?@?$ÿՒ?i2I=I2N];20CY^HBybH i}Mb@Mb@Mb@yyyy y9}-?9Y=eGyکF5E>Q 54x?Q 94>)OBYU?Q E:yߒ>Q I?CI:i:4yoBɮoAѫE"*2 ʎ   j ZYJ@9ɢ=;)A E'>iA)EU1AAiE̮MĐɧMMHViU>U!';QIU> U>IYDzD@AE EE*E"Es!;*E˭:VE(N4ZEa@a@a@a@iIII1O==BqBqBuHBuHBBqBqBqBu;BuE20Nٱ2 :AHRS rotation from veh to nav: [[0.966752,-0.240494,-0.086905],[0.250715,0.958309,0.137064],[0.050318,-0.154296,0.986743]]2H?οb? ?v?S?Sé?ÿ e?i2*=I2+^;2,CYBHByBHbDJVDJyR>=%R\=ٔVUgQ-V>9TYT=ZeGyXZIEZ>\Q 5b4^(?Q 9b4^)^OBYdyf>Q If?^8CI^`:i^:^:Đ4yhɮjKAh"xx*|2||||ʎjZ`J@1ɢ5)1 5k9>i1Y)=g1顱iŒɧ<Uʁi/>`m&;I/> />IIYIiO}=ԉE EE-E"E+$;*EVEt4ZEBE8}FPfMٱFMR NAHRS rotation from veh to nav: [[0.966846,-0.240244,-0.086553],[0.250392,0.958451,0.136661],[0.050125,-0.153802,0.986830]]FH`g?`Oο@^(@k??~??ȯÿ?iF,=IF5I^;F.CYVHByZHi=Mb@Mb@Mb@9999 99=I +??~jt?Y=9?y=<=D<=(A9 =A)99Y=AbD]VD]k2ye$=%m>=ٔm9Q-m>9qYq=ueGyu۩F}LE}>Q 54Q I ?XCIYi)0i14ɧt˱Ci >%; I >  >IAzA\AA1IAIQO]3>!DD4=E EE%E"E ;*E:VE 4ZEa@a@a@a@Aa Aa Bi Bi Bm +HBm HBBi Bi Bi Bm ;Bm K6_Mٱ6 BAHRS rotation from veh to nav: [[0.966889,-0.240228,-0.086122],[0.250229,0.958718,0.135073],[0.050119,-0.152151,0.987086]]6H@?ʿο @?ѭ?J?@"?yÿ4?i6=I6U^;6-CYJHByJHbDRVDR2yZ\=%ZW=ٔ^7Q-^>9\Y`=beGy`bJEb>dQ 5j4fN?Q 9j4f)fQ In?ftCIf^;if;fbҐ4ypɮrAt"  * 2   ʎjZJ@AɢE޼)A McX>iI)M0IIiM\ȺU<ɧU+]$;YI]|> ]|>Ia1AIIO>aԑԹ E  E E *E "E ';*E :VE (N4ZE BE 2Mٱ2 :AHRS rotation from veh to nav: [[0.966852,-0.240411,-0.086024],[0.250363,0.958774,0.134426],[0.050160,-0.151507,0.987183]]2H@s? ο?G?`4??dÿ ?i2-=I2}^;2,CYBHByB$HbDJVDJyR r=%VK=ٔVظQ-V>9TYX=ZeGyZܩFZ9EZ>9Q 5E4=(b?Q 9E4=!)=LOBYAyM8>Q IM?=CI==:i=:=ِ4yUsBɮUAQ"qq*y2yyyʎjZ`Y&K@颱ɢɳڼ) p>i)@/项i!Һ_ɧ<':i]>K$;I]> ]>IԑAII9Oe> ,*zW@A2.=2C>2 Lٱ2ž :AHRS rotation from veh to nav: [[0.966943,-0.240058,-0.085987],[0.250049,0.958740,0.135254],[0.049970,-0.152284,0.987073]]2H@2?6ο6??P?ক?@ ~ÿ?i2.=I21^;2-CY^HByb%HdfA~only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 270.20, 253.53, 240.44 a@a a@a a@a a@a bD VD yB;%;=ٔ9Q->9Y=eGyݩFeDE>Q 54u?Q 94>)\OBQ A+:YQ E:y>Q I?CI:ie>ߐ4yuBɮA"*2ʎj Z @,\K@1ɢ5ؼ)9 = r>i9)=,p.99i= UݺEɧE+=E_ ;iM_Ƒ>M/#;IIM_Ƒ> M_Ƒ>IQDzDE EBBBPHBIBBBBB;BAI ,zW@A22=2p>2NLٱ2Xs :AHRS rotation from veh to nav: [[0.967003,-0.239851,-0.085892],[0.249817,0.958836,0.134997],[0.049977,-0.152000,0.987116]]2H@?tο`@?ɮ?G??@tÿt?i22=I2];2+CYNHByR4HbDZVDZkyvv=%vW=ٔv嘷Q-v>9xYx=zeGyxz%E~>Q 54s?Q 9 4)jOBQ A  :Y Q E p:y >Q I ?CI]:ihM?4yeBɮAȫEP5B*** querying acoustic contact ***1 1"AA*A2AAAIʎIIIjIZUٌK@ɢz1ɼ) p~>i)-iy纩 鄦ɧ :f= .8;i r%>  W"; I r%> r%>IQ^A5QAyIIO=>2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.E EE+E"E[";*E:VE [4ZEBEz<2Ez<JEb<:Eb6}Lٱ6U >AHRS rotation from veh to nav: [[0.966922,-0.240263,-0.085653],[0.250145,0.958873,0.134130],[0.049904,-0.151119,0.987255]]@6H`?οY^??@/+? ?Wÿ?i6=I6 ^;6,CY^IBybPHE*DAT read: user:367> MBDAT read: Tx time:00:20:59.0279 M$Ping request sent.M9Y=eGyީFoP:E>Q 54?Q 94/ ){OBQ AT:Y?Q E:yM>Q I?CI:i* ;m4yKBɮA"*2ʎjZ,K@qɢutȼ)q uH>iy)}w,yyi}󺩧~ɧZ=駅.;ip>b!;ԩIp> p>I^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250860B <A B B B HB =IBB B B B ~;B " ,zW@A2=2p>2-ELٱ2 :AHRS rotation from veh to nav: [[0.966910,-0.240382,-0.085448],[0.250199,0.958947,0.133496],[0.049850,-0.150457,0.987359]]2H? ο@ߵ`C??c? ?0Bÿq?i2=I2x];2+CYvIByv[H xxbD~VD~y <% S=ٔe9Q->9 ?Y ?=eGy9E%>!Q 5-4%?Q 9-4% )%OBY1y5S>Q I5?% CI%:i%l:%34y9ɮ=AAY"aa*a2aiiiʎiiqjqZuK@颙ɢC)/ >i)1+顡i;YzɧO=駭S&;iv>} ;Iv> v>I@@@@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502879ԉAIIԱO>  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754787EE  EE EE *EA "EE ;*EE :VEE (N4ZEA aM @aM @aM @aM @<,{W@AFr=F>FMٱF) NAHRS rotation from veh to nav: [[0.966729,-0.241021,-0.085700],[0.250817,0.958937,0.132406],[0.050269,-0.149496,0.987484]]FHp?οw` ???̼?"ÿ@w?iFr=IF^;F*CYn-IBynoHbDzVDzy8=%K=ٔlQ- >9 Y = eGy ߩF:E>Q 5%4:?Q 9%4)OBY!y%>Q I-?'CIB:i:;4y5LBɮ5վA1"QQ*Q2QԹʎjZ *L@ɢͰ)! %>i!)%^*!!i%e-tɧ-(D=-;i5>5T;1I5> 5>I9AI I1O]3>]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0068469 ,q{W@A6ii=6W>6Mٱ6z BAHRS rotation from veh to nav: [[0.966550,-0.241713,-0.085771],[0.251517,0.958744,0.132473],[0.050212,-0.149615,0.987469]]6H`?sο@? ??k?&ÿW?i6ii=I6];6.CYJ/IByJpHiMb@Mb@Mb@ 9n?+?Mb?Y?y=<AԶA )Y AbD5 VD52yE'N;%EF=ٔMQ9Q-M>9IYI=MeGyIU:EU>YQ 5e4]7ц?Q 9e4]])]OBYmd?Q Em:ym>Q Im?]GCI]:i]:]q4yuMBɮu־AuɫE"*2ꏙʎjZ]L@iɢm⬼)q }>iy)})yyi} ,pɧi*=駝T;iʑ>;Iʑ> ʑ>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.262814E EE'E"E;*Eخ:VE'4ZEBBBHBfIBBBBBK;B;EA5?A5>AA}؟AIIO=>qm checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510813ԙ 0,S7{W@AN#GZ^Ad~6t9~^AY~cTA~=2߂>wMٱ AHRS rotation from veh to nav: [[0.966298,-0.242825,-0.085465],[0.252518,0.958632,0.131374],[0.050028,-0.148528,0.987642]]H?ϿᵿB)?? ?Q?ÿ`Ú?i~=Iy];+CY-GIBy-H =p<=4<bD=VD=1yMKt=%MI=ٔU9Q-U>9]"?Y]"?=]eGy]F]&;Ee>aQ 5m4eㆉ?Q 9m4e)eOBYqyu>Q Iu?eeCIe;ie;e4yyɮA"*2ꏡʎjZL@ɢ֗) >i)0(ij;lɧ4=:iࡑ>A;Iࡑ> ࡑ>Iqԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765708bEe(N4jEeR4rEeŌ0E EE/E"EO6;*E:VEJ4ZEBEH .,1(Q{W@A2=2_\>2Kٱ2g :AHRS rotation from veh to nav: [[0.966079,-0.243906,-0.084863],[0.253447,0.958533,0.130300],[0.049563,-0.147389,0.987836]]2H ? N8Ͽ x8?`N?@? K`?¿`Z?i2=I2 u];2)CYBVIByBH%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014959iMMb@Mb@Mb@IIII I9MzG?㥛 ?Mbp?YM ?yM=M;M(AMA MA)IIYMQAbDmVDm0yu)=%}H=ٔ}X:Q-}>9Y=eGy;E>Q 54?Q 94)OBY1?Q E:y@>Q I?CI ;i;4yɮA"*2ʎjZfL@ɢ)  w>i ) Ư'  i4Eiɧ=":i >;I >  >I!eIIO>AABBBHBIBBBBBU;B;Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270681D =D E  E E )E "E [";*E :VE FA4ZE BE z<2E z<JE <:E <) Q C, k{W@A2}#=2>2)@Kٱ2n :AHRS rotation from veh to nav: [[0.965702,-0.245499,-0.084556],[0.254871,0.958456,0.128073],[0.049601,-0.145231,0.988154]]2H ?`lϿu@O?@?d?Ye?¿`?i2}#=I2N];2+CY^RIBy^HbDfVDf2ynNJ%nT=ٔrҸQ-r>9pYp=veGyvFvE{;Ev>xQ 5~4z?Q 94z])zOBY y >Q I ?zCIzZ;iz[O;ze4y!ɮ%A!"*2ʎjZ@,L@颡ɢ&) >i)a&项i 0fɧ<:iNq>;INq> Nq>I)Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522856YAzA]AII Om>PExceeded connect timeout, disconnecting.ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774885E  E E *E "E %;*E :VE (N4ZE a% @a% @a% @a% @=),ބ{W@A0NK'=N>NKٱN' fAHRS rotation from veh to nav: [[0.965467,-0.246408,-0.084595],[0.255741,0.958325,0.127314],[0.049698,-0.144552,0.988248]]NH?@OϿ ^?? K?@r?¿ຟ?iNK'=INE];N,CYneIBynHbDvVDv 3y~_C=%~H=ٔzQ->9Y = eGy  ;E >Q 54?Q 94)OBY!y%|>Q I%?CI;i+;4y-NBɮ-oA1"IQ*Q2QQQQʎYYYjYZe*M@颉ɢ>Pt) >i)|%顑i?&cɧ+<駥":itU>0;ItU> tU>IIIO=ԉԹ]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026814 6U,{W@A2+=2& >2cKٱ22e :AHRS rotation from veh to nav: [[0.965233,-0.247330,-0.084572],[0.256634,0.958136,0.126942],[0.049635,-0.144233,0.988298]]2H0?@Ͽ@l? ???@i?6v¿#?i2+=I22];0\Yb\IBybHiEMb@Mb@Mb@AAAA A9E^I +?Zd;?{GztYEX?yEy=EףAA A)AAYAbDeVDe2ym|%uC=ٔu9Q-u>9yYy=}eGy}F;E>Q 54/?Q 94)OBY$?Q E:yݷ>Q I?CI ;ii ;#4yɮA"*2ʎjZ@y`M@ɢ܉) W>i)P$i - GaB}>ByB}HB}IBByByByB};B}1;I4^> 4^>IDzDE EE+E"EC#;*Ey:VE [4ZEBE{2Kٱ2 :AHRS rotation from veh to nav: [[0.964993,-0.248312,-0.084442],[0.257552,0.957989,0.126188],[0.049561,-0.143518,0.988406]]2H 8?Ͽ {?٧? &?@`?^¿@?i2.=I22];2)C-BBattery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-FBattery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-JBattery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-JBattery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0.-NBattery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-RBattery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-VBattery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-VBattery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0.-ZBattery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-^Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-bBattery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.bCalculating totals. Valid battery stick count: 26. Valid reserve battery stick count: 1.BBH)Bo`A@@ɶBA]muFailed to receive data from 30 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 24, 26, 27, 28, 33, 34, 39, 44, 47, 54, 58, 62.YiIByHbDVDk2=nManaging dock network, ignoring radio surface power offy-<%U?=ٔ]T39Q-]>9YYa=eeGyae;Ee>iQ 54m)D?Q 94m?)mOBYy\>Q I?mCIm;im%;mh+4yOBɮlA"*21ʎ111j1Z= M@颁ɢR) >i)#顩ix5:^ɧP<駽:ihe>;Ihe> he>IA>A>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.782825E EE,E"E;*E^:VEg4ZEa@a@a@a@IIO]U>qԡ Ih,_|{W@A$$Bu4=BD>BHٱB JAHRS rotation from veh to nav: [[0.964649,-0.249730,-0.084186],[0.258935,0.957586,0.126420],[0.049044,-0.143749,0.988398]]BHg?@)Ͽ/ b??.?O?_f¿ ?iBu4=IB[!];B*CYRkIByRHBDAT read: Rx Time:00:21:02.6412 %TRx dataTimestamp_ set to:1761697263.325192%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035966iEMb@Mb@Mb@AAAA A9ES?ˡE?MbYE?yE'=EE5AA A)EfAAYEA QU<bD]VD]k1ym;%mW=ٔm:Q-u>q9yYy=}eGy}Fx;E>Q 54PV?Q 94U)OBY?Q E:y>Q I?CI ;im ;14yPBɮjAʫE"*2ʎjZ M@ɢzi) ݵ>i)LG;IY> Y>IԡI!I1OE0>Bm<Am<BqBqBuHBuIBBqBqBqBu;BuL:Gٱ: JAHRS rotation from veh to nav: [[0.964560,-0.250162,-0.083927],[0.259321,0.957494,0.126325],[0.048758,-0.143612,0.988432]]:H ?п@?| ?@ʣ?j+? ? a¿9YYa=eeGyae :Ee>iQ 5}4mi?Q 9}4mK)mOBYyڦ>Q I?m>CIm^;;im<;m84yɮJA"*2ʎjZ M@9ɢ=\)A Mӽ>iI)u8 yyi}cDVɧ1=駽;iݑ>;Iݑ> ݑ>I]DAT read: 00:21:02.6412 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 476,-0.06, 0.243,-1.381, 0.165, 0.094, PHS= 0.251,-1.430, 0.027, RAW= 143.0, 14.5, CAL= 142.4, 15.7, ROT= 7.6, -15.7 eYgot valid direction response: 00:21:02.6412 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 476,-0.06, 0.243,-1.381, 0.165, 0.094, PHS= 0.251,-1.430, 0.027, RAW= 143.0, 14.5, CAL= 142.4, 15.7, ROT= 7.6, -15.7 mPDAT read: Bearing 183.8, 7.5 (Local) m~Local bearing/azimuth received: Bearing 183.8, 7.5 (Local) }DAT read: Range 11 to 50 : 906.8 m (Round-trip 1209.1 ms) speed 0.4 m/s }R#Rx 1: Read range and direction messages.\direction in FSK: [0.954235,0.127322,0.270600]Fpublishing direction and range infoy)-?<L?RlyQ?Y-bD)))) ))-JI->i-= -/<-@->-@ -K>)->I-K))-{7? s+?? -Y>)-I->i-K))IIO >1Y i I E  E E *E "E ;*E :VE (N4ZE a @a @a @a @w,|'|W@A28=2:>2Fٱ29 :AHRS rotation from veh to nav: [[0.964442,-0.250708,-0.083649],[0.259815,0.957382,0.126157],[0.048455,-0.143404,0.988477]]2H@? п@jϠ?ߢ?%?!Ϩ?[¿ ?i28=I2U];2+CYRuIByRHbDZVDZybn%bT=ٔb,N:Q-b>9dYd=feGyfFj:Ej>lQ 5r4n@|?Q 9r4nT)nOBYpyr>Q Ir?n\CIn+;inY;n?4yzQBɮzZAxY]l{W@AJ]aDR]aDj]>]i'@@Ǿ\@ٿn@r]?<L?RlyQ?Z]>b]K] &n@AҢv@_b*p@z]f5?dVu?^?2]fC:]uCD"]-\׈?*]AxB]C]-\׈?]Ax“]C]WD]c>"*2ꏱʎj`fV@Z&?1Qɢ]tN)Y ]>iY)][aaiezKmQɧmrU=m*;im>m";iIm> u>IA\AzAZAII)O==aԉԹ ~, |W@A26j:=2>2,Eٱ2a :AHRS rotation from veh to nav: [[0.964338,-0.251211,-0.083337],[0.260265,0.957271,0.126070],[0.048106,-0.143264,0.988515]]2H`?@п@U`/?@?#?@V?@{V¿?i26j:=I2T];2*CYBxIByBHF=F=i Mb@Mb@Mb@     9 1Zd?9AYA=EeGyAE:EE>IQ 5U4Mې?Q 9U4M)MOBY]6?Q E]:y]n>Q I]?M}CIM ;iM2 ;MG4ymRBɮmXAi" * 2    ʎBBB%HBIBBBBB;B0i!)%7!!i-BSMHɧmN=mJu;iu>u?};qIu> u>IyIIO>  ,'9|W@A6;=6F">6HCٱ6T BAHRS rotation from veh to nav: [[0.964277,-0.251662,-0.082677],[0.260584,0.957276,0.125376],[0.047593,-0.142441,0.988658]]6H@\?9пS*i??N ? ^? ;¿?i6;=I6ц];4YJqIByJHbDRVDRk2yZ=%ZS=ٔZ:Q-^>9\Y\=beGybFbb[:Eb>dQ 5j4f壇?Q 9j4f)fOBYlyn>Q In?fCIfN:if;fM4yrABɮr!ArE" * 2    ʎjZ`W?AɢE5)A E>iA)M3IIiMYU?ɧU%=U;iU9>Ub;YI]9> ]9>IYIAIQOe=E EE)E"E*E˭:VEFA4ZEa@a@a@a@I n,"S|W@AbeAٱb5 jAHRS rotation from veh to nav: [[0.964253,-0.251872,-0.082324],[0.260747,0.957218,0.125474],[0.047199,-0.142455,0.988675]]bH@(?@п`2??@?n*?;¿:?ibaj<=Ib];b)CYrtIByrHiMb@Mb@Mb@ 9/$?I +y&1Y?y94`eAAA )fAYAbD VD2y;%:=ٔk:Q->9Y=eGy9E>Q 54ڹ?Q 94%)OBY?Q E:yx>Q I?CI:i:oU4yBBɮ AE" *2ʎjZ 6?ɢ~h) >i))iqa0ɧ2>;i>+4;I> >IA5?A5?ԩI)I9OM1>A A AABBBBBBBBK;B;EE EE*E"E+$;*Ea:VE(N4ZEBE8}@>FI@ٱF] RAHRS rotation from veh to nav: [[0.964251,-0.251914,-0.082212],[0.260814,0.957088,0.126330],[0.046860,-0.143256,0.988576]]FH`%?\п +?v? +? ? 4V¿i?iFЭ<=IF];DYZ}IByZH\^AbDfVDf3lyr'<%rY=ٔvCl:Q-v>9tYx=zeGyzF*9E>Q 54͇?Q 94)PBYyx>Q I?CI ;i_3;`\4yɮ A"*2ʎjZE0?)ɢ-6)) ->i))511i5nh= ɧ=6!>==>;AIEՔ> EՔ>IAII O >  G!9]9aYehAyO?4A1Y bEajEe(N4rEe//E  E E )E "E ;*E |:VE FA4ZE a @a @a @a @!,7n|W@A2Jk<=27>2=ٱ2 :AHRS rotation from veh to nav: [[0.964291,-0.251914,-0.081741],[0.260759,0.957066,0.126611],[0.046337,-0.143405,0.988579]]2Hy?[п촿E?H? 4?`k? [¿p?i2Jk<=I2^;0YBIByBHbDJ VDJ2yRU;%VN=ٔV:Q-V>9XYX=ZeGyXZ%1E^>`Q 5f4b?Q 9f4b')bPBYdyfx>Q If?bCIbS:ibl:bb4ynCBɮnAl"||*|2|ʎ j Z `(@Aɢ@=)) >i)io ɧ=>T<;I> >IIIO=iԑ z',H|W@A6==6b>6 ;ٱ6, >AHRS rotation from veh to nav: [[0.964236,-0.252346,-0.081061],[0.261082,0.957000,0.126439],[0.045669,-0.143081,0.988657]]6H?o&пi?ྟ? )/?`a?xP¿?i6==I6sF^;4YF~IByFHiMb@Mb@Mb@ 9Zd;?Q~jtxY?yĻ A)YAbDUVDU:2ye#%e?=ٔe:Q-e>9iYi=meGymFmKH:Eu>qQ 54u?Q 94u)uPBY?Q E:yZ>Q I?uCIu:iu:udj4yDBɮAԙBBB1HBIBB =BBB7;B;E"QQ*Q2QYYYʎYYajaZe` (@E EE*E"EC#;*E:VE(N4ZEBE{i)h iwɧd>"7%;!I%p> %p>I!A=[AzA9IIO= .,#|W@A2Y<=25>2#8ٱ2  :AHRS rotation from veh to nav: [[0.964352,-0.252110,-0.080413],[0.260757,0.957081,0.126499],[0.045070,-0.142958,0.988702]]2H`?`"п해>?g?1?c?qL¿r?i2Y<=I2y6^;2*CYnIBynHv=v=bDzVDzy%y;%%N=ٔ-::Q-->9)Y1=5eGy15ucE5>9Q 5E4=N ?Q 9E4=e)=PBYIyM]Z>Q IM?=9CI=:i=:=Sq4yQɮUAY"yy*y2yyyʎjZ) @颱ɢf) ѿ>i)]项iĭ~aۥɧ̈́>{T5;IT> T>IIIO=!E EE-E"E/;*EA:VEt4ZEa@a@a@a@Qԁ 5,1 |W@A%+ ==%L>%v2ٱ%@ 5AHRS rotation from veh to nav: [[0.964370,-0.252551,-0.078791],[0.260939,0.957102,0.125961],[0.043599,-0.142033,0.988901]]%H ?)п@+ 9??@?R?#.¿`?i%+ ==I%sM^;%(CYEIByEHiMb@Mb@Mb@ 9A`"?/${Gzt?Y?yף;MA )YAbDVDNy =%>=ٔ_;Q->9Y=eGyF9E> Q 54 h?Q 94 ) +PBY0?Q E:y-l>Q I? ZCI  ;i ; x4y%EBɮ%A!"AA*A2AIIIQʎQQYjYZ] @颁ɢ6() W>i)   i 𸥽ɧN>}pf:;Ik> k>IAYIaIqyO9>B<A<BBBBB =BBBJ;B;EԩE EE)E"E;*E:VEFA4ZEBE?r91Y9==eGy9EEE>IQ 54M1?Q 94M|)M8PBYyQ I?MwCIM i)~dic ɧ > C fa;I-9> -9>IA%?A%>ԱA.AIIO> E  E E ,E "E %;*E 8:VE g4ZE a @a @a @a @9 B,}W@A>z<=>2B>>%1ٱ>wC fAHRS rotation from veh to nav: [[0.964405,-0.252515,-0.078480],[0.260871,0.957084,0.126237],[0.043235,-0.142217,0.988891]]>H h?`3)пD?o?(?"? ,4¿`?i>z<=I>&^;>)CYnIBynHppbDzVDz02y;%M=ٔo:Q->9  ?Y  ?= eGy FEE>Q 5%4wD?Q 9%4)FPBY!y%l>Q I-?CI;i:k4y1ɮ5A1"QQ*Q2QQYYʎYaajaZeTi@颉ɢ) >i)q!顙iK駥~p;I> >IA؟AIIO">Ai >H,"}W@A 2>=2>2LU.ٱ2 >AHRS rotation from veh to nav: [[0.964305,-0.253106,-0.077809],[0.261355,0.956973,0.126082],[0.042549,-0.141917,0.988964]]2H ?2пH볿 ??`r#?`ȥ?U*¿ ?i2>=I2 E^;0YzIByzHi}Mb@Mb@Mb@yyyy y9}d;O?~jtQ?Y}?y}D}u<}AA}A }A)yyY}ABBB>HBIBBBBB;B;=ٔd:Q->9"?Y"?=eGy:E>Q 54X?Q 94s)XPBY?Q E:y}>Q I?CI ;i ;4yGBɮADqzDqE} E}EyEy"E}C#;*E}:VEyZEyBE}{i9)==AAiENMFTuWN;qIuٚ> uٚ>IyAIIOB>ԙ >gN,ji<}W@A6b3A=6Ї>6G,ٱ6wP RAHRS rotation from veh to nav: [[0.964169,-0.253768,-0.077327],[0.261934,0.956842,0.125869],[0.042048,-0.141613,0.989029]]6Hy?=п˳? t?v?[?a ¿`?i6b3A=I6v^;4YZIByZHbDbVDb0yj=%j\=ٔnq:Q-n>9!Y!=%eGy%F-:E->1Q 5=45j?Q 9=45)5hPBY9yEh~>Q IE?5CI5;i5;54yIɮMAI"ii*i2qqqqʎqqjZ@颩ɢ`) ">i)d顱iۑ"!ɧ>i;I艛> 艛>IA\AzA^AAaIqIO>E EE*E"E;*E:VE(N4ZEa@a@a@a@! UU,_V}W@AxE H=E(>E؃'ٱE UAHRS rotation from veh to nav: [[0.963778,-0.255587,-0.076200],[0.263552,0.956486,0.125197],[0.040886,-0.140745,0.989201]]EHE?[п@ށ?@?w??¿`?iE H=IE];AYeIByeHm=m4>iMb@Mb@Mb@ 9 ףp= ?y&1|?Mb?YQ?y`;<MAA )rAY(AbDVDk1y:%7=ٔ*;Q->9Y=eGy!%`y;E%>)Q 554-?Q 954-)-yPBY=b?Q E=:y=>Q I=?-CI-:i-j:->4yEHBɮEAI"ii*i2iiiqʎqqqjqZ}h@颡ɢAŻ) >i)顩i]ڕ綠ɧ>駵l9S;I+!> +!>I!A.AIIO@>IAA@ABBBJHBIBBBBB;B_R%ٱR* ^AHRS rotation from veh to nav: [[0.963588,-0.256396,-0.075888],[0.264311,0.956275,0.125213],[0.040466,-0.140712,0.989223]]RH?hпcmx?͙?`?淤?¿?iRp:K=IR ];R&CYfIByfHbDnVDnyv;%v`=ٔzΖ:Q-z>9~ ?Y~ ?=~eGy~F~M ;E>Q 5 4?Q 9 4)PBYy>Q I?CI;i;4yIBɮ%A!"AA*A2AAAIʎIIIjIQZU`W@颁ɢpE;) >i) 顉iEwĤɧ|>*h ;I> >IA]؟AIiIyԁO>ԩ E  E E &E "E s!;*E :VE 4ZE a @a @a @a @ab,r}W@AZr=N=Z2r>Z#ٱZa bAHRS rotation from veh to nav: [[0.963414,-0.257119,-0.075653],[0.265025,0.955981,0.125942],[0.039940,-0.141384,0.989149]]ZHI?@tп`]+? f?? s?¿`?iZr=N=IZ?];XYjIByj)HbDrVDr2yz<%zJ=ٔ~:Q-~>9~"?Y"?=eGy:E> Q 54 ꤈?Q 94 ) PBY!y%^>Q I-? -CI m;i  y; 4y9ɮ=A9"qq*q2yyyʎjZ9@Թɢxr) >i) iQe摤ɧM>駕pi\ ;I(> (>IA?A ?AIIO*>9 h,%}W@A>0Q=>͉>>W!ٱ>l FAHRS rotation from veh to nav: [[0.963245,-0.257868,-0.075252],[0.265703,0.955820,0.125738],[0.039504,-0.141111,0.989205]]>H?пC@F??+?9?`¿?i>0Q=I>];>'CYNIByNEHPPB=>B9B=cHB=IBB= =B9B9B=;B=@9Y=eGyF9:E>Q 54L?Q 94)PBY?Q E:yq>Q I?NCI:i?;)4yJBɮtAëE"*2ʎjZ1@ 9ɢE8)A E>iA)Et AIiMCE EE*E"E=-;*EVE(N4ZEBEr? ;Iw> w>I9AQIaIO;>a AG E A9I YM O(Aԑ !n,Ž}W@A22T=20>2Qٱ2d :AHRS rotation from veh to nav: [[0.963062,-0.258653,-0.074898],[0.266436,0.955605,0.125824],[0.039028,-0.141132,0.989221]]2Hg?ƍп,@I ?P? ?}?¿ ?i22T=I2y];2%CYBIByB8HbDNVDN2yR%V\=ٔVާ:Q-V>9TYX=ZeGyX^0;E^>`Q 5f4bˈ?Q 9f4b)bPBYdyfԦ>Q Ij?bjCIb:ibB:b4ylɮnAl"||*|2ʎ  j Z @颱ɢ) >i) 项irZ,ɧ>X ;I> >IiAAIIIYOm>ԙbEjEL4rE+0E EE(E"E;*Ey:VEc44ZEa@a@a@a@ u,V}W@AUUkٱU^ mAHRS rotation from veh to nav: [[0.962968,-0.259070,-0.074669],[0.266828,0.955455,0.126128],[0.038667,-0.141381,0.989200]]UH`?п`??@$?-̣?¿@?iU9YYY=]eGy]Fe g:Ee>iQ 5u4m?Q 9u4mW)mPBYuA?Q Eu:y}F>Q I}?mCIm ;im:m4yLBɮTA"*2ꏩʎjZ@ɢiq)  >i)qDisɧ>\t< ;I@> @>IAzA]AAII1OMR>B1A5<B9B9B=|HB=JBB= =B9B9B=;B=;EiIIIE EE*E"Es!;*E:VE(N4ZEBEx:Fٱ:.E FAHRS rotation from veh to nav: [[0.962853,-0.259582,-0.074375],[0.267294,0.955330,0.126090],[0.038322,-0.141286,0.989227]]:H?п= V? ?#?힣?¿ྦྷ?i:W=I:];8YJIByNZHR=R=bDVVDVky^!%^i=ٔb:Q-b>9`Y`=feGydf:Ef>hQ 5n4j"?Q 9n4j)jPBYpyr>Q Ir?jCIj,:ij:jő4yvMBɮvZAt"*2ʎjZ%s@IɢMЉ\;)I M>iI)MQQiU]ţɧ]>][,]];YIe> e>IaqA.AIIO>ԙ E  E E )E "E *E ˭:VE FA4ZE a @a @a @a @ͯ,D ~W@A2Z=2>2Fٱ2ɹ FAHRS rotation from veh to nav: [[0.962666,-0.260401,-0.073930],[0.268026,0.955184,0.125638],[0.037900,-0.140762,0.989318]]2H(? jп W'?ސ??g?¿}?i2Z=I2~];2&ClY%JBy-xHbDEVDEk1ye`=%e@=ٔe$:Q-e>9m ?Ym ?=meGymFm;:Eu>yQ 54}(?Q 94}C)}PBYy>Q I?}CI}:i}B:}:͑4yɮ+A"*2ꏹʎjZJ @ɢ;) P?i)r i:ɧK?EHQ;I'G> 'G>I  II)O5 >9a و,%~W@A2\=2F>2kٱ2u :AHRS rotation from veh to nav: [[0.962553,-0.260845,-0.073830],[0.268493,0.954911,0.126716],[0.037448,-0.141794,0.989188]]2H9Y=eGy:E>Q 54?Q 94)PBY?Q E:y>Q I?CI@:i:oԑ4yBɮAE"*2ʎjZ !@9ɢ=;)9 =>iA)EqAAiESVMWɧM`?MrfMN;QIUV> UV>IYAe>Ae>DzDE EE'E"E ;*E:VE'4ZEBEvԑ /,>~W@A2n^=2~>2[!ٱ2 :AHRS rotation from veh to nav: [[0.962441,-0.261181,-0.074105],[0.268906,0.954656,0.127758],[0.037377,-0.142887,0.989033]]2HQ?2п5? ?bZ? #? J¿(?i2n^=I2]];2%CYbJBybHbDjVDjk1yr=%vW=ٔv5D9Q-v>9tYx=zeGyzFz:Ez>|Q 54~*?Q 9 4~)~QBY y >Q I ?~CI~:i~:~ۑ4yɮtA"19*92999AʎAAAjAZM e"@qԹɢV;) ?i)i#ɧl?'z Z; I e> e>IIIO=E EE+E"E[";*E:VE [4ZEa@a@a@a@9 ,X~W@AYga=q׋>!ٱFe AHRS rotation from veh to nav: [[0.962264,-0.261810,-0.074190],[0.269558,0.954415,0.128184],[0.037249,-0.143345,0.988972]]H?п%n@??@Qh?B? Y¿?iYga=I];&CYyi}Mb@Mb@Mb@yyyy y9}333333?V-?~jt?Y}?y}m=}D9Y=eGy:E>Q 54@?Q 94!) 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MAHRS rotation from veh to nav: [[0.946526,-0.321567,-0.026150],[0.322068,0.936995,0.135323],[-0.019012,-0.136509,0.990456]]=H I?@Կ,ǚœ?`?`@R? xyѱ?i==I=0];9Y]HBy]HiMb@Mb@Mb@ 9zG?l?% 6=ٔ HԹQ- >9Y=eGya;E>!Q 5%4%1g?Q 9-4%2i)%iQBYh?Q E:y>Q I?%CI%Hiy)};yyi}i<ɧrE?駭h=i>jM:I> >II1IIOe>ԙ ,XW@AY HBy HbDVDN2y-fT%-Z=ٔ5Q-5>91Y1=5eGy="F=E=>AQ 5M4Ezx?Q 9M4E)E\QBYQyQQ IU?ECIE:iEy:E>4y]sBɮ]aA]E"y*2ꏁʎjZH@颹ɢ^<) 6>i);iiɧ4D?j=i^>L:I^> ^>IIYIiO}=E EE'E"E[";*Ea:VE'4ZEa@a@a@a@) A A @AB1 B1 B5 HB5 HBB1 B1 B1 B5 ;B5 12 <ٱ2 NAHRS rotation from veh to nav: [[0.946580,-0.321356,-0.026790],[0.321922,0.936858,0.136612],[-0.018803,-0.137939,0.990262]]2H aJ?Կ`n^?@?|?@:?i27=I27];2CYRHByVHbD^VD^02yf%fP=ٔfj Q-f>9hYh=jeGyhnHйEn>pQ 5v4r?Q 9v4r)rOQBYtyv{>Q Iv?rCIrZ:ir:r4y|ɮ~xA|"*2!!!ʎ!!)j)Z-NI@ɢP<) A+>i)J;iiɧB?=i>uK:I> >IA?A>IqIO=)iaIeAyE  E E )E "E  ;*E :VE FA4ZE BE vRК<ٱR ZAHRS rotation from veh to nav: [[0.946368,-0.321983,-0.026738],[0.322538,0.936667,0.136471],[-0.018897,-0.137776,0.990283]]RH H?^Կ a w?,?@w?@Y`@f?iR =IR];RCY~HBy~H  AiMb@Mb@Mb@ 9333333?Mb?MbY?y<5A )YAbDVD2y\2%;=ٔc9Q->9Y=eGy#F:E>Q 54>?Q 94U)EQBY?Q E:yô>Q I?CI:ide<4y]tBɮ]AY"*2ꏡʎjZ=:I@ɢ3B<) d&>i)U;iiNɧC?=i,>/]J:I,> ,>IԩAaIiIyO9>E  E E *E "E (;*E VE (N4ZE a @a @a @a @A (),gW@ABt=Bj̧>BT<ٱBv VAHRS rotation from veh to nav: [[0.946601,-0.321301,-0.026678],[0.321837,0.936772,0.137402],[-0.019156,-0.138651,0.990156]]BHJ?1ԿQ ?@ ?b?O[?iBt=IBU];BCYHByHbD-VD-3yEYɼ%ES=ٔM2/:Q-M>9QYQ=UeGyQeEe>iQ 5}4m?Q 9}4m7)mQ I?m8CImS;imU;m4ydBɮZAE"*2ꏹʎjZjI@ɢ2V<) >i)%l;iiɧVD?=i7>SI:I7> 7>I AAIIYIiO}>BiBiBmHBmHBBiBiBiBm;BmPmǜ<ٱ AHRS rotation from veh to nav: [[0.946703,-0.320998,-0.026698],[0.321538,0.936855,0.137536],[-0.019137,-0.138790,0.990137]]HeK? <ԿV`??Ț?@3?i=IB];CYHByHi=Mb@Mb@Mb@9999 99=V-?Mbp?Mbp?Y=?y=;=;=A=ԶA 9)99Y= AbDUVDU1ye8<%e9=ٔm4Q-m>9qYq=ueGyu$FuG<E}>yQ 54}&ǐ?Q 94})}9QBY?Q E:yh>Q I?}ZCI} ;i} ;}24yɮDA"19*929999ʎAAAjAZMKI@颙ɢF<) F'>i)-V;iiXɧWF?s=iǂ>JG:Iǂ> ǂ>I AIzAMZAԡA؟AIIOa> ?6,2ڈW@A:=:q>:lÞ<ٱ: BAHRS rotation from veh to nav: [[0.946541,-0.321505,-0.026369],[0.322002,0.936758,0.137107],[-0.019379,-0.138268,0.990205]]:HJ?Կ~??? ؓIJ¯?i:=I:y%];8YJHByJHbDR VDRf2y^i;%^j=ٔ^5:Q-^>9b"?Yb"?=beGy`b:Ef>dQ 5j4f-ؐ?Q 9n4f )f6QBYlyn>Q In?fvCIf/;ifL;fL4yrfBɮvjAt"  * 2   ʎjZI@AɢE*<)A M>iI)M`;IIiMiUabɧUG?U=i]V>]}F:YI]V> ]V>IaE EEE"E*Ey:VEZEa@a@a@a@A=.AIIIYOe>!BQ AU <B] >BY B] HB] HBB] =BY BY B] ;B] XB <ٱBT> JAHRS rotation from veh to nav: [[0.946494,-0.321665,-0.026110],[0.322119,0.936679,0.137376],[-0.019733,-0.138436,0.990175]]BHI? (Կ?E??4H?iB%=IB/];@Y^HBy^HbDfVDfkyn'%nH=ٔrb:Q-r>9r ?Yv ?=veGyv%Fv9Ev>xQ 5~4z 쐉?Q 9~4z)z2QBYy>Q I?zCIz:iz:zqǔ4y ɮ A ")1*121119ʎ999j9ZE=J@iɢmÌ<)i mf >iq)u';qqiu i} ɧ}I?}cd!=i}_>E:I_> _>I) vCAYqF9Y,AAIIO>YDD<E EE'E"E;*E|:VE'4ZEBEs2<ٱ2 :AHRS rotation from veh to nav: [[0.946621,-0.321275,-0.026296],[0.321745,0.936708,0.138054],[-0.019721,-0.139145,0.990076]]2HJ? ÏԿi횿x???1 ?i2yV=I2E];2CYB|HByBHi=Mb@Mb@Mb@9999 99=\(\?~jtx?{Gz?Y=?y=;=ף<=5A=A =5A)=A9Y9bDQVDQye>%eC=ٔeQ-m>9iYi=meGyiuvEu>yQ 54}N?Q 94})}5QBY?Q E:y!>Q I?}CI};i}Q;}Δ4ygBɮA"*2ʎjZ@&9J@ɢ<<) =i)<iqMi Mɧ *K? "=i 9>#MD:I9> 9>IA%>A%>ԑA%؟AI1IAOM>bEuɷG4jEuFA4rEu/E  E E E "E *;*E :VE ZE a @a @a @a @! &xI,'W@AF;=Fw>F<ٱF VAHRS rotation from veh to nav: [[0.946633,-0.321266,-0.025963],[0.321695,0.936757,0.137837],[-0.019961,-0.138834,0.990115]]FH J?Կ@ খ?`?@?pK?iF;=IFX];FCY^zHBy^HhjAbDnVDnk1yv3%vR=ٔv!:Q-z>9z"?Yz"?=zeGyz&F~ E~>Q 5 4?Q 9 4)8QBY y >Q I?CIl:i:Ք4y}hBɮ}Ay"*2ʎjZlJ@!ɢ%x<)) -J=i))-CY<))i5Ei=d`ɧ={L?=H#=i=p>=B:9I=p> Ep>IAIQIiO}>B >B B HB HBB  =B B B ;B Dht<ٱ AHRS rotation from veh to nav: [[0.946695,-0.321085,-0.025942],[0.321505,0.936768,0.138204],[-0.020074,-0.139177,0.990064]]HSK?@Կ~??ર?2?i=I:];CYwHByHiuMb@Mb@Mb@qqqq q9u\(\?:v?S㥛?YqyuT9Y=eGyAE>Q 54)?Q 94)>QBY?Q E:y>Q I?CIz;iom;ݔ4yɮAi"*2ʎjZ(J@9ɢE}~<)A E=iI)M(0A:I> >IIyIԑO^> .V,e[W@A6o=6ۧ>6<ٱ6 >AHRS rotation from veh to nav: [[0.946538,-0.321580,-0.025535],[0.321940,0.936632,0.138109],[-0.020496,-0.138946,0.990088]]6H@ J?ÔԿ%???`̮?i6o=I6OI];6CYFcHByFvHPbDRVDRkyZd%Zp=ٔZ:Q-Z?9\Y\=^eGy^'Fba:Eb?dQ 5j4fK9?Q 9j4f)fBQBYhyj>Q Ij?fCIf:if:f4yriBɮrArE"*2   ʎ  jZ8J@9ɢE p<)A E(=iA)Ea!Ui!@:QIU > U >IYAizAm\AIIO}=E EE*E"EC#;*E:VE(N4ZEa@a@a@a@! A A AAB >B B HB rHBB =B B B ;B B\,@uW@A25 =2->2u!<ٱ2_u :AHRS rotation from veh to nav: [[0.946332,-0.322207,-0.025269],[0.322528,0.936462,0.137892],[-0.020766,-0.138641,0.990125]]2HYH? ԿN?@?p?C `?i25 =I2E"];2CYNoHByRHbDZVDZk2y~<|%F=ٔw+:Q->9 Y = eGy  v:E >Q 54M?Q 9%4)GQBY!y%:>Q I%?3CI3;ir;4y)ɮ5A1"QQ*Q2QQQYʎYYYjaZe4K@颉ɢs<) ,=i)<顑ib\heɧN?駝$=i ٮ>>:I ٮ>  ٮ>III1O==)D=D%=E EEE"E ;*E:VEZEBEa2Ea JE 2%R<ٱ2(S :AHRS rotation from veh to nav: [[0.946165,-0.322713,-0.025045],[0.322999,0.936307,0.137843],[-0.021034,-0.138511,0.990137]]2HF?`UԿk? :?Ӥ?܉4?i2*=I2n2];2CYNUHByReHYiUMb@Mb@Mb@QQQQ Q9US? rh?Zd;O?YU?yUC =Uj9Y=eGy(F:E>Q 54`?Q 94E)JQBY?Q E:y>Q I?SCIQ:i:'4yjBɮA"*2ʎjZ;5'Y=:1I5î> 5î>I9II)O5=ԁԱE  E E -E "E ';*E :VE t4ZE a @a @a @a @ i,W@A6=6t>6<ٱ6 >AHRS rotation from veh to nav: [[0.945838,-0.323701,-0.024671],[0.323930,0.936020,0.137608],[-0.021452,-0.138147,0.990179]]6HMD?Կ`JCE??%?h@ʮ?i6=I6fV];6CY^VHBy^fHbDfVDfk1ynG];%rU=ٔr :Q-r>9tYt=veGytv(;Ev>xQ 5~4zs?Q 94z)zLQBYy >Q I?zqCIz;iz;z4y lBɮ A"11*121119ʎ999jAZE`mK@iɢmEl<)i m~=iq)u*<:I%> %>I!AU?AQIIO=B>BBoHB^HBBBBB;Bf<ٱZ =AHRS rotation from veh to nav: [[0.945447,-0.324870,-0.024260],[0.325040,0.935700,0.137167],[-0.021862,-0.137570,0.990251]]HA? Կ{טu?`@? ?b`@"?i=IbQ];CYUKHByUXHi5Mb@Mb@Mb@1111 195Zd;?kt?y&1?Y5?y5 0=5`e<5A1 5A)11Y5zA IMp<bDMVDM:y]5%](=ٔe@]:Q-e>9aYi=meGym)Fm;Em>qQ 5}4u?Q 9}4uQ =tI)uIQBYJ?Q E:ye>Q I?uCIu :: I y> y>IAAIIQIiOuz>2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ԉԱ ;v,܉W@A2=2>2u`<ٱ21v :AHRS rotation from veh to nav: [[0.945224,-0.325515,-0.024329],[0.325663,0.935317,0.138292],[-0.022261,-0.138640,0.990093]]2HE??>Կ 阿@??`?@˖֮?i2=I2|];2CY^OHByb^HbDjVDjy%V<%%x=ٔ%:Q-%?9)Y)=-eGy-*F-;E5?1Q 5E45?Q 9E45)5GQBYAyE>Q IE?5CI5;i5:54yUmBɮUAQ"qq*q2qqqyʎyyjZ@K@颩ɢq<) V=i) <顱iNf/~ɧE?=iR>:::IR> R>Iԑ]*DAT read: user:368> eBDAT read: Tx time:00:21:59.2777 e$Ping request sent.eB <A <B >B B VHB IHBB =B B B ;B >2(X<ٱ2 :AHRS rotation from veh to nav: [[0.944944,-0.326319,-0.024410],[0.326465,0.935004,0.138523],[-0.022379,-0.138866,0.990058]]2H9r ?Yv ?=veGytv ;Ev>xQ 5~4z?Q 94z^)zEQBYy->Q I?zCIzY;iz;z4y ɮ XA")1*121111ʎjZ@I L@ɢ t><)  9=i ) %q < ia"f5}ɧ5B?=v=i=$>=]h9:9I=$> =$>IAAQzAQAIIO>)iYIYechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502031E EE.E"E;*E:VEـ4ZEBEbu2<ٱ2R :AHRS rotation from veh to nav: [[0.944532,-0.327567,-0.023659],[0.327622,0.934764,0.137405],[-0.022894,-0.137535,0.990232]]2H@9?Կ :?@?@~?xq@?i2=I2];2CYNHByNHR=R=i%Mb@Mb@Mb@!!!! !9%Q?:v?Y%?y%T=%%A! %5A)!!Y%AbD=VD=0yM5%MC=ٔMV:Q-M>9QYQ=UeGy]+F]O@;E]>aQ 5m4eu?Q 9m4e)eQ Iu?eCIeA;ieu:eU4y}]Bɮ}YA}Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.757841"99*9299AAʎAAAjIZM@^@L@频ɢ'<)  q8:I<ܭ> <ܭ>IԉA9IAIQOe4>Ա checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009691E  E E ,E "E +$;*E :VE g4ZE a @a @a @a @ a,>*W@A6P=6d>6߾<ٱ6} BAHRS rotation from veh to nav: [[0.944106,-0.328804,-0.023510],[0.328819,0.934306,0.137661],[-0.023298,-0.137698,0.990200]]6H6?@ տ`] ???Vۗ `?i6P=I6ir];6C\YbHBybHbDj VDjf2yr;%vQ=ٔv~:Q-v>9xYx=zeGyxzZU;E~>Q 54Б?Q 9 4?)4QBY y >Q I ? CI>:i:(4y_BɮXA"99*929AAAʎAAIjIZM oL@qɢu!!<)y }Xh8:I> >IA؟AII O>BQBQBU0HBU+HBBQBQBQBU;BU,]P;<ٱ] mAHRS rotation from veh to nav: [[0.943850,-0.329508,-0.023914],[0.329549,0.933907,0.138616],[-0.023342,-0.138714,0.990057]]]H4?`տ|T??@-?旿_?i]M=I]r];YY'HBy-HiUMb@Mb@Mb@QQQQ Q9U9"?Y"?=eGy,F:E>Q 54呉?Q 944)$QBY?Q E:y9>Q I?/CIQ:if:$4yɮ,A"*2ʎjZXL@I颉ɢ`4<) d=i)i <顑icp{ɧ7?駝r=i@>!8:I@> @>IA>A?AI!I9OEs>qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765739ԡ a$,]W@A2y=2>2 <ٱ2wq >AHRS rotation from veh to nav: [[0.943427,-0.330738,-0.023634],[0.330751,0.933630,0.137620],[-0.023451,-0.137651,0.990203]]2H0?`*տ`u3+?`K??@`?i2y=I2d];2CYFGByFHHHbDNVDN1yV %V=ٔZ9Q-Z?9XYX=ZeGy\^;Eb?dQ 5f4f?Q 9j4fA)fQBYhyj>Q Ij?fFCIf`:if:f'*4yr`BɮrArE"*2    ʎ  jZWL@yɢ<) `i)4v <i!Mc`#{ɧ4?=i>8:I> >IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.017786bE(N4jE(N4rE"0E EE%E"E+$;*E:VE 4ZEa@a@a@a@ԩAIIO$>AA AA BI BI BM HBM HBBI BI BI BM ;BM <2[<ٱ2M :AHRS rotation from veh to nav: [[0.943144,-0.331557,-0.023450],[0.331538,0.933359,0.137563],[-0.023723,-0.137517,0.990215]]2H;.?@;8տ-7??@?`J$د?i2=I2C];2CYfGByfHbD VDf2yt%:=ٔF":Q->9Y=eGy-F:E>Q 54!?Q 94) QBYyS>Q I?gCI:i:14yɮA"*2!!!ʎ!!!j)Z-M@QɢU<)Y ]iY)]g m8:iImQ> mQ>IqA.AIIO )>E EE)E"E%;*Eخ:VEFA4ZEBE-6<ٱ6 >AHRS rotation from veh to nav: [[0.943071,-0.331765,-0.023452],[0.331734,0.933230,0.137968],[-0.023886,-0.137893,0.990159]]6H@-?;տ ;?`??u@}b?i6 =I6n];4YbGBybHiMMb@Mb@Mb@IIII I9MGz?kt?~jtYM?yM 0=MMAMA M$A)MAIYM(AbDeVDe1yu%uP=ٔum9Q-u>9} ?Y} ?=}eGyy{ :E>Q 54O?Q 94-)PBY#?Q E:yb>Q I?CI ;iL ;84yaBɮAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773888"*2ʎjZ#AM@1颉ɢ;) (i) <顱ita%yɧh.?駽3 =iQ>;8:IQ> Q>Ia^AA[AzAZAԑAM ؟AIQ Ia u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025894O} >E  E E &E "E ;*E :VE 4ZE a @a @a @a @Թ |`,W@A2Ea=2B>2<ٱ2 :AHRS rotation from veh to nav: [[0.943011,-0.331901,-0.023904],[0.331882,0.932878,0.139974],[-0.024158,-0.139931,0.989867]]2H`&-?=տIz=? #?@?@༘`>?i2Ea=I2L}];2CYNGByRHV=V=ZAAXbDZVDZky 0% Q=ٔ+6:Q->9"?Y"?=eGy.F%9E%>)Q 5-4-o)?Q 954-ܾ)-PBY1y5l>Q I5?-CI-6:i-p:-?4yAɮEAA"aa*a2aiiiʎiiqjqZu@ sM@颙ɢџ;) 0Mi)W <顡i`uyɧ+?駵z =iV>^h8:IV> V>Iԑ^ANJκBBBHBGBBBBB;BX K,nŊW@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.529892DzDAAE" E"E"-E "E";*E":VE"t4ZE BE"sM<ٱMg mAHRS rotation from veh to nav: [[0.943060,-0.331766,-0.023857],[0.331727,0.932839,0.140602],[-0.024392,-0.140510,0.989779]]MH-?`;տm;?`?;? W8D?iM =IM߼];MCY}GBy}Hi]Mb@Mb@Mb@YYYY Y9]ʡE?S㥛?y&1Y]-?y]/<]`eYY ]A)]AYYYbDuVDuk2y0%(=ٔr9Q->9Y=eGyjE>Q 54??Q 94&)PBYb?Q E:yd>Q I?CI` ;i ;H4ycBɮA"*2ʎjZ !M@ɢfV;) Wi)Ѐ <i5T_%Lxɧ-*?-gz=i-2L>-g8:)I-2L> -2L>I1checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784804^Am9A A I I) O= >0s,S?ߊW@A 2=2Df>2<ٱ2} >AHRS rotation from veh to nav: [[0.942905,-0.332231,-0.023499],[0.332131,0.932661,0.140828],[-0.024871,-0.140592,0.989755]]2HG,?@ECտ  A?[??w ?i2=I2,|];2CYZGByZHbDbVDbyjv%j=ٔj:Q-n ?9lYl=neGyr/Fr׳:Er ?tQ 5z4v*M?Q 9z4vb)vPBYxyz>Q I~?vCIv;iv;vM4yɮA"!!*)2))))ʎ)11j1Z5uM@aɢek~;)a mHkii)mP }%8:yI}PD> }PD>I5BDAT read: Rx Time:00:22:02.8440 =TRx dataTimestamp_ set to:1761697323.593047=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034774EU EUEU*EQ"EU;*EU:VEU(N4ZEQa]@a]@a]@a]@i}U@@@@ԙ B A <B >B B HB GBB B B B څ;B ~,W@A>Gn=>#F>>Lf<ٱ>o9 FAHRS rotation from veh to nav: [[0.942982,-0.332012,-0.023516],[0.331898,0.932632,0.141568],[-0.025071,-0.141301,0.989649]]>H,??տ@=???@@)¿4?i>Gn=I>t];>CYNGByNHbDVXVDV1ybs%bM=ٔb:Q-f>9dYd=feGydj!Ej>lQ 5r4n^?Q 9r4n&)nPBYpyrz>Q Iv?nCIn:in:nT4yzdBɮz8Ax"*2ʎ!!j!Z% N@颩ɢ>t.;) Pi)j<顱iJ]wɧ(?=i;>9:I;> ;>IIIO#>DAT read: 00:22:02.8440 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 473,-0.20,-0.099,-1.802,-0.099,-0.389, PHS= 0.392,-1.368, 0.247, RAW= 145.7, 8.7, CAL= 145.3, 9.4, ROT= 4.7, -9.4 Ygot valid direction response: 00:22:02.8440 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 473,-0.20,-0.099,-1.802,-0.099,-0.389, PHS= 0.392,-1.368, 0.247, RAW= 145.7, 8.7, CAL= 145.3, 9.4, ROT= 4.7, -9.4 PDAT read: Bearing 182.0, 1.6 (Local) ~Local bearing/azimuth received: Bearing 182.0, 1.6 (Local) DAT read: Range 11 to 50 : 871.6 m (Round-trip 1162.2 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.983255,0.080838,0.163326]Fpublishing direction and range infoyQUfv?nAб?$vz?YUYDQQQQ Q)UHIU9>iUU|>U"@U|>U:M"@ U'>)U=IU'QQU~?yr^S{? 7F? U| >)UIU=iU'QQE EE)E"E[";*Ea:VEFA4ZEBEz6<ٱ6" >AHRS rotation from veh to nav: [[0.943194,-0.331405,-0.023588],[0.331285,0.932714,0.142460],[-0.025211,-0.142182,0.989519]]6H.?5տ'3??!9YYa=eeGye0FeɺEe>iQ 5u4m r?Q 9u4m)mPBY}g?Q E}:y}>Q I}?mCIm" ;im ;m[4yeBɮLAE*W@AJYDRYDjR>ū@'ŠQ@ a@rfv?nAб?$vz?Z=b'ܜ S@Z8,w@Q]|2[@zvkc;? p)? ?21C:BD"O6p?*U+BCO6p?U+“CIWDL>"*2ʎj<@ZFu?颩ɢ;) xi)<i[Q9wɧn'?=ie->N39:Ie-> e->I  IqIIO>E  E E (E "E ';*E :VE c44ZE a @a @a @a @ԡ ,",W@A2=2>Ѭ>2x<ٱ2* :AHRS rotation from veh to nav: [[0.943272,-0.331178,-0.023656],[0.331055,0.932700,0.143087],[-0.025323,-0.142802,0.989427]]2HH/?@2տO9 0??P?@_SG¿c?i2=I2];0Y^GBybuHbDjVDj0yD%N=ٔ9Q->9!Y!=%eGy!- !E->1Q 5=45?Q 9=45{)5PBY9y=>Q IE?54CI5;i5;5b4yMfBɮMsAIy"*2ꏉʎjZ?ɢ9) h۽i)==<i^Zvɧ=&?=i>sU9:I> >III O=BBBHBGBBBBB;Bjk<ٱj5E EEE"E;*E:VEZEBEbu9Y=eGy1F&9E>Q 5-4?Q 954԰)PBY1y5>Q I5?VCI;i%;j4y=gBɮEAA"*2ꏁʎjZ4?nManaging dock network, ignoring radio surface power offɢS) i)D< i +Y-vɧ-$?-=i-$>59:1I5$> 5$>I1IIO$>1Y b,P`W@A2y=2Ȭ>2?<ٱ2ȝ :AHRS rotation from veh to nav: [[0.943310,-0.331021,-0.024304],[0.331002,0.932779,0.142693],[-0.024564,-0.142648,0.989469]]2H`/?@r/տ 㘿!/?@S?C? W'@LB¿ ?i2y=I2];2CYByGByBVHi Mb@Mb@Mb@     9 9v?Zd;O?Q I]?MpCIMX ;iM ;Mp4yeVBɮegAewE"*2ꏉʎjZ`)?1aɢmȏ)q u{iq)uJū9:I >  >IA>A>II1Oe=E% E!E%,E!"E%[";*E!VE%g4ZE!a-@a-@a-@a-@YԉA A @AB B B \HB ~GBB B B B ;B kCFkGR^AXr`9r^AYrsCAy=-U?]M9A= > <ٱNm AHRS rotation from veh to nav: [[0.943140,-0.331503,-0.024339],[0.331488,0.932636,0.142500],[-0.024539,-0.142465,0.989496]]H@4.?X7տo옿7?&?m=? N<¿?i=Iİ];CY{GByXHbDVDy;%@=ٔ vQ->9Y=eGy2FD:E>Q 543?Q 94t)PBYy1>Q I?CI;i`;ex4y XBɮ iA xE"))*)2)111ʎ999j9ZE;)?ԑ颩ɢ!) i)=<iuVuɧ#?y=i}>l9:I}> }>IIIO=ԹiaIeAE EE)E"E';*Ea:VEFA4ZEBE2)d<ٱ2[N :AHRS rotation from veh to nav: [[0.943102,-0.331565,-0.024968],[0.331647,0.932631,0.142159],[-0.023849,-0.142351,0.989529]]2H -?\8տ&`9?@?D2?`k8¿8?i2F=I2j];2CYBVGByB+HDFAi Mb@Mb@Mb@     9 9v?y&1?{Gz?Y y `< ף< A  ) A Y bDVDy%O=ٔQ->9Y=eGy9E>Q 54*Β?Q 94%)PBY@?Q E:y>Q I?CIP;iO;N4yɮA"*2ʎjZ`?@)ɢ-J)) 5o)i1)5;11i59'U=ștɧ=!?Eg7=iE>E!::AIE> E>IIAIIO >I bEFA4jEɷG4rES)0E  E E +E "E );*E :VE [4ZE a @a @a @a @,٭W@A2Y=2g>2?`<ٱ2pA :AHRS rotation from veh to nav: [[0.942933,-0.332013,-0.025371],[0.332152,0.932479,0.141979],[-0.023481,-0.142303,0.989545]]2H,??տ A? ?[,?w `6¿@Y?i2Y=I24];2CY^gGBy^@HbDnVDnyvS4=%vU=ٔz|Q-z>9|Y|=~eGy~3F:E> Q 54 ߒ?Q 94 ) Y!y%A>Q I%? CI .;i 7@; 4y5]Bɮ5A1"aa*a2aiiiʎiqqjyZ} +X@!ɢ-2)) --i))-y;QQiUS])tɧ]?]]2v::YIeҫ> eҫ>IaA\AzA\AIBYBYB]CHB]jGBBYBYBYB]#;B]yԩ ,ճNjW@AD zD"@AE& E&E&)E$"E&&;*E&a:VE&FA4ZE$BE& Z<ٱ, }AHRS rotation from veh to nav: [[0.942599,-0.332913,-0.026011],[0.333144,0.932194,0.141525],[-0.022868,-0.142067,0.989593]]H)?rNտ@`9R??|?`j9 ?Y ?=eGy;E>Q 554?Q 954))PBY1y5>Q I5?CI2;iD;-4yEWBɮEAA"*2ꏩʎjZ) @ɢS)  (i))-;))i-l-R5}sɧ5?5=::9I==> ==>I9IIO%M>1Թ ',aW@A2s~=2,J>2ƽ<ٱ2 :AHRS rotation from veh to nav: [[0.942383,-0.333473,-0.026632],[0.333790,0.931994,0.141321],[-0.022305,-0.142068,0.989606]]2H`(?Wտ E\???<זI/¿@٪?i2s~=I20];2 CYBVGByB+Hi=Mb@Mb@Mb@9999 99=㥛 ?l?Zd;O?Y=?y===j<=A=A =A)=A9Y=\AbDUVDU0yeV%eW=ٔmºQ-m>9iYi=meGyu4Fu:Eu>yQ 54?Q 94)PBY?Q E:y2>Q I?CI:i:c4yɮA"*2ʎjZ @ɢiV) o)i)2;iP sɧ ?  w;: I > >IEU EUEU*EQ"EU[";*EU8:VEU(N4ZEQae@ae@ae@ae@I1IAOM>ԡBM <AM <BQ BQ BU HBU KGBBQ BQ BQ BU ;BU 6<ٱ6& BAHRS rotation from veh to nav: [[0.942172,-0.334009,-0.027364],[0.334427,0.931780,0.141223],[-0.021673,-0.142208,0.989599]]6HF&?@i`տL@@g?$??b13¿̪?i6*=I6];6CYNBGByRHbDZVDZ1yvQ%vS=ٔvպQ-v>9xYx=zeGyxz}:E~>Q 5 4s?Q 9 4)PBY y >Q I ?%CI:i:)4yXBɮA"99*929AAAʎAAIjIZM`J@qɢuwû)y }=iy)}~;yiuOhrɧ?駍 <:I!O> !O>IA?A>I9IIO]=D]%=D]4=Ee EeEe+Ea"Ee ;*Eeخ:VEe [4ZEaBEev2<ٱ2{ :AHRS rotation from veh to nav: [[0.941995,-0.334465,-0.027891],[0.334949,0.931568,0.141387],[-0.021307,-0.142528,0.989561]]2H$?gտVo?g?`?`ѕ@[>¿|?i2=I2^;2 CYV>GByVHi5Mb@Mb@Mb@1111 1957A`?kt?{Gz?Y5?y5 0=5ף<11 1)5A1Y53AbDMVDMN2y]:%]C=ٔedQ-e>9aYa=eeGym5Fml:Em>qQ 5}4uu)?Q 9}4u)uPBY?Q E:y^>Q I?uDCIuL ;iu;uy4yɮA"*2ꏹʎjZ,@ɢh) SAi)LL;iNrɧ?;8 <: I > >I 1II)O5=aԑEu  Eu Eu (Eq "Eu s!;*Eu ˭:VEu c44ZEq a} @a} @a} @a} @Թ @; ,/W@A:Z=:P>:<ٱ:2 JAHRS rotation from veh to nav: [[0.941953,-0.334482,-0.029093],[0.335120,0.931379,0.142222],[-0.020474,-0.143716,0.989407]]:Hz$?%hտʝr?`?S4?@Ie¿@9?i:Z=I:u^;:CYR5GByRHXZA \^bDb VDbf2yn%nS=ٔEuQ-E>9IYI=MeGyIM9EU>QQ 5]4U;?Q 9e4Ur)QYayey>Q Ie?UbCIU;iU:Ux4ymZBɮuAuyE"*2ꏑʎjZY@ɢ0) Ji) ;iuLxqɧ0?=:I> >IԑIIO=B>BBHBAGBB =BBB?;B;EBBBBBC_g4TDAT read: user:369>Rx Time:00:22:08.1732 TRx dataTimestamp_ set to:1761697328.889233 (,k IW@AE EEE"E;*E:VEZEBEo=>>>V<ٱ> JAHRS rotation from veh to nav: [[0.941548,-0.335568,-0.029676],[0.336285,0.931009,0.141895],[-0.019987,-0.143581,0.989437]]>H)!?@yտ@Bc??)?`w`¿@w?i>=I>N^;>CYj1GByjHbD~VD~y)%F=ٔkQ->9Y!=%eGy%6F%J;E%>)Q 554-M?Q 954-)-PBY9y=>Q I=?-CI-U;i-Q;-u4yAɮEAI"*2ꏙʎjZ @ɢл) Ni);iKqɧ?oz?:Iz> z>IAzAZAA1IAIYOmV>DAT read: 00:22:08.1732 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 260, 0.31,-2.226, 2.298,-2.166,-2.638, PHS= 0.515,-1.302, 0.428, RAW= 147.6, 4.1, CAL= 146.9, 4.3, ROT= 3.1, -4.3 Ygot valid direction response: 00:22:08.1732 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 260, 0.31,-2.226, 2.298,-2.166,-2.638, PHS= 0.515,-1.302, 0.428, RAW= 147.6, 4.1, CAL= 146.9, 4.3, ROT= 3.1, -4.3 6DAT read: bearing request Dreceived a bearing request messageBDAT read: Tx time:00:22:09.7760 $Ping request sent.$@C=$@ `=)k]=I`''˾rK?P?)1B? X>)0Ik]=i` :publishing transmit ping time:publishing range request flagyy-F? C?]1? )Ii )I''˾rK?P?)1B? )IiA M,5bW@A2>2V>2:<ٱ2 :AHRS rotation from veh to nav: [[0.941239,-0.336385,-0.030230],[0.337173,0.930705,0.141783],[-0.019558,-0.143644,0.989436]]2H? 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Ŀ?i:+=I:C];:CDY^FBybHbDjVDjk2yrY<%rG=ٔr ȹQ-v>9v"?Yv"?=veGyvmFzEz>|Q 54~?Q 94~ )~5RBYy v>Q I ?~TCI~b:i~R:~4yBɮA"11*121999ʎ9AAjAZE[H@iɢu7F)q uփiq)uqyi}qṛoɧվ駅%iz>A;Iz> z>IԱAI I1OM>E= E=E=(E9"E=77;*E=:VE=c44ZE9aE@aE@aM@aM@B]>B]CCB]HB]KGBB] =BYB]DB]݄;B];E ,DKW@A2w=2ȩ>2ޑ:ٱ2e& :AHRS rotation from veh to nav: [[0.944539,-0.314310,-0.095157],[0.325227,0.935462,0.138341],[0.045534,-0.161616,0.985803]]2H`9?Կ /\?`N?&?@+P?ӯĿ ?i2w=I2!];2CYNFByRHieMb@Mb@Mb@aaaa a9eI +?Mb`:vYe9?yeeԼeAeA eA)eAaYeAbD}VD}J2y땼%@=ٔcQ->9Y=eGyE>Q 54A&?Q 94)Y_?Q E:yR>Q I?tCI:i:+4yՓBɮtA4E"*2ʎjZ,H@ɢH) ҇i)i%:r%oɧ%о-hҦi-V>-"!;)I-V> -V>I1 AAIQIaOm>9E]  E] EY EY "E] 8;*E] -:VEY ZEY BE] ُ2;;ٱ27' :AHRS rotation from veh to nav: [[0.945062,-0.312655,-0.095420],[0.323669,0.935880,0.139165],[0.045791,-0.162404,0.985661]]2H =?Կ`sm?? )?q?Ŀ`?i2}=I2=];0YR GByRHbDZVDZ1yb3=%bX=ٔbw2Q-b>9dYd=feGyfnFjNEj>lQ 5r4n7?Q 9r4n2)n6RBYpyrv>Q Iv?nCIn;in;nȸ4yxɮzDAx"*2ʎ!!j!Z%H@yɢD) kvi)!iaqrRpɧ˾Ϣi>O";!I%> %>I!A5?A5?AiIqIO>ԡ , W@A25=28>2>;ٱ2' :AHRS rotation from veh to nav: [[0.945516,-0.311344,-0.095203],[0.322334,0.936342,0.139154],[0.045818,-0.162260,0.985684]]2HA?ӿ8_? ?`?`mu?Ŀ?i25=I2"];2CYB GByBHE EE)E"E;;*E:VEFA4ZEa @a @a @a @AAB%>B!B!B!B% =B!B!B%;B%;EBBBB =B =CO5iMb@Mb@Mb@ 9I +?9YYY=]eGy]oFeJEe>iQ 54mM?Q 94m0)mQ I?mCImW;im;m4yɮAA"*2 ʎ   jZ@H@Yɢ]=@)Y euia)eaaieqBpɧ駍s(i@>#;I@> @>IAIIOH>)Y ,՘W@A:=:>:+<ٱ:OT' BAHRS rotation from veh to nav: [[0.945867,-0.310273,-0.095216],[0.321291,0.936654,0.139468],[0.045911,-0.162510,0.985638]]:HD?@ӿ `? ???Ŀ@Y?i:=I:E ];8Y^GBybHbDjVDj1yr(%rf=ٔr|Q-r>9tYt=veGytvJEz>xQ 54z]?Q 94z)z@RBYy>Q I?zCIz;iz;zƘ4y ֓BɮQA"11*121119ʎ99AjAZE@*I@iɢmL)q uJ{iq)uʤqqiu`p}pɧZ駅uih>u$;Ih> h>I1A.AIIO>EE EEEE*EA"EE3;*EE;:VEE(N4ZEABEE2>;ٱ2!' :AHRS rotation from veh to nav: [[0.946319,-0.309040,-0.094735],[0.319992,0.937095,0.139494],[0.045666,-0.162321,0.985681]]2H>H? Oӿ@ z??`?a?Ŀ?i2,"=I2*`];2CYBFByBHDFAbDNVDN1yVS%VN=ٔV!:Q-V>9Z ?YZ ?=ZeGyXZ?cE^>Q 54p?Q 9 4ۇ)FRBY y ϔ>Q I ?CId:i: Θ4yדBɮfA=5E"yy*y2yyʎjZo_I@ɢH) i)i p8qɧ_ ipN>ƒ%;IpN> pN>I A9zA=]AԙA؟AIIO>B B B *HB UGBB  =B B B ;B ;EE- E-E-,E)"E- /;*E-:VE-g4ZE)BE-<2E-<JE- <:E- < ,?̗W@A2=2V>2p;ٱ2Ɣ' :AHRS rotation from veh to nav: [[0.946837,-0.307477,-0.094641],[0.318455,0.937534,0.140061],[0.045664,-0.162754,0.985609]]2H~L?ӿe:a?`F?`?9a?`Ŀ?i2=I2Y];2CY^GBy^Hi}Mb@Mb@Mb@yyyy y9}gfffff?X9vMbP?Y}3?y}}:}A}ȷA }A)}AyY}AbDVD0y<%;=ٔ6Q->9"?Y"?=eGypFtE>Q 54?Q 94)TRBYi?Q E:y>Q I? CI:is:՘4yɮQA"*2ʎjZ2I@)ɢ5lF)1 5yi1)=W99i=joE~qɧEEiEړ>Ez&;AIMړ> Mړ>IIA.AIIO$>I E  E E -E "E 8;*E :VE t4ZE BE ُ<2E ُ<JE Q<:E Q<58,mW@A:+=:5>::ٱ:O( BAHRS rotation from veh to nav: [[0.947407,-0.305781,-0.094437],[0.316775,0.937997,0.140764],[0.045539,-0.163276,0.985529]]:H (Q?ӿ- F? ??@P?`8Ŀt?i:+=I:z];8YJGByJHbDVVDVyZڀ=%ZX=ٔ^39Q-^>9b ?Yb ?=beGybqFb홻Ef>dQ 5j4fU?Q 9j4f)f`RBYlyn>Q In?f%CIf;if;f!ܘ4yrؓBɮv$At"  * 2   ʎjZI@AɢED)A MaiI)M~IIiMnU qɧU{UExi]X>]kK';YI]X> ]X>Ia)A؟AIIO=Yԉ WC PG1 I u @9q Yu B'A,BW@A@BPAPBV>BTBV7HBV_GBBV =BTBTBV;BV4;Ej=jg>j:ٱjK( ~AHRS rotation from veh to nav: [[0.947903,-0.304287,-0.094288],[0.315285,0.938454,0.141062],[0.045562,-0.163440,0.985501]]jH7U?oyӿ@E#-?? N?S?Ŀ8?ij=Ij];hYGByH-=-=E EE)E"E4;*E:VEFA4ZEBE<2E<JE!<:E!9"?Y"?=eGya]E>Q 54?Q 94)vRBY?Q E:y>Q I?HCIM;i3:B4yɮ "A "II*I2IqqqʎqqyjyZ}J@ԩɢ1=) `i)ignErɧ#*fi >@(;I >  >IAYIaIqOY> :,W@A2=2O>2?8ٱ2 ' :AHRS rotation from veh to nav: [[0.948443,-0.302906,-0.093295],[0.313720,0.939095,0.140285],[0.045119,-0.162321,0.985706]]2HY? bӿ*ⷿ?` ??? Ŀ ?i2=I2];0YB8GByBHbDJVDJ1yR=%Vs=ٔV:Q-V?9TYX=ZeGyZrFZEZ?|Q 5%40?Q 9%42)RBY)y->Q I-?aCI.;i /;V4y5ٓBɮ5A1"QQ*Y2YYYYʎaaajaZe-J@频ɢA) Gi)k顙i|mn@0rɧ~駥XiI>(;II> I>IDDA I)I1OU>Em EmEm+Ei"Em8;*Em-:VEm [4ZEiau@au@au@au@Qԁ "d ,3W@A2=2>2 8ٱ2p& :AHRS rotation from veh to nav: [[0.948827,-0.301840,-0.092839],[0.312585,0.939493,0.140158],[0.044916,-0.162006,0.985767]]2H \?ZQӿKķc?R? ?9TYT=VeGyTZBEZ>XQ 5b4ZrΛ?Q 9b4Z)ZRBY`ybf>Q Ib?Z~CIZ+;iZY;Z/4yhɮhh"xx*x2xx||ʎ||jZ_J@Yɢ%)<) i)i5nerɧ4{!Hi>e);I> >I Am.AԉIIO$>B>BBCBPHBtGBB =BBDB*;B:EbEǙT4jEǼP4rE./EU EUEQEQ"EU /;*EU:VEQZEQBEU26ٱ2[;& :AHRS rotation from veh to nav: [[0.949170,-0.300963,-0.092184],[0.311596,0.939867,0.139848],[0.044551,-0.161463,0.985873]]2H@_?BӿY/?d??@qϦ?ԪĿD?i2=I2Y^;2CYN9 ?Y ?=eGysF'E>Q 54j⛉?Q 94})RBY#?Q E:y>Q I?CI7:i:4ԹyړBɮA6E"*2ʎjZkJ@ɢe;)! %Ci!)%!!i%m-Frɧ-l-Y54*;1I5> =>I9AE؟AIQIaOm>E  E E (E "E U,;*E S:VE c44ZE a @a @a @a @9 x,gW@A2 =2>2+5ٱ2% :AHRS rotation from veh to nav: [[0.949471,-0.300198,-0.091571],[0.310723,0.940207,0.139503],[0.044217,-0.160908,0.985978]]2Hb?q6ӿ-q?-???? Ŀ"?i2 =I2B_;2CYB\GByB3HbDJVDJkyR=%RZ=ٔVi:Q-V>9V"?YV"?=ZeGyXZq!EZ>\Q 5b4^?Q 9b4^{)^RBYdyf9>Q If?^CI^:i^B:^T4yjۓBɮjAl"||*|2||||ʎjZ^J@1ɢ5@s5)1 5>#i9)=699i=mErɧE^E"2iEl>E*;IIMl> Ml>IIAaIqIO=9iԑ _^ ,ҋW@AA A"@AB&>B&ACB&uHB&GBB& =B&;DB&DB&;B&C:EEb EbEb*E`"Ebg5;*Eb:VEb(N4ZE`BEb} 5ٱVW% -AHRS rotation from veh to nav: [[0.949763,-0.299345,-0.091339],[0.309832,0.940531,0.139307],[0.044206,-0.160608,0.986028]]Hud? w(ӿaI??`? ,?ΎĿ ?i#=I^;CYTGBy(Hi-Mb@Mb@Mb@)))) )9-n?y&1|?Zd;O?Y-?y-`;-j<)) ))))Y)bDEVDE1yU%U2=ٔ]7Q-]>9YYY=eeGyetFeEe>iqQ 5}4m ?Q 9}4my)mRBY}$?Q E}:y>Q I?mCIm5;im55;mW4yɮA"*2ꏱʎjZ/K@ɢҮ3) +i)giQngrɧLVap+i?>!e+;I?> ?>IAYIiIyO9>ԡ &,geW@A2.=2J6>2û4ٱ2$ :AHRS rotation from veh to nav: [[0.949912,-0.298976,-0.090997],[0.309389,0.940753,0.138791],[0.044110,-0.159993,0.986132]]2He?@m"ӿ K ?`???`zĿe?i2.=I2^;2CYBcGByB;H DDbDJVDJ1yRv,=%Vj=ٔVc9Q-V?9TYX=ZeGyXZկEZ?Q 54?Q 9 4w)RBY y }>Q I ?CI:i: 4yɮA9"yy*y2yyyʎjZ`0K@ɢ4) i)Ni3nsɧO%&i> +; I > >I E EE(E"E%.;*E:VEc44ZEa@a@a@a@II)O5 >) ,,>>W@A02=2Rk>2r3ٱ2Y$ >AHRS rotation from veh to nav: [[0.950400,-0.297587,-0.090454],[0.307921,0.941250,0.138682],[0.043870,-0.159656,0.986197]]2H@i? ӿ'?? U?v?oĿ?i2=I2^;2CYBkGByFEHbDNVDN 3yVb<%VJ=ٔV:Q-Z>9XYX=ZeGyZuF^zE^>`Q 5f4b,?Q 9f4bu)bSBYdyf>Q Ij?bCIb:ib :b4ylɮnAp"*2 ʎ   j ZbK@ɢA1) 2i)i#nEsɧH i>Ea,;I> >IԑIaIO>BM>BIBMHBMGBBM =BIBIBMS;BM9EB B B ƔCB Ɲ =B Ɲ =C '5ԹE EE*E"E3;*Ed:VE(N4ZEBE21ٱ2" :AHRS rotation from veh to nav: [[0.950595,-0.297319,-0.089283],[0.307382,0.941714,0.136716],[0.043431,-0.157406,0.986579]]2HEk?`Dӿ@۶$?"??9AYA=EeGyAEEM>IQ 5U4Mv??Q 9]4Ms)MSBY]?Q E]:y]>Q Ie?M3CIM;iM;M4ymܓBɮmAiP%B*** querying acoustic contact ***! !"))*)2)111ʎ199j9Z=@9K@颡ɢE/) i)K2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.顩i?n#qsɧ$FFi>,;I> >IIqIO=E  E E +E "E y>;*E :VE [4ZE a @a @a @a @Q m DAT read: m BDAT read: Tx time:00:22:59.3276 u $Ping request sent.u 6-1ٱ6|" >AHRS rotation from veh to nav: [[0.950828,-0.296591,-0.089217],[0.306688,0.941815,0.137577],[0.043222,-0.158174,0.986465]]6H`/m?Wҿֶ`Ơ?X#? ?!!? ?Ŀ?i6U=I6y^;6CYFGByFeHbDLVDLyV|=%VS=ٔZ:Q-Z>9XYX=^eGy^vF^yE^>`Q 5f4b/Q?Q 9f4bq)b SBYhyj)>Q Ij?bPCIb:ib:b"4ynݓBɮnlAr7E"*2ʎ   j ZK@AɢE,)A EiI)MIIiM?qnUsɧUDDU7i]>]I-;YI]> ]>IaAqzAu^AI9IIO]=Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251056qԡ B9 A= <@, W@AB}y>B}@CB}HB}GBB} =ByB}DB}m;B}9E6橿=6>60ٱ6"" >AHRS rotation from veh to nav: [[0.950930,-0.296344,-0.088949],[0.306376,0.942001,0.136997],[0.043192,-0.157527,0.986570]]6Hn?Nҿ`Ŷ@?$? !?=?)Ŀ?i6橿=I6!^;4ER ERER*EP"ER<;*ER:VER(N4ZEPBERē91Y1=5eGy1==>E=>AQ 5E4EQ IM?ErCIE:iEE:E*4y͓BɮZA-E"*2ʎjZ`ZL@IɢU.)Q UiQ)U0 QYi]n]sɧeJGe&oie=>e-;aIe=> e=>IiII O>ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755055 :F,W@A2a=2C>260ٱ2 ! >AHRS rotation from veh to nav: [[0.951129,-0.295813,-0.088586],[0.305783,0.942226,0.136776],[0.043008,-0.157180,0.986633]]2Ho?@ҿ? &???zĿ`?i2a=I2F^;2CY^GBybgHbDj VDj:2yr̈=%rb=ٔrX:Q-r>9tYt=veGyvwFvEz>xQ 54zw?Q 94zl)z6SBY y >Q I ?zCIz!;iz #;z04yΓBɮ,A"*2ʎjZ 4L@)ɢ-ҭ,)1 5i1)=f 99i=nEsɧEIM>!iMϖ>M5.;QIUϖ> ]ϖ>IYII OE=E EEE"E9;*E:VEZEa@a@a@a@5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0070421Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259077M,6W@A6=6>6.ٱ6 BAHRS rotation from veh to nav: [[0.951351,-0.295422,-0.087506],[0.305164,0.942630,0.135363],[0.042497,-0.155481,0.986924]]6Hwq? 0ҿf@Ї?*?`S?/¥?`ÿ@?i6=I6)^;6CYFGByF_HbDRVDRk1yZd%ZM=ٔZO:Q-Z>9\Y\=^eGy\b?غEb>dQ 5j4f?Q 9j4fj)f@SBYhyjF>Q Ij?fCIf:if :f74ypɮr:Ap"*2    ʎ  jZ 6eL@9ɢE.)A EiA)E IIiM$nUtɧUKU#iU>U.;QIU> ]>IYAm?Am>1AqII#G!O=>YTJ9!Y-x/AaBr>B?CBHBGBB =BBDB;BA:EE EE'E"E:;*E:VE'4ZEBE36+ٱ6Xf >AHRS rotation from veh to nav: [[0.951541,-0.295034,-0.086745],[0.304646,0.942847,0.135016],[0.041953,-0.154899,0.987039]]6H@s?ҿ@4S?`+?1H?`z?ÿӕ?i6=I6J_;6CYNGByRHnonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 276.15, 229.73, 257.20 an@an an@an an@an ar@ar bDvVDv:yzJ=%~F=ٔ~ɬ:Q-~>9Y=eGyxF5E > Q 54 ?Q 94 Eh) KSBQ A+:YQ E:y>Q I? CI m ;i m> =4y-ГBɮ-A-.E"II*I2IIQQʎQQQjYZ]L@颁ɢ!) i)6 顉i.9o<=tɧ8N駝 $iצ> /;@ צ>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763167ԙA.AIIO>ԹD zD E  E E )E "E 77;*E d:VE FA4ZE a @a @a @a @M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015047 sZ,>jW@A2=2 >2*ٱ2N :AHRS rotation from veh to nav: [[0.951907,-0.293967,-0.086353],[0.303532,0.943195,0.135096],[0.041734,-0.154809,0.987063]]2H`v?`Zҿ@:m? .?@J?+^?ÿ ?i2=I2^;2CYBGByBHbDHVDHyR""<%RP=ٔR):Q-V>9V ?YV ?=VeGyTZCEZ>\Q 54^0?Q 94^ f)^USBQ A :YQ Ej:yc>Q I ?^CI^a% l/;IJ> J>I II!O- >checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267089Q A A ?AB n>B >CB HB GBB =B B B ;B :EN`,W@A2c=2C>2X*ٱ2P :AHRS rotation from veh to nav: [[0.952367,-0.292470,-0.086358],[0.302086,0.943537,0.135952],[0.041720,-0.155564,0.986944]]2H y?Էҿ`U?s1?f?T\?`ÿ ?i2c=I2=_^;2CbE G4jE B4rE /EB EBEB(E@"EBa?;*EB :VEBc44ZE@BEB9IYI=UeGyUyFe^XEm>yQ 54}Ĝ?Q 94}~c)}\SBQ AT:YK?Q E:y>Q I?} CI};i};}>J4yɮ,AI"*2ʎjZ%M@IɢM)I MviI)Us QQiUp]tɧ]O]4&i]2>e%/;aIe2> e2>IaAuZAyzAqIqIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771055 )$g,W@A6邳=6]>6*ٱ6` >AHRS rotation from veh to nav: [[0.952793,-0.291128,-0.086191],[0.300748,0.943905,0.136360],[0.041658,-0.155845,0.986903]]P6HH}?@١ҿ t??x4?At?)T?ÿഔ?i6邳=I6."^;6CYlylbDz VDz2yܛ:%a=ٔu49Q- >9 Y = eGy E>Q 5%4_՜?Q 9%4a)aSBY!y->Q I-?'CI&;i;P4yAɮAA"*2ꏉʎjZI6M@ɢE&) i) iOptɧ2O,%iL> J0; I L> L>ID=D<E  EE+E"EC;*E:VE [4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023022^A <I9IQO]v>!  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275081Nm, зW@A2p=2ƛ>2.*ٱ2j :AHRS rotation from veh to nav: [[0.953243,-0.289677,-0.086116],[0.299318,0.944291,0.136834],[0.041681,-0.156212,0.986844]]2H?`ҿ (?7?Ã?0W?ÿ`9?i2p=I2];2CYBGByBHbDJ VDJ2yR<%RP=ٔVwQ-V>9TYT=VeGyVzFZzEZ>\Q 5b4^眉?Q 9b4^a_)^gSBY`yf7>Q If?^ECI^;i^:^YW4yhɮjAh!"YY*Y2aaaaʎaiijiZm`4iM@ɢ ) ti)5 i{qtɧ:N$i4>[0;I4> 4>I^A;<I1IQOu=IBBBHBHBB =BBB;;B:EE EE)E"E;;*EI:VEFA4ZEBE2c*ٱ2 :AHRS rotation from veh to nav: [[0.953564,-0.288639,-0.086044],[0.298288,0.944583,0.137065],[0.041713,-0.156366,0.986818]]2H? yҿ'?`:?`[? v[?Ŀ?i2P:=I2Q];0YNGByRHV>Ti%Mb@Mb@Mb@!!!! !9%333333?Q?y&1|Y%?y%<%`!! %A)%5A!Y%AbDEVDEk1yU<%U@=ٔUQ-U>ԙ9Y=eGy& E>Q 54?Q 94\)mSBY?Q E:y>Q I?gCI:iE:_4yBɮA/E"!*!2!!!!ʎ)))j)Z-`M@Yɢ],)Y ]4diY)eg aaieYrmuɧmJmM"im⢖>m0;q}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779142Iu⢖> }⢖>I@@@@IIOj>E  E E (E "E L;*E :VE c44ZE a @a @a @a @- BDAT read: Rx Time:00:23:02.8473 5 TRx dataTimestamp_ set to:1761697383.6091145 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032111I 5`z,W@A6=6ԩ>6*ٱ6ļ! >AHRS rotation from veh to nav: [[0.953890,-0.287538,-0.086113],[0.297245,0.944788,0.137916],[0.041703,-0.157154,0.986693]]6HD? gҿ ?@;?`??Z?Ŀ?i6=I6S];6CYFGByFHbDRVDRyV]<%ZU=ٔZ7Q-Z>9\Y\=^eGy^{FbBEb>dQ 5f4f#?Q 9j4fZ)frSBYhyj>Q Ij?fCIf:if:fe4ypɮrAp"*2   ʎ   jZ`"M@9ɢE)A ENiA)E{ AIiMsM;uɧU^GUi~iU>U0;QIU> U>IYI!I9OM=!checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283088QB <A <B i>B =CB HB HBB =B B DB n;B :EBM>CBM>CBIBMˤ =BMˤ =CM˯6 bH,VaW@AE2 E2E2*E0"E2:;*E2:VE2(N4ZE0BE22Ы=>ՙ>>ɏ+ٱ>Z" fAHRS rotation from veh to nav: [[0.954363,-0.285930,-0.086223],[0.295698,0.945177,0.138575],[0.041873,-0.157747,0.986591]]>H%?Lҿ?>? Ӽ?@^p? 1Ŀ (?i>Ы=I>z];< DAT read: 00:23:02.8473 LVL= 30544, 32753, 32754, 32755, AGC= 76, IDX= 396, 0.01,-0.350,-2.029,-0.430,-0.786, PHS= 0.538,-1.197, 0.312, RAW= 143.1, 4.3, CAL= 142.7, 4.8, ROT= 7.3, -4.8 Ygot valid direction response: 00:23:02.8473 LVL= 30544, 32753, 32754, 32755, AGC= 76, IDX= 396, 0.01,-0.350,-2.029,-0.430,-0.786, PHS= 0.538,-1.197, 0.312, RAW= 143.1, 4.3, CAL= 142.7, 4.8, ROT= 7.3, -4.8 %PDAT read: Bearing 173.7, 8.6 (Local) %~Local bearing/azimuth received: Bearing 173.7, 8.6 (Local) -DAT read: Range 11 to 50 : 836.7 m (Round-trip 1115.6 ms) speed 0.4 m/s 5R#Rx 1: Read range and direction messages.=\direction in FSK: [0.988416,0.126619,0.083678]=Fpublishing direction and range infoypr}F?37 5?U]k?Yr,QDprPwpp p)pIr^ ?irL7rw>r @r`=re@ r=)rw>Irpprc|X?3d"?Wwl+? r/>)r,Irw>irppY}GBy}HԑiEMb@Mb@Mb@AAAA A9E +?S㥛?{GztYE?yE/%$=ٔ Q->9Y=eGy\SE>Q 54%?Q 94]X)zSBY?Q E:yP>Q I?CI ;i ;En4yɮApr3W@AJrKPDRrKPDjr4;>r3@qt_Z@h@mQ@rr}F?37 5?U]k?Zrw>brr!n@iZڽ5v@U@zru +?,^?\TƝ?2rqC:rq;D"r?*rmXBrCr?rmX“rCr)ODrE6>"Ya*a2aaaʎj%@Z?ɢ ) Wi)6 iZt Couɧ vA Ri <Җ>0;I<Җ> <Җ>IA؟AIIO> 1u,GW@A2=2Vl>29-ٱ2/! >AHRS rotation from veh to nav: [[0.954584,-0.285151,-0.086358],[0.294926,0.945491,0.138074],[0.042279,-0.157272,0.986650]]2H ??ҿ?`wA?e?`?@~!Ŀ?i2=I2b];2CYJGByJHbD^VD^yf.=%j=ٔj@Q-n?9n"?Yn"?=reGyr|Fv(Ev?xQ 54z84?Q 9 4zV)zSBY y >Q I ?zCIz7;iz +;zs4yBɮA"*2ʎjZ ?AɢEG)A E iA)M` IIiM1uUuɧU=UiU>]1;YI]> ]>IYEu EuEqEq"EuO6;*Eu:VEqZEqa@a@a@a@AaIiIO>I ,9W@A 2ȥ=2>2>-ٱ2^! >AHRS rotation from veh to nav: [[0.954763,-0.284619,-0.086141],[0.294347,0.945731,0.137668],[0.042283,-0.156795,0.986726]]2Hj?27ҿO ?nC??`?@ĿA?i2ȥ=I2];2CYBGByBHbDNVDN1yVx%VM=ٔV3Q-Z>9XYX=ZeGyX^ȺE^>`Q 5f4bF?Q 9f4bT)bSBYdyf>Q Ij?bCIbK:ibd:bz4ylɮnAl"|*2ʎ   j Z ; ?1ɢ=/)9 =i9)E AAiEuMаuɧM8MViM>MF21;QIU> U>IQAiyIIO=BEj>BABEHBEHBBE =BABEDBEs;BE:EE EE'E"E;;*E:VE'4ZEBE6Jh-ٱ6N*! >AHRS rotation from veh to nav: [[0.954989,-0.283897,-0.086015],[0.293607,0.945981,0.137534],[0.042323,-0.156599,0.986755]]6HD? `+ҿ`u?yE?@?a?k Ŀ?i62=I60];6CYFGByFHPiMb@Mb@Mb@ 9n?L7A`?Mb`Y?y+=AζA A)1AYfAbD-VD-y=-=%EA=ٔEnǸQ-E>9AYI=MeGyM}FMEM>QQ 5]4UdZ?Q 9e4UhR)USBYeA?Q Ee:ye>Q Ie?UCIU ;iU7 ;U 4yiɮuӿAq"*2ꏑʎjZ`?ɢ|) i)?. i8w4uɧ5ڍi>?I1;I> >IA?A?AI IO=.>E  E E -E "E 8;*E :VE t4ZE a @a @a @a @! ,lW@A2=2h>2G.ٱ2? :AHRS rotation from veh to nav: [[0.954997,-0.283930,-0.085812],[0.293555,0.946176,0.136298],[0.042494,-0.155355,0.986944]]2HV?+ҿ? G?8r?`? ÿ@ ?i2=I21^;2CYNGByRHbDZ VDZ:2|y~W%O=ٔQ->9 Y = eGy  n E>Q 5%4l?Q 9%4KP)SBY!y%>Q I%?CI;i;4y1ɮ5ֿA1"aa*a2aiiiʎqqqjqZ}*?颱ɢO1) i)WH ixuɧe3Oi>^1;I> >I)AE.AIQIaOm>Q RCYqo9YOAy% XS?% n7Aԑ A- AAA- @ABE f>BA BE $HBE !HBBE =BA BE DBE v;BA 6,ƧW@AE& E&E&)E$"E&:;*E& :VE&FA4ZE$BE&2k=>Ř>>=.ٱ>% FAHRS rotation from veh to nav: [[0.954942,-0.284140,-0.085739],[0.293706,0.946278,0.135256],[0.042701,-0.154344,0.987094]]>H?@X/ҿ?`G? P?ܥ?ÿ F?i>k=I>7^;>CYRGByRHYiuMb@Mb@Mb@qqqq q9u(\?Mb?Mb`?Yuz?yu=ٔgQ->9 ?Y ?=eGy~F9E>Q 54?Q 943N)SBY?Q E:y>Q I?r1;IAS> AS>IԉA؟AI IO-->Ա  PExceeded connect timeout, disconnecting.ԧ,ՠW@AV:=Vp>Vk1ٱV bAHRS rotation from veh to nav: [[0.954833,-0.284493,-0.085775],[0.293983,0.946448,0.133455],[0.043215,-0.152644,0.987336]]VH? 5ҿa?@MI?` ?I ?ԉÿA?iV:=IVo%^;VCYfGByfHbDrVDr:yv<%zV=ٔz%Q-z>9~"?Y~"?=~eGy|jK:E> Q 5 4 K?Q 94 TL) SBYy)>Q I? XCI ;i ; %4y!ɮ%A!"AA*A2AAIIʎIIIjQZUX@ԑɢUp) ޼i)7 iK={tBvɧP! i>F1;I> >IA \AzA ZAE5 E5E5*E1"E58;*E5:VE5(N4ZE1a=@a=@a=@a=@I IO% >Թ ,__W@A6=6%>6=3ٱ6" BAHRS rotation from veh to nav: [[0.954685,-0.285007,-0.085719],[0.294392,0.946614,0.131360],[0.043705,-0.150642,0.987622]]6Hnj?`=ҿ@`S?J?g?`t`?@Hÿ?i6=I6a^;4YJGByJHLLbDR VDR:2yZ]=%ZQ=ٔ^Q-^>9`Y`=beGybFb‘:Eb>dQ 5j4fi?Q 9j4fiJ)fSBYlynb>Q In?fuCIf;ifa;f4ypɮvdAt"  * 2   ʎjZڭ@AɢEK)A E`ŻiI)M IIiM}U"`vɧUURiU>]1;YI]> ]>IaIyIO=Bn>B>CB0HB+HBB =BBDBK;B:EIbEjEmF4rEų0Em EmEm'Ei"Em77;*Emr:VEm'4ZEiBEm23ٱ2 :AHRS rotation from veh to nav: [[0.954820,-0.284601,-0.085564],[0.293955,0.946783,0.131122],[0.043693,-0.150350,0.987667]]2H?6ҿ絿 )? L??^?>ÿ`?i2N=I2)^;2CYNGByRHi]Mb@Mb@Mb@YYYY Y9]Q?/$?~jth?Y]?y]<]D;]A]ȷA ]A)]AAYY]AbDuVDuk2y,%>=ٔ?7Q->9Y=eGyE>Q 54n?Q 94=H)SBY?Q E:y|>Q I?CIj:i:4y֓BɮA'E"*2ʎjZ @ ɢJ) Ƽi)ӛ i~%"vɧ%;%_i%>%X1;!I-> ->I)qIIO=ԡnManaging dock network, ignoring radio surface power offEu  Eu Eu ,Eq "Eu I@;*Eu :VEu g4ZEq a} @a} @a} @a} @ ,W@A2;>=22>2b-5ٱ2 :AHRS rotation from veh to nav: [[0.954760,-0.284714,-0.085853],[0.294070,0.946873,0.130212],[0.044218,-0.149568,0.987762]]2He?8ҿn ?L?Ǫ?`ȣ?@ %ÿ?i2;>=I2*;^;0YBGByBHbDJVDJ:2yVP)=%VY=ٔV7Q-Z>9XYX=^eGy^Fbx9Eb>dQ 5j4fʝ?Q 9j4fTF)fSBYlyn>Q In?fCIfM;;if<;f4ytɮvkAx"*2ꏡʎjZ RL @ɢ) 0 i) iZ vɧ  ݻi >1;I >  >I1AE?AE ?IIO=) B A <B% >B% @CB% =HB% 5HBB% =B! 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J !¿`?i2>I2^;2ߑCY@yBHDFAbDJVDJ:yv:%zQ=ٔ~':Q-~>9 ?Y ?= eGy  :E>!Q 5-4%qq?Q 954%2[)%VBY1y5>Q I5?%DI%%;i%&;%4yEBɮMWAI"*2ꏁʎjZ@I@ɢ<) d>i)8:ifr8ɧ^?`1=i>۵:I> >IyA-؟AE5 E5E5(E1"E5C;*E5:VE5c44ZE1BE5@ԡ =X,W@A > 3> ]Y<ٱ  AHRS rotation from veh to nav: [[0.931705,-0.361079,-0.039341],[0.362973,0.921637,0.137247],[-0.013299,-0.142154,0.989755]] H?׿@$ :? ~?`Q?W<`2¿ ?i >I ^; ݑCY-IBy-HiMb@Mb@Mb@ 9(\?Mb`~jtx?Yz?y;MAA )YAbDVD1y:%9=ٔV%:Q->9"?Y"?=eGyF%E%>)Q 554-q?Q 954-X))Y5}?Q E=:y=5>Q I=?-DI- ;i-:-+4yAɮAA"aa*a2aiiiʎiqqjqZuhI@颙ɢ<) >i):顩i}sV7ɧ]?駵+P1=i>]:I> >I Am?Am>A.AIIO@> i>BC9mG^AN9^AY63AE5  E5E1E1"E5C;*E5r:VE1ZE1a=@a=@aE@aE@a >,| W@A,Y~IBy~HbD VD y4%\=ٔQ-%>9% ?Y% ?=%eGy!-E->1Q 5=45c?Q 9=45V)5VBYAyAQ IE?5DI5m ;i5;54yMBɮMAME"ii*i2qqqqʎyyyjyZ}`J@BABV>BBHBIBBBBBf;B8EAɢE`<)I M4>iI)M;IIiMtuH6ɧuT]?u$1=i}꣹>}Ӷ:yI}꣹> }꣹>IԉA؟AIIO (>Թ EE  EE EE +EA "EE ;;*EE :VEE [4ZEA BEE 6 >6Xi<ٱ6O BAHRS rotation from veh to nav: [[0.931204,-0.362437,-0.038716],[0.364219,0.921069,0.137755],[-0.014268,-0.142379,0.989709]]6H l?)2׿ң^O?@ey?`?J8|9¿?i6r>I6^;6CYFIByJHN=LbDRVDRk2yZ*#%ZQ=ٔ^";Q-^>`9b"?Yb"?=beGybFf a;Ef>hQ 5n4j5?Q 9n4jT)jVBYlyn>Q Ir?jDIj;ij;j4yvBɮvOAt"  * 2 ʎjZEJ@AɢMu<)I M7>iI)M;QQiUUu]25ɧ]\?]p0=i]W>]5Q:aIeW> eW>IaA.AIIO >i N,kGAW@A6>69>6n<ٱ6O RAHRS rotation from veh to nav: [[0.930961,-0.363081,-0.038522],[0.364828,0.920815,0.137844],[-0.014576,-0.142381,0.989705]]6Hn?<׿7@VY?Pw? ݤ?5ڍ 9¿ਫ?i6>I6];6ݑCD~=D~<E EE*E"E1A;*E:VE(N4ZEa @a @a @a@YIByH9iMb@Mb@Mb@ 9i|?5?~jtx?Mb?Y?y;< MA)AYbDVD2yp<%9=ٔ7:Q->9 ?Y ?=eGy:E>Q 54Ļ?Q 94R)Y?Q E:y>Q I? DI ;i ;14y BɮJA "))*)2))))ʎ111j9Z=@k}J@ɢ!<) >i) 3;in3v05ɧ[?/=iΣ>P:IΣ> Σ>IAM[AzAM\AqA؟AIIO>>ԑBX>BB HBIBBBBBo;B8E x,#[W@A>!$ >>>>t<ٱ>w NAHRS rotation from veh to nav: [[0.930592,-0.364077,-0.038040],[0.365754,0.920547,0.137172],[-0.014923,-0.141565,0.989816]]>H`h?M׿zh?u?@ގ?)@¿?i>!$ >I> ];>ۑCYrIByrHbD~ VD~:2yD%X=ٔo:Q-%>9%"?Y%"?=-eGy-F-+;E5>ԙQ 546ͦ?Q 94O)VBYy>Q I?DI(;iG); 4yBɮ1AE"*2ʎjZ@ӯJ@ɢ<) =>i)EF;i~v%34ɧ%2Z?%.=i-H>-{:)I-H> -H>I1E  EEE"ED;*Er:VEZEBEњA |,4uW@A-;~ >->-y<ٱ-_@ EAHRS rotation from veh to nav: [[0.930462,-0.364442,-0.037726],[0.366072,0.920435,0.137077],[-0.015232,-0.141356,0.989842]]-HW?@S׿@Pm?`4t?`?@ 2 ¿Ȭ?i-;~ >I-_];-ݑCYUIByUHY]AiMb@Mb@Mb@ 9tV?y&1?Mbp?Y?y`e<;;A۵A =A) AYAbD5VD5:2yE%E7=ٔE5:Q-E>9IYI=MeGyIMJ:EU>QQ 5e4Upউ?Q 9e4UTM)UVBYe?Q Ee:ye>Q Ie?U'DIU:iU':U4yuBɮu>AuE"*2ꏙʎjZJ@ɢܮ<) >i)[;iw3ɧW?z,=it>G:It> t>IA))I1IIOU2>bEjEƷG4rE/E EE)E"EUS;*E:VEFA4ZEa@a@a@a@Qԁ ~,ڎW@A6!>6v>6~<ٱ6 BAHRS rotation from veh to nav: [[0.930063,-0.365496,-0.037351],[0.367070,0.920108,0.136602],[-0.015560,-0.140759,0.989922]]6H?Jd׿@~?q?-|? ޏ@e¿p?i6!>I6%"];4YJIByJHbDRVDR0yZ<%Zj=ٔ^u:Q-^>9\Y\=beGybFb(I;Eb>dQ 5j4f?Q 9j4fEK)fVBYhynY>Q In?f4DIf:if;f4yrBɮr:Ap"  * 2    ʎjZ@K@AɢEDA=)A E>iI)Mv>m;IIiM,xU-/3ɧUU?U2+=iUV>UZ:YI]V> ]V>IYAA?AB[>BBHBIBBBBBK;B8EqA.AIIO>ԡE-  E- E- (E) "E- 1A;*E- :VE- c44ZE) BE- 2>2<<ٱ2h :AHRS rotation from veh to nav: [[0.929776,-0.366232,-0.037291],[0.367793,0.919849,0.136404],[-0.015653,-0.140541,0.989951]]2H?Xp׿?@go? u?`q >୭?i2c">I2k];2ّCYBIByBHbDJVDJNyR%RK=ٔVr9Q-V>9V ?YV ?=VeGyTZ:EZ>\Q 54^?Q 94^H)^VBYy >Q I ?^CDI^ &i);iTy&x2ɧS?Ai)=ir4>:Ir4> r4>IAe؟AIqIO>) (,)§W@A2A">2N>2Q<ٱ2L :AHRS rotation from veh to nav: [[0.929596,-0.366710,-0.037083],[0.368236,0.919675,0.136379],[-0.015907,-0.140433,0.989962]]2H`@?@+x׿/?m? t?Jŭ?i2A">I2 ];2ڑCYBIByBHJ=J=Er ErEr*Ep"ErB;*ErO:VEr(N4ZEpav@av@av@av@iMb@Mb@Mb@ 9tV?S㥛?Yy/<GA )AYAbDVDky%:=ٔ:Q->9"?Y"?=eGyF:E>Q 542?Q 94-F)VBY?Q E:y>Q I?SDI ;i ;j&4yBɮNA"*2    ʎ jZpK@9ɢE<<)A E>iA)E;IIiMzU1ɧUO?UHS&=iU>U:YI]> ]>IY)AIIO >YB`>BF>FB<ٱF RAHRS rotation from veh to nav: [[0.929249,-0.367604,-0.036930],[0.369104,0.919368,0.136107],[-0.016082,-0.140108,0.990005]]FHg?@Ԇ׿p袿`h?uk?k?w` ?iFk#>IFJ\;FۑCYZxIByZHbDbVDbyjv%jY=ٔn9Q-n>9pYp=reGypr";Er>tQ 5z4v%?Q 9z4vC)vVBY|y~v>Q I~?vaDIv ;ivT ;v,4yɮ gA P%B*** querying acoustic contact ***! !"11*121119ʎ999jAZEయK@iɢmɪ<)i m>iq)uÔ;qqiIz1!1ɧL?#=i>R:I> >IԉE EE,E"E=;*E:VEg4ZEBE E BDAT read: Tx time:00:23:59.5775 M $Ping request sent.U t>ay<ٱ %AHRS rotation from veh to nav: [[0.929127,-0.367882,-0.037211],[0.369406,0.919125,0.136924],[-0.016170,-0.140966,0.989882]]Hi?`b׿U X? yi?ཆ?/ ¿?i+$>I&];ޑCYUrIByUHiMb@Mb@Mb@ 9|?5^?X9v?{GztY?y<ף5AA 5A)AYAbDVD:2yP%!=ٔ 79Q- >9 Y =eGyªFv':E>Q 5%4 Q I-?sDI;i};54y5Bɮ5|A=E"YY*Y2YaaaʎaiijiZmK@频ɢ-5<) ->i)Ϡ;顡i:{ X0ɧG?駭=i*@>Ʒ:k' *@>IA.AIIE  EE(E"ED;*E:VEc44ZEa@a@a@a@Ol>}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245999A ,!W@A2%>2*>22e<ٱ2 :AHRS rotation from veh to nav: [[0.928826,-0.368644,-0.037202],[0.370158,0.918827,0.136894],[-0.016283,-0.140921,0.989887]]2H@?ݗ׿@" ର?g??v@ ¿`'?i2%>I2'];0YNVIByRHTVAbDZVDZyܳ%=ٔi9Q- ?9  ?Y  ?= eGy [.;E?B%<A%<B-c>B-=CB-HB-IBB- =B)B)B-8;B-8EQ 5E4I?Q 9M4>)uVBYIyM>Q IM?~DI:i:2;4yQɮUAY"yy*y2yyyʎjZ=L@颱ɢD=) v>i)X;项i<|/ɧD?;=iS>5:IS> S>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.498665IAiIqIO>qE  E E *E "E =;*E 1:VE (N4ZE BE a 2E a JE 72>2!<ٱ2ò :AHRS rotation from veh to nav: [[0.928513,-0.369454,-0.036970],[0.370928,0.918517,0.136890],[-0.016617,-0.140818,0.989896]]2H@a?$׿F?@~d??``P¿:?i2%>I2W];2ّCYNnIByRHbDZVDZ2ybnq=%bN=ٔbA]:Q-f>9dYd=feGyfêFj ;Ej>lQ 5r4nZ?Q 9r4n4<)nnVBYpyvS>Q Iv?nDIn ;in;nB4yzBɮzAx"*2yꏩʎjZ`LL@ɢ <) h>i):;i|9/ɧ@?d =i°>:I°> °>IA?A>AaIqIOԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004144 5 GM \Aa @9 \AY &A,DW@A.&>..>.|͍<ٱ. :AHRS rotation from veh to nav: [[0.928152,-0.370379,-0.036785],[0.371799,0.918013,0.137908],[-0.017309,-0.141676,0.989762]].Hl?@J׿`բ ? \`? ?ur"¿ ?i.&>I.JW];.ۑCYFPIByFHEV EVEV'ET"EVN;*EV:VEV'4ZETa^@a^@a^@a^@-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253985i5Mb@Mb@Mb@1111 195d;O?Q?MbpY5?y5<55AA1 5AA)11Y5AE@AEAAbDM VDMf2y]/%]@=ٔ]:Q-e>9aYa=meGyim;Em>qQ 5}4um?Q 9}4uy9)ufVBY}?Q E:y>Q I?uDIui)|;i}.ɧLe:IzX> zX>IB f>B B HB zIBB B B B -;B 8E^A="checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506428Au ؟AIy I O >I ,c]W@A2uP'>2R>2%<ٱ2< :AHRS rotation from veh to nav: [[0.927967,-0.370851,-0.036701],[0.372248,0.917788,0.138189],[-0.017563,-0.141897,0.989726]]2H? ׿ʢ?`^?@/?()¿ի?i2uP'>I2|];2ڑCYZZIByZHbDfVDf:2yj<%nU=ٔn-:Q-n>9r"?Yr"?=reGyrĪFvե:Ev>xQ 5z4z?Q 9~4z7)z_VBY|y~>Q I~?zDIzf;iz;zHP4y Bɮ A "))*)2)111ʎ111j9Z=L@aɢej^<)i m;>ii)m};iiim0~u .ɧum8?}݊=i}9>}:yI}9> }9>I1^A;E EE*E"EL;*E:VE(N4ZEBEaԑԹ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0099872B,IwW@A" (>>Z<ٱ  AHRS rotation from veh to nav: [[0.927691,-0.371618,-0.035911],[0.372909,0.917627,0.137478],[-0.018137,-0.140929,0.989854]]H?׿`b?3]??h ¿?i" (>I];Y%WIBy%Hԑi5Mb@Mb@Mb@1111 195A`"?S㥛?y&1|Y5?y5/<5`55A5A 55A)5A1Y5AbDMVDM02y]n˻%](=ٔ]4:Q-e>9aYa=meGyim:Em>qQ 5}4ug?Q 9}4u3)uTVBY}A?Q E:y>Q I?uDIu8:iu;uX4yBɮʽAE"*2ꏱʎjZyL@ɢz<) >i)#3;i:~W-ɧ3?7=iv>:Iv> v>IԹDzDE  EEE"EF;*EZ:VEZEa@a@a@a@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.261848^AuX<A I I O > &$,iW@A2 (>24>2N<ٱ2Sd :AHRS rotation from veh to nav: [[0.927439,-0.372290,-0.035454],[0.373493,0.917269,0.138274],[-0.018957,-0.141482,0.989759]]2H?׿' Q? EZ??wi@¿?i2 (>I2Q];2ۑCYB[IByBH JpBdBfHBffIBBdBdBdBf>;Bf8ElQ 5r4n?Q 9v4n1)nMVBYtyv >Q Iv?nDInp:in$:n\^4yxɮz½A|"*2!ʎ!!!j)Z-9M@ɢ=) >i);iar,ɧ0?w =ii>O:I i> i>I @@@!@!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514018!AII O>I E  E E -E "E E;*E :VE t4ZE BE 9!Y!=-eGy)-E->1Q 5=45?Q 9=45/)5CVBYAyAQ IE?5DI5;i57;5e4yMBɮMAME"qq*q2yyyyʎyjZ`|NM@iɢmЙ<)i >i);顉irzG,ɧ,?駝BQ =i>h:I> >IiA.AIIO%>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020232ԙ 81,ŨW@A6)>6u>6KO<ٱ6N >AHRS rotation from veh to nav: [[0.927103,-0.373113,-0.035599],[0.374290,0.916648,0.140229],[-0.019690,-0.143331,0.989479]]6H@Ӫ?׿9]?-U??)`X¿ϩ?i6)>I6G];6ݑCbE-(N4jE-I4rE-0ER EPER(EP"ERa?;*EPVERc44ZEPaZ@aZ@aZ@aZ@\Y^7IBybzH%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270053iUMb@Mb@Mb@QQQQ Q9U ףp= ?{Gz?~jthYUQ?yU#9 ?Y ?=eGyƪFU;E>Q 54Iʧ?Q 94,)Q I?DI ;i ;l4yɮսA"*2ʎjZM@颱ɢ<) >i);项i5O+ɧ*?>=i>:I> >IAE؟AIQIaOm5>Bm>B>CBHB\IBB =BBDBE;B8Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.521919! c7,TިW@A2W)>2uV>2Y5<ٱ2 :AHRS rotation from veh to nav: [[0.927183,-0.372896,-0.035791],[0.374067,0.916460,0.142040],[-0.020166,-0.145086,0.989214]]2Hz?׿&S?S?b.?`O)¿@?i2W)>I2];2ۑCYrNIByvHzAAx|bDVDN2yt=%Q=ٔ:Q->9"?Y"?=eGy%E%>)Q 554-Uܧ?Q 954--*)-6VBY1y5z>Q I5?-DI-+;i-#;-s4yEBɮEAEE"aa*a2aiiiʎiiqjqZuM@颙ɢ<) {>i) ;顡ix-9+ɧ(?駵=iHɵ>N:IHɵ> Hɵ>IE EEE"E<;*E:VEZEBEēQԁ  BDAT read: Rx Time:00:24:03.0479  TRx dataTimestamp_ set to:1761697443.873099 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026994=,W@Aa=-(>=>=+<ٱ=V MAHRS rotation from veh to nav: [[0.927423,-0.372232,-0.036472],[0.373434,0.916142,0.145711],[-0.020824,-0.148756,0.988655]]=Hr?׿X?Q? ?`Sp ÿ?i=-(>I=];=ّCY]JIBy]Hm=m=iMb@Mb@Mb@ 9333333?9Y=eGyǪFE>!Q 54%1?Q 94%P')%/VBY?Q E:y>Q I?% DI%ѓi!)%M;!!i%-*ɧ-&?-=i5ӟ>5O:1I5ӟ> 5ӟ>I9ԉAyIIO^>E EE*E"E;;*E:VE(N4ZEa@a@a@a@=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.277926Ա tD,>W@AB6<A6<B:n>B8B:HB:GIBB: =B8B8B:,;B:8EB-=CB-=CB)B- =B- =C-5Y~CIBy~HbDVDy%X%%p=ٔ%Q-%?9)Y)=-eGy)-E5?1Q 5=45?Q 9E45;%)5*VBYAyAQ IE?5DI5;i5;5ہ4yIɮUͽAQ"qq*q2qqqyʎyyyjZ@=N@Թɢ=) >i)8;i򀼩%*ɧU$?w=i>-P:I> >IDAT read: 00:24:03.0479 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 451, 0.29,-2.176, 2.528,-1.991,-2.283, PHS= 0.208,-1.427, 0.248, RAW= 151.2, 11.7, CAL= 151.1, 12.9, ROT= 358.9, -12.9 Ygot valid direction response: 00:24:03.0479 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 451, 0.29,-2.176, 2.528,-1.991,-2.283, PHS= 0.208,-1.427, 0.248, RAW= 151.2, 11.7, CAL= 151.1, 12.9, ROT= 358.9, -12.9 PDAT read: Bearing 185.9, -4.5 (Local) ~Local bearing/azimuth received: Bearing 185.9, -4.5 (Local)  DAT read: Range 11 to 50 : 799.7 m (Round-trip 1066.3 ms) speed 0.5 m/s MR#Rx 1: Read range and direction messages.U^direction in FSK: [0.974582,-0.018713,0.223250]]Fpublishing direction and range infoy/?)U)Nu?YGD )KIT>i𧶿}>[(@Q>(@ f>)r@Ifeu7?zw&;?* `? f ?)ReQIFifAIIO>E  E E 'E "E *E :VE '4ZE BE 2>2,<ٱ2hv :AHRS rotation from veh to nav: [[0.927559,-0.371897,-0.036437],[0.373086,0.916193,0.146275],[-0.021016,-0.149272,0.988573]]2H`?)׿@ܧ?tQ? ?.[ÿ`c?i2UD(>I2ԡ];0YN&IByNeHbDVVDVk2yG%%J=ٔ%X9Q-%>9)Y)=-eGy-ȪF-rE->1Q 5=45?Q 9E45")5%VBYAyEe>Q IE?5'DI59:i5[:5눝4yUBɮUAQ8W@AJGDRGDj>ߠ@@-4"9f@r/?)U)Nu?ZFbf7[)kw@u[G~r@T5d@z,E?? &WhC?M@?2C:3D"򼔊?*:jBSC򼔊?:j“SCBD>"*2ʎj@Z@3O?!ɢ-<)) -!>i))5@u<11i=!E )ɧEC"?E=iE\>M2:IIM\> M\>IQAe.AIiIO>Aiԙ Q,{gFW@A2'>2>2 <ٱ2  :AHRS rotation from veh to nav: [[0.927745,-0.371450,-0.036255],[0.372603,0.916282,0.146952],[-0.021365,-0.149843,0.988479]]2H?@׿ ?-R?@T?@ .ÿ?i2'>I2Lx];2ۑCDB=DB<EF EFEF+ED"EF1A;*EF;:VEF [4ZEDaJ@aJ@aJ@aJ@Y^6IBybyHddiMb@Mb@Mb@ 9Zd;?~jtx?{Gzt?Y?y;ף;A =A)AYAbDVDky =% <=ٔ :S:Q->95 ?Y5 ?=5eGy=ɪF=ܚE=>AQ 5M4Ei)?Q 9M4E )E!VBYM?Q EU:yU:>qQ I}?E8DIE;iE;E4yɮA"*2ʎjZ+?9ɢ=<)A E>iA)E}=iU<>Us:YI]<> ]<>IYԡA؟AIIOE>Beq>BaBeHBe=IBBe =BaBaBe;Be|8E KW,eP`W@A2]'>2uY>2\C<ٱ26: :AHRS rotation from veh to nav: [[0.927874,-0.371185,-0.035653],[0.372265,0.916520,0.146325],[-0.021637,-0.149043,0.988594]]2H%?`}׿A/? T?ź? 'ÿ?i2]'>I2~];2ڑCYB IByB_HbDNVDNyRl%Vd=ٔV%F:Q-V>9V"?YZ"?=ZeGyXZ酺E^>\Q 5b4^:?Q 9f4^)^VBYdyf >Q If?^FDI^:i^:^Ȗ4yjBɮn!AnE"||*|2||ʎj Z ?1ɢ={<)A My>iI)] m:qIuV"> uV">IyAIIO=E EE)E"E;;*E:VEFA4ZEBEa2EaJE5zU>z⻱<ٱzYR MAHRS rotation from veh to nav: [[0.927884,-0.371163,-0.035630],[0.372238,0.916513,0.146431],[-0.021694,-0.149134,0.988579]]zH@9?#׿">?T?C? 7ÿ@p?izV'>Iz)E];zۑCY.IBypHbDVD2y;<%.=ٔ9Q->9Y=eGyʪF ~E>Q 54O?Q 94!)VBYy>Q I?XDI):iB:4yɮA"*2ʎjZ ? 9=4CIɢ]T<)i mT>iqԩ ^A!Mo9M^AYUOA)e|̐:I> >IE EE+E"EI@;*Ed:VE [4ZEa@a@a@a@A5.AI9IIO]v> d,^W@AAABs>B?CBiHB)IBB =BBDB߁;Bg8EB&>B>>B|5<ٱBU JAHRS rotation from veh to nav: [[0.928038,-0.370790,-0.035506],[0.371844,0.916620,0.146768],[-0.021874,-0.149409,0.988533]]BH|?@׿- I?T?@J?`:fÿ?iB&>IB*,];BّCYRIByRNHZ=Zp=liMb@Mb@Mb@ 9On?Mby&1|?Y?y`; 1A)YQAbD VDf2ye%X=ٔ9Q->9 ?Y ?=eGyےE>Q 54a?Q 94)VBY?Q E:y8>Q I?fDI ;i2 ;4y Bɮ EA "))*121111ʎ999j9Z= @ɢ2<) e>i)<ih݁J'ɧV?#a:I> >I! Ae؟AIiIyO;>9E  E E E "E 4;*E :VE ZE BE 2>2{<ٱ2 >AHRS rotation from veh to nav: [[0.928162,-0.370549,-0.034773],[0.371509,0.916854,0.146150],[-0.022274,-0.148569,0.988651]]2H?@׿͡`?V? ?ϖ`Pÿ?i2&>I21];0YBIByFOHbDNVDNyZgh;%Z_=ٔZ8:Q-^>9^"?Yb"?=beGyb˪Fb~Ef>hQ 5n4jr?Q 9r4j)jVBYpyr>Q Ir?jtDIjG;ijj;j4yBɮKAA"*2ʎjZ4@QɢUc<)Y ]>iY)]Sm;2:iIm4> m4>IqAzAiIIO>ԙ q,ǩW@A2(B&>2>2<ٱ2X :AHRS rotation from veh to nav: [[0.928262,-0.370309,-0.034664],[0.371256,0.916950,0.146192],[-0.022351,-0.148574,0.988649]]2HQ? $׿|?`W?n?`6㖿xÿ?i2(B&>I2];2ؑCDB=DB4=EF  EFEF.ED"EFD;*EF:VEFـ4ZEDaJ@aJ@aJ@aJ@YRIByRJHiUMb@Mb@Mb@QQQQ Q9Ux?y&1|?{Gzt?YUK?yU`;Uף;U"AU۵A Q)QQYQ m49Y=%eGy!%KE%>)Q 554-x?Q 954-=)-VBY=O?Q E=:y=o>Q I=?-DI-/;i-;-ҳ4yAɮESAI"ai*i2iiiiʎqqqjqZ}@颡ɢR&<) >i)<顩i*ۊ&ɧ ?駽vt:Ia> a>IIIO!>B%u>B!B%]HB%IBB!B!B!B%;B%|8E +w,rW@A6&>6>6V<ٱ6b BAHRS rotation from veh to nav: [[0.928168,-0.370600,-0.034052],[0.371479,0.917044,0.145031],[-0.022522,-0.147263,0.988841]]6H? ׿ =o P? lX?d?¿?i6&>I6`+];6ّCYJIByJ9HbDVVDVyf%jb=ٔr9Q-r>9pYp=reGyv̪Fv.:Ev>xQ 5~4z4?Q 9~4z)z VBYy>Q I?zDIzz;iz;z.4y Bɮ vA "))*121111ʎ199j9Z=| @iɢm:<)i m5>ii)u}:Iд> д>IIaIqO=E EE,E"E77;*Er:VEg4ZEBE% >%f<ٱ% eAHRS rotation from veh to nav: [[0.928001,-0.371113,-0.033015],[0.371835,0.916915,0.144931],[-0.023514,-0.146773,0.988891]]%H.?N׿\砿&?@^W?`?@q¿ ?i%&>I%X];!YIBy?HbD VD2y?<% 8=ٔm;Q->9)Y)Y=eGyl\:E>Q 54?Q 94H) VBY y >Q I?DI;i;Z4yBɮ1AE"YY*Y2aaaaʎaajZS @ɢJW<) l>i) !<ia_%ɧD?  m : I > >IA%?A%?IIO>yDzDAAbE% [4jE%U4rE%z:0E EE-E"E8;*E:VEt4ZEa@a@a@a@ԩ B A B% z>B% @CB% DHB% IBB% =B! B% DB% ;B% x8EE,%AW@AY-IBy-7HiMb@Mb@Mb@ 9bX9?y&1?~jtx?YE?y`e<;(AA 5A)AYbDVD1yx%M=ٔQ->9Y=eGyͪFE>Q 54?Q 94 )VBYR?Q E:y>Q I?DIP ;i ;ȝ4y Bɮ FA "))*)2)111ʎ199j9Z=;@iɢm$<)i mS>ii)u #^:In}> n}>ԱIIIO= E  E E E "E 3;*E :VE ZE BE ZD>Z!<ٱZ( fAHRS rotation from veh to nav: [[0.927869,-0.371548,-0.031783],[0.372092,0.916851,0.144678],[-0.024614,-0.146068,0.988968]]ZH@?r׿EZ?@V?˄?@}4\¿ࠥ?iZ3'>IZ"\];XYrHByr6HbD~VD~N2yva%X=ٔ>;Q->9!Y!=%eGy)-6F:E->1Q 5E45Ϩ?Q 9E45 )5VBYAyE>Q IE?5DI5:i5N:5ϝ4yQɮUHAQ"*2ʎjZ`@IɢMŽ<)I UQ>iQ)u%>':ImN> mN>III O%=i߉IߍAYi $,HW@AE: E:E:*E8"E:77;*E::VE:(N4ZE8a>@a>@a>@a>@@fw@'>fJ>f<ٱf ~AHRS rotation from veh to nav: [[0.927838,-0.371680,-0.031162],[0.372131,0.916831,0.144707],[-0.025215,-0.145861,0.988984]]fHذ?׿`蟿@?V?…?љ`¿@?ifw@'>If];fבCY HBy HiMb@Mb@Mb@ 9"~?V-?Y?y< AA)AYbDVD0yYG%@=ٔ:Q->9Y=eGyΪF8E>Q 5=4⨉?Q 9=4)UBY='?Q E=:y=>Q I=?DIFgi) j*<  i '%$ɧ@ ?g R:I> >I!ԩAyIIO<>B|>BB7HBIBB =BBBg;B7EB?CB?CBBŢ =Bš =C{6ԁ 9M,bW@AB'>Bv|>B<ٱBf JAHRS rotation from veh to nav: [[0.927677,-0.372151,-0.030320],[0.372473,0.916687,0.144736],[-0.026070,-0.145562,0.989006]]BH@?`S׿M ? 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CԿ/?@??O҄?Oſ9?i2\=I2];0`YjoFByjH vp9 "?Y "?= fGy E>YQ 5u4]#?Q 94])]SBYyǬ>Q I?] DI]"&^$u;I]> ]>IAI!I1OEQ>A ,"W@A2=2vo>2:'ٱ2g* :AHRS rotation from veh to nav: [[0.946953,-0.315180,-0.062776],[0.321208,0.934466,0.153620],[0.010244,-0.165635,0.986134]]2H@qM?+Կ@?%?ө?@?3ſh?i2=I2\;2đCYBaFByBHi Mb@Mb@Mb@     9 > ףp=?I +~jtY ?y 94  A  ) A Y  AbD-VD-EE EEEE+EA"EEB;*EE:VEE [4ZEAaM@aM@aM@aM@yM%UE=ٔU=DQ-U> aeC9YYi=ufGyu FzE>)9]@9YY]$'AQ 5u4=6?Q 9u4=)=SBY}?Q E}:y}ޚ>Q I}?= DI=(;i=;=-4yēBɮMA"*2ʎjZ I@AɢE$)A EGϾiA)MjIiimYu+ɧuWu¼iu>u4u;yI}> }>IyAAIIOI>qԡ JJ, bW@A6R(=6t>6(ٱ6j) >AHRS rotation from veh to nav: [[0.947565,-0.313415,-0.062375],[0.319396,0.935145,0.153267],[0.010294,-0.165153,0.986214]]6HtR?Կﯿp?`?@??`#ſ ?i6R(=I6-];4YFWFByFHbDR VDRf2yV ˼%ZU=ٔZHQ-Z>9\Y\=^fGy\bEEb>dQ 5f4f;G?Q 9j4f )fSBYhyj>Q Ij?f DIf:if:fh 4ypɮr`Ap"*2  ʎ   jZ`J@9ɢ=e')E E%ԾiA)EQAAiEM,ɧMMBhiU>UWwv;QIU> U>IYAm>AiԁB<A<BBB=HBFBB =BBB;BM;EAIIO>EM  EMEM*EI"EMD;*EMd:VEM(N4ZEIBEMњ6$-ٱ6a) >AHRS rotation from veh to nav: [[0.948130,-0.311728,-0.062246],[0.317704,0.935797,0.152799],[0.010618,-0.164649,0.986295]]6HW?Xӿ@ޯ DU? ?? ?@:ſ?i6'=I6C];4YvYFByvHiMb@Mb@Mb@ 9I +?{GzMb`?Y9?yף;A A)YA@AbDVD1y?;%8=ٔ>Q->9Y=fGy F!E > Q 54 \?Q 94 ) SBYP?Q E:yd>Q I?  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Ŀ?i2ƀ=I2o];2đCYBdFByBHbDJVDJyR<%RJ=ٔVub9Q-V>9TYT=VfGyZ FZEZ>\Q 5b4^?Q 9b4^)^TBYdyf>Q If?^ DI^y:i^:^4yjœBɮjMAl"x|*|2||||ʎ jZJ@QɢU0)Y ];iY)](YYi]e -ɧeѾeimS8>m+x;iImS8> mS8>Iqԑ9AzA\AA II!O5> m,ˁW@A6=6> >6";.ٱ67% BAHRS rotation from veh to nav: [[0.949665,-0.307385,-0.060426],[0.313087,0.937841,0.149767],[0.010634,-0.161147,0.986873]]6Hc?@0ӿ,@ ?? +?`IDž?@yĿv?i6=I6}_];4YF`FByFHiMb@Mb@Mb@E% E%E%)E!"E%a?;*E%:VE%FA4ZE!a-@a-@a-@a-@ 9I +?Mb rh?YyC<A A)YQA AE4<bDEVDE02yU%U@=ٔ]\Q-]>9YYa=efGye Fe^Ee>iQ 5u4mǓ?Q 9u4m)m TBY}X?Q E}:y}>Q I}?m DIm ;ime ;m&4yƓBɮXA"*2ꏩʎjZTJ@ɢ) Ͼi),.iu#}ls-ɧ}ɾ}xϠi}Ꚛ>}x;IꚚ> Ꚛ>Iu}A.AIIOE>I ͗,&W@A2 =2.>2q1ٱ2(& >AHRS rotation from veh to nav: [[0.950195,-0.305733,-0.060478],[0.311469,0.938313,0.150188],[0.010830,-0.161544,0.986806]]2H`g?`!ӿ@@?`? X9? .?}Ŀ@?i2 =I2];2CYBYFByBHbDNVDNyVp%VV=ٔVQ-V>9Z ?YZ ?=ZfGyX^E^>Q 54?Q 94-)TBY!y%>Q I%? 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DI:i:q44yǓBɮJAE"11*121999ʎ99AjAZE`CK@iɢm4)q u˾iq)uZ9yyi}I.ɧ駅i42>Xy;Ė 42>IԩAE>AE>E= E=E=,E9"E=<;*E=:VE=g4ZE9aE@aM@aM@aM@iIA؟AIIO>1 Ω,p]϶W@A2v=2^>2=>ٱ2!& :AHRS rotation from veh to nav: [[0.950881,-0.303505,-0.060903],[0.309336,0.939040,0.150047],[0.011651,-0.161516,0.986801]]2Hm?lӿ.)? ?4?@d܇?Ŀ@?i2v=I2];0YBiFByBHDDbDJVDJ0yRR;%Ra=ٔVQ-V>9V"?YV"?=ZfGyXZKEZ>\Q 5b4^Eʱ?Q 9b4^j)^/TBYdyfb>Q If?^( DI^:i^:^:4yhɮjHAh"xx*|2||ʎ j Z rK@1ɢ5ĭ&)9 =˾i9)=W=9AiEMEU.ɧM!M8iMc>My;IIMc> Mc>IQAIIO>)YBQ BQ BQ BQ BQ BQ BQ BU ф;BU ;EBBBBɚ =Bɚ =CɇQ4DA DE %=EM  EM EM *EI "EM =;*EM r:VEM (N4ZEI BEM 6@Mٱ6<' >AHRS rotation from veh to nav: [[0.951107,-0.302558,-0.062088],[0.308607,0.939101,0.151170],[0.012569,-0.162939,0.986556]]6Hwo?]ӿ ɯ5? ?`Y??0Ŀ ޑ?i6C=I6^;6‘CYR~FByR!HV=Vp=bDZVDZkyvI=%vF=ٔvQ-v>9xYx=zfGyzFzE~>Q 54ݱ?Q 9 4y)Q I ?7 DI:i:B4yɮ"AP5B*** querying acoustic contact ***1 1"99*A2AAAAʎAIIjIZMiK@a颙ɢh) i) B顡i򻩧.ɧ豾駭5Si>y;I> >IAIIO>ԁe2Acoustic response timeoutmQuerying Benthos address 50 with one ping in standard two-way mode.Ա ,W@A2*`=2>2 -Uٱ2( :AHRS rotation from veh to nav: [[0.951481,-0.301306,-0.062439],[0.307433,0.939433,0.151497],[0.013011,-0.163342,0.986484]]2H@r? Hӿ``?`?=d?`p?`dĿ@F?i2*`=I2ی^;2ÑCYNFByR'HEA EE)E"Ev;*E:VEFA4ZEa @a @a @a @imMb@Mb@Mb@iiii i9mQ?/$?/$?Ym\?ym9Y=fGyt=E>Q 54*DAT read: user:371> BDAT read: Tx time:00:24:59.8274 $Ping request sent.Q I?G DI;ic;tI4yɮA"  * 2  ʎjZK@AɢEyk)I MwiI)M-HIIiMﻩ&.ɧ氾miԟ>K z;Iԟ> ԟ>I^AQAYzAYu checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251097A .AI I O >9 ,W@A2=2bg>2_ٱ2( :AHRS rotation from veh to nav: [[0.951836,-0.300088,-0.062884],[0.306302,0.939816,0.151410],[0.013663,-0.163379,0.986469]]2Hqu?4ӿ1r? ? ia??Ŀ&?i2=I2^;2CYN|FByRH TTbDXVDXybm%bY=ٔbQ-f>9f ?Yf ?=ffGyfFj#NEj>lQ 5r4n?Q 9r4n])nPTBYtyv{>Q Iv?nT DIn7!;in:n P4yzȓBɮz)A|"*2!!ʎ!!!j)Z-=L@ɢj.!) i)DLi5P4/ɧ߯i>ANz;I> >I^A*:<B<A<B>BB0HBFBBBBB̄;B;EE EEE"E9;*EI:VEZEBEjAqԡ ,B6W@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755957R 5=R8>R&iٱR_' ZAHRS rotation from veh to nav: [[0.951940,-0.299684,-0.063252],[0.305955,0.940008,0.150916],[0.014230,-0.163015,0.986521]]RHIv?.ӿA1Ŕ??@7Q?`$?`Ŀ`?iR 5=IR7,_;R‘CYbFByb)HddiMMb@Mb@Mb@IIII I9Mn?y&1?I +?YMV?yM`9yYy=}fGyy"]E>)Q 5-4-;?Q 954-)-WTBY5?Q E5:y5J>Q I5?-d DI-:i-H:-W4yEɓBɮEAEEa"*2ꏉʎjZHL@ɢ) i)VRiЄ껩 P/ɧ ݯi>ނz;I> >Iԑ}G\Ar9\AYuAE EE,E"Ey>;*E:VEg4ZEa@a@a@a@^A] <A?A>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008055ԹIA IQ O] > ,PW@A6=6`ў>6$uٱ6d' BAHRS rotation from veh to nav: [[0.952169,-0.298838,-0.063803],[0.305207,0.940288,0.150688],[0.014962,-0.162953,0.986520]]6H`*x?( ӿ bU??@I?U?`Ŀ ?i6=I6bl_;4YFFByJ&HbDRVDR1yZH%ZY=ٔZLQ-Z>9\Y\=^fGy^FbEb>dQ 5j4f#?Q 9j4f*)f\TBYhyj>Q In?fq DIfu:if:f ^4ypɮr"Ap"*2    ʎ jZ@QuL@9ɢE()A E达iA)EVIIiM!軩Ui/ɧUůUiU(>U|z;QIU(> ](>IY@i@i@i@i=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259320IIIYOm4>B>BBIHBFBB =BBB˄;B;E) E-  E- E- *E) "E- ;;*E- :VE- (N4ZE) BE- 2:ٱ2#' :AHRS rotation from veh to nav: [[0.952334,-0.298123,-0.064667],[0.304635,0.940538,0.150285],[0.016019,-0.162822,0.986525]]2Hy?rӿ $?@?9Y=fGyE>!Q 5-4% 6?Q 9-4%)%cTBY)y->Q I-?% DI%):i% :%ce4y=ʓBɮ=A9"YY*Y2YaaaʎaaijiZm L@频ɢ) ®i)@[顡i廩 0ɧ}iʌ>z;Iʌ> ʌ>II1IiO=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763461Yԁ ,ZW@A2w'=24>2%ȉٱ2{( :AHRS rotation from veh to nav: [[0.952505,-0.297362,-0.065650],[0.304058,0.940594,0.151101],[0.016818,-0.163886,0.986336]]2Hz?@ӿoΰ u?X? EW?`8?4Ŀ`?i2w'=I2_;2C9Y=fGyF:E>Q 5 4H?Q 9 4)hTBY;?Q E:y>Q I? DIX ;i ;l4yɮ%A!"aa*a2aaaaʎiyyjyZ@L@颩ɢ/1)) 5Pi1)5)'`11i5͛㻩=7`0ɧ=$=iEb>Ez;AIEb> Eb>IIԉIIO=Թ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267727 4,6W@A6'=6>68ٱ6( >AHRS rotation from veh to nav: [[0.952857,-0.296121,-0.066158],[0.302917,0.940949,0.151184],[0.017482,-0.164097,0.986289]]6H@}?ҿ@ﰿ b?@?@Y?@?ſ?i6'=I6u_;6‘C\YbFBybAHbDjVDj1yr%r]=ٔvQ-v>9tYx=zfGyxzSEz>|Q 54~X?Q 9 4~)~lTBY y E>Q I ?~ DI~:i~:~ks4yBɮAE"19*92999AʎAAAjAZM`MM@qɢuK")q ui))Xdi3|ứQ0ɧ1'if?>{;I f?> f?>I IIO=AAB>BBoHBFBB =BBBDŽ;B};EDzDAAE EEE"E[I;*Eu:VEZEBEFٱFĺ( NAHRS rotation from veh to nav: [[0.953110,-0.295192,-0.066658],[0.302077,0.941257,0.150945],[0.018184,-0.164003,0.986292]]FH?`lҿy9Y=fGyFE>Q 54k?Q 94O)nTBY?Q E:y>Q I? DI ;i ;z4yɮA"*2ʎjZe IM@颱ɢ) ƪi)"9i项ir\߻s0ɧ뵾刑iR>p2{;IR> R>IYA؟AIIO-->E EE(E"EI@;*Er:VEc44ZEa@a@a@a@ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022942Ա E,ѷW@A2=2>2a曼ٱ2h( >AHRS rotation from veh to nav: [[0.953224,-0.294678,-0.067296],[0.301665,0.941472,0.150427],[0.019030,-0.163692,0.986328]]2H Ѐ? ҿ@M:xN? ?5A?|?Ŀ?i2=I2^_;2CYvFByvcHbD~VD~1y M<% S=ٔ >Q->9"?Y"?=fGyCE>!Q 5-4%t|?Q 9-4%8)%pTBY)y5Z>Q I5?% DI%:i%y:%4y=Bɮ=A9"Ya*a2aaaaʎiiijiZmRyM@ԙ颙ɢBX) 襾i)Hm顡iݻm81ɧk駵˼iu>rI{;Iu> u>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274771A-.AI1IAOU>BBBHBFBB =BBB;BQ;EbEjER4rEd/E  E E -E "E *E :VE t4ZE BE 2ٱ2( >AHRS rotation from veh to nav: [[0.953540,-0.293527,-0.067850],[0.300621,0.941792,0.150515],[0.019721,-0.163919,0.986277]]2H f?$ҿ^@^=?)#?`D?1?JĿ ?i2Ͳ=I2]_;0Y^FBybiHbDjVDjk1yrFC<%rM=ٔrFQ-r>9v ?Yv ?=vfGyvFz=3Ez>|Q 54~ݍ?Q 94~)~sTBYy>Q I?~ DI~3;i~Q;~4yBɮA"11*12119ʎjZM@aɢe5)i myii)ufqyyi}ZۻF1ɧ޸駝䓼i>7^{;I> >I!AE؟AIQIiOu7>%BDAT read: Rx Time:00:25:03.2504 -TRx dataTimestamp_ set to:1761697503.885200-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779877Qy +[,!W@A2/۰=2>2Nٱ2%( :AHRS rotation from veh to nav: [[0.953812,-0.292509,-0.068424],[0.299711,0.942076,0.150553],[0.020422,-0.164107,0.986231]]2H?yҿ`4u.?|%?SE?`|?rſ4?i2/۰=I2ro_;0YBFByBqHi Mb@Mb@Mb@     9 Q?{Gz?MbP?Y \?y     )  Y bD%VD%E= E=E=+E9"E=B;*E=:VE= [4ZE9aE@aE@aE@aE@yMl<%MC=ٔUۺQ-U>9U"?YU"?=]fGyY]E]>aQ 5m4eJ?Q 9m4e)euTBYu?}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030816Q E}:y} >Q I?e DIe[j;ie_i;e握4yBɮA"))*)2)IQQQʎQYYjYZ] M@颡ɢD) ai)uisٻW1ɧ7Ci˚>l{;I˚> ˚>IA=.AIAIQOe4>yԩ= checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284206 ,W@A6f=6<ě>6 ٱ60) BAHRS rotation from veh to nav: [[0.953865,-0.292166,-0.069147],[0.299493,0.942125,0.150678],[0.021122,-0.164435,0.986162]]6H?ٲҿ*?%?gI??5 ſ?i6f=I6q_;6CYRFByRiHbDZVDZ:2ybp%fT=ٔfQ-f>9f ?Yj ?=jfGyjFjEj>lQ 5r4nL?Q 9v4n)nwTBYtyv>Q Iv?n DIn:in:n4yxɮ~A~E"*2!!ʎ!!!j)Z-aN@QɢU )Y ]iY)]eyYYi];ػe2ɧeleim>mcy{;iIm> m>IqA[AzAZABU<AU<B]>BYB]HB]FBB] =BYBYB];B]D;EB)B)B)B)B-› =C-K.4ԱA%؟AI1IAEM EMEM'EI"EM[I;*EM:VEM'4ZEIBEMDAT read: 00:25:03.2504 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 462,-0.29,-2.034, 2.599,-2.059,-2.376, PHS= 0.444,-1.263, 0.273, RAW= 144.8, 6.8, CAL= 144.3, 7.4, ROT= 5.7, -7.4 Ygot valid direction response: 00:25:03.2504 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 462,-0.29,-2.034, 2.599,-2.059,-2.376, PHS= 0.444,-1.263, 0.273, RAW= 144.8, 6.8, CAL= 144.3, 7.4, ROT= 5.7, -7.4 PDAT read: Bearing 176.9, 5.3 (Local) ~Local bearing/azimuth received: Bearing 176.9, 5.3 (Local) DAT read: Range 11 to 50 : 764.1 m (Round-trip 1018.9 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.986768,0.098493,0.128796]Fpublishing direction and range infoyΈM?r6?OZ_|?Y?D )DIS>iƋ>?!@=E/!@  A>)%=I A k?#)Cʣ? r2#? s>)0I%=i A 9 ̬ ,h[9W@A2z=2W>2ٱ2[) :AHRS rotation from veh to nav: [[0.954096,-0.291250,-0.069813],[0.298697,0.942381,0.150659],[0.021911,-0.164596,0.986118]]2H?գҿH߱?'? H?o? ſF?i2z=I2]_;2CYNFByRzHi]Mb@Mb@Mb@YYYY Y9]M?V-?{GztY]n?y]<]ף]A]A ]A)]AYY]GAbDuVDuky=%?=ٔQ->9"?Y"?=fGyE>Q 54IJ?Q 94~)yTBY?Q E:y/>Q I? DI;i0;!4yɮ{A(W@AJ?>DR?>Dj>۟M)]w@>R@?ǀX@rΈM?r6?OZ_|?Z%=b A9~@P,oU)[s@)|,1Y@z?J ?Px ?2ٚC:+D"V*?*UTBvCV*?UT“vC"*2ʎj@Z @|?9ɢ=)9 =֜i9)E}AAiE\ֻMp2ɧMMʽiMo>M{;IIUo> o>IA!I)I9OM0>9E] E]E]-EY"E];;*E] :VE]t4ZEYae@ae@ae@ae@i ,"4SW@A 2?=2>2;ٱ2r) >AHRS rotation from veh to nav: [[0.954290,-0.290447,-0.070505],[0.298016,0.942614,0.150551],[0.022732,-0.164681,0.986085]]2H?@ҿ ?)?@AE?F?Bſ?i2?=I2Z_;2CYBFByFH J49XYX=ZfGyZF^E^>`Q 5f4bղ?Q 9f4b)bzTBYdyjҳ>Q Ij?bDIb:ib:b4ynBɮrcAp"*2  ʎ   jZ6?ɢW) i)c!i%j1ջ-2ɧ--i-Ě>-{;1I5Ě> 5Ě>I1yAIIO>ԙBYB]ECB]HB]FBB] =BYBYB];BY Em  Em Em ,Ei "Em a?;*Em :VEm g4ZEi BEm 2ٱ2) :AHRS rotation from veh to nav: [[0.954515,-0.289561,-0.071103],[0.297240,0.942857,0.150561],[0.023443,-0.164847,0.986040]]2Hc?*ҿ@3? +? E?? ſ?i2t=I2*_;2‘CLYRFByRiHbDZVDZybvj%bH=ٔfQ-f>9dYd=ffGyhjEj>lQ 5r4n8貉?Q 9r4np)n|TBYtyvh>Q Iv?nDIlin:nӫ4yxɮzAx"!!*!2!)))ʎ)11j1Z=/?qɢud)y }yiy)}顁iӻ3ɧ綾駍RiК>{;IК> К>IAU?AU>IiIO>) wj> U AGm ^A UT9 ^AY %8Ay R? 6A$!,ꆸW@A2̩=2>2xżٱ2) :AHRS rotation from veh to nav: [[0.954759,-0.288612,-0.071677],[0.296397,0.943128,0.150530],[0.024155,-0.164965,0.986004]]2Hc?@xҿgY@)?.?D?`1?ſ`W?i2̩=I2(_;0|YFByfHE% E%E%*E!"E%9;*E%#:VE%(N4ZE!a-@a-@a-@a-@iMb@Mb@Mb@ 9> ףp=?I +?MbY?y9<A )AYbDVD0y%:=ٔԺQ->9Y=fGyF.E>Q 54?Q 94C)}TBY ?Q E:yh>Q I?!DI ;i ;|4yBɮA "*2ꏩʎjZ?ɢ%)! %ͤi!)%-Z!)i-cһUW3ɧUjUiU>Uu{;QIU> U>IY)IiIyO9>Yԁ N',ŠW@A2#_=2™>2̼ٱ2\) :AHRS rotation from veh to nav: [[0.954948,-0.287834,-0.072289],[0.295727,0.943358,0.150407],[0.024902,-0.165009,0.985978]]2H ?kҿ`@/?@/? @??ſ!?i2#_=I2^;2CYBFByBqHHJAAbDJVDJ1yR<%R`=ٔV-Q-V>9TYT=ZfGyXZEZ>\Q 5b4^ ?Q 9b4^u)^~TBYdyf >Q If?^.DI^y:i^-:^޹4yhɮjAhY"*2ꏉʎjZ?ɢ*S") ai)2iл3ɧu*i>e{;I> >IAA@AB>BBHBFBBBBB;BH;EIYIiO=E5  E5E5-E1"E5D;*E5;:VE5t4ZE1BE5њ2ϼٱ2[) :AHRS rotation from veh to nav: [[0.955123,-0.287170,-0.072615],[0.295121,0.943566,0.150287],[0.025359,-0.164973,0.985972]]2H^?`ҿ斲 C?1?Թ9Y=fGyFRE>Q 54 ?Q 94R)YQ?Q E:y>Q I?>DI8;iI8;4yBɮ\AE"  * 2ʎjZ`@IɢM>U)I MiI)U1=QQiUcϻ]3ɧ]k]"i]G>]ML{;aIeG> eG>IaAu\AzAqIQIaOu=E= E=E=,E9"E=y>;*E=I:VE=g4ZE9aM@aM@aM@aM@9 ]4,ԸW@A2{=2 >2$6Լٱ2f) BAHRS rotation from veh to nav: [[0.955340,-0.286333,-0.073070],[0.294372,0.943784,0.150388],[0.025902,-0.165181,0.985923]]2H$?GSҿ?{3??? ?$ſ`?i2{=I2|8^;2CY^FBy^yHbDjVDj:yv%vW=ٔz@Q-~>9|Y=fGyXE>Q 5%42?Q 9%4w)Y)y->Q I-?MDIa';ie&;4ȡ4y=Bɮ=oAA"qy*y2yyyyʎjZ @Yɢ]i)Y ]iY)eHaaieyλm(4ɧmmPiuxx>u+{;qIuxx> uxx>IqIIO=9B>BBBBBBB;B5;EiD= =D= <EM  EM EI EI "EM >T;*EM :VEI ZEI BEM $6kټٱ6&V* BAHRS rotation from veh to nav: [[0.955562,-0.285443,-0.073647],[0.293594,0.943994,0.150590],[0.026537,-0.165520,0.985849]]6H`? Dҿڲ>?35?F?@,?@/ſ?i6cӣ=I6@^;6CYJFByNH V9hYl=nfGynFrEr>tQ 5z4vE?Q 9~4v)tYy>Q I?v[DIvD;ivF;v'ϡ4yɮgA"AA*A2AIIIʎIQQjQZU@1 @频ɢ) ٚi) '顡iP̻f4ɧ/駭Կit>{;It> t>IIYIiqO=ԡ FA,M2W@A:o#=:3>:L?ٱ:* RAHRS rotation from veh to nav: [[0.955782,-0.284511,-0.074395],[0.292800,0.944224,0.150697],[0.027371,-0.165817,0.985777]]:Hĕ?`l5ҿ 9Y= fGy  0E >Q 54GY?Q 94)TBY%?Q E%:y%>Q I%?kDI3:i:֡4y)ɮ-lA)"IQ*Q2QꏱʎjZ൝ @ɢ i)  i )-)m11i5՛˻=ή4ɧ=<=]vi=: >=z;9I=: > E: >IAAQAU>IIIYOe4>) H,M"W@A2[=2|>2 ٱ2* :AHRS rotation from veh to nav: [[0.955872,-0.284022,-0.075105],[0.292428,0.944381,0.150434],[0.028201,-0.165758,0.985763]]2H@?`k-ҿ :@#?^8?jA?@?7ſ_?i2[=I2N^;2CYBFByBqHbDN VDNf2yV/%Vc=ٔVQ-V>9XYX=ZfGyZF^劺E^>`Q 5f4bi?Q 9f4b)bTBYdyj>Q Ij?bxDIb:i`b.ݡ4ynBɮn;AnE"||*2ʎ  j Z 0h@B<AB>BBHBGBBBBB;BɢNn&) ai)3Oiiʻ4ɧTliV>?z;IV> V>I!)D zD @AbE|a4jEY4rEò0EG EE)E"E&|;*E:VEFA4ZEBEYԉ HN,;W@A2=2;>2|ٱ2* :AHRS rotation from veh to nav: [[0.956108,-0.283072,-0.075683],[0.291565,0.944754,0.149763],[0.029108,-0.165256,0.985821]]2Ho?ҿ_`?m;?@k+?Ν?'ſ؋?i2=I2ן^;2C=ٔu Q-u>9Y=fGy E >Q 54-~?Q 9%4 )TBY%i?Q E%:y%>Q I%?DI]:i:4y-Bɮ5A1"QQ*Q2QQYYʎYYYjaZe@:~@颉ɢܕ) i)c顑ieɻ"5ɧ駥u]iĜ>oPz;FeIĜ> Ĝ>IIQIiOu=ԉԹE EE(E"E<;*EI:VEc44ZEa%@a-@a-@a-@ 1U,%UW@AJ=J)>JٱJT) ZAHRS rotation from veh to nav: [[0.956307,-0.282264,-0.076182],[0.290841,0.945019,0.149501],[0.029795,-0.165126,0.985822]]\JH?`ҿી@%?`=?"??`"ſ`ۋ?iJ=IJS^;JCYfFByfyHn=na=bDrVDr:2yz?%zR=ٔzQ-~>9|Y|=~fGyFE> Q 54 ?Q 94 x) TBYy>Q I? DI #;i Q; v4y!ɮ%+A!"AA*I2IIIIʎIQQjQZUT@颁ɢ &) i)N?顉iZȻS5ɧۂ駕^Qi > z;I >  >IAzA]AIYIiO}=B>BBBB =BBDB;B;;EB]ECB]ECBYB]Ǜ =BYC]+4E-  E- E- )E) "E- =;*E- d:VE- FA4ZE) BE- 7g=>Ė>>ٱ>* NAHRS rotation from veh to nav: [[0.956508,-0.281393,-0.076880],[0.290095,0.945257,0.149449],[0.030618,-0.165251,0.985776]]>H?Vҿk???@"!?`AZ? &ſ@z?i>7g=I>D3_;9)Y)=-fGy)5FE5>9Q 5E4=?Q 9E4=)=TBYAyE>Q IE?=DI=:i=:=4yQɮU%AQ"qq*q2qyyyʎyyjZ@颩ɢ.") ei)GL顱idǻ5ɧtٙCi>:y;I> >II9IO=Iqԙ oBb, zW@A2i=2>2ٱ2|) :AHRS rotation from veh to nav: [[0.956623,-0.280842,-0.077464],[0.289623,0.945520,0.148692],[0.031485,-0.164678,0.985845]]2H ?`QѿԳ0?A?Y??+ſ@ ?i2i=I2"_;2CYRFByRHEr ErEr(Ep"Er77;*Erg:VErc44ZEpav@av@av@av@yiMb@Mb@Mb@ 9kt?MbpY ?y )AYA ;bDVD:y<%@=ٔQ->9Y=fGyFE>Q 54?Q 94)TBY!?Q E:y>Q I?DI':i/: 4yBɮAE"*2!!ʎ!!!j)Z- O@Yɢ]ϗ )Y ]giY)eeaaieƻm^5ɧmcmr5im>mEy;iIu> u>Iqԡ^Ah%<AA?AII O- > lh, SW@A2=2d>2ٱ2) :AHRS rotation from veh to nav: [[0.956673,-0.280528,-0.077982],[0.289381,0.945679,0.148155],[0.032185,-0.164302,0.985885]]2H?,ѿ8?C??z?ſ@^?i2=I2sC_;2CYBFByBHbDJ VDJ2yR =%V_=ٔVQ-V>9TYX=ZfGyXZ 0EZ>\Q 5b4^ų?Q 9f4^W)^TBYdyf˕>Q If?^DI^:i^:^v4yhɮjAl"||*|2|||ʎj Z @1ɢ5$)1 5i9AAAEAABABABEHBEGBBABABABE;BET;E)]z"YYi](Że5ɧeTe)imGM>mx;iImGM> mGM>Ii^A2;E EE+E"E9;*E:VE [4ZEBE1a n,0W@A:w=:H>:Iٱ:' BAHRS rotation from veh to nav: [[0.956720,-0.280336,-0.078098],[0.289172,0.945922,0.147006],[0.032664,-0.163227,0.986048]]:Hr?ѿ9`ˁ?D?? 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Sտ @+?w??`)}5b¿@ܪ?ij]>Ij^;jCYIBy-HiMb@Mb@Mb@ 9/$?+?~jth?Y&?y=D; )$AYA p<bDVDk1y;%7=ٔU^:Q-]>9YYY=]fGyYe4:Ee>iQ 5u4m_?Q 9u4m)mWBYu?Q E}:y}>Q I}?mDImj:ims:mhB4yɮ1AhE"*2ꏩʎjZ`` K@ɢ^<) >i)!i\ɧ\(?=iL>+;IL> L>IiAA@AB>BBJHBIBBBBBq;B 9EA]؟AIaIqO8>ԙԹ ݌p,NW@A2s]>2ٱ>2M4;ٱ2> :AHRS rotation from veh to nav: [[0.940246,-0.337939,-0.041648],[0.340409,0.930196,0.137324],[-0.007666,-0.143296,0.989650]]2H ?ɠտR@C?)? ԓ?uf W¿7?i2s]>I2~^;2CYBIByB(HbDJVDJPyV/%Vb=ٔZ+:Q-Z?9Z"?YZ"?=ZfGyZYF^:E?Q 54eo?Q 9%4)WBY!y% >Q I%?DIj;iw;H4y)ɮ59A1"QQ*Q2QQQYʎYYajaZe@d8K@颉ɢTv<) >i)v顑io]ɧ%?駥-=i>z0+;I> >IA?A>bE(N4jEOS4rEͰ0E% E%E%-E!"E%g5;*E%:VE%t4ZE!BE%A _v,+W@A2>2>2<ٱ2 :AHRS rotation from veh to nav: [[0.940071,-0.338465,-0.041320],[0.340883,0.930023,0.137321],[-0.008050,-0.143177,0.989664]]2H?hտ@'??`?i|`S¿T?i2>I2L^;0YBIByBHbDJVDJk1yRr %RK=ٔVoy:Q-V>9V ?YV ?=ZfGyXZ:EZ>\Q 5b4^?Q 9b4^_)^WBYdyfL>Q If?^DI^:i^:^O4yhɮjUAh"xx*||2|ʎ j Z  jK@ɢ<) >i)%iXS^C ɧ"?*=i,ڸ> *;I,ڸ> ,ڸ>I)Ae؟AIqIO>iIAE= E=E=)E9"E=y>;*E=:VE=FA4ZE9a]@a]@ae@ae@Qԁ B B B 1HB IBB =B B B i;B 9EBBBBBC4R|,( W@A>}>>*>>b<ٱ> FAHRS rotation from veh to nav: [[0.940028,-0.338646,-0.040808],[0.340984,0.929897,0.137919],[-0.008758,-0.143562,0.989603]]>H?aտ`䤿??P?@`?`¿Ӫ?i>}>I>^;>CY^IBy^0HiEMb@Mb@Mb@AAAA A9EV-?Mb?MbPYEh?yE=EAA EIA)E1AAYEpAYQUAAbDeVDekymnA=%u>=ٔu:Q->9"?Y"?=fGyZF19E>Q 54,?Q 94ò)WBY?Q E:y>Q I?DI:i:OW4y ɮ +AiEP-B*** querying acoustic contact ***) )"11*121999ʎ99AjAZEK@iɢm<)q ul>iq)uzyyi}F_Oo ɧ ?駅 =i>z*;I> >IԁAIIO$>Ա2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.E5  E5E1E1"E5G;*E5:VE1ZE1BE5+:f>:zI<ٱ:p FAHRS rotation from veh to nav: [[0.939868,-0.339083,-0.040868],[0.341412,0.929539,0.139264],[-0.009234,-0.144843,0.989412]]:Hf?տ줿?Ⱦ? k?邿8¿B?i:ov>I:;6^;:CYbIByfHbDr VDrf2y~y%R=ٔ:Q->9 Y=fGyT:E>!Q 554%̤?Q 954%)%WBY1y5>Q I=?%DI%D;i%GD;%]4yIɮM\AI"*2ꏁʎjZOK@ԹɢK<) A>i)i!` ɧ?UИU|.*;QI]^> ]^>IYAm[AzAm\A}*DAT read: user:372> BDAT read: Tx time:00:26:00.1274 $Ping request sent.= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251310E]  E] E] ,EY "E] <;*E] :VE] g4ZEY a} @a @a @a @ ,)W@ArL>r%Ѳ>rf<ٱr zAHRS rotation from veh to nav: [[0.939585,-0.339913,-0.040490],[0.342179,0.929260,0.139248],[-0.009706,-0.144690,0.989429]]rH? $տ# B?~??@@3¿g?irL>IrQ];pYIByHiMb@Mb@Mb@ 9/$?X9v?{GztY&?y<ף =A)$AYAbD VD:2y%?=ٔԐ:Q->9 ?Y ?=fGy[F%:E>Q 54?Q 94)WBY_?Q E:y>Q I?DI;i/;Ve4ybBɮEA_E"*2   ʎ jZ`F L@9ɢE} <)A EJ>iA)ÈAIiM~`IUm ɧU?U]C);YI]U> ]U>IaBABBB%HBIBB =BBB;B9EIIO'>ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501380ԡ ې,CW@AY~IBy~H ; ;bDVDy%O%%T=ٔ%Q-%>9)Y)=-fGy)-E5>1Q 5u45vȼ?Q 9u45Ы)5WBYyyyQ I?5DI5?;*E:VE [4ZEBEUii)u! lqqiua}O ɧ}b?}j});yI0> 0>II)I9OM0>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0052029 L,~]W@A2B>2/̳>2p$.<ٱ2  :AHRS rotation from veh to nav: [[0.938919,-0.341843,-0.039686],[0.343975,0.928648,0.138902],[-0.010629,-0.144068,0.989511]]2H ?տ`Q?|?? sąp¿@?i2B>I22];0YBIByBHDDbDN VDN2yV*%VR=ٔZ;Q-Z>9\Y\=^fGy^\F^Ǡ;Eb>`Q 5f4bټ?Q 9f4b)b~WBYhyj>Q Ij?bDIb<;ib3;br4ylɮryAr`E"*2 ʎ   j ZkmL@9ɢ=<)9 E>iA)EggZAAiEObM| ɧM?MUf);U׹IUX> UX>IYAm?Am>II O= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258660E EE*E"E3;*E;:VE(N4ZEa @a @a@a@9a B >B B HB IBB =B B B ;B M9E/,]NwW@A2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5130546 >6,>63<ٱ6%P bAHRS rotation from veh to nav: [[0.938661,-0.342572,-0.039489],[0.344665,0.928366,0.139080],[-0.010985,-0.144160,0.989493]]6H ?տ7`?+?b?s¿@?i6 >I6J];4Y~IBy~HiMb@Mb@Mb@ 9&1?~jt?y&1Y?y<`e;A )1AYbDVDk1y%<=ٔKV:Q->9Y=fGy:E>Q 54켉?Q 94)sWBY?Q E:y[>Q I?!DI:i:}z4yɮA"*2ʎ  j Z `.L@ɢ|:<) ?>i)Cib ɧ?-);IZ> Z>IIIO=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765142D=D=E% E%E%+E!"E%:;*E%I:VE% [4ZE!BE%3FZ>F6<ٱF\ VAHRS rotation from veh to nav: [[0.938539,-0.342894,-0.039612],[0.344994,0.928140,0.139768],[-0.011160,-0.144844,0.989392]]FH@?տ H_? S?`?ۆ=¿?iF_ >IFn];FCYftIByfH   @AbDVDy%y$%%S=ٔ-J9Q-->9)Y)=-fGy-]F5gm:E5>9Q 5E4=?Q 9E4=)=jWBYIyM>Q IM?=/DI= :i=:=B4yQɮUAY"qy*y2yyyyʎjZL@颱ɢi)<2项iIc ɧ?c);I> >II9IIOU=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.017123!Qy 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271127E]  E] E] )EY "E] y>;*E] :VE] FA4ZEY a} @a} @a @a @G,6W@A- >-<>-@<ٱ-  EAHRS rotation from veh to nav: [[0.938436,-0.343225,-0.039168],[0.345253,0.927987,0.140143],[-0.011753,-0.145038,0.989356]]-H`?eտ` ??1?@ ¿Ψ?i- >I-];-CIYUxIBy]HiMb@Mb@Mb@ 9/$? rhY&?yC )$AY(AbDVDJ2y <<% <=ٔѲ:Q->9Y=fGy%':E%>)Q 5=4-?Q 9=4-)-`WBY=7?Q EE:yED>Q IE?-?DI-O;i-Q;-4yQɮUAY"*2ꏉʎjZ/M@颉ɢ|<)  >i)i 顑i+dy ɧ?z(;I> >IA9A9BE>BEACBEHBEIBBABABABE;BE9Eyuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521194ԩ^AΒA zA ZAA1 IA IQ Oe > O,,W@A2 >2ҳ>2G<ٱ2lU :AHRS rotation from veh to nav: [[0.938293,-0.343607,-0.039254],[0.345627,0.927652,0.141433],[-0.012184,-0.146273,0.989169]]2H~?տ?S?x?`¿`F?i2 >I2];2CYBdIByBHbDJVDJyR^%Re=ٔV:Q-V>9TYT=ZfGyZ^FZ:EZ>\Q 5b4^!?Q 9b4^)^WWBYdyft>Q If?^LDI^:i^:^4yhɮjAl"||*|2|ʎ j Z /i9)=& 99iE.dE ɧM?MAMr(;IIM8> M8>IQԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773575DzDE EE(E"E:;*E>:VEc44ZEBEa2EaJE8  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0251069 5U,W@A6P >68Ӵ>6H<ٱ6 BAHRS rotation from veh to nav: [[0.938209,-0.343833,-0.039278],[0.345852,0.927542,0.141606],[-0.012257,-0.146440,0.989144]]6H@?Zֿ4n"?l?$ ?5¿?i6P >I6N];6CYFeIByFH Np9Q-^>9^"?Y^"?=bfGy`b:Eb>dQ 5j4f3?Q 9j4fݞ)fMWBYhyn>Q In?f[DIf;if;f.4yraBɮrAraE"* 2    ʎ jZpM@AɢE,C<)I M>iI)MIIiM>eU* ɧU?]ë]Qw(;YI]F_> ]F_>Iachecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277133E- E- E-)AE)"E-=;*E-:VE-FA4ZE)aM@aM@aM@aM@^AAA>A)I9IQOe>iBM >BM BCBM HBM zIBBI BI BI BM ;BM 9Eԙ f},W@A&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5292236 >6L>6#|L<ٱ6 BAHRS rotation from veh to nav: [[0.938074,-0.344234,-0.038981],[0.346209,0.927458,0.141281],[-0.012480,-0.146027,0.989202]]6H?ֿM@J(? ?|?X¿?i6 >I6d];6CYFgIByFHieMb@Mb@Mb@aaaa a9eGz?~jtx:vYe?yeĻeTaa a)e1AaYeAbD}VD}1y4;%>=ٔ:Q->9Y=fGy_Fbh:E>Q 54'G?Q 94)EWBY?Q E:y>Q I?jDI:i<:4yɮA"*2ʎjZ6M@ɢS<) ޳>i!)%Dͺ!!i%[e-ɧ--?-5D(;1I5͖> 5͖>I9@A@A@A@Aqԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.781174A.AbEǷG4jErO4rEn/E EE-E"E<;*Er:VEt4ZEBEē e,pW@A6~l >6a>6VO<ٱ6' >AHRS rotation from veh to nav: [[0.937830,-0.344926,-0.038743],[0.346865,0.927287,0.140797],[-0.012639,-0.145482,0.989280]]6H?Dֿ ֣3?U??}≿'¿.?i6~l >I6^];4Y^VIBy^HbDjVDj:2yr"9%rV=ٔrb9Q-r>9v ?Yv ?=vfGytz:Ez>xQ 54zMX?Q 94z՚)z>WBYyH>Q I?zxDIzf;izr;zd4yɮۺA"11*121199ʎ99AjAZE@&M@ɢ#<) >i)ʩi%Hf%Qɧ-{?-,-(;)I-&ȸ> -&ȸ>I1Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.033214A؟AIIO!>) E-  E- E- ,E) "E- F;*E- :VE- g4ZE) a5 @a5 @a5 @a5 @5 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287910,7T,W@A0Yd >\>U<ٱ+ %AHRS rotation from veh to nav: [[0.937836,-0.344889,-0.038925],[0.346834,0.927048,0.142434],[-0.013038,-0.147080,0.989039]]H?`ֿ 2?`a?`E;?@̳¿`4?iYd >I4E];Y==IBy=HiMb@Mb@Mb@ 9ʡE?:v~jtxY-?yԼĻSA IA)AYAbDVDk1y-K%-*=ٔ-RZ:Q-5>95"?Y5"?=5fGy5`F=ևE=>AԉQ 54EOn?Q 94E)E9WBYU?Q E:y>Q I?EDIEBACBHB\IBB =BBB;B9EBBBBá =Bá =C4"99*92999AʎaaajiZm!N@颱ɢV<) ڞ>i)ꁺ项iɤf2hɧl?{j';I@> @>IAzA[Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=4.537746ԱA1I9IIO]v> ?w,%FW@A2 >2,>2W<ٱ2P  :AHRS rotation from veh to nav: [[0.937962,-0.344566,-0.038736],[0.346487,0.927175,0.142452],[-0.013169,-0.147036,0.989043]]2H?` ֿ@=գ@,?k?`;?J¿`>?i2 >I2u];2CYB;IByBHbDJVDJk2`yr%rx=ٔv)9Q-v?9tYt=zfGyxz+Ez?|Q 54~m}?Q 94~')~6WBY y V>Q I ?~DI~:i~B:~4yɮA"11*929999ʎAAAjAZM?N@qɢu<)y }>iy)}#Syyig-ɧ&!?駍=i>';I> >Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.791049E EE(E"Ea?;*EVEc44ZEBEu checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041122A o,K`W@A2N >2IҴ>2p\<ٱ2 :AHRS rotation from veh to nav: [[0.938197,-0.343954,-0.038499],[0.345840,0.927343,0.142933],[-0.013461,-0.147414,0.988983]]2H? Vֿ<"?@ˬ?`K?`wu¿`?i2N >I2bS];2CY^?IBybHbDjVDj2yr<%rJ=ٔr=:Q-v>9tYt=vfGyvaFzߺEz>9|Q 5]4~򏽉?Q 9]4~S)~2WBYYye>Q Ie?~DI~[i)#iygozɧ$?=i>{h';I> >IiAIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293177E EE'E"E<;*E:VE'4ZEa@a@a@a@ԙB >B B HB QIBB =B B B 5;B 9E ,byW@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=5.54616765 >6dt>6b<ٱ66 >AHRS rotation from veh to nav: [[0.938440,-0.343309,-0.038320],[0.345166,0.927475,0.143706],[-0.013795,-0.148086,0.988878]]6H? տ2?`߭?d?`@y¿@?i65 >I6eQ];6CY^DIBybHiEMb@Mb@Mb@AAAA A9E(\? rhy&1|?YEz?yEC E`;EGAA E=A)E$AAYEA QԱUp<bD  VD :2yEM<%E6=ٔE C:Q-E>9IYI=MfGyIM7ѺEU>qQ 5}4u(?Q 94uM)u3WBY?Q E:y>Q I?uDIuI;iu<;u|4yɮAbE"*2ʎjZi))5m11i5g=ɧ=)?=C=i=邺>=\';AIE邺> E邺>IAAU?AU?IAIYOe4> IMC#G9YdAyU&N?U2Achecking for new query: numPingsReceived=0, elapsed TxPingTime=5.797107DD<E EE*E"Ea?;*E :VE(N4ZEBEa2EaJEd%6 >6Zg<ٱ6 BAHRS rotation from veh to nav: [[0.938708,-0.342597,-0.038135],[0.344423,0.927618,0.144561],[-0.014152,-0.148835,0.988761]]6H ? տe ? ?@?@ ÿ?i6>I6Ǜ];4YF?IByFHbDRVDRyVp%Zh=ٔZ:Q-Z>9\Y\=^fGy^bFbEb>dQ 5f4f?Q 9j4f)f5WBYhyjS>Q Ij?fDIf>:if:fǥ4ypɮrAp"*2  ʎ   jZN@9ɢES<)A E>iA)EK[AAiMMhMVfɧU,?U[ =iU>U&;QIU> U>IY5checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049159IQIiO=)Q checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301184E  E [E +E "E C;*E ;VE [4ZE a @a @a @a @ԁ 7, W@Am2>mAij>ml<ٱm AHRS rotation from veh to nav: [[0.938894,-0.342144,-0.037609],[0.343901,0.927858,0.144264],[-0.014463,-0.148383,0.988824]]mH`l ?տA@z??@Bw?`6¿r?im2>Im];iY ףp=?y&1/$?Y?y`弙<;A IA)AY(AbDVD:2y%,=ٔ=,:Q->9Y=fGy(E>Q 547˽?Q 94)=WBY1?Q E:y>Q I?DI ;i;ϥ4yTBɮֺAXE"*!2!!!!ʎ)))j)Z-O@Yɢ]<)Y ]i>iY)e>|9aaieΧhmɧm~0?m2 =im0e>mL&;qIu0e> u0e>IqAAAAB>BBCBHBGIBBBBBH;B9EI)I9Om>y=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553124ԩ h,mW@A2>2A>2Cr<ٱ2 :AHRS rotation from veh to nav: [[0.938971,-0.341957,-0.037394],[0.343677,0.927872,0.144704],[-0.014786,-0.148725,0.988768]]2H ?տ`B%? ??3H@h ÿ?i2>I2];2CYNHIByRHbDZVDZN2yb=%bs=ٔfz{:Q-f?9dYd=ffGyfcFjA8Ej?lQ 5r4nڽ?Q 9r4n)nBWBYtyv>Q Iv?nDIn :in:nե4yzSBɮzAzYEiߙIߙchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.805517"*2ꏩʎjE EE)E"EB;*E:VEFA4ZEBEwiA)E=9AAiEiMn4ɧM?3?Me=iU>u%;I> >ԱIAzAZAI1IIOU= U checking for new query: numPingsReceived=0, elapsed TxPingTime=7.0572149 ,^IW@A2>2L>2"y<ٱ2 :AHRS rotation from veh to nav: [[0.939065,-0.341752,-0.036915],[0.343403,0.927970,0.144727],[-0.015205,-0.148585,0.988783]]2H ?Cտw梿@R??m?#ÿ?i2>I2+U];2CY^7IBy^{Hf=fa=bDj VDjf2yr$%rH=ٔv:Q-v>9tYt=zfGyxz9Ez>|Q 54~_?Q 94~5)~IWBY y t>Q I ?~DI~:i~:~ܥ4yɮA"11*92999AʎAAAjAZMuO@ɢ]ϳ<) >i);:isi%|ɧ%6?%T=i%J%>%y%;!I%J%> -J%>I)IIO=E EE+E"E9;*E:VE [4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=7.316775aԉ B >B B B B =B B DB ;B 9E] checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561106g,J^>J<ٱJ RAHRS rotation from veh to nav: [[0.938967,-0.342089,-0.036270],[0.343653,0.927993,0.143984],[-0.015597,-0.147660,0.988915]]JH  ?տ`g??n?^¿@1?iJ(>IJo];JCYjPIByjHi]Mb@Mb@Mb@YYYY Y9]ʡE?MbP?y&1?Y]-?y]:]`<]AA]A ]AA)]AYY]AbDuVDu02y4m=%@=ٔq:Q->9Y=fGydF$:E>Q 54?Q 94)QWBYZ?Q E:y9>Q I?DI#:i:P4yɮA"*2ʎjZ^O@颩ɢQ<) ]>i)~:顱ii#ɧ6?駽WK=i?>%;I?> ?>IԁA1IAIQO]3>Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.813203E  EE'E"ED;*E:VE'4ZEBEњ2 >2k<ٱ2A :AHRS rotation from veh to nav: [[0.938741,-0.342763,-0.035762],[0.344249,0.927825,0.143645],[-0.016056,-0.147156,0.988983]]2H`* ?տWO.?`?b? p@¿?i2>I2B];2CYBAIByBHbDJVDJkyR %RZ=ٔV:Q-V>9TYT=VfGyXZ:EZ>|\Q 5 4^d?Q 9 4^)^XWBY y >Q I ?^ DI^:i^:^4yɮ̺A"99*929AAAʎAAIjIZM bO@频ɢ(<) נ>i):项iEjuɧ7?q=iU>$;IU> U>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=8.065736IIO >)Qԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317162E  E E E "E y>;*E :VE ZE a @a @a @a @R. ,q.W@AY>>i@<ٱ  AHRS rotation from veh to nav: [[0.938626,-0.343124,-0.035315],[0.344541,0.927724,0.143598],[-0.016509,-0.146952,0.989006]]H9 ?`տ ??ga?琿 Q¿?i>I'];CYyi]Mb@Mb@Mb@YYYY Y9]M??Q?Y]n?y]<]<]5A]A Y)]AYY]AbDuVDu 3yWr%/=ٔ6:Q->9Y=fGyeF 0:E>Q 54&?Q 947)`WBB-<A-<B5>B5CCB5HB5=IBB1B1B1B5;B59EY?Q Em:ym*>Q Im?DI)i))5C:11i5͕j=ɧ=h4?=S=i=(>=V$;ԁAI(> (>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=8.569201IAIQO]U>ԩ ,VHW@A2Z* >2?>2<ٱ2 :AHRS rotation from veh to nav: [[0.938531,-0.343430,-0.034850],[0.344773,0.927618,0.143724],[-0.017031,-0.146905,0.989004]]2H s?տס? ?`e?`p¿?i2Z* >I29];2CYNPIByRHbDZVDZ1yv+=%vi=ٔv:Q-v>9xYx=zfGyxz;:E~>Q 545?Q 9 4%)fWBY y J>Q I ?*DIS:iK: 4yɮAZE"99*929AAAʎAAIjIZMj"P@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.821255DzD@AbE%FA4jE%B4rE%0E EE)E"E;;*E:VEFA4ZEBEi)b:ik%oGɧ%f2?%k=i%n>-#;)I-n> -n>I)IIO=5 checking for new query: numPingsReceived=0, elapsed TxPingTime=9.0731449 =,mbW@A6l >6>6<ٱ68t BAHRS rotation from veh to nav: [[0.938249,-0.344261,-0.034266],[0.345515,0.927393,0.143392],[-0.017587,-0.146377,0.989073]]6H!?_ֿG?4?`Z?7@{¿`{?i6l >I6&"];6CYF@IByFHbDRVDRyV8%ZN=ٔZ:Q-Z>9\Y\=^fGy^fFb;Eb>`Q 5f4bOG?Q 9j4b̀)bmWBYhyj>Q Ij?b9DIb:ib:b4ypɮrͺAp"*2   ʎ  jZ;P@9ɢ=<)A Ef>iA)EKz;AAiM[kMɧM0?U =iU3ڻ>UEn#;QIU3ڻ> U3ڻ>IYAm\AzAm[AII1O}=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325207E EE+E"E:;*Er:VE [4ZEa@a@a@a@aԉB5 >B1 B5 HB5 GIBB5 =B1 B1 B5 ;B5 9EBBBBȟ =BȠ =C}5Թ = checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577122mh,an|W@A2S >2t >2<ٱ2m :AHRS rotation from veh to nav: [[0.937976,-0.345004,-0.034269],[0.346231,0.926969,0.144407],[-0.018055,-0.147315,0.988925]]2H`?ֿ (?@?{?|5¿E?i2S >I2}C];2CYN8IByR|Hi}Mb@Mb@Mb@yyyy y9}gfffff?S㥫?~jt?Y}3?y}/]=}<}AA}A y)}AyY}AbDVDk2yt%<=ٔ:Q->9Y=fGygF:E>Q 54cZ?Q 94})Y?Q E:y>Q I?IDI:is:4yɮ޺A"*2ʎjZWP@1ɢ5*<)1 52>i9)=1;99i=kE'ɧE|*?Ec=iE]>E #;IIM]> M]>IIԑII O=Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.829140DD%=E EE*E"E;;*E;:VE(N4ZEBEa2EaJE6'2i>2<ٱ2r :AHRS rotation from veh to nav: [[0.937723,-0.345707,-0.034099],[0.346896,0.926673,0.144710],[-0.018429,-0.147526,0.988886]]2H? ֿ_u 3?M?م? ߒ@$¿ ?i2} >I20];2CYB?IByBHbDJVDJ:yf<%fY=ٔfa:Q-j>9hYh=jfGyhn:En>pQ 5v4rj?Q 9v4rk{)pYtyvL>Q Iz?rWDIrl:ird:r<4y|ɮ~кA|"*2!!!!ʎ!))j)Z-@oP@ɢ4<) >i)#;igkBɧ%?z=i > ["; I > >IIIO=$>;<ٱ  AHRS rotation from veh to nav: [[0.937391,-0.346573,-0.034435],[0.347777,0.926142,0.145989],[-0.018704,-0.148824,0.988687]]H?@.ֿ@pA??¯? 6' ÿR?it >IO];CY2IByuHiMb@Mb@Mb@ A@AAAAB>BBHB=IBBBBB;B_9E9|?5^?Dl?~jtx?Y?yO=;5AA )AY\A 4<<bDVDk2yּ%+=ٔ:Q->9Y=fGyhF;E>aQ 54?Q 94x)fWBY?Q E:yF>Q I?hDIi)D7;顉i!lɧ?駝/d>";IQ<> Q<>IAA>ԑA .AII)O5r> E GY q B9 Y (Aa2,W@A\E  EE/E"EF;*E:VEJ4ZEBEb>.<ٱ] AHRS rotation from veh to nav: [[0.936854,-0.348049,-0.034140],[0.349201,0.925685,0.145485],[-0.019033,-0.148220,0.988771]]H?pFֿ`zPY? 6?@=?X}¿?i>IKQ];CY&IByfHbDVD:ye%eV=ٔea:Q-e>9m ?Ym ?=mfGyiuǂ;Eu>yQ 54}?Q 94}nu)}`WBYy>Q I?}vDI}:i}:}C4yɮA"*2ꏹʎjZѦP@ɢ\<) Y>i)%D;!!i%kal-)ɧ-c?585c";=I=C> =C>I9Ae؟AIiIyO9>A 8,W@A2H>2ql>2Q<ٱ2 :AHRS rotation from veh to nav: [[0.936338,-0.349433,-0.034171],[0.350570,0.925138,0.145673],[-0.019290,-0.148379,0.988742]]2Hz?]ֿ~o??j?¿@ǣ?i2H>I2{0];2CYB2IByBuHbDNVDN1yVi =%Vk=ٔVA:Q-V?9Z"?YZ"?=ZfGyZiF^߉;E^?Q 5%4?Q 9%4r)ZWBY!y%>Q I%?DI +;i+;#4y1ɮ5A1"QQ*Q2QQQYʎYYajaZe P@颉ɢ0~<) R>i)R;顑il(WɧZ?駥kP";I> >IA II!O5 >IE  EE*E"ED;*E:VE(N4ZEa@a@a@a@yBBBvHB3IBBBBBЂ;Br9Eԡ >,tW@A2>2[>2P<ٱ2 :AHRS rotation from veh to nav: [[0.935918,-0.350524,-0.034509],[0.351674,0.924533,0.146846],[-0.019569,-0.149572,0.988557]]2H ?nֿ`"`Ձ?`ƕ??@ )%ÿB?i2>I2A];2CY^IByb\HyiuMb@Mb@Mb@qqqq q9u7A`?㥛 ?y&1Yu?yu=u`eu;Au۵A u=A)uAqYq@AbDVDN2y:%;=ٔ':Q->9Y=fGy1;E>Q 54n?Q 94o)JWBY?Q E:y>Q I?DI/:i:*4yFBɮܺARE"*2ʎjZ @P@1ɢ5Z<)9 =%>i9)=+b;99i=lEfɧE ?EMJ";IIMl> Ml>IQAe[AzAe\AA.AIIO >E EEE"EO6;*E:VEZEBEH2>2̡<ٱ2ϋ :AHRS rotation from veh to nav: [[0.935450,-0.351741,-0.034802],[0.352906,0.923949,0.147566],[-0.019750,-0.150322,0.988440]]2H5?ֿ@ѡ ?`? p? H9=ÿ`L?i2>I2+C];2CYRIByRIHbDZVDZkyv#%vW=ٔv&9Q-v>9z ?Yz ?=zfGyzjFzGc;E~>Q 54<þ?Q 9 4&m)Q I ?DI:i:14yɮA"99*929AAAʎAAAjIZM@P@qɢuu<) f>i)To;il%ɧ%]?%.%V";)I-Aз> -Aз>I)IIIaOm>!I BDAT read: Response Not Received  *response not received ~>~<ٱ~ =AHRS rotation from veh to nav: [[0.935188,-0.352409,-0.035090],[0.353588,0.923518,0.148628],[-0.019972,-0.151403,0.988270]]~H?`ݍֿ@S.?u?`>?is)aÿ`?i~ >I~s];~CYmIByuKHbDVDk2Qyez;%e4=ٔe_:Q-m>9iByByB}]HB}IBByByByB} ;B}9EYi=fGym:E>Q 54q׾?Q 94i)+WBYy>Q I?DI:iB:94yɮA"*2ʎ!j!Z%@Q@颡ɢF<) I>i);im2ɧ>]Wt";IR> R>IyIIOM>ԩ R,pDKW@A2>2k>2,<ٱ2A :AHRS rotation from veh to nav: [[0.934947,-0.353048,-0.035089],[0.354214,0.923239,0.148867],[-0.020162,-0.151612,0.988234]]2H ?`Uֿ5p?`-?? < hÿ?i2>I2];0YBHByB2HiEMb@Mb@Mb@AAAA A9E9v?L7A`?~jtYE?yE+=EļE/AEA A)AAYAEe EeEe)Ea"Ee9;*Eeu:VEeFA4ZEaBEe9Y=fGykF:E>Q 54羉?Q 94Jg)WBY?Q E:y{>Q I?DI:ib:@4yɮ A"*2ʎjZJ&Q@ɢ׷<) 8|>i)%4;!!i%#m]PExceeded connect timeout, disconnecting.Ա5ɧ(> ";Il> l>IA>A>IqIO= 9 UX,!eW@A28->2h>2fݣ<ٱ21 :AHRS rotation from veh to nav: [[0.934718,-0.353583,-0.035787],[0.354826,0.922826,0.149969],[-0.020002,-0.152877,0.988043]]2H6?`ֿ@R`w?`ʇ? 32?@S{{ÿ ?i28->I2];0YNHByR1HTVAbDZVDZk1yvV%vU=ٔvڹQ-v>9xYx=zfGyxz{:E~>Q 5 4?Q 9 4d)WBY y >Q I ?DI:i:F4yi)z;i7mHɧ2> Ď F"; I > >IIIO=Em EmEm,Ei"Em<;*Em:VEmg4ZEia}@a}@a}@a}@9B>BB7HBIBBBBDB:;B9Ei e_,~W@A2,G>2bN>2Z<ٱ2ُ :AHRS rotation from veh to nav: [[0.934339,-0.354615,-0.035493],[0.355832,0.922689,0.148418],[-0.019882,-0.151302,0.988288]]2H? ֿ`,,??]?`[ ]ÿ@ ?i2,G>I2];0PYRHByRHi-Mb@Mb@Mb@)))) )9-9v?J +?S㥛Y)y-H=-/ݼ-"A) -1A)))Y-AbDEVDEkyU!%UD=ٔ]NQ-]>9YYY=efGyelFe(;Ee>iQ 5u4m0 ?Q 9u4ma)mVBY?Q E:yL>Q I?mDIm i);iK9mɧ> #;I> >IIQIaOu=Du=Du<bE(N4jE-W4rE+/E} E}E}+Ey"E}a?;*E}:VE} [4ZEyBE}6>6 <ٱ6k >AHRS rotation from veh to nav: [[0.934058,-0.355349,-0.035544],[0.356567,0.922430,0.148267],[-0.019900,-0.151164,0.988308]]6H? ֿ2?@?j? `UYÿ9?i6>I6\];6CYNHByRHVAATbDZVDZ02yv0%vQ=ٔvA8Q-v>9xYx=zfGyxzN;E~>|Q 5 4?Q 9 4X_)VBYy>Q I?DI:i-:T4y;Bɮ%:A%SE"AA*A2AAAIʎIIIjIZU`rQ@yɢ}ĥ<)y Y>i) ;顁i_=m~ɧ>駍ΣoL#;I#> #>II9IIO]=)Qm TDAT read: user:373>Rx Time:00:26:13.9815 m TRx dataTimestamp_ set to:1761697574.729154E  E E -E "E sH;*E :VE t4ZE a @a @a @a @ԑ cl,̲W@ABIH>Bκ>Bj<ٱB" JAHRS rotation from veh to nav: [[0.933988,-0.355527,-0.035595],[0.356748,0.922331,0.148449],[-0.019947,-0.151348,0.988279]]BH:?ֿ9??c?mc_ÿ?iBIH>IB];BCYHByHYbDMVDM1y 0% 9=B9B9B=HB=HBB9B=:DB9B=E;B=9EBCCBCCBB =B =C4ٔ8Q->9Y=fGymF`9E>Q 54:1?Q 94L\)VBYy>Q I?DI%;i&; ]4y:Bɮ_A"QQ*Q2QYYYʎYYajaZeʐQ@ɢF+<) >F>i)~;im5ɧ >=M#;IԦ> Ԧ>I ԉA]؟AIaIqOZ>Ա s,ЙW@A2=>21>2t<ٱ2 :AHRS rotation from veh to nav: [[0.933718,-0.356228,-0.035678],[0.357453,0.922061,0.148429],[-0.019977,-0.151344,0.988279]]2H? qֿ`D??@?@t=_ÿ?i2=>I2 ];2CYBHByBHi Mb@Mb@Mb@     9 9v?~jt?{GzY D1zD1E= E=E=+E9"E=B;*E=:VE= [4ZE9BE=w+(@%>)@ ;>)U@I;y < ף  A =A)  Y \AbDE1fj&|?p@r?SJ~?  ?)sI޹i;u:publishing transmit ping timey}:publishing range request flagyyEEwWv?CUy@gd? )Ii )IVDE02y%?=ٔ8Q->9"?Y"?=fGy1fj&|?p@r?SJ~? )Ii:E>Q 54C?Q 94Y)VBY4?Q E-:y-i>Q I-?DI;iF;)d4y1ɮ5`A1"qy*y2yyyyʎyjZQ@IɢU1<)Q U[E>iQ)U;QYi]l0ɧ>駥䞗. $;Iw> w>IAII Om>)Q N(y,hW@A2>2˃>2 <ٱ2: :AHRS rotation from veh to nav: [[0.933491,-0.356875,-0.035137],[0.358035,0.922028,0.147227],[-0.020144,-0.150015,0.988478]]2H(? ֿ ?@?U?3ÿ?i2>I2 ];0YBHByBHbDJVDJky~[%~l=ٔc9Q-?9Y= fGy nF y:E ?Q 54R?Q 94W)VBY!y%>Q I%?DI;i;j4y)ɮ-zA)"II*Q2QQQQʎQYYjYZ]@EQ@颉ɢ<) 7>i);顑ilTɧ>駝/T$;IMM> MM>IA?A>1AIEU EUEU(EQ"EU<;*EUd:VEUc44ZEQam@am@am@am@IyIO>aB1B1B5HB5HBB1B5;DB1B5;B59EԑԹ ,BW@A2>2>2{<ٱ2nX :AHRS rotation from veh to nav: [[0.933195,-0.357682,-0.034785],[0.358794,0.921854,0.146465],[-0.020321,-0.149162,0.988604]]2H?Bֿ@\ϡ|??`?`ϔÿ?i2>I2];2CYNHByRHiUMb@Mb@Mb@QQQQ Q9U"~?MbP?I +YU?yU:U94U(AUA U5A)UAQYUAbDuVDu02ye%B=ٔ9Q->9Y=fGy:E>Q 54$f?Q 94U)VBY?Q E:yZ>Q I?+DIQ:i8:zq4yɮA"*2ʎjZ6Q@ ɢ OŠ<) />i)o;i̽l%c{ɧ%n>%FX%$;!I-T> -T>I)ԑ yyG `]A)Ue?9]`]AY]%AIIO$>E EEE"E[I;*E:VEZEBE2\>2tq<ٱ2 :AHRS rotation from veh to nav: [[0.932889,-0.358505,-0.034517],[0.359575,0.921610,0.146083],[-0.020560,-0.148691,0.988670]]2H:?ֿ@/H?}?ٲ?@ Kÿ /?i2c>I2an];0YBHByBHbDNVDN:2yR%VY=ٔVz&:Q-V>9TYX=ZfGyZoFZ;E^>\Q 5b4^Cw?Q 9f4^{S)^VBYdyfɻ>Q If?^9DI^:i^:^x4yj9BɮnAnTE"||*|2|||ʎj Z RQ@1ɢ5\Lj<)9 =!>i9)=Q;99i=lEɧE>EM%;M4 MX>IQII!O==A Eu  Eq Eu +Eq "Eu C;*Eq VEu [4ZEq a} @a} @a} @a} @d,3W@AZ>Z™>Z1۪<ٱZ fAHRS rotation from veh to nav: [[0.932716,-0.358976,-0.034305],[0.360008,0.921431,0.146150],[-0.020855,-0.148666,0.988667]]ZH@?wֿb_ ?[|?@ ?[ÿ*?iZ>IZz];ZCYjHByjHppbDv VDv2y%D=ٔ-[8:Q-->91Y9=EfGyAU:EU>iQ 54m?Q 94m)Q)mVBYy>Q I?mHDIm<;imP;m~4BA<B>BDCBHBHBBB:DBB;;B8EyaɮmAi"*2ʎ!j!Z%R@Q频ɢ ^<) >i)F;顙il6ɧ>駥l%;I^> ^>IA\AzA[AIqIO>yԩ L,MW@A2>2 >2mt<ٱ2" :AHRS rotation from veh to nav: [[0.932406,-0.359836,-0.033725],[0.360807,0.921376,0.144514],[-0.020928,-0.146914,0.988928]]2HD?׿kDu?{?r? 'n`¿L?i2>I2~l];0LYRHByRHV=V=E EE,E"EO6;*E:VEg4ZEBEH9Y=fGypF:E>Q 54ޞ?Q 94N)VBY?Q E:y>Q I?YDIS;i!;D4y+BɮAJE"!!*)2))IIʎQQQjQZU+R@颡ɢ's<) / >i);ik]ɧܹ>&;Iw> w>IIiIO! /v,`gW@A2S>2T>2ɮ<ٱ2  :AHRS rotation from veh to nav: [[0.932192,-0.360413,-0.033470],[0.361335,0.921134,0.144737],[-0.021335,-0.147016,0.988904]]2H@?׿ # ?y? ?@ؕ n¿?i2S>I2̧];2CYBpHByBHbDJVDJNyRk%Vp=ٔVf:Q-V?9TYX=ZfGyXZ1:EZ?\Q 5b4^g?Q 9f4^M)^VBYdyf >Q If?^eDI^:i^:^94yhɮj̻Al"x||*|2ʎ  j Z @R@颱ɢe<) =i)bT;项ipkɧ>p\u&;Iy> y>I9E EE(E"Ey>;*E:VEc44ZEa@a@a@a@^A]yb]IIOf>YB>BCCBHBHBBBBB;B8Eԁ ^,W@A2e>2>2w<ٱ2{ :AHRS rotation from veh to nav: [[0.932000,-0.360926,-0.033296],[0.361806,0.920879,0.145185],[-0.021739,-0.147359,0.988844]]2H@?j׿/ '?w?k?B¿`?i2e>I2R];2CYNdHByRwHi%Mb@Mb@Mb@!!!! !9%i|?5?Mb`?Y%?y%̼%;%AA%A %5A)%A!Y%A =;=4<bD= VD=:2yM%M@=ٔUy:Q-U>9QYYY=]fGyeqFe:Ee>iQ 5u4m?Q 9u4mJ)mVBYu?Q E:y>Q I?muDImן>-'5';1I5tд> 5tд>I1ԉ^Az<A >A >I1IQOex>ԱE EE'E"E:;*EVE'4ZEBE36n>6\ڴ<ٱ6Vz >AHRS rotation from veh to nav: [[0.932105,-0.360655,-0.033292],[0.361515,0.920831,0.146210],[-0.022075,-0.148318,0.988693]]6H?׿ #?rw?@? Ӛ¿`?i68>I6&^;6CYFHByFHbDRVDRyVΣ=%ZU=ٔZde:Q-Z>9XY\=^fGy\^ TEb>`Q 5f4b+ӿ?Q 9j4bI)bVBYhyjw>Q Ij?bDIbl:ib:b\4yn*BɮrAp"*2 ʎ   j ZtR@9ɢ=~<)9 E>iA)E ;AAiEjMɧMZ>MHUU';QIU > U >IQ@a@a@i@iIIO_>E  E E ,E "E *E VE g4ZE a @a @a @a @9 Z,@W@A2R>2ӽ>2<ٱ2 :AHRS rotation from veh to nav: [[0.931822,-0.361444,-0.032657],[0.362230,0.920756,0.144907],[-0.022307,-0.146856,0.988906]]2H{?!׿@`.?v?L?ז@0¿?i2R>I2'D^;0YBoHByBHbDJVDJ:yzLE%zF=ٔzW:Q-z>9Y=fGyrF:E>!Q 5-4%濉?Q 9-4%G)%VBY)y5ڧ>Q I5?%DI%:i%:%4yAɮE˻AIAiAiB>BB|HBhHBBB;DBDB;B8E"*2ꏹʎjZ}R@颉ɢpJS<)  =i)`x;顱i.i ɧ>駽wǟ';IQ> Q>IIiIO>Aiԙ ,iW@AJe>J>J(<ٱJN ZAHRS rotation from veh to nav: [[0.931702,-0.361771,-0.032448],[0.362513,0.920575,0.145350],[-0.022712,-0.147186,0.988848]]JH?C'׿@`i3? 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E E (E "E Y;*E d:VE c44ZE a @a @a @a @B% <A% <B- >B) B- HB- AGBB) B) B) B- B;B- 9E Ԏ,4>W@A6U >6տ>62u<ٱ63 BAHRS rotation from veh to nav: [[0.930522,-0.363864,-0.041624],[0.365931,0.919076,0.146266],[-0.014965,-0.151335,0.988369]]6H@?`I׿Oik?i?@ڸ? ^ÿ`?i6U >I6^;6CYF6GByFHbDR VDR:2yZ%ZJ=ٔZºQ-Z>9^"?Y^"?=^fGy^Fb\+:Eb>dQ 5j4fW‰?Q 9j4f|)fUBYhyj|>Q Ij?fDIf:ifd:f4ypɮrɽAp"*2   ʎ  jZrV@9ɢE27)A EKIiA)E䘬;AIiM?FMh߼ɧU,>U U;;QIU> U>IYAizAiAm.AIIO>) ,RXW@AD zD"@AE& E& E&-E$"E&:;*E&:VE&t4ZE$BE&3fb>f=h<ٱfxp nAHRS rotation from veh to nav: [[0.930373,-0.364162,-0.042322],[0.366338,0.918980,0.145849],[-0.014220,-0.151199,0.988401]]fH`?oN׿B@r?@Ih?1?@'@zZÿ?if) >If^;dYvHGByvHiuMb@Mb@Mb@qqqq q9uoʡ?Mbp?S㥛?Yu ?yu;u/9 ?Y ?=fGyÂ:E>Q 54j‰?Q 94)UBY: ?Q E:y>Q I?DI;i;4yɮA"*2qʎqyyjyZ}B4V@颡ɢ6bۻ) (7i)Q;顩iEE ޼ɧO&>L |<;I!> !>IQA%؟AI1IAOU2>yԩ 7,qW@A2!>2,>2Z<ٱ26 :AHRS rotation from veh to nav: [[0.930302,-0.364187,-0.043663],[0.366553,0.918759,0.146701],[-0.013311,-0.152481,0.988217]]2H`?N׿@[u?xf?`?`Bÿx?i2!>I2K_;2C@YBEGByFHJAAJAAbDNVDNyV%V[=ٔVQ-Z>9Z"?YZ"?=ZfGyZF^F:E^>Q 5%4{‰?Q 9%4)UBY)y->Q I-?DI[:i:Ч4y5Bɮ5A1"QY*Y2YYYaʎaaajaZmKV@频ɢvY) :i)&;顙iD }޼ɧ >駥$m=;Ir> r>IE] E]E],EY"E]C;*E]:VE]g4ZEYae@ae@am@am@ԱA II)O5 >BBBBBBBBF;B9E Ϣ,NjW@A2h?!>2J>2P<ٱ2!( :AHRS rotation from veh to nav: [[0.930224,-0.364301,-0.044368],[0.366772,0.918651,0.146832],[-0.012732,-0.152859,0.988166]]2Hd?`P׿ `/y? e?a?rÿ@?i2h?!>I2^X_;0YB=GByB HF=F=liMb@Mb@Mb@ 9|?5^?:v??Y ?y<<AζA  A)Y(AbDVDy䐼%:=ٔiQ->9Y=fGy :E>Q 54\‰?Q 94])UBY?Q E:y>Q I?DIN;i\;R4y BɮA6E"11*129999ʎ99AjAZEgV@iɢm)q uBiq)}‡;yyi}gC<޼ɧ>駅;i;>:q>;I;> ;>IA?A? 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Device response is::TS,00050504145644,35.0, +11.4, 0.0 0 a@a a@a a@a a@a bDVDk1y '% 3=ٔ8Q->9Y=fGyF:E>AQ 5M4E‰?Q 9M4E)EVBQ AU+:YQQ EU:yUZ>Q IU?E DIE:iE>Ekѧ4yYɮeAa"*2ꏁʎjZ V@ԙ颹ɢJ) .Ji)c;i+>zݼɧZS=);iЭ>M'C;IЭ> Э>IAIIO>>E  E E *E "E C;*E :VE (N4ZE BE @6>6<ٱ6 BAHRS rotation from veh to nav: [[0.929286,-0.366228,-0.048015],[0.369239,0.917749,0.146285],[-0.009508,-0.153669,0.988077]]6H?Ep׿e?3^?s?xmÿR?i6k#>I6u^;6CYFCGByFHbDR VDR2yZ=%Ze=ٔZQ-Z>9\Y\=^fGy\b:Eb>dQ 5j4f ‰?Q 9j4fB)f VBQ Aj :YhQ Ejx:yj>Q In?fDIf:ifP?fuէ4ypɮrAp"*2   ʎ  jZ@kW@9ɢ=s )A EUD;QIUQ_> UQ_>IYAm>Am>A.AIIO >9E5  E5 E5 +E1 "E5 9;*E5 d:VE5 [4ZE1 a= @a= @a= @a= @q BA AE <BM >BI BI BI BI BI BI BM @;BM 9E>,AW@A 6$>6>6<ٱ6 >AHRS rotation from veh to nav: [[0.929027,-0.366769,-0.048887],[0.369902,0.917379,0.146928],[-0.009041,-0.154583,0.987938]]6H?%y׿{?`+[??`ヂaÿ1?i6$>I6];6CYR95 ?Y5 ?=5fGy5F5:E=>AQ 5E4EÉ?Q 9M4E)E VBQ AM9YIQ EMI:yM>Q IM?E&DIE<:iE?EZ٧4yYɮ]AY"yy*y2yꏁʎjZ@W@颱ɢ) Ci)^u;项iE<hݼɧuY<-:i֬>3E;I֬> ֬>Iq^A<ԙA)I9IIOU> D9 zD9 EE  EE 9EE )EA "EE 1A;*EE ;VEE FA4ZEA BEE 6bL>6 <ٱ6V >AHRS rotation from veh to nav: [[0.928821,-0.367166,-0.049807],[0.370433,0.917096,0.147360],[-0.008428,-0.155321,0.987828]]6H? ׿>`+?`X? ?`BÿI?i6%C%>I6E];6CYF=GByF HLaa aa aa aa iMb@Mb@Mb@ 9"~?{Gz?Mb`Y?y#=AȷA A)AYA bDVD02y;%B=ٔvQ->9Y=fGy:E>Q 54gÉ?Q 94)VBQ AT:YR?Q E:y>Q I?5DIF1;i0;4yBɮA8E"  * 2   ʎjZK6W@AɢE)A M7BiI)MIk;IIiMI;UkݼɧU]i]lQ>]9dF;YI]lQ> ]lQ>Ia^Amy<AIIOA>! ,tW@A2%>2>2y<ٱ2 :AHRS rotation from veh to nav: [[0.928621,-0.367623,-0.050166],[0.370942,0.916929,0.147120],[-0.008086,-0.155228,0.987846]]2H@C?!׿l?zW??*ÿn?i2%>I2i];2CYB?GByBHbDNVDNkyV;%V]=ٔVrQ-V>9XYX=ZfGyZF^:E^>`Q 5f4b'É?Q 9f4bU)bVBYdyfB>Q If?bCDIby:ib:b04ylɮnAl|"*2 ʎ   j Z MW@9ɢ=')9 Es@iA)Eo.b;AAiEf:M[uݼɧM̼MȣiM1۫>U}wG;QIU1۫> U1۫>IQE EE,E"E=;*EV:VEg4ZEa@a@a@a@BBBBBBBBh;B:E)^A̓<AzAZAYA؟AIIO>ԁ ",vW@A^L}&>^x>^^O;ٱ^I.! fAHRS rotation from veh to nav: [[0.928382,-0.368082,-0.051211],[0.371548,0.916485,0.148346],[-0.007669,-0.156749,0.987609]]^H`N?@׿ W8p?@S?`?i]Ŀ}?i^L}&>I^ d];^CYn=GByn HQimMb@Mb@Mb@iiii i9mX9v?y&1?MbYm?ym`9"?Y"?=fGyN:E>Q 54:É?Q 94)UBY?Q E:yS>Q I?SDI;i;4yBɮA"aa*a2aaaʎjZ kW@ɢys) 7Bi)V;i#d9 ݼɧ & !Pis>'H;Is> s>I@!@!@)@)yDD%=E EE+E"E*E:VE [4ZEBE ,sW@A2T&>2|>2;ٱ2=! :AHRS rotation from veh to nav: [[0.928359,-0.368082,-0.051617],[0.371613,0.916475,0.148247],[-0.007261,-0.156808,0.987602]]2H?਎׿@m`?S? ?`}`HĿ`p?i2T&>I2~z];0YB2GByBHHJ@AbDNVDN3yr%rW=ٔrQ-r>9tYt=vfGyvFv=9Ez>xQ 54zKÉ?Q 94z7)zUBYy\>Q I?zaDIz<;iz&;zm4yɮA"11*121199ʎ9AAjAZE`W@iɢmAR@)q uGMiq)ulM;qyi} 8-ݼɧ^駅D2i>]I;I> >IA II)O= >E  E E *E "E y>;*E :VE (N4ZE a @a @a @a @A A AAB >B B HB AGBB B B B };B $:E9 ܌,NW@A2s&>2Z>2;ٱ2! :AHRS rotation from veh to nav: [[0.928403,-0.367886,-0.052226],[0.371514,0.916499,0.148344],[-0.006708,-0.157126,0.987556]]2H@z?`r׿f?S?? -z{Ŀ?i2s&>I2W];2CY^$GBybHbDjVDjk1yr %rJ=ٔrVQ-v>9tYt=vfGytz܋Ez>|Q 5U4~]É?Q 9]4~)~UBYYy]M>Q I]?~pDI~U7K;I> >IAi߱I߱IIO*>Iqԙ bE˙T4jE˙T4rE˷8/E%  E% E% ,E! 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JAHRS rotation from veh to nav: [[0.939263,-0.337265,-0.063535],[0.343150,0.925992,0.157437],[0.005735,-0.169677,0.985483]]BHq?տC*??&?z}w? ſ?iBX>IB}];BCYncFBynHttbDzVDz2y%T=ٔ"Q->9 Y = fGy KE>YQ 54dƉ?Q 94d)UBYy>Q I?'DI%by;)I-2> -2>I)E} EyEyEy"E}C;*EyVEyZEyBE}@2?>2h޻ٱ2- :AHRS rotation from veh to nav: [[0.939411,-0.336742,-0.064124],[0.342725,0.926355,0.156221],[0.006796,-0.168733,0.985638]]2H?,տtj6??@ ?{?ſY?i2>I2^;2CYBeFByBHHJ=bDNVDN1yVG;%VP=ٔZ0Q-Z>9XY\=^fGy^F^Eb>`Q 5f4bƉ?Q 9j4bb)bUBYhyjD>Q Ij?b5DIb:ib:b;O4yrBɮrSAvE"!!*!2!)))ʎ)))j1Z5t\@iɢu[)q I;i)-))i588廩e1ɧema`im惣>`z;I惣> 惣>IA%؟AI)I9OM1>E EE,E"E;;*EVEg4ZEa@a@a@a@9 F,,@W@A>]>>>>_ٱ>G. 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SDI ;i ; ]4y!ɮ%A)"AI*I2IIIIʎQQQjQZU\@颁ɢz$) پi)>(顉i޻Oɧ駕Oziೣ>{;Iೣ> ೣ>IqA .AII!O5 >ԡbE!jE!rE%ַ/E  E E 'E "E ,K;*E VE '4ZE a @a @a @a @ J9,W@A2>2.>2ٱ2- :AHRS rotation from veh to nav: [[0.940007,-0.334572,-0.066691],[0.341015,0.927082,0.155656],[0.009750,-0.169060,0.985558]]2H@?iտ@0?প??? £ſ?i2>I25_;2CYB\FByBHi=Mb@Mb@Mb@9999 99=&1?MbY=?y===A=·A 9)99Y9bDU VDUf2ym=%uC=ٔu\/Q-}>9 ?Y ?=fGyAE>Q 54Ɖ?Q 94\)UBY?Q E:y >Q I?bDIpN;iNN;d4y BɮrA"*2 ʎ  jZ`S\@Yɢ])a eѾia)e.aiim*fۻmJɧuutiu!ڣ>u|;qI}!ڣ> }!ڣ>IyA؟AIIO (>) BE >BA BA BA BA BA BA BE ;BE ::EBBd@,W@AB1B1B5 =C536r>60>6:-5ٱ6W- BAHRS rotation from veh to nav: [[0.940189,-0.333877,-0.067613],[0.340475,0.927441,0.154695],[0.011058,-0.168463,0.985646]]6H@?@>^տO W?@???.ſi?i6r>I6h_;6CYFBFByFHbDRVDR0yZu%ZW=ٔZbQ-Z>9^"?Y^"?=^fGy^FbuźEb>dQ 5j4flj?Q 9j4fZ)fUBYhyjª>Q Ij?fpDIf2:ifK:fyk4ypɮrApP~B*** querying acoustic contact ***| |"  * 2    ʎjZ@\@AɢE.)I M޾iI)ML3IIiMVػU2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.ɧUÕcoi>P};I> >IEe EeEe+Ea"Ee<;*Eer:VEe [4ZEaBEeēy DAT read:  BDAT read: Tx time:00:27:00.0790  $Ping request sent. 6ݱ>6KIٱ68- >AHRS rotation from veh to nav: [[0.940193,-0.333638,-0.068719],[0.340419,0.927548,0.154171],[0.012302,-0.168344,0.985651]]@6H`?`RZտl?z??1? Kſu?i6d>I6d_;6CY^TFBybHddbDjVDj02yr0=%rG=ٔrFQ-v>9tYt=vfGytz Ez>|Q 54~5lj?Q 9 4~X)~UBY y >Q I ?~DI~:i~:~r4y BɮAE"YY*a2aaaaʎaiijiZm\@颙ɢ=#) վi)8顡ivSջ7ɧ#駽ii8$>P ~;I8$> 8$>IaԱIIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251193O&>Em EmEm*Ei"Em1A;*Em:VEm(N4ZEiau@au@au@au@ dM,H6W@A&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5031396z>6Th>6\U[ٱ6Ʃ- BAHRS rotation from veh to nav: [[0.940483,-0.332610,-0.069730],[0.339577,0.927841,0.154269],[0.013387,-0.168766,0.985565]]6H p?zIտٱ?߰??uj? ſ@?i6z>I6_;6CYFBFByFHlimMb@Mb@Mb@iiii i9mV-?Mby&1|?Ymh?ymm`;mAmԶA mA)mAiYmAbDVD1yj!%?=ٔ4&Q->9Y=fGyFE>Q 54-lj?Q 94V)UBYz?Q E:yA>Q I?DIG ;i ;z4yɮA"*2ʎjZ]@)ɢ-l()) -޾i))5T?11i<һVɧɌ駽MBai`>|~;I`> `>IA?A>IQIiOu= B<A4=BBBBB =BBB;B(:E1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755064Eu Eu Eu,Eq"EusH;*Eu:VEug4ZEqBEu27>2pٱ2v, :AHRS rotation from veh to nav: [[0.940591,-0.332127,-0.070570],[0.339223,0.928191,0.152935],[0.014708,-0.167788,0.985713]]2H R?Aտ@յ??]? [?zſ?i2;>I2'_;0YNWFByRHbDZVDZ0yb]=%bY=ٔb+fQ-f>9dYd=ffGydjEj>lQ 5r4n>lj?Q 9r4nU)nVBYpyv>Q Iv?nDIn~ ;in:n4yzBɮzAx9"*2ꏱʎjZ@+]@ɢ() %Ծi)_Di~ϻ ɧYi6>c;I6> 6>IIyIO=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007114iԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259213Dy zDy E  E E &E "E B;*E :VE 4ZE a @a @a @a @0Z,=jW@A:0=>:pɰ>:Mٱ:f, FAHRS rotation from veh to nav: [[0.940863,-0.331191,-0.071339],[0.338425,0.928518,0.152715],[0.015661,-0.167827,0.985692]]:H?<2տ`@C?`l?)? ?W{ſ ʊ?i:0=>I:N`;:CYJAFByJHiUMb@Mb@Mb@ԙQQQQ Q9UGz?~jt9Y=fGyFE>Q 54Rlj?Q 94S) VBY ?Q E :y >Q I ?DI:i:e4yBɮ%A)"YY*Y2aaaaʎaiijiZuUF]@颩ɢxh+) 5߾i)'~J项i ̻GɧoMi>;;I> >IIyIO=echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511059 B >B B B B =B B B >;B 9ET`,W@AF}>F>FH_ٱF+ RAHRS rotation from veh to nav: [[0.940958,-0.330767,-0.072049],[0.338108,0.928813,0.151623],[0.016768,-0.167031,0.985809]]FHS?J+տq? ָ?^h?@+?Caſ?iF}>IF#`;DYVUFByVHbDbVDb1yjW=%j^=ٔjDQ-j>9lYl=nfGylrjEr>tQ 5z4vclj?Q 9z4vxQ)vVBYxyz>Q Iz?vDIv:ivl:v׎4yɮA"!!*!2!)))ʎ))1j1Z5]]@Yɢek1)a e@վia)e\nOaiimt ʻmɧutu4CiuZ8>uH;qIuZ8> uZ8>IyA[AzAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763152E= E=E=.E9"E=a?;*E=L:VE=ـ4ZE9BE=6P>6?ٱ6+ >AHRS rotation from veh to nav: [[0.941141,-0.330083,-0.072790],[0.337548,0.929090,0.151172],[0.017730,-0.166844,0.985824]]6H@?  տ@cd??Y? '?'[ſދ?i6.L>I6`;6CYvZFByzHbDVDy N<%F=ٔQ->9Y=fGyF%)E%>)Q 554-=vlj?Q 954-O)-VBY1y5;>Q I=?-DI-G ;i- ;- 4yEBɮE_AEE"aa*i2iiiiʎiqqjqZu w]@ɢ() Ҿi) Uixǻ@Nɧf^8iЋ> ;IЋ> Ћ>IԙAAIQIaOm>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267079EM EMEM+EI"EMC;*EMI:VEM [4ZEIaU@aU@aU@aU@Թ Nm,ѷW@A6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5271806>6%>6 iٱ6EC+ >AHRS rotation from veh to nav: [[0.941231,-0.329613,-0.073758],[0.337231,0.929329,0.150406],[0.018970,-0.166440,0.985869]]6H?_տ@Ჿ 2??@?@l?Mſ@=?i6>I6hea;6CYNYFByRHi}Mb@Mb@Mb@yyyy y9}/$?MbMb?Y}&?y}}<}Ay y)}AyY}\A@AbDVD02y셻%A=ٔH@Q->9Y=fGyKE>Q 54Nlj?Q 94M)+VBY9?Q E:ym>Q I?DIz;i';o4yɮbA"!!*!2!!!)ʎ)))j)Z5d]@Yɢ]))Y e{Ӿia)eZaaieĻmMɧm_m2iut>uڀ;qIut> ut>IyAIIO>AA@AB>BBBBBBB;B^9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.779044E] E]E]*EY"E]<;*E]V:VE](N4ZEYBE]ē2f->29饼ٱ2 ) :AHRS rotation from veh to nav: [[0.941188,-0.329580,-0.074452],[0.337277,0.929611,0.148553],[0.020251,-0.164927,0.986098]]2H5?@տ K?_?@?@ʼ?Vſ?i2>I2Qa;2CY^^FBybHbDjVDjyr `<%rX=ٔr]Q-v>9tYt=vfGyvFzi9Ez>|Q 54~clj?Q 94~K)~6VBYyn>Q I ?~DI~;i~:~ 4yBɮ_AE"11*121999ʎ9AAjAZEQ]@iɢu0)q uоiq)u_i'»ɧTY|-iץ>;Iץ> ץ>I A9A=?uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.031032ԁAIIO">ԙ % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283172Ee  Ee Ee )Ea "Ee =;*Ee :VEe FA4ZEa am @am @am @am @jbz,2W@AL > $> /}ٱ i) %AHRS rotation from veh to nav: [[0.941309,-0.329072,-0.075159],[0.336881,0.929839,0.148020],[0.021176,-0.164652,0.986124]] H@4?տ@=t?>?Q?;?QſT?i >I sa; CY-jFBy-HiMb@Mb@Mb@ 9B`"?Mbp? rh?Y?y;C<ȷA A)YAbDAVDAy]*<%]5=ٔeQ-e>9aYi=mfGyiuvoEu>yQ 54}blj?Q 94}bI)}CVBY?Q E:y(>Q I?}DI}LC;i}3=;}4yɮGA"*2ʎjZ ]@ɢ#) ʾi)eiy%vgɧ%=W%0,i%Qޥ>-e;)I-Qޥ> -Qޥ>I1A=.AIIIYOe4>}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5350409 B B B 0HB FBB =B B B ;B 99EpH,aW@A2D9>2zǯ>2ٱ2K) :AHRS rotation from veh to nav: [[0.941405,-0.328545,-0.076253],[0.336529,0.930047,0.147516],[0.022453,-0.164534,0.986116]]2H ?տI???@?@oſC?i2D9>I2 Da;2CYBhFByBH J49  ?Y  ?= fGy FׄE>Q 5%4&lj?Q 9%4G)NVBY!y%>Q I-?DI ;i ;>4y5Bɮ5RA1"QQ*Q2QQYYʎYYajaZeG]@颱ɢW3) ˾i)gj项iyɧ~U*i>⟁;I> >IBDAT read: Rx Time:00:27:03.4156 TRx dataTimestamp_ set to:1761697624.145183checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788199E% E%E!E!"E%B;*E%:VE!ZE!BE%wQ checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039099ԁ r,>>W@A2w>2>2ٱ2( :AHRS rotation from veh to nav: [[0.941449,-0.328207,-0.077164],[0.336331,0.930217,0.146893],[0.023568,-0.164245,0.986138]]2HY ?Vտ@r?V? a?>"?ſ`q?i2w>I2za;0YNYFByRHTVAbDZVDZk1yv%vK=ٔvX6Q-v>9z"?Yz"?=zfGyxzE~>Q 5 4lj?Q 9 4E)ZVBY y ݵ>Q I ?DI:iy:@4yaɮpA"AI*Q2yꏁʎjZ]@aɢm"()i mCӾii)mKpqqiuE} ɧ}}S}Z1)i}>};yI}> >ԁIAzAbE(N4jEļP4rE).0E- E-E-*E)"E-y>;*E-:VE-(N4ZE)a=@a=@a=@a=@EDAT read: 00:27:03.4156 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 489,-0.43,-1.658, 3.065,-1.631,-1.894, PHS= 0.337,-1.279, 0.219, RAW= 146.2, 9.3, CAL= 145.8, 10.1, ROT= 4.2, -10.1 MYgot valid direction response: 00:27:03.4156 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 489,-0.43,-1.658, 3.065,-1.631,-1.894, PHS= 0.337,-1.279, 0.219, RAW= 146.2, 9.3, CAL= 145.8, 10.1, ROT= 4.2, -10.1 UPDAT read: Bearing 181.3, 3.7 (Local) U~Local bearing/azimuth received: Bearing 181.3, 3.7 (Local) eDAT read: Range 11 to 50 : 699.3 m (Round-trip 932.5 ms) speed 0.4 m/s eR#Rx 1: Read range and direction messages.m\direction in FSK: [0.981859,0.072103,0.175367]uFpublishing direction and range infoyqJ#dk?D[u?:ujr?Y.D )GID>iFA`>N#@6&>4"@ J4>)Q =IJ4D)'R?PM?59~? dž>)F&IQ =iJ4AIIOn>Ա ,9W@A6=6>6?ɼٱ6( >AHRS rotation from veh to nav: [[0.941442,-0.328042,-0.077946],[0.336280,0.930348,0.146179],[0.024564,-0.163830,0.986183]]6HJ ?ԿA?i?`? K'?cĿώ?i6=I6\a;6CYfuFByfHiuMb@Mb@Mb@qqqq q9u rh?y&1?:v?Yu ?yu`e9Y=fGyFcE>ԹQ 548lj?Q 94EC)dVBY ?Q E:y>Q I? DIf:i:4y Bɮ?Aׅ)W@AJ.DR.Djy>nZyH^@mäfI@=^@rqJ#dk?D[u?:ujr?ZQ =bJ4펑QN@ D2hr@?.|[ `@z|0{b?z?J ??2AC:pD"\:?*lB2C\:?l“2C+D\>"*2ʎ!!j%`fڅ@Z%, ?ɢ$1) ži)t}ui}XnɧvU*iB٥>';IB٥> B٥>I B%<A%<B)B)B-=HB-FBB)B)B)B-;B-_9EBBBBğ =Bğ =C1F4A}.AIIO=>E5 E5E5)E1"E5L;*E5>:VE5FA4ZE1BE5ߡ2>2Ӽٱ2( :AHRS rotation from veh to nav: [[0.941396,-0.327944,-0.078908],[0.336319,0.930464,0.145351],[0.025754,-0.163371,0.986229]]2H@?Կ@V3`@?[?ٚ?b_?UĿ /?i23>I2!a;2CYNbFByRHTVAAbDZVDZ3yvG%vW=ٔvMQ-v>9z ?Yz ?=zfGyxz9E~>yQ 54}Qlj?Q 94}0A)}nVBYy>Q I?}.DI}1:i}:}ǩ4y BɮmAE"*2ʎjZ`?)ɢ-/4)1 5ξi1)5z19i==ɧENWE"?,iE6ȥ>ELe;AIE6ȥ> E6ȥ>IIIQIaOm>AqEE  EE EE *EA "EE F;*EE :VEE (N4ZEA aM @aM @aM @aM @ԙ ǯ,lW@A>*>>`>>ۼٱ>' FAHRS rotation from veh to nav: [[0.941323,-0.327944,-0.079773],[0.336438,0.930548,0.144531],[0.026835,-0.162889,0.986279]]>HQ?Կk@4?` ??`z?Ŀ?i>*>I>ia;9Y=fGyF9E>Q 5 4fȉ?Q 94>)tVBY ?Q E:y(>Q I?=DIrB;i?F;ϩ4y)ɮ-fA)"QY*Y2YYYYʎaaajaZe h?q频ɢg0) ;i)顙iݶ ɧ?]駭0iF>;IF> F>IA?A>IiIyO>ԙB% >B! B% IHB% FBB! B! B! 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Կ`#@S?P?@'m?`sQ?Ŀh?i6p>I6y`;6CPYRpFByRHiUMb@Mb@Mb@QQQQ Q9Uq= ףp?~jt?MbYU ?yU9Y=fGyH3E>Q 549ȉ?Q 94Y8)VBY ?Q E:yh>Q I?gDI]:i:4yBɮbA"*2ʎj!Z%Q@IɢMe1)I MǾiQ)U$ԇQQiU]=ɧ]9k].e};aIe1> e1>IiIIOu=AAAAAAB>BBVHBFBBBBB;B+9EEI  EM MEM )EI "EI *EM %;VEM FA4ZEI BEM M6߯>6{ٱ6z( BAHRS rotation from veh to nav: [[0.941145,-0.327539,-0.083445],[0.336627,0.930546,0.144104],[0.030450,-0.163713,0.986038]]6H? hԿ \M??q? @.?Ŀ?i6ph>I6d`;6CYPyTbDfVDf:2ٔnmQ-n>9pYp=rfGyrFv]Ev>tQ 5z4vIȉ?Q 9~4v`6)vVBY|y~=>Q I~?vtDIv;ivL;v4y ɮ  ")1*121111ʎ999j9ZE`ϩ@iɢm־8)i iiq)u:qqiuץ}ɧ}m}L>i}>;I> >II9IIO]=Iqԡ D) zD- AAE  E E *E "E y>;*E :VE (N4ZE a @a @a @a @,W@A2=2L>2ٱ2w( bAHRS rotation from veh to nav: [[0.941284,-0.327006,-0.083980],[0.336185,0.930720,0.144015],[0.031068,-0.163792,0.986005]]2H?Կ@ ?u?o?`-П?@#Ŀ`[?i2=I22`;2CYwFBy%HyiMb@Mb@Mb@ 9S?Q?QY?yu<uԶA )(AY\A@AbDVD2y <%<ٔQ->9Y=fGy ЉE >Q 5u4\ȉ?Q 9}44)Y}4?Q E}:y}>Q I}?DIci)> ;I)> )>IԩA؟AIIOA>B >B B bHB FBB B B B ;B O9E ,W@AJs=J>J^ٱJ) RAHRS rotation from veh to nav: [[0.941641,-0.325618,-0.085357],[0.335061,0.931023,0.144671],[0.032362,-0.164828,0.985791]]JH!?Կٵq??`? 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DIQ:i;4yɮZA"*2ʎjZu*@颙ɢ$) yi)f顡iɧo駭KriĨ>z;IĨ> Ĩ>IA!I)I9AOM1>iB>BBHBKGBB =BBBc;B9Eԙ =kc,WW@A22K=2>2ٱ2-& :AHRS rotation from veh to nav: [[0.945951,-0.312134,-0.088031],[0.322012,0.936239,0.140589],[0.038535,-0.161337,0.986147]]2H:E? ӿ/ٛ???ຣ?Ŀ?i22K=I2!^;2CYfGByfHbDrVDr2yzR$%zS=ٔzʺQ-z>9|Y|=~fGy~FE> Q 54 ><ʉ?Q 94 ~) WBYy.>Q I? !DI /:i : J4y%Bɮ%kA!"AA*A2AIIIʎIIQjQZU<+@Ea EeEaEa"Ea*Ee:VEaZEaBEeVu;Ixè> xè>IqA ؟AII!O5 >ԡ Yi,2W@A2=2G>2 "ٱ2M1' :AHRS rotation from veh to nav: [[0.946194,-0.311063,-0.089201],[0.321174,0.936407,0.141380],[0.039551,-0.162422,0.985928]]2H8G?@tӿն`? ????AĿ?i2=I2Xv^;2CYB GByBH HJbDJVDJ1yRk<%VO=ٔV(Q-V>9V"?YZ"?=ZfGyXZ EZ>\Q 5b4^Mʉ?Q 9f4^i)^WBYdyf>Q If?^!DI^:i^:^.4yhɮjXAl"x|*|2|yyʎjZ,@ ɢ $) si)5ü11i5= ɧ=ƖE=qiE#è>El;AIE#è> E#è>IIE EEE"E;;*EI:VEZEa@a@a@a@A.AIIO5.>) @}p,V W@A 6s=6v >6$ٱ6J' >AHRS rotation from veh to nav: [[0.946476,-0.310048,-0.089744],[0.320257,0.936728,0.141338],[0.040244,-0.162514,0.985885]]6H@I? ӿ@r ??^?֚?CĿ _?i6s=I6Y^;6CYFGByFHi Mb@Mb@Mb@     9 &1?y&1?MbY ?y `e<  A  )  Y (AbD%VD%3y5l<%5B=ٔ=T׺Q-=>9E ?YE ?=EfGyEFEEE>IQ 5U4M`ʉ?Q 9U4MD)MWBY?Q E:y^>Q I?M$!DIMm`;iIu٨> u٨>IqA[AzA]AAA@AB>BACB*HBUGBBBBBE;B9EiAIIO">ԙE} E}E}*Ey"E}1A;*E}d:VE}(N4ZEyBE}6\&ٱ6 ( >AHRS rotation from veh to nav: [[0.946828,-0.308820,-0.090260],[0.319152,0.937007,0.141986],[0.040726,-0.163244,0.985745]]6H@jL?ӿ@L l??,?ڤ? *Ŀ8?i6*=I6^;6CYFGByFHPbDRVDRN2yZr;%ZS=ٔ^OQ-^>9\Y`=bfGy`b9DEb>dQ 5j4f rʉ?Q 9j4fM)fWBYlynű>Q In?f2!DIf;if;fU4yr BɮrVAt" * 2    ʎjZ-@AɢE~H')A E'iiA)MYzƼIIiMUBɧUUYiU>UQ;YI]> ]>IaA؟AIIO=A D zD ?AbE=FA4jE=C4rE=(/E  E E (E "E I@;*E :VE c44ZE a @a @a @a @Y|,*W@A2v=29>2(ٱ2( :AHRS rotation from veh to nav: [[0.947131,-0.307796,-0.090581],[0.318191,0.937335,0.141974],[0.041206,-0.163290,0.985717]]2H N?ӿ Q0=]??5,?@?Ŀ?i2v=I20^;2CY^GBybH|iMMb@Mb@Mb@IIII I9M/$?~jt?I +YM&?yMD9}"?Y}"?=fGyF'E>Q 54mʉ?Q 94()WBY6?Q E:y>Q I?A!DIT ;i ;Ū4yɮxA"*2ʎjZ€.@ɢ')  izi ) 2ȼ  i lɛ _ɧNy駕qGi{>;;I{> {>I)AIIO (>QB>BBBB =BBDB;Bz9EBUBCBUBCBQBUȠ =BUȠ =CU935ԡ ~,<W@A2=2*>2V+ٱ2) :AHRS rotation from veh to nav: [[0.947583,-0.306121,-0.091521],[0.316746,0.937617,0.143344],[0.041932,-0.164819,0.985432]]2H R?zӿmE??Y? x?`ſਈ?i2=I20^;0YNGByRHbDZVDZybl=%bV=ٔbQ-f>9dYd=ffGydj^Ej>lQ 5r4nʉ?Q 9r4nC)nWBYpyr6>Q Iv?nO!DIn#;in:nz̪4yz#BɮzUAx"*2ʎ!!j!Z% C/@yE EEE"ECJ;*E:VEZEBE%s!;!I%1> %1>I)A]>A]>AIIԡO> ,)W@A:<0=:v>:a.ٱ:y* JAHRS rotation from veh to nav: [[0.947986,-0.304648,-0.092258],[0.315436,0.937966,0.143946],[0.042681,-0.165560,0.985276]]:HU?@Zӿ0@0?@?@l?Yڥ?1ſ`?i:<0=I:`L^;:CYV GByVHbDfVDfβyr; %rH=ٔrQ-r>9tYt=zfGyzF~[E~>Q 54ʉ?Q 94:)WBYy>Q I?^!DIV;iX;Ӫ4y)ɮ-uA1"YY*Y2aaaaʎaiijiZm 0@ɢR*) 7ti)2˼i%ɧ%L%#i-dV>- ;-88IMdV> MdV>IQDD=E EE*E"E;;*E-:VE(N4ZEa@a@a@a@A.AIIIOu6>)Q vϐ,'fCW@A2=2&>21ٱ29* :AHRS rotation from veh to nav: [[0.948151,-0.303976,-0.092784],[0.314842,0.938227,0.143546],[0.043418,-0.165315,0.985285]]2H@W?Xtӿ@]&??_?:? )ſs?i2=I29i^;2CYVGByVHi-Mb@Mb@Mb@)))) )9-Cl?{Gzt?MbY-?y-ף;--A-۵A -A)-1A)Y-A AE<bDMVDMk2y]%]C=ٔ]7Q-]>9e ?Ye ?=efGyaeKEm>iQ 5}4mһʉ?Q 9}4m>)mWBY}?Q E}:y}o>Q I}?mm!DIm:imn:mڪ4y"BɮA E"*2ꏱʎjZu0@ɢIM,) }i)̼i:Aɧ)Ei>݅;I> >IB1A1B5>B5@CB1B1B1B1B1B5;B5'9EI܁G@9Y&AI!I1O]3>yE EE)E"E9;*E:VEFA4ZEBEj2ԓ4ٱ2$* :AHRS rotation from veh to nav: [[0.948571,-0.302486,-0.093354],[0.313481,0.938616,0.143978],[0.044072,-0.165838,0.985168]]2HZ?[ӿ 淿? $ ?@m?`?/:ſ`~?i2=I2т^;2CYBGByBHbDJVDJyR5=%RW=ٔVQ-V>9TYT=ZfGyZFZuEZ>\Q 5f4^ʉ?Q 9f4^r)^WBYdyf>Q If?^{!DI^R:i^:^4ynBɮn=AnE"||*|2|ʎ j Z @J0@1ɢ5@!+)9 li)`Rμ项iuɧغi©>;I©> ©>IAzA\AԱIIO> E  E E (E "E C;*E :VE c44ZE a @a @a @a @A ~",PwW@Aj=jמ>j7ٱj8+ vAHRS rotation from veh to nav: [[0.949026,-0.300857,-0.093994],[0.311990,0.939064,0.144294],[0.044854,-0.166264,0.985061]]jHk^?>Aӿ@`? ?8x? #? Hſ?ij=Ij^;jCYGByHiMb@Mb@Mb@ 9i|?5?y&1|{GzY?y`廙#A A)=AYAbDVD1yQ%9=ٔAQ->99Y9==fGy9Er`EE>IQ 5U4Mʉ?Q 9U4Mk)MWBYU?Q EU:yU>Q I]?M!DIM; ;iMa;M4yeBɮeJAa"*2ꏉʎjZK1@ɢ&) oi)мi󜻩ɧKaip*>6~;Ip*> p*>I A^A$<IqIO~>BEy>BE?CBE7HBE_GBBE =BABEDBE;BE-9Ea ~,dW@A 2=2>2q\:ٱ2H+ >AHRS rotation from veh to nav: [[0.949562,-0.299007,-0.094484],[0.310264,0.939561,0.144782],[0.045483,-0.166794,0.984942]]2Hb?"ӿ0[? ?3?I?Yſ?i2=I2l^;2CYB GByBHJ@AJ@AbDNVDN2yrW*=%rZ=ٔvfܺQ-v>9tYt=vfGyv«Fz}Ez>|Q 54~7ʉ?Q 94~)~WBYy >Q I ?~!DI~:i~:~4yBɮ1AE"11*121999ʎ9AAjAZE 1@Ee EeEe)Ea"Ee<;*Ee:VEeFA4ZEaBEeēI;I >  >I^A"5;II)O5=iԙ 1,zªW@AF=F>Fb=ٱF+P VAHRS rotation from veh to nav: [[0.950000,-0.297437,-0.095033],[0.308804,0.940035,0.144823],[0.046259,-0.166929,0.984883]]FHff?3 ӿ@T@r??? B?@]ſ)?iF=IF` _;FCY^$GBy^Hf=f=bDjVDjyr<%rJ=ٔr$Q-v>9tYt=vfGytzbwEz>|Q 54~ˉ?Q 94~ )~WBYy2>Q I ?~!DI|i|~4yɮ)A"*2ʎjZS2@ɢ%) [i ) Ҽ  i ɧ-</ :i>j;I> >I!Em EmEm,Ei"EmI@;*Emr:VEmg4ZEia}@a}@a}@a}@^AE"AU?AU>II Om>! ,IW@A2=2>2K@ٱ2* :AHRS rotation from veh to nav: [[0.950188,-0.296749,-0.095305],[0.308114,0.940439,0.143666],[0.046996,-0.165875,0.985026]]2Hg?ҿe#??c?`? c;ſU?i2=I26_;2CYBGByBHbonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 276.12, 227.39, 242.80 ab@ab ab@ab ab@ab ab@ab bDfVDfyn%nK=ٔrQ-r>9pYp=vfGyvëFvwEv>x|Q 54z2ˉ?Q 94zC)zWBQ A+:YQ E:y ֘>Q I ?z!DIz6;iz>z4yBɮMA"11*121999ʎ9AAjAZEv2@iɢmT-)q u{jiq)uJԼqAABp>B>CBCHBjGBB =BBDB;B'9EQiUq]ԣɧ]<]p:ieC>eӼ;aIeC> eC>Iq@@@@)YE} E}E})Ey"E}=;*E}:VE}FA4ZEyBE}ԁ C,wW@A2=2#>2&Aٱ2( :AHRS rotation from veh to nav: [[0.950418,-0.296202,-0.094714],[0.307352,0.941079,0.141084],[0.047344,-0.163199,0.985457]]2Hi?ҿ+?? R? ?r=?Ŀ ܈?i2=I2_;2CYB4GByBH J49XYX=ZfGyXZnE^>`Q 5f4bi)ˉ?Q 9f4b)bXBQ Af :YdQ Eft:yfs>Q If?b!DIb:ibkM?b,4ylɮnAl"||*|2|ʎ j Z p2@1ɢ5#$)9 =Ki9)=ռ9AiE3E*ɧM&=M;iMĦ>MTw;IIMĦ> MĦ>IQԙA ؟AII!O5 >ԑԱE " E E 'E "E Z;*E :VE '4ZE a @a @a @a @ &r,keW@Ab=b >bsCٱbנ% nAHRS rotation from veh to nav: [[0.950458,-0.296194,-0.094332],[0.307169,0.941485,0.138757],[0.047713,-0.160859,0.985823]]bH 'j?`ҿ& ? ?@?`m?Ŀ݋?ib=Ibw_;bCYr>GByrHamam amam amam amam imMb@Mb@Mb@iiii i9md;O?{GzMb`?Ym?ym#m;ii mA)mIAiYmpAbDVDk1y<%<=ٔi^Q->9"?Y"?=fGyīFE>Q 5M4=ˉ?Q 9U4)XBQ AUT:YU?Q EU:yU>Q IU?!DIj;I|> |>IA\AzAAI IO%,>Bh>B=CB\HB~GBB =BBDB3;B8E)Q U,Q.W@A2=2ܟ>2Eٱ2# :AHRS rotation from veh to nav: [[0.950541,-0.296007,-0.094083],[0.306825,0.941954,0.136315],[0.048272,-0.158440,0.986188]]2H j?ҿ@ ?{$?`r? ?GĿڎ?i2=I2_;2CYZFGByZHbDb VDb2yj<%jX=ٔj!ºQ-n>9lYl=rfGyprtEr>tQ 5z4vvOˉ?Q 9z4v)vXBY|y~n>Q I~?v!DIv;iv#;vc4yɮA "!)*)2))))ʎ111j1Z53@EE EEEE*EA"EE;;*EEL:VEE(N4ZEABEE[҃;IE|> E|>I9A II!O5 >aԉԹ ,N ,W@A2 I=2 >2PGٱ2 :AHRS rotation from veh to nav: [[0.950452,-0.296394,-0.093766],[0.307055,0.942183,0.134197],[0.048570,-0.156339,0.986509]]2Hj?ҿ@ɦ?\&?Y-?(ި?Ŀ`z?i2 I=I2|_;0Y^ZGBy^0HfAAfAAbDjVDjy](A=%]B=ٔep9Q-e>9aYa=efGyeūFmm:Em>qQ 5}4u)cˉ?Q 9}4u)u*XBYyy>Q I?u!DIu;iu;u4y!BɮѽA"*2ʎjZ`J4@ ɢ) u%i)$0ټihS%5ɧ-=-[ ;i-x>-x;)I5x> 5x>I9ԑAADM=DM%=bEjE#E4rEͰ/EU EUEU+EQ"EU=;*EU:VEU [4ZEQae@ae@ae@ae@IqIO>! g,EW@A2(=2>2mHٱ2my :AHRS rotation from veh to nav: [[0.950455,-0.296602,-0.093077],[0.306991,0.942666,0.130907],[0.048913,-0.152995,0.987016]]2Hj?ҿӷ?R*? ?# ?Tÿ?i2(=I2}N_;2CYN\GByR2Hi%Mb@Mb@Mb@!!!! !9%m?~jtx~jt?Y%?y%Ļ%DBBuHBGBB =BBB;Bh8EBE>CBE>CBECBE =BE =CE7g6bD]VD]02y%u;%%1=ٔ%BQ-->9)Y)=EfGyAE] EE>IQ 5U4Mwˉ?Q 9U4M)M=XBY]?Q E]:y]0>Q I]?M"DIM:iMQ:M4ye#BɮeԽAi"*2ꏑʎjZ 4@ɢE) #i)eڼi7ɧ=";i,R>?;I,R> ,R>I!AyIIO^>I a,'_W@A:V=:@>:IIٱ: BAHRS rotation from veh to nav: [[0.950271,-0.297363,-0.092521],[0.307536,0.942835,0.128387],[0.049055,-0.150456,0.987399]]:Hh?ӿx`?+?n?@?#BÿŘ?i:V=I:Qm_;:CYJ}GByJZHbDVVDV0yZz=%^|=ٔ^Q-^ ?9`Y`=bfGybƫFf:Ef ?hQ 5j4jSˉ?Q 9n4j)jJXBYlyns>Q In?j"DIj;ij;j$4ytɮvAt"  * 2  ʎjZ4@AɢE3f)I MiI)MۼIIiM̤UyɧU*=]2";i]>]͂;YI]> ]>IaIA.AIIO>yԡ Da zDe AAEm  Ei Em 0Ei "Em C;*Ei VEm 4ZEi J,yW@A< #= s> 6Jٱ 6 AHRS rotation from veh to nav: [[0.950131,-0.297819,-0.092493],[0.307901,0.942941,0.126724],[0.049475,-0.148884,0.987616]] H`yg?uӿ@?,?8?T?@ÿ?i #=I <_; Y-GBy-fHiMb@Mb@Mb@ 9i|?5?{Gz rh?Y?y#C<A A)VAYA p<p;bD VD2y<%9=ٔJyQ->9 ?Y ?=fGyg:E>Q 54ˉ?Q 94)_XBY?Q E:yЙ>Q I?"DI:iE:<,4y$BɮAE"11*121199ʎ999jAZE@ZS5@ ɢ  )  ni )pۼi`ɧ><;ir>g;!I%r> %r>I!ԩIAIQOe4>Bur>Bu>CBuHBuGBBu =BqBuDBu;Buv8E ؑC5 GI Y vJ9 Y /A ,uW@A2-=2+>2QKٱ2 :AHRS rotation from veh to nav: [[0.950032,-0.298201,-0.092282],[0.308177,0.943044,0.125281],[0.049667,-0.147461,0.987820]]2Hf?ӿ@П*?@j-?8 ? m? ¿8?i2-=I2%_;2CYBGByBvHbDJVDJ:2yRs=%Va=ٔV Q-V>9TYX=ZfGyZǫFZS:EZ>\Q 5b4^ ˉ?Q 9f4^)^pXBYdyf>Q If?^+"DI^:i^:^24yhɮjmAll"|*2ʎ   j Z `x5@Em EmEm+Ei"Ema?;*Em:VEm [4ZEiBEm ;i X^> ; I X^> X^>I IQIiOu>1a ,;QW@A2=2>2KMٱ2u :AHRS rotation from veh to nav: [[0.949842,-0.298953,-0.091801],[0.308691,0.943296,0.122077],[0.050100,-0.144293,0.988266]]2He? 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E% )E! "E% 1A;*E! VE% FA4ZE! a- @a- @a- @a- @Թ 7k,VW@A6k >6>6ٱ6 BAHRS rotation from veh to nav: [[0.938214,-0.341679,-0.054858],[0.345964,0.929740,0.126062],[0.007931,-0.137252,0.990504]]6H?տZ`F$?o? "?@)>?`x@6?i6k >I6!`;6CYFJByFHbDRVDR3yZ%ZK=ٔZA;Q-Z>9\Y\=^fGy\b ;Eb>dQ 5j4f8Uщ?Q 9j4f#@)fF[BYhyj>Q In?f&DIf:if:f_`4ypɮrAp"*2    ʎ jZ@J@9ɢEq<)A E?iA)E 7IIiMYPUSɧU:M?U.$=iUV>U.;U IUV> ]V>IYBT>BBHB1JBB =BBDB;B8EԑAIIO= > ,3W@AEB  EBEB'E@"EBE;*EB:VEB'4ZE@BE@aF2E@aFJEBP0Va|>VR߻ٱV} AHRS rotation from veh to nav: [[0.937811,-0.342937,-0.053903],[0.347080,0.929306,0.126195],[0.006815,-0.137055,0.990540]]VH? տ`6??%'?D{??iV >IV_`;VCYJByHiMb@Mb@Mb@ 9-?y&1?MbY??y`e<lA A )bAYbDVDβy%:=ٔ&;Q->9Y=fGyFY1;E>Q 54Kiщ?Q 94=)@[BYX?Q E:y>Q I?&DI :i: h4yɮA"*2ʎ!!j!Z%GK@IɢM<) g?i)c0ixRֶɧL?#=i]>-;I]> ]>IA].AIiIyO:>I 7},0 W@A2 >2>2഻ٱ29 >AHRS rotation from veh to nav: [[0.937385,-0.344239,-0.053003],[0.348252,0.928762,0.126969],[0.005520,-0.137477,0.990489]]2H@?ֿB#@I?k?@?v?٘?i2 >I2ȥa;0YB JByFHJ=J=bDNVDN0yV%V^=ٔZ]f;Q-Z>9Z ?YZ ?=ZfGy\^];E^>`Q 5f4b$zщ?Q 9f4b;)b:[BYhyj^>Q Ij?b&DIb:ib:bzn4ylɮn.Ap"|*2ʎ   j Z  n5K@ɢK<) ?i))iTɧK?!#=i_>+-;I_> _>IQE EE*E"E;;*E:VE(N4ZEa@a@a@a@II!O- >yAyAyBO>B:CBBB =BBB;B7Eԩ ,bW@A6e >6>6TWٱ6W < BAHRS rotation from veh to nav: [[0.937088,-0.345203,-0.051975],[0.349068,0.928388,0.127464],[0.004252,-0.137588,0.990480]]6H? ֿ W?[?`P?jq?|?i6e >I6_b;4YJJByJvHiMb@Mb@Mb@ 9> ףp=?~jth?:vY?yD;T IA)VAYbD5VD5N2yE%EA=ٔEC;Q-M>9IYI=MfGyMFU6;EU>aQ 5e4e<щ?Q 9m4e^9)e5[BYm?Q Em:ym>Q Im?e&DIe:ieU:eu4yɮ=A"99*92999AʎAAAjAZM[nK@颩ɢRf<) ?i)"顱iU[6ɧ5L?駽]#=i~>t,;I~> ~>IԩEe EeEaEa"Eea?;*Ee;:VEaZEaBEe ,W@A6>6:>6(5ٱ6) >AHRS rotation from veh to nav: [[0.936642,-0.346604,-0.050679],[0.350278,0.927904,0.127666],[0.002775,-0.137329,0.990522]]6H?.ֿj?d? ZW? f?Z?i6>I6&b;4YFJByFxH LN<bDPVDPyZ>;%ZU=ٔZ{;Q-Z>9\Y\=^fGy\b[;Eb>dQ 5j4fщ?Q 9j4fW7)f1[BYhyjK>Q Ij?f&DIfS:if:f|4lyrBɮr8AvE"  * 2    ʎjZK@AɢE<)A MO?iI)M~IIiMWU2 ɧUnL?U#=iU>]+;YI]> ]>Ia^AU[1IIO= 1EU  EU EQ EQ "EU 1A;*EU V:VEQ ZEQ a] @a] @a] @a] @a ,W@A2x,>2 >2zӺٱ2 :AHRS rotation from veh to nav: [[0.936284,-0.347724,-0.049596],[0.351240,0.927543,0.127647],[0.001617,-0.136935,0.990579]]2H@ ?Aֿ`dz?o?V?n}Z?@Ҳ?i2x,>I2b;0Y^ JByb}HddbDj VDj2y*<%E=ٔ27;Q->9 Y = fGy FI";E>B%N>B!B%HB%'JBB% =B!B!B%";B%7EBBBB =BCd5AQ 5M4щ?Q 9M4&5),[BYQyUӸ>Q IU?'DI :i:؃4yYɮ]-AaP}B*** querying acoustic contact ***y y"*2ꏉʎjZ K@颹ɢ8<) k?i)8iXtɧL?#=i>?+;I> >Ii2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.^AA%[AzA%ZAIIO]>ԑ bE=(N4jE=mF4rE=١/E]  E] EY EY "E] [I;*E] Z:VEY ZEY BE] BDAT read: Tx time:00:28:00.3789 $Ping request sent.>>?2>> ٱ> FAHRS rotation from veh to nav: [[0.935982,-0.348694,-0.048482],[0.352048,0.927188,0.128005],[0.000318,-0.136879,0.990588]]>H@?QֿҨ?`?yb?`4?= ?i>>I>"ib;>CYNJByNHyi Mb@Mb@Mb@     9 㥛 ?~jt{GztY ?y D ף xA  =A) IA Y AbD]VD] 3y-s<%/=ٔ6;Q->9Y=fGyH:E>Q 54щ?Q 942)*[BY?Q E:y->Q I?'DI>;i;4y)ɮMAQ"*2ꏡʎjZ`eL@ɢN<) %0?i!)%ϟ !!i%(ZMR ɧMfN?M%=iUS>U*;QIUS> US>IY@@@@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250765IIO> _,CW@A2w>2>2c:ٱ2N :AHRS rotation from veh to nav: [[0.935496,-0.350100,-0.047713],[0.353336,0.926700,0.127988],[-0.000593,-0.136591,0.990627]]2H? hֿm??`a? lC{8?i2w>I2eb;2CYNIByRFHbDZVDZ:yf%fq=ٔf/;Q-j?9hYh=jfGyjFnn;En?pQ 5v4rщ?Q 9v4r 1)r)[BYtyv>Q Iz?r!'DIrS:ir:rꑭ4y~Bɮ~A~E"*2!!!!ʎ!))j)Z- 9L@Qɢ"w<) ~>i)/i-N[ɧO?&=iV*> *;IV*> V*>I IIO=E EE(E"EI@;*E:VEc44ZEa@a@a@a@5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502942Ie\AqJ9\AY.ABU>B;CBHBJBBBBBE;B6E1 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756367q ,A~]W@AJ̲>JJ>JWյ:ٱJ|u VAHRS rotation from veh to nav: [[0.935070,-0.351309,-0.047183],[0.354461,0.926221,0.128346],[-0.001387,-0.136737,0.990606]]JH?`{ֿ]( {??m?`V@ ?iJ̲>IJa;JCYZIBy^lHb=b=iEMb@Mb@Mb@AAAA A9E9iYq=ufGyqut9;E}>yQ 54}щ?Q 94}.)yY?Q E:y>Q I?}0'DI}Q:i}E:}V4yBɮ AݩE"*2ʎjZ coL@1qɢu<)q u>iy)}yyi}@\ɧQ?駅J'=iWr>mr);IWr> Wr>IA؟AI I!OM1>aE EE'E"E*E:VE'4ZEBE2Ź>2;ٱ2 :AHRS rotation from veh to nav: [[0.934892,-0.351866,-0.046566],[0.354927,0.925964,0.128913],[-0.002241,-0.137047,0.990562]]2H?ֿ@ק ?`~? 9? 8\bĊ?i25>I2)`;2CYBIByBYHbDJVDJ1yV%VW=ٔZ;Q-Z>9Z"?YZ"?=ZfGy^F^:E>Q 5%4щ?Q 9%4,)*[BY)y-Ϊ>Q I-??'DI:id:)4y5Bɮ5%A1"QQ*Q2YYYYʎaaajaZe^L@频ɢM@<) <>ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258983)顡iN]FɧMS?駵# )=iI>(;II> I>IԑA!I1IAOM>E  E E *E "E *E :VE (N4ZE a @a @a @a @U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510816 *$, (W@A.p=>.I>.0;ٱ. :AHRS rotation from veh to nav: [[0.934533,-0.352862,-0.046225],[0.355867,0.925604,0.128900],[-0.002698,-0.136911,0.990580]].H`?@Kֿ `?@?`? f@L@Բ?i.p=>I.]~`;.CYBJByBvHBR_>BR9hYh=jfGyhj!;En>pQ 5v4r҉?Q 9v4r+)pYtyvR>Q Iz?rM'DIrK:ir :r4y|ɮ~A|"*2ꏙʎjZ`,L@ɢW<) ?i)!i%@_%تɧ-U?-Qk*=i-.>-Y(;)I-.> -.>I1AYIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.765248IO'>!I E%  E% E! E! "E% CJ;*E% :VE! ZE! BE% >Rɺ>RG;ٱRM ZAHRS rotation from veh to nav: [[0.934183,-0.353809,-0.046055],[0.356781,0.925231,0.129055],[-0.003049,-0.136993,0.990567]]RH?Τֿ?}??`h`?iR>>IRԶ_;RCYbJBybtHiMMb@Mb@Mb@IIII I9M9Y=fGyF+;E>Q 54#"҉?Q 94(),[BY?Q E:y>Q I?]'DIB;iB;4yBɮ A ީE"99*929AAAʎAIIjIZU M@颉ɢ<) ?i)ۻ顙i\`gɧTV?駥w+=i.>';I.> .>IAZAzAYAAA.AIIOqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266800 )1,W@A6'5>6vE>6c];ٱ6 >AHRS rotation from veh to nav: [[0.933845,-0.354722,-0.045879],[0.357661,0.924878,0.129145],[-0.003378,-0.137010,0.990564]]6H?ųֿo}`??χ?`lk?i6'5>I6Q^;6CYDyDbDRVDR:2ٔZk:Q-Z>9Z ?YZ ?=ZfGy\^ );E^>`Q 5f4b2҉?Q 9j4b&)b.[BYhyno>Q In?pbk'DIb;ibҋ;b%4yzBɮ~A|"11*121999ʎAAAjIZM'O';I]> ]>IE EE(E"EL;*E:VEc44ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518910 AIIO>Bc>BB|HBJBB =BBDBi~;B5E1i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7708753\7,W@A^й>^ʇ>^bj;ٱ^t` rAHRS rotation from veh to nav: [[0.933664,-0.355187,-0.045981],[0.358133,0.924609,0.129765],[-0.003576,-0.137624,0.990478]]^H?cֿҊ@?`e?#?QLm@ ?i^й>I^]^;^CYzIByzjH)i}Mb@Mb@Mb@yyyy y9}X9v?I +~jth?Y}?y}9}D;}~A}A }MA)}MAyY}AAAbD VD:2yD'%<ٔ9Q->9Y=fGyF=:E>Q 54G҉?Q 94$)0[BY?Q E:y>Q I?{'DI;i/;ͼ4yɮA"*2ʎ j Z 5sM@1ɢ5.<)9 =>i9)=99i=G@cEɧMY?M<.=iM>M&;IIM> M>IQYA-؟AI9IIOU3>E EE)E"EI@;*E:VEFA4ZEBE2>2 N;ٱ2JL :AHRS rotation from veh to nav: [[0.933377,-0.355833,-0.046795],[0.358883,0.924228,0.130410],[-0.003154,-0.138515,0.990355]]2H`:?@ֿ?E?B?`i`ߺ?i2>I2n`^;2CYBJByBrHbDJVDJk2yR<%R^=ٔV,Q-V>9V"?YV"?=ZfGyXZ;EZ>\Q 5b4^W҉?Q 9f4^")^2[BYdyf>Q If?^'DI^:i^:^=í4yjBɮjAnߩE"||*|2|||ʎjZ @`M@1ɢ5։<)1 5?i9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274846ԙ)ǿidFɧv[?/=i)>A&;I)> )>IA?A>A)I1IAOU>E EE(E"E*E:VEc44ZEa@a@a@a@5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526837! whD, }W@AB B B"pHB"IBB B B B"~;B"5EB,>B(A>BuM;ٱBG JAHRS rotation from veh to nav: [[0.933158,-0.356442,-0.046539],[0.359454,0.924140,0.129455],[-0.003135,-0.137530,0.990493]]BH@m?ֿ`ӧ`K???i ?iB,>IB[2^;BCYRIByReHbDZVDZ3ybϼ%bH=ٔfEQ-f>9dYd=ffGyjFj9:Ej>lQ 5r4nj҉?Q 9r4n )n3[BYtyvK>Q Iv?n'DIn:in:ncʭ4yxɮzA|"*2ʎ!!!j!Z%@M@QɢU<)Q U>iQ)]ZYYi]ee壼ɧez]?eg.1=ie=>ek%;iIm=> m=>IiAIIO=BDAT read: Rx Time:00:28:03.6652 TRx dataTimestamp_ set to:1761697684.440053checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784055!Iq E  E E *E "E 1A;*E r:VE (N4ZE BE 2>2C;ٱ2 :AHRS rotation from veh to nav: [[0.932837,-0.357277,-0.046556],[0.360286,0.923912,0.128764],[-0.002991,-0.136890,0.990582]]2H?ֿ:֧??X{?`hز?i2%>I2^;2CYIBydHiMb@Mb@Mb@ 9-?~jtMb`?Y??yD;A fA)ZAYA bDVD0y%9=ٔlQ->9Y=fGy;E>QQ 5}4C҉?Q 9}4)4[BYG?Q E:y>Q I?'DIui)|9iQ|gɧ{^?1=it>%;It> t>IԁAQIYIqO}z>DAT read: 00:28:03.6652 LVL= 32752, 32753, 32754, 3C= 72, IDX= 438,-0.02,-1.395,-3.056,-1.210,-1.476, PHS= 0.182,-1.535, 0.221, RAW= 151.1, 13.0, CAL= 151.2, 14.4, ROT= 358.8, -14.4 !unknown deviceResponse_: 00:28:03.6652 LVL= 32752, 32753, 32754, 3C= 72, IDX= 438,-0.02,-1.395,-3.056,-1.210,-1.476, PHS= 0.182,-1.535, 0.221, RAW= 151.1, 13.0, CAL= 151.2, 14.4, ROT= 358.8, -14.4 PDAT read: Bearing 186.2, -3.3 (Local) ~Local bearing/azimuth received: Bearing 186.2, -3.3 (Local) DAT read: Range 11 to 50 : 661.6 m (Round-trip 882.2 ms) speed 0.4 m/s X#Rx 1: Read range message, but no direction.yYf%D DwQ,%FW@AF=>F>FrG;ٱF RAHRS rotation from veh to nav: [[0.932558,-0.357992,-0.046664],[0.361008,0.923612,0.128894],[-0.003043,-0.137047,0.990560]]FH@?Xֿ@`䧿?`;??Rh Š?iF=>IFM ^;FCYbIByb^HhjAbDrVDr02y~P%[=ٔ:9Q- >9 Y = fGy F;E>Q 54҉?Q 94)5[BYy>Q I?'DI:i:ح4yBɮA"*2ʎj̬@Zk?ɢ= =) >i)v)ih ɧ Q_? _2=i > V$; I > >IE EE+E"E&U;*E#:VE [4ZEa @a@a@a@AaIqIO>B9A9BABABE|HBEJBBABABABE;BE@6EB ~ >~kA;ٱ~  AHRS rotation from veh to nav: [[0.932157,-0.359045,-0.046596],[0.362043,0.923322,0.128064],[-0.002957,-0.136246,0.990671]]~H:?@ֿ@zۧ+?@ۋ?id? :hp?i~V>I~];|YIBymHiMb@Mb@Mb@ 9-?{Gz{Gzt?Yy#ף;xA A VA)VAY AbDVDyC<%:=ٔMQ->9 Y = fGy ]&;E>Q 5%4҉?Q 9%4R)7[BY%F?Q E%:y->Q I-?'DI:i:G4y1ɮ5A1"QY*Y2YYYYʎYaajaZeo?频ɢK<) 3>i)Y顙iAjlɧ_?駥:3=in>=$;In> n>IiAIIO(>bEEŷG4jEEC4rEEϚ/E EEE"EL;*E:VEZEBEޡ6L^>6}H;ٱ6D >AHRS rotation from veh to nav: [[0.931666,-0.360336,-0.046441],[0.363304,0.922916,0.127420],[-0.003053,-0.135585,0.990761]]6H4?׿ ǧ]@??LO? -i@ZP?i6f>I6];6CYFIByFgHLLPbDRVDR02yZX%Zc=ٔ^ۊ9Q-^>9\Y`=bfGybFbu;Eb>dQ 5j4f:҉?Q 9j4fe)f9[BYlynC>Q In?f'DIf;if@;f4yrBɮrAvE"  * 2    ʎjZ?AɢE =)A E>iI)M]|iIIiMkU!ɧUU`?Uw3=iU,>Ud#;aIe,> e,>IaAu>Au?AIIO>E  E E *E "E 9;*E :VE (N4ZE a% @a- @a- @a- @  ܁G5 ^A9 I u 9u ^AY} vAy O? 4ABE f>BA BE pHBE IBBE =BA BA BE k;BE 6Ed,帓W@A2>2>2_;ٱ2f :AHRS rotation from veh to nav: [[0.931161,-0.361688,-0.046048],[0.364592,0.922483,0.126879],[-0.003412,-0.134933,0.990849]]2H?%׿ yU??=?k~E?i2>I2X];2CY^IBy^lHbDj VDjf2|y=((<%=B=ٔ=_:Q-E>9AYA=EfGyAMdW;EM>QQ 5]4U҉?Q 9]4U#)U:[BYYy]>Q Ie?U'DIU;iU#;U4yiɮmAi"*2ꏑʎjZ?ɢw<) >i)Ni)m ɧ`?3=i>k#;I> >I)AAIaIyO>Qԁ E%  E! E% (E! "E% a?;*E! VE% c44ZE! BE% 2o>2Ky;ٱ28 :AHRS rotation from veh to nav: [[0.930776,-0.362734,-0.045604],[0.365570,0.922158,0.126423],[-0.003804,-0.134343,0.990928]]2H?@ 7׿cYe?R?.?p)o %2୵?i2>I2VQ];2CY^JBy^uHyiMb@Mb@Mb@ 9@5^I ?~jthy&1|?Yb?yD`;AA IA)IAYAbDVD0y%~<%%<=ٔ%l:Q-->9)Y)=-fGy-F5;E5>9Q 5E4=҉?Q 9E4=)==[BYEe?Q EM:yMŽ>Q IM?='DI=:i=E:=4yUBɮU׷AQ"qy*y2yyyyʎjZ?颱ɢ<) ?i)~1项inɧR`?Ju3=i>#;I> >IԩAYIiIyO9> q,nW@AJkj!>J`>Js;ٱJ VAHRS rotation from veh to nav: [[0.930230,-0.364194,-0.045113],[0.366951,0.921619,0.126356],[-0.004441,-0.134094,0.990959]]JH q?N׿ |?}?@m,?0r)?iJkj!>IJn];JCYZIByZdH f4%nb=ٔrk:Q-r>9pYp=vfGytvD;Ev>xQ 54z҉?Q 94z)z>[BYy>Q I?z(DIz;izo;z4yɮA"11*121199ʎ99AjAZE@ͻ@iɢm0 =)q up>iq)u>qqi}pu™ɧ_?駅3=i>|";I> >IA\AzA^AE EE)E"EI@;*E:VEFA4ZEa@a@a@a@IqIO=AAAABB=CB|HBJBB =BBB;Bp7E1Y w,dWW@AXXE/">E>E ;ٱEf UAHRS rotation from veh to nav: [[0.929951,-0.364944,-0.044804],[0.367651,0.921321,0.126493],[-0.004884,-0.134105,0.990955]]EH(?<[׿?u{?0?KtW*?iE/">IE];ECYeJByexHiMb@Mb@Mb@ 9Gz?Mb?y&1|?Y?y<~AA ZA)AAYAbDVD01y =%1=ٔz:Q->9Y=fGyF:E>Q 54TӉ?Q 945)@[BY?Q E:y>Q I?(DI/>;i!.;4yBɮAשE"!)*)2)111ʎ999j9Z=@}@qɢuj<)y }O?iy)}L yyiqɧ]?駍T1=i>P";I> >IYE EE-E"E[I;*E:VEt4ZEBEԑԱ ~,#W@A2;#>2>2޴;ٱ2F >AHRS rotation from veh to nav: [[0.929378,-0.366482,-0.044126],[0.369087,0.920823,0.125932],[-0.005520,-0.133325,0.991057]]2Hw?ot׿?bw??v@ ?i2;#>I2];2CY^JBybwHbDj VDj2y%g=ٔ%A:Q-%>9!Y!=%fGy-F-;E->1Q 5E45Ӊ?Q 9E455 )5A[BYIyM>Q IM?5(DI5.F;i5G;5 4yQɮUAQ"qq*y2yyyyʎjZD@颱ɢ$g=) ?i)MpȺ项isޖɧ{\?b0=i>";I> >II9IIO]=ԑDzD?AE  EsE*E"ED;*E)+;VE(N4ZEa @a @a @a @ B d>B 2>2ZF;ٱ2[ :AHRS rotation from veh to nav: [[0.929044,-0.367399,-0.043542],[0.369918,0.920484,0.125975],[-0.006203,-0.133143,0.991077]]2H?w׿#Kཬ?t??hy@ ?i2"$>I2];0YBJByBrHHHbDNVDNyV#%VR=ٔV>:Q-V>9XYX=ZfGyX^;E^>`Q 5f4b Ӊ?Q 9f4b )bB[BYdyf >Q If?b,(DIb:ibd:b4ynBɮnAl"||*|2|ʎ j Z  _ @1ɢ5 =)9 ?i)项itsɧZ?.=i >+!;I >  >IIYIiO}=!I E  E E )E "E =;*E :VE FA4ZE BE V`>VFO;ٱVK bAHRS rotation from veh to nav: [[0.928467,-0.368926,-0.042927],[0.371351,0.919936,0.125760],[-0.006906,-0.132705,0.991131]]VH@?|׿@6?@p??I|}`Y?iVD&>IV>v^;VCYjJBynHiMb@Mb@Mb@ 9S? rh?~jth?Y?yC<D;A )ZAYGAbDVD:2y:=%7=ٔ:Q->9Y=fGyFeb;E>Q 54.4Ӊ?Q 94[)@[BY,?Q E:y>Q I?<(DI ;i2 ;4y Bɮ yA ةE"))*)2)111ʎ119j9Z=@aɢek =)i mK?ii)m0iiiupv}ɧ}W?}a,=i}+>}!;yI}+> +>III 1O=Yԑ ,xHW@A6K'>6y>6G!;ٱ6@ FAHRS rotation from veh to nav: [[0.927974,-0.370233,-0.042333],[0.372568,0.919468,0.125585],[-0.007572,-0.132312,0.991179]]6H@?׿ )?Gl?,??i6K'>I6o^;6CYbJBybtHbDjVDjP)3yrN%r^=ٔv:Q-v>9tYt=zfGyxzi;Ez>|Q 54~DӉ?Q 94~.)~?[BY y D>Q I ?~I(DI~:i~ :~)4yɮA"11*129999ʎAAAjAZE @iɢua=)q u?iq)}yyi}~wfɧ&U?駅*=i{>Xx!;4۱9I{> {>IIyIO=D%=D%=E EE(E"EB;*E:VEc44ZEa@a@a@a@ԩBA<Bc>BBBBBBB;B 8E ep>e9,<ٱeyi AHRS rotation from veh to nav: [[0.927497,-0.371499,-0.041695],[0.373741,0.919024,0.125354],[-0.008250,-0.131849,0.991235]]eH@ ?׿@Y]? h? ?z倿@k3?ie(>IeӍ^;eCYJByyHiMb@Mb@Mb@ 9 rh?/$?MbPY ?y<AA VA)IAYAbDVDk2ys<%/=ٔ2:Q->9Y=fGyF1;E>Q 54WӉ?Q 94l);[BY ?Q E:yg>Q I?Z(DI; ;i;R'4yBɮA"*2!!!!ʎ)))j)Z-O@Yɢ]=)Y ]?iY)e 09aaieymP$ɧmlQ?m‰'=imB5>ueX!;qIuB5> uB5>IqA.AE EE+E"EC;*E1:VE [4ZEBE@)Y g,fk|W@A2z*>2>2R<ٱ2 :AHRS rotation from veh to nav: [[0.926779,-0.373365,-0.040978],[0.375501,0.918393,0.124716],[-0.008931,-0.130971,0.991346]]2H@,?7׿ 5?xc?]?DJ@?i2z*>I2^;2CY^JBybwHbDjVDj1yry%rp=ٔr;Q-r?9v ?Yv ?=vfGytz;Ez?|Q 54~5fӉ?Q 94~h)~8[BY y b>Q I ?~f(DI~ ;i~7!;~D-4yɮAi!I!Y"*2ꏹʎjZ@>@ ɢ Y=) 3?i)%s :!!i%^z=gɧ=N?=J%=i=>=M!;9IE> E>IAA؟AԉIIO >ԱDzD@AE EE*E"E=;*E:VE(N4ZEa@a@a@a@ B B B B B B B B ;B 8EBABABABABE˨ =CEz4BO,$EW@A>,>>ڲ>>AD!<ٱ>i& FAHRS rotation from veh to nav: [[0.926329,-0.374570,-0.040157],[0.376588,0.917951,0.124689],[-0.009843,-0.130625,0.991383]]>H{?׿ k?_? ?r(@Sh?i>,>I>3^;>CYNIByNiHbDVVDV1y^o%^M=ٔb;Q-b>9b"?Yf"?=ffGyfFfA;Ef>hQ 5n4jwӉ?Q 9n4j )j4[BYpyr>Q Ir?jt(DIj;ij;j?44yvBɮvAt" *2ʎ!j!Z%*@IɢMY=)Q Un>iQ)Um:QQi]ޯ{eNɧe@K?e"=ie>eM!;aIe> e>IiԹ^AHA>A>AQIaIyO>9 bEe(N4jEe˼P4rEe˒0E  E E .E "E C;*E :VE ـ4ZE BE a 2E a JE "2bj>b!+<ٱb jAHRS rotation from veh to nav: [[0.925793,-0.375954,-0.039574],[0.377885,0.917445,0.124489],[-0.010495,-0.130206,0.991431]]bH`?ؿ`CF/?@[?޿?@j~ ι?ib->Ib,^;bCY JBy}HiMb@Mb@Mb@ 9Dl?y&1?{GztYO ?y`<ףA )YGAbD VD2yI=%9=ٔ:Q->9Y=fGyoP;E>IQ 5]4M'Ӊ?Q 9]4MA)M.[BY] ?Q E]:y]>Q I]?M(DIMy;iM ;M'<4yiɮmAi"*2ꏉʎjZB@ɢ=) k?i)(:iJ"}\GɧF?=i ^>\!;I ^>  ^>I^AهAAI!I1OEQ>iԙ b,W@A2F.>2>2 1<ٱ2b :AHRS rotation from veh to nav: [[0.925284,-0.377192,-0.039701],[0.379121,0.916845,0.125151],[-0.010806,-0.130851,0.991343]]2H?#ؿSC?V??!` ?i2F.>I2Ȏ^;2CYRIByRcHV=V=bDZVDZ:yf% Y=ٔ X:Q- >9Y=fGyFh;E>!Q 5%4%Ӊ?Q 9-4%)%([BY)y-:>Q I-?%(DI%:i% :%B4y5Bɮ=A=٩E"YY*a2aaaaʎaiijiZmb @颙ɢ=) >i)K:顡i]i~#ɧB?駭=iO>u!;IO> O>IqD=D<E& EE+E"E8^;*E:VE [4ZEa@a@a@a@G1ufM9yY}!2AB-\>B)B-pHB-IBB)B)B-DB-;B-7Eԙ^A?BI:AIIYIiOu> ,`W@Am{/>mu>m7<ٱm AHRS rotation from veh to nav: [[0.925015,-0.377868,-0.039547],[0.379766,0.916517,0.125592],[-0.011211,-0.131193,0.991293]]mH ?.ؿ@? 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N?t&?@ 懿?iFdX1>IFz ^;FCYfIBydhhbDpVDpyvۈ%zF=ٔz^#:Q-z>9z"?Y~"?=~fGy|~1:E>Q 5 4VӉ?Q 94)[BYy>Q I?(DI:i :W4yɮ%A!"AA*A2AAAIʎIIIjQZU@yɢ}r=) >i) h?;顁i]:@~ɧ9?駍'{=i]>!;I]> ]>IԑA.AIIO> E  E E E "E ;;*E d:VE ZE BE 6>60OA<ٱ6V >AHRS rotation from veh to nav: [[0.924184,-0.379861,-0.039875],[0.381766,0.915470,0.127159],[-0.011798,-0.132741,0.991080]]6H`?Oؿ@jn?K?F?@)`?i6A1>I6G%^;6~CYFIByJYH|i}Mb@Mb@Mb@yyyy y9}Cl?:v?~jthY}?y}T<}D}rA}A y)yyY}AbDVD3y뭼%?=ٔ99Q->9 ?Y ?=fGyFȈ:E>Q 54Ӊ?Q 94L)[BY?Q E:y>Q I?(DI:i: _4yɮAکE"*2ʎj Z `ߗ@1ɢ5=)9 =<>i9)=tcZ;99iEE灼E:>ɧE6?M=iM#>M5";IIM#> M#>IA?AA؟AI)I9OE0>)I ï,DKW@A22>2F>2 F<ٱ2 :AHRS rotation from veh to nav: [[0.924076,-0.380095,-0.040143],[0.382017,0.915172,0.128541],[-0.012120,-0.134117,0.990891]]2H?zSؿr?I?t?@҈*b?i22>I2^;2CY^IBybLHbDjVDj:2yr4%rX=ٔr^:Q-r>9v"?Yv"?=vfGytz<:Ez>xQ 54zHӉ?Q 94z )z [BYy>Q I?z(DIz;iz<;ze4yגBɮAЩEY"*2ꏱʎjZ @ ɢ uk=)  >i )r;iɧ3?=i:> t";!I%:> %:>I!E} E}E}*Ey"E}:;*E}:VE}(N4ZEya@a@a@a@AaIqIԉO>BV>BBcHBIBB =BBB=;B6EԱ ,y eW@AE2>EZ>EvH<ٱEI Թ AHRS rotation from veh to nav: [[0.924103,-0.379902,-0.041323],[0.381946,0.914746,0.131745],[-0.012250,-0.137529,0.990422]]EH A?OPؿX(q?E? ?E?iE2>IE!^;E}CYIBy%CH->)iMb@Mb@Mb@ 9|?5^?Mb?~jth?Y?y<D;lAA bA)=AYbDVD0y%/=ٔĐ9Q->9Y=fGyF)E>Q 54ԉ?Q 94A) [BY?Q E:y>Q I?(DI;i?;m4yɮA"*2ꏡʎjZ@G!@ɢPE =) *>i)%ʇ;!!i%7MfɧM0?M} =iM>U";QIU> U>IQE EE)E"EB;*EVEFA4ZEBEw9 ,~W@A6`m2>6>6zL<ٱ6Ec BAHRS rotation from veh to nav: [[0.923943,-0.380265,-0.041575],[0.382327,0.914435,0.132797],[-0.012480,-0.138592,0.990271]]6H?`CVؿ aI x? 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ĿO?i2D>I2\;2pCYRGByVHbD^VD^02yfN%fc=ٔf չQ-f>9j ?Yj ?=jfGyhn3En>pQ 5v4rډ?Q 9v4r)r#YBYtyvr>Q Iv?r.DIr:irW:r'4y|ɮ~*Ay"*2ꏡʎjZ`XH@E EE)E"E<;*E1:VEFA4ZEBEē ^n; I ਫ> ਫ>IA-؟AI1IIOU>) X_,'~W@A2y>2>25<ٱ2% :AHRS rotation from veh to nav: [[0.931774,-0.360830,-0.039982],[0.362498,0.918722,0.156672],[-0.019799,-0.160477,0.986841]]2H`?׿x`)3?*f? ?@LF@Ŀ3?i2y>I2\;2tCYBFByBHHHbDN VDN2yV%VL=ٔVM:Q-Z>9Z"?YZ"?=ZfGyZ6F^|>E^>`Q 5f4bډ?Q 9f4b7)bYBYdyj>Q Ij?b.DIb:ib:b.4ynBɮntAl"|*2ʎ   j Z H@1ɢ=ֲ)9 ==i9)EzMn;QIU> U>IQAzA]AQA)I1IAOQE EE+E"EB;*E:VE [4ZEa@a@a@a@ԁԩ e,֘W@A6>6n>6˹<ٱ6?@% >AHRS rotation from veh to nav: [[0.932379,-0.359306,-0.039610],[0.360930,0.919289,0.156964],[-0.019985,-0.160646,0.986810]]@6H ? ֿG@z?`j?c? v`Ŀ?i6>I6\;6qCY^FBybHiEMb@Mb@Mb@AAAA A9EB`"?T㥛 :vYE?yEETE AEA E1A)EAAYEAbDYVDYym)<%m?=ٔu9Q-u>9qYq=ufGyy}LE}>Q 54ۉ?Q 94) YBY?Q E:y_>Q I?.DI:i:064yBɮdAE"*2ʎjZ H@yɢ}poG)y }iy)LEv<顁iRɧˍ駍bi>o;I> >IB}t>B}?CB}HB}GBB} =ByByB}ρ;B}X8EԱA)I9IQOm5>E EEE"E1A;*E:VEZEBE2>2V<ٱ2% :AHRS rotation from veh to nav: [[0.933090,-0.357536,-0.038873],[0.359065,0.920007,0.157034],[-0.020382,-0.160485,0.986828]]2H?ֿ0磿@?p?@?ޔ ŊĿ?i2>I2 \;2pCYBFByBHbDJ VDJ2yR%RX=ٔV~:Q-V>9TYT=VfGyV7FZEZ>|\Q 54^!ۉ?Q 94^9)^YBY!y%Y>Q I%?^.DI^[Mp;ID=> D=>IA .AII!)O5 >Qԁ E  E E E "E C;*E L:VE ZE a @a @a @a @s,W@AYu[>utX>u<ٱu" AHRS rotation from veh to nav: [[0.933603,-0.356306,-0.037830],[0.357724,0.920839,0.155206],[-0.020466,-0.158434,0.987157]]uH? ֿh^ ?w?? GĿ@˖?iu[>Iu\;urCYFByHi5Mb@Mb@Mb@1111 195K7?y&1~jt?Y5I ?y5`e5D<5A1 5$A)5A1Y5A AE<bDMVDM2y]t%]1=ٔep?9Q-e>9e ?Ye ?=efGyimKEm>qQ 5}4u6ۉ?Q 9}4us)u YBY ?Q E:y>Q I?u.DIu:iuZ:uD4yBɮA"11*121119ʎ999j9ZEk.I@颩ɢh) i)_n<顱i@'uTɧj駽H;idԭ>mnq;Idԭ> dԭ>IԁA5؟AI9IQO]U>ԱAe AAAa Bm u>Bi Bm HBm FBBi Bi Bi Bm ;Bm l8EB->CB->CB-ɓCB-ɦ =B-ɦ =C-ɡ5 p(y,IiW@A2>2P>2:3<ٱ2! :AHRS rotation from veh to nav: [[0.934112,-0.355051,-0.037059],[0.356382,0.921503,0.154351],[-0.020653,-0.157388,0.987321]]2H@??@'ֿY@?|??&`L%Ŀ!?i2>I2\;2qCYNFByRHbDZVDZ:3yv|%vf=ٔv :Q-v>9z"?Yz"?=zfGyz8FzcE~>Q 54vFۉ?Q 9 4) YBY y >Q I ?.DIK:iB:K4yɮA"99*929AAAʎAAIjIZM@YI@qE  E=E)E"EG;*E;VEFA4ZEBE+-q;)I-2K> -2K>I)AIIO">9 ,BW@A6>6T>6<ٱ6Q# BAHRS rotation from veh to nav: [[0.934804,-0.353223,-0.037074],[0.354556,0.922006,0.155547],[-0.020761,-0.158551,0.987133]]6H?@4ֿT@ ?? ?>B@cKĿ?i6>I6b\;4YFFByF^HLNAbDRVDRܲyZu%ZN=ٔZ99Q-^>9\Y\=^fGy\bEb>dQ 5j4f?Xۉ?Q 9j4f)fYBYhyj>Q In?f.DIf:if:fR4yrBɮrArE"*!2!!))ʎ)11j1Z=II@yɢ}) i)f<顉iD6UɧdA駕iRӮ>Hr;IRӮ> RӮ>IIIO>bEM(N4jEM(N4rEM/E EE-E"Ea?;*EL:VEt4ZEa@a@a@a@A k>Cq܁G!E9Y*Aԙ 9,W@A25>2Ÿ>2u<ٱ2!# :AHRS rotation from veh to nav: [[0.935380,-0.351737,-0.036682],[0.353025,0.922566,0.155713],[-0.020929,-0.158600,0.987121]]2H?`ۂֿǢ?@?d?PnMĿ?i25>I2!\;2nCYfFByfHiUMb@Mb@Mb@QQQQ Q9U/$?=ٔ9Q->9Y=fGy9F]yE>Q 543kۉ?Q 94)YBY ?Q E:y>Q I?/DI:i/:Y4yBɮͼA"*2ʎjZI@ ɢ Dnʻ) i)b<iuCVɧ%3%^i%N'>%F s;!I%N'> %N'>I)qBBBHBFBB =BBB;BIQIiO}>ԡDzDAAE  EE)E"EX;*EZ:VEFA4ZEBE2Hs>2<ٱ2;! :AHRS rotation from veh to nav: [[0.935605,-0.351172,-0.036344],[0.352436,0.922972,0.154633],[-0.020758,-0.157485,0.987303]]2Hz? yֿ@Q?`??A`t(Ŀ?i2>I2\;2rCYNFByRHbDZVDZk1yb'<%bW=ٔbQ-f>9dYd=ffGydjrٺEj>lQ 5r4n{ۉ?Q 9r4n)n)YBYpyr>Q Iv?n/DIn;inL;n)`4yzBɮz̼Ax"*2ʎjZ^I@ɢHRܻiI) i)^< i ] RVɧ"'Ӵi>r>s;I>r> >r>IIIO=) E  E E +E "E 1A;*E :VE [4ZE a @a @a @a @O, MW@AZ]>ٷ>}<ٱƣ" AHRS rotation from veh to nav: [[0.936017,-0.350073,-0.036343],[0.351339,0.923279,0.155294],[-0.020810,-0.158127,0.987200]]H?@gֿ~V|?? ?@;O~=Ŀ#?iZ]>If\;qCYFByH > =iMb@Mb@Mb@ 9 rh?Mb ףp= ?YC ?yQ8=A $A)AYbD VD2yb%/=ٔ8Q->9Y=fGy:F#$E>Q 54ۉ?Q 94)9YBY ?Q E:y>Q I?&/DI ;i/:Vh4yBɮAE"*2AʎjZF2J@ɢ) i)cZ<i놼 lWɧ }% rdi w>t;Iw> w>IIIO>qB A <B w>B B oHB FBB =B B DB ց;B b8Eԡ !v,%gW@A:>:>:ߪ<ٱ:"@ FAHRS rotation from veh to nav: [[0.936152,-0.349719,-0.036265],[0.350975,0.923401,0.155394],[-0.020857,-0.158201,0.987187]]:H?aֿ`Y`av??`? [?Ŀ`?i:>I:\;:nCY^FBybhHbDjVDjyrԊ%rm=ٔv;9Q-v?9tYt=vfGytzȓEz?|Q 54~ۉ?Q 94~)~FYBYy >Q I ?~2/DI~y:i~:~Zn4yɮA"11*129999ʎAAAjAZE@G\J@iɢu@)u u룾iq)u4VVt;I|> |>IE EEE"E<;*EVEZEBEēIYIiO}=ԩA ^,W@A:>:y>:5<ٱ: " JAHRS rotation from veh to nav: [[0.936222,-0.349555,-0.036050],[0.350779,0.923479,0.155372],[-0.021020,-0.158108,0.987198]]:H@?@_ֿu +s?#?`;?H<Ŀ` ?i:>I:];:pC|YFBy cHbD-VD-yEb%EE=ٔEk9Q-M>9IYI=MfGyU;FUEU>YQ 5e4]Ͱۉ?Q 9e4])]TYBYiym϶>Q Im?]@/DI]:i]:]u4yuBɮuAq"*2ꏙʎjZ`J@ɢ) 饾i)XR<iebXɧ"3i>.t;I> >IIyIO=)E EE*E"EM;*E:VE(N4ZEa@a@a@a@Yԁ ,dW@A2->2A>24<ٱ2J" :AHRS rotation from veh to nav: [[0.936421,-0.349012,-0.036131],[0.350255,0.923657,0.155495],[-0.020898,-0.158264,0.987176]]2H)? 8Vֿj??`D? +fAĿ`?i2->I2@\;0YRFByRrHYieMb@Mb@Mb@aaaa a9eJ +?S㥛?ˡE?Ye?ye/9Y=fGyiE>Q 54ۉ?Q 94)_YBYG ?Q E:y>Q I?O/DI:iv:|4yɮA"*2ʎjZ rJ@ɢ/) i)%VN-1u;1I5,> 5,>I1B~>B@CBBBBBBׁ;Bg8EA.AIIO>ԱE  EE+E"EE;*E#:VE [4ZEBE2h8>2m<ٱ2# :AHRS rotation from veh to nav: [[0.936445,-0.348950,-0.036122],[0.350186,0.923642,0.155740],[-0.020982,-0.158491,0.987137]]2H[?1Uֿ ~si?y?H?@F|@pIĿ`?i2>I2u\;2oCYRFByR~HbDZVDZybR<%bW=ٔf,i9Q-f>9f ?Yf ?=ffGyjlQ 5r4nmۉ?Q 9r4nZ)nhYBYtyv>Q Iv?n\/DIn2:in:nw4yzBɮzԼAzE"*2ʎ!!!j!Z%@J@IɢU)Q UiQ)UGJe)u;iIm#ޮ> m#ޮ>Ii vAII O>1E  E E E "E 1A;*E d:VE ZE a @a @a @a @Y ),W@A%>%>% O<ٱ%$ eAHRS rotation from veh to nav: [[0.936526,-0.348707,-0.036378],[0.349967,0.923569,0.156663],[-0.021032,-0.159450,0.986982]]%H? 5Qֿe?@? ?yhĿ[?i%>I%\;%rCYFBytH9bDUVDU2ye=%e3=ٔe*8Q-m>9iYi=mfGyiuEu>yQ 54}Dۉ?Q 94})}tYBYy>Q I?}k/DI}`:i}:}s4yɮA"*2ꏹʎjZf1K@ɢ) Fi)|E<iDCZɧH2 i~> v;I~> ~>I paAI!I9OEQ>ԉA @AA ?AB% >B% BCB% {HB% FBB% =B! B% DB% ;B% 8EԹ HĹ,W@A6H>6fO>6{<ٱ6# >AHRS rotation from veh to nav: [[0.936380,-0.349110,-0.036265],[0.350349,0.923438,0.156580],[-0.021175,-0.159323,0.986999]]6H?@WֿB`l?Ό? ?dĿ?i6H>I6l\;6oCYFFByFHJ=J=iMMb@Mb@Mb@IIII I9M/$?v/?S㥛?YM ?yMxi=M/9Y=fGy=F:E>Q 54ۉ?Q 94C)vYBY ?Q E:y>Q I?y/DI" ;i ; 4yBɮӼA"*2ʎjZ aK@!ɢ%1)! %ܘi!)%:B<))i-15PZɧ5^ԑhd2i>'v;I> >IAIIO> ,^W@AJ>J8>Jl&<ٱJB# RAHRS rotation from veh to nav: [[0.936105,-0.349839,-0.036327],[0.351092,0.923265,0.155935],[-0.021013,-0.158725,0.987099]]JH?cֿ hJx?c??e QĿQ?iJ>IJQ];JnCYZFByZpH `bp<bDfVDfNyn!%nT=ٔr߹Q-r>9pYp=rfGypvT;Ev>xQ 5U4z܉?Q 9]4z)zyYBYYy]&>Q I]?z/DIzb<ib[ɧuifDioU>w;IoU> oU>IAe؟AIiIE EE)E"EC;*E;:VEFA4ZEa@a@a@a@O>I ,W@A6T>6Dշ>6<ٱ6" >AHRS rotation from veh to nav: [[0.936027,-0.350043,-0.036370],[0.351307,0.923240,0.155596],[-0.020888,-0.158419,0.987151]]6H@?gֿ {?/??cGĿ?i6T>I6@];6oCYFFByFZHiMb@Mb@Mb@ 9ʡE?333333?9E"?YE"?=EfGyE>FM}:EM>QQ 54U܉?Q 94U)UsYBY?Q E:yT>Q I?U/DIU&駥0]i>w;I>B>BCCBBB =B:DBDB;B8EB@CB@CB”CB£ =B¢ =Cš5 >IaAaIiIyO9>e2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.yE EE+E"E=;*EI:VE [4ZEBEa2EaJE(2>!>2<ٱ2" :AHRS rotation from veh to nav: [[0.935835,-0.350499,-0.036908],[0.351854,0.923130,0.155014],[-0.020261,-0.158054,0.987222]]2H ]?nֿ墿@Ȅ?G??@]@;ĿS?i2>I2];0@YFFByFnHHJAbDNVDN0yV)=%VT=ٔZԺQ-Z>9XYX=^fGy\~:E~>Q 5 4%܉?Q 9 4)mYBYy>Q I?/DIF:i:ڦ4yɮA!"aa*a2aaaaʎiiijiZmK@DAT read: BDAT read: Tx time:00:29:00.6773 $Ping request sent.)Mx;IIë> Ië>IԱAE.AIQIaOm>u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251079 bE- [4jE-ʙT4rE-ʲ.E  E E E "E E;*E ;:VE ZE a @a @a @a @,rPW@A^Gt~\AI"O9\AY2A}>}|>}z<ٱ}^K" AHRS rotation from veh to nav: [[0.935601,-0.351063,-0.037494],[0.352512,0.922960,0.154532],[-0.019645,-0.157797,0.987276]]}Hq?@wֿ@t2`?`?@? 2Ŀė?i}>I}bt];}pCYFByjHi5Mb@Mb@Mb@1111 195/$?㥛 ?QY5&?y5=5u15۵A 5A)11Y5(AIIbDU VDU:2yeȻ%e&=ٔeţQ-m>9m ?Ym ?=mfGym?Fuk:Eu>yQ 54}X:܉?Q 94})}ZYBYf?Q E:y2>Q I?}/DI};i}5;}U4yBɮ AE"*2ꏹʎjZ`N8L@ɢ) Ai)r0<i܍}^ɧ Ω ؇i > 8 y; I > >IAzA\Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504059A؟AIIOj>1B<A4=B>BBoHBFBB =BBB;B8EY d,>jW@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7550486>6z>6<ٱ6U" BAHRS rotation from veh to nav: [[0.935523,-0.351191,-0.038222],[0.352758,0.922904,0.154305],[-0.018915,-0.157839,0.987284]]6H?`yֿˑ? n? B?^ 4Ŀԗ?i6>I6^];6oCYFFByJbHbDRVDRk1yZ%Z=ٔZQ-Z ?9^"?Y^"?=^fGy\bU:Eb ?dQ 5j4fG܉?Q 9j4f|)fNYBYhyjS>Q In?f/DIfK:if:f״4ypɮrAp"*2    ʎ jZ``L@9AɢEOgw)I MiI)MH-0y;IEN> EN>IA II!O5 >iԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006942 u,~W@A6)s>6>64<ٱ6o! >AHRS rotation from veh to nav: [[0.935352,-0.351554,-0.039066],[0.353264,0.922848,0.153480],[-0.017904,-0.157358,0.987379]]6Hg?ֿx?`?;?@U`R$Ŀ`?i6)s>I6W)^;6pCYFFByFUHJ=HbDRVDR2yVɼ%ZJ=ٔZ$Q-Z>9\Y\=^fGy^@Fb|:Eb>dQ 5f4fX܉?Q 9j4f)f?YBYhyj>Q Ij?f/DIf):if:f廱4yrBɮrArE"*2   ʎ   jZDL@9ɢ==U)A EiA)E (zM2 aɧM¾UޛiU>U~z;QIU> U>IYԙ=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259471AIIO>E EE,E"E=;*E:VEg4ZEa@a@a@a@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510947 h$,W@A6>6>6uh<ٱ6! >AHRS rotation from veh to nav: [[0.935293,-0.351587,-0.040165],[0.353482,0.922880,0.152788],[-0.016651,-0.157099,0.987442]]6H ?fֿ q?:?? Ŀ ?i6>I6Q^;4YfFByfNHiUMb@Mb@Mb@QQQQ Q9Um?J +?L7A`堿YU?yUH=U+QUζA U A)UAQYUA ep=ٔ>Q->9Y=fGy:E>Q 54Bk܉?Q 94))YBYd?Q E:y>Q I?/DI ;iX ;iñ4yɮA"*2ʎjZL@Be>BeDCBebHBeFBBaBaBaBe;Be8EɢTR) i)#<ilxbɧ ̾:iS>m{;IS> S>IAI I!O-->Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762879D?AzD?AE EE(E"EsH;*E :VEc44ZEBE2>2ty<ٱ2! :AHRS rotation from veh to nav: [[0.935371,-0.351219,-0.041545],[0.353339,0.922969,0.152578],[-0.015243,-0.157397,0.987418]]2H@?azֿqE??@?@7 %Ŀ ?i2߃>I2^N_;2mCY^FByb9HbDjVDj1yr&/%rU=ٔr0pQ-r>9tYt=vfGyvAFz7۹Ez>xQ 5U4z{܉?Q 9U4z)zYBYQyU>Q I]?z/DIzO'3|;IY> Y>IYAaIqIO>ԁԩU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266966E  E E E "E y>;*E V:VE ZE a @a @a @a @ }6,W@AB[>B>Bb<ٱB" JAHRS rotation from veh to nav: [[0.935593,-0.350445,-0.043060],[0.352810,0.923119,0.152895],[-0.013832,-0.158239,0.987304]]BH`?mֿ `n?0? ?S.AĿ`?iB[>IB_;BpCYRFByR,HTVAbDZVDZ:yrڼ%vJ=ٔz?dQ-~>9Y = fGy E%>1Q 5U45(܉?Q 945)5YBYyD>Q I?5/DI5H))};I> >Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519659AIIOA>BYBYB]IHB]FBBYBYBYB]Ɂ;B]m8E 9 ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770884Qf,W@AJV>J,>J gG<ٱJu# RAHRS rotation from veh to nav: [[0.935929,-0.349340,-0.044705],[0.351978,0.923418,0.153008],[-0.012170,-0.158940,0.987213]]JH!?[ֿ㦿φ?ࢌ?•?@숿"XĿ@@?iJV>IJ_;JnCYZyFByZHi=Mb@Mb@Mb@9999 99=B`"?~jt?+Y=?y=<==A=۵A 9)=A9Y=AIMAAbDUVDU3ye%eB=ٔeiQ-m>Du=Du<E} E}E}+Ey"E}=;*E}:VE} [4ZEyBE}Q 54c܉?Q 94)XBYG?Q E:y>Q I? 0DIf:ia;ر4yBɮA"YY*Y2aaaʎjZ`jM@ ɢؒ) Uþi)<itfɧ%"߾%0iE>EQ};AIE> M>IIAQIqIO:>1checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022948Y TH,aW@A 6>6jx>6/<ٱ6$ >AHRS rotation from veh to nav: [[0.936426,-0.347795,-0.046314],[0.350700,0.923757,0.153889],[-0.010739,-0.160348,0.987002]]6H3?DBֿo`q?@k?`?`]GĿ?i6>I6'`;6oCYviFByvHbD~VD~02y "% Q=ٔoQ->9Y=fGygE%>!Q 5-4%N܉?Q 954%)%XBY1y5>Q I5?%0DI%W:i%:%g߱4y=BɮEAEE"aa*a2aaaiʎiiijiZu^M@颙ɢ ֧) L˾i)Y<顡ijrhɧ駭!inէ>E~;Inէ> nէ>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274878qA)I1IAOU>E EEE"ECJ;*E1:VEZEa@a@a@a@ԙ i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5271632s,[?W@A>I>>~϶>>>@<ٱ>% JAHRS rotation from veh to nav: [[0.936887,-0.346441,-0.047126],[0.349497,0.924231,0.153779],[-0.009720,-0.160544,0.986981]]>H?,ֿ (^?M?@ ?@烿ĿX?i>I>I>q `;=ٔbQ->9Y=fGyCFDE>B B CCB 0HB FBB B B B ;B ^8E)Q 554-܉?Q 954-)-XBY5&?Q E5:y=\>Q I=?-'0DI- ;i-G ;- 4yAɮEAA"aa*a2aiiiʎiiqjqZu`M@颙ɢ3Ƣ) ؾi)I <顡ip-Riɧ5۾5vi5 >5;1I5 > 5 >I9A].AIiIyO9>%BDAT read: Rx Time:00:29:03.9183 %TRx dataTimestamp_ set to:1761697744.689155-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780022E  EE)E"EE;*E:VEFA4ZEBE2">2 <ٱ2% :AHRS rotation from veh to nav: [[0.937358,-0.345010,-0.048257],[0.348266,0.924686,0.153840],[-0.008454,-0.161009,0.986917]]2H?ֿI??? ePĿ@Ҕ?i2 >I2t`;2kCYROFByP XZ<bD^VD^:2yfZ:%f]=ٔf`Q-f>9j ?Yj ?=jgGyhjjEn>pQ 5v4r܉?Q 9v4r)rXBYtyv>Q Iv?r40DIr:ir:r^4y~B|ɮ~A"!!*!2!!!)ʎ)))j)Z5M@Yɢ]Z)Y eYؾia)eE>u;qIu`>> u`>>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038974I)AAIYIqO>Q DAT read: 00:29:03.9183 LVL= 29792, 32753, 29682, 32755, AGC= 72, IDX= 6,-0.28, 1.949, 0.340, 2.016, 1.698, PHS= 0.353,-1.313, 0.274, RAW= 147.6, 8.5, CAL= 147.1, 9.2, ROT= 2.9, -9.2  Ygot valid direction response: 00:29:03.9183 LVL= 29792, 32753, 29682, 32755, AGC= 72, IDX= 6,-0.28, 1.949, 0.340, 2.016, 1.698, PHS= 0.353,-1.313, 0.274, RAW= 147.6, 8.5, CAL= 147.1, 9.2, ROT= 2.9, -9.2  PDAT read: Bearing 180.0, 1.1 (Local)  ~Local bearing/azimuth received: Bearing 180.0, 1.1 (Local)  DAT read: Range 11 to 50 : 627.6 m (Round-trip 836.9 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.985872,0.049942,0.159881] Fpublishing direction and range infoyi m <C?@?Čsv?Ym Di m `ti m s i )m HIm j>im bm I>m $@m >m O$@ m l$>)m 4QO=Im l$i i m zu ?rQ?ofZ? m >)m :rIm 4QO=im l$i i ԁ E  E E /E "E W;*E :VE J4ZE a @a @a @a @ل,,RW@A2 >2⒵>2n;ٱ2% :AHRS rotation from veh to nav: [[0.937748,-0.343812,-0.049220],[0.347240,0.925082,0.153775],[-0.007337,-0.161294,0.986879]]2H@?ֿZ3-9?F??@ ~`DĿ?i2 >I2{`;2lCYR9Y=gGyDF&E>Q 54X܉?Q 94)XBYy>Q I?D0DI(;is;4y!ɮ- A)LW@AJADRADjWr>A@?.7?@3ƕKyX@r<C?@?Čsv?Z4QO=bl$Lkt@zY#p@\G[CV@zC^?zp?A=?2C: D"y=?*'06B Cy=?'06“ CDn>"yy*y2yyyʎj̜@Z?ɢ/V) i);iKmlɧtѾi Iy> |; I Iy> Iy>IԉAYIaIqOY>ԱB>BB HBlFBB =BBBā;Bh8EBCCBCCBǓCBǞ =BǞ =CY4 E,lW@A6% >6Խ>6;ٱ6& >AHRS rotation from veh to nav: [[0.938317,-0.342108,-0.050229],[0.345718,0.925554,0.154366],[-0.006320,-0.162209,0.986736]]6H ?տ< ?#?D?@gyFĿW?i6% >I6uk`;6oCYF@FByFHIJ%=)J9!Y!=%gGy%EF-y}E->QQ 5]4U@܉?Q 9]4U;)UXBYe ?Q Ee:ye7>Q Ie@US0DIUH:iU:UR4ymBɮmAEqSAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalSEntering Terminal tracking update period 2.000000 s sec at 627.599976 m (mode 0.000000 count )."*2KAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeKrTransitioning to terminal guidance at range 627.599976 m 1ʎjZ"@?aɢm;)y }߾iy)}1X;yyi}5 lFmɧǾ駕wi>ɀ;I> >IA؟AI!I9OEQ>9 R!,дW@A2>2l>2Y;ٱ2A& :AHRS rotation from veh to nav: [[0.938851,-0.340547,-0.050855],[0.344285,0.926228,0.153524],[-0.005179,-0.161645,0.986835]]2H@ ?տ ???6uɰĿ'?i2>I2,`;2pCYB1FByBHHHbDLVDLyV&%Vb=ٔV QQ-V>9Z"?YZ"?=ZgGyX^*E^>`Q 5f4b ݉?Q 9f4bϺ)bXBYdyfo>Q If@b_0DIb>:ib:b|4ylɮn.Aljv@z1zP~B*** querying acoustic contact ***| |"*2  @1 K Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange K Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeʎjZ=?AɢE/~)I MeiI)Mn;IIiMjUnɧ]C]i]O>];YI]O> ]O>IaAqzAuZA5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.A.AIIO=bEjEY4rEÅ0Em EmEm+Ei"EmB;*Em:VEm [4ZEiau@au@au@a}@ 7k> CAmG^A9^AYyAy-N?-N3Aq *DAT read: user:376>  BDAT read: Tx time:00:29:06.2273  $Ping request sent. 6xP>6o;ٱ6?E& FAHRS rotation from veh to nav: [[0.939287,-0.339250,-0.051466],[0.343104,0.926701,0.153309],[-0.004316,-0.161659,0.986837]]6H`?EտYl?? ?@qAĿ+?i6 K>I6,_;6mCYn;FByrHB>BBHBWFBB =BBB;B8EiMb@Mb@Mb@ 9Fx?Zd;OI +?Y ?yj<94<A )AYAbDVDy<%8=ٔ Q->9 ?Y ?=gGyFF/:E>qyQ 54}݉?Q 94} )}XBYL ?Q E:y>Q I@}o0DI}+;i}A;} 4yBɮ#Ar@1qqQ~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalqMAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance1NAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideqNAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControlNInitialize.NAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl1OInitialize.qq  h7q--h75N5Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl15q559=fB'N=$Terminal guidance.q==cO=Initialize.cO=dInitializing internal variables to default values.gO=ZTransitioning guidance mode to: UNINITIALIZED:AgOEDRollout timeout set to 300.00 sec.gOMVIIR filter is initialized with decay: 0.00.gOmbTransitioning guidance mode to: TERMINAL_GUIDANCE:m?ucKuAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance1uKuAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guidequ#LuUninitialize.uucLu>Uninitialize WaypointComponent.ʎqyyjyZ}@n?;FBo;) pi)n;+;iIԡEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250972AYIaIqOZ>E EE(E"EL;*E:VEc44ZEBE2>2}t;ٱ2&& :AHRS rotation from veh to nav: [[0.939740,-0.337951,-0.051747],[0.341869,0.927207,0.153012],[-0.003731,-0.161483,0.986869]]2HY?@տ~@0???`nuĿ`m?i2=>I2_;0YNFByRH TVAV=V=bDZVDZ1y%ӽ%%W=ٔ-ɺQ-->9)Y1=5gGy15bE5>9Q 5E4=.݉?Q 9M4=)=XBYIyMԉ>Q IM@=|0DI=:i=:=4yQɮ]tAYzqquSurCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalquSuAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_TerminalgO addTargetRange:: Added new target pos. range: 627.599976 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503119RZgO Added new target pos. range: 625.022095 m, bearing: 24.669262 deg, lat: 36.779147 deg, lon: -121.859122 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 jgOFNOT Ignoring new targets: 625.02 m.RZgO ProNav pure pursuit: ac range: 625.022095 m, nav range: 617.771301 m, bearing: 24.680295 deg, approach rate: nan m/s, LOS rate: nan deg/s, cmd heading: 20.066317 deg, new cmd heading: 24.680295 deg. gOHeadingCmd: 0.430752 target range: 625.022095 and range: 627.60 m.>*;"L? ʎjZr?1ɢ5ׅ;)5VXm 5!i9)=;9=i=-jiE}ֱ>A)EL? M(kpHeading = 0.800000IM; M(kiHeading = 0.004000M',;IM>IUAAzAAAA}IIO^>) U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754867E  E E *E "E I@;*E :VE (N4ZE a @a @a @a @}4,>W@A:>:@ >:9;ٱ:s& BAHRS rotation from veh to nav: [[0.940146,-0.336700,-0.052521],[0.340760,0.927600,0.153102],[-0.002831,-0.161835,0.986814]]:H?`տ䪿??՘? 0gĿ?i:>I:_;:oCYJ,FByJH PRbDVVDVyZ]=%^R=ٔ^'Q-^>9bYb=bgGy`ffFEf>dQ 5j4f @݉?Q 9n4f()fXBYlyn:>Q In@f0DIf+;ifC;f4yBɮ KA j1gO5FNOT Ignoring new targets: 625.02 m.R=9Z9gOE ProNav pure pursuit: ac range: 625.022095 m, nav range: 617.560547 m, bearing: 24.683505 deg, approach rate: -0.536089 m/s, LOS rate: nan deg/s, cmd heading: 24.680294 deg, new cmd heading: 24.683505 deg. gOMHeadingCmd: 0.430808 target range: 625.022095 and range: 627.60 m.M>I*Q"Q QQQaaʎiqjZU@L ?L ?P_@:>1UyMI>IIIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006953O>YAAAAB>BBHBMFBB =BBBd;B9Eԁ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258928;,'/W@A(2>2ڒ>2?:ٱ2- >AHRS rotation from veh to nav: [[0.940457,-0.335830,-0.052526],[0.339912,0.928826,0.147453],[-0.000732,-0.156527,0.987673]]2H 9?=~տ䪿???G Ŀ ?i2>I2G_;2nCY2FByHE= E=E9E9"E=L;*E=:VE9ZE9BE9aM2E9aUJE=919Y=gGy%E>Q 54T݉?Q 94_)XBY$ ?Q E:y$>Q I@0DIU:i:4yBɮHAEjgOFNOT Ignoring new targets: 625.02 m.R/9ZgO ProNav pure pursuit: ac range: 625.022095 m, nav range: 617.307251 m, bearing: 24.687371 deg, approach rate: -0.548197 m/s, LOS rate: nan deg/s, cmd heading: 24.683506 deg, new cmd heading: 24.687371 deg. gO HeadingCmd: 0.430876 target range: 625.022095 and range: 627.60 m. ś> * "   ʎjZ @=$ ?=$ ?=>T@=$>IɢU;)Q U iQ)UC;YYi]+kie=>ae]Ieś>Iiԉԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511329 4Initializing EZServoServo. u 8Initializing DockingStepper. echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763461^A<IIO?ܠC,7W@A2>2~>2*ٱ2y8 >AHRS rotation from veh to nav: [[0.940455,-0.336053,-0.051115],[0.339917,0.930239,0.138244],[0.001092,-0.147387,0.989078]]2H5?տ +`1???TQ?¿?i2>I2I_;2mCYB9FByFHIJ=)J>HHbDNVDNk2En  EnEn)El"EnC;*En:VEnFA4ZElar@ar@ar@ar@yM_<%M,=ٔU{Q-U>9QYY=]gGyY],7E]>aQ 54e'j݉?Q 94e)eXBYy>Q I@e0DIe ;ie;e (4yɮ;APB*** querying acoustic contact *** jgO FNOT Ignoring new targets: 625.02 m.R 9Z gO ProNav pure pursuit: ac range: 625.022095 m, nav range: 617.049377 m, bearing: 24.691321 deg, approach rate: -0.534254 m/s, LOS rate: nan deg/s, cmd heading: 24.687372 deg, new cmd heading: 24.691321 deg. gO%HeadingCmd: 0.430945 target range: 625.022095 and range: 627.60 m.%Τ>!*A"A IIIIQʎQQQjQZ] )@> =FBɢ ;) i);idkiΤ> ɄI}Τ>IԩUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014978#r^AΒ;IIO > B% >B! B! B! B! B! B! B% ;B% [9E:I,(W@A2I>2ϱ>2Mٱ2 :AHRS rotation from veh to nav: [[0.940296,-0.336635,-0.050202],[0.340349,0.931020,0.131774],[0.002379,-0.140992,0.990008]]2H?lտG?`??`H}c?@ ¿$?i2I>I2t_;2pCYBAFByBHli5Mb@Mb@Mb@1111 195w/?S㥛V-?Y5?y5/ݼ5<15ζA 5A)5A1Y5(AIM@AbDMVDMkyg<%D=ٔIQ->9Y=gGyz:E>Q 54{݉?Q 94Ѱ)XBYJ?Q E:yӛ>Q I@0DI<:i:n/4yBɮ5Aj!gO%FNOT Ignoring new targets: 625.02 m.R-8Z)gO= ProNav pure pursuit: ac range: 625.022095 m, nav range: 616.830627 m, bearing: 24.693907 deg, approach rate: -0.533876 m/s, LOS rate: nan deg/s, cmd heading: 24.691322 deg, new cmd heading: 24.693907 deg. gO=HeadingCmd: 0.430990 target range: 625.022095 and range: 627.60 m.=>A*A"A AAAIIʎIIQjQZU @uJ?uJ?ul@uEӛ>颅>FBɢ6;) /;i) ;顉ili>y;-I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267094E EEE"E*E:VEZEBE m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518855i P,BW@AZ $>Z>ZUSٱZ bAHRS rotation from veh to nav: [[0.939677,-0.338913,-0.046317],[0.342048,0.932258,0.117891],[0.003225,-0.126623,0.991946]]ZH?տ涧`? ?".? jj?+5?iZ $>IZȆ_;ZmCYjMFByjHbDrVDryzk<%zY=ٔ~Q-~>9|Y|=gGy;E> Q 54 ދ݉?Q 94 >) XBYyK>Q I@ 0DI ;i ; 64y%Bɮ%A%E9jIgOUFNOT Ignoring new targets: 625.02 m.R]8ZYgOe ProNav pure pursuit: ac range: 625.022095 m, nav range: 616.633301 m, bearing: 24.696226 deg, approach rate: -0.522435 m/s, LOS rate: nan deg/s, cmd heading: 24.693907 deg, new cmd heading: 24.696226 deg. gOmHeadingCmd: 0.431030 target range: 625.022095 and range: 627.60 m.m>i*q"q qqqyyʎyyjZ %@K>颵?FBɢ*<) [xq;Iq@\A@\A^ATchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771705IIOG>E EE*E"EL;*EI:VE(N4ZEa@a@a@a@ԑ V,o\W@AZ>Z>>ZKٱZ bAHRS rotation from veh to nav: [[0.939077,-0.340956,-0.043387],[0.343692,0.932666,0.109595],[0.003099,-0.117830,0.993029]]ZH ?:տ6 ?`e?f? bi?*?iZ>IZ_;ZnCY@FByH  Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022992==ԑiMb@Mb@Mb@ 9)\(?Mby&1?YG?y`</AA  A)AYAbDVDJ2y%==ٔ͘9Q->9Y=gGy;E>Q 54.݉?Q 94S)XBY~?Q E:y>Q I@0DIq ;i ;=4yBɮ Aj)gO5FNOT Ignoring new targets: 625.02 m.R=C8ZAgOe ProNav pure pursuit: ac range: 625.022095 m, nav range: 616.416077 m, bearing: 24.698035 deg, approach rate: -0.502395 m/s, LOS rate: nan deg/s, cmd heading: 24.696226 deg, new cmd heading: 24.698035 deg. gO-HeadingCmd: 0.431062 target range: 625.022095 and range: 627.60 m.-*>)*)") ))111ʎ199j9Z=@j@}~?}~?}@}u>颍@FBɢ;)  i);顑iKmi*>{g;HwB>BBCBBB =B;DBDBւ;Bt9EI*>I^A|^IiIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275103D =D 4=E  E E ,E "E B;*E L:VE g4ZE BE wFu>F9ٱFjֽ NAHRS rotation from veh to nav: [[0.937675,-0.345324,-0.038950],[0.347502,0.932647,0.097016],[0.002824,-0.104504,0.994520]]FHn?ֿ7z=?>?`ָ?;#g? `?iF >IF_;FoCYVQFByVH ^4<^4<bD^VD^yf:=%f\=ٔjA:Q-j>9hYh=ngGylni3<En>pQ 5v4r݉?Q 9v4r)r YBYxyz>Q Iz@r0DIrp:ir:r D4y|ɮAjgOFNOT Ignoring new targets: 625.02 m.R#8ZgO ProNav pure pursuit: ac range: 625.022095 m, nav range: 616.229492 m, bearing: 24.699533 deg, approach rate: -0.483567 m/s, LOS rate: nan deg/s, cmd heading: 24.698036 deg, new cmd heading: 24.699533 deg. gOHeadingCmd: 0.431088 target range: 625.022095 and range: 627.60 m.>*"   ʎ  jZ@1115>EBFBɢE?<)I M`}q;IIiUmiU>]Vz`;]^iI]>IY^A%h5n5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526904I9IqO>!Qy  BDAT read: Rx Time:00:29:09.4644  TRx dataTimestamp_ set to:1761697750.241111 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779972c, fW@AE` EbEb+E`"E`*Eb:VEb [4ZE`af@af@aj@aj@N>N>N¤ٱN$๽ vAHRS rotation from veh to nav: [[0.935698,-0.351145,-0.034160],[0.352795,0.931924,0.083984],[0.002344,-0.090635,0.995881]]NHIN._;NlCYOFByHbD-VD-1y]Ȼ%]A=ٔeڔ:Q-e>9aYi=mgGyim[<Em>qQ 54u݉?Q 94u)uYBYy>Q I@u0DIu;iu:unK4yBɮ APB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 625.02 m.Rˌ8ZgO- ProNav pure pursuit: ac range: 625.022095 m, nav range: 616.016907 m, bearing: 24.701145 deg, approach rate: -0.507303 m/s, LOS rate: nan deg/s, cmd heading: 24.699533 deg, new cmd heading: 24.701145 deg. QgO]HeadingCmd: 0.431116 target range: 625.022095 and range: 627.60 m.]G>Y*Y"Y YYaaaʎaiijiZm`&@>CFBɢ;) 85X;5VI5G>I1@E=@E=ԉi9I9=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031226^A5HuII O >B >B ACB HB WFBB =B B DB ʂ;B c9EBBBɔCBɟ =Bɠ =C5 ]j,p>W@AB3>BĻ>BٱBo̢ NAHRS rotation from veh to nav: [[0.933502,-0.357309,-0.030084],[0.358569,0.930605,0.073509],[0.001731,-0.079408,0.996841]]BH>?`&ֿ=Ξ@? ?yѲ?Z\?T?iB3>IB]_;BmCYRgFByVHIZ=)Z;XXiuMb@Mb@Mb@qqqq q9ue;O?y&1?Mb?Yu>yu`e9Y=gGyu<E>Q 543݉?Q 94)YBY>Q E:y>Q I@0DI ;i ;R4yBɮ۽AjgOFNOT Ignoring new targets: 625.02 m.R7ZgO  ProNav pure pursuit: ac range: 625.022095 m, nav range: 615.820251 m, bearing: 24.701741 deg, approach rate: -0.492973 m/s, LOS rate: nan deg/s, cmd heading: 24.701145 deg, new cmd heading: 24.701741 deg. gO HeadingCmd: 0.431127 target range: 625.022095 and range: 627.60 m. > *" ʎ!j!Z%@)@E>E>EQ<E>UEFBɢ]*<)Y ]=iY)];Yaienie>mR;mBIm>IqԹ=DAT read: 00:29:09.4644 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 398, 0.06, 1.556, 0.010, 1.654, 1.278, PHS= 0.380,-1.223, 0.332, RAW= 148.5, 6.5, CAL= 147.9, 7.0, ROT= 2.1, -7.0 EYgot valid direction response: 00:29:09.4644 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 398, 0.06, 1.556, 0.010, 1.654, 1.278, PHS= 0.380,-1.223, 0.332, RAW= 148.5, 6.5, CAL= 147.9, 7.0, ROT= 2.1, -7.0 MPDAT read: Bearing 178.6, 1.5 (Local) U~Local bearing/azimuth received: Bearing 178.6, 1.5 (Local) eDAT read: Range 11 to 50 : 624.7 m (Round-trip 833.0 ms) speed 0.2 m/s eR#Rx 1: Read range and direction messages.\direction in FSK: [0.991880,0.036371,0.121869]Fpublishing direction and range infoy:-[/z?\۪)?UM7P2?Y,D )I\>iD>H%@V=4%@ 5=)Q =I59.?2U?\U? L>);IQ =i5E  EE*E"ED;*E:VE(N4ZEBEњ  *DAT read: user:377>  BDAT read: Tx time:00:29:10.7773  $Ping request sent. 2A>2#ٱ2k >AHRS rotation from veh to nav: [[0.931038,-0.363908,-0.027211],[0.364921,0.928685,0.066155],[0.001196,-0.071522,0.997438]]2H@?BJ׿ݛZ?ɷ?`? DS? KO?i2->I2i;_;0YjdFByjHr@ApbDvVDv:2ym-Ի%uL=ٔu:Q-u>9yYy=}gGyy}O<E}>Q 54 ݉?Q 94)#YBYyo>Q I@1DI:i:Y4yBɮAECqW@AJDRDjFx>OhnH@0W6@wu2R@r:-[/z?\۪)?UM7P2?ZQ =b5 @_fo@pkR@z? F?ms?24{C: D"P^K?*%KBBd=DĖ?؆“{C&D>gOm addTargetRange:: Added new target pos. range: 624.700012 m, deltaT: 5.556603 s, deltaX: -2.899963 m, approachRate: -0.521895 m/s, rangeRepo size: 2 gO} Added new target pos. range: 622.105713 m, bearing: 24.000421 deg, lat: 36.779169 deg, lon: -121.859156 deg, deltaT: 5.556603 s, deltaX: -2.916382 m, approachRate: -0.524850 m/s, posRepo size: 2 jygOFNOT Ignoring new targets: 622.11 m.RZkOProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 24.000421 deg.gOHeadingCmd: 0.418886 target range: 622.105713 and range: 624.70 m.Fx>*" ʎj@Z?)))-uo>]GFBɢe|<)a equ+IuFx>Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250917)bEU(N4jEUKJ4rEU x/E EE(E"E;;*E:VEc44ZEa@a@a@a@vG\A^A TA \AzA ]A=9E\AYEAIIO>Y (w,W@A4fk&>f>fٱf|ن rAHRS rotation from veh to nav: [[0.928434,-0.370665,-0.024851],[0.371497,0.926433,0.060925],[0.000440,-0.065797,0.997833]]fH`?`׿r?V?1?`bIfJQ_;fkCYv9FByvH]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503067i5Mb@Mb@Mb@1111 195v/?I +?Mb?Y5x>y59<5<5A5A 5 A)5A1Y5AbD]VD]N2y}]ƽ%};=ٔ}:Q-}>9Y=gGy|<E>Q 54U݉?Q 94)&YBY>Q E:y>Q I@1DIQ:i#:Ca4yɮBAj)gO5FNOT Ignoring new targets: 622.11 m.R5TvZ=TvaAiAm?ABu>Bu@CBuHBuaFBBu =BqBqBu;Bu@9EgO ProNav: ac range: 622.105713 m, nav range: 616.401184 m, bearing: 24.349887 deg, approach rate: -0.465412 m/s, LOS rate: -0.000210 deg/s, cmd heading: 24.000421 deg, new cmd heading: 24.000240 deg. BŶgOHeadingCmd: 0.418883 target range: 622.105713 and range: 624.70 m.w>*" ʎjZ@? > > uE= >额IFBɢF;) Xi);顡ioix>M;@xڼIw>I &Changing to mode: 159@1 @9@=o0@9@A@Aԑ^A! checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755524A= AII Ia Om >Թ E  E E ,E "E B;*E :VE g4ZE BE w->23J>2J:ٱ2^ :AHRS rotation from veh to nav: [[0.925938,-0.376933,-0.023673],[0.377676,0.924020,0.059573],[-0.000581,-0.064101,0.997943]]2H H?ؿ=+?`?V?P C@h&?i2>->I2M_;2mCYBXFByBH DDbDJ VDJ2PyV=%Vn=ٔVB;Q-Z?9Zc>YZc>=ZgGyX^<E^?`Q 5f4bQ݉?Q 9f4bΡ)b(YBYdyj~>Q Ij@b1DIb:ib:bDg4ynBɮ=A9jgOFNOT Ignoring new targets: 622.11 m.R Z gO ProNav: ac range: 622.105713 m, nav range: 616.244324 m, bearing: 24.349719 deg, approach rate: -0.442849 m/s, LOS rate: -0.000474 deg/s, cmd heading: 24.000240 deg, new cmd heading: 23.999904 deg. B]gOHeadingCmd: 0.418877 target range: 622.105713 and range: 624.70 m.w>*" ʎjZH?iqIq}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008661颕LFBɢ<) <%J;+խIw>I=9@A @A@E4@A! ^A % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259271E  E E )E "E D;*E 1:VE FA4ZE a @a @a @a @AU (5AQ IY Iq O} >@ʄ,DW@A^u84>^->^BN:ٱ^e fAHRS rotation from veh to nav: [[0.923342,-0.383269,-0.023323],[0.383975,0.921369,0.060354],[-0.001643,-0.064683,0.997904]]^H?{ؿ ◿ ?{?@?Z`?i^u84>I^MU_;\Yn]FBynH vp9 >Y >= gGy GF\v<E>Q 5%4މ?Q 9%4y)+YBY!y%>Q I%@*1DIiy:.o4y1ɮ5A1PUB*** querying acoustic contact ***Q QjYgO]FNOT Ignoring new targets: 622.11 m.ReoZeogOu ProNav: ac range: 622.105713 m, nav range: 616.037598 m, bearing: 24.349367 deg, approach rate: -0.479978 m/s, LOS rate: -0.000818 deg/s, cmd heading: 23.999903 deg, new cmd heading: 23.999198 deg. BugO}HeadingCmd: 0.418865 target range: 622.105713 and range: 624.70 m.}zu>y*y"y ʎjZ`a?=NFBɢ=uZ<)9 =jm`G;m(Imzu>Iq9@ @@`0@^Amټ9echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512178A-?AI1IAOMt>BM>BMACBM HBMlFBBIBIBIBIBMA9EY :,k-W@A02G:>2>2w*;ٱ2ʓ :AHRS rotation from veh to nav: [[0.921052,-0.388715,-0.023751],[0.389431,0.918910,0.062837],[-0.002601,-0.067126,0.997741]]2HBy?@ؿ@R`o?@g??Ne%/~?i2G:>I2/x_;2hCYBaFByBHi-Mb@Mb@Mb@)))) )9-}?5^I?y-t=--A-nA -A)))Y-\AbDUVDU:ym;<%mD=ٔu;Q-u>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7631459`>Y`>=gGy=`<E>Q 5 4aމ?Q 9 4$)(YBY>Q E:y+>Q I@71DI&;iT&;v4y=Bɮ=A=EE  EE+E"EF;*E:VE [4ZEBEb*" !!!!ʎ)))jIZU@ԉ额QFBɢs)<)  E;J9Ip>I>i>@ @@ 5@@=@=Թ} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015452^A U A5 OAIA IQ O] >ّ,TGW@A2g3@>2>2w;ٱ2| :AHRS rotation from veh to nav: [[0.918781,-0.394049,-0.023786],[0.394749,0.916493,0.064913],[-0.003779,-0.069030,0.997607]]2H@f?@8ٿ`^[C?S?$? n@f?i2g3@>I2=_;2lCYVcFByVHXI^i>)^>`bAbDfVDf0ynߒ;%nT=ٔnG;Q-n>9r>Yr>=rgGypv <Ev>tQ 5~4v މ?Q 9~4v )v&YBY|y~>Q I~@vA1DIvf;iv:v2}4y ɮ A j)gO5FNOT Ignoring new targets: 622.11 m.R=DZ=DgOE ProNav: ac range: 622.105713 m, nav range: 615.682556 m, bearing: 24.347434 deg, approach rate: -0.466582 m/s, LOS rate: -0.002678 deg/s, cmd heading: 23.997209 deg, new cmd heading: 23.995331 deg. BMӜgOUHeadingCmd: 0.418798 target range: 622.105713 and range: 624.70 m.Ul>Q*Q"Q QQYYYʎYaajaZeF@颕SFBɢM[<) #qil>MD;ػIl>IE9@I @I@M4@I^A%echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266980E EE)E"EsH;*EZ:VEFA4ZEa@a@a@a@AU UAIYIiO}X>)a \,?aW@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520255ZE>Z7>Z,;ٱZ fAHRS rotation from veh to nav: [[0.916878,-0.398404,-0.024660],[0.399138,0.914322,0.068583],[-0.004777,-0.072725,0.997341]]ZHW?@tٿ@a@`z? B??s 7?iZE>IZ}_;ZjCYj^FByjHYiMb@Mb@Mb@ 9x&1?L7A`?~jtYA>y+=DAbA ) AYAAAbDVDy2%;=ٔ;Q->9>Y>=gGyHF3<E>BA<B>BBBBBBB;BD9EQ 54/މ?Q 94Ø)YBY%>Q E%:y%>Q I%@M1DIH:iQ:䄲4y)ɮ-A1jQgO]FNOT Ignoring new targets: 622.11 m.R]m/Z]m/gOm ProNav: ac range: 622.105713 m, nav range: 615.489502 m, bearing: 24.346378 deg, approach rate: -0.438313 m/s, LOS rate: -0.002396 deg/s, cmd heading: 23.995331 deg, new cmd heading: 23.993220 deg. BmWgOuHeadingCmd: 0.418761 target range: 622.105713 and range: 624.70 m.ug>q*y"y yyyʎjZ@5VFBɢ5;)1 5EԍC;EgEIEg>IIԉ9@ @@5@Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770920E EE-E"EC;*Er:VEt4ZEBE@ A] eAIa Iq O >),d{W@A2I>2x>2;ٱ2 :AHRS rotation from veh to nav: [[0.915069,-0.402482,-0.025617],[0.403258,0.912255,0.071935],[-0.005583,-0.076156,0.997080]]2H?H?@Cٿ`H;?01?Sj?`v~?i2I>I2gc_;2lCYZ]FByZHbDfVDfyn|%n]=ٔn;Q-r>9r^>Yr^>=rgGypvF<Ev>xQ 5~4z:މ?Q 9~4zǖ)zYBYy>Q I@zX1DIz ;iz;zL4y Bɮ A j1gO5FNOT Ignoring new targets: 622.11 m.R=<Z=<gOM ProNav: ac range: 622.105713 m, nav range: 615.328857 m, bearing: 24.345434 deg, approach rate: -0.438164 m/s, LOS rate: -0.002576 deg/s, cmd heading: 23.993220 deg, new cmd heading: 23.991331 deg. BMٖgOUHeadingCmd: 0.418728 target range: 622.105713 and range: 624.70 m.U{c>Q*Q"Q QYYYaʎaaajaZmͻ @颕YFBɢ;) ];i);顙icqi{c>7C;V0:I{c>IԹ=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023611U9@Q @Q@Q@Q@i@i^AM[RӻA}pjAIIO^> BDAT read: Rx Time:00:29:13.4687  TRx dataTimestamp_ set to:1761697754.285108 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2759559 E  E E *E "E >T;*E L:VE (N4ZE a @a @a @a @,RCW@AR>M>R~>R,;ٱRb" ZAHRS rotation from veh to nav: [[0.913506,-0.405960,-0.026528],[0.406775,0.910420,0.075291],[-0.006414,-0.079570,0.996809]]RH@p;?@ٿ*?)"?GF?`Ez^`?iR>M>IR_;RmCYbQFBybH ddbDjVDjy% G=ٔ ;Q- >9>Y>=gGy<E>Q 5%4_Hމ?Q 9-4)YBY)y->Q I-@c1DI):id:v4y1ɮ]3AYPuB*** querying acoustic contact ***q qjgOFNOT Ignoring new targets: 622.11 m.RCZCgO ProNav: ac range: 622.105713 m, nav range: 615.149231 m, bearing: 24.344315 deg, approach rate: -0.429358 m/s, LOS rate: -0.002676 deg/s, cmd heading: 23.991331 deg, new cmd heading: 23.989092 deg. BgOHeadingCmd: 0.418689 target range: 622.105713 and range: 624.70 m.\^>*" ʎjZ@& @e]FBɢe;)i m8ii)mFo;iiim*cqi\^>?C; o;I\^>II@I @I@M5@II]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529530B>B@CBBBBBB;BQ9E^AeqA} uAI I O >ԙ ;;,W@AB*/Q>BB>B;ٱB NAHRS rotation from veh to nav: [[0.912093,-0.409013,-0.028173],[0.409925,0.908665,0.079299],[-0.006835,-0.083877,0.996453]]BH/?`E-ڿlٜ`7IB)_;@YZEFByZHDAT read: 00:29:13.4687 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 491,-0.40, 0.261,-1.274, 0.529, 0.304, PHS= 0.059,-1.533, 0.181, RAW= 153.6, 15.4, CAL= 154.2, 17.5, ROT= 355.8, -17.5 Ygot valid direction response: 00:29:13.4687 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 491,-0.40, 0.261,-1.274, 0.529, 0.304, PHS= 0.059,-1.533, 0.181, RAW= 153.6, 15.4, CAL= 154.2, 17.5, ROT= 355.8, -17.5 6DAT read: bearing request Dreceived a bearing request messageBDAT read: Tx time:00:29:15.0715 $Ping request sent.? )PIq=iX9ĿX9>+@>9>,@ a>)Y@IaYp?! ៑?? a?)Ii ia:publishing transmit ping time:publishing range request flagyy,Co?L᱿->? )Ii )IYp?! ៑?? )IiiMb@Mb@Mb@ 9~jt?y&1?~jtY>y`<AA )YA 5<5bD=VD=fyMּ%M8=ٔMw:Q-M>9U>YU>=UgGyUIF];E]>aQ 5m4eVމ?Q 9m4e2)e YBYm3>Q Em:ymR>Q Iu@ep1DqD}@AzD}@AE EE)E"E1A;*E:VEFA4ZEBE*" ʎjZ`@-aFBɢ-;)1 5ݼi1)5Y;11i=8Kqi=wY>=C;;IwY>ԡI=9@9 @9@=_0@9^A} ; A AI I O >, 7W@A2S>2l>28;ٱ2 :AHRS rotation from veh to nav: [[0.910989,-0.411325,-0.030172],[0.412364,0.907084,0.084583],[-0.007422,-0.089496,0.995960]]2H&? (Sڿ e垿 +d??3?`f~@.鶿?i2S>I2jk_;2lCYBBFByBHbDJ VDJ:2yRӻ%RL=ٔV:Q-V>9V@?YZ@?=ZgGyXZ;EZ>\Q 5b4^ucމ?Q 9f4^)^YBYdyf>Q If@^{1DI^] ;i^i ;^>4yhɮj[Alj|gO~FNOT Ignoring new targets: 622.11 m.RNZNgO ProNav: ac range: 622.105713 m, nav range: 614.786377 m, bearing: 24.342240 deg, approach rate: -0.481673 m/s, LOS rate: -0.002814 deg/s, cmd heading: 23.986953 deg, new cmd heading: 23.984943 deg. BҤgOHeadingCmd: 0.418616 target range: 622.105713 and range: 624.70 m.T>*" !!!))ʎ)))j1Z5@AedFBɢe;)a eXii)m;iiim+qiuT>uHD;u Iy@ @@m0@@>@>E  EE,E"EC;*E:VEg4ZEa@a @a @a @qԡ^Aϩ;A1 Ia I O > ,W@AAAAAB>BBHBaFBBBBB;Bv9EBu@CBu@CBuCBu =Bu =Cu4FObV>F>F <ٱF NAHRS rotation from veh to nav: [[0.909993,-0.413431,-0.031423],[0.414548,0.905763,0.087998],[-0.007919,-0.093104,0.995625]]FH`?uڿ` ? ? ?8շ(?iFObV>IFM_;FjCY~PFBy~HI4=)y<#A )YAbDVD:2y5<%<=ٔ:Q->9YԹ=gGyJF;E>Q 54\qމ?Q 94΍)XBY>Q E:y`>Q I@1DI ;iG ;ڨ4yBɮ/AEj gO FNOT Ignoring new targets: 622.11 m.R A$ZA$gO% ProNav: ac range: 622.105713 m, nav range: 614.600464 m, bearing: 24.341264 deg, approach rate: -0.426903 m/s, LOS rate: -0.002244 deg/s, cmd heading: 23.984944 deg, new cmd heading: 23.982989 deg. B%ggO-HeadingCmd: 0.418582 target range: 622.105713 and range: 624.70 m.-eP>)*)") )))ʎjZc@hFBɢn;)  ¼i ) $; QiUqi]eP>]]E;])J*Ia@ @@4@E EE+E"EC;*E:VE [4ZEBE@2,+W@A2X>2~>2\<ٱ2z~Ľ >AHRS rotation from veh to nav: [[0.908965,-0.415608,-0.032453],[0.416791,0.904485,0.090507],[-0.008262,-0.095794,0.995367]]2H`=?Pڿ?@?@w+?뀿󅸿 ?i2X>I2s_;2lCYN?FByNH\\bDbVDbJyn2%rX=ٔvm:Q-v>9z?Yz?=zgGyx~;E> Q 54 |}މ?Q 94 ҋ) XBY!y%>Q I-@ 1DI 6g;i h; ~4y1ɮ=QAjgO%FNOT Ignoring new targets: 622.11 m.R%$ Z%$ gO5 ProNav: ac range: 622.105713 m, nav range: 614.438293 m, bearing: 24.340374 deg, approach rate: -0.398803 m/s, LOS rate: -0.002188 deg/s, cmd heading: 23.982988 deg, new cmd heading: 23.981209 deg. B5gO=HeadingCmd: 0.418551 target range: 622.105713 and range: 624.70 m.=SL>9*9"A AAAIIʎIIIjIZU B@}lFBɢ}3;) 3i) ;顁ipiSL>i}F;O%LI-9@) @1@54@1A^AuC"ԙ A#,QW@A2 Z>2>2:i <ٱ2ʽ :AHRS rotation from veh to nav: [[0.908291,-0.416982,-0.033655],[0.418253,0.903538,0.093186],[-0.008448,-0.098716,0.995080]]2H?ׯڿF;?`?۷?MtE?i2 Z>I2_;2kCYB;FByBHbDJVDJyR %RM=ٔV9Q-V>9Vd ?YZd ?=ZgGyXZ;EZ>\Q 5b4^މ?Q 9b4^)^XBYdyfa>Q If@^1DI^U;i^r;^j4yhɮjXAlPzB*** querying acoustic contact ***x xj|gOFNOT Ignoring new targets: 622.11 m.RW<Z W<gO ProNav: ac range: 622.105713 m, nav range: 614.269348 m, bearing: 24.339423 deg, approach rate: -0.457002 m/s, LOS rate: -0.002573 deg/s, cmd heading: 23.981209 deg, new cmd heading: 23.979307 deg. BgO%HeadingCmd: 0.418518 target range: 622.105713 and range: 624.70 m.%G>!*!"! !!)))ʎ111j1Z5 @epFBɢeCV;)a ePia)m^;iiimpiuG>uG;u_Iyi9@! @!@-5@)@Q@UYAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԑB>BBHBWFBBBBB;B9E^AE*:<I9 II Oe > M T****** received valid address query ******M R****** received valid ping request ******M received new query, but waiting for acoustic response period to elapseJ,֍3W@A2TS\>2>2.K <ٱ2ѽEn ElEn/El"En1A;*ElVEnJ4ZElBEnI2Q_;2mCY~5FBy~H AiMb@Mb@Mb@ 9333333?Q?y&1Y>yu<`exAA  A)YQAbDVDyb%;=ٔ9Q->9Y=gGyKF?;E>Q 54މ?Q 94)XBY>Q E:y>Q I@1DI6;i ;4yBɮpAEjgOFNOT Ignoring new targets: 622.11 m.RZZZgO ProNav: ac range: 622.105713 m, nav range: 614.083618 m, bearing: 24.338727 deg, approach rate: -0.424854 m/s, LOS rate: -0.001594 deg/s, cmd heading: 23.979307 deg, new cmd heading: 23.977913 deg. B:gOHeadingCmd: 0.418494 target range: 622.105713 and range: 624.70 m.D>*" ʎjZ @MtFBɢM=;)I Mh}iI)U7;QQiU4pi]D>]\I;]>wI9@ @@5@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A l;<1 I I O >I ., ZMW@AY9FByH 4<<bDVDy-%<%-T=ٔ-Q-->91Y1=5gGy1=E=>AQ 5M4Evމ?Q 9M4E)EXBYIyIQ IM@E1DIEG:iE:EIJ4yYɮ]hAYjgOFNOT Ignoring new targets: 622.11 m.RZgO ProNav: ac range: 622.105713 m, nav range: 613.919617 m, bearing: 24.338112 deg, approach rate: -0.425132 m/s, LOS rate: -0.001595 deg/s, cmd heading: 23.977914 deg, new cmd heading: 23.976683 deg. B:gOHeadingCmd: 0.418472 target range: 622.105713 and range: 624.70 m.A>*" ʎjZ@xFBɢR;) i)u;i|oiA>J;tIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse)@ @@@E EE,E"EI@;*E:VEg4ZEa @a @a @a @Y^Ak<IQIiOu>ԩ  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 HB MFBB =B B B ;B 9ESW,-gW@A@B8]>B>B <ٱB߽ JAHRS rotation from veh to nav: [[0.907005,-0.419387,-0.038163],[0.421033,0.901251,0.102363],[-0.008536,-0.108912,0.994015]]BH@/?=ڿ`6?` ? y4?${ỿ ?iB8]>IBˍ_;BiCYv-FByvHiuMb@Mb@Mb@qqqq q9u5^I ?~jtx?MbYu>yu;uu`Aq uA)qqYuAbDVDy%C=ٔ\Q->9Y=gGyLFQ;E>Q 54ޱމ?Q 94)XBY>Q E:y>Q I@1DIz ;i:̲4yBɮAjQgOUFNOT Ignoring new targets: 622.11 m.R]|Z]|gOm ProNav: ac range: 622.105713 m, nav range: 613.743286 m, bearing: 24.337752 deg, approach rate: -0.421587 m/s, LOS rate: -0.000861 deg/s, cmd heading: 23.976682 deg, new cmd heading: 23.975962 deg. BmɷgOHeadingCmd: 0.418459 target range: 622.105713 and range: 624.70 m.R@>*" ʎjZ>@U~FBɢU:)Q UiQ)]+;YYi]oieR@>eL;eXIiԩ@ @@0@@>@>%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseE  EE*E"EE;*E:VE(N4ZEBE A,W@AJ^>Jg>J<ٱJ ZAHRS rotation from veh to nav: [[0.906838,-0.419627,-0.039465],[0.421396,0.900820,0.104633],[-0.008356,-0.111515,0.993728]]JH`?,ڿ4(??7ɺ?@E?iJ^>IJ@_;JmCYf.FByfHIj=l)jlnAbDv VDv2y~D];%~U=ٔQ->9Y = gGy  ::E >Q 54/މ?Q 94Ł)XBY!y%>Q I%@1DI:iI:Ҳ4y)ɮ-A1jQiߙIߝAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsegOFNOT Ignoring new targets: 622.11 m.R@Z@gO ProNav: ac range: 622.105713 m, nav range: 613.581238 m, bearing: 24.337416 deg, approach rate: -0.422121 m/s, LOS rate: -0.000876 deg/s, cmd heading: 23.975962 deg, new cmd heading: 23.975289 deg. B4ͷgOHeadingCmd: 0.418448 target range: 622.105713 and range: 624.70 m.>>*" ʎ!!j!Z%yQ@FBɢ`$u:) Hi)X;iWoi>>^N;Y>I @ @@0@1^AI) I9 M T****** received valid address query ******M R****** received valid ping request ******M received new query, but waiting for acoustic response period to elapseOU >E  E E 'E "E 1A;*E u:VE '4ZE a @a @a @a @Y h,.W@A6^>64>6{ <ٱ6r >AHRS rotation from veh to nav: [[0.906651,-0.419946,-0.040360],[0.421796,0.900394,0.106672],[-0.008456,-0.113738,0.993475]]6HI? cڿ?@?N?Q?i6^>I6_;6kCY^FBybHdfAAbDjVDjyrG%rL=ٔv:9Q-v>9tYt=vgGyvMFz~:Ez>|Q 54~މ?Q 94~)~XBYy >Q I @~1DI~:i~:~ٲ4yɮAP-B*** querying acoustic contact ***1 19jAgOEFNOT Ignoring new targets: 622.11 m.RMZMgO] ProNav: ac range: 622.105713 m, nav range: 613.412476 m, bearing: 24.337059 deg, approach rate: -0.420522 m/s, LOS rate: -0.000889 deg/s, cmd heading: 23.975289 deg, new cmd heading: 23.974576 deg. B]%зgOeHeadingCmd: 0.418435 target range: 622.105713 and range: 624.70 m.e&=>a*a"a aiiiiʎqqqjqZu@颥FBɢ) $ٽi)";顩ini&=>(P;I]9@Y @Y@Y@aqT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseB>BACBHBCFBB =BBB;B9E^AqԑIIO> ] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapse,ԴW@A2^>2B>2 <ٱ2 :AHRS rotation from veh to nav: [[0.906625,-0.419880,-0.041607],[0.421851,0.900044,0.109369],[-0.008473,-0.116709,0.993130]]2H@?PڿM ?)? ?@vZཿ?i2^>I2AY_;2jCYB+FByBHE^ E^E^)E\"E^a?;*E^:VE^FA4ZE\BE^yDDSAA )AYAbDVD2yEe=%E6=ٔE18Q-E>9IYI=MgGyIU9EU>YQ 5e4]Nމ?Q 9e4]})]XBYe>Q Ee;ye>Q I@]1DI]U"gOHeadingCmd: 0.418434 target range: 622.105713 and range: 624.70 m.<>*" ʎ j Z @U @5FBɢ5`9)9 =B½i9)=R;99iE6-niE<>M3R;M2IIԹ9@ @@^0@@@[AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A% < Au AIy I O >z,W@A2ln^>2(>2 <ٱ2 :AHRS rotation from veh to nav: [[0.906702,-0.419660,-0.042143],[0.421684,0.899955,0.110736],[-0.008545,-0.118176,0.992956]]2H?ڿʓ?@o?`3Y?@@K?i2ln^>I2?_;2kCYB(FByBH DFAF>Fp=bDN VDNf2yVm %Vi=ٔV-U9Q-V>9Z??YZ??=ZgGyZNFZ E^>`Q 5f4bmމ?Q 9f4b<|)bXBYdyf>Q If@b1DIbl:ibd:b4ylɮnAlj|gOFNOT Ignoring new targets: 622.11 m.RZ gO ProNav: ac range: 622.105713 m, nav range: 613.080994 m, bearing: 24.336979 deg, approach rate: -0.423662 m/s, LOS rate: -0.000098 deg/s, cmd heading: 23.974483 deg, new cmd heading: 23.974416 deg. B7gO%HeadingCmd: 0.418433 target range: 622.105713 and range: 624.70 m.%<>!*!"! !!!))ʎ))1j1Z5 ,!@]FBɢ]ߠ)Y ]fѽiY)eg\;aaiemim<>m S;mIqT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE EE-E"E[I;*E:VEt4ZEa@a@a@a@@ @@O0@!Y^A T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԁ A 0AI I O >A A @AB >B BCB HB 9FBB =B B DB ;B 9E:,tW@A6]>6p>6'<ٱ6 >AHRS rotation from veh to nav: [[0.906977,-0.418985,-0.042953],[0.421091,0.899938,0.113111],[-0.008737,-0.120676,0.992653]]6H?@ڿ `&?J? ?䁿`便@?i6]>I6|W_;6lCYF6FByFHiMb@Mb@Mb@ 9l?y&1|~jth?Y>y`廙D;GA  A) AYA -;-4<bD-VD-1y==%EA=ٔE9Q-E>9E?YM?=MgGyIMʺEM>QQ 5]4U#މ?Q 9e4UTz)QYe>Q Ee:ye>Q Ie@U1DIU ;iU ;U14ymBɮuAuEjgOFNOT Ignoring new targets: 622.11 m.R6Z6gO ProNav: ac range: 622.105713 m, nav range: 612.902893 m, bearing: 24.337075 deg, approach rate: -0.420926 m/s, LOS rate: 0.000227 deg/s, cmd heading: 23.974416 deg, new cmd heading: 23.974609 deg. B6gOHeadingCmd: 0.418436 target range: 622.105713 and range: 624.70 m.Q:=>Y*Y"Y YYYaaʎaaijiZm m!@颵FBɢu*9) i)8;项iM=mi:=>U;mI9@ @@4@ԁ%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseE  EE+E"ED;*E:VE [4ZEBEњ ,ڍW@A2r\>2 >2<ٱ2a5 :AHRS rotation from veh to nav: [[0.907321,-0.418186,-0.043457],[0.420344,0.900084,0.114713],[-0.008856,-0.122348,0.992448]]2H?`ڿ@?`}?]?&# 7R!?i2r\>I21_;2mCBPExceeded connect timeout, disconnecting.YF"FByFHbDNVDNNyVHQ%VR=ٔZ9Q-Z>9XYX=ZgGyX^ E^>`Q 5f4bމ?Q 9f4bx)`Yhyj >Q Ij@b1DIb):ib:b4ylɮnAljgOFNOT Ignoring new targets: 622.11 m.R 6Z 6gO ProNav: ac range: 622.105713 m, nav range: 612.739014 m, bearing: 24.337176 deg, approach rate: -0.421091 m/s, LOS rate: 0.000259 deg/s, cmd heading: 23.974609 deg, new cmd heading: 23.974811 deg. B6gO%HeadingCmd: 0.418439 target range: 622.105713 and range: 624.70 m.%=>!*!"! !))))ʎ111j1Z5@ "@eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapsemFBɢmJ-)q u iq)u۽;qqiuŲli=>/W;}I!ԑ9@ @@4@@>@ >^AoM< T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseE  E E )E "E sH;*E :VE FA4ZE a @a @a @a @A I I O% > ,k*W@A2[>2x>2' <ٱ2. :AHRS rotation from veh to nav: [[0.907861,-0.416967,-0.043909],[0.419183,0.900519,0.115545],[-0.008637,-0.123305,0.992331]]2H1 ?`ڿ@M{? ?[?V萿-?i2[>I2^;2kCYBFByBHIF=)FC=DFAbDNVDNyvϻ%vH=ٔv Q-v>9xYx=zgGyzOF~ME~>Q 5 4 ߉?Q 9 4v)Y y y>Q I@ 2DIl:iB: 4yɮAP5B*** querying acoustic contact ***1 1jIgOMFNOT Ignoring new targets: 622.11 m.RM6ZU6gOe ProNav: ac range: 622.105713 m, nav range: 612.567139 m, bearing: 24.337302 deg, approach rate: -0.420236 m/s, LOS rate: 0.000309 deg/s, cmd heading: 23.974811 deg, new cmd heading: 23.975063 deg. Be7gOmHeadingCmd: 0.418444 target range: 622.105713 and range: 624.70 m.mD>>i*i"i iiiqqʎqyyjyZ}v#@颭FBɢz)) i)R;顱iliD>>X;l>IQ@Q @Q@U5@QT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseB>BBBB =BBBς;Bp9EB-ACB-ACB-ŔCB)B-Ţ =C-59^A== T****** received valid address query ******= R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapsel ,d6W@A DPzDPEV EVEV*ET"EV[I;*EV:VEV(N4ZETBEVb>b <ٱb jAHRS rotation from veh to nav: [[0.908382,-0.415787,-0.044303],[0.418053,0.900904,0.116640],[-0.008585,-0.124475,0.992186]]bHw?`Aڿ㮦_?3?ܽ?є`ݿ ?ib`UZ>Ibg^;biCY%(FBy%HiMb@Mb@Mb@ 9S?~jtx{Gz?Y/>yĻ#<A )AY  bDVDky%r<%%8=ٔ%Q-%>9-?Y-?=-gGy)57E5>9Q 5E4=߉?Q 9E4=t)=XBYEC>Q EE:yMA>Q IM@=2DI=:i=:=4yU’BɮUAQjygO}FNOT Ignoring new targets: 622.11 m.RO6ZO6gO ProNav: ac range: 622.105713 m, nav range: 612.375305 m, bearing: 24.337381 deg, approach rate: -0.432700 m/s, LOS rate: 0.000177 deg/s, cmd heading: 23.975064 deg, new cmd heading: 23.975221 deg. B6gOHeadingCmd: 0.418447 target range: 622.105713 and range: 624.70 m.>>*" ʎjZY$@FBɢM) <i);i,xki>>Z;d\>Iii@i @i@m5@inManaging dock network, ignoring radio surface power offԡT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^Ajb< A I I O >I,zOW@ALY~FBy HeG}^AbD-9^AYhAVDJ2yP %O=ٔQ->9Y=gGyPFE>Q 54'߉?Q 94r)XBYyQ I@ 2DI;i; 4yɮӾAj)gO-FNOT Ignoring new targets: 622.11 m.R5O6Z5O6gOE ProNav: ac range: 622.105713 m, nav range: 612.205078 m, bearing: 24.337450 deg, approach rate: -0.432362 m/s, LOS rate: 0.000177 deg/s, cmd heading: 23.975221 deg, new cmd heading: 23.975360 deg. BE6gOMHeadingCmd: 0.418449 target range: 622.105713 and range: 624.70 m.M>>I*I"I IBDAT read: Rx Time:00:29:20.6228 TRx dataTimestamp_ set to:1761697761.345315T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseQiqqʎqqyjyZ}5%@bE=(N4jE=ÙT4rE=NU0E  E E)E"EC;*E:VEFA4ZEa@a@a@a@%FBɢ%An)I MiI)UTp;QQiUSji]>>]I[;]_>Iay@y @y@}v0@y@@\A)  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse^A (a<B <A B >B CCB B B B :DB DB ;B O9EQ Aq I I O >,mlW@A2ϥX>2>2Δ<ٱ2 :AHRS rotation from veh to nav: [[0.909068,-0.414198,-0.045105],[0.416556,0.901268,0.119155],[-0.008702,-0.127109,0.991851]]2H?9ڿ`ڨ?/??ҁE=?i2ϥX>I2^;2jCYB!FByBH DDi Mb@Mb@Mb@     9 {Gz?Mbp? rh?Y >y ; C< ;A  )  Y 3AbD%VD%1y5h<%5@=ٔ=9Q-=>99Y9=EgGyAE}EE>IQ 5U4MH6߉?Q 9]4Mp)MXBY]>Q E]:y] >Q Ie@M,2DIM/;iM/;M44yŒBɮҾA%Ej!gO%FNOT Ignoring new targets: 622.11 m.R-JZ-JgO= ProNav: ac range: 622.105713 m, nav range: 612.015564 m, bearing: 24.337120 deg, approach rate: -0.396826 m/s, LOS rate: -0.000693 deg/s, cmd heading: 23.975361 deg, new cmd heading: 23.974699 deg. B=>gOeHeadingCmd: 0.418437 target range: 622.105713 and range: 624.70 m.eo=>a*a"a aaiiiʎiqqjqZu&@FBɢ%) Wi)^L;i jio=>f\;]RGIDAT read: 00:29:20.6228 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 292,-0.01,-0.739,-2.267,-0.507,-1.041, PHS= 0.404,-1.181, 0.489, RAW= 152.6, 3.6, CAL= 151.6, 3.3, ROT= 358.4, -3.3 Ygot valid direction response: 00:29:20.6228 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 292,-0.01,-0.739,-2.267,-0.507,-1.041, PHS= 0.404,-1.181, 0.489, RAW= 152.6, 3.6, CAL= 151.6, 3.3, ROT= 358.4, -3.3  6DAT read: bearing request  Dreceived a bearing request messageBDAT read: Tx time:00:29:22.2256 $Ping request sent.:?#O]`8.y? )UI>i+5^>t*@=V)@ k=)+@Ik?7?C*3?? œ?)FIik:publishing transmit ping time:publishing range request flagyy >:?#O]`8.y? )Ii )I?7?C*3?? )IiA ^A A AI I! O- >Rw!,5&W@A6W>6—>6A<ٱ6  BAHRS rotation from veh to nav: [[0.909391,-0.413448,-0.045480],[0.415847,0.901403,0.120599],[-0.008866,-0.128585,0.991659]]6H?uڿ)I=?J?߾?#(vu?i6W>I6^;4YFFByFH LNbDRVDR02yZ[%ZT=ٔ^#9Q-^>9c?Yc?=gGyQFE>!Q 5-4%C߉?Q 9-4%n)%XBY)y5>Q I5@%72DI%s:i%:%"4y=Bɮ=A=EjagOeFNOT Ignoring new targets: 622.11 m.Rm{Zm{gO} ProNav: ac range: 622.105713 m, nav range: 611.839111 m, bearing: 24.336823 deg, approach rate: -0.511739 m/s, LOS rate: -0.000859 deg/s, cmd heading: 23.974700 deg, new cmd heading: 23.974107 deg. B}HɷgOHeadingCmd: 0.418427 target range: 622.105713 and range: 624.70 m.<>*" ʎjZ@&@FBɢ2) i)H;ibii<>s];_ ?IQQ@Q @Q@]p0@Yy^A}0:D<E EE)E"E<;*E:VEFA4ZEa@a@a@a@A I I ԩ O >',W@A@RDW>RL>R<ٱR) bAHRS rotation from veh to nav: [[0.909627,-0.412934,-0.045444],[0.415328,0.901557,0.121236],[-0.009092,-0.129154,0.991583]]RH ?mڿqD๔??`V ?`瞂  ?iRDW>IRB];RkCYnFBynHbDVD:yZ%D=ٔ%/:Q-%>9!Y)=-gGy)-E->1Q 5=45Q߉?Q 9E45l)5XBYAyEc>Q IE@5C2DI5 ;i5 ;5;!4yMBɮMAQPmB*** querying acoustic contact ***i ijgOFNOT Ignoring new targets: 622.11 m.RTZTgO  ProNav: ac range: 622.105713 m, nav range: 611.658264 m, bearing: 24.336529 deg, approach rate: -0.444725 m/s, LOS rate: -0.000724 deg/s, cmd heading: 23.974107 deg, new cmd heading: 23.973519 deg. B gO=HeadingCmd: 0.418417 target range: 622.105713 and range: 624.70 m.=:>9*9"9 99AAAʎAIIjIZM֢'@MT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseԱB >B B B B B B B ;B =9E}FBɢ}))y }0iy)A5;顡i*qhi:>3_;}8I]9@Y @Y@]4@Y@m=@m=  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse^A 9<E  E eE E "E y>;*E #;VE ZE BE U.,W@A2V>2P>2<ٱ2  :AHRS rotation from veh to nav: [[0.909905,-0.412265,-0.045936],[0.414711,0.901593,0.123067],[-0.009321,-0.131029,0.991335]]2H?`bڿ??`L?`?i2V>I2^;2jCYBFByBHi}Mb@Mb@Mb@yyyy y9}/$? rh? rh?Y}>y}C9Y=gGyRFuE>Q 54Gb߉?Q 94 j)XBYZ>Q E:y >Q I@Q2DI8W;ia;)4yɮϾAIjgOFNOT Ignoring new targets: 622.11 m.RZgO ProNav: ac range: 622.105713 m, nav range: 611.435303 m, bearing: 24.335604 deg, approach rate: -0.439869 m/s, LOS rate: -0.001825 deg/s, cmd heading: 23.973518 deg, new cmd heading: 23.971668 deg. BUgOHeadingCmd: 0.418385 target range: 622.105713 and range: 624.70 m.6>*"   ʎ  jZ@(@=FBɢ=Tһ)A MS/iI)M塲;IIiM͙giU6>Up"`;]JV0IYT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse@ @@4@yԩ^A% *:<AQ IY Ii O} > 5 BDAT read: Response Not Received = *response not received= V>2 >2c<ٱ2}< :AHRS rotation from veh to nav: [[0.910038,-0.411906,-0.046519],[0.414418,0.901520,0.124574],[-0.009375,-0.132645,0.991119]]2H? \ڿ^ѧӅ?@A?@?2@??i2W>V>I2E^;2iCER ERER/EP"ER,K;*ER:VERJ4ZEPaV@aV@aV@aV@YZ#FByZH`b@AbDfVDfynJ<%nZ=ٔr9Q-r>9pYp=vgGyvSFvbEv>xQ 554z0o߉?Q 954zh)zXBY9y=>Q I=@z\2DIzS,=izg,=z004yAɮEAIԱjgOFNOT Ignoring new targets: 622.11 m.RZgO ProNav: ac range: 622.105713 m, nav range: 611.263672 m, bearing: 24.334897 deg, approach rate: -0.430100 m/s, LOS rate: -0.001773 deg/s, cmd heading: 23.971669 deg, new cmd heading: 23.970254 deg. BOgOHeadingCmd: 0.418360 target range: 622.105713 and range: 624.70 m.C3>*"   ʎ ))j1Z5al)@颵FBɢNһ) /i);项i%fiC3>aa;-I @ @@5@*DAT read: user:378> BDAT read: Tx time:00:29:23.3773 $Ping request sent.j;,W@A>U>>o>>h<ٱ> FAHRS rotation from veh to nav: [[0.910207,-0.411466,-0.047106],[0.414045,0.901454,0.126280],[-0.009497,-0.134445,0.990876]]>H@j ?vUڿ6??)?r@5@?i>U>I>/^;y`<</AA A)AYAbDVDy%;=ٔI9Q->9Y=gGyquE > Q 54 k~߉?Q 94 we) XBY>Q E:yN>Q I@ i2DI :i : 74y-ĒBɮ-ݾA-EjIgOUFNOT Ignoring new targets: 622.11 m.RUoZUogOe ProNav: ac range: 622.105713 m, nav range: 611.059265 m, bearing: 24.333628 deg, approach rate: -0.527806 m/s, LOS rate: -0.003277 deg/s, cmd heading: 23.970253 deg, new cmd heading: 23.967716 deg. Bm俸gOmHeadingCmd: 0.418316 target range: 622.105713 and range: 624.70 m.mu->q*q"q qqqyyʎyyjZk.*@颭FBɢ" ) >i)gu;项ikeiu->a;(I!checking for new query: numPingsReceived=0, elapsed TxPingTime=0.261580E  EE*E"EE;*E:VE(N4ZEBEi I A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.510123B," W@A02U>2>2<ٱ2" >AHRS rotation from veh to nav: [[0.910225,-0.411376,-0.047551],[0.414007,0.901345,0.127183],[-0.009461,-0.135452,0.990739]]2H@ ?SڿX?`?G? `@zV!?i2U>I2^;2kCYB FByFHJ=J=bDNVDN1yVD%Vc=ٔZbҸQ-Z>9XYX=ZgGyZTF^E^>`Q 5f4b߉?Q 9f4b`c)bXBYhyjL>Q Ij@bt2DIb:ib:b!>4yɮAjgO%FNOT Ignoring new targets: 622.11 m.R%@Z-@gOU ProNav: ac range: 622.105713 m, nav range: 610.891113 m, bearing: 24.332585 deg, approach rate: -0.424319 m/s, LOS rate: -0.002634 deg/s, cmd heading: 23.967716 deg, new cmd heading: 23.965628 deg. B]FgO]HeadingCmd: 0.418279 target range: 622.105713 and range: 624.70 m.](>a*a"a aaaiiʎiiqj Z+@ԉFBɢmM) Wi) l;  i dim(>mxb;mgV)I9@ @@%1@!@%@%@-@-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761857ԹE EE+E"E:;*Ed:VE [4ZEa@a@a@a@ I I O5 >H,ܜ$W@A`Y~FBy~H  bDVDk1y%S<%%C=ٔ%Q-->9)Y)=-gGy)5E5>9Q 5E4=߉?Q 9E4=`)=XBYIyIQ IM@=2DI=:i=:=vE4B>BBHB9FBB =BBB;B8E]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.016280yǒBɮAP}B*** querying acoustic contact ***y yjgOFNOT Ignoring new targets: 622.11 m.RmBZmBgO- ProNav: ac range: 622.105713 m, nav range: 610.695129 m, bearing: 24.331368 deg, approach rate: -0.427537 m/s, LOS rate: -0.002656 deg/s, cmd heading: 23.965628 deg, new cmd heading: 23.963193 deg. B-gO5HeadingCmd: 0.418237 target range: 622.105713 and range: 624.70 m.5#>1*1"9 999AAʎAAajiZm2+@FBɢa) Ri)P;ici#>ec;"?*I @ @@0@I!I1OEr> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265875D zD E  E E E "E ;;*E :VE ZE BE W@A6VV>6V>6ڬ<ٱ6 >AHRS rotation from veh to nav: [[0.909998,-0.411812,-0.048109],[0.414502,0.900935,0.128471],[-0.009563,-0.136850,0.990546]]6H`?[ڿ͡4?t?q?`N?i6VV>I6^;6hCYDyDiMb@Mb@Mb@ 9Q?V-?Y>y<A )AYfAbD=VD=02ٔMpr9Q-M>9IYQ=UgGyUUF]:E]>aQ 5e4eT߉?Q 9m4eT^)eXBYm5>Q Em:ymr>Q Im@e2DIe:ies:e+M4y}Bɮ}վAyjgOFNOT Ignoring new targets: 622.11 m.RxZxgO ProNav: ac range: 622.105713 m, nav range: 610.483459 m, bearing: 24.330124 deg, approach rate: -0.578283 m/s, LOS rate: -0.003398 deg/s, cmd heading: 23.963193 deg, new cmd heading: 23.960706 deg. BƸgOHeadingCmd: 0.418193 target range: 622.105713 and range: 624.70 m.k>*" ʎjZ,@FBɢ9) "Yi) z;  i%mbi=k>=d;=23IAI@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517973IiIyO9>qԡ U, SXW@A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7697706XV>6W>6;<ٱ6@ BAHRS rotation from veh to nav: [[0.909995,-0.411768,-0.048544],[0.414509,0.900790,0.129462],[-0.009580,-0.137932,0.990395]]6H@?hZڿڨQ?D?3?Q?i6XV>I6H_;6jCER ERER-EP"ER[I;*ERu:VERt4ZEPaV@aV@aV@aZ@YZFByZHbDfVDf1yj%n<ԙٔ88Q->9Y=gGyN7E>Q 54U߉?Q 94\)XBY y Q I @2DI:i:T4yÒBɮAEj9gO=FNOT Ignoring new targets: 622.11 m.RENZENgOU ProNav: ac range: 622.105713 m, nav range: 610.295715 m, bearing: 24.329021 deg, approach rate: -0.480022 m/s, LOS rate: -0.002822 deg/s, cmd heading: 23.960705 deg, new cmd heading: 23.958497 deg. BUEgO]HeadingCmd: 0.418155 target range: 622.105713 and range: 624.70 m.]^>Y*a"a aaaiiʎiiijqZ%ys-@颍FBɢ5) gi)3;顑iai^>$e;I^>I9@ @@%_0@!IIOa>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024208B%<A!BABABEHBE/FBBABABABE;BED8EBCCBCCBǓCBǠ =Bǟ =CǕ3ԩԹ X[,.=rW@A2&V>2>2Z<ٱ2 :AHRS rotation from veh to nav: [[0.909791,-0.412172,-0.048929],[0.414955,0.900475,0.130223],[-0.009614,-0.138779,0.990277]]2H? aڿG ?`?#?``X?i2&V>I20_;2iCYZEBy^zHiMb@Mb@Mb@ 9Zd;?S㥛?~jtY>y/<D"A  A)AYA  BAbD VD2y%de%%7=ٔ-8Q-->9IYQ=UgGyUVFUę:EU>YQ 5e4]߉?Q 9e4]Y)]XBYmP>ԉQ E:yb>Q I@]2DI];i];]K[4yɮ AjgOFNOT Ignoring new targets: 622.11 m.R0Z%0Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.273916E EE*E"E1A;*E:VE(N4ZEBE*" aʎaaajiZmX.@颵GBɢS) 9i);i4Z`i>f;';IIZA)[AԹ9@ @@P0@^A 5< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526233 I I O >$c,.W@A2DW>2DM>2mv<ٱ2j{ :AHRS rotation from veh to nav: [[0.909623,-0.412474,-0.049516],[0.415328,0.900201,0.130922],[-0.009428,-0.139655,0.990155]]2H ?@eڿ )Z?`r? ?N6 Z?i2DW>I2J_;2gCYBFByBHbDJVDJ0yR=%R\=ٔVQ-V>9TY= gGy  :E >Q 54k߉?Q 94KW)XBY!y%>Q I%@2DI:ip:a4y-ƒBɮ-A1jQgOUFNOT Ignoring new targets: 622.11 m.R]@Z]@gO ProNav: ac range: 622.105713 m, nav range: 609.907349 m, bearing: 24.327020 deg, approach rate: -0.508951 m/s, LOS rate: -0.002634 deg/s, cmd heading: 23.956407 deg, new cmd heading: 23.954494 deg. B<gOHeadingCmd: 0.418085 target range: 622.105713 and range: 624.70 m.5>*" ʎj!Z- /@i quCG-ӿ91Y5A颍GBɢg) Ai)b;顑i+_i=5>Esh;E')AIAԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.777909@ @@O0@bEřT4jEY4rE0E5  E5E1E1"E5C;*E5:VE1ZE1aE@aE@aE@aE@Թ^A5 9< I I! O- >LGi,W@A2W>2̇>26I<ٱ2^U :AHRS rotation from veh to nav: [[0.909439,-0.412810,-0.050092],[0.415735,0.899919,0.131568],[-0.009234,-0.140478,0.990041]]2H?xkڿ`g?"?:? 邿`2i?i2W>I2_;2hCYZFByZHMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.031220B]>BYB]HB]$FBB] =BYBYB]́;B]l8EbDuVDuN2y4%>=ٔQ->9Y=gGyWF:E>Q 54߉?Q 94T)XBYy>Q I@2DI;iQ;Gi4yɮ A PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 622.11 m.R!Z!gO ProNav: ac range: 622.105713 m, nav range: 609.701904 m, bearing: 24.325948 deg, approach rate: -0.424153 m/s, LOS rate: -0.002213 deg/s, cmd heading: 23.954493 deg, new cmd heading: 23.952349 deg. BgOHeadingCmd: 0.418047 target range: 622.105713 and range: 624.70 m.N >!*!"! !AIQQʎQQYjYZ] /@GBɢ`)! %ʇi!)-ygy;))i-l]i5N >5&8i;5FGI99@ @@l4@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281838) EU  EU EU (EQ "EU &U;*EU #:VEU c44ZEQ BEU /p,CW@AVҒX>Va>Vg<ٱV ^AHRS rotation from veh to nav: [[0.909099,-0.413455,-0.050937],[0.416490,0.899529,0.131843],[-0.008692,-0.141073,0.989961]]VHU? vڿ p@ǧ??@:?́@¿­?iVҒX>IV)O_;VgCY5EBy=~HiMb@Mb@Mb@ 9\(\?y&1?{GzY>y`e<ף A·A )YAbDVD1yA%D=ٔGQ->9Y=gGy;E> Q 5-4 D߉?Q 954 sR) XBY=0>Q E=:y=}>Q I=@ 2DI ;i ; p4yEȒBɮM0AMEjigOuFNOT Ignoring new targets: 622.11 m.Ru)طZu)طgO ProNav: ac range: 622.105713 m, nav range: 609.497925 m, bearing: 24.325420 deg, approach rate: -0.570073 m/s, LOS rate: -0.001476 deg/s, cmd heading: 23.952350 deg, new cmd heading: 23.951293 deg. B,gOHeadingCmd: 0.418029 target range: 622.105713 and range: 624.70 m.>*" ʎjZ]W0@IMGBɢm )i uiq)ul;qqiu\i}>}eFj;}SI>i!>iIIMA]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534937e9@a @a@eM0@ay^A ԡ I I O > BDAT read: Rx Time:00:29:26.6098  TRx dataTimestamp_ set to:1761697767.405155 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786968Xv,ܞW@AE EE,E"EC;*E:VEg4ZEa@a@a@a@> GY>>~N>>I<ٱ>@ FAHRS rotation from veh to nav: [[0.908816,-0.413985,-0.051680],[0.417117,0.899194,0.132152],[-0.008239,-0.141659,0.989881]]>H@?~ڿ`u ?1?_?|߀`!¿?i> GY>I>^2_;>fCYNEBy]sHbDmVDm02y}w%}R=ٔ-Q->9Y=gGyXF6:E>Q 54?Q 94BP)XBYy>Q I@2DI(;i);Xw4yɮAAj9gOEFNOT Ignoring new targets: 622.11 m.RE̹ZE̹gO} ProNav: ac range: 622.105713 m, nav range: 609.307617 m, bearing: 24.324915 deg, approach rate: -0.478327 m/s, LOS rate: -0.001269 deg/s, cmd heading: 23.951293 deg, new cmd heading: 23.950283 deg. B}gOHeadingCmd: 0.418011 target range: 622.105713 and range: 624.70 m.>*" ʎjZ@U0@颕!GBɢ9-) ti)&\;顙i>D[i>'k;D]ԩI@ @@4@A=AAA=@ABABABEHBEFBBABABABE3;BE8E]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037918^Am LM< I! II Ou >Y|,{W@A6TY>6>6<ٱ6 >AHRS rotation from veh to nav: [[0.908616,-0.414376,-0.052058],[0.417555,0.898958,0.132371],[-0.008053,-0.142012,0.989832]]6Ha?!ڿ@i9?C?@?'~s-¿?i6TY>I6^;6iCYFEByDli5Mb@Mb@Mb@1111 195\(\?Mb`{GzY1y515A1 5A)11Y1bDMVDM1y]D%]L=ٔeaQ-e>9aYa=mgGyim:Em>qQ 5}4u?Q 94u'N)uXBY>Q E:y>Q I@u2DIu;iup;uU~4yƒBɮ9AzEjgO5FNOT Ignoring new targets: 622.11 m.R=K6ZUK6gOe ProNav: ac range: 622.105713 m, nav range: 609.111755 m, bearing: 24.324983 deg, approach rate: -0.506832 m/s, LOS rate: 0.000174 deg/s, cmd heading: 23.950284 deg, new cmd heading: 23.950418 deg. Be,6gOmHeadingCmd: 0.418014 target range: 622.105713 and range: 624.70 m.m>i*i"i iqqyyʎyyyjZ %1@DAT read: 00:29:26.6098 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 148,-0.34,-0.346,-1.972,-0.038,-0.452, PHS= 0.208,-1.475, 0.371, RAW= 154.6, 10.2, CAL= 154.4, 11.0, ROT= 355.6, -11.0 Ygot valid direction response: 00:29:26.6098 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 148,-0.34,-0.346,-1.972,-0.038,-0.452, PHS= 0.208,-1.475, 0.371, RAW= 154.6, 10.2, CAL= 154.4, 11.0, ROT= 355.6, -11.0 PDAT read: Bearing 185.3, -6.5 (Local) ~Local bearing/azimuth received: Bearing 185.3, -6.5 (Local) DAT read: Range 11 to 50 : 621.3 m (Round-trip 828.4 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages. ^direction in FSK: [0.978734,-0.075309,0.190809]Fpublishing direction and range infoyA&Q?;(zGP@ml?YSD )PIT>i̼>,@K6>iw,@  D>)@I DRl?AΒ?/t? cz?)U5IiFi D-T****** received valid address query ******-R****** received valid ping request ******E5  E5E5'E1"E5G;*E5:VE5'4ZE1BE5+l;dcIi@i @i@u4@q@\A@]A9^A hW<I I O5 >m *DAT read: user:379> u BDAT read: Tx time:00:29:27.9273 u $Ping request sent.u 2>2<ٱ2 :AHRS rotation from veh to nav: [[0.908598,-0.414421,-0.052008],[0.417593,0.898945,0.132339],[-0.008092,-0.141961,0.989839]]2H`<?`߅ڿع?(??`+¿ ì?i2PY>I2o^;2fCYBEByBlHHJAAbDNVDNNyPj%P=ٔ 8Q- >9 Y=gGyYF8E>Q 5%4?Q 9%4L)XBY)y->Q I-@2DI:i:44y1ɮ5DA99#W@AJDRDj>i@NdLG 0]@rA&Q?;(zGP@ml?ZiFb DW2@6Sl@]פ]@z jS#?Gp?OS?2bC: D"l?*-B(CP^K?%K“ CzD1>gO addTargetRange:: Added new target pos. range: 621.299988 m, deltaT: 17.151530 s, deltaX: -3.400024 m, approachRate: -0.198234 m/s, rangeRepo size: 3 gO Added new target pos. range: 618.738159 m, bearing: 21.911995 deg, lat: 36.779191 deg, lon: -121.859191 deg, deltaT: 17.151530 s, deltaX: -3.367554 m, approachRate: -0.196341 m/s, posRepo size: 3 jgOFNOT Ignoring new targets: 618.74 m.RZgO ProNav: ac range: 618.738159 m, nav range: 609.916321 m, bearing: 23.969562 deg, approach rate: 0.000000 m/s, LOS rate: 0.000174 deg/s, cmd heading: 23.950419 deg, new cmd heading: 23.950557 deg. BgOHeadingCmd: 0.418016 target range: 618.738159 and range: 621.30 m.4>*" ʎj`fj@ZPP?%2GBɢ%U)! %i))-c0=;))i-0Xi4>l#n;I4>IM9@I @I@M4@Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250938EE  EAEE2EA"EEC;*EAVEE4ZEAaM@aM@aM@aM@ԑ^Amjb<A}[AzA}ZAA .A I I O >L,1(W@ABr>BpBrHBrFBBpBpBpBr;Br-9E%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502739Y-EBy-=HbD=VD=yMk%MF=ٔMQ-U>9U ?YU ?=UgGyQ]E]>aQ 5m4e/?Q 9u4eI)eXBYyyQ I@e2DIe;iec;ԡej4yɮAjgO FNOT Ignoring new targets: 618.74 m.Rc Zc gO% ProNav: ac range: 618.738159 m, nav range: 609.714233 m, bearing: 23.969513 deg, approach rate: -0.480794 m/s, LOS rate: -0.000117 deg/s, cmd heading: 23.950557 deg, new cmd heading: 23.950458 deg. B-[gOeHeadingCmd: 0.418014 target range: 618.738159 and range: 621.30 m.m>*" ʎ  jZI?颍=GBɢ5O) i)&;顑iVi>]o;I>I]9@Y @Y@e5@achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754928EU  EU EU +EQ "EU CJ;*EU :VEU [4ZEQ BEU EE,'CW@AY5EBy5lH====qiMb@Mb@Mb@ 9Cl?~jtyDt A  A)YbDVD02y =%9=ٔQ->9Y=gGyZFE>Q 5 4??Q 9 4G)XBY>Q E:y>Q I@ 3DI ;iP;#4yɒBɮPA%{EP=B*** querying acoustic contact ***9 9jAgOMFNOT Ignoring new targets: 618.74 m.RUrG7ZUrG7gOe ProNav: ac range: 618.738159 m, nav range: 609.497192 m, bearing: 23.969806 deg, approach rate: -0.504435 m/s, LOS rate: 0.000681 deg/s, cmd heading: 23.950458 deg, new cmd heading: 23.951044 deg. Be7gOeHeadingCmd: 0.418025 target range: 618.738159 and range: 621.30 m.mQ>i*i"i iiqqqʎqyyjyZ}?%FGBɢ%~Q)-OϮ -i))-';))i55Ui5Q>59q;=cI9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007039ԡ9@ @@5@^A% jb< AU ؟A] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259305Ii Iy O >E  E E *E "E D;*E :VE (N4ZE a @a @a @a @,\W@ARX>R̮>R-<ٱR ZAHRS rotation from veh to nav: [[0.909324,-0.412657,-0.053325],[0.416010,0.899171,0.135745],[-0.008067,-0.145620,0.989308]]RH@/?hڿ uM??`?¿h?iRX>IRl^;RiCYmEByu^H bDVD0y%O=ٔ Q->9"?Y"?=gGyE>)Q 554-rO?Q 9=4-E)-XBYAyE>Q IE@-3DI-6g;i-i;-B4yqɮugAqjgOFNOT Ignoring new targets: 618.74 m.RRU7ZRU7gO ProNav: ac range: 618.738159 m, nav range: 609.297119 m, bearing: 23.970110 deg, approach rate: -0.479298 m/s, LOS rate: 0.000729 deg/s, cmd heading: 23.951044 deg, new cmd heading: 23.951652 deg. B7gOHeadingCmd: 0.418035 target range: 618.738159 and range: 621.30 m.>*" ʎjZ5-w-r;5II19@ @@2@AB]<A]<BaBaBeHBeEBBaBaBaBeׂ;Bey9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510939y^A a<A% ?A% ?AY Ii Iy O ԙ ,vW@A6eW>6]>6=<ٱ6( BAHRS rotation from veh to nav: [[0.909581,-0.412128,-0.053040],[0.415445,0.899437,0.135713],[-0.008225,-0.145477,0.989327]]6H`I? M`ڿ(?@0?_? {؀ ¿?i6eW>I6n^;6eCYJEByJTHiMb@Mb@Mb@ 9T㥛 ?{Gz~jtx?Y?yף;AA )YfAbDVD:2y %K=ٔ9Q->9Y=gGy[FlʺE>Q 54^?Q 94C)XBY"?Q E:y)>Q I@'3DID;i;4y̒BɮAjgO FNOT Ignoring new targets: 618.74 m.R 7Z 7checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762999gO- ProNav: ac range: 618.738159 m, nav range: 609.099854 m, bearing: 23.970619 deg, approach rate: -0.517932 m/s, LOS rate: 0.001338 deg/s, cmd heading: 23.951651 deg, new cmd heading: 23.952671 deg. B-8gO5HeadingCmd: 0.418053 target range: 618.738159 and range: 621.30 m.qE EE,E"EC;*E#:VEg4ZEBE@*" ʎjZ%te@mZGBɢ%Ǽ) \i)k:顱iQi >+Ts;CIԡ@ @@o0@i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015254^A% 0:D< I! I9 OE >,킐W@A2fV>2>>2 <ٱ2E BAHRS rotation from veh to nav: [[0.909982,-0.411245,-0.053008],[0.414561,0.899721,0.136534],[-0.008456,-0.146219,0.989216]]2H?@Qڿ@#+?@?`y?QL¿?i2fV>I2^;2gCYJEByJNHING>)N>PPbDVVDVyn<%nZ=ٔr :Q-r>9tYt=vgGytzJ)Ez>|Q 54~m?Q 94~A)~XBYy>Q I@~33DI~:i~d:~4yɮAj9gO=FNOT Ignoring new targets: 618.74 m.RE7ZE7gOU ProNav: ac range: 618.738159 m, nav range: 608.910339 m, bearing: 23.971126 deg, approach rate: -0.504345 m/s, LOS rate: 0.001349 deg/s, cmd heading: 23.952671 deg, new cmd heading: 23.953685 deg. BU8gO]HeadingCmd: 0.418071 target range: 618.738159 and range: 621.30 m.]\ >Y*Y"Y YYaaaʎajZ L@5bGBɢ=P߼)9 =Ǿi9)=WL:99iEsPiE\ >M3t;M.6II=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266909E  EE'E"EE;*E:VE'4ZEa@a@a@a@ NJNA@A @A@EP0@A9 Bu >Bu BCBq Bq Bu =Bu ;DBu DBu ;Bu 9EB1B1B1B1B5̠ =C54^A ԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520197IIO-> ,rW@A@5U>5ڎ>5~ <ٱ5V EAHRS rotation from veh to nav: [[0.910234,-0.410636,-0.053411],[0.414010,0.899831,0.137477],[-0.008392,-0.147248,0.989064]]5H ?GڿX`$?`j?Ԙ?/` ¿`i?i5U>I57];5iCYUEByULHiMb@Mb@Mb@ 9w/?~jtZd;O?Y?yDj< A·A A)AYbDVDyHS%=ٔQ->9 Y = gGy \F6E>Q 5%4k?Q 9%4>)XBY%?Q E%:y%R>Q I%@E3DI:iZ:4y5ϒBɮ5A5|EjYgO]FNOT Ignoring new targets: 618.74 m.R]6Ze6gOu ProNav: ac range: 618.738159 m, nav range: 608.627869 m, bearing: 23.971329 deg, approach rate: -0.527221 m/s, LOS rate: 0.000378 deg/s, cmd heading: 23.953685 deg, new cmd heading: 23.954091 deg. BuD17gO}HeadingCmd: 0.418078 target range: 618.738159 and range: 621.30 m.}I>y*y"y yyʎjZ`u@=pGBɢ=)9 =Ͼi9)EG{:AAiEMiMI>Mmu;MIQԡechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770833E EE*E"E=;*E:VE(N4ZEBEQ!, W@A2U>2zk>24S<ٱ2 :AHRS rotation from veh to nav: [[0.910348,-0.410388,-0.053372],[0.413766,0.900057,0.136734],[-0.008076,-0.146558,0.989169]]2H`!?CڿS"{?C?{?Zl¿E?i2U>I2];0YnEBynNHbDtVDty~|M;%~E=ٔhGQ->9Y=gGy *E >Q 54R?Q 94y<)XBY!y%*>Q I%@S3DIy:iN:E4y-ђBɮ-A)PMB*** querying acoustic contact ***I IjYgO]FNOT Ignoring new targets: 618.74 m.Re#6Ze#6gOu ProNav: ac range: 618.738159 m, nav range: 608.409180 m, bearing: 23.971492 deg, approach rate: -0.526158 m/s, LOS rate: 0.000393 deg/s, cmd heading: 23.954090 deg, new cmd heading: 23.954417 deg. Bu87gO}HeadingCmd: 0.418083 target range: 618.738159 and range: 621.30 m.}>y*y"y yʎjZ{ @颽zGBɢw) Ӿi)b$:ivKi>Qv;,IԱMG)]9YY]A9@ @@5@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275927@%@%@%@%bEjE-W4rE0E EE,E"E1A;*Er:VEg4ZEa@a@a@a@ I I1 O= >1 hG,-W@A2pU>2Vc>2<ٱ2 :AHRS rotation from veh to nav: [[0.910374,-0.410314,-0.053500],[0.413709,0.900049,0.136953],[-0.008041,-0.146812,0.989132]]2H!?Bڿbd5z?4??w¿?i2pU>I2?];0YBEByBYHF=F=bDJVDJkyR<%VP=ٔVQ-V>9TYX=ZgGyZ]FZ!&EZ>\Q 5b4^J?Q 9f4^N:)^XBYdyf#>Q If@^`3DI^#:i^:^4yhɮjAlj|gOFNOT Ignoring new targets: 618.74 m.R6Z6gO ProNav: ac range: 618.738159 m, nav range: 608.202515 m, bearing: 23.971647 deg, approach rate: -0.528340 m/s, LOS rate: 0.000397 deg/s, cmd heading: 23.954416 deg, new cmd heading: 23.954727 deg. B':7gOHeadingCmd: 0.418089 target range: 618.738159 and range: 621.30 m.>*!"! !!!))ʎ)))j1Z5@) @A@AAAABBBuHBEBBBBB;B9EGBɢ>) Ծi)%9!!i%iJi->-S=w;)I->I1}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527097@ @@o3@IIO%+>9i - BDAT read: Rx Time:00:29:31.1453 5 TRx dataTimestamp_ set to:1761697771.9411585 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779985E  E E 'E "E &U;*E :VE '4ZE BE J>J;ٱJa VAHRS rotation from veh to nav: [[0.910750,-0.409404,-0.054061],[0.412887,0.900322,0.137642],[-0.007679,-0.147679,0.989006]]JH $?3ڿխ@l?`o?D?}t#¿?iJT>IJ{];JhCYnEBynZHieMb@Mb@Mb@aaaa a9eNbX9?L7A`?Ye?yee+=aa a)eAaYe(A u49Y=gGyE>Q 54?Q 947)XBY?Q E:y>Q I@o3DI&%;iz%;dz4yԒBɮAjgOFNOT Ignoring new targets: 618.74 m.R_nZ_ngO ProNav: ac range: 618.738159 m, nav range: 607.976074 m, bearing: 23.971294 deg, approach rate: -0.521615 m/s, LOS rate: -0.000814 deg/s, cmd heading: 23.954727 deg, new cmd heading: 23.954020 deg. BgOHeadingCmd: 0.418077 target range: 618.738159 and range: 621.30 m. > * "    ʎjZx@GBɢ) پi )-))i-Gi5 >5x;5thI9Aԩ@ @@4@A?A?IaIychecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030929O:> Z,W@A2U>2T3>2Z;ٱ2 :AHRS rotation from veh to nav: [[0.910531,-0.409829,-0.054534],[0.413378,0.900131,0.137416],[-0.007229,-0.147665,0.989011]]2H`#?`:ڿ뫿t??ܖ?`:}@¿?i2U>I2n];2gCYBEByBxHbDHVDHyR=%RZ=ٔVQ-V>9TYT=VgGyZ^FZ:EZ>\Q 5b4^?Q 9b4^5)^XBYdyf>Q If@^{3DI^:i^:^=γ4yhɮjhAh DAT read: 00:29:31.1453 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 298, 0.28, 2.451, 0.904, 2.755, 2.476, PHS= 0.077,-1.528, 0.235, RAW= 154.6, 14.3, CAL= 155.1, 16.2, ROT= 354.9, -16.2 Ygot valid direction response: 00:29:31.1453 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 298, 0.28, 2.451, 0.904, 2.755, 2.476, PHS= 0.077,-1.528, 0.235, RAW= 154.6, 14.3, CAL= 155.1, 16.2, ROT= 354.9, -16.2 PDAT read: Bearing 190.1, -7.7 (Local) %~Local bearing/azimuth received: Bearing 190.1, -7.7 (Local) -DAT read: Range 11 to 50 : 610.3 m (Round-trip 813.8 ms) speed 0.5 m/s -R#Rx 1: Read range and direction messages.5^direction in FSK: [0.956492,-0.085365,0.278991]=Fpublishing direction and range infoyln2?gzewڵ?YnDllll l)nSIn-=inÿnףp>lnr>n?-@ nÐ>)n6@InÐlln?Q?I܇H?t? n?)n&InKinÐllUT****** received valid address query ******UR****** received valid ping request ******E] E]E]+EY"E]V;*E]:VE] [4ZEYam@am@am@am@iuQuerying Benthos address 50 with one ping in standard two-way mode.lnqW@AJnDRnDjn >n@i*@| I_2e@rn2?gzewڵ?ZnKbnÐnh@q/k@R(ee@zn .?gpsN??2nXC:nUD"nzW?*nD7Bn\Cnd=DĖ?ndgO addTargetRange:: Added new target pos. range: 610.299988 m, deltaT: 4.536005 s, deltaX: -11.000000 m, approachRate: -2.425041 m/s, rangeRepo size: 4 gOu Added new target pos. range: 607.781738 m, bearing: 21.835624 deg, lat: 36.779169 deg, lon: -121.859309 deg, deltaT: 4.536005 s, deltaX: -10.956421 m, approachRate: -2.415434 m/s, posRepo size: 4 jqgOuFNOT Ignoring new targets: 607.78 m.R}ZygO ProNav: ac range: 607.781738 m, nav range: 601.297180 m, bearing: 23.144372 deg, approach rate: 0.000000 m/s, LOS rate: -0.000814 deg/s, cmd heading: 23.954020 deg, new cmd heading: 23.953326 deg. BgOHeadingCmd: 0.418064 target range: 607.781738 and range: 610.30 m. >*" ʎj`f@ZY?ԁ颥GBɢm) Ӿi)۵顩iFEi >}y;?)Iy@y @y@}5@yԹBBCCBHBEBB =BBDB;B9E*DAT read: user:380> BDAT read: Tx time:00:29:32.4773 $Ping request sent. ',04W@A2U>2>2U^;ٱ2d :AHRS rotation from veh to nav: [[0.910207,-0.410486,-0.054997],[0.414098,0.899838,0.137166],[-0.006817,-0.147623,0.989020]]2H@j ?fEڿ`(?`y??{P¿ ?i2U>I2];2hCYNEByRqHTTiMb@Mb@Mb@ 9K7?y&1|?Q?Y ?y`;<AA A)ԹYAbDVDy+^%7=ٔqQ->9 ?Y ?=gGya:E> Q 5=4 ?Q 9=4 2) XBY= ?Q E=:y=g>Q IE@ 3DI r;i a;  ֳ4yMגBɮMAM}EjqgOuFNOT Ignoring new targets: 607.78 m.R}$9Z}$9gO ProNav: ac range: 607.781738 m, nav range: 601.056946 m, bearing: 23.143362 deg, approach rate: -0.601304 m/s, LOS rate: -0.002529 deg/s, cmd heading: 23.953327 deg, new cmd heading: 23.951306 deg. BgOHeadingCmd: 0.418029 target range: 607.781738 and range: 610.30 m.>*" ʎjZ\?uGBɢu%n)q u۾iq)}Jyyi}Ci>y;5Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250762Eu EuEu(Eq"EuI@;*Eu;:VEuc44ZEqBEu checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502714Lk,CWNW@AY=EBy=AHIM@AbDUVDUyeǽ%eT=ٔeQ-e>9iYi=mgGym_FmEu>qQ 5}4u?Q 94u0)uXBYyQ I@u3DIu:iu:uܳ4yɮ̿APB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 607.78 m.R'Z'gO ProNav: ac range: 607.781738 m, nav range: 600.850037 m, bearing: 23.142492 deg, approach rate: -0.544207 m/s, LOS rate: -0.002290 deg/s, cmd heading: 23.951305 deg, new cmd heading: 23.949563 deg. B"gO}HeadingCmd: 0.417999 target range: 607.781738 and range: 610.30 m.}>*" ʎ)j1Z5:H?}GBɢ}A3 )y }i)\顁iݼAi>pz;C4IE9@A @A@Ef4@AIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754727E}  E}E}+Ey"E}D;*E}1:VE} [4ZEya@a@a@a@ԩ^A 9<A [AzA AY Ii Iy O >Թ Z,2hW@A2W>2q>2;ٱ2 :AHRS rotation from veh to nav: [[0.909534,-0.411800,-0.056290],[0.415595,0.899351,0.135822],[-0.005307,-0.146929,0.989133]]2H?Zڿ@Ҭ@?|?b?ru¿ ?i2W>I2];0YBEByBQHbDJVDJyr=%vR=ٔv~Q-v>9xYx=zgGyxzq;E~>Q 5 4j?Q 9 4".)XBY y 9>Q I @3DI:i:4yՒBɮAtEjAgOEFNOT Ignoring new targets: 607.78 m.RE,ZM,gOU ProNav: ac range: 607.781738 m, nav range: 600.640991 m, bearing: 23.141579 deg, approach rate: -0.538282 m/s, LOS rate: -0.002350 deg/s, cmd heading: 23.949563 deg, new cmd heading: 23.947738 deg. B]gOeHeadingCmd: 0.417967 target range: 607.781738 and range: 610.30 m.e>a*a"a aaaiiʎiiqjqZu!?B}<AyB>BBCBBB =BBDB;B>9E颽GBɢZ@)  i)-úiL?i>E{;MI]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006897ԑ@ @@5@^Au[1<A ؟AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258697E  E E ,E "E :;*E :VE g4ZE BE 32>2I;ٱ2 :AHRS rotation from veh to nav: [[0.909303,-0.412118,-0.057670],[0.416112,0.899056,0.136198],[-0.004281,-0.147842,0.989002]]2H`?&`ڿ`熭?`?n?@6q ¿?i2C"X>I2݆^;2gCYnEByneH ppv=v=imMb@Mb@Mb@iiii i9mm?:v? rh?Ym?ym9"?Y"?=gGy`FM:E>Q 54'?Q 94@+)XBY?Q E:y>Q I@3DI7 ;i ;4yɮAjgOFNOT Ignoring new targets: 607.78 m.RZgO ProNav: ac range: 607.781738 m, nav range: 600.404419 m, bearing: 23.139863 deg, approach rate: -0.556108 m/s, LOS rate: -0.004036 deg/s, cmd heading: 23.947738 deg, new cmd heading: 23.944304 deg. BXgOHeadingCmd: 0.417907 target range: 607.781738 and range: 610.30 m. > * "    ʎjZ ? GBɢ r)Q U-iQ)U QQiU=i]>]0};]#TIa@ @@0@ mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510722^AM jZX`,yW@A2mX>2>2U;ٱ2 >AHRS rotation from veh to nav: [[0.909187,-0.412183,-0.059032],[0.416376,0.898864,0.136654],[-0.003265,-0.148823,0.988858]]2H?3aڿc9 ? ?}?j ÿ?i2mX>I2^;2fCYBEByFTH J;J4<bDNVDN2yVH%VZ=ٔZ1Q-Z>9XYX=ZgGy\bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762769^I:Ef>hQ 5j4j?Q 9n4j()jXBYlyn>Q In@j3DIj;ij;j4yvؒBɮvAtj gOFNOT Ignoring new targets: 607.78 m.RxZxgO- ProNav: ac range: 607.781738 m, nav range: 600.195007 m, bearing: 23.138337 deg, approach rate: -0.556400 m/s, LOS rate: -0.004056 deg/s, cmd heading: 23.944304 deg, new cmd heading: 23.941251 deg. B-gO-HeadingCmd: 0.417854 target range: 607.781738 and range: 610.30 m.->1*1"1 111ʎjZHh@颅GBɢ ) i)4顑i;i>bZ~;nXIE EE*E"E;;*E:VE(N4ZEa@a@a@a@Q59@1 @1@50@1yB}>ByByByByByByB}Y;B}8E^AMhW<AQAU>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016067Ա IQ Ia Om >,ߵW@A8FCY>FL>F ;ٱF:* RAHRS rotation from veh to nav: [[0.908851,-0.412690,-0.060642],[0.417116,0.898439,0.137194],[-0.002135,-0.149983,0.988686]]FHM? iڿ@ ?@??}a2ÿ@Q?iFCY>IF_;DYVEByVMHi]Mb@Mb@Mb@YYYY Y9]? rh?Y] ?y]C =]YY ]A)]AYY]AbDuVDuk2yT%==ٔ +Q->9Y=gGyaF):E>Q 54)?Q 94%)XBY ?Q E:y>Q I@3DI(*" ʎjZ)@颕GBɢ) piԡ)?4顡iI9i>h;3HeIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266802%9@) @)@-_0@)E EE(E"E1A;*E:VEc44ZEBEu checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518747,ܟW@A6^Y>6$o>6u:ٱ6( >AHRS rotation from veh to nav: [[0.908742,-0.412698,-0.062200],[0.417357,0.898111,0.138596],[-0.001336,-0.151908,0.988394]]6H@i?iڿ د`? T??@Uqÿ?i6^Y>I6`;6gCYDyFNHHJAbDRVDR0yV!;%ZZ=ٔZu Q-Z>9\Y\=^gGy\bh8:Eb>dQ 5f4f8?Q 9j4f.#)fXBYhyj>Q Ij@f3DIf>:if:f4lyrےBɮrƿApj gO FNOT Ignoring new targets: 607.78 m.R=Z=gO% ProNav: ac range: 607.781738 m, nav range: 599.752075 m, bearing: 23.134622 deg, approach rate: -0.579403 m/s, LOS rate: -0.004870 deg/s, cmd heading: 23.937284 deg, new cmd heading: 23.933820 deg. B%gO-HeadingCmd: 0.417724 target range: 607.781738 and range: 610.30 m.->)*)") )1111ʎ999jAZE@mGBɢmF(1)i miq)uRJqqiu:Z7i>{;ahI!@ @@0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7706569^Aa<IQIiEu  EuEu,Eq"EuX;*Eu:VEug4ZEqa}@a}@a}@a}@O>a , zW@A2Z>2>2)zķٱ2U :AHRS rotation from veh to nav: [[0.908332,-0.413256,-0.064435],[0.418249,0.897497,0.139882],[0.000023,-0.154009,0.988069]]2H ? rڿ ~`?`K?? E>ÿC?i2Z>I2`;2fCYnEBynGHtvAAbDzVDzyo%E=ٔVQ- >9 Y = gGy bF*;E>AAAA@AB%>B!B!B!B!B!B!B%N;B%8EBBCBBCBB =B =C54AAQ 5M4EJ?Q 9U4EM )EXBYQyU+>Q IU@E3DIE6:iE :E4yYɮeҿAaP}B*** querying acoustic contact ***y yjgOFNOT Ignoring new targets: 607.78 m.R㪸Z㪸gO ProNav: ac range: 607.781738 m, nav range: 599.521423 m, bearing: 23.132662 deg, approach rate: -0.549065 m/s, LOS rate: -0.004669 deg/s, cmd heading: 23.933820 deg, new cmd heading: 23.929897 deg. BgOHeadingCmd: 0.417655 target range: 607.781738 and range: 610.30 m.>*" ʎjZ; @GBɢH%) X i)hi2 5i>5;]xI=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022839@ @@o0@qԑ^Ak<AZAzAIQIiO> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274631D =D < E  E E (E "E CJ;*E r:VE c44ZE BE 2\>2,ٱ2l :AHRS rotation from veh to nav: [[0.907983,-0.413816,-0.065748],[0.419005,0.897111,0.140092],[0.001011,-0.154750,0.987953]]2H3?{ڿ԰? #??`P?ÿO?i2c[>I2a;2eCYNEByR.HiMb@Mb@Mb@ 9ʡE?L7A`?QY?y+=uA A)AYAԙbDVDy>%@=ٔQ->9Y=gGy:E>Q 54[?Q 94e)XBY?Q E:y>Q I@3DI ;i ;_4yݒBɮAuEj gO FNOT Ignoring new targets: 607.78 m.R2Z2gO- ProNav: ac range: 607.781738 m, nav range: 599.285828 m, bearing: 23.130799 deg, approach rate: -0.560263 m/s, LOS rate: -0.004431 deg/s, cmd heading: 23.929897 deg, new cmd heading: 23.926170 deg. B-gO-HeadingCmd: 0.417590 target range: 607.781738 and range: 610.30 m.5j>1*1"1 11999ʎAAAjAZE`s @mHBɢ 0) i)'i/2ij> ;LI9@ @@K0@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527115 quCGE!ÿ9IYM9A^A)  A] .AIa Iy O >,0W@ARBDAT read: Rx Time:00:29:35.7036 VTRx dataTimestamp_ set to:1761697776.477179Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779800YEByHbD-VD-1yE,%ER=ٔMQ-M>9U ?YU ?=UgGyUcF]Ee>ibE9jE=(N4rE=/0E   E E -E "E C;*E &:VE t4ZE a@a@a@a@Q 5u4ml?Q 9u4m)mXBYqyyQ I}@m 4DIm =im =m84yɮ'AjgOFNOT Ignoring new targets: 607.78 m.RdZdgO ProNav: ac range: 607.781738 m, nav range: 599.066345 m, bearing: 23.129063 deg, approach rate: -0.512320 m/s, LOS rate: -0.004054 deg/s, cmd heading: 23.926170 deg, new cmd heading: 23.922696 deg. BmgO HeadingCmd: 0.417530 target range: 607.781738 and range: 610.30 m. x> * "  )111ʎ199j9Z= x@颥HBɢ6) ?i)ݬiD0ix>c;{I!9@ @@?0@@ \A@ \ABE>BABEuHBEEBBABABABEm;BE9EUchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030602Y^A u<ԁ AU ؟AI I O >r ,g8W@A2d\>2P>2l@ٱ2O :AHRS rotation from veh to nav: [[0.907569,-0.414303,-0.068350],[0.419893,0.896583,0.140817],[0.002940,-0.156501,0.987673]]2H ? ڿ\?@ΰ?@M?@h?9Ŀ@?i2d\>I2,b;2dCYBEByB$Hi Mb@Mb@Mb@     9 Q??QY \?y <  A  A)  Y \A 4<bD%VD%k2y5z<%5A=ٔ=xQ-=>9="?Y="?=EgGyAE9;EE>ԱIQ 54M}?Q 94M)MXBY?Q E:y">Q I@M4DIMA*A"A AAAIIʎIQQjQZU @}HBɢD) i)0 顁i.-i>;ΉII[A)UDAT read: 00:29:35.7036 LVL= 28784, 29169, 23858, 32755, AGC= 84, IDX= 19, 0.12,-1.430,-2.950,-1.306,-1.729, PHS= 0.401,-1.176, 0.379, RAW= 149.3, 5.1, CAL= 148.6, 5.3, ROT= 1.4, -5.3 mYgot valid direction response: 00:29:35.7036 LVL= 28784, 29169, 23858, 32755, AGC= 84, IDX= 19, 0.12,-1.430,-2.950,-1.306,-1.729, PHS= 0.401,-1.176, 0.379, RAW= 149.3, 5.1, CAL= 148.6, 5.3, ROT= 1.4, -5.3 }PDAT read: Bearing 180.6, 0.6 (Local) }~Local bearing/azimuth received: Bearing 180.6, 0.6 (Local) DAT read: Range 11 to 50 : 616.6 m (Round-trip 822.2 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.995427,0.024328,0.092371]Fpublishing direction and range infoy  km?r]?{]U?Y &D  pp q 2] ) TI O>i + J >  &@ K= %@ q=) +  BDAT read: Tx time:00:29:37.0272  $Ping request sent. NV,0RW@AR+]>R@>RxٱR! ZAHRS rotation from veh to nav: [[0.907247,-0.414807,-0.069558],[0.420581,0.896212,0.141124],[0.003799,-0.157289,0.987545]]RH*?1ڿα ?`ĭ? X?ko?` "Ŀ?iR+]>IR c;RfCYrEByrHbDzVDzN2y%Ӽ%%L=ٔ-l Q-->9)Y)=5gGy5dF5r:E5>yQ 54}?Q 94}()}XBYy>Q I@}(4DI}:i}d:}#4yɮ4AAE¿>W@AJEDREDjE>E")@ (-@Nw?\L@rEkm?r]?{]U?ZE+<bEqEVh]I@fSgq@#BOK@zEE^?\$?>lFW?2EgO addTargetRange:: Added new target pos. range: 616.599976 m, deltaT: 4.536006 s, deltaX: 6.299988 m, approachRate: 1.388884 m/s, rangeRepo size: 4 gO Added new target pos. range: 614.055725 m, bearing: 27.090242 deg, lat: 36.779147 deg, lon: -121.859191 deg, deltaT: 4.536006 s, deltaX: 6.273987 m, approachRate: 1.383152 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 614.06 m.RZgO  ProNav: ac range: 614.055725 m, nav range: 600.596130 m, bearing: 24.146971 deg, approach rate: 0.000000 m/s, LOS rate: -0.003655 deg/s, cmd heading: 23.919748 deg, new cmd heading: 23.916867 deg. B gOHeadingCmd: 0.417428 target range: 614.055725 and range: 616.60 m.">*" !!!!)ʎ)))j-D@Z5`?])HBɢ]FK)Y e ia)emaaieI+im">m;mC(Iq 9@  @ @ @ A5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251415E EE+E"E[I;*E:VE [4ZEa@a@a@a@^AEoMԙ ,alW@AB A<B>BCCBhHBEBBBBDBl;B 9EB^>B>BܠٱB}! JAHRS rotation from veh to nav: [[0.906626,-0.416011,-0.070463],[0.421908,0.895776,0.139924],[0.004909,-0.156587,0.987652]]BH?@ڿ@ ?@3?@?t? Ŀ@ؚ?iB^>IBb;@YREByRHbDZVDZ:ybj%bP=ٔb9Q-f>9f ?Yf ?=fgGydjt;Ej>lQ 5r4n:?Q 9r4n)nXBYpyvE>Q Iv@n64DIn:in|:np*4yzBɮzJAzvEPB*** querying acoustic contact *** jgO%FNOT Ignoring new targets: 614.06 m.R%DZ%DgO5 ProNav: ac range: 614.055725 m, nav range: 600.380981 m, bearing: 24.145949 deg, approach rate: -0.565130 m/s, LOS rate: -0.002686 deg/s, cmd heading: 23.916867 deg, new cmd heading: 23.914822 deg. B=RgO=HeadingCmd: 0.417392 target range: 614.055725 and range: 616.60 m.=t>A*A"A AAAIIʎIIQjQZU`C ?}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501814颍5HBɢW) 4%i)iŻi9)i%t>-;-I1qԡ軉>i>m9@q @q@u5@q@}=@}>= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755689E  E E &E "E E;*E :VE 4ZE BE ",\ˈW@A2)_>2z>2ٱ2 :AHRS rotation from veh to nav: [[0.906229,-0.416719,-0.071369],[0.422747,0.895451,0.139473],[0.005787,-0.156565,0.987651]]2H?ڿ@E H??I2b;0YBEByBHi Mb@Mb@Mb@     9 n?Mb?MbY V?y <   ζA ) A Y AaaqbDm VDm:2y%-=ٔ[Q->9Y=gGyeF;E>Q 54B?Q 94)XBY?Q E:y#>Q I@G4DI:i/:24yBɮcAlEjgOFNOT Ignoring new targets: 614.06 m.RAZAgO ProNav: ac range: 614.055725 m, nav range: 600.118103 m, bearing: 24.145441 deg, approach rate: -0.555985 m/s, LOS rate: -0.001074 deg/s, cmd heading: 23.914821 deg, new cmd heading: 23.913806 deg. BgOHeadingCmd: 0.417375 target range: 614.055725 and range: 616.60 m.!>*"  ʎ  jZ?=DHBɢ=M)A E,iA)EDڻAAiE{{&iM!>M;UIQ-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005704ԙu" @  @ @ 1@  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258189 ^A- m<E=  E= E= )E9 "E= a?;*E= >:VE= FA4ZE9 aE @aE @aE @aE @!A؟AIIO>{),çW@A2m`>2>2ֻܑٱ2B! :AHRS rotation from veh to nav: [[0.905892,-0.417297,-0.072271],[0.423458,0.895136,0.139336],[0.006548,-0.156827,0.987604]]2H ?ڿ\@?? ?/z?Ŀ`t?i2m`>I2b;2eCYBEByBHbDjVDj0yr%r0=ٔr6׺Q-v>9v"?Yv"?=vgGyvfFz:Ez>|Q 54~?Q 94~ )~XBYy>Q I @~W4DI~:i~:~:4yɮAj9gO=FNOT Ignoring new targets: 614.06 m.REZEgOU ProNav: ac range: 614.055725 m, nav range: 599.860291 m, bearing: 24.144924 deg, approach rate: -0.556500 m/s, LOS rate: -0.001117 deg/s, cmd heading: 23.913805 deg, new cmd heading: 23.912770 deg. BUgO]HeadingCmd: 0.417357 target range: 614.055725 and range: 616.60 m.]ï>Y*Y"Y YaaaaʎiiijiZu n?额SHBɢY) ]4i)t顡iN#iï>؇;5,IBQBQBUOHBUEBBU =BU:DBQBU+;BU8Eԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510599Թ9@ @@l0@^A D-< checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762593 E  E E (E "E C;*E :VE c44ZE BE @1,>uW@ABpa>BGc>BUٱB JAHRS rotation from veh to nav: [[0.905467,-0.418060,-0.073184],[0.424350,0.894840,0.138520],[0.007579,-0.156481,0.987652]]BH?@ڿ2(?`?`? ?Ŀ@ؚ?iBpa>IBa;@YZ~EBy^Hj=j=iMb@Mb@Mb@ԉ 9Fx?MbpS㥛Y ?y/ݼA )YAbDVDky%,=ٔ:Q->9Y=gGyc;E>Q 54?Q 94 )XBY ?Q E:y>Q I@h4DI ;iQ:C4yBɮAmEj gOFNOT Ignoring new targets: 614.06 m.R(Z(gO% ProNav: ac range: 614.055725 m, nav range: 599.601074 m, bearing: 24.144878 deg, approach rate: -0.545256 m/s, LOS rate: -0.000097 deg/s, cmd heading: 23.912771 deg, new cmd heading: 23.912679 deg. B%4gO5HeadingCmd: 0.417355 target range: 614.055725 and range: 616.60 m.5>1*1"1 11999ʎ9AAjAZEM@ucHBɢu _)q u99iq)uyyi}f i}>%;~ I=9@9 @A@E0@A@M[A@MZAԹ}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013954^Am}<A I I O > 47,6W@ABQb>B~>BٱBq bAHRS rotation from veh to nav: [[0.905094,-0.418665,-0.074326],[0.425121,0.894576,0.137862],[0.008772,-0.156376,0.987659]]BH?`hڿ`.5?^?`u? C? Ŀ`?iBQb>IB=a;BcCvchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266685YmiEBymH y}<bD VD:2yY%M=ٔDQ->9Y=gGygF ;E>Q 54?Q 94)XBYy*>Q I@v4DI;i;J4yɮAjgOFNOT Ignoring new targets: 614.06 m.R&Z&gO ProNav: ac range: 614.055725 m, nav range: 599.383423 m, bearing: 24.144821 deg, approach rate: -0.547566 m/s, LOS rate: -0.000142 deg/s, cmd heading: 23.912678 deg, new cmd heading: 23.912565 deg. B4gO HeadingCmd: 0.417353 target range: 614.055725 and range: 616.60 m. K> * " ʎ!j!Z%`)}@E= E=+E=,E9"E=&U;*E==;VE=g4ZE9aE@aM@aM@aM@eqHBɢeE|)i m Bii)mo iiimmiuK>uJ;}Iy 9@  @@p0@!A@AA?AB>BBCB6HBEBB =B;DBDB;B88E^A5D-y c=,()W@A%$(c>%?>%3ٱ%Qs 5AHRS rotation from veh to nav: [[0.904725,-0.419112,-0.076272],[0.425854,0.894425,0.136571],[0.010981,-0.156040,0.987690]]%H`? ڿ`1A?!?+{?`|?`ÿ`'?i%$(c>I%r`;%eCYE_EByEHiMb@Mb@Mb@ 9/$?{Gzt~jtY ?yף )AY(AbDVDyV%D=ٔ#Q->9 ?Y ?=gGy;E>Q 54?Q 94)XBY ?Q E:y>Q I@4DI:i]:ZQ4y%Bɮ%A!Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770016P%B*** querying acoustic contact ***) )j9gO]FNOT Ignoring new targets: 614.06 m.ReWZeWgOu ProNav: ac range: 614.055725 m, nav range: 599.154846 m, bearing: 24.144733 deg, approach rate: -0.474634 m/s, LOS rate: -0.000184 deg/s, cmd heading: 23.912566 deg, new cmd heading: 23.912388 deg. BuvE=  E=E=&E9"E=C;*E=:VE=4ZE9BE= Qq*Q" ʎ111j1Z=t@颅HBɢ>h) Ii)顉iNi>b;,ʷIIZA)a@a @a@e?0@i@u >@u>ԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021744 ^A `=<A؟AI!I1O?E,jW@A>.+c>>@>>xIٱ> FAHRS rotation from veh to nav: [[0.904706,-0.418916,-0.077560],[0.425858,0.894474,0.136241],[0.012301,-0.156287,0.987635]]>HZ?ڿ ڳ`BA?`?`Wp?`1?9Ŀച?i>.+c>I>PU`;>fCYN^EByNHbDVVDVky^%^-=ٔb7Q-b>9b"?Yb"?=bgGyfhFf7Ef>hQ 5n4j?Q 9n4jI)j}XBYpyr>Q Ir@j4DIj;ij;jY4yvBɮvAvnEjgOFNOT Ignoring new targets: 614.06 m.RZgO- ProNav: ac range: 614.055725 m, nav range: 598.896851 m, bearing: 24.144633 deg, approach rate: -0.633180 m/s, LOS rate: -0.000246 deg/s, cmd heading: 23.912388 deg, new cmd heading: 23.912188 deg. B-gO5HeadingCmd: 0.417346 target range: 614.055725 and range: 616.60 m.5n>1*1"1 19999ʎAAAjAZE`} @uHBɢuj)q uULiy)}#yyi}Uin>;cYIԑ@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275383E  E E )E "E B;*E :VE FA4ZE a@a@a@a@Թ^A፨<A I I! O5 >B >B B HB EBB B B B r;B 8EBiBmCCBiBiBiCmB[4e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526215 L,N2W@A6b>6>6@]ٱ6s BAHRS rotation from veh to nav: [[0.904838,-0.418460,-0.078483],[0.425542,0.894731,0.135538],[0.013504,-0.156038,0.987659]]6Hn? ڿ`tI6r9`;6cCYFcEByFHLN@AbDRVDR yZ/<%ZK=ٔZCQ-^>9\Y\=bgGy`b^Eb>dQ 5j4f!?Q 9j4f)fxXBYhyn>Q In@f4DIf+;if#;f`4ypɮrApj gO FNOT Ignoring new targets: 614.06 m.RdZdgO% ProNav: ac range: 614.055725 m, nav range: 598.676453 m, bearing: 24.144554 deg, approach rate: -0.547185 m/s, LOS rate: -0.000195 deg/s, cmd heading: 23.912188 deg, new cmd heading: 23.912031 deg. B%gO-HeadingCmd: 0.417344 target range: 614.055725 and range: 616.60 m.->)*)") )1111ʎ999jAZE@=HBɢ=H)A ENiA)EgD/AAiE0iM>My*;UXI9@ @@2@!BDAT read: Rx Time:00:29:40.2385 TRx dataTimestamp_ set to:1761697781.014104checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779775DzDAAE% E%E%*E!"E%L;*E%1:VE%(N4ZE!BE%R,LW@AY~bEBy~HiMb@Mb@Mb@ 9K7A`?Zd;O{GztY ?yjףA )YAbDVD02yM%<=ٔQ->9 ?Y ?=gGyiFE>Q 5424?Q 94}){XBY# ?Q E:y>Q I@4DI:iZ:=h4yBɮAjgO FNOT Ignoring new targets: 614.06 m.R 7Z 7checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029832gO- ProNav: ac range: 614.055725 m, nav range: 598.439819 m, bearing: 24.145122 deg, approach rate: -0.542771 m/s, LOS rate: 0.001304 deg/s, cmd heading: 23.912031 deg, new cmd heading: 23.913168 deg. B-8gO5HeadingCmd: 0.417364 target range: 614.055725 and range: 616.60 m.5>*" ʎjZ@&9@QG9YAHBɢ)) WSi);i i>;7I9@ @@5@@\A@\AԱ  DAT read: 00:29:40.2385 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 294, 0.36,-0.111,-1.632, 0.168,-0.193, PHS= 0.184,-1.394, 0.317, RAW= 154.0, 10.8, CAL= 153.9, 11.9, ROT= 356.1, -11.9  Ygot valid direction response: 00:29:40.2385 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 294, 0.36,-0.111,-1.632, 0.168,-0.193, PHS= 0.184,-1.394, 0.317, RAW= 154.0, 10.8, CAL= 153.9, 11.9, ROT= 356.1, -11.9  PDAT read: Bearing 187.1, -5.0 (Local)  ~Local bearing/azimuth received: Bearing 187.1, -5.0 (Local)  DAT read: Range 11 to 50 : 605.4 m (Round-trip 807.2 ms) speed 0.5 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.976243,-0.066554,0.206204] Fpublishing direction and range infoy  5Cb=? ֳݧ Fa5d?Y YD    ) QI j<>i n M> ,@ A> o+@ ȭT>) >@I ȭT s;*E% :VE% FA4ZE! a5 @a5 @a5 @a5 @^A9 A= ?A= > Querying Benthos address 50 with one ping in standard two-way mode. Au ؟AIy I O >Y,iW@AbHob>b>bٱbܬ! zAHRS rotation from veh to nav: [[0.904966,-0.417694,-0.081047],[0.425188,0.894884,0.135641],[0.015871,-0.157211,0.987437]]bH{?@ڿzH6?? \?m@?}Ŀ?ibHob>Ibs`;bdCYYEByHbDUVDUye%e;=ٔmQ-m>9"?Y"?=gGyjF$]E>Q 54F?Q 94 )~XBYy>Q I@4DI:i3;p4yɮAB A <B>BBHBEBBBBB;B%8E/aW@AJDRDj\>qd@@· D_,_@r5Cb=? ֳݧ Fa5d?Z)gbȭT1A8ڀ@Ηl@"-ydMa@z:.?zv??8Tb?26gC:D"_^ ϓ?*9B;ClÔ?9“(C]DT[>gO} addTargetRange:: Added new target pos. range: 605.400024 m, deltaT: 4.536525 s, deltaX: -11.199951 m, approachRate: -2.468839 m/s, rangeRepo size: 4 ԉgO Added new target pos. range: 602.902100 m, bearing: 23.205027 deg, lat: 36.779114 deg, lon: -121.859342 deg, deltaT: 4.536525 s, deltaX: -11.153625 m, approachRate: -2.458627 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 602.90 m.RZgO ProNav: ac range: 602.902100 m, nav range: 589.463562 m, bearing: 23.092521 deg, approach rate: 0.000000 m/s, LOS rate: 0.001304 deg/s, cmd heading: 23.913168 deg, new cmd heading: 23.914368 deg. BgOHeadingCmd: 0.417384 target range: 602.902100 and range: 605.40 m.j>*" ʎ!))j-@3@Z5A?颭HBɢR) SYi)G项*DAT read: user:382> BDAT read: Tx time:00:29:41.5772 $Ping request sent.ɐ;IԱ@ @@5@^A  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250670 Am .AIq I O >R`,iW@AE.  E.E.'E,"E.C;*E.r:VE.'4ZE,BE. 9] ?Y] ?=]gGyY]E]>aQ 5m4eX?Q 9u4e)eXBYu ?Q Eu:yu?>Q Iu@e4DIe;ie:ew4yBɮAoEPB*** querying acoustic contact *** ԩjgOFNOT Ignoring new targets: 602.90 m.R;Z;gO ProNav: ac range: 602.902100 m, nav range: 589.229858 m, bearing: 23.092082 deg, approach rate: -0.557568 m/s, LOS rate: -0.001047 deg/s, cmd heading: 23.914367 deg, new cmd heading: 23.913490 deg. B+gOHeadingCmd: 0.417369 target range: 602.902100 and range: 605.40 m.h>*" ʎjZ`9?HBɢ`) %Wi!)%R!!i% i-h>-h;-LI1@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501698^AoE< A I I O >) f,0W@A2a>2F>2ٱ2q# :AHRS rotation from veh to nav: [[0.905176,-0.416687,-0.083833],[0.424644,0.895053,0.136229],[0.018270,-0.158910,0.987124]]2H 4?ڿv`\-?E? o?`n?*WĿ ?i2a>I28 a;2cCYBkEByBHbDJVDJyR.%Rd=ٔVۻQ-V>9TYX=ZgGyXjںEj?pQ 5z4rg?Q 9~4rx)rXBY|y~>Q I@r4DIrS;irg;r}4yɮAjgOFNOT Ignoring new targets: 602.90 m.R놷Z놷checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753841gO- ProNav: ac range: 602.902100 m, nav range: 589.039429 m, bearing: 23.091735 deg, approach rate: -0.505313 m/s, LOS rate: -0.000922 deg/s, cmd heading: 23.913489 deg, new cmd heading: 23.912795 deg. B-׷gOUHeadingCmd: 0.417357 target range: 602.902100 and range: 605.40 m.Uѯ>Q*Y"Y YYYaaʎaaajiZm@tH?Eu EuEqEq"EuL;*Eu:VEqZEqa}@a@a@a@HBɢ) 3\i)([^i' iѯ>x;{I@ @@4@AB>BCCBBBB:DBDB;B]8Ei ^A A [AzA  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006374A I I O >m, W@A@ 6=Pa>6S>6lWٱ6\$ >AHRS rotation from veh to nav: [[0.905374,-0.415982,-0.085191],[0.424170,0.895224,0.136580],[0.019450,-0.159791,0.986959]]6H ?sڿ ϵ@%?@?@v{?@? tĿ`+?i6=Pa>I6ua;6eCYFvEByFHbDNVDNN2yV<%VJ=ٔV>Q-Z>9XYX=ZgGyZkF^^E^>!Q 5-4%x?Q 9-4%)%XBY)y->Q I-@%4DI%p:i%:%4y=BɮeAajQgO}FNOT Ignoring new targets: 602.90 m.R'Z'gO ProNav: ac range: 602.902100 m, nav range: 588.817627 m, bearing: 23.091342 deg, approach rate: -0.531352 m/s, LOS rate: -0.000944 deg/s, cmd heading: 23.912795 deg, new cmd heading: 23.912007 deg. B  ݷgOEHeadingCmd: 0.417343 target range: 602.902100 and range: 605.40 m.E>A*I"Q QQQYYʎYYajaZe`A?i-HBɢ5V)1 5]i1)=Cyj99i=)i>5;̬I-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257887Y@Y @Y@e0@aE EE*E"EP;*E:VE(N4ZEBE:t,'W@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509825:a>:d.>:׬ٱ:7F% BAHRS rotation from veh to nav: [[0.905474,-0.415507,-0.086432],[0.423908,0.895287,0.136976],[0.020467,-0.160667,0.986796]]:H?ڿ`c O!?1?l?;?ཐĿ ֓?i:a>I:Ia;8YJEByJHiMb@Mb@Mb@ 9/$?Mb`:v?Y ?yT<A۵A )AYbDVDy<%6=ٔFQ->9Y=gGylF#E>Q 54?Q 94j)XBY ?Q E:yI>Q I@4DI7 ;i ;4yɮAjgOFNOT Ignoring new targets: 602.90 m.R Z gO ProNav: ac range: 602.902100 m, nav range: 588.578552 m, bearing: 23.090526 deg, approach rate: -0.587116 m/s, LOS rate: -0.002002 deg/s, cmd heading: 23.912007 deg, new cmd heading: 23.910377 deg. BjgO%HeadingCmd: 0.417315 target range: 602.902100 and range: 605.40 m.%I>!*!"! !!)))ʎ111j1Z= MQ?eHBɢeˠ)a e]ia)tieiI>6;bIi@ @@1@ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761602^AE5  E5 E5 )E1 "E5 1A;*E5 :VE5 FA4ZE1 aE @aE @aE @aE @Թ I I O >x`z, W@A2`>2v >2Iկٱ2% :AHRS rotation from veh to nav: [[0.905571,-0.415056,-0.087573],[0.423651,0.895374,0.137206],[0.021462,-0.161350,0.986664]]2H`p?@Hڿ /k? ?`?:?Ŀ?i2`>I2&a;2bCYBEByBHbDJVDJ!3PyVpe<%V]=ٔVK0Q-V>9XYX=ZgGyX^ABE^>`Q 5f4b\?Q 9f4b()bXBYhyj(>Q Ij@b5DIby:ibN:b4ynBɮrArfEjgO FNOT Ignoring new targets: 602.90 m.R Z A!A%AAB%>B!B%HB%EBB% =B!B!B%;B%8EgO= ProNav: ac range: 602.902100 m, nav range: 588.376038 m, bearing: 23.089840 deg, approach rate: -0.546426 m/s, LOS rate: -0.001852 deg/s, cmd heading: 23.910377 deg, new cmd heading: 23.909004 deg. B=XgOEHeadingCmd: 0.417291 target range: 602.902100 and range: 605.40 m.E%>A*I"I IIIQQʎQQQjZ@@} IBɢ})y _i)顁i~i%>@;'@I=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0138599@ @@1@^Aq<A?A>IY Iq O >9  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265727E=  E= E= *E9 "E= B;*E= :VE= (N4ZE9 BE= w2>2:iٱ2D4' :AHRS rotation from veh to nav: [[0.905633,-0.414692,-0.088650],[0.423483,0.895331,0.138002],[0.022143,-0.162521,0.986457]]2H`?@QڿȱZ?? ??{Ŀ ?i2S`>I2Q`;2dCYREByRH|iMb@Mb@Mb@ 9Zd;O?Mb?9Y= gGy mFNйE>1Q 5=45?Q 945>Q =tI)5XBY ?Q E:y>Q I@55DI5-Y=i5?X=54yɮAYPeB*** querying acoustic contact ***a ajqgOuFNOT Ignoring new targets: 602.90 m.R}hZ}hgO ProNav: ac range: 602.902100 m, nav range: 588.132996 m, bearing: 23.088204 deg, approach rate: -0.470798 m/s, LOS rate: -0.003170 deg/s, cmd heading: 23.909004 deg, new cmd heading: 23.905731 deg. BgOHeadingCmd: 0.417234 target range: 602.902100 and range: 605.40 m.>*" ʎjZ@IBɢcؓ) gai)$ii>w;}IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518208]9@Y @a@eO0@aq^A <ԩ I I O >s,>BW@AN:{`>N>NٱN' ZAHRS rotation from veh to nav: [[0.905651,-0.414436,-0.089664],[0.423403,0.895321,0.138312],[0.022956,-0.163226,0.986322]]NH ?ڿ1?`x?8?@ʁ?Ŀ ?iN:{`>IN `;NcCYbEBybH j49tYx=zgGyxzgeEz>Q 5 4|?Q 9 4)XBY y >Q I @#5DI:i:W4yBɮwAjAgOEFNOT Ignoring new targets: 602.90 m.RM(ZM(gO] ProNav: ac range: 602.902100 m, nav range: 587.935730 m, bearing: 23.086877 deg, approach rate: -0.658065 m/s, LOS rate: -0.004430 deg/s, cmd heading: 23.905730 deg, new cmd heading: 23.903074 deg. B]gOeHeadingCmd: 0.417187 target range: 602.902100 and range: 605.40 m.e>a*a"a aaiiiʎiqqjqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769743ԡZO@=(IBɢ=)A Em`iA)EsAAiE}QiM>M];qIu>IqE EEE"EI@;*E:VEZEa@a @a @a @)@) @)@-0@)B>BB*HBEBBBBBX;B8E^A <IIO>M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021736 ,9W@A2`>2 >2Q¼ٱ2.( :AHRS rotation from veh to nav: [[0.905525,-0.414518,-0.090551],[0.423625,0.895241,0.138150],[0.023799,-0.163457,0.986263]]2H@? wڿ@U.?@Х?`?`^?@,Ŀx?i2`>I2Ǐ`;2bCYbEByfHbDVD1y5 <%=E=ٔMQ-U>9YYa=egGyenFu[:Eu>Q 54?Q 94&)XBYy>Q I@25DI;i;4yɮoAj gO=FNOT Ignoring new targets: 602.90 m.REsZEsgO} ProNav: ac range: 602.902100 m, nav range: 587.708252 m, bearing: 23.085339 deg, approach rate: -0.492109 m/s, LOS rate: -0.003329 deg/s, cmd heading: 23.903073 deg, new cmd heading: 23.899996 deg. B}¸gOHeadingCmd: 0.417134 target range: 602.902100 and range: 605.40 m.>*" ʎjZ` @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273821;IBɢݚ) di)͋ii>B;I!E  E E (E "E y>;*E :VE c44ZE BE Ui,UW@A2×`>2>2ȼٱ2)) >AHRS rotation from veh to nav: [[0.905571,-0.414192,-0.091577],[0.423485,0.895220,0.138713],[0.024528,-0.164396,0.986089]]2Ho?ڿq`b??V? ? ſ` ?i2×`>I2^`;0YBEByB+HiMMb@Mb@Mb@IIQII I9MZd;O?X9v? rh?YIyM9}"?Y"?=gGy5E>Q 54?Q 94+)XBY ?Q E:y>Q I@A5DI:i:Y4yBɮaAgEjgOFNOT Ignoring new targets: 602.90 m.R̸Z̸gO ProNav: ac range: 602.902100 m, nav range: 587.472595 m, bearing: 23.083122 deg, approach rate: -0.594040 m/s, LOS rate: -0.005590 deg/s, cmd heading: 23.899996 deg, new cmd heading: 23.895562 deg. B#gOHeadingCmd: 0.417056 target range: 602.902100 and range: 605.40 m.e>*" ʎjZ@-JIBɢ-諾)1 5di1)511i=:i=e>=0;E!IA@ @@P0@ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.777729^A፨<E  EE*E"EG;*E:VE(N4ZEa@a@a@a@A .AI I O > B =A 4=B B B CHB EBB B B B ;B 29EBCCBBBˠ =Bˠ =Cg5+,/nW@An`>n>ndмٱn) zAHRS rotation from veh to nav: [[0.905451,-0.414225,-0.092605],[0.423688,0.895124,0.138711],[0.025436,-0.164832,0.985994]]nHt?`ڿ@? ܤ?`H? ?5ſB?in`>In`;ncCY EBy >H!%BAbD-VD-:yEm=%EN=ٔMQ-M>9U ?YU ?=UgGyUoF]v:E]>aQ 5m4e?Q 9m4ev)eXBYiym>Q Iu@eO5DIe:iey:eI4yyɮ}BAyjgOFNOT Ignoring new targets: 602.90 m.RLZLchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.029762gO% ProNav: ac range: 602.902100 m, nav range: 587.258484 m, bearing: 23.081102 deg, approach rate: -0.539196 m/s, LOS rate: -0.005090 deg/s, cmd heading: 23.895562 deg, new cmd heading: 23.891520 deg. B% gO=HeadingCmd: 0.416986 target range: 602.902100 and range: 605.40 m.=&>9*9"9 9AAAAʎIIIjIZM<)@额ZIBɢ쥽) @ei) 顡i28i&>_;zîIm9@i @i@m?0@i^A< checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285409A ؟AI I E%  E% E% +E! "E% B;*E% :VE% [4ZE! BE% w,嵈W@A2ra>27>2ּٱ2) :AHRS rotation from veh to nav: [[0.905324,-0.414332,-0.093365],[0.423916,0.895030,0.138625],[0.026128,-0.165079,0.985934]]2Hk?hڿ`淿q!?`?t?2?P!ſƌ?i2ra>I2D`;2bCYBEByB=HiMb@Mb@Mb@ 9n?~jt?I +?YV?yD=94< )AYAbD-VD-k2y= %=K=ٔ=@Q-E>9E"?YE"?=EgGyAM*:EM>QQ 54U]?Q 94U)UXBY?Q E:y?Q I@U]5DIU1*9"9 999AAʎAAAjIZM@R@ukIBɢuC)y }iiy)}byyi#ݻir>ל; jIM9@I @I@I@I@Q@Q -checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533858Iv9YǧA^A)A1A5>qA I I O >ԙ =,~W@ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.785724YbEBybFHbDjVDjyr<%vP=ٔvQ-v>9tYx=zgGyzpFzEz>|Q 54~\?Q 94~)~XBY y Q I @~k5DI~:i~-:~.Ŵ4yɮ>AP5B*** querying acoustic contact ***1 1jAgOEFNOT Ignoring new targets: 602.90 m.RMZMgOU ProNav: ac range: 602.902100 m, nav range: 586.818237 m, bearing: 23.075775 deg, approach rate: -0.577016 m/s, LOS rate: -0.006986 deg/s, cmd heading: 23.886138 deg, new cmd heading: 23.880863 deg. B]LgOeHeadingCmd: 0.416800 target range: 602.902100 and range: 605.40 m.ef>a*a"a aaiiiʎiqqjqZu@G@颥zIBɢDu) ki)gé顩i׻if> ;$bEe(N4jEeC4rEeϚ/E EE*E"Ey>;*E:VE(N4ZEa@a@a@a@I1y9@ @@@ԡB>BBuHBEBB =BBB;B<9E^Ai9I=AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.039324AE .AIQ Ia Om > j, uW@AFV$a>F!=>Fs߼ٱF_* nAHRS rotation from veh to nav: [[0.905278,-0.414090,-0.094873],[0.423941,0.894943,0.139109],[0.027302,-0.166153,0.985722]]FH` ?`qڿ`I!?_?R?*?~Dſ?iFV$a>IF_;DYEBygH bD VD yDl=%3=ٔ0(Q->9 ?Y ?=gGy8E>Q 54!?Q 943)XBYy?Q I@|5DI(;i*;?ʹ4yBɮAjgOFNOT Ignoring new targets: 602.90 m.RZgO ProNav: ac range: 602.902100 m, nav range: 586.562683 m, bearing: 23.072679 deg, approach rate: -0.553424 m/s, LOS rate: -0.006708 deg/s, cmd heading: 23.880863 deg, new cmd heading: 23.874669 deg. BhDgOHeadingCmd: 0.416692 target range: 602.902100 and range: 605.40 m.%X>!*!"! !!!))ʎ)11j1Z5!@]IBɢe4)a eiia)eiiim$лiuX>u+;u)ZIychecking for new query: numPingsReceived=0, elapsed TxPingTime=5.289762DzD@AE EE(E"EB;*E:VEc44ZEBEa2EaJE5Q Q,OW@AN`>NV)>N;+ٱNrf+ VAHRS rotation from veh to nav: [[0.905329,-0.413835,-0.095503],[0.423797,0.894989,0.139247],[0.027849,-0.166538,0.985642]]NHt?D|ڿ@r??@?u?Qſ`?iN`>IN_;LY^EBy^vHiEMb@Mb@Mb@AAAA A9E|?5^?J +?9u"?Yu"?=ugGyuqF}ٹE}>Q 54/?Q 94)XBYe?Q E:y ?Q I@5DIa;i* ;Ӵ4yɮAjgOFNOT Ignoring new targets: 602.90 m.RZgO] ProNav: ac range: 602.902100 m, nav range: 586.361938 m, bearing: 23.070218 deg, approach rate: -0.552402 m/s, LOS rate: -0.006775 deg/s, cmd heading: 23.874668 deg, new cmd heading: 23.869745 deg. B]_FgOeHeadingCmd: 0.416606 target range: 602.902100 and range: 605.40 m.eUM>a*a"a aaaiiʎjZש@IBɢy) ji)Ž )i ʻi5UM>5E;=I9%9@! @!@%>0@!Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=5.793703E E E*E"E1A;*E:VE(N4ZEa@a@a@a@^AA AM ZAzAM \Aԁ A I A A B B B HB FBB B B B ;B '9EI O >y,"W@A@0Jfa>JJ^>J_GٱJ+ VAHRS rotation from veh to nav: [[0.905135,-0.414100,-0.096185],[0.424153,0.894933,0.138523],[0.028717,-0.166179,0.985677]]JH@?ڿ`Q%?K??g?ZEſ@?iJfa>IJQ_;J`CYbEBy`bDhVDhyr8%rT=ٔv3Q-v>9tYt=vgGyxz#:Ez>Q 54??Q 9 4)YBY y &?Q I @5DI:i|:]ڴ4yBɮAhEjgOFNOT Ignoring new targets: 602.90 m.RZgO ProNav: ac range: 602.902100 m, nav range: 586.148621 m, bearing: 23.067592 deg, approach rate: -0.529730 m/s, LOS rate: -0.006523 deg/s, cmd heading: 23.869744 deg, new cmd heading: 23.864490 deg. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046069B?gOHeadingCmd: 0.416514 target range: 602.902100 and range: 605.40 m.PA>*" !!!!)ʎ)))j)Z5 9@IBɢN):< oi)%a!!i%gNĻi-PA>-j;-IQԉ9@ @@=0@^A ~M< checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297753 E%  E% E% )E! "E% a?;*E% :VE% FA4ZE! BE% a,i W@A>ŀa>>Xk>>Sٱ>ɕ+ JAHRS rotation from veh to nav: [[0.905074,-0.414026,-0.097081],[0.424234,0.894869,0.138688],[0.029454,-0.166708,0.985566]]>H\?eڿLڸ&? Ţ? ?@D)?Vſ@‰?i>ŀa>I>;1_;>cC\YbEByb|HiMMb@Mb@Mb@IIII I9M/$?&1?~jth?YM&?yMP=MD;MAM۵A I)M AIYIaeAAbDmVDm2y} 8<%}A=ٔ}Q-}>9 ?Y ?=gGyrFv9E>Q 54Q?Q 94})YBY?Q E:y?Q I@5DI;i;4yBɮA_EjgOUFNOT Ignoring new targets: 602.90 m.R]Z]gOm ProNav: ac range: 602.902100 m, nav range: 585.910095 m, bearing: 23.064661 deg, approach rate: -0.586373 m/s, LOS rate: -0.007209 deg/s, cmd heading: 23.864490 deg, new cmd heading: 23.858624 deg. BmSgOuHeadingCmd: 0.416412 target range: 602.902100 and range: 605.40 m.u3>*" ʎjZ @IBɢN) /ri)O¼iཻi%3>%ݒ;%jI)checking for new query: numPingsReceived=0, elapsed TxPingTime=6.5503979@ @@00@^A ,#W@A6checking for new query: numPingsReceived=0, elapsed TxPingTime=6.8017626Ya>6$>6ٱ6* BAHRS rotation from veh to nav: [[0.904985,-0.414130,-0.097460],[0.424376,0.894929,0.137870],[0.030124,-0.166130,0.985644]]6H?ڿ@%@(? A?`? ؞?Cſd?i6Ya>I6,_;4YFFByFHbDRVDRkyZ-=%ZX=ٔZQ-Z>9^"?Y^"?=^gGy\bX9Eb>dQ 5j4f`?Q 9j4f)f YBYhyj ?Q Ij@f5DIf:if:f[4ypɮrҿAp!P}B*** querying acoustic contact ***y yjgOFNOT Ignoring new targets: 602.90 m.R^Z^E EE*E"EI@;*E:VE(N4ZEa@a@a@a@gO ProNav: ac range: 602.902100 m, nav range: 585.696289 m, bearing: 23.062028 deg, approach rate: -0.541955 m/s, LOS rate: -0.006676 deg/s, cmd heading: 23.858624 deg, new cmd heading: 23.853357 deg. BCgOHeadingCmd: 0.416320 target range: 602.902100 and range: 605.40 m.'>*"   ʎ  jZ5Jq@额IBɢZ) Vri)#ɼ顡ii'>n;wIQu9@q @q@}80@y@@Bm>BiBmHBm/FBBiBiBiBm;Bm<9Eqchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.054224^AU<AU?AQԡ A I I O >,9=W@AV1a>Vl>VOٱV 7+ fAHRS rotation from veh to nav: [[0.905031,-0.413845,-0.098238],[0.424220,0.895020,0.137752],[0.030917,-0.166345,0.985583]]VH?`p|ڿ&k&??@ޡ?@? Jſ ?iV1a>IV^;VbCYEByHԁbD VD βy}/%0=ٔߺQ->9Y=gGysFE>Q 54lt?Q 94 )YBY y ?Q I @5DIt:ik:4y5Bɮ5A1uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.305785jgOFNOT Ignoring new targets: 602.90 m.R0Z0gO ProNav: ac range: 602.902100 m, nav range: 585.427490 m, bearing: 23.058718 deg, approach rate: -0.573037 m/s, LOS rate: -0.007059 deg/s, cmd heading: 23.853357 deg, new cmd heading: 23.846734 deg. BNgOHeadingCmd: 0.416204 target range: 602.902100 and range: 605.40 m.>*" ʎjZ@F@IBɢs) yi)0мiʥi>;/IԡE EE)E"Ea?;*E:VEFA4ZEBEa2EaJEa:Eaeu 9@q  @q @u (2@y  % checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557788^A )AIIO ?{,,d_W@AZ,b>Zr>Z}ٱZ<+ bAHRS rotation from veh to nav: [[0.904700,-0.414138,-0.100043],[0.424784,0.894883,0.136907],[0.032829,-0.166356,0.985519]]ZH`L?<ڿo`/??(?Π?(Kſ`_?iZ,b>IZ"_;Z`CYj FByjHaiMb@Mb@Mb@ 9gfffff?kt?{GztY3?y 0=ףA A)$AYA bDVD0yE<%"=ٔyQ->9Y=gGyB:E>Q 54/?Q 94i)YBY?Q E:y?Q I@5DIT ;i ;=4yɮпAjgO%FNOT Ignoring new targets: 602.90 m.R%Z-gO5 ProNav: ac range: 602.902100 m, nav range: 585.146667 m, bearing: 23.055719 deg, approach rate: -0.584360 m/s, LOS rate: -0.006244 deg/s, cmd heading: 23.846735 deg, new cmd heading: 23.840733 deg. B=6gO=HeadingCmd: 0.416099 target range: 602.902100 and range: 605.40 m.= >A*A"A AAAIIʎIIQjQZUB @}IBɢs`) F{i)׼顉iTi >Np;*I]] <mchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.830579E% E%E!E!"E%y>;*E%#:VE!ZE!a5@a5@a5@a5@y@ @@5@ԡB<ABBBHBWFBBBBB;B*9E^A<  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.081708A- .AI1 IA O >,@yW@ABBl>B ٱB+ NAHRS rotation from veh to nav: [[0.904649,-0.414024,-0.100968],[0.424827,0.894854,0.136964],[0.033645,-0.166798,0.985417]]BH? ]ڿٹ^0?࣢? ?9?`Yſ?iBIBh_;BaCYj%FByjHbDrVDryz_=%zZ=ٔ~Q-~>9~ ?Y~ ?=gGytFU*9E> Q 54 ?Q 94 ) YBYy?Q I@ 5DI ;i ; 4y%Bɮ%A-`EjIgOMFNOT Ignoring new targets: 602.90 m.RUZUgOe ProNav: ac range: 602.902100 m, nav range: 584.931946 m, bearing: 23.053423 deg, approach rate: -0.573262 m/s, LOS rate: -0.006134 deg/s, cmd heading: 23.840734 deg, new cmd heading: 23.836140 deg. Be3gOmHeadingCmd: 0.416019 target range: 602.902100 and range: 605.40 m.mu>i*i"q qqqyyʎyyjZ% @颭 JBɢxǽ) ?yi)ݼ顱ԹiKiu>B;'Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=8.3343089@ @@d0@@=@>E= E=E=*E9"E=sH;*E=:VE=(N4ZE9BE=5,0ڕW@A6xb>6>6d >checking for new query: numPingsReceived=0, elapsed TxPingTime=8.585598Xٱ67, bAHRS rotation from veh to nav: [[0.904529,-0.414078,-0.101817],[0.425020,0.894776,0.136875],[0.034427,-0.167082,0.985342]]6H?@@ڿ 3?`?`?@h?@bſ?i6xb>I6a_;6bCYjFByjHi]Mb@Mb@Mb@YYYY Y9]X9v?Mb?y&1|Y]?y]=]`YY ]A)]1AYYYbDuVDuk1y}}%/=ٔ{ۺQ->9"?Y"?=gGyU9E>Q 54?Q 94G)YBY?Q E:y>Q I@5DI:is:4yɮAjQgO]FNOT Ignoring new targets: 602.90 m.R]Z]gO ProNav: ac range: 602.902100 m, nav range: 584.662964 m, bearing: 23.051058 deg, approach rate: -0.556332 m/s, LOS rate: -0.004892 deg/s, cmd heading: 23.836139 deg, new cmd heading: 23.831408 deg. BBgOHeadingCmd: 0.415937 target range: 602.902100 and range: 605.40 m.>*" ʎjZ!@=!JBɢ?Ӽ) %i)M顩ii>#;jI9@ @@O0@ -checking for new query: numPingsReceived=0, elapsed TxPingTime=8.837700E EE-E"EL;*E#:VEt4ZEa@a@a@a@9 ^A] ]<A .AI I O >,W@ABbb>B* >BٱB[%, NAHRS rotation from veh to nav: [[0.904307,-0.414278,-0.102973],[0.425397,0.894658,0.136469],[0.035589,-0.167215,0.985278]]BH?ڿi\9?` ? w?8? Igſe?BN>BLBNHBNaFBBLBLBLBNc;BN9EBѽBѽBѽBս =Bս =Cս 4\iBbb>IB@_;BaCYfFByfHllbDr VDr2yv;=%zL=ٔzb>Q-z>9z ?Y~ ?=~gGy~uF~Î:E>Q 5 4K?Q 94g)YBYy >Q I@6DIW:i :4yBɮ%οA!P=B*** querying acoustic contact ***9 9jIgOMFNOT Ignoring new targets: 602.90 m.RUZUgO ProNav: ac range: 602.902100 m, nav range: 584.432617 m, bearing: 23.049021 deg, approach rate: -0.599123 m/s, LOS rate: -0.005300 deg/s, cmd heading: 23.831408 deg, new cmd heading: 23.827332 deg. B0gOHeadingCmd: 0.415865 target range: 602.902100 and range: 605.40 m.O>*" ʎjZ"@e2JBɢeн)i mƒii)m_iiim씻iO>U;LIchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.089928-9@) @)@-0@)^Ai)  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.341707A I I O% >E  E E +E "E C;*E :VE [4ZE BE @c>>hm>>ABPExceeded connect timeout, disconnecting.ٱ>-, fAHRS rotation from veh to nav: [[0.904012,-0.414600,-0.104253],[0.425909,0.894504,0.135878],[0.036919,-0.167238,0.985225]]>H@?@ΈڿOB?ǟ?vd?`? hſ?i>c>I>HE`;<|Y%FByHiMb@Mb@Mb@ 9zG?Mb?MbY ?y< )YbDVDy=%;=ٔGQ->9Y=gGyvF̰:E> Q 54 ?Q 94 `)  YBY&?Q E:y>Q I@ 6DI 7 ;i  ; 4y%Bɮ%A!jIgOMFNOT Ignoring new targets: 602.90 m.RU'ZU'gOe ProNav: ac range: 602.902100 m, nav range: 584.175110 m, bearing: 23.047500 deg, approach rate: -0.589806 m/s, LOS rate: -0.003485 deg/s, cmd heading: 23.827332 deg, new cmd heading: 23.824288 deg. Be̸gOmHeadingCmd: 0.415812 target range: 602.902100 and range: 605.40 m.mY>i*i"i iqqyyʎyyyjZu#@颭EJBɢν) i)项iRiY>;II[A))}9@y @y@}_0@y@@-9YoA%checking for new query: numPingsReceived=0, elapsed TxPingTime=9.593859Q^A<ԉ A ؟AI I O! ,[W@A2-c>2>2&ٱ2T+ :AHRS rotation from veh to nav: [[0.903817,-0.414714,-0.105482],[0.426185,0.894544,0.134747],[0.038477,-0.166742,0.985250]]2H@?@ڿF?@?d??F?@Wſ*?i2-c>I2|`;2bCYBFByBHbDJVDJyR&%Rb=ٔVrQ-V>9V"?YV"?=VgGyTZq:EZ>\Q 5b4^?Q 9b4^߶)^"YBY`yf>Q If@^#6DI^;i^B:^4yhɮjɿAhj|gO~FNOT Ignoring new targets: 602.90 m.RaZagO ProNav: ac range: 602.902100 m, nav range: 583.962341 m, bearing: 23.046235 deg, approach rate: -0.589532 m/s, LOS rate: -0.003507 deg/s, cmd heading: 23.824289 deg, new cmd heading: 23.821757 deg. Bh͸gOHeadingCmd: 0.415768 target range: 602.902100 and range: 605.40 m.>*" !!!!ʎ)))j)Z--$@Y]VJBɢeZ޽)a e|ia)e aiimUaim>u\Ҭ;u%Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.845762bEjErO4rEַ/E= E=E=,E9"E=a?;*E=:VE=g4ZE9aM@aM@aM@aM@9@ @@0@ԉB>BB HBlFBBBBBb;B9EԱ^A]<E ^,?W@AVKd>V>V$ٱV ~* fAHRS rotation from veh to nav: [[0.903429,-0.415275,-0.106599],[0.426854,0.894497,0.132930],[0.040150,-0.165595,0.985376]]VH?ۓڿJQ??? ?72ſ3?iVKd>IV$`;TYrFByrH z9)Y)=5gGy5wF5:E5>9Q 5E4=?Q 9M4=)=$YBYIyM`>Q IM@=36DI=;i=;=@$4y]Bɮ]ѿA]aEjgOFNOT Ignoring new targets: 602.90 m.ԹR쀸Z쀸gO- ProNav: ac range: 602.902100 m, nav range: 583.713989 m, bearing: 23.044737 deg, approach rate: -0.583804 m/s, LOS rate: -0.003522 deg/s, cmd heading: 23.821757 deg, new cmd heading: 23.818760 deg. BGθgOHeadingCmd: 0.415716 target range: 602.902100 and range: 605.40 m.>*" !qqʎyjZ*%@5mJBɢ5˽)9 =i9)={99i=Aie>};}<2Acoustic response timeoutI>IDADE<EU EUEQEQ"EU1A;*EU:VEQZEQBEU0@9}nManaging dock network, ignoring radio surface power off ^AY 9 = 2Acoustic response timeoutA I I O >,X@A2nye>2g>2s*ٱ2B* :AHRS rotation from veh to nav: [[0.903030,-0.415797,-0.107937],[0.427555,0.894298,0.132014],[0.041637,-0.165361,0.985354]]2H?`iڿ`ơ@]??@?`zQ?*ſ?i2nye>I2?a;0YB FByBHiMb@Mb@Mb@ 9-?Mbp?/$Y??y;A A)YbD%VD%:y-z<%C=ٔaQ->9Y=gGyԩh:E>Q 54?Q 94)%YBYY?Q E:y>Q I@C6DI]:i/:+4yɮÿAjgOFNOT Ignoring new targets: 602.90 m.Rq,Zq,gO ProNav: ac range: 602.902100 m, nav range: 583.461853 m, bearing: 23.043727 deg, approach rate: -0.587934 m/s, LOS rate: -0.002356 deg/s, cmd heading: 23.818760 deg, new cmd heading: 23.816739 deg. BgOHeadingCmd: 0.415681 target range: 602.902100 and range: 605.40 m.>*" !!!!ʎ)))j1Z53%@e~JBɢm7)q uŋiq)}yyiqi>;zIe9@a @a@e?0@a@m >@m)>52Acoustic response timeout E  EE-E"EE;*Eu:VEt4ZEa@a@a@a@^Au<AzAA .AI I O >1 B >B BCB HB vFBB =B ;DB B ;B 9E ,u2X@AFe>FĞ>F@1ٱF) NAHRS rotation from veh to nav: [[0.902783,-0.416047,-0.109031],[0.427903,0.894407,0.130136],[0.043375,-0.164140,0.985483]]FH?ڿo黿b??`O?@?5?@ſ?iFe>IFFa;FaCYVFByVHbDbVDb1yf%jQ=ٔjeQ-j>9j ?Yn ?=ngGynxFn8:Er>pQ 5v4rz?Q 9z4r)r'YBYxyz>Q Iz@rQ6DIr/:ir:r`24yBɮ޿AXEPB*** querying acoustic contact *** j)gO-FNOT Ignoring new targets: 602.90 m.R5,Z5,gOE ProNav: ac range: 602.902100 m, nav range: 583.242798 m, bearing: 23.042839 deg, approach rate: -0.582477 m/s, LOS rate: -0.002363 deg/s, cmd heading: 23.816740 deg, new cmd heading: 23.814963 deg. BE`gOMHeadingCmd: 0.415650 target range: 602.902100 and range: 605.40 m.M>I*I"I IQQQQʎYYYjYZe&@颍JBɢb) i)!顑ixci>;~I2Acoustic response timeout9@ @@P0@A^A5<ԁAI Ii I O >M 2Acoustic response timeoutE%  E% E% *E! "E% L;*E% :VE% (N4ZE! BE% 9Y=gGyE>Q 54,?Q 94)*YBY?Q E:yh>Q I@a6DID;i;94yɮAjgOFNOT Ignoring new targets: 602.90 m.R%Z%gO5 ProNav: ac range: 602.902100 m, nav range: 582.989807 m, bearing: 23.042621 deg, approach rate: -0.582079 m/s, LOS rate: -0.000501 deg/s, cmd heading: 23.814962 deg, new cmd heading: 23.814527 deg. B5jgO=HeadingCmd: 0.415642 target range: 602.902100 and range: 605.40 m.=>9*9"9 9AAAAʎIIIjIZM!'@q}JBɢ߽) 8i)` 顁iTTi>ٙ;I>I 9@  @ @ ?0@2Acoustic response timeoutԩ^A}<AE ؟AII IY Om > (,wgfX@A2Wf>2>2s=ٱ2v( :AHRS rotation from veh to nav: [[0.902483,-0.416057,-0.111451],[0.428233,0.894501,0.128393],[0.046274,-0.163600,0.985441]]2H#? ڿ@*h?@?0o?C?Ŀ?i2Wf>I2[ga;0YB&FByBHbDJVDJNyR8g%R^=ٔVXQ-V>9V"?YV"?=ZgGyZyFZC:EZ>2Acoustic response timeout\Q 5-4^Q I5@^o6DI^:i^:^e@4y=Bɮ=AAjagOeFNOT Ignoring new targets: 602.90 m.RmZmgO} ProNav: ac range: 602.902100 m, nav range: 582.776184 m, bearing: 23.042428 deg, approach rate: -0.561088 m/s, LOS rate: -0.000508 deg/s, cmd heading: 23.814527 deg, new cmd heading: 23.814140 deg. B}mgOHeadingCmd: 0.415635 target range: 602.902100 and range: 605.40 m.">*" ʎjZ@E(@JBɢ) .i)iߴFE EE(E"E[I;*E:VEc44ZEa@a@a@a@i">;I9@ @@@BA<B>BACB$HBFBB =BBDB;BC9E^AT<A?A?2Acoustic response timeout) A .AI I O >Q 9 ,nLX@A6e>6v>6Dٱ6h' BAHRS rotation from veh to nav: [[0.902637,-0.415449,-0.112466],[0.427722,0.894971,0.126814],[0.047969,-0.162572,0.985530]]6Hf?`ڿʼ _?@?@t;?@k?%Ŀ@v?i6e>I6ya;6cCYF*FByJHbDRVDRk1yZ<%ZI=ٔZڈQ-^>9^ ?Y^ ?=bgGy`bbEb>dQ 5j4fN?Q 9j4f=)f0YBYlynb>Q In@f~6DIfp;if;fG4ytɮvAxjQgO]FNOT Ignoring new targets: 602.90 m.R]ZegO ProNav: ac range: 602.902100 m, nav range: 582.539734 m, bearing: 23.042225 deg, approach rate: -0.587807 m/s, LOS rate: -0.000504 deg/s, cmd heading: 23.814141 deg, new cmd heading: 23.813736 deg. B lgOHeadingCmd: 0.415628 target range: 602.902100 and range: 605.40 m.5>*" QQaiʎjZ@()@-BDAT read: Response Not Received -*response not received5*DAT read: user:383> 5BDAT read: Tx time:00:29:54.0272 =$Ping request sent.=m:ε;m#Ii9@ @@/0@Ա ^A= &,IX@A2xe>2Zg>2Kٱ2O$ :AHRS rotation from veh to nav: [[0.902705,-0.415205,-0.112822],[0.427399,0.895517,0.124015],[0.049542,-0.160169,0.985846]]2H@?ڿἿZ? ? x?@]?@lĿ ?i2xe>I23ya;2bCYB9FByBHLiMb@Mb@Mb@ 9ʡE?S㥛 rhY-?y/ݼC )Y 4<<bDVDNy<%)=ٔVQ->9Y=gGyzF.E>AQ 5M4Ed?Q 9M4Ep)E8YBYUg?Q EU:yU>Q IU@E6DIE ;iE ;E P4y]Bɮ]AYjgO FNOT Ignoring new targets: 602.90 m.R B?7Z B?7gO ProNav: ac range: 602.902100 m, nav range: 582.260376 m, bearing: 23.042539 deg, approach rate: -0.581677 m/s, LOS rate: 0.000653 deg/s, cmd heading: 23.813736 deg, new cmd heading: 23.814364 deg. B7gOEHeadingCmd: 0.415639 target range: 602.902100 and range: 605.40 m.E>A*I"I IIIQQʎQQQjYZ]K*@JBɢ)  [i ) /T  i S(i>10;SI9@ @@@%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503415E EE*E"EC;*E:VE(N4ZEa@a@a@a@^A T< B] >B] @CB] =HB] FBB] =BY B] DB] ;B] J9EA) I1 II Oe >,,~tX@A2e>29>2 Pٱ2$ :AHRS rotation from veh to nav: [[0.902793,-0.414742,-0.113816],[0.427054,0.895806,0.123116],[0.050896,-0.159753,0.985844]]2H?#ڿ #`T?`p??@?rĿ?i2e>I2`;2cCYB1FByBHbDJVDJ:yR%Rb=ٔVtQ-V>9TYX=ZgGyXZ|EZ>\Q 5b4^ft?Q 9f4^g)^>YBYdyf>Q If@^6DI^; ;i^ ;^AV4yjBɮjAnYEtP~B*** querying acoustic contact ***| |jgO FNOT Ignoring new targets: 602.90 m.R sA7Z sA7gO ProNav: ac range: 602.902100 m, nav range: 582.057068 m, bearing: 23.042774 deg, approach rate: -0.570938 m/s, LOS rate: 0.000661 deg/s, cmd heading: 23.814363 deg, new cmd heading: 23.814833 deg. Bš7gO%HeadingCmd: 0.415647 target range: 602.902100 and range: 605.40 m.->)*)") )))11ʎ119j9Z=`*@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754144uJBɢu)q uZiy)}yyi}niU>UJ;]J[Ia!@! @!@%00@!A^AYAmZAzAm[A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006052E  E E ,E "E G;*E Z:VE g4ZE BE + 3,hX@A6e>6.>6MUٱ6|$ >AHRS rotation from veh to nav: [[0.902774,-0.414487,-0.114890],[0.426954,0.895903,0.122749],[0.052053,-0.159867,0.985765]]6H?ڿqi`7S?=?wl? ? vĿ`c?i6e>I6I`;6bCYFMFByFHiMb@Mb@Mb@ 9K7?Q~jthYI ?yDAA A)ZAYAbD-VD-y==%=B=ٔ=4Q-E>9AYA=EgGyE{FMMEM>QQ 5]4YU]?Q 9e4U)UKYBYe ?Q Ee:ye >Q Ie@U6DIU9;iUU9;U]4yqɮuuAqjgOFNOT Ignoring new targets: 602.90 m.RSs7ZSs7gO ProNav: ac range: 602.902100 m, nav range: 581.826904 m, bearing: 23.043123 deg, approach rate: -0.548400 m/s, LOS rate: 0.000831 deg/s, cmd heading: 23.814834 deg, new cmd heading: 23.815532 deg. B7gOHeadingCmd: 0.415659 target range: 602.902100 and range: 605.40 m.P>*" ʎjZ~+@- KBɢܥ) ˗i)T 项i iP><;IP>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258924ԙ9@ @@@Ա^A A ؟AI I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510057 :,7X@A2d>2>2Yٱ2>% :AHRS rotation from veh to nav: [[0.902911,-0.413864,-0.116051],[0.426523,0.896110,0.122741],[0.053197,-0.160323,0.985630]]2H?|ڿ`%L??k?I22_;0YBPFByBHHJ@AER ERER(EP"ERCJ;*ER:VERc44ZEPaV@aV@aV@aZ@bDNVDNyb;%bR=ٔb&AQ-b>9f"?Yf"?=fgGydjEj>lQ 5r4n?Q 9r4n)nWYBYpyr>Q Ir@n6DInQ;in<;ncd4yzBɮzsAxjgOFNOT Ignoring new targets: 602.90 m.R%z7Z%z7gO- ProNav: ac range: 602.902100 m, nav range: 581.613953 m, bearing: 23.043455 deg, approach rate: -0.549024 m/s, LOS rate: 0.000857 deg/s, cmd heading: 23.815531 deg, new cmd heading: 23.816196 deg. B57gO5HeadingCmd: 0.415671 target range: 602.902100 and range: 605.40 m.5>Թ*" ʎjZHe,@UKBɢ])Y ]iY)]#aaieie>m ;m#XIiAYAYBBBVHBFBBBBB݂;Bo9EBACBACBÔCBá =Bâ =CEK6-9@) @)@)@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762028^AiA I I O >9 @,X@AJc>Jǔ>J _ٱJެ% ^AHRS rotation from veh to nav: [[0.903160,-0.412971,-0.117289],[0.425839,0.896428,0.122794],[0.054431,-0.160848,0.985477]]JH?`nڿ @? ?@fo?]ޫ?Ŀ ?iJc>IJ_;J`CYvcFByzHbD5VD5ye3=%m@=ٔu>Q-}>9Y=gGy|FܺE>aQ 54?Q 94)eYBYyr>Q I@6DI=i2=k4checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014144y ɮ MAjqgOuFNOT Ignoring new targets: 602.90 m.R}#l7Z}#l7E EE*E"E1A;*E:VE(N4ZEBE*" ʎjZ^Y-@U6KBɢ]m)Y ]ciY)]_(aaieٺi>S;Iԁ9@! @!@%4@!@-[A@-[A wk>CMG)Au˿9qYuA^A A ?A ? checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266104 AQ Ii I O >9G,NX@AYMFByU$H YYiMb@Mb@Mb@ 9Zd;O?S㥛~jtx?Y~ ?y/ݼ;A )fAY AbD VD 0y=%;=ٔQ-%>9!Y!=%gGy!-E5>1Q 5=45?Q 9E45S)5wYBYE ?Q EE:yE;>Q IE@56DI5;i5?;5us4yUBɮUAUZEԉj gOFNOT Ignoring new targets: 602.90 m.Rh7Zh7gO% ProNav: ac range: 602.902100 m, nav range: 581.144775 m, bearing: 23.044053 deg, approach rate: -0.578402 m/s, LOS rate: 0.000524 deg/s, cmd heading: 23.816972 deg, new cmd heading: 23.817392 deg. B%tu7gO-HeadingCmd: 0.415692 target range: 602.902100 and range: 605.40 m.->)*1"1 11199ʎ999jAZM .@uJKBɢu)q u%iq)}#,yyi}7i>U;bI9@ @@3@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518529bEřT4jEwX4rEŒ0Eu EuEu.Eq"EuCJ;*Eu&:VEuـ4ZEqa@a@a@a@^A= <B >B B {HB FBB =B B DB ߂;B t9EA I I O > (^M,8X@A2a>2>2ehٱ2' :AHRS rotation from veh to nav: [[0.903830,-0.410780,-0.119793],[0.424098,0.897189,0.123255],[0.056847,-0.162205,0.985118]]2H`-?9JڿȪ@m$?Ƶ???%Ŀ?i2a>I2`;2bCYBFByB*H HJp;bDNVDNܲyRIG<%Vf=ٔVV߻Q-V>9XYX=ZgGyZ}FZ`E^>`Q 5b4b|?Q 9f4bg)bYBYdyfI>Q If@b6DIb:ib:by4yhɮn AlPzB*** querying acoustic contact ***x xjgOFNOT Ignoring new targets: 602.90 m.R 57Z 57gO ProNav: ac range: 602.902100 m, nav range: 580.953308 m, bearing: 23.044261 deg, approach rate: -0.570466 m/s, LOS rate: 0.000621 deg/s, cmd heading: 23.817392 deg, new cmd heading: 23.817809 deg. %checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770262B-m7gO-HeadingCmd: 0.415699 target range: 602.902100 and range: 605.40 m.->1*1"1 111ʎjZ@ .@ \KBɢ )  嚿i)/9i=YiE>Ez;E|II9@ @@00@^A1checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024399Q D zD AAE  E 8E *E "E B;*E  ;VE (N4ZE BE w#FT,$QX@A:2`>:I>:/mٱ:( BAHRS rotation from veh to nav: [[0.904478,-0.408878,-0.121404],[0.422549,0.897744,0.124529],[0.058072,-0.163933,0.984761]]:H {?+ڿ`N ?R?)??@Ŀ(?i:2`>I:*a;:^CYJFByJ=HiMb@Mb@Mb@ 9!rh?9IYI=MgGyIMEU>QQ 5e4U?Q 9e4U)UYBYe?Q Ee:ye>Q Im@U6DIU;iU;U 4yuBɮuAqjgOFNOT Ignoring new targets: 602.90 m.RֶZֶgO ProNav: ac range: 602.902100 m, nav range: 580.730225 m, bearing: 23.044106 deg, approach rate: -0.527299 m/s, LOS rate: -0.000367 deg/s, cmd heading: 23.817809 deg, new cmd heading: 23.817498 deg. B+gO=HeadingCmd: 0.415694 target range: 602.902100 and range: 605.40 m.=>9*9"9 99AAAʎAIIjIZM@/@颽rKBɢ) i);3ii>W.;jYI)a=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2755649@ @@3@y^A*<AzA\Aԩ A9 IA IY Oe > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526117gpZ,kX@AE& E&E&(E$"E&1A;*E&d:VE&c44ZE$a*@a*@a*@a*@>^>>>@>^Ksٱ>4* JAHRS rotation from veh to nav: [[0.905067,-0.407130,-0.122877],[0.421105,0.898313,0.125313],[0.059363,-0.165161,0.984479]]>H O?kڿtc??`B ?d?`#ſ ـ?i>^>I>b;>cCYNFByROHbDZVDZNyb$=%bS=ٔbZQ-b>9dYd=fgGyf~Fj҃Ej>lQ 5r4n?Q 9r4n)nYBYpyr>Q Iv@n6DIn<;inY;nӇ4yxɮzӾAxjgOFNOT Ignoring new targets: 602.90 m.R%ΨZ%ΨgO- ProNav: ac range: 602.902100 m, nav range: 580.525818 m, bearing: 23.043994 deg, approach rate: -0.527260 m/s, LOS rate: -0.000288 deg/s, cmd heading: 23.817498 deg, new cmd heading: 23.817275 deg. B5 gO5HeadingCmd: 0.415690 target range: 602.902100 and range: 605.40 m.5M>*" ʎjZ:0@颍KBBA<ɢoW) wiB5~>B1B5HB5FBB5 =B1B5DB5ӂ;B5d9EԱ)7iFiM>Q;hIa@a @a@e4@a=BDAT read: Rx Time:00:29:57.2380 ETRx dataTimestamp_ set to:1761697797.921116Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779146^A < A .AI I O >I_a,fX@ABP]>B,>BnayٱB+ JAHRS rotation from veh to nav: [[0.905638,-0.405320,-0.124644],[0.419665,0.898850,0.126295],[0.060846,-0.166686,0.984131]]BH?ٿ迿 ? a?@k*??'?Uſ ~?iBP]>IBc;BaCYZFByZoHh||bDVD:2yEKw=%MB=ٔUeQ-]>9e ?Ym ?=ugGyq}lmE>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032593yQ 54}E?Q 94}l)}YBYy>Q I@}7DI}i*i"i iiiqqʎqqyjyZ}0@KBɢz) /i)j<i#i>L;I!@ @@4@)^A oE< DAT read: 00:29:57.2380 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 401,-0.15,-1.871, 2.894,-1.728,-2.152, PHS= 0.383,-1.192, 0.381, RAW= 149.9, 5.5, CAL= 149.2, 5.7, ROT= 0.8, -5.7  Ygot valid direction response: 00:29:57.2380 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 401,-0.15,-1.871, 2.894,-1.728,-2.152, PHS= 0.383,-1.192, 0.381, RAW= 149.9, 5.5, CAL= 149.2, 5.7, ROT= 0.8, -5.7  8DAT read: $Error in header  *Received a bad header  X#Rx 1: Read direction message, but no range. \direction in FSK: [0.994959,0.013893,0.099320]yI M ('^?Vbt?hܸm?I I I I I )M PIM >iM uM o>M p'@M =M r&@ M %=)M dqg,X@AYFByH1iMb@Mb@Mb@ 9HzG?Mb`?y&1?Y= ?y;`<AA )bAYAbDVDky-xD=%59=ٔ5Q-5>95"?Y="?==gGy=F=E=>AQ 5M4E?Q 9M4E)EYBYUm ?Q EU:yU>Q IU@E7DIE ;iE;Eꖵ4y]Bɮ]nAeQEjgOFNOT Ignoring new targets: 602.90 m.R1Z1gO ProNav: ac range: 602.902100 m, nav range: 580.066711 m, bearing: 23.042951 deg, approach rate: -0.556568 m/s, LOS rate: -0.002426 deg/s, cmd heading: 23.817081 deg, new cmd heading: 23.815188 deg. B gOHeadingCmd: 0.415653 target range: 602.902100 and range: 605.40 m.>*" ʎjZ1@KBɢ )Ô< i)0@i)Gi>4;Ia@ @@4@eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseE EE+E"E[I;*E#:VE [4ZEa%@a%@a-@a-@ԉB}v>B}>CB}HB}#GBB} =ByB}DB}т;B}\9E^Ae R5<Ae ?Ae ?Թ A I I O >cm,۹X@A2\[>2Y>2ԁٱ2`, :AHRS rotation from veh to nav: [[0.906172,-0.403418,-0.126906],[0.418137,0.899609,0.125959],[0.063352,-0.167205,0.983885]]2H@]?ٿw>??k?7?@fſ{?i2\[>I20e;2]CYZFBy^HbT****** received valid address query ******bR****** received valid ping request ******breceived new query, but waiting for acoustic response period to elapsebDjVDjβyrD<%vb=ٔvQ-v>9xYx=zgGyxzEz>Q 54?Q 9 4‹)YBY y >Q I @)7DI:i::4yBɮ`AP5B*** querying acoustic contact ***1 1jAgOEFNOT Ignoring new targets: 602.90 m.RM%ZM%gO] ProNav: ac range: 602.902100 m, nav range: 579.872803 m, bearing: 23.042136 deg, approach rate: -0.536166 m/s, LOS rate: -0.002255 deg/s, cmd heading: 23.815188 deg, new cmd heading: 23.813557 deg. B] gOeHeadingCmd: 0.415625 target range: 602.902100 and range: 605.40 m.e>a*a"a aiiiiʎqqqjqZu6o1@ԙ颭KBɢi ) ^i)eCi輦i>; I 9@  @ @ -4@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A<EM  EM EM ,EI "EM F;*EM :VEM g4ZEI BEM b! Yt,5X@A2Y|Z>2#>2_ٱ2, :AHRS rotation from veh to nav: [[0.906435,-0.402331,-0.128469],[0.417320,0.899991,0.125938],[0.064952,-0.167768,0.983685]]2H?̿ٿ@q_???@?@hyſXz?i2Y|Z>I28f;2bCYBFByBHi Mb@Mb@Mb@     9 oʡ? rh?y&1?Y  ?y C<  A A A) nA Y pA p<bD%VD%0y5=%5F=ٔ5}Q-=>9Y=gGyFE>Q 54I/?Q 94)ZBYN ?Q E:y>Q I@87DI2 ;i ;4yɮ"AjgOFNOT Ignoring new targets: 602.90 m.RxZxgO- ProNav: ac range: 602.902100 m, nav range: 579.637390 m, bearing: 23.040542 deg, approach rate: -0.546252 m/s, LOS rate: -0.003701 deg/s, cmd heading: 23.813557 deg, new cmd heading: 23.810367 deg. B-ظgO5HeadingCmd: 0.415569 target range: 602.902100 and range: 605.40 m.5>1*9"9 999AAʎAAAjIZM1@uKBɢ}Z)y }\iy)}$H顁i69i>u;äIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@ @@4@)^A} T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԉ E=  E= E= *E9 "E= G;*E= :VE= (N4ZE9 aM @aM @aM @aM @:z,X@An1Y>n>ncٱn0- zAHRS rotation from veh to nav: [[0.906577,-0.401480,-0.130124],[0.416748,0.900272,0.125825],[0.066630,-0.168299,0.983481]]nH? رٿ?? ??Њſ x?in1Y>In~g;n\CY FBy HbD-VD-βy=;%EH=ٔMQ-M>9IYQ=UgGyQ]tE]>aQ 5u4e??Q 9u4e^)e.ZBYyy}>Q I}@eF7DIe";ie";e4yɮAREAAB B B *HB UGBB  =B B B ;B 9E9jQgOUFNOT Ignoring new targets: 602.90 m.R}Z}gO ProNav: ac range: 602.902100 m, nav range: 579.421692 m, bearing: 23.039091 deg, approach rate: -0.519362 m/s, LOS rate: -0.003493 deg/s, cmd heading: 23.810367 deg, new cmd heading: 23.807466 deg. B̸gOHeadingCmd: 0.415519 target range: 602.902100 and range: 605.40 m.ݾ>*" ʎjZI2@KBɢK9 )1 5㞿i9)=|L99i=9iEݾ>E;EIIiT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapser;ԙm 9@q  @q @u n0@q ^A Ԙ<A [AzA ZAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE= E=E=+E9"E=sH;*E=:VE= [4ZE9BE=B->BٱB c. VAHRS rotation from veh to nav: [[0.906829,-0.400357,-0.131820],[0.415933,0.900625,0.125993],[0.068279,-0.169082,0.983234]]BH@?@qٿ@~`??@ ?z?`|ſ@v?iBY>IB@Fh;B_CYZGBy^Hi=Mb@Mb@Mb@9999 99=/$?~jt?~jt?Y=&?y=<=<=A=A =A)99Y=3AbDUVDU0ye]=%e=ٔeMQ-m>9iYi=mgGymFueӺEu>yQ 54}U?Q 94}ق)}KZBYP?Q E:y>Q I@}Y7DI}/:i}{:}̴4yBɮAjgOFNOT Ignoring new targets: 602.90 m.RZgO ProNav: ac range: 602.902100 m, nav range: 579.125916 m, bearing: 23.037135 deg, approach rate: -0.588633 m/s, LOS rate: -0.003895 deg/s, cmd heading: 23.807466 deg, new cmd heading: 23.803552 deg. BgOHeadingCmd: 0.415450 target range: 602.902100 and range: 605.40 m.>*" ʎ)qyjyZ}2@颥LBɢK) i)Qi)#:i>r;I'<]9@Y @Y@]z0@Yqi9I9=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseԁ^Ae m<I9 IQ O] >Ա \ĉ,D(X@A2AX>2>2Xٱ2A. :AHRS rotation from veh to nav: [[0.907035,-0.399392,-0.133317],[0.415206,0.901008,0.125649],[0.069937,-0.169322,0.983076]]2Hn? ٿ @??E?@]?`Zſ@\u?i2AX>I2 >h;2^CYB7GByBHbDJVDJܲyV=%VW=ٔVQ-V>9XYX=ZgGyX^]E^>`Q 5f4be?Q 9f4bM)b`ZBYdyf>Q If@bg7DIb:ib:bm4ylɮnAljgOFNOT Ignoring new targets: 602.90 m.R 6Z 6gO ProNav: ac range: 602.902100 m, nav range: 578.912109 m, bearing: 23.035735 deg, approach rate: -0.564086 m/s, LOS rate: -0.003694 deg/s, cmd heading: 23.803552 deg, new cmd heading: 23.800752 deg. BVظgO%HeadingCmd: 0.415401 target range: 602.902100 and range: 605.40 m.%>!*!"! !!)))ʎ)11j1Z5)3@e%LBɢeG)a eia)mqKUiiim]Z:iu>ub;uKT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseI!!Em EmEm)Ei"EmB;*Em:VEmFA4ZEiau@au@au@au@ԙBuu>BqBuuHBuGBBu =BqBqBuE;Bu8EB=>CB=?CB9B=ħ =B=Ħ =C=ĝ559@1 @9@=?0@9M T****** received valid address query ******U R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapse^A% ]<I I O > ,BX@AY0GByHbD-VD-2y={%=A=ٔEQ-E>9AYI=MgGyMFMEM>QQ 5]4Uw?Q 9]4Ux})UxZBYayaQ Ie@Uv7DIUD;iU;Uµ4yiɮmAmSEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 602.90 m.RZgO ProNav: ac range: 602.902100 m, nav range: 578.673828 m, bearing: 23.034174 deg, approach rate: -0.563078 m/s, LOS rate: -0.003690 deg/s, cmd heading: 23.800752 deg, new cmd heading: 23.797629 deg. B ظgOHeadingCmd: 0.415347 target range: 602.902100 and range: 605.40 m.\>*" ʎjZ@3@u=LBɢuZ)y }iy)}Yyyi}ҋ:i\>0;yIU9@Y @Y@e0@a@\A@\AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE} E}E},Ey"E}C;*E}:VE}g4ZEyBE}@I ] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapseۖ,*\X@ANyW>Ng>N>ٱN/ 5AHRS rotation from veh to nav: [[0.907100,-0.398056,-0.136826],[0.414398,0.901535,0.124531],[0.073783,-0.169663,0.982736]]NH ?yٿ ?`?@I? m? ſr?iNyW>INh;NaCYPGBy$H==AiMMb@Mb@Mb@IIII I9MʡE?Q?~jth?YM-?yMu9yY=gGyFúE>Q 54?Q 94z)ZBY:?Q E:y&>Q I@7DI ;ii ;˵4yɮ}AjgOFNOT Ignoring new targets: 602.90 m.RZ\ZZ\gO ProNav: ac range: 602.902100 m, nav range: 578.383118 m, bearing: 23.032637 deg, approach rate: -0.569011 m/s, LOS rate: -0.003010 deg/s, cmd heading: 23.797629 deg, new cmd heading: 23.794553 deg. BHgOHeadingCmd: 0.415293 target range: 602.902100 and range: 605.40 m.S>*" ʎjZ4@-ZLBɢ5)1 5+i1)=|^99i=44:iES>ER ;EkIIq9@ @@=0@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsebEjEY4rEǴ0Em EmEm(Ei"Em<;*Em:VEmc44ZEia}@a}@a}@a}@ԙ Bu s>Bq Bu HBu GBBu =Bq Bq Bu ;Bu 8E^A <IY Ii Ou >z,vX@A2W>2A5>2tٱ2rx/ :AHRS rotation from veh to nav: [[0.907110,-0.397314,-0.138897],[0.413980,0.901794,0.124050],[0.075970,-0.170028,0.982507]]2H ?mٿb~?~??@r?xſp?i2W>I2W4i;2`C@YBrGByFNHbDNVDNk2yV=%V=ٔVQ-Z ?9XYX=ZgGyX^ߵE^ ?`Q 5f4b?Q 9f4bEx)bZBYdyj>Q Ij@b7DIb:ib-:bе4ynBɮn;AljgO FNOT Ignoring new targets: 602.90 m.R ZZ ZgO ProNav: ac range: 602.902100 m, nav range: 578.224792 m, bearing: 23.031805 deg, approach rate: -0.568425 m/s, LOS rate: -0.002987 deg/s, cmd heading: 23.794554 deg, new cmd heading: 23.792890 deg. B%뮸gO%HeadingCmd: 0.415264 target range: 602.902100 and range: 605.40 m.%>)*)") )))11ʎ119j9Z=@ `4@eiLBɢe;#)i m➿ii)mbaiiiu:iu>;=IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԱ9@ @@j1@^A <IqIO>  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseE  E E )E "E P;*E L:VE FA4ZE BE 9 Y = gGy FE>Q 5%4?Q 9%4Ku)ZBY%?Q E%:y%>Q I-@7DI:i:pص4y1ɮ5/A1jYgO]FNOT Ignoring new targets: 602.90 m.ReLZeLgOu ProNav: ac range: 602.902100 m, nav range: 577.965454 m, bearing: 23.030553 deg, approach rate: -0.579351 m/s, LOS rate: -0.002800 deg/s, cmd heading: 23.792891 deg, new cmd heading: 23.790384 deg. BugO}HeadingCmd: 0.415221 target range: 602.902100 and range: 605.40 m.}ɗ>y*y"y yʎjZ4@颽LBɢv) ]i)efim^:iɗ>F;NHIQIY)Y 9@ @@m0@@=@=-T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapse1^A }UC,>X@A:^V>:l>:Zٱ:0 FAHRS rotation from veh to nav: [[0.907062,-0.395797,-0.143467],[0.413199,0.902258,0.123275],[0.080652,-0.171098,0.981947]]:H@?Tٿ]¿@q?L??`?ſl?i:^V>I:≷:\CYJGByNoHbDVVDVy^e=%^b=ٔ^TQ-b>9b ?Yb ?=bgGy`fEf>hQ 5n4j?Q 9n4jr)jZBYlynf>Q Ir@j7DIj,:ij#:j޵4ytɮvAtj gOFNOT Ignoring new targets: 602.90 m.RJZJgO% ProNav: ac range: 602.902100 m, nav range: 577.756165 m, bearing: 23.029555 deg, approach rate: -0.579170 m/s, LOS rate: -0.002761 deg/s, cmd heading: 23.790384 deg, new cmd heading: 23.788389 deg. B-gO-HeadingCmd: 0.415186 target range: 602.902100 and range: 605.40 m.-9>)*1"1 1119AAʎAAIjIZMU/5@uLBɢun)qT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse ^i)"j顉ie:i9>?;TIE= E=E=,E9"E=1A;*E=:VE=g4ZE9aM@aM@aM@aM@9@ @@1@Bu>BBHBGBB =BBB;B8Ei^A1ԙE T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapseA ؟AI I O >9 :,X@A2U>2Τ>2smٱ20 :AHRS rotation from veh to nav: [[0.907047,-0.395002,-0.145739],[0.412744,0.902562,0.122577],[0.083121,-0.171336,0.981700]]2H?`Gٿ@¿`ej??9a?cG?Yſj?i2U>I2&n;2^CYNGByRHbDZVDZyb 3=%bJ=ٔb]ȻQ-f>9f"?Yf"?=fgGyfFjcEj>lQ 5r4nO?Q 9r4n7p)nZBYpyr0>Q Iv@n7DIn;in:n4yxɮzAxP B*** querying acoustic contact ***  jgO%FNOT Ignoring new targets: 602.90 m.R%GZ%GgO5 ProNav: ac range: 602.902100 m, nav range: 577.521912 m, bearing: 23.028448 deg, approach rate: -0.577194 m/s, LOS rate: -0.002730 deg/s, cmd heading: 23.788389 deg, new cmd heading: 23.786173 deg. B5⟸gOHeadingCmd: 0.415147 target range: 602.902100 and range: 605.40 m.'>*" ʎjZ(5@=LBɢ=Q)9 E/iA)EXnAAiESm ;iM'>M;MpIQ9@ @@0@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseIDYzD]@AE EEE"EP;*E#:VEZEBEa2EaJE6ԙ E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapse&,X@Af|lU>f:a>fٱf'1 AHRS rotation from veh to nav: [[0.907051,-0.394004,-0.148389],[0.412182,0.902866,0.122226],[0.085818,-0.172028,0.981347]]fH? \7ٿj¿/a?`G? 0J?-?ƿ1g?if|lU>If* p;f\CY-GBy-Hi Mb@Mb@Mb@     9 l?{Gzt?:vY ?y ף; T A A A)  Y 3AbD%VD%1y5m<%55=ٔ5pĻQ-=>99Y9==gGy9EEE>IQ 5U4M?Q 9U4MHm)MZBYU?Q EU:y]>Q I]@M7DIM ;iM ;M4yeBɮe¼AeJEqjgOFNOT Ignoring new targets: 602.90 m.RZgO ProNav: ac range: 602.902100 m, nav range: 577.255127 m, bearing: 23.027677 deg, approach rate: -0.590497 m/s, LOS rate: -0.001707 deg/s, cmd heading: 23.786173 deg, new cmd heading: 23.784630 deg. BGgOHeadingCmd: 0.415120 target range: 602.902100 and range: 605.40 m.>*" ʎjZ 6@LBɢ) ʣi)si;i>*;zI>i9@ @@c0@ԡT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEm Em Em*Ei"EmL;*Em:VEm(N4ZEia}@a}@a}@a}@^A <A ?A ?B B B 0HB +HBB =B B B );B 8EAq I I O > {N,X@A2T>2T>2_ٱ2742 :AHRS rotation from veh to nav: [[0.907131,-0.392883,-0.150854],[0.411451,0.903270,0.121705],[0.088446,-0.172472,0.981036]]2H6?`%ٿ.Oÿ4U??(?`?ƿd?i2T>I2q;2]CYBGByBHbDJVDJ:yR<%Rh=ٔV0Q-V>9TYT=VgGyZFZZEZ>\Q 5b4^?Q 9b4^j)^ZBYdyfV>Q If@^7DI^(:i^9:^4yhɮjAjKEj|gOFNOT Ignoring new targets: 602.90 m.RZgO ProNav: ac range: 602.902100 m, nav range: 577.046875 m, bearing: 23.027089 deg, approach rate: -0.592082 m/s, LOS rate: -0.001671 deg/s, cmd heading: 23.784631 deg, new cmd heading: 23.783456 deg. BCgOHeadingCmd: 0.415100 target range: 602.902100 and range: 605.40 m.>*" ʎjZ`j6@ELBɢEn)A EɥiA)MwIIiM%;iU>};NqIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseM9@I @I@M0@I^Amv<)  i<,YX@AR T>R>RﺽٱR2 ZAHRS rotation from veh to nav: [[0.907173,-0.391811,-0.153368],[0.410766,0.903665,0.121084],[0.091151,-0.172842,0.980723]]RH ?nٿÿI? ?W?`U?ƿb?iR T>IRLs;R^CYbGBybHiMb@Mb@Mb@ 95^I ?~jthI +Y?yD94A )AYAbD VD:2y3=%8=ٔȻQ->9Y=gGyOE>Q 54?Q 944h)ZBY?Q E:y}>Q I@7DI7 ;i ;4yɮAj!gO%FNOT Ignoring new targets: 602.90 m.R-Z-gO= ProNav: ac range: 602.902100 m, nav range: 576.784424 m, bearing: 23.026697 deg, approach rate: -0.592104 m/s, LOS rate: -0.000885 deg/s, cmd heading: 23.783456 deg, new cmd heading: 23.782671 deg. B=kϷgOEHeadingCmd: 0.415086 target range: 602.902100 and range: 605.40 m.E$>A*A"A AIIIIʎQQQjQZU:6@颅LBɢ9) di)d{  i 2;i $>SE;&iI!9@ @@G0@DAT read:  2Acoustic response timeoutY^A= m<ԁ A1 I9 II O] >w`,+X@A0>>KI>>&ٱ>u2 FAHRS rotation from veh to nav: [[0.907254,-0.390667,-0.155788],[0.409938,0.904200,0.119884],[0.094029,-0.172629,0.980489]]>H8?ٿÿ`mI>RGt;9`Y`=fgGyfFf Ef>hQ 5n4j?Q 9n4je)j [BYpyr>Q Ir@j7DIjY;ij;j4ytɮvAtjgOFNOT Ignoring new targets: 602.90 m.RuZ%ugOM ProNav: ac range: 602.902100 m, nav range: 576.566406 m, bearing: 23.026388 deg, approach rate: -0.592549 m/s, LOS rate: -0.000840 deg/s, cmd heading: 23.782671 deg, new cmd heading: 23.782053 deg. BUķgOUHeadingCmd: 0.415075 target range: 602.902100 and range: 605.40 m.U>e2Acoustic response timeouta*a"a aiiiiʎqqqjqZ} 57@颥MBɢB") fi)顩in?;i>;E%  E%E%)E!"E%E;*E%:VE%FA4ZE!a-@a-@a-@a-@,_IYiԑBx>B?CBoHB^HBB =BBDB$;B8E9@ @@0@Թ^Azl<AZAzA5 2Acoustic response timeout A! I) I9 OM >I,AgEX@A2}~R>28>2]ƽٱ242 :AHRS rotation from veh to nav: [[0.907297,-0.389592,-0.158207],[0.409166,0.904720,0.118598],[0.096928,-0.172336,0.980258]]2H@?`ؿ"@Ŀ@/? w? l\?`Nи?ƿ@E^?i2}~R>I2cu;2_CYBGByBHbDJVDJβyR=%RL=ٔVQ-V>9TYT=VgGyXZEZ>\`Q 5f4b+?Q 9f4b[c)b[BYdyf>Q If@b 8DIb:ibd:b 4ylɮnXAlPzB*** querying acoustic contact ***x xj!gO-FNOT Ignoring new targets: 602.90 m.R5fZ5fgOE ProNav: ac range: 602.902100 m, nav range: 576.328308 m, bearing: 23.026068 deg, approach rate: -0.585526 m/s, LOS rate: -0.000789 deg/s, cmd heading: 23.782053 deg, new cmd heading: 23.781411 deg. BEgOMHeadingCmd: 0.415064 target range: 602.902100 and range: 605.40 m.MB>I*I"I IQQQYʎYYYjYZe@7@颍'MBɢa) Ѩi)顑iUK;i]B>]/;]TVIa @ @@p0@m2Acoustic response timeoutE]  EYE].EY"E]G;*EYVE]ـ4ZEYBE]+% 2Acoustic response timeoutr,=_X@A22>2Q̽ٱ22 :AHRS rotation from veh to nav: [[0.907313,-0.388536,-0.160694],[0.408489,0.905105,0.117994],[0.099600,-0.172699,0.979926]]2H ? ؿ`Ŀ@$??`4? f?@ƿ[?i2I2u;2\CYBGByBHiuMb@Mb@Mb@qqqq q9u5^I ?{GzMb`Yqyu#uu Aq uxA)uAqYuAbDVDNyY=%<=ٔɻQ->9Y=gGyFE>Q 54>?Q 94`)7[BY?Q E:y>Q I@8DIv:is:4yɮ6ALEjgOFNOT Ignoring new targets: 602.90 m.RZgO  ProNav: ac range: 602.902100 m, nav range: 576.071289 m, bearing: 23.025968 deg, approach rate: -0.597253 m/s, LOS rate: -0.000231 deg/s, cmd heading: 23.781411 deg, new cmd heading: 23.781212 deg. B #ضgOHeadingCmd: 0.415060 target range: 602.902100 and range: 605.40 m.΂>*" !!!ʎ)))j)Z- 8@AMBɢ") i)Oi1 X;i΂>ˠ;NII9@ @@O0@}2Acoustic response timeoutԉE=  E=E='E9"E=F;*E=>:VE='4ZE9aM@aM@aM@aM@^AjZX<B <A B v>B B HB HBB B B B ;B 8EBqBu>CBuɓCBqBuɧ =Cur5 I I O >h, yX@A2Q>25>2ѽٱ2E2 :AHRS rotation from veh to nav: [[0.907368,-0.387368,-0.163183],[0.407693,0.905549,0.117333],[0.102319,-0.172993,0.979594]]2H) ? ؿ 0Ŀ?@B?` ?1?$ƿ@X?i2Q>I2Xv;2`CYBGByBHbDJVDJyR=%R\=ٔVQ-V>9TYT=VgGyTZgEZ>\Q 5b4^ P?Q 9f4^h^)^N[BYlyr`>Q Ir@^+8DI^;i^w;^14y|ɮ~A|j!gO%FNOT Ignoring new targets: 602.90 m.R-TZ-TgO= ProNav: ac range: 602.902100 m, nav range: 575.851074 m, bearing: 23.025900 deg, approach rate: -0.583508 m/s, LOS rate: -0.000181 deg/s, cmd heading: 23.781213 deg, new cmd heading: 23.781076 deg. B=gOEHeadingCmd: 0.415058 target range: 602.902100 and range: 605.40 m.E~>A*A"A AAIIIʎIQQjQZ]Ek8@颅XMBɢ &) Wi)`顉i|c;i~>ԙ=;7DI2Acoustic response timeout9@ @@}0@@@^ANJN<A>A?I I O > 2Acoustic response timeout! Em  Em Em (Ei "Em =;*Em :VEm c44ZEi BEm B}>B[׽ٱBH1 TX nAHRS rotation from veh to nav: [[0.907314,-0.386695,-0.165068],[0.407078,0.906157,0.114747],[0.105206,-0.171307,0.979585]]BH?`ؿ ſ ? =?`??bſX?iBP>IBxv;%MGB^CIY-9YhAYHByHy@?~AiMb@Mb@Mb@ 9㥛 ?9Y=gGyF)E>Q 5 4e?Q 9 4[)m[BY ?Q E :y >Q I@<8DI;i:4yɮAjgOFNOT Ignoring new targets: 602.90 m.R5Z5gO ProNav: ac range: 602.902100 m, nav range: 575.572937 m, bearing: 23.025773 deg, approach rate: -0.567419 m/s, LOS rate: -0.000258 deg/s, cmd heading: 23.781076 deg, new cmd heading: 23.780823 deg. BgOHeadingCmd: 0.415054 target range: 602.902100 and range: 605.40 m.>*" ʎjZ8@vMBɢ7)! !i!)%!!i%o;i->-;f;5?p>I1!9@ @@00@iIA2Acoustic response timeoutI^A 0:D<IA IQ Oe >q ,ͬX@AY~,HBy~3HbDVD!y%VC=%%m=ٔ%Q-%?9)Y)=-gGy)5E5?9Q 5M4=u?Q 9M4=mY)=[BYIyQQ IU@=I8DI=$;i=_3;=%4mBDAT read: Response Not Received m*response not receiveduTDAT read: user:385>Tx time:00:30:06.4772 }*" ʎjZ6F9@B]p>B]>CB]HB]HBBYBYB]DB];B]8E额MBɢL') 7i)0顡ip{;i>޼;+?Ia@a @a@e?0@aԉԩ DAT read:  2Acoustic response timeout^A $?<I I OM > Ԗ,\X@A2>O>2>2&jٱ2'1 :AHRS rotation from veh to nav: [[0.907093,-0.385276,-0.169545],[0.406215,0.906803,0.112686],[0.110329,-0.171088,0.979059]]2H?\ؿſm?@?`ؼ?>?7ſ`sT?i2>O>I2;Vv;0Y ;HBy EHbDVDky-Y=%-I=ٔ5PQ-5>91Y1==gGy=F=`EE>AQ 5M4EI?Q 9M4EV)E[BYQyU>Q IU@EX8DIE:iE6:E,4yYɮeAaP}B*** querying acoustic contact ***y yjgOFNOT Ignoring new targets: 602.90 m.R煶Z煶gO ProNav: ac range: 602.902100 m, nav range: 575.137390 m, bearing: 23.025592 deg, approach rate: -0.594043 m/s, LOS rate: -0.000229 deg/s, cmd heading: 23.780641 deg, new cmd heading: 23.780460 deg. B?ֶgOHeadingCmd: 0.415047 target range: 602.902100 and range: 605.40 m.>*" ʎjZ@9@MBɢH.)  i)iU8;i>;&5I >i Ա9@ @@0@@@@@u2Acoustic response timeoutE  EEE"EC;*E:VEZEBE  2Acoustic response timeout9 ,X@AFN>F>FԊٱF . RAHRS rotation from veh to nav: [[0.906954,-0.384202,-0.172694],[0.405159,0.907832,0.108106],[0.115243,-0.168016,0.979025]]FH`?`Ėؿ@ƿ ?@ ?@ݬ? ?`ſ ,T?iFN>IFu;F\CYZ?HByZJH\^Ai}Mb@Mb@Mb@yyyy y9}|?5^?:vY}?y}Ty} Ay }xA)}·AyY}\AbDVD:y<%C=ٔ;AQ->9Y=gGyE>Q 54ۙ?Q 94T)[BY?Q E:y>Q I@h8DI8:i:44yɮAMEjgOFNOT Ignoring new targets: 602.90 m.R6Z6gO ProNav: ac range: 602.902100 m, nav range: 574.898376 m, bearing: 23.025693 deg, approach rate: -0.571023 m/s, LOS rate: 0.000242 deg/s, cmd heading: 23.780460 deg, new cmd heading: 23.780662 deg. B6gOHeadingCmd: 0.415051 target range: 602.902100 and range: 605.40 m.%>!*!"! !!!))ʎ))1j1Z5`#:@]MBɢe')a eӯia)eN{iiimQ;im>umJ;u(Iy 9@ @@j0@IqIO>9}2Acoustic response timeoutE EE,E"Ea?;*EL:VEg4ZEa-@a-@a-@a-@AI AI BU h>BU =CBU +HBU HBBU =BQ BU DBU ;BU '7Ei ,`X@A0J+N>J>J2ٱJ- VAHRS rotation from veh to nav: [[0.906806,-0.383710,-0.174554],[0.404775,0.908212,0.106340],[0.117729,-0.167085,0.978888]]JH ?ؿ`Wƿ@??@9?v#? cſ S?iJ+N>IJu;J]CYnZHBynkHbDzVDzky=%U=ٔ+ֻQ->9 Y = gGy F GE>Q 5-4ڪ?Q 954TR)[BY1y=q>Q I=@v8DI؀;iU;:4yIɮU`AQjgOFNOT Ignoring new targets: 602.90 m.R(6Z(6gO ProNav: ac range: 602.902100 m, nav range: 574.679688 m, bearing: 23.025792 deg, approach rate: -0.560758 m/s, LOS rate: 0.000255 deg/s, cmd heading: 23.780663 deg, new cmd heading: 23.780861 deg. B6gOHeadingCmd: 0.415054 target range: 602.902100 and range: 605.40 m.>*" ʎjZ` u:@2Acoustic response timeoutMBɢF)) i)Бi-S;i5>5L;=aN&I9ԉ9@ @@G0@ԹAI!I9OEs>  2Acoustic response timeoutE5  E5 E5 *E1 "E5 F;*E5 :VE5 (N4ZE1 BE5 b9Y=gGyE>Q 5 4Ǿ?Q 9 4O)[BY ?Q E:yv>Q I@8DI\aa*a"a aiiiiʎqqqjqZu:@颥MBɢ ') i) =顩iy;i؁>;h'Ia@a @a@e?0@aAm?Am?2Acoustic response timeoutIqIO>9 G ,A.X@A:M>:d>:{ٱ:~+ FAHRS rotation from veh to nav: [[0.906562,-0.382562,-0.178301],[0.403893,0.908951,0.103335],[0.122535,-0.165694,0.978535]]:H?{ؿ`ƿc? ?*t?s^?x5ſ`(P?i:M>I:t;:\CYRHByRHZ=Z=bDbVDbyn }=%nj=ٔrbQ-r>9tYt=vgGyvFzEz>| Q 54~.?Q 94~M)~\BYy>Q I@~8DI~X~;i~;~H452Acoustic response timeouty9ɮ=غA9jqgOuFNOT Ignoring new targets: 602.90 m.R}t(Z}t(E  EE)E"ED;*E:VEFA4ZEa@a@a@a@gOM ProNav: ac range: 602.902100 m, nav range: 574.223938 m, bearing: 23.025745 deg, approach rate: -0.573244 m/s, LOS rate: -0.000036 deg/s, cmd heading: 23.780793 deg, new cmd heading: 23.780768 deg. BMÆgOUHeadingCmd: 0.415053 target range: 602.902100 and range: 605.40 m.UɁ>Q*Q"Q QYYyʎjZI;@ NBɢ-q/) ViBe>B=; 37I 1 @ @@@a2Acoustic response timeout^AU NJN<ԑ Ii I O >K,>HX@A6zM>6:5>6 ٱ6+ >AHRS rotation from veh to nav: [[0.906611,-0.381528,-0.180260],[0.403101,0.909381,0.102639],[0.124766,-0.165717,0.978249]]6H@?jؿǿj??F?`?46ſ@M?i6zM>I6Tt;6`CYFHByFHbDRVDRyV=%ZN=ٔZQ-Z>9\Y\=^gGy\bEb>dQ 5j4f?Q 9j4fTK)f+\BYhyj>Q In@f8DIf ;if ;fO4ypɮrApP~B*** querying acoustic contact ***| |j gO FNOT Ignoring new targets: 602.90 m.RM4ZM4gO% ProNav: ac range: 602.902100 m, nav range: 574.000549 m, bearing: 23.025748 deg, approach rate: -0.573645 m/s, LOS rate: 0.000007 deg/s, cmd heading: 23.780767 deg, new cmd heading: 23.780773 deg. B%V4gO-HeadingCmd: 0.415053 target range: 602.902100 and range: 605.40 m.-́>)*)") )qʎjZ.;@E$NBɢE0)i mii)mqqiuƃ;iú>}2;}Iy9@ @@`0@E2Acoustic response timeoutԡ^A<DzDE EE,E"EmR;*E:VEg4ZEBE  2Acoustic response timeout,1aX@A2L>2F >2Yٱ2+ :AHRS rotation from veh to nav: [[0.906492,-0.380872,-0.182232],[0.402685,0.909648,0.101911],[0.126952,-0.165763,0.977960]]2H ?4`ؿ ^Sǿ?????7ſrK?i2L>I2s;2[CYjHByjHi]Mb@Mb@Mb@YYYY Y9]Q?=ٔ%Q->9Y=gGyFLE>Q 54 ?Q 94H)H\BYc?Q E:y>Q I@8DI:i:7W4yBɮAjgOFNOT Ignoring new targets: 602.90 m.R5Z5gO ProNav: ac range: 602.902100 m, nav range: 573.761658 m, bearing: 23.025787 deg, approach rate: -0.555801 m/s, LOS rate: 0.000090 deg/s, cmd heading: 23.780772 deg, new cmd heading: 23.780850 deg. B(6gOHeadingCmd: 0.415054 target range: 602.902100 and range: 605.40 m.>*"   ʎ  jZ@!<@@NBɢ-) !i)蚽i;;i>m^;,I e9@a @a@e@0@ae2Acoustic response timeoutE  EE)E"ED;*E:VEFA4ZEa@a@a@a@1BAB b>B B HB fIBB B B B ;B 76E^A A zA \AI I O >Y 8,{X@A2WL>2>2ٱ2x- FAHRS rotation from veh to nav: [[0.906389,-0.379911,-0.184736],[0.402222,0.909790,0.102473],[0.129140,-0.167185,0.977431]]2H"?uPؿjǿ??;?`?Qfſ G?i2WL>I2s;2\CYVHByVHbDfVDf1yr=%rU=ٔv9tYx=zgGyx~E> Q 54 ?Q 94 F) c\BY!y%>Q I%@ 8DI #T;i +Z; ]4y1ɮ5UA9jgOFNOT Ignoring new targets: 602.90 m.R5Z5gO ProNav: ac range: 602.902100 m, nav range: 573.547241 m, bearing: 23.025830 deg, approach rate: -0.531182 m/s, LOS rate: 0.000107 deg/s, cmd heading: 23.780849 deg, new cmd heading: 23.780936 deg. BQI6gOHeadingCmd: 0.415056 target range: 602.902100 and range: 605.40 m.,>*" !!!!ʎ)))j)Z-q|<@12Acoustic response timeoutYNBɢU2) (i) i=ϥ;i,>; I@ @@H0@@\A@\Aaԑ^A<IQ Ia Om >m 2Acoustic response timeoutD =D <E-  E- E) E) "E- F;*E- :VE) ZE) BE- bvxa>vٱv- AHRS rotation from veh to nav: [[0.906500,-0.378699,-0.186670],[0.401299,0.910229,0.102185],[0.131215,-0.167541,0.977094]]vH` ?<ؿǿ@? ?(?? qſZD?ivlK>Ivr;v^CYHBy-HiMb@Mb@Mb@ 9|?5^?{Gz~jtY ?y#D"A$A )AYAbDVDy#=%==ٔoQ->9Y=gGyFE>Q 54)?Q 94HD)\BY ?Q E:yT>Q I@8DI:i:}e4yBɮAEEjgOFNOT Ignoring new targets: 602.90 m.R%6Z%6gO5 ProNav: ac range: 602.902100 m, nav range: 573.309753 m, bearing: 23.025990 deg, approach rate: -0.575315 m/s, LOS rate: 0.000387 deg/s, cmd heading: 23.780936 deg, new cmd heading: 23.781255 deg. B5C57gO=HeadingCmd: 0.415061 target range: 602.902100 and range: 605.40 m.=>9*9"9 99AAAʎAIԉIjZ`C<@uNBɢ'/) i)im4;i%>M#;M;IU>IY=9@9 @9@E?0@ABDAT read: Rx Time:00:30:09.6727 TRx dataTimestamp_ set to:1761697810.5257972Acoustic response timeout ^AE 8<I I O >1 LL+,,cX@ABJ>B>BٱB7. bAHRS rotation from veh to nav: [[0.906553,-0.377652,-0.188524],[0.400517,0.910615,0.101813],[0.133223,-0.167805,0.976777]]BH {?r+ؿ!ȿ?#?g?p ?zſA?iBJ>IBq;@YnIBynOHbDzVDzky H=% W=ٔaQ->2Acoustic response timeout9!Y!=%gGy!-E->1Q 5=45%?Q 9=45(B)5\BY9yE>Q IE@58DI5Y;i5w;5+l4yIɮMڹAIjqgOuFNOT Ignoring new targets: 602.90 m.R}u6Z}u6gO ProNav: ac range: 602.902100 m, nav range: 573.099365 m, bearing: 23.026147 deg, approach rate: -0.550874 m/s, LOS rate: 0.000412 deg/s, cmd heading: 23.781255 deg, new cmd heading: 23.781570 deg. B*A7gOHeadingCmd: 0.415067 target range: 602.902100 and range: 605.40 m.>*" ʎE  EE'E"EC;*E:VE'4ZEa@a@a@a@j ZJ=@B\>BB HBIBB =BBDB~;B5EB];N;I>I9@ @@70@ADAT read: 00:30:09.6727 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 292,-0.03, 0.752,-0.795, 0.936, 0.545, PHS= 0.309,-1.295, 0.346, RAW= 151.1, 7.9, CAL= 150.6, 8.5, ROT= 359.4, -8.5  Ygot valid direction response: 00:30:09.6727 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 292,-0.03, 0.752,-0.795, 0.936, 0.545, PHS= 0.309,-1.295, 0.346, RAW= 151.1, 7.9, CAL= 150.6, 8.5, ROT= 359.4, -8.5  PDAT read: Bearing 181.5, 5.5 (Local)  ~Local bearing/azimuth received: Bearing 181.5, 5.5 (Local)  DAT read: Range 11 to 50 : 593.5 m (Round-trip 791.4 ms) speed 0.4 m/s % TDAT read: user:386>Tx time:00:30:10.7772 - R#Rx 1: Read range and direction messages.5 ^direction in FSK: [0.988962,-0.010357,0.147809]5 Fpublishing direction and range infoy ލޒ?4n6%)k?Y`D )QI?5>i¥&>(@0 >8(@ >)@Ip]!?INb?j;*?  ?)a ID+iq  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.^A P;A5 .AIA IQ Oe >0:2,WX@A6KJ>6>6 ٱ6?. RAHRS rotation from veh to nav: [[0.906464,-0.377027,-0.190191],[0.400088,0.910877,0.101159],[0.135101,-0.167790,0.976522]]6H?7!ؿ-Xȿ?`%??J?@%zſ ??i6KJ>I6p;4Yj.IByjoHn=n=bDrVDryUy{=%UE=ٔ]Q-]>9] ?Ye ?=egGyeFedEe>iQ 5u4m;7?Q 9}4m?)m\BYyy}>Q I}@m8DIm:im:mds4yBɮAX@AJDRDj>J!C@ L{{]U@r ލޒ?4n6%)k?ZD+bj@'ѱm@Nd@zd{??|Ma?2mC:D"*Z_搊?*BWC_^ ϓ?“;CD>gOU addTargetRange:: Added new target pos. range: 593.500000 m, deltaT: 29.511385 s, deltaX: -11.900024 m, approachRate: -0.403235 m/s, rangeRepo size: 4 gO Added new target pos. range: 590.986145 m, bearing: 24.699934 deg, lat: 36.779088 deg, lon: -121.859342 deg, deltaT: 29.511385 s, deltaX: -11.915955 m, approachRate: -0.403775 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 590.99 m.RZgO ProNav: ac range: 590.986145 m, nav range: 570.203918 m, bearing: 23.140321 deg, approach rate: 0.000000 m/s, LOS rate: 0.000412 deg/s, cmd heading: 23.781570 deg, new cmd heading: 23.781927 deg. BgOHeadingCmd: 0.415073 target range: 590.986145 and range: 593.50 m.p>*" ʎj@Z?ENBɢE5)I MiI)MIIiM˲;iUp>UQ;U|;I]p>IYa%DAT read: -2Acoustic response timeoutE EE)E"E,K;*E:VEFA4ZEBEM 2Acoustic response timeout\8,X@A2CJ>2>2j ٱ2ET- :AHRS rotation from veh to nav: [[0.906276,-0.376925,-0.191290],[0.399973,0.911087,0.099713],[0.136697,-0.166878,0.976456]]2H5?ؿ0|ȿ`'?`'?ˆ?L?D\ſ??i2CJ>I2|n;2\CLYR4IByRwHa@a a@a a@a% a%@a% bD-VD-ky5Y<%=M=ٔ=Q-=>9AYA=EgGyAM̘EM>IQ 5U4MGH?Q 9]4M=)M\BQ A]+:YYQ E]:y]>Q Ie@M8DIM ;iM>My4yiɮmAiPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 590.99 m.R(7Z(7gO ProNav: ac range: 590.986145 m, nav range: 569.984863 m, bearing: 23.140538 deg, approach rate: -0.578756 m/s, LOS rate: 0.000574 deg/s, cmd heading: 23.781926 deg, new cmd heading: 23.782361 deg. Bu7gOHeadingCmd: 0.415080 target range: 590.986145 and range: 593.50 m.n>*" ʎjZ{?NBɢ;) ̱i)9i-;in>;In>I @ @@0@=2Acoustic response timeout^AX;bE]ǷG4jE]ǼP4rE]]%0E EE+E"E=;*E:VE [4ZEa@a@a@a@AA@ABM>B:CBcHBIBB =BBDBv~;B5EI I O >) >,X@ANYJ>N>N:)ٱN=, ^AHRS rotation from veh to nav: [[0.906028,-0.376821,-0.192662],[0.399953,0.911211,0.098647],[0.138384,-0.166433,0.976294]]NH@/?@ؿ`&ȿԘ?(?@??Mſ=?iNYJ>INMn;LYfZIByfHbDn VDn2yvc=%vO=ٔzIQ-z>|9|Y|=~gGy~FZ9E> Q 54 8Y?Q 94 r;) \BQ A :YQ E{:y>Q I@ 9DI  ;i K? }4y%Bɮ%EA%FEjIgOMFNOT Ignoring new targets: 590.99 m.RU7ZU7gOe ProNav: ac range: 590.986145 m, nav range: 569.767151 m, bearing: 23.140752 deg, approach rate: -0.550737 m/s, LOS rate: 0.000542 deg/s, cmd heading: 23.782360 deg, new cmd heading: 23.782788 deg. Be}7gOmHeadingCmd: 0.415088 target range: 590.986145 and range: 593.50 m.mi>i*i"i iqqqyʎyyyjyZ"?%NBɢ5e5)1 5i1)=#r99i=nW;iEi>E|;ER;IEi>IIQ2Acoustic response timeout9@ @@0@!Y^Ar;AZAzAZAIQIaO>E 2Acoustic response timeouty E  E E &E "E X;*E VE 4ZE BE %X$>%4ٱ%;Q, 5AHRS rotation from veh to nav: [[0.905577,-0.377204,-0.194030],[0.400386,0.911162,0.097339],[0.140076,-0.165834,0.976155]]%H|?`$ؿȿ`?`=(?.??:ſI% m;!YEIByEHQaa aa aa aa iMb@Mb@Mb@ 9(\?y&1|Mb`Y?y`廙/A ) AYAbDVD:2yg=%:=ٔDQ->9Y=gGy ծ:E >Q 54k?Q 948) ]BQ AT:Y?Q E:yf>Q I@9DI:i:74y)ɮ-A)jIgOUFNOT Ignoring new targets: 590.99 m.RUMJ5ZUMJ5gOe ProNav: ac range: 590.986145 m, nav range: 569.526428 m, bearing: 23.140771 deg, approach rate: -0.550032 m/s, LOS rate: 0.000043 deg/s, cmd heading: 23.782789 deg, new cmd heading: 23.782826 deg. Beס5gO-HeadingCmd: 0.415089 target range: 590.986145 and range: 593.50 m.->1*1"1 111AAʎIIQjQZU@l?NBɢbn1) կi)XiG;i>;;I>IԁiߙIߝA2Acoustic response timeout@ @@40@@@YAԩ^A ;I! I1 OM > K,Ҩ0X@ABK>BS3>BMٱB0, NAHRS rotation from veh to nav: [[0.905299,-0.377059,-0.195605],[0.400387,0.911252,0.096490],[0.141863,-0.165670,0.975924]]BH4?`!ؿ ɿ?(?@?(?4ſ:?iBK>IBlyk;B[CYRIByVHbD^VD^yf=%f`=ٔfAQ-j>9hYh=jgGyjFnh9En>pQ 5v4ri{?Q 9v4r6)r(]BYtyvu>Q Iz@r"9DIr:irB:r42Acoustic response timeoutyBɮAE EE'E"Ey>;*E;:VE'4ZEa@a@a@a@ԹjgOFNOT Ignoring new targets: 590.99 m.R"5Z"5gO ProNav: ac range: 590.986145 m, nav range: 569.326050 m, bearing: 23.140784 deg, approach rate: -0.514925 m/s, LOS rate: 0.000035 deg/s, cmd heading: 23.782826 deg, new cmd heading: 23.782853 deg. B 5gOHeadingCmd: 0.415089 target range: 590.986145 and range: 593.50 m.%>!*!"! !!!))ʎ))B=G>B=9CB=HB=EJBB= =B9B=DB=~;B=5EQjQZU ?额OBɢZ<) 䭿i) 顡iE;i5>5;5;I5>I9@ @@O0@2Acoustic response timeout^A0;II Ia Om >Q āR,ÃJX@A2"K>2j<>2Rٱ2, :AHRS rotation from veh to nav: [[0.905072,-0.376915,-0.196927],[0.400361,0.911340,0.095764],[0.143372,-0.165515,0.975730]]2H`Y?^ؿ4ɿ@?)?`?Z? /ſ .9?i2"K>I2i;0YBIByB'HbDJVDJ0yV=%VL=ٔVzQ-V>9XYX=ZgGyXZ59E^>Q 54݌?Q 944)J]BYy~>Q I%@09DIw;ir;4y)ɮ-nA)jIgOUFNOT Ignoring new targets: 590.99 m.R]!&5Z]!&5gOm ProNav: ac range: 590.986145 m, nav range: 569.100830 m, bearing: 23.140798 deg, approach rate: -0.584194 m/s, LOS rate: 0.000035 deg/s, cmd heading: 23.782854 deg, new cmd heading: 23.782881 deg. Bm5gOmHeadingCmd: 0.415090 target range: 590.986145 and range: 593.50 m.u>q*q"q qqyyyʎyjZx{@颭0OBɢ2(<) i) 项i-;i>v;;I>IIZA)m9@q @q@u 1@q2Acoustic response timeoutE EE(E"E:;*Er:VEc44ZEBE2I1IIOU>qԙ  2Acoustic response timeoutX,]dX@A2K>2k>2Oٱ2+ :AHRS rotation from veh to nav: [[0.904799,-0.377298,-0.197444],[0.400634,0.911363,0.094393],[0.144329,-0.164510,0.975759]]2H?%ؿEɿ?)?'*? `y?`ſk9?i2K>I2eh;0YBIByBZHi Mb@Mb@Mb@     9 K7?~jtx?{Gzt?Y I ?y ; ף; GA 1A xA) A Y AbD}VD}y:=%==ٔwQ->9Y=gGyF[:E>Q 54f?Q 942)m]BYM ?Q E:y>Q I@?9DIQ:i#:!4yBɮAGEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 590.99 m.RʷZʷgO ProNav: ac range: 590.986145 m, nav range: 568.872009 m, bearing: 23.140213 deg, approach rate: -0.540949 m/s, LOS rate: -0.001384 deg/s, cmd heading: 23.782881 deg, new cmd heading: 23.781710 deg. B"gOHeadingCmd: 0.415069 target range: 590.986145 and range: 593.50 m.>*"    ʎjZ @EMOBɢE]6)I MiI)MtIIiMq;iU>];]IYy9@ @@0@ԡ2Acoustic response timeoutE  EE,E"ED;*E:VEg4ZEa@a@a@a@^A[R;B5<A5<B=E>B9B=+HB=JBB9B9B9B=Y;B=6EAe ؟AIi Iy O > ^,N~X@A2UL>2>2@ٱ2P) :AHRS rotation from veh to nav: [[0.904284,-0.378387,-0.197720],[0.401468,0.911210,0.092307],[0.145237,-0.162850,0.975903]]2H?`~7ؿ@Nɿ`?`(?@l?@?BĿ:?i2UL>I2#eg;0YB JByBHbDJVDJ1yRT=%RY=ٔVQ-V>9V"?YZ"?=ZgGyXZ*;E^>\Q 5b4^?Q 9b4^/)^]BYdyfK>Q If@^L9DI^:i^9:^4ynBɮnϷAn=Ej|gOFNOT Ignoring new targets: 590.99 m.RҷZҷgO ProNav: ac range: 590.986145 m, nav range: 568.668335 m, bearing: 23.139672 deg, approach rate: -0.541942 m/s, LOS rate: -0.001441 deg/s, cmd heading: 23.781710 deg, new cmd heading: 23.780627 deg. B(gOHeadingCmd: 0.415050 target range: 590.986145 and range: 593.50 m.w>!*!"! !!!))ʎ)11j1Z5@]gOBɢ]<)a e=ia)e烳aaimۨ;imw>u+;uIqu2Acoustic response timeout9@ @@1@^A 8 2Acoustic response timeoutE  E E (E "E B;*E I:VE c44ZE BE wM;>MxٱM( eAHRS rotation from veh to nav: [[0.903883,-0.378906,-0.198559],[0.401944,0.911127,0.091047],[0.146414,-0.162105,0.975851]]MH?@@ؿ`cjɿ@q?@'?@N?`?޿Ŀ`+:?iM!M>IMAf;IYm;JBymHiMb@Mb@Mb@ 9Q?Mb?Mb?Y\?y<<;A )YAbDVD02y=%+=ٔ"Q->9Y=gGyFs:E> Q 54 A?Q 94 ,) ]BYc?Q E:y>Q I@ ]9DI /:i : 4y%Bɮ%mA)jQgOUFNOT Ignoring new targets: 590.99 m.R]>Z]>igOu ProNav: ac range: 590.986145 m, nav range: 568.403503 m, bearing: 23.138839 deg, approach rate: -0.552274 m/s, LOS rate: -0.001737 deg/s, cmd heading: 23.780627 deg, new cmd heading: 23.778962 deg. BueKgO}HeadingCmd: 0.415021 target range: 590.986145 and range: 593.50 m.}}>y*y"y yyyʎjZ* @颽OBɢ1) i)GiM;i-}>-c;-I)=!>i=%>BDAT read: Rx Time:00:30:13.9633 TRx dataTimestamp_ set to:1761697814.5580692Acoustic response timeout9@ @@?0@ԙ ^A <A .AI! I1 OM >k,X@APr2Acoustic response timeoutYr\JByvHxzAbD~VD~N2y-0=%-m=ٔ-Q--?95 ?Y5 ?=5gGy1=E=?AQ 5M4E?Q 9M4E*)E]BYIyIQ IM@Ei9DIE:iE:E4y]Bɮ]&A]>EE EE*E"EI@;*E:VE(N4ZEa@a@a@a@BC>B8CBHBJBBBBBK;B6Ej9gO=FNOT Ignoring new targets: 590.99 m.REZEgOu ProNav: ac range: 590.986145 m, nav range: 568.213196 m, bearing: 23.138241 deg, approach rate: -0.517734 m/s, LOS rate: -0.001629 deg/s, cmd heading: 23.778962 deg, new cmd heading: 23.777764 deg. Bu>gO}HeadingCmd: 0.415000 target range: 590.986145 and range: 593.50 m.}z>y*y"y ʎjZc@OBɢ=) بi) ,  i f;i5z>5;5#8I9@ @@_0@2Acoustic response timeout^A- <) A] ؟AIa Iy O >r,X@A2 N>2>2ٱ2( :AHRS rotation from veh to nav: [[0.903216,-0.379480,-0.200489],[0.402613,0.910983,0.089516],[0.148673,-0.161572,0.975598]]2H$?fIؿɿj? &???aĿ8?i2 N>I2Jd;2\CYBJByBHbDJVDJβyR=%RS=ٔV7Q-V>9V"?YZ"?=ZgGyZFZ;EZ>\Q 5b4^'?Q 9b4^g()^]BYdyf6>Q If@^v9DI^:i^6:^۵4yhɮjAh|jgOFNOT Ignoring new targets: 590.99 m.R  Z  gO ProNav: ac range: 590.986145 m, nav range: 567.999268 m, bearing: 23.137548 deg, approach rate: -0.589378 m/s, LOS rate: -0.001910 deg/s, cmd heading: 23.777765 deg, new cmd heading: 23.776379 deg. B_gO%HeadingCmd: 0.414976 target range: 590.986145 and range: 593.50 m.%w>!*!"! !!)))ʎ)11j1Z5o@颽OBɢ0@) i)ib;iw>;=$Iu9@q @q@uj1@y)=DAT read: 00:30:13.9633 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 340,-0.07,-0.076,-1.619, 0.154,-0.336, PHS= 0.362,-1.238, 0.445, RAW= 152.5, 5.3, CAL= 151.7, 5.3, ROT= 358.3, -5.3 EYgot valid direction response: 00:30:13.9633 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 340,-0.07,-0.076,-1.619, 0.154,-0.336, PHS= 0.362,-1.238, 0.445, RAW= 152.5, 5.3, CAL= 151.7, 5.3, ROT= 358.3, -5.3 MPDAT read: Bearing 177.6, 6.2 (Local) M~Local bearing/azimuth received: Bearing 177.6, 6.2 (Local) ]DAT read: Range 11 to 50 : 586.5 m (Round-trip 782.0 ms) speed 0.0 m/s ]BDAT read: Tx time:00:30:15.0288 e$Ping request sent.eiv >X*@q=Us)@ q=)@Iq] p?'h?HG? >?)dIiq:publishing transmit ping timeaFpublishing direction and range infoyb?5n?{]U?Y )Ii )I] p?'h?HG? )IiD?AzDE EE)E"Ea?;*E:VEFA4ZEBEԩ x,nX@A2N>2>>2Hbٱ2C' :AHRS rotation from veh to nav: [[0.902802,-0.379797,-0.201750],[0.402977,0.910928,0.088428],[0.150195,-0.161133,0.975437]]2H?Nؿɿ@^? S&?7?@9? Ŀ6?i2N>I2rJd;2[CYNJByR)Hi%Mb@Mb@Mb@!!!! !9%i|?5?~jt?Mbp?Y%?y%D<%;%SA! %lA)%$A!Y%AybDVD:yE=%;=ٔWfQ->9 ?Y ?=gGyV:E>Q 54?Q 94%)#^BY?Q E:yR>Q I@9DIW;i;4yBɮA!%X@AJ%DR%Dj%>%m)@/6@1k2J@r%b?5n?{]U?Z%b%q%cAC@,k@ھ:Fa@z%"?n3x?LF?2%G_C:%D"%\=A?*%25B%WAC%\=A?%25“%WAC% D%v>gO- addTargetRange:: Added new target pos. range: 586.500000 m, deltaT: 4.284540 s, deltaX: -7.000000 m, approachRate: -1.633781 m/s, rangeRepo size: 4 gOE Added new target pos. range: 583.985535 m, bearing: 23.221606 deg, lat: 36.779073 deg, lon: -121.859340 deg, deltaT: 4.284540 s, deltaX: -7.000610 m, approachRate: -1.633923 m/s, posRepo size: 4 jAgOEFNOT Ignoring new targets: 583.99 m.RMZIgO] ProNav: ac range: 583.985535 m, nav range: 566.280762 m, bearing: 23.220222 deg, approach rate: 0.000000 m/s, LOS rate: -0.001910 deg/s, cmd heading: 23.776379 deg, new cmd heading: 23.774688 deg. BYgOeHeadingCmd: 0.414947 target range: 583.985535 and range: 586.50 m.es>a*a"a aiiiiʎqqqjuT@Z}?颥OBɢ 8) ʨi)u顩i;is> ;t*Im9@i @i@m0@iԩE EEE"EQ;*Ed:VEZEa@a@a@a@AABA>BB HBNKBBBBB;B!7EB9CB9CBǓCBǬ =BǬ =CLo5^Ah%<AA>A ؟AI  I O- >[#,k~X@A2OnO>2$b>2ٱ2& :AHRS rotation from veh to nav: [[0.902265,-0.380489,-0.202846],[0.403653,0.910756,0.087107],[0.151600,-0.160473,0.975329]]2HZ?Yؿɿ r? $?L?@g?^Ŀ5?i2OnO>I2/Fc;2\CYBJByB>HbDJVDJk1yRR?=%R]=ٔV{Q-V>9V"?YV"?=ZgGyZFZ;EZ>\Q 5b4^?Q 9b4^J#)^D^BYdyf>Q If@^9DI^:i^:^ö4yhɮjAhPmB*** querying acoustic contact ***i ijygOFNOT Ignoring new targets: 583.99 m.RZgO ProNav: ac range: 583.985535 m, nav range: 566.072998 m, bearing: 23.219431 deg, approach rate: -0.543611 m/s, LOS rate: -0.002070 deg/s, cmd heading: 23.774688 deg, new cmd heading: 23.773106 deg. BrgOHeadingCmd: 0.414919 target range: 583.985535 and range: 586.50 m.Bp>*" ʎjZ?OBɢA) i),ia;iBp>R;6I]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.u9@q @q@u1@q^A1A .AI I O > *DAT read: user:387>  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994279 5 Wk>5 C G \AD =D =E  E E (E "E <;*E :VE c44ZE BE Ó9 ?Y ?=gGyE>Q 54?Q 94a )k^BYa?Q E:y#>Q I@9DI:is:<̶4yBɮ A?EjgOFNOT Ignoring new targets: 583.99 m.R.Z.gO ProNav: ac range: 583.985535 m, nav range: 565.811096 m, bearing: 23.218621 deg, approach rate: -0.554517 m/s, LOS rate: -0.001716 deg/s, cmd heading: 23.773105 deg, new cmd heading: 23.771485 deg. BHgOHeadingCmd: 0.414891 target range: 583.985535 and range: 586.50 m.l>*" ʎjZk?%PBɢ%s6)! -i))-))i-;i5l>5ɯ;55I9mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.246634i9@ @@I0@ԁ^A *:<Ա A ؟AI I O >'5,33X@A>jP>> >>>ٱ>3`& FAHRS rotation from veh to nav: [[0.901421,-0.381431,-0.204818],[0.404659,0.910474,0.085369],[0.153919,-0.159835,0.975070]]>H q?\iؿ{7ʿ`?"?ڵ?`?@wuĿ@3?i>jP>I>db;>YCYNKByNHbDVVDVfy^X=%^r=bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.497687ٔfmQ-f?9f"?Yj"?=jgGyjFjv;Ej?lQ 5r4n"&?Q 9v4nI)n^BYtyv>Q Iv@n9DIn:in:n+Ҷ4yxɮz˵A|jgO%FNOT Ignoring new targets: 583.99 m.R%Y Z%Y gO5 ProNav: ac range: 583.985535 m, nav range: 565.623047 m, bearing: 23.218015 deg, approach rate: -0.581481 m/s, LOS rate: -0.001876 deg/s, cmd heading: 23.771485 deg, new cmd heading: 23.770271 deg. B5[gO=HeadingCmd: 0.414869 target range: 583.985535 and range: 586.50 m.=i>9*A"A AAAIIʎIIIjQZU 0z?B?>BB}HBKBBBBDB;BD7EbE%:4jE%h=4rE%/E EE*E"EC;*E>:VE(N4ZEBE@<2E@<JE8<:E8<颽/PBɢI) zi)½i(;ii>;III[A)ZAԑ=9@9 @9@='4@9^AQAYzA]XA}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750010Iq I O > [,ZMX@AYb$KBybHIf)>)f>bDnVDn02yv=%vG=ٔvQ-v>9xYx=zgGyxzE~>Q 54i7?Q 9 4)^BY y Q I @9DI:i:Nٶ4yBɮAjgOFNOT Ignoring new targets: 583.99 m.RrZrgO ProNav: ac range: 583.985535 m, nav range: 565.396851 m, bearing: 23.217285 deg, approach rate: -0.536070 m/s, LOS rate: -0.001731 deg/s, cmd heading: 23.770271 deg, new cmd heading: 23.768810 deg. BJgOHeadingCmd: 0.414844 target range: 583.985535 and range: 586.50 m.nf>*" ʎjZ@;? NPBɢ 6<)  6i)ŽiWo;inf>_;\GI!9@ @@2@@[A@[Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.001907E EEE"E<;*Er:VEZEa@a@a@a@^A+WB checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253578q Y,8gX@A2NxQ>2"g>2- ٱ2%' :AHRS rotation from veh to nav: [[0.900772,-0.381450,-0.207621],[0.405139,0.910263,0.085339],[0.156437,-0.160986,0.974480]]2H ?`iؿQʿ ? ?ص?@!?2Ŀ@.?i2NxQ>I2J5b;2[CYBHKByBHi Mb@Mb@Mb@     9 V-?MbP?y&1|Y h?y : `  IA )  Y QAbD%VD%0y5W=%5C=ٔ=~ǻQ-=>99Y9=EgGyEFE9:EE>IQ 5U4M|I?Q 9U4M;)M^BY]k?Q E]:y]C>Q I]@M9DIM;iM;M4yaɮe:Aij gO FNOT Ignoring new targets: 583.99 m.R5+Z5+gOE ProNav: ac range: 583.985535 m, nav range: 565.161743 m, bearing: 23.216876 deg, approach rate: -0.558400 m/s, LOS rate: -0.000971 deg/s, cmd heading: 23.768809 deg, new cmd heading: 23.767991 deg. BExgOMHeadingCmd: 0.414830 target range: 583.985535 and range: 586.50 m.Md>I*I"I iqqqqʎyyyjyZ} @mPBɢ*<<) i)Hǽix;id>q;}RI)9@ @@0@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.505598BQAQB]<>BYB]HB]LBBYBYBYB]ـ;B]57EE EEE"E8;*Ed:VEZEBE؏>,X@A02oQ>2b>2#"ٱ2' >AHRS rotation from veh to nav: [[0.900606,-0.381169,-0.208850],[0.405027,0.910334,0.085124],[0.157676,-0.161253,0.974236]]2H?eؿʿ@?s!?`ʵ? .?Ŀ,?i2oQ>I2+sb;2ZCYBpKByB6HbDJVDJN2yV=%VT=ٔVUQ-V>9XYX=ZgGyXZ4E^>`Q 5b4b!Z?Q 9f4b)b^BYdyf>>Q If@b9DIb>:ib:bY4yjBɮnAn@EPzB*** querying acoustic contact ***x xjygOFNOT Ignoring new targets: 583.99 m.RZgO ProNav: ac range: 583.985535 m, nav range: 564.945190 m, bearing: 23.216500 deg, approach rate: -0.561694 m/s, LOS rate: -0.000975 deg/s, cmd heading: 23.767991 deg, new cmd heading: 23.767239 deg. BcgOHeadingCmd: 0.414817 target range: 583.985535 and range: 586.50 m.b>*" ʎjZ @checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757736=PBɢ= CB)A E1iA)EwFɽAAiM;iMb>US6;UPIN>i>ԉ)@) @)@-1@)Թ^AMJM<AQAU?IIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009655 E  E E E "E a?;*E r:VE ZE a @a @a @a @l,X@A\zQ>Nh>#ٱ O) AHRS rotation from veh to nav: [[0.900386,-0.380728,-0.210598],[0.404975,0.910298,0.085748],[0.159060,-0.162493,0.973805]]H ?]ؿʿ?)!? ?`\?Ŀh)?izQ>I, c;YKBycH iMb@Mb@Mb@ 9V-?{GzYy#lAVA A)IAYAbDVD0yF=%-=ٔ BQ->9Y=gGyF8E>Q 54n?Q 94 )_BYn?Q E:y>Q I@9DIT ;i ;4yɮAjgOFNOT Ignoring new targets: 583.99 m.R%2{Z%2{gO5 ProNav: ac range: 583.985535 m, nav range: 564.678894 m, bearing: 23.216108 deg, approach rate: -0.582216 m/s, LOS rate: -0.000858 deg/s, cmd heading: 23.767240 deg, new cmd heading: 23.766455 deg. B5ȷgO=HeadingCmd: 0.414803 target range: 583.985535 and range: 586.50 m.= a>9*9"9 99AAAʎIIIjIZU @}PBɢ}r;)y }͢iy)˽顁id;i a>;9RIi!I%A%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261961=9@9 @9@E0@A^A NJN<I I O- >Q ,˽X@A2xQ>2`g>2M%ٱ2י) :AHRS rotation from veh to nav: [[0.900173,-0.380442,-0.212019],[0.404872,0.910375,0.085418],[0.160520,-0.162732,0.973525]]2H 8?(Yؿr#˿`l?!?ݵ??eĿ'?i2xQ>I2J,c;2YCFchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.513731YFKByFHbDRVDR1yZ=%Zs=ٔZIQ-^?9\Y\=^gGy`b4Eb?dQ 5j4f'}?Q 9j4f)f1_BYhyn>Q In@f9DIfb:if;f}4yrBɮr>ApB:>B7CB^HB`LBBB*"    ʎjZ༣ @颅PBɢ&8D) ⠿i)ͽ顉iv[;i_>,;I_>I1@1 @9@=1@9Iq=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766019^Aiԩ A I I O >bz,X@A6S_Q>6Z>6&ٱ6}) BAHRS rotation from veh to nav: [[0.900005,-0.380076,-0.213386],[0.404691,0.910479,0.085165],[0.161914,-0.163005,0.973249]]6H?)Sؿ=P˿v?"?e͵? ?`WĿ$?i6S_Q>I6c;6\CYFKByJHbDRVDR02yZy=%ZJ=ٔZKeQ-Z>9\Y\=^gGy^Fb|Eb>dQ 5j4f?Q 9j4f)fS_BYhyj>Q Ij@f:DIf:if:f4yrBɮrAr6EjgO FNOT Ignoring new targets: 583.99 m.R ZgO% ProNav: ac range: 583.985535 m, nav range: 564.263306 m, bearing: 23.215498 deg, approach rate: -0.597674 m/s, LOS rate: -0.000875 deg/s, cmd heading: 23.765898 deg, new cmd heading: 23.765233 deg. B%̷gO-HeadingCmd: 0.414782 target range: 583.985535 and range: 586.50 m.-@^>)*)") ))111ʎ199j9Z=z@ePBɢmE)i mii)mkϽqqiuG;yiu@^>n;QI9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018388Eu EuEu)Eq"Eu77;*Eu:VEuFA4ZEqa}@a}@a}@a}@ԩ^A=^S<AU[AzAUZAA I I O > E checking for new query: numPingsReceived=0, elapsed TxPingTime=4.269678,tX@A2N5Q>2E>2'ٱ2T* :AHRS rotation from veh to nav: [[0.899891,-0.379666,-0.214590],[0.404467,0.910587,0.085079],[0.163101,-0.163356,0.972992]]2H?@tLؿ w˿?#?@ǵ?@?Ŀ`"?i2N5Q>I2 Hc;2[CY^LBybHIbC=)b9Y=gGyFE>Q 54?Q 94 ){_BY?Q E:y>Q I@:DI:i:'4yBɮA7EjgOFNOT Ignoring new targets: 583.99 m.R 6Z 6gO ProNav: ac range: 583.985535 m, nav range: 564.013184 m, bearing: 23.215636 deg, approach rate: -0.573185 m/s, LOS rate: 0.000317 deg/s, cmd heading: 23.765233 deg, new cmd heading: 23.765510 deg. Bh7gO%HeadingCmd: 0.414786 target range: 583.985535 and range: 586.50 m.%^>!*!"! ))))1ʎ119j9Z=O@eQBɢe]>)i mii)mѽiiiu;iu^>};}NIy 9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=4.521588B6>BBHBLBB =BBB;BB7EE EEE"E8;*Ed:VEZEBEa2EaJE)Y ،,NX@A:RP>:(>:(ٱ:+ BAHRS rotation from veh to nav: [[0.899937,-0.378839,-0.215860],[0.403906,0.910802,0.085437],[0.164239,-0.164075,0.972679]]:HG?>ؿJ˿?J%?@8ߵ??iſ`0 ?i:RP>I:,mc;:\CYJELByJ=HbDRVDRNyZ+>%Z[=ٔ^JQ-^>9`Y`=bgGy`bɼEb>dQ 5j4f?Q 9j4f )f_BYlyng>Q In@f%:DIfw;if;f 4yrBɮrAtPB*** querying acoustic contact *** j gOFNOT Ignoring new targets: 583.99 m.R6Z6gO- ProNav: ac range: 583.985535 m, nav range: 563.799011 m, bearing: 23.215767 deg, approach rate: -0.574551 m/s, LOS rate: 0.000350 deg/s, cmd heading: 23.765510 deg, new cmd heading: 23.765771 deg. B-#7gO-HeadingCmd: 0.414791 target range: 583.985535 and range: 586.50 m.5{_>1*1"1 11199ʎ9AAjAZE@@mQBɢuC)q uiq)uӽyyi};];i{_>,6;.GI1echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.7866359@ @@4@a^A=hW<ԑAe .AIq I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037642E " E E E "E Z;*E 1:VE ZE a @a @a @a @Թ ׺,:X@A =P>>n*ٱ+ AHRS rotation from veh to nav: [[0.899883,-0.378073,-0.217419],[0.403439,0.910986,0.085683],[0.165671,-0.164820,0.972310]]H?`X2ؿ@e˿?&?@T?4?ſ*?i =P>Iic;YCYKLByEHԉiMb@Mb@Mb@ 9M?y&1|Mbp?Yn?y`廙;AnA xA)Y(AbDVD0yR<%.=ٔTJQ->9 ?Y ?=gGyF&dE>AQ 5M4E?Q 9U4E)E_BYUr?Q EU:yU>Q IU@E7:DIE:iE:E+4yYɮeAajgOFNOT Ignoring new targets: 583.99 m.R­Z­gO ProNav: ac range: 583.985535 m, nav range: 563.525208 m, bearing: 23.215623 deg, approach rate: -0.563534 m/s, LOS rate: -0.000297 deg/s, cmd heading: 23.765771 deg, new cmd heading: 23.765483 deg. B gOHeadingCmd: 0.414786 target range: 583.985535 and range: 586.50 m.^>*" ʎjZ(@CQBɢ;) 랿i)NսiB;$BII ) \Amchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.290547}9@y @y@0@Թ^A <H<I I O > B,6X@A:(O>:>:+ٱ:", FAHRS rotation from veh to nav: [[0.899803,-0.377455,-0.218819],[0.403058,0.911153,0.085705],[0.167028,-0.165314,0.971994]]:H0? 8(ؿB̿?)(? ?+a?)ſ?i:(O>I:Nc;8YJLByJHBV2>BTBVXHBV+MBBTBTBVDBV;BV6Ebchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.541643Bm7CBm7CBiBiBiCmk{4r=r=bDvVDvβy~W>%l=ٔ遻Q-?9 Y = gGy  qE ?Q 549?Q 9%4)_BY!y%>Q I%@C:DI;i;4y-Bɮ5qA58EEE EEEE*EA"EEg5;*EE:VEE(N4ZEABEE*" ʎjZV@\QBɢdTI) ˜i)׽ic];>I 9@  @ @ 4@@=@=^A50<}checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793971I I I O >,OX@A2\O>2>25-ٱ2, >AHRS rotation from veh to nav: [[0.899667,-0.377150,-0.219903],[0.402898,0.911243,0.085489],[0.168144,-0.165510,0.971769]]2H@?`8#ؿ@%̿?(??`?p/ſ`?i2\O>I2b;2WCYBLByFHbDNVDNyVAn=%VP=ٔV9XYX=ZgGyZF^TrE^>`Q 5f4b[?Q 9f4b)b`BYhyj>Q Ij@bQ:DIb:ib-:b4ylɮnBApjgOFNOT Ignoring new targets: 583.99 m.RGZGgO ProNav: ac range: 583.985535 m, nav range: 563.117004 m, bearing: 23.215423 deg, approach rate: -0.546119 m/s, LOS rate: -0.000265 deg/s, cmd heading: 23.765298 deg, new cmd heading: 23.765083 deg. BsgOHeadingCmd: 0.414779 target range: 583.985535 and range: 586.50 m.]>*" ʎjZD@|QBɢ\A) și)ٽi%-)A;->I)Yq^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=6.0455899@ @@4@q9^AYlAEU EQEU'EQ"EU8;*EQVEU'4ZEQae@ae@ae@ae@y^A+WB<IIO>ԩ iy I} A checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297862,iX@A2͌O>2bq>2/V.ٱ21 - :AHRS rotation from veh to nav: [[0.899571,-0.376650,-0.221148],[0.402573,0.911405,0.085295],[0.169429,-0.165757,0.971503]]2HI?`ؿ@N̿?;*?յ?ܯ?7ſ?i2͌O>I2b;2YC@YBLByBHiMb@Mb@Mb@ 9I +?~jt~jt?Y9?yDD< A)zAY3AbD-VD-:2y=U=%=B=ٔ=[JQ-=>9AYA=EgGyAMG"EM>QQ 54U?Q 94U5)UJ`BYI?Q E:y>Q I@U`:DIUi*i"q ʎjZ@ԱQBɢ̢>) si)=۽iڔM;M:II]>i]>9@ @@ 1@B*>B6CBHBMBB =BBB|;B6Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.549642bE(N4jEƷG4rEƷ8/EY E]E]*EY"EY*E]V:VE](N4ZEYBE]؏,hX@AlYrMByr&HttxzAAbD~VD~Jye<>%eG=ٔmQ-m>9iYq=ugGyuFuEu>yQ 54} ?Q 94})}y`BYyQ I@}o:DI}):i}:}^.4yɮ)APB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 583.99 m.R5Z5gO ProNav: ac range: 583.985535 m, nav range: 562.644348 m, bearing: 23.215504 deg, approach rate: -0.597376 m/s, LOS rate: 0.000103 deg/s, cmd heading: 23.765165 deg, new cmd heading: 23.765245 deg. Bv@6gOHeadingCmd: 0.414782 target range: 583.985535 and range: 586.50 m.G^>*" ʎjZ:@%QBɢ%XJ)! %i))-|ݽ))i-=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801671EL;E1';IA9@ @@4@@@@@ 9IIO>5PExceeded connect timeout, disconnecting. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053632Em  Em Em 'Ei "Em 77;*Em :VEm '4ZEi au @au @au @au @y ,xX@AfO>f{>fG0ٱf -9 UAHRS rotation from veh to nav: [[0.899141,-0.376334,-0.223422],[0.402464,0.911550,0.084257],[0.171952,-0.165678,0.971073]]fH?ؿ̿?j+? ֑?`?4ſ@?ifO>If/Yb;dY-3MBy5bHiMb@Mb@Mb@ 9n?:v?y&1?Y?yT<`e<AzA A)YAbDVD1yB=%3=ٔʷQ->9Y=gGy u -9Eu>yQ 54} ?Q 94})}`BY?Q E:y>Q I@}:DI}z ;i} ;}64yʒBɮ°A9EjgOFNOT Ignoring new targets: 583.99 m.Rp4Zp4gO ProNav: ac range: 583.985535 m, nav range: 562.374512 m, bearing: 23.214348 deg, approach rate: -0.575168 m/s, LOS rate: -0.002465 deg/s, cmd heading: 23.765245 deg, new cmd heading: 23.762933 deg. BZgOHeadingCmd: 0.414741 target range: 583.985535 and range: 586.50 m.X>*" ʎjZ@QBɢ9=) vi!)%߽!!i%-D;-M=I1aMchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.3064019@ @@1@IAIQOeU>ԑ C/,LX@AB&#>B&5CB&^HB&NBB$B$B&DB&@;B&6ERchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.557657fAO>f>f2ٱf", nAHRS rotation from veh to nav: [[0.898943,-0.376344,-0.224202],[0.402450,0.911638,0.083365],[0.173017,-0.165170,0.970971]]fH$? ؿ@̿?#,?hW?i%?N$ſ1?ifAO>Ifa;fXCE% E%E%+E!"E%g5;*E%n:VE% [4ZE!BE%9aYi=mgGymFm5W9Em?qQ 5}4uC/?Q 9}4u)u`BYy>Q I@u:DIu;iu;uv<4yɮuAjԹgOFNOT Ignoring new targets: 583.99 m.R4Z4gO ProNav: ac range: 583.985535 m, nav range: 562.180542 m, bearing: 23.213516 deg, approach rate: -0.575165 m/s, LOS rate: -0.002469 deg/s, cmd heading: 23.762933 deg, new cmd heading: 23.761268 deg. BgOHeadingCmd: 0.414712 target range: 583.985535 and range: 586.50 m..U>*" ʎjZv@QBɢ2G) 3i)2i ;>I!)@ @@4@A5؟AIAIQO]v>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.8135889 ,'X@A2nO>2>2}O3ٱ22V, :AHRS rotation from veh to nav: [[0.898735,-0.376241,-0.225208],[0.402399,0.911722,0.082693],[0.174214,-0.164943,0.970795]]2Ho?Tؿ̿ ?`,?a+?@L?ſ ?i2nO>I2Ka;2ZCYBzMByBH DDbDJVDJ:2yRw=%VW=ٔVwQQ-V>9V"?YZ"?=ZgGyXZ 8EZ>\Q 5b4^??Q 9b4^)^aBYdyf>Q If@^:DI^:i^-:^C4yjɒBɮj0AljygO}FNOT Ignoring new targets: 583.99 m.R/Z/gO ProNav: ac range: 583.985535 m, nav range: 561.961731 m, bearing: 23.212575 deg, approach rate: -0.557561 m/s, LOS rate: -0.002398 deg/s, cmd heading: 23.761268 deg, new cmd heading: 23.759386 deg. BvgOHeadingCmd: 0.414680 target range: 583.985535 and range: 586.50 m.P>*" ʎjZ, @nManaging dock network, ignoring radio surface power off}RBɢYF) i)d顁i8|-;?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=8.062372E5 E5E5-E1"E5 /;*E5;:VE5t4ZE1aE@aE@aE@aE@9@ @@4@IAI9IaO|>qe checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313573ԙ ;A,X@AFGP>F>F4ٱF+ RAHRS rotation from veh to nav: [[0.898332,-0.376667,-0.226101],[0.402789,0.911648,0.081603],[0.175387,-0.164378,0.970680]]FH"?Oؿ̿ K?`8,??s?R ſ@?iFGP>IFa;FYCYVMByZHi5Mb@Mb@Mb@1111 195l?~jt?9iYi=mgGymFm:Em>qQ 54uR?Q 94u8)u3aBY?Q E:y>Q I@u:DIu';iu:uJ4yǒBɮȯAj9gOEFNOT Ignoring new targets: 583.99 m.REc(ZMc(qgO ProNav: ac range: 583.985535 m, nav range: 561.713318 m, bearing: 23.211579 deg, approach rate: -0.573758 m/s, LOS rate: -0.002300 deg/s, cmd heading: 23.759387 deg, new cmd heading: 23.757395 deg. BgOHeadingCmd: 0.414645 target range: 583.985535 and range: 586.50 m.RL>*" ʎjZ H @M}G;rHIe9@a @a@e4@aԡAAAABM>BM3CBMHBMfNBBIBIBMDBM;BM:6Echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.565642E= E=E=*E9"E=*;*E=:VE=(N4ZE9BE= ),X@A2P>2>2st5ٱ2|* :AHRS rotation from veh to nav: [[0.897991,-0.377262,-0.226464],[0.403161,0.911627,0.079983],[0.176276,-0.163126,0.970730]]2H`W?%ؿ̿e? ,?y?@7?`LĿ8?i2P>I2`;0Y^MBy^)HbDfVDfyn=%nS=ٔrQ-r>9pYp=rgGytv:Ev>xQ 5~4zc?Q 9~4z)z_aBYy>Q I@z:DIz;iz;zZQ4y ɮ sA P-B*** querying acoustic contact ***) )j1gO=FNOT Ignoring new targets: 583.99 m.R=4Z=4gOM ProNav: ac range: 583.985535 m, nav range: 561.488220 m, bearing: 23.210666 deg, approach rate: -0.607738 m/s, LOS rate: -0.002467 deg/s, cmd heading: 23.757396 deg, new cmd heading: 23.755568 deg. BM~gOUHeadingCmd: 0.414613 target range: 583.985535 and range: 586.50 m.U$H>Q*Q"Y YYYaaʎaaajiZm;!@颕XRBɢR0J) Vi) 顡iM S;OII\A)[Auchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.828460u9@q @q@u4@q^A(A<) A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=9.077619EI  EM EM )EI "EI *EM ;:VEM FA4ZEI aU @aU @aU @aU @Y W,:X@AYMByLHbDVDN2y=%:=ٔQ->9 Y=gGyF%E%>AQ 5]4Ew?Q 9e4E)EaBYiyqQ Iu@E:DIEz;iE2;E-Y4yĒBɮ-A0EjgOFNOT Ignoring new targets: 583.99 m.R)Z)gO ProNav: ac range: 583.985535 m, nav range: 561.227905 m, bearing: 23.209608 deg, approach rate: -0.570382 m/s, LOS rate: -0.002318 deg/s, cmd heading: 23.755569 deg, new cmd heading: 23.753453 deg. BÇgOHeadingCmd: 0.414576 target range: 583.985535 and range: 586.50 m.!MC>*" ʎjZ`2"@ERBɢE>)A EiA)MTIIiM U;UNIYiaIamchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.3308269@ @@4@qԁ ^A= hW<B= >B= 2CB= eHB= NBB= =B9 B= DB= ;B= 6EAi Iq I O > ,,9X@A$>checking for new query: numPingsReceived=0, elapsed TxPingTime=9.581751E^ E^E^,E\"E^9;*E^:VE^g4ZE\BE^9Y=gGyE>Q 54{?Q 94)aBY@?Q E:y->Q I@:DI ;i ;`4yɮۮAjgOFNOT Ignoring new targets: 583.99 m.RZgO ProNav: ac range: 583.985535 m, nav range: 560.979004 m, bearing: 23.207880 deg, approach rate: -0.594205 m/s, LOS rate: -0.004128 deg/s, cmd heading: 23.753453 deg, new cmd heading: 23.749995 deg. BgOHeadingCmd: 0.414516 target range: 583.985535 and range: 586.50 m.d;>*" !!!)ʎ)))j)Z5o^#@ԁRBɢDF) i)%1!!i% -|;5~OI19@ @@4@@=@=-checking for new query: numPingsReceived=0, elapsed TxPingTime=9.833591^A D%K<A ?A > AI IQ Ii Ou >,HSX@A2OQ>2R>2U8ٱ2( :AHRS rotation from veh to nav: [[0.897326,-0.377650,-0.228443],[0.403422,0.911734,0.077413],[0.179044,-0.161624,0.970475]]2H?l+ؿ`=Ϳ ?,? Uѳ?`?Ŀ ?i2OQ>I2m `;2WCYBRNByBHhbDJVDJyr>%ri=ٔvOQ-v>9tYt=vgGyzFz:Ez>|Q 54~ՙ?Q 94~F)~aBY y w>Q I @~:DI~:i~:~f4y’BɮeA1EjAgOEFNOT Ignoring new targets: 583.99 m.RM ZM gO] ProNav: ac range: 583.985535 m, nav range: 560.774780 m, bearing: 23.206449 deg, approach rate: -0.580740 m/s, LOS rate: -0.004072 deg/s, cmd heading: 23.749995 deg, new cmd heading: 23.747131 deg. B]tgOeHeadingCmd: 0.414466 target range: 583.985535 and range: 586.50 m.e4>a*a"a aiiiqʎqqqjqZ}@z$@颥RBɢL) i)顩i4g 0;XI>i!>mI  2Acoustic response timeoutX,mX@AY~|NBy~HiMb@Mb@Mb@ 9Q??y&1Y?y<`eAA )MAYGAbDVD1y=%9=ٔ%Q-%>9!Y)=-gGy)5E5>9Q 5E4=8?Q 9E4=E)=bBYE?Q EM:yM>Q IM@=:DI=3:i=:=n4yQɮUAYjygO}FNOT Ignoring new targets: 583.99 m.REsZEsgO ProNav: ac range: 583.985535 m, nav range: 560.518311 m, bearing: 23.204977 deg, approach rate: -0.579025 m/s, LOS rate: -0.003323 deg/s, cmd heading: 23.747132 deg, new cmd heading: 23.744188 deg. B¸gOHeadingCmd: 0.414414 target range: 583.985535 and range: 586.50 m..>*" ʎjZT$@]RBɢ]?@)Y ]wiY)eaaie Q; QXIIB>B1CBHB!,CX@A2aQ>2~[>2h9ٱ2b' :AHRS rotation from veh to nav: [[0.897045,-0.377714,-0.229437],[0.403367,0.911888,0.075863],[0.180566,-0.160600,0.970363]]2H? y,ؿ/^Ϳ?`/.?`k?? Ŀ5 ?i2aQ>I2C_;0YBNByBHbDJVDJk1yR߸=%Vd=ٔVQ-V>9XYX=ZgGyZFZgB9E^>\Q 5f4^ݼ?Q 9f4^)^%bBYdyf&>Q If@^;DI^";i^r;^t4yjBɮnɭAlPzB*** querying acoustic contact ***x xjgOFNOT Ignoring new targets: 583.99 m.R DsZ DsgO ProNav: ac range: 583.985535 m, nav range: 560.311340 m, bearing: 23.203787 deg, approach rate: -0.577395 m/s, LOS rate: -0.003323 deg/s, cmd heading: 23.744188 deg, new cmd heading: 23.741806 deg. B¸gO%HeadingCmd: 0.414373 target range: 583.985535 and range: 586.50 m.%(>!*!"! !))))ʎ111j1Z5`%@aeRBɢmIL)i m΋ii)mMiqiuº };}!ZIy2Acoustic response timeout9@ @@h4@ԑ CuMG9Y_A^AAzA} 2Acoustic response timeoutAM .AIa Iy Ey  E} E} 'Ey "Ey *E} :VE} '4ZEy O >a @a @a @a @ B',ŠX@A>gQ>>^>>;ٱ>' ZAHRS rotation from veh to nav: [[0.896857,-0.377642,-0.230291],[0.403307,0.911972,0.075166],[0.181633,-0.160291,0.970215]]>H` ?`J+ؿ+zͿ@?@.? >???iĿ` ?i>gQ>I>y~_;>YCY]NBye>HbDVDy a=%7=ٔE&Q-E>9U ?Y} ?=}gGyyP8E>Q 54?Q 94)ObBYy+>Q I@;DI:i:|4yBɮAjgO5FNOT Ignoring new targets: 583.99 m.R5oZ5ogOE ProNav: ac range: 583.985535 m, nav range: 560.043945 m, bearing: 23.202246 deg, approach rate: -0.568742 m/s, LOS rate: -0.003278 deg/s, cmd heading: 23.741806 deg, new cmd heading: 23.738723 deg. BEgOMHeadingCmd: 0.414319 target range: 583.985535 and range: 586.50 m.U!>Q*Q"Q QQQYYʎYYajaZe`&@#SBɢA) i)UviL% 6;U:[I 2Acoustic response timeout 9@ @@4@1^A gWB 0CB _HB OBB =B B DB ~;B 5EA ؟AI! I1 O= >-,usX@A22Acoustic response timeoutbE%G4jE%I4rE%z:0EU EQEU+EQ"EU77;*EQVEU [4ZEQBEU%@=ٔQ->9"?Y"?=gGyFE>Q 547?Q 94)qbBY?Q E:y>Q I@%;DI:i: 4yɮAj)gO-FNOT Ignoring new targets: 583.99 m.R5^Z5^gO= ProNav: ac range: 583.985535 m, nav range: 559.804565 m, bearing: 23.201025 deg, approach rate: -0.594424 m/s, LOS rate: -0.003034 deg/s, cmd heading: 23.738724 deg, new cmd heading: 23.736280 deg. BEgOMHeadingCmd: 0.414276 target range: 583.985535 and range: 586.50 m.M>I*I"I IIQQQʎQYYjYZ]k'@颍CSBɢH) }i)7顑i ۢ;[Iy@ @@4@ 2Acoustic response timeoutԡ^A hW< A .AI I) O5 >4, X@A20Q>2lC>2!=ٱ2>( :AHRS rotation from veh to nav: [[0.896598,-0.377022,-0.232306],[0.402968,0.912143,0.074916],[0.183652,-0.160782,0.969753]]2H? !ؿ6Ϳ`I2L_;0YBOByBHbDJVDJ:yR=%Ry=ٔV̻Q-V?9V ?YV ?=ZgGyXZ$E^?\Q 5b4^?Q 9b4^)^bBYdyf>Q If@^1;DI^:i^:^͉4yjBɮnˬAn2EjgOFNOT Ignoring new targets: 583.99 m.R dXZ dXgO ProNav: ac range: 583.985535 m, nav range: 559.612854 m, bearing: 23.200051 deg, approach rate: -0.581511 m/s, LOS rate: -0.002956 deg/s, cmd heading: 23.736280 deg, new cmd heading: 23.734331 deg. BgO%HeadingCmd: 0.414242 target range: 583.985535 and range: 586.50 m.%>!*!") )))11ʎ119j9Z=(@`SBɢM) _i)k  i |;\[YI2Acoustic response timeout@ @@ 0@EE EE$EE-EA"EEö;*EE;VEEt4ZEAaU@aU@aU@aU@^AA?A>! I I O% >= BDAT read: Response Not Received = *response not receivedE *DAT read: user:388> E BDAT read: Tx time:00:30:27.4772 M $Ping request sent.M Vn>Vr!>ٱV$) fAHRS rotation from veh to nav: [[0.896591,-0.376194,-0.233671],[0.402546,0.912247,0.075908],[0.184609,-0.162122,0.969348]]VH@?ؿͿQ? 1?n?@H?jĿ`?iVP>IVu`;V[CYn&OByrHi Mb@Mb@Mb@     9 tV?{Gz?QY ?y #<  7A A ) ۤA Y pAbD% VD%2y5=%54=ٔ= Q-=>99Y9==gGyEFE`EE>IQ 5U4M?Q 9U4M)MbBY]?Q E]:y]|>Q I]@MB;DIM;iMa;M4yaɮeAajgOFNOT Ignoring new targets: 583.99 m.R۷Z۷gO ProNav: ac range: 583.985535 m, nav range: 559.354858 m, bearing: 23.199371 deg, approach rate: -0.569459 m/s, LOS rate: -0.001500 deg/s, cmd heading: 23.734332 deg, new cmd heading: 23.732973 deg. B/gOHeadingCmd: 0.414219 target range: 583.985535 and range: 586.50 m.s>*" ʎjZ`)@ImSBɢmE)q u䋿iq)u^qqiu;}w;TII[A)\Ae9@a @a@e4@aB>B.CBHBPBB =BBDB;B5Eychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251228EU EUEU*EQ"EUO6;*EU :VEU(N4ZEQBEUGA,Ѯ X@A:0P>:D>:.?ٱ:o*@ FAHRS rotation from veh to nav: [[0.896655,-0.375334,-0.234808],[0.401940,0.912481,0.076302],[0.185619,-0.162796,0.969042]]:He?yؿ@0οd? 3?? ]?|Ŀ e?i:0P>I:q)`;:YCYNKOByNHR%>R=bDVVDVkyb1=%bf=ٔb =Q-b>9dYd=fgGydfغEj>hQ 5n4j?Q 9r4j)jbBYpyr*>Q Ir@jO;DIj;ij;j4yvBɮzWAxP B*** querying acoustic contact ***  jgOFNOT Ignoring new targets: 583.99 m.R%շZ%շgO5 ProNav: ac range: 583.985535 m, nav range: 559.152283 m, bearing: 23.198851 deg, approach rate: -0.568294 m/s, LOS rate: -0.001461 deg/s, cmd heading: 23.732973 deg, new cmd heading: 23.731931 deg. B5+gO=HeadingCmd: 0.414200 target range: 583.985535 and range: 586.50 m.=>9*9"9 9AAAAʎIIIjIZM)@}SBɢ}3P)y }势i)G顁i';LIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.50202959@1 @1@50@1Ա^AYIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754972D =D R= Ee  Ee Ea Ea "Ee 0;*Ee |:VEa ZEa am @am @am @am @#G,P! X@A2&O>2>2?@ٱ2* :AHRS rotation from veh to nav: [[0.896556,-0.374899,-0.235876],[0.401685,0.912591,0.076330],[0.186642,-0.163182,0.968781]]2H@?W׿-1ο6?`3?U??`"Ŀ@?i2&O>I2A`;0YROByR5HbDjVDjNlyr#=%vH=ٔv&Q-v>9xYx=zgGyzFz^Ez>Q 5 4&?Q 9 4)bBY y  >Q I @^;DI;iY;4y!ɮ%A)jqgOFNOT Ignoring new targets: 583.99 m.R÷Z÷gOU ProNav: ac range: 583.985535 m, nav range: 558.919556 m, bearing: 23.198257 deg, approach rate: -0.524362 m/s, LOS rate: -0.001338 deg/s, cmd heading: 23.731931 deg, new cmd heading: 23.730744 deg. BUgOUHeadingCmd: 0.414180 target range: 583.985535 and range: 586.50 m.]Z>Y*Y"Y YYYaaʎaaijiZ n*@颵SBɢ$D) qi)Pa项i:;  zKIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0069359@ @@p4@9^A *:<A ZAzA WAI I O- >a Be >Be +CBe ,IBe lPBBe =Be =DBe DBe ~;Be 5EO+N, n; X@A6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258453EV EVEV)ET"EVU,;*EV:VEVFA4ZETBEV+>@ٱ,9 =AHRS rotation from veh to nav: [[0.896474,-0.374324,-0.237099],[0.401547,0.912549,0.077548],[0.187336,-0.164726,0.968385]]H?׿BYο@?3?5ڳ??ſ`?i[O>I-`;XCYMOByMHiMb@Mb@Mb@ 9/$?~jth?~jtY&?yD;ļA|A A) AYAbDVDky->%-7=ٔ-ϺQ-5>91Y1=5gGy1=J^E=>AQ 5M4E!:?Q 9M4Eo)EcBYH?Q E:y>Q I@En;DIEgQ*Y"Y YYYaaʎaaijiZmet+@颕SBɢ$I) Di)Z顙id8;JIx>i>iY@Y @a@e1@aԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510028^A% LM<I I O >Թ %U,@U X@A2oO>2b>2&Aٱ2 - :AHRS rotation from veh to nav: [[0.896524,-0.373685,-0.237915],[0.401090,0.912727,0.077820],[0.188071,-0.165193,0.968163]]2HS?t׿tοv?5?@?? %ſ1?i2oO>I2`;2WCYBOByBHbDJVDJyVQ=%Vg=ٔVl Q-V>9XYX=ZgGyZF^ȤE^>`Q 5f4bqI?Q 9f4bO)b.cBYdyff>Q If@bz;DIb6:ibp:b4ynBɮnAn)EjgOFNOT Ignoring new targets: 583.99 m.R tZ tgO ProNav: ac range: 583.985535 m, nav range: 558.470398 m, bearing: 23.197608 deg, approach rate: -0.588349 m/s, LOS rate: -0.000836 deg/s, cmd heading: 23.730010 deg, new cmd heading: 23.729445 deg. ԙB÷gOHeadingCmd: 0.414157 target range: 583.985535 and range: 586.50 m.a >*" ʎjZ *,@% TBɢ%vM)) -ui))- ))i5};}cDIychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763441E EE'E"E/;*E:VE'4ZEa@a@a@a@9@ @@0@^ANJN<IIO>% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014029) U;[,o X@AB N>B$>BxBٱB- ^AHRS rotation from veh to nav: [[0.896594,-0.372966,-0.238780],[0.400606,0.912897,0.078318],[0.188771,-0.165876,0.967910]]BH?׿Wο?@t6? ?)?p;ſ?iB N>IBj_;@YjPByjHi}Mb@Mb@Mb@yyyy y9}ʡE?~jtxQY}?y}Ļ}u}A} A }fA)}9AyY}AbD VDf2yӾ=%;=ٔ^ֺQ->9Y=gGyE>Q 54"\?Q 94)XcBY?Q E:yS>Q I@;DIQ:iE:4yBɮA*EjgOFNOT Ignoring new targets: 583.99 m.R#Z #gO ProNav: ac range: 583.985535 m, nav range: 558.229126 m, bearing: 23.197607 deg, approach rate: -0.552613 m/s, LOS rate: -0.000002 deg/s, cmd heading: 23.729445 deg, new cmd heading: 23.729443 deg. BksgO%HeadingCmd: 0.414157 target range: 583.985535 and range: 586.50 m.%` >!*!"! !!)))ʎ)11jZ-@50TBɢ5G)1 5ヿi1)=799i=4E?;Eb>IIBA<B >B *CB kIB PBB  =B B DB z~;B H5E!)@) @)@- 0@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266506E EEE"E0;*E:VEZEBEy e#b, X@A:IN>:>:Bٱ:/ FAHRS rotation from veh to nav: [[0.896808,-0.372039,-0.239423],[0.400010,0.913054,0.079530],[0.189018,-0.167094,0.967653]]:H?{׿fοř?7? \?@1?Ycſ?i:IN>I:jf_;8YJ:PByN IbDVVDV:y^=%^Z=ٔ^/Q-b>9b"?Yb"?=bgGybFfEf>hQ 5n4j-l?Q 9n4j)j{cBYlyn>Q Ir@j;DIj;ija;j=4ytɮvdAtPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 583.99 m.R=*5Z=*5gO- ProNav: ac range: 583.985535 m, nav range: 558.022034 m, bearing: 23.197620 deg, approach rate: -0.554066 m/s, LOS rate: 0.000036 deg/s, cmd heading: 23.729443 deg, new cmd heading: 23.729470 deg. B-05gO5HeadingCmd: 0.414157 target range: 583.985535 and range: 586.50 m.5p >1*1"1 199AAʎAAAjIZM-@uNTBɢuN)y }eiy)}yyit~;Z5Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518315Y1@1 @1@50@1ԁ^Au-B<Ա checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770093A I I E  E E +E "E /;*E :VE [4ZE a @a @a @a @O > JMh,Ң X@A2eM>2.>2Bٱ2./ :AHRS rotation from veh to nav: [[0.896969,-0.371419,-0.239780],[0.399536,0.913220,0.080006],[0.189257,-0.167563,0.967525]]2H@?T׿@ο?9?`?{?9? rſ?i2eM>I2_;0YNtPByR1IbDZVDZkyb >%bJ=ٔbQ-f>9dYd=fgGydjEj>lQ 5r4n}?Q 9r4nZ)ncBYpyr>Q Iv@n;DIna;in;nP·4yBɮ Aj9gOFNOT Ignoring new targets: 583.99 m.R)5Z)5gO- ProNav: ac range: 583.985535 m, nav range: 557.797913 m, bearing: 23.197647 deg, approach rate: -0.548341 m/s, LOS rate: 0.000065 deg/s, cmd heading: 23.729471 deg, new cmd heading: 23.729524 deg. B-5gOeHeadingCmd: 0.414158 target range: 583.985535 and range: 586.50 m.e >i*i" ԹʎjZ`'.@颥wTBɢC)ԛ< Ui)iR;n/Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023039@ @@@ ^A x/<B >B )CB IB LQBB =B B B };B 4EB+CB,CBBʺ =Bʸ =C6A .AI I O5 >9 tmn,w X@A.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274043:J N>:$>:7Cٱ:.. BAHRS rotation from veh to nav: [[0.896788,-0.371940,-0.239651],[0.399832,0.913184,0.078926],[0.189490,-0.166600,0.967646]]:H|?׿οؖ?8?@y4?5A?#Sſ?i:J N>I:_^;:VCEN ENELEL"ENU,;*ENn:VELZELBEN9 ?Y ?=gGyFP:E> Q 54 ?Q 94 ) cBY ?Q E:y>Q I@ ;DI U:i : ʷ4y%Bɮ%A!jgOFNOT Ignoring new targets: 583.99 m.R4Z4gO ProNav: ac range: 583.985535 m, nav range: 557.559326 m, bearing: 23.197658 deg, approach rate: -0.531591 m/s, LOS rate: 0.000024 deg/s, cmd heading: 23.729523 deg, new cmd heading: 23.729545 deg. B 75gOHeadingCmd: 0.414159 target range: 583.985535 and range: 586.50 m. >*" ʎjZu/@!颭TBɢ:J) i)к顱i0;/5I@ @@ 0@@@@@Q checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526058Aa zAe [Aԁ AU ؟AIY Ii Ou >OXu,k X@A>G,,8N9LYNAznN>z6>zVCٱzw- AHRS rotation from veh to nav: [[0.896591,-0.372407,-0.239661],[0.400138,0.913125,0.078053],[0.189773,-0.165879,0.967714]]zH߰? ׿4ο ޛ?Q8?F?@yJ?@;ſ?iznN>Iz,^;zWCY%PBy-lIbD=VD=yM.>%MU=ٔM%EQ-U>9U"?YU"?=UgGyQ]{:E]>aQ 54e?Q 94e)ecBYyE>Q I@e;DIewi*i"i qqqyyʎjZ0@TBɢιJ) yi)iY;`:eBDAT read: Rx Time:00:30:30.6506 mTRx dataTimestamp_ set to:1761697831.461271mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779300yE EE)E"E/;*E|:VEFA4ZEa@a@a@a@IIA)E[A@ @@@ԩAI)IAOm>  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030183y{," X@A` N> R> Dٱ - UAHRS rotation from veh to nav: [[0.896444,-0.372489,-0.240083],[0.400238,0.913106,0.077760],[0.190257,-0.165798,0.967633]] H?׿ ο?*8?`? UZ?`8ſ`?i N>I z^; YCYQByII=)<iMb@Mb@Mb@ 9@5^I ?MbpMb`?Yb?y;9A A)AY\AbDVD0y%=%%1=ٔ-Q-->9)Y1=5gGy5F5ҭ9E5>9Q 5E4=Գ?Q 9E4=)=)dBYMc?Q EM:yM>Q IM@=;DI=; ;i=;=ط4yUBɮUA]+EjgOFNOT Ignoring new targets: 583.99 m.RZgO ProNav: ac range: 583.985535 m, nav range: 557.096191 m, bearing: 23.197436 deg, approach rate: -0.560678 m/s, LOS rate: -0.000490 deg/s, cmd heading: 23.729549 deg, new cmd heading: 23.729101 deg. BegOHeadingCmd: 0.414151 target range: 583.985535 and range: 586.50 m. >*" !!aiʎiiijiZu0@颽TBɢD) 9uiB>BBIBQBB =BBB|;B|4E)3i!)i-65;5<I9bEAjEEƷG4rEE0E EE(E"E*;*En:VEc44ZEBEm%@"$@ +H)A=I+H<&A}7?TT/?pw x>)wи;IA=i+H<5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.I e < 9@  @ @ 1@ A ?A >q 5*DAT read: user:389> 5BDAT read: Tx time:00:30:31.9772 =$Ping request sent.=_,< X@AbAN>b>bv]Dٱb)- nAHRS rotation from veh to nav: [[0.896311,-0.372574,-0.240448],[0.400378,0.913050,0.077705],[0.190590,-0.165918,0.967547]]bH`?B׿οɟ?7?y?=e?<ſ$?ibAN>Ibg^;bWCYr8QByvIbDVDym5=%mB=ٔuRQ-u>9qYq=ugGyy}9E}>Q 54?Q 94)XdBYy>Q I@;DIB;i>;(4yɮQAqu/ X@AJuDRuDju&>uAs@!1 ;@taruÏK?@?I:ZuA=bu+H<u-@}o@HX@zub..?I?-plk?2u}C:uC"u,>?*u#!BuYCqu“u;C u Du)>gO5 addTargetRange:: Added new target pos. range: 576.900024 m, deltaT: 16.652073 s, deltaX: -9.599976 m, approachRate: -0.576503 m/s, rangeRepo size: 4 gOm Added new target pos. range: 574.281433 m, bearing: 26.650486 deg, lat: 36.779073 deg, lon: -121.859196 deg, deltaT: 16.652073 s, deltaX: -9.704102 m, approachRate: -0.582756 m/s, posRepo size: 4 jigOmFNOT Ignoring new targets: 574.28 m.RuZqgO ProNav: ac range: 574.281433 m, nav range: 562.036804 m, bearing: 24.398599 deg, approach rate: 0.000000 m/s, LOS rate: -0.000490 deg/s, cmd heading: 23.729102 deg, new cmd heading: 23.728686 deg. BgOHeadingCmd: 0.414144 target range: 574.281433 and range: 576.90 m. >*" ʎj@3@Z_?%UBɢ-0vG)) -2ti))->11i5}=;=0}?Ia=h%<99@ @@3@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252316E EE*E"E);*E:VE(N4ZEa@a@a@a@A.AI IO%>yԑ ,V( X@Auq8O>u7G>uDٱug- AHRS rotation from veh to nav: [[0.896094,-0.372868,-0.240801],[0.400671,0.912950,0.077366],[0.190991,-0.165809,0.967486]]uHͬ?׿ο? 6?Gγ?gr?=9ſ?iuq8O>IuK^;qYtQByIiEMb@Mb@Mb@AAAAq A9Ekt?Mbp?y&1|?YE ?yE;E`;EQAEhA EA)EƠAAYEAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502925bD VD2y>%7=ٔ@pQ->9 ?Y ?=gGyF U:E>Q 54?Q 94ݻ)dBY$?Q E:y >Q I@;DI2 ;i ;4yBɮЧAPB*** querying acoustic contact *** jgO%FNOT Ignoring new targets: 574.28 m.R%WZ-WgO= ProNav: ac range: 574.281433 m, nav range: 561.790405 m, bearing: 24.398501 deg, approach rate: -0.568599 m/s, LOS rate: -0.000226 deg/s, cmd heading: 23.728687 deg, new cmd heading: 23.728491 deg. B=ӶgOEHeadingCmd: 0.414140 target range: 574.281433 and range: 576.90 m.E2 >A*I"I IIQQYʎYYajaZm@ ?.UBɢF) ~ni) ib;\DIԙB>B'CBRIBJRBB =BBDB|;BJ4E < {>i >m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755554 9@  @ @ 1@ E  E E (E "E ';*E a:VE c44ZE BE 6I>6;sEٱ6, >AHRS rotation from veh to nav: [[0.895188,-0.374969,-0.240907],[0.402388,0.912382,0.075124],[0.191630,-0.164188,0.967636]]6Ha?׿ο`?:2? S;?R?ſ?i6=Q>I6];6XCYFQByFI HHN=N= LN;bDRVDR02yZ>%^$=ٔ^TQ-^>9`Y`=bgGybFb;Eb>nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007118dQ 5r4f?Q 9r4fٸ)fdBYpyr >Q Iv@fA*A"A AAAIIʎIQQjQZUNi?=[UBɢ=@)9 =iiA)E^AAiEm;m}aIqyyyy9i9@ @@_0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259327D@AzDE EE'E"E*E:VE'4ZEa@a@a@a@ԑ ^A LM<I I O >,i X@AuQR>u>uEٱuSo+ AHRS rotation from veh to nav: [[0.894687,-0.376022,-0.241126],[0.403295,0.912066,0.074091],[0.192063,-0.163534,0.967661]]uH@G? ؿ:ο ?/?`?`?Ŀ?iuQR>IuF];uUCYQByI]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511025iMb@Mb@Mb@ 9V-? rh?~jtx?Yh?yC<;AA A)AY³AbDVDfy5Y=%5=ٔ=WQ-=>9AYA=EgGyAMl;EM>QQ 5e4UW?Q 9e4Ub)UeBYm{?Q Em:ym'>Q Im@U*" ʎjZ`0j?uUBɢu&@)q uiiq)}yyi}";hnIA@ @@@0@B%>B%&CB%IB%RBB% =B!B%DB%|;B%3Ei  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762975EU  EU EU (EQ "EU );*EU :VEU c44ZEQ BEU Nʠ,eR X@A0>3S>>D>>}Fٱ>v6+ FAHRS rotation from veh to nav: [[0.894307,-0.376834,-0.241272],[0.404052,0.911769,0.073612],[0.192245,-0.163318,0.967662]]>H)? ؿο? 7-? :ز?@y?`Ŀ?i>3S>I>ӣ];>VCYNHRByNPIbDVVDVy^#>%^=ٔbQ-b ?9`Y`=bgGyfFf1;Ef ?hQ 5n4j?Q 9n4jU)j)eBYpyr>Q Ir@j!1*1"1 1999AʎAAAjAZM @uUBɢurO)q uwWiq)}yyi}f~U;zI1@1 @1@54@1@==@==ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014871^Auk<IIO> ~,0 X@A2ޥS>2}>2 Fٱ2GM+ :AHRS rotation from veh to nav: [[0.894139,-0.377217,-0.241294],[0.404445,0.911596,0.073605],[0.192198,-0.163403,0.967657]]2H@ɜ? R$ؿο@l?+?ײ? ?gĿ ?i2ޥS>I2Fy];0YB\RByB]IDFAHJ@AbDNVDNyVF=%VK=ٔV8Q-V>9XYX=ZgGyX^:E^>`dQ 5j4f"?Q 9j4f)fWeBYhyj>Q In@f/i*i"i iqqqqʎyyyjyZ}3@EUBɢEB)I M\iI)MW IIiUL;qIa@a @a@e2@achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519075^Am u<I I O >A ,J X@A2 U>28>2Eٱ2F+ :AHRS rotation from veh to nav: [[0.893590,-0.378416,-0.241452],[0.405730,0.911010,0.073783],[0.192045,-0.163896,0.967604]]2H@I?`7ؿο@y?&?@m?@?Ŀ@?i2 U>I2L];2WCYBRByBI)iMb@Mb@Mb@ 9tV?Zd;O?~jth?Y?yj<D;B>B$CBIBHSBB =BBDB{;B3EA "A)SAYAbDVDk2yP>%.=ٔ9Q->9Y=gGyF E;E>Q 546?Q 94)eBY?Q E:yN>Q I@@*" ʎjZ Or@UUBɢUB)Q ]XiY)]-( YYi]]l;Iq9@ @@l0@ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023514^A A-؟AI1IAOU>L, X@A2wV>2>2Fٱ20+ >AHRS rotation from veh to nav: [[0.893173,-0.379273,-0.241650],[0.406553,0.910677,0.073360],[0.192242,-0.163767,0.967586]]2Hޔ?Fؿdο? D$? Dz? `?`RĿw?i2wV>I2U\];2VCYBRByBIbDnVDn0yvM >%vF=ٔzQ-z>9~"?Y~"?=~gGy|~;E~>Q 5 4H?Q 9 4٪)eBYy>Q I@OZM>gOe ProNav: ac range: 574.281433 m, nav range: 560.320190 m, bearing: 24.394049 deg, approach rate: -0.598392 m/s, LOS rate: -0.002605 deg/s, cmd heading: 23.721583 deg, new cmd heading: 23.719581 deg. BegOmHeadingCmd: 0.413985 target range: 574.281433 and range: 576.90 m.m>i*i"i iqqyyʎyyjZ@N @颭VBɢhI) )Ri) 顱iV:;ǐIIZA)ԩe9@i @i@m4@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275148EE EEEAEA"EE%;*EE:VEAZEAaM@aM@aM@aM@^AM}U< Ay I I O >1 /,t X@A:BDAT read: Rx Time:00:30:35.1473 >TRx dataTimestamp_ set to:1761697835.747428>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530902?kW>`> Fٱ,+ AHRS rotation from veh to nav: [[0.892642,-0.380600,-0.241523],[0.407734,0.910210,0.072600],[0.192206,-0.163283,0.967675]]H@?[ؿ=οQ?p ?畲?0?@uĿ`2?i?kW>I,];YCY SBy I==iMb@Mb@Mb@ 9(\?Q?{GztYz?y<ף=AA QA)YA bDVD0y>=%.=ٔe8Q->9Y=gGyF8;E> Q 54#\?Q 94)eBY?Q E:y!>Q I@`q*q"q qqyyyʎyjZ @颵EVBɢJCA) Oi) 项i;1I}9@ @@0@AAB>BB?IBSBB =BBB{;B3EB&CB&CBBž =Bž =Cű69checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778924EU EUEQEQ"EU0;*EU8:VEQZEQBEU, X@AL~;X>~>~Eٱ~* AHRS rotation from veh to nav: [[0.892168,-0.381844,-0.241312],[0.408831,0.909772,0.071918],[0.192078,-0.162819,0.967779]]~H࣌? pؿRοG*?`?I~}<];~UCY;SBy%IbD5VD5 yE>>%Ek=ٔE^9Q-M?9IYI=MgGyIU\e;EU?YQ 5e4]j?Q 9e4]-)]fBYaym>Q Im@]m*" ʎjZ@eVBɢH) qJi) i ;I}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.0318109@ @@4@ IMCvɿ9YA^Am<A .AI I ! O5 >M DAT read: 00:30:35.1473 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 400, 0.07,-0.604,-2.130,-0.391,-0.934, PHS= 0.432,-1.151, 0.498, RAW= 152.0, 2.8, CAL= 151.0, 2.4, ROT= 359.0, -2.4 U Ygot valid direction response: 00:30:35.1473 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 400, 0.07,-0.604,-2.130,-0.391,-0.934, PHS= 0.432,-1.151, 0.498, RAW= 152.0, 2.8, CAL= 151.0, 2.4, ROT= 359.0, -2.4 Ee  Ee Ee *Ea "Ee 3;*Ee :VEe (N4ZEa am @am @am @am @u PDAT read: Bearing 176.3, 9.8 (Local) u ~Local bearing/azimuth received: Bearing 176.3, 9.8 (Local)  DAT read: Range 11 to 50 : 574.5 m (Round-trip 766.0 ms) speed 0.5 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.998971,-0.017437,0.041876] Fpublishing direction and range infoy! % N?soۑ ۷p?Y% D! ! ! ! ! )% QI% />i% S% >% )@% +H=% +(@ % +=)% @I% +! ! % + +?&? ? % ?)% EI% i% +! !  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.=," X@A|Y`SByIbD VD2yuf=%u,=ٔuQ-}>9} ?Y} ?=}gGy}FE>Q 54L?Q 94)@fBYyQ I@UrЇځ@̿tb#PI7@rUN?soۑ ۷p?ZUbU+Us@`UFl@ҍ`@zU 0h?ϻP?.M?2U2bC:UC"U1?*UdBU^;CU1?Ud“QU DUߖ>gO} addTargetRange:: Added new target pos. range: 574.500000 m, deltaT: 4.535363 s, deltaX: -2.400024 m, approachRate: -0.529180 m/s, rangeRepo size: 4 gO Added new target pos. range: 571.846191 m, bearing: 24.015191 deg, lat: 36.779055 deg, lon: -121.859251 deg, deltaT: 4.535363 s, deltaX: -2.435242 m, approachRate: -0.536945 m/s, posRepo size: 4 jgO-FNOT Ignoring new targets: 571.85 m.R5Z9*DAT read: user:390> BDAT read: Tx time:00:30:36.5272 $Ping request sent.*" ʎ  j @ZQ?Y额VBɢ=) Ni)( 顡i]k; I>i>m 9@i  @i @m #0@i ԁ B >B #CB IB FTBB =B B DB J|;B 4E^A5 D-<A= ?A= >Ա 5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247882bE:4jE64rE/E} E}E}$Ey"E}*;*E}:VE}4ZEyBE}26>2Eٱ2"b+ :AHRS rotation from veh to nav: [[0.891478,-0.383414,-0.241373],[0.410508,0.908990,0.072252],[0.191703,-0.163497,0.967739]]2H?ډؿPοE?q???tĿ?i2nZ>I2,L];2WCYBSByBIIF4=)F=Qi]Mb@Mb@Mb@YYYY Y9]zG? rh?~jtY] ?y]C =]D]AY ]A)]AYY]GAbDuVDu0yO=%7=ٔ|`:Q->9Y=gGyӇ;E>Q 54?Q 94)lfBYR?Q E:y>Q I@*"  ʎ  jZ?=VBɢ=KhJ)A EHiA)Et AAiEMO;UIQ@ @@0@ԁ]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499782ԩ^A}<A I! I1 OE > ,\ X@A2::[>2H>2`Eٱ2, :AHRS rotation from veh to nav: [[0.891202,-0.383709,-0.241921],[0.411090,0.908652,0.073190],[0.191739,-0.164678,0.967532]]2H?ؿGοJO????,ſ?i2::[>I2m];2VCYVSByV>IbDbVDbJyj>%jW=ٔj!ǸQ-j>9lYl=rgGyrFr:Ev>tQ 5z4v8?Q 9~4v)vfBY|y~>Q I~@vQ*Q"Q QQQYYʎYaajaZe?颍VBɢPF) Di)1顙i'; oIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755223DzDE EE'E"E';*E:VE'4ZEa @a @a @a @59@1 @1@5l2@1^AU`=<9AI  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005939I I OE >Y ,v X@A2w\>2>2Eٱ2, :AHRS rotation from veh to nav: [[0.890696,-0.384798,-0.242056],[0.412162,0.908191,0.072881],[0.191788,-0.164681,0.967521]]2H ?ؿ ο`?`? Q??Bſ@?i2w\>I2g`];0YBSByB\Ii Mb@Mb@Mb@     9 \(\?Q?99Y=gGy4;E> Q 54 ?Q 9%4 Ę) fBY%#?Q E%:y%>Q I%@ BaBeIBeTBBe =BaBaBe|;Be/4EjgOFNOT Ignoring new targets: 571.85 m.RZgO ProNav: ac range: 571.846191 m, nav range: 555.051025 m, bearing: 24.008882 deg, approach rate: -0.583559 m/s, LOS rate: -0.003540 deg/s, cmd heading: 23.704510 deg, new cmd heading: 23.701317 deg. BUϸgOHeadingCmd: 0.413666 target range: 571.846191 and range: 574.50 m.>*" ʎ)j1Z5`\?} WBɢ}4A)y Ci)顁ir>;nIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256705E EE(E"EC#;*EVEc44ZEBE{,{ X@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5079186]>6X:>6uCEٱ6b, BAHRS rotation from veh to nav: [[0.890492,-0.385413,-0.241828],[0.412760,0.907916,0.072931],[0.191451,-0.164761,0.967575]]6H@~?ؿ6οj? ??@v?ſ^?i6]>I6$];6UCYF)TByFxIbDVDNy 1=%L=ٔea:Q->9"?Y"?=5gGy5F=>:E=>AQ 5M4E?Q 9M4E)EfBYIyU>Q IU@E*" ʎjZ T ?*WBɢH) o@i)wi:=;\Iԑ9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759965^A<D=D4=E% E%E%*E!"E%%;*E%:VE%(N4ZE!a5@a5@a5@a5@AI IQ Ia Ou > ", X@A2]>2h>2Eٱ2S, :AHRS rotation from veh to nav: [[0.890202,-0.386228,-0.241595],[0.413459,0.907634,0.072469],[0.191290,-0.164402,0.967667]]2H|?ؿοv?V ?Y?4|?`! ſ@!?i2]>I2Q];0YBRTByBIbDNVDN0yV=%VQ=ٔV$9Q-V>9XYX=ZgGyXZ;E^>`Q 5f4b??Q 9f4b5)bgBYdyfW>Q If@b*" !!Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014695ʎqqqjyZ}`7@VWBɢCB)  Ai)/iq;ĒI9@ @@0@B]>BYB]IB]&UBB] =BYB]DB]|;B]*4EI ^A < checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264229E-  E- E) E) "E- ';*E- S:VE) ZE) BE- ,Z X@AY~TBy~IiMb@Mb@Mb@ 97A`?S㥛?I +Y?y/<9ʿAA =A)AYAbDVD:y=%;=ٔQ->9Y=gGyFE>Q 54V?Q 94&),gBY?Q E:y>Q I@*" ʎjZX@Q}|WBɢ}F) >i)顁i{2;_II[A)e9@a @a@e1@a@m=@m>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516321y^A  <Թ I I O >3,5 X@A>`_>>H[>@>sDٱ>N- JAHRS rotation from veh to nav: [[0.889651,-0.387334,-0.241855],[0.414755,0.906993,0.073091],[0.191050,-0.165336,0.967556]]>Hx?ؿ@οV?`??@Ut?`)ſ 7?i>`_>I>H];>SCY^TBybIfAfAf@AfAAbDjVDjyr=%rX=ٔvh):Q-v>9tYt=zgGyzFz6x;Ez>|Q 54~?Q 94~~)~MgBY y ~>Q I @~Y*Y"Y aaaaiʎiiijiZu%@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767929颥WBɢNJ) 2>i) O顩i3<E EEE"Em+;*E:VEZEa@a@a@a@iU>U;U^IYԱ9@ @@4@^A*<IIO >e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022174 ^,E X@A2_>2>2xDٱ2G- :AHRS rotation from veh to nav: [[0.889574,-0.387703,-0.241547],[0.415086,0.906838,0.073135],[0.190689,-0.165322,0.967629]]2Hcw?!ؿοŐ???h? G)ſ@?i2_>I2I];2UCYbTBybIpiMb@Mb@Mb@AAAAB>BBYIBUBB =BBBL|;B 4E 9㥛 ?~jt?Zd;OY?y<j(AA )nAYpAbD-VD-Ny==%=7=ٔ=jW:Q-=>9AYA=EgGyAEF:EM>IQ 5e4M_?Q 9m4Mv)MugBY}?Q E:y>Q I@Mq*q"q qqyyyʎyjZ @ uWBɢuQC)q u@iy)} yyi}B ;xIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274068E EE+E"E77;*E:VE [4ZEBE] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523774K,C X@A>G`>>>>eTDٱ>, FAHRS rotation from veh to nav: [[0.889372,-0.388383,-0.241199],[0.415580,0.906668,0.072432],[0.190556,-0.164656,0.967769]]>Hu?Dؿοۘ?l?抲? !d?sſ?i>G`>I><];9Y=gGyF-:E >Q 54G ?Q 94)gBYy>Q I@=DI:ip:l4y!ɮ-.A)1jQgOUFNOT Ignoring new targets: 571.85 m.R]KZ]KgOm ProNav: ac range: 571.846191 m, nav range: 553.649597 m, bearing: 24.001197 deg, approach rate: -0.611860 m/s, LOS rate: -0.002783 deg/s, cmd heading: 23.687854 deg, new cmd heading: 23.685938 deg. BmgOuHeadingCmd: 0.413398 target range: 571.846191 and range: 574.50 m.uڨ>q*q"q yyyyʎjZ@颵WBɢL) 5>i)k项i#;Ia>i>e9@a @a@e4@i@u[A@u[Aa^A<ԉBDAT read: Rx Time:00:30:39.7007 TRx dataTimestamp_ set to:1761697840.533187checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776992E EE*E"E ;*E:VE(N4ZEa@a@a@a@IIO%>Ա :p ,!+ X@A2`>2>21Cٱ2* :AHRS rotation from veh to nav: [[0.889243,-0.389399,-0.240032],[0.416082,0.906571,0.070739],[0.190061,-0.162778,0.968184]]2H@t?ؿaο???S?Ŀ@]?i2`>I2n];2WCY^!UBy^I ``bDjVDjܲyr=%rL=ٔrR:Q-v>9tYt=vgGytz/:Ez>|Q 54~1?Q 94~D)~gBYyH>Q I@~=DI~B:i~:~s4yBɮǟAEj1gOEFNOT Ignoring new targets: 571.85 m.RUCZUCgOm ProNav: ac range: 571.846191 m, nav range: 553.418640 m, bearing: 24.000132 deg, approach rate: -0.579333 m/s, LOS rate: -0.002673 deg/s, cmd heading: 23.685938 deg, new cmd heading: 23.683807 deg. BmgOuHeadingCmd: 0.413360 target range: 571.846191 and range: 574.50 m.u>qԹ*" ʎjZ@;@-checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030293XBɢ?D) =i) Ei/;ZI 9@ @@4@B>BBIBUBB =BBDB|;B74EB#CB#CBǓCB =B =CDž5^A }<I1 IA OU > DAT read: 00:30:39.7007 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 483, 0.12, 0.008,-1.521, 0.202,-0.323, PHS= 0.433,-1.153, 0.481, RAW= 151.5, 3.0, CAL= 150.4, 2.8, ROT= 359.6, -2.8  Ygot valid direction response: 00:30:39.7007 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 483, 0.12, 0.008,-1.521, 0.202,-0.323, PHS= 0.433,-1.153, 0.481, RAW= 151.5, 3.0, CAL= 150.4, 2.8, ROT= 359.6, -2.8 E  E E 'E "E %;*E ˭:VE '4ZE BE ,?ɭ|s!D?Y @D ) KI ->i E> %:)@ PwV= '@ +H=) @I +H %q@?N ߯?0 qrӪ? K ?) VI i +H ] T****** received valid address query ******] R****** received valid ping request ******] Querying Benthos address 50 with one ping in standard two-way mode.X,nE X@ABQa>BS>BCٱBr* JAHRS rotation from veh to nav: [[0.889073,-0.389909,-0.239832],[0.416540,0.906372,0.070602],[0.189849,-0.162670,0.968244]]BH Js?DؿԲο? ?? L? _Ŀ ?iBQa>IBj];@YRUUByR1I)imMb@Mb@Mb@iiii i9m9yYy=}gGy}F:E>Q 54F?Q 94)gBY?Q E:y>Q I@)=DI:ia:|4yɮ_ARB X@AJDRDj,>`/@ߐF?ɭ|s!D?Zb+Hֺ?@DLAm@a6a@zڮ ?s>q?3<`px?2JmC:iC"0s?*u2!B >C0s?“ >C D>gOU addTargetRange:: Added new target pos. range: 577.000000 m, deltaT: 4.535970 s, deltaX: 2.500000 m, approachRate: 0.551150 m/s, rangeRepo size: 4 gO] Added new target pos. range: 574.325195 m, bearing: 25.175387 deg, lat: 36.779051 deg, lon: -121.859196 deg, deltaT: 4.535970 s, deltaX: 2.479004 m, approachRate: 0.546521 m/s, posRepo size: 4 jagOFNOT Ignoring new targets: 574.33 m.RZgO ProNav: ac range: 574.325195 m, nav range: 554.702087 m, bearing: 24.481624 deg, approach rate: 0.000000 m/s, LOS rate: -0.002673 deg/s, cmd heading: 23.683807 deg, new cmd heading: 23.681109 deg. BgOHeadingCmd: 0.413313 target range: 574.325195 and range: 577.00 m.Ν>*" ʎj@Z?ACXBɢENE)I M;iI)MyIIiM4U;] IY-*DAT read: user:391> 5BDAT read: Tx time:00:30:41.0772 5$Ping request sent.5),@a>@a>@a>@BMa>BQ>B_CٱBIBWD];BTCYfUByfWIbDnVDn0yv(>%v`=ٔz:Q-z>9z ?Yz ?=~gGy|~:E~>Q 5 4V?Q 9 4)hBYy>Q I@6=DI:i:w4yBɮݞA!P=B*** querying acoustic contact ***9 9jIgOUFNOT Ignoring new targets: 574.33 m.RUZUgOe ProNav: ac range: 574.325195 m, nav range: 554.494812 m, bearing: 24.481239 deg, approach rate: -0.593807 m/s, LOS rate: -0.001105 deg/s, cmd heading: 23.681109 deg, new cmd heading: 23.680338 deg. Be^gOmHeadingCmd: 0.413300 target range: 574.325195 and range: 577.00 m.m >i*q"q qqqyyʎyyyjZ ?MfXBɢMHJ)I M4iI)UssQQiU];}'\I9@ @@4@@>@Qԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503591^AiA}?A}>I I ԩ O >H,{ X@AB2<A0B6>B4B6IB6aVBB4B4B4B6|;B6+4EF!Ja>FP>F@ CٱF8I* bAHRS rotation from veh to nav: [[0.889179,-0.389999,-0.239293],[0.416558,0.906357,0.070691],[0.189315,-0.162536,0.968371]]FH`'t?`ؿ'ο@???`};?Ŀ@?iF!Ja>IF$7];FUCYjUByj\IIl)n9Y=gGyFE>ԙQ 54h?Q 94})/hBY?Q E:y+>Q I@E=DI:i:҉4yɮ˞AjgOFNOT Ignoring new targets: 574.33 m.RAZAgO ProNav: ac range: 574.325195 m, nav range: 554.257080 m, bearing: 24.480788 deg, approach rate: -0.533975 m/s, LOS rate: -0.001013 deg/s, cmd heading: 23.680338 deg, new cmd heading: 23.679436 deg. B5gOHeadingCmd: 0.413284 target range: 574.325195 and range: 577.00 m.>*" ʎjZ`k?XBɢlH) ;IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753702bE÷G4jE?4rEַ/E EE)E"Em+;*E:VEFA4ZEBE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005708! U0%,nÕ X@A2E`>2>2JBٱ26) :AHRS rotation from veh to nav: [[0.889635,-0.389383,-0.238600],[0.415692,0.906802,0.070077],[0.189076,-0.161527,0.968586]]2H w?ؿ`qο?@??3?@Ŀ?i2E`>I2H];2VCYRUByVIbD^VD^:ye3>%S=ٔ/%:Q->9 Y = gGy (E>Q 5%4Fy?Q 9%4z)ShBY!y%>Q I%@S=DI;i;4y5Bɮ59A5EjQgO]FNOT Ignoring new targets: 574.33 m.R],Ze,gOm ProNav: ac range: 574.325195 m, nav range: 554.038818 m, bearing: 24.480395 deg, approach rate: -0.604429 m/s, LOS rate: -0.001087 deg/s, cmd heading: 23.679436 deg, new cmd heading: 23.678651 deg. BugOuHeadingCmd: 0.413270 target range: 574.325195 and range: 577.00 m.u.>y*y"y yyʎjZ@E?XBɢJ) }4i)i.x9;;I@ @@@4@!echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257620D%=D<E EE*E"E%;*E:VE(N4ZEa@a@a@a@^AaIiIyO>y [+,8 X@A^t_>^Be>^Aٱ^) zAHRS rotation from veh to nav: [[0.890104,-0.388802,-0.237797],[0.415048,0.907062,0.070518],[0.188279,-0.161466,0.968752]]^H {? ؿ"pο'?`?` ??Ŀ`?i^t_>I^a];\Y%VBy-Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.512259YbD-VD-F3y=%4=ٔ:Q->9Y=gGyF*E>Q 540?Q 9-4w)hBY)y5D>Q I5@d=DIT$*" ʎjZ@f?]XBɢe D) 4i)SiPM;M&IIԁI)ZABe>Be"CBeIBeVBBaBaBaBe|;Be$4E9@ @@4@@ @ \Aԩm checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761692E  E E &E "E C#;*E :VE 4ZE BE { ]B2,y X@ABl`^>B6>BIYAٱB;( NAHRS rotation from veh to nav: [[0.890642,-0.388008,-0.237080],[0.414158,0.907453,0.070725],[0.187697,-0.161180,0.968912]]BH#?ؿXο?@ ??@v?@Ŀ@T?iBl`^>IBH]];BSCYR9Y=gGy=E>Q 54?Q 94Yu)hBY0?Q E:ys>Q I@q=DIE;i;4y}BɮzAjgOFNOT Ignoring new targets: 574.33 m.R"Z"gO ProNav: ac range: 574.325195 m, nav range: 553.572815 m, bearing: 24.479629 deg, approach rate: -0.580924 m/s, LOS rate: -0.000902 deg/s, cmd heading: 23.677752 deg, new cmd heading: 23.677117 deg. BiӷgO HeadingCmd: 0.413244 target range: 574.325195 and range: 577.00 m. > * "  ʎj!Z% s@MYBɢM6M)Q U2iQ)UQQi]];eMIaԱm9@i @i@m3@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013813^A׿< I I) O5 >9 l8,U X@A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269111D0zD0E6 E6E4E4"E6%;*E6n:VE4ZE4a:@a:@a:@a:@Vm\>V6>VD@ٱVL1* ^AHRS rotation from veh to nav: [[0.891415,-0.386287,-0.236984],[0.412748,0.907948,0.072584],[0.187131,-0.162517,0.968798]]VHx?`ؿUο`xj? ? ؔ?@?[Ŀ@e?iVm\>IVwW];VTCYfuVByfIbDr VDrf2yv>%zU=ٔz:Q-z>9|Y|=~gGy~FE> Q 54 -?Q 94 r) hBYy>Q I@ =DI :i Q: 4y!ɮ% A!PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 574.33 m.RZZZgO ProNav: ac range: 574.325195 m, nav range: 553.357361 m, bearing: 24.479331 deg, approach rate: -0.539266 m/s, LOS rate: -0.000747 deg/s, cmd heading: 23.677117 deg, new cmd heading: 23.676521 deg. B᮷gO HeadingCmd: 0.413233 target range: 574.325195 and range: 577.00 m. O> * "   11ʎ199j9Z=͵@颥.YBɢ;G) 2.i)?b顩i*R;(I@ @@0@9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520037^A8<Iq ԑ I O >Aa Aa B >B B eIB JWBB =B B B s|;B 4E(>, X@A 2Z>2F>2u@ٱ2&, >AHRS rotation from veh to nav: [[0.892269,-0.384298,-0.237004],[0.411195,0.908456,0.075014],[0.186480,-0.164388,0.968608]]2Hw?@Wؿ'VοQ?`? $4?`? ſ?i2Z>I2Y];2UCYBVByFIi Mb@Mb@Mb@     9 |?5^?I +?Y  ?y 94<  pA A A) +A Y AbD% VD%:2y=%:=ٔ:Q->9Y=gGyuE>Q 54N?Q 940p)hBY ?Q E:yJ>Q I@=DI:iZ:c4y{BɮAEjgOFNOT Ignoring new targets: 574.33 m.RҷZҷgO- ProNav: ac range: 574.325195 m, nav range: 553.118347 m, bearing: 24.478725 deg, approach rate: -0.565813 m/s, LOS rate: -0.001435 deg/s, cmd heading: 23.676521 deg, new cmd heading: 23.675309 deg. B-(gO5HeadingCmd: 0.413212 target range: 574.325195 and range: 577.00 m.5>1*1"1 9999AʎAAAjAZM`@uVYBɢudG)q }c,iy)}yyi}-r;ҷIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769700E5 E5E5)E1"E5+$;*E5:VE5FA4ZE1BE56}AIԡ A} ؟AI  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021750I O >םE, X@A6Y>6y>6?ٱ6,@ BAHRS rotation from veh to nav: [[0.892843,-0.383119,-0.236750],[0.410137,0.908853,0.075982],[0.186061,-0.164940,0.968595]]6H+?@ؿMο`??S?s?@?ſ?i6Y>I6G];4YbVBybIbDvVDv0y ֛=% W=ٔؒ:Q->9"?Y"?=%gGy%F%QE->1Q 5E45"?Q 9M45m)5!iBYIyU>Q IU@5=DI5OF;i5F;54ymzBɮueAuEjgOFNOT Ignoring new targets: 574.33 m.RZgO ProNav: ac range: 574.325195 m, nav range: 552.909729 m, bearing: 24.478222 deg, approach rate: -0.534207 m/s, LOS rate: -0.001288 deg/s, cmd heading: 23.675309 deg, new cmd heading: 23.674303 deg. BgOHeadingCmd: 0.413195 target range: 574.325195 and range: 577.00 m.<>*" ʎjZ :( @颵YBɢpI) 4/i)i(;,I!@! @!@%0@! checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274127EE EEEAEA"EE;*EE:VEAZEAaM@aM@aM@aM@^Am < A .AI I O >?K,?o1 X@AFW>F`>FO1?ٱF·. NAHRS rotation from veh to nav: [[0.893588,-0.381278,-0.236913],[0.408708,0.909312,0.078156],[0.185629,-0.166668,0.968382]]FHF?`fؿ*SοF(?`?@??`Uſ`?iFW>IF/e];FVCYVVByV-IbD\VD\yf=%fN=ٔj:Q-j>p9z ?uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527825Yz ?=gGyzE>Q 5E4?Q 9M4k)MiBYyy}>Q I@=DIty*y"y yyʎjZ@ YBɢF) /i ) +  i H;"IB>BBIBWBBBBB|;B)4E@ @@4@1 BDAT read: Rx Time:00:30:44.2547  TRx dataTimestamp_ set to:1761697845.069302 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778904EM  EM EM 'EI "EM ;*EM E:VEM '4ZEI BEM vSS,0M X@A>9nV>>!>>k>ٱ>v/ FAHRS rotation from veh to nav: [[0.894289,-0.379776,-0.236679],[0.407444,0.909741,0.079751],[0.185029,-0.167754,0.968309]]>H?>Nؿ~Kο@??j? ?`xſc?i>9nV>I>!K];>RCYN3WByNWIi%Mb@Mb@Mb@!!!! !9%n?Q?MbPY%V?y%\=%!%̗A %A)!!Y!bD=VD=yE>%M1=ٔM4:Q-M>9QYQ=UgGyUF]t`E]>YQ 5e4]E?Q 9m4]Q Im@]=DI]L ;i];]ø4y}wBɮ}uA}EjgOFNOT Ignoring new targets: 574.33 m.RgZggO ProNav: ac range: 574.325195 m, nav range: 552.442627 m, bearing: 24.476179 deg, approach rate: -0.595959 m/s, LOS rate: -0.003891 deg/s, cmd heading: 23.673251 deg, new cmd heading: 23.670215 deg. BgOHeadingCmd: 0.413123 target range: 574.325195 and range: 577.00 m.>*" AIIʎIIIjQZU|@额YBɢI) v(i)i4</I-checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029759)19@ @@0@Q^Aԅ] PDAT read: Bearing 173.8, 12.3 (Local) ] ~Local bearing/azimuth received: Bearing 173.8, 12.3 (Local) m DAT read: Range 11 to 50 : 580.0 m (Round-trip 773.4 ms) speed 0.4 m/s m R#Rx 1: Read range and direction messages.u ^direction in FSK: [0.999677,0.024432,-0.006981]u Fpublishing direction and range infoy  JZ?j |?a|Y D ) JI ?i 7? '@ : %@ ) +e>eF>ٱe / AHRS rotation from veh to nav: [[0.894524,-0.379638,-0.236012],[0.407134,0.909904,0.079479],[0.184575,-0.167185,0.968494]]eH@? Kؿ5ο}??X?'?Qfſ?ie& V>Iet];eSCYkWByyIbDVD:y%b>%->=ٔ-:Q-->9-"?Y5"?=UgGyQ]mhE]>aQ 5e4e?Q 9m4eHe)eiBYiym>Q Im@e=DIe:ie :eʸ4yɮAۦd X@AJSDRSDj>$@\5,@ a rJZ?j |?a|Z+<b;DC@Pn@v<{Y@z?O_?xo?-:?2zwC:C"?*t^BC1?u2!“^;C DӺ>gO% addTargetRange:: Added new target pos. range: 580.000000 m, deltaT: 4.536374 s, deltaX: 3.000000 m, approachRate: 0.661321 m/s, rangeRepo size: 4 gOU Added new target pos. range: 577.305603 m, bearing: 25.803956 deg, lat: 36.779055 deg, lon: -121.859113 deg, deltaT: 4.536374 s, deltaX: 2.980408 m, approachRate: 0.657002 m/s, posRepo size: 4 jYgO]FNOT Ignoring new targets: 577.31 m.R]ZaԉgO ProNav: ac range: 577.305603 m, nav range: 555.757935 m, bearing: 25.148571 deg, approach rate: 0.000000 m/s, LOS rate: -0.003891 deg/s, cmd heading: 23.670215 deg, new cmd heading: 23.666705 deg. BgOHeadingCmd: 0.413062 target range: 577.305603 and range: 580.00 m.|>*" ʎj @Z?颅ZBɢE) P&i)N顱i<$IE*DAT read: user:392> UBDAT read: Tx time:00:30:45.5772 U$Ping request sent.UB !CB IB *XBB B B DB };B b4EBm"CBm"CBiBmʿ =BiCm4^A u<A .AI I  O >`,1 X@Anchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250051E EE(E"E';*E:VEc44ZEBE9 ?Y ?=gGyFE>Q 54?Q 94 b)iBY?Q E:y)?Q I@=DI:iy;?Ҹ4yuBɮAPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 577.31 m.R Z gO ProNav: ac range: 577.305603 m, nav range: 555.519104 m, bearing: 25.146470 deg, approach rate: -0.568098 m/s, LOS rate: -0.005001 deg/s, cmd heading: 23.666705 deg, new cmd heading: 23.662500 deg. BpgOHeadingCmd: 0.412989 target range: 577.305603 and range: 580.00 m.;s>*" ʎ j Z `ur?!=,ZBɢ=I)9 E%iA)EAAiE M?IQ9@ @@ 0@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504656 ) ) ^AE ܝ<ԩ \A- fA} 9 \AY AIa Iq O >f, X@A2x%T>2>2F9=ٱ2Q^0 :AHRS rotation from veh to nav: [[0.895417,-0.377783,-0.235604],[0.405548,0.910439,0.081434],[0.183739,-0.168467,0.968431]]2H@?-ؿI(ο@? Q"? ش??Qſ`c?i2x%T>I2q];0@YBWByFIbDNVDNk1yVL=%Va=ٔV};Q-V>9XYX=ZgGyXZE^?`Q 5f4bF#?Q 9f4b_)biBYdyf?Q If@b=DIb2:ib:b<ظ4yhɮnVAljgOFNOT Ignoring new targets: 577.31 m.R֤Z֤gO ProNav: ac range: 577.305603 m, nav range: 555.331299 m, bearing: 25.144853 deg, approach rate: -0.522943 m/s, LOS rate: -0.004503 deg/s, cmd heading: 23.662499 deg, new cmd heading: 23.659264 deg. BgOHeadingCmd: 0.412932 target range: 577.305603 and range: 580.00 m.k>*" ʎjZ ?QZBɢ6uB)ϼ a$i)i$rF<dII ) \Aq@q @q@u0@q@}=@}=ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754336E5 E1E50E1"E5+$;*E1VE54ZE1a=@a=@a=@aE@^A}<A?A?I I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008439m,Rֶ X@AlYWByIAAiMb@Mb@Mb@ 9oʡ?)\(?:vY ?yGa=TA+A pA)AYAbDVD0y=%-=ٔQ->9Y=gGyFE%>)Q 554-6?Q 954-0\)-jBY5 ?Q E5:y5,?Q I5@-=DI-':i-{:-4yEsBɮEAEEBu~>Bu CBu:IBuXBBu =Bu>DBuDBu};Bu4EjgOFNOT Ignoring new targets: 577.31 m.RZgO ProNav: ac range: 577.305603 m, nav range: 555.067139 m, bearing: 25.142631 deg, approach rate: -0.566441 m/s, LOS rate: -0.004768 deg/s, cmd heading: 23.659265 deg, new cmd heading: 23.654818 deg. B gOHeadingCmd: 0.412854 target range: 577.305603 and range: 580.00 m.a>*" ʎjZ3~?ZBɢup+) %i)i|<LI9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257896bEc44jE:4rE0E5 E1E5(E1"E5;*E1VE5c44ZE1BE5sy s, X@A6OR>6>6f<ٱ6Q1 >AHRS rotation from veh to nav: [[0.896135,-0.376125,-0.235524],[0.404177,0.910892,0.083168],[0.183256,-0.169723,0.968303]]6H$?@mؿ%ο@?&?@J?t? ſ@W?i6OR>I6];4YFXByFIbDRVDRNyV >%Zt=ٔZ:Q-Z?9\Y\=^gGy\b<Eb ?dQ 5j4fC?Q 9j4fY)f.jBYhyj?Q Ij@f>DIf:if:f_4ypɮrApjgO FNOT Ignoring new targets: 577.31 m.R ZgO% ProNav: ac range: 577.305603 m, nav range: 554.889282 m, bearing: 25.141164 deg, approach rate: -0.546252 m/s, LOS rate: -0.004507 deg/s, cmd heading: 23.654818 deg, new cmd heading: 23.651883 deg. B%gO%HeadingCmd: 0.412803 target range: 577.305603 and range: 580.00 m.-Z>)*)") )))11ʎ119j9Z=?YmZBɢmJ)i ur"iq)qqqiue&}h<}wIiYIYechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5106331@1 @1@5 0@1ԉ^A'<ԱII O> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761828DA zDE AAEM  EM EM ,EI "EM +$;*EM *:VEM g4ZEI aU @aU @aU @aU @ "z,4 X@AYn?XByrIbDzVDz1y%u=%-C=ٔ-Q-->91Y1=5gGy5F5E5>iQ 5u4mT?Q 9}4mV)mPjBYyyyQ I}@m>DIm;im<;m4yqBɮGAjgOFNOT Ignoring new targets: 577.31 m.ԹR/Z/gO ProNav: ac range: 577.305603 m, nav range: 554.656860 m, bearing: 25.139245 deg, approach rate: -0.546508 m/s, LOS rate: -0.004513 deg/s, cmd heading: 23.651883 deg, new cmd heading: 23.648044 deg. B&gOHeadingCmd: 0.412736 target range: 577.305603 and range: 580.00 m.*R>*" ʎjZY:@ZBɢe2) #i)i%;i%*R>%1<-] I)mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013759M9<@ @@#4@Ai Ai Bu >Bu !CBu IBu YBBq Bu =DBu DBu };Bu \4EI ^A <A zA IY Iq O} >,ڮX@AB^Q>B1n>B<ٱBx2 JAHRS rotation from veh to nav: [[0.896561,-0.374993,-0.235710],[0.403303,0.911161,0.084455],[0.183099,-0.170782,0.968147]]BH ?׿+ο?:(?ٞ?o?`,ſ?Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265882iB^Q>IB٣];@YVkXByVIEn EnEn%El"En%;*En˭:VEn 4ZElBEn, ףp=?v/?/$YU?yUxi=UUζAUZA Q)QQYUQAbDmVDmy}=%}C=ٔ}9Q-}>9Y=gGyUE>Q 54f?Q 94S)pjBY?Q E:y?Q I@>DI:i:4yɮAjgOFNOT Ignoring new targets: 577.31 m.RZgO ProNav: ac range: 577.305603 m, nav range: 554.422607 m, bearing: 25.137392 deg, approach rate: -0.535439 m/s, LOS rate: -0.004238 deg/s, cmd heading: 23.648044 deg, new cmd heading: 23.644337 deg. B)gOHeadingCmd: 0.412672 target range: 577.305603 and range: 580.00 m.I>*" ʎjZ@mZBɢm.)i mx$ii)qqqiu;i}I>}}<}Z*I 759@1 @1@50@9Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517774Q^AY q A ؟AI I O >,X@A69Q>6G>6]x<ٱ6(3 JAHRS rotation from veh to nav: [[0.896693,-0.374657,-0.235743],[0.403048,0.911234,0.084882],[0.183016,-0.171129,0.968101]]6H? `׿,ο?(?ٺ?` m?ſ?i69Q>I6];6RCYRXByR9IbD^VD^kyb5 >%fN=ٔf@a9Q-f>9j"?Yj"?=jgGyjFn"@En>pQ 5r4rv?Q 9v4rP)rjBYtyv?Q Iv@r->DIr:ir;r4y~oBɮ~xA~EPB*** querying acoustic contact *** j!gO%FNOT Ignoring new targets: 577.31 m.R-Z-gO= ProNav: ac range: 577.305603 m, nav range: 554.197205 m, bearing: 25.135615 deg, approach rate: -0.602697 m/s, LOS rate: -0.004753 deg/s, cmd heading: 23.644337 deg, new cmd heading: 23.640782 deg. B=. gOEHeadingCmd: 0.412609 target range: 577.305603 and range: 580.00 m.EA>A*A"A AIIQQʎQQQjYZ]`7@颅#[Bɢe;)  i)顉i;iA><sIImD%˼5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770804Dm=Dm4=Eu EqEu)Eq"Eu ;*EqVEuFA4ZEqa@a@a@a@9@ @@ 0@q^A<ԡA .AI! I1 OE > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022850 ,h9X@A5O>5v>5U;ٱ5Wn4 EAHRS rotation from veh to nav: [[0.897385,-0.373387,-0.235120],[0.401998,0.911522,0.086751],[0.181925,-0.172367,0.968087]]5Ha? ׿fο`W?@/+?L5?`QI?ƿ@?i5O>I5|];5VCY}XBy}GIiMb@Mb@Mb@ 9ʡE?/$?:vY?y,=ԼA A)AYpAbDVD 3y%M=%-6=ٔ-!;Q-->95 ?Y5 ?=5gGy1=p8E=>AQ 5E4EB?Q 9M4EM)EjBYM+?Q EM:yM]>Q IU@E=>DIEz ;iE ;E4yYɮ]KA]EBqBqBuIBuyYBBu =BqBqBu|;BuB4EjgOFNOT Ignoring new targets: 577.31 m.RJԩZJgO ProNav: ac range: 577.305603 m, nav range: 553.946777 m, bearing: 25.134362 deg, approach rate: -0.553559 m/s, LOS rate: -0.002770 deg/s, cmd heading: 23.640782 deg, new cmd heading: 23.638276 deg. B7gOHeadingCmd: 0.412566 target range: 577.305603 and range: 580.00 m.;>*" ʎjZ/W @颥T[BɢV,) &i)顩i;i;>5<}lqI=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273992E} E}E}(Ey"E}s!;*E}:VE}c44ZEyBE}xB >Bķ8ٱB'y4 NAHRS rotation from veh to nav: [[0.898320,-0.372616,-0.232765],[0.401040,0.911815,0.088097],[0.179412,-0.172487,0.968535]]BH ?׿;Ϳ?-?@?@?ƿIB8];BUCYVXByVaIXX^AA\bDbVDb:2yj׳=%j-=ٔj@;Q-n>9n"?Yn"?=ngGynFr91Er>tQ 5z4v?Q 9z4vJ)vjBYxy~>Q I~@vN>DIv;iv;v 4ynBɮAj)gO-FNOT Ignoring new targets: 577.31 m.R5HZ5HgOE ProNav: ac range: 577.305603 m, nav range: 553.683044 m, bearing: 25.133078 deg, approach rate: -0.563320 m/s, LOS rate: -0.002745 deg/s, cmd heading: 23.638276 deg, new cmd heading: 23.635705 deg. BEǠgOMHeadingCmd: 0.412521 target range: 577.305603 and range: 580.00 m.M5>I*I"I IIQYYʎYYYjaZe:@颍[Bɢ1) 'i)顑i@;i5>4<NaI@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778149DzD@AE EE&E"E[";*EVE4ZEa%@a%@a-@a-@! ^AE @p<Aq Iy I O >As,P8tX@A25M>2E>24ٱ23 >AHRS rotation from veh to nav: [[0.899516,-0.372282,-0.228643],[0.400084,0.912169,0.088774],[0.175512,-0.171330,0.969454]]2H?@y׿@,DͿ ?|0?๶?-w?"ſ?i25M>I2];2SCYBYByFIbDNVDNyV >%VM=ٔZ9#9XYX=ZgGyZF^cE^>`Q 5f4b?Q 9f4bG)bjBYhyj>Q Ij@b\>DIb:ib1:b4ylɮnApjgOFNOT Ignoring new targets: 577.31 m.R AZ AgO% ProNav: ac range: 577.305603 m, nav range: 553.460693 m, bearing: 25.132025 deg, approach rate: -0.558601 m/s, LOS rate: -0.002647 deg/s, cmd heading: 23.635706 deg, new cmd heading: 23.633598 deg. B%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032121gO5HeadingCmd: 0.412484 target range: 577.305603 and range: 580.00 m.=1>A*A"I Iʎ!!Yj)Ze@Sj@][BɢeT()a e<'ia)a顉i);i1>8g<8OIB A B>BBIBYBBBBB$};Bd4EY@a @a@e3@aԁ DAT read: 00:30:48.7373 LVL= 32416, 31889, 27634, 32755, AGC= 79, IDX= 265, 0.17,-1.962, 2.647,-1.784,-2.406, PHS= 0.546,-1.185, 0.579, RAW= 150.9, 0.7, CAL= 149.7, 0.2, ROT= 0.3, -0.2 % Ygot valid direction response: 00:30:48.7373 LVL= 32416, 31889, 27634, 32755, AGC= 79, IDX= 265, 0.17,-1.962, 2.647,-1.784,-2.406, PHS= 0.546,-1.185, 0.579, RAW= 150.9, 0.7, CAL= 149.7, 0.2, ROT= 0.3, -0.2 E5  E5 E5 (E1 "E5 I;*E5 :VE5 c44ZE1 BE5 hj衣,O<X@AB+K>B@>B/ٱB8n1 ZAHRS rotation from veh to nav: [[0.901058,-0.371576,-0.223663],[0.398624,0.912730,0.089577],[0.170859,-0.169871,0.970542]]BHx?׿̿` ?5?}?`?@Vſ ?iB+K>IḄ];@YbUYBybIiMb@Mb@Mb@ 9B`"?~jt?Y?y<̼AA A)AYzAbD5VD5yE=%E,=ٔE>#9IYI=MgGyIUEU>YQ 5e4]?Q 9e4]D)] kBYe?Q Em:ym>Q Im@]m>DI] ;i]7 ;]M4yulBɮuAuEX@AJ DR Dj}?>@.0@:{塃?ry?_\Eru?QC1ml?Z;bd#"@"yyl@G^JtX@zi?:IW?cy0?2cC:qC"o?*BDB&C“CL D>gO addTargetRange:: Added new target pos. range: 566.900024 m, deltaT: 4.535625 s, deltaX: -13.099976 m, approachRate: -2.888240 m/s, rangeRepo size: 4 gO Added new target pos. range: 564.260559 m, bearing: 24.199409 deg, lat: 36.779055 deg, lon: -121.859113 deg, deltaT: 4.535625 s, deltaX: -13.045044 m, approachRate: -2.876129 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 564.26 m.RZ!gOm ProNav: ac range: 564.260559 m, nav range: 553.197754 m, bearing: 25.131921 deg, approach rate: 0.000000 m/s, LOS rate: -0.002647 deg/s, cmd heading: 23.633599 deg, new cmd heading: 23.631069 deg. BigOuHeadingCmd: 0.412440 target range: 564.260559 and range: 566.90 m.uT+>q*q"q qqq*DAT read: user:393> BDAT read: Tx time:00:30:50.1272 $Ping request sent.<I5II))-[AQ9@ @@4@@\A@y u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250853^A} 0:D<E  E E )E "E a;*E :VE FA4ZE a @a @a @a @ԩ A I I O >:z,X@ArH>r>r*ٱrD- zAHRS rotation from veh to nav: [[0.902823,-0.371124,-0.217206],[0.396950,0.913506,0.089094],[0.165354,-0.166656,0.972051]]rH ? ׿h˿g?`p;?`ζ?Q*?Tſ` ?irH>Ir];rTCY{YByI%>=bDVDNy-Q=%-F=ٔ-]91Y1=5gGy5F=E=>AQ 5M4E?Q 9M4EEB)E&kBYIyMw>Q IU@E{>DIE ;iE ;E"4y]jBɮ]AYPB*** querying acoustic contact ***! j9gO=FNOT Ignoring new targets: 564.26 m.Rm۵Zu۵gO ProNav: ac range: 564.260559 m, nav range: 552.968689 m, bearing: 25.131880 deg, approach rate: -0.530088 m/s, LOS rate: -0.000093 deg/s, cmd heading: 23.631068 deg, new cmd heading: 23.630987 deg. B5/gOHeadingCmd: 0.412439 target range: 564.260559 and range: 566.90 m.%+>*" ʎjZ`?额\BɢZ;) %i)顡i@;i%+>E<II}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5037049@ @@3@yB }>B B :IB EZBB =B >DB B };B X4EB!CB!CBB =BCL5^A x/<ԩ AE .AII Ia Om >Xn,X@AZchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754659Ez EzEz&Ex"Ez1;*Ez:VEz4ZExBEzkp>$ٱ- AHRS rotation from veh to nav: [[0.904659,-0.369815,-0.211727],[0.395139,0.914017,0.091859],[0.159551,-0.166763,0.973002]]H`? ׿˿I???`?,l?`{Xſ"?iZF>I];RCYYByIiiMb@Mb@Mb@ 9> ףp=?~jtx?9M ?YU ?=UgGyQUEU>YQ 5e4]?Q 9m4]f?)]IkBYm?Q Em:ymr>Q Im@]>DI]:i]<:]*4yqɮ}wAyjgOFNOT Ignoring new targets: 564.26 m.R7Z7gO ProNav: ac range: 564.260559 m, nav range: 552.699280 m, bearing: 25.132488 deg, approach rate: -0.594846 m/s, LOS rate: 0.001344 deg/s, cmd heading: 23.630988 deg, new cmd heading: 23.632205 deg. B^8gOHeadingCmd: 0.412460 target range: 564.260559 and range: 566.90 m.->*" ʎjZ??\Bɢ7) )i)i Vv;i -> <g;I->I}9@y @y@}0@ԙImchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007496qATſ9Y%A^A] H<IQ Ii Ou > C,wX@Af C>fp>f;ٱf/ rAHRS rotation from veh to nav: [[0.906633,-0.367995,-0.206387],[0.393036,0.914501,0.095975],[0.153422,-0.168132,0.973752]]fH@$?:׿jʿ'?C?ؑ? X?`Yſ@(?if C>If];fTCYvYByz IbDVD:2y9>%x=ٔ)Q I5@->DI-:i-:-04yEhBɮEAEEjigOmFNOT Ignoring new targets: 564.26 m.Rma7Zua7gO ProNav: ac range: 564.260559 m, nav range: 552.512512 m, bearing: 25.132965 deg, approach rate: -0.566058 m/s, LOS rate: 0.001444 deg/s, cmd heading: 23.632205 deg, new cmd heading: 23.633158 deg. B)8gOHeadingCmd: 0.412476 target range: 564.260559 and range: 566.90 m.0>*" ʎjZ`i ?c\BɢF?) $i)i d;i0>z<;I0>I>i>9@ @@0@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259038E EE*E"E[";*EI:VE(N4ZEa%@a%@a%@a%@^A0;1 I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510809Y ý,X@ABo>BCBrIBZBB =BBDB|;B54EYZBy"IIa>)>!imMb@Mb@Mb@iiii i9m/$?~jtx~jtxYm&?ymĻmĻmAmtA mA)iiYm̠AbDVDk1y+=%'=ٔQ->9Y=gGyE>Q 54 ?Q 94:)kBY+?Q E:y>Q I@>DI';is;$94yɮeAjgOFNOT Ignoring new targets: 564.26 m.R28Z28gO% ProNav: ac range: 564.260559 m, nav range: 552.238586 m, bearing: 25.134158 deg, approach rate: -0.560842 m/s, LOS rate: 0.002445 deg/s, cmd heading: 23.633158 deg, new cmd heading: 23.635547 deg. B%28gO5HeadingCmd: 0.412518 target range: 564.260559 and range: 566.90 m.55>1*1"1 1ʎ!j!Z% b?颍\Bɢ4_) i)项ibC;i5>[<;I5>IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763257bEjE14rEXQ0E EE%E"Ex;*E:VE 4ZEBEEg,SX@AYjVZBynEIbDvVDv:2yi%>%%o=ٔ!Q-%?9)Y)=-gGy-ìF)E-?9Q 5]4=r?Q 9e4=8)=kBYiyiQ Im@=>DI=;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014888i=;=!?4yfBɮAjygOFNOT Ignoring new targets: 564.26 m.RX#8ZX#8gO ProNav: ac range: 564.260559 m, nav range: 552.046509 m, bearing: 25.134996 deg, approach rate: -0.511341 m/s, LOS rate: 0.002231 deg/s, cmd heading: 23.635547 deg, new cmd heading: 23.637223 deg. B8gOHeadingCmd: 0.412547 target range: 564.260559 and range: 566.90 m.i9>*" ʎjZz@%\Bɢ%:)I MiI)IIIiMLG0;iUi9>UGIY=9@9 @9@=0@AM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267408Q ^Au ;D =D R=E  E E 'E "E ;*E :VE '4ZE a @a @a @a @I I O% >),F.X@AF]9>F>FH ٱFȚ, RAHRS rotation from veh to nav: [[0.912785,-0.362837,-0.187546],[0.385615,0.916905,0.102888],[0.134630,-0.166235,0.976852]]FH5?8׿ ȿ? JW?V?;?.Gſ `B?iF]9>IF];FSCYZtZByZXIbDj VDj:2yvܗ=%vN=ٔz1D=Q-z>9|Y|=~gGy|tE> Q 54 +?Q 94 u6) kBY!y%Z>Q I-@ >DI [;i ; F4yQɮUAYP}B*** querying acoustic contact ***y yjgOFNOT Ignoring new targets: 564.26 m.Rj8Zj8gO ProNav: ac range: 564.260559 m, nav range: 551.823181 m, bearing: 25.136187 deg, approach rate: -0.599489 m/s, LOS rate: 0.003197 deg/s, cmd heading: 23.637224 deg, new cmd heading: 23.639606 deg. B@8gOHeadingCmd: 0.412589 target range: 564.260559 and range: 566.90 m.>>*" ʎjZ j@颅\Bɢp4) i)顑i8;i>><cdI>>IQi@i @i@m 0@i@u@u@u@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520409ԁB`>BCBIB[BB =BBDBb};Bl4EA1zA1IIO>ԩ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770732 ,nHX@AE EE*E"E;*E^:VE(N4ZEBEeB>BٱBn[) NAHRS rotation from veh to nav: [[0.914692,-0.361598,-0.180515],[0.383179,0.917927,0.102877],[0.128499,-0.163270,0.978177]]BH`(E?j$׿ǿ?_?!V?r?Ŀ:M?iB"6>IB];BRCYVZByVtIiMb@Mb@Mb@ 9tV?9Y=gGyĬF߻E>Q 5%4??Q 9-44)kBY-?Q E-:y-E>Q I-@>DIq ;i ;M4y=dBɮ=MA=EjYgOeFNOT Ignoring new targets: 564.26 m.Re8Zm8gOu ProNav: ac range: 564.260559 m, nav range: 551.574219 m, bearing: 25.138026 deg, approach rate: -0.575664 m/s, LOS rate: 0.004255 deg/s, cmd heading: 23.639606 deg, new cmd heading: 23.643286 deg. B}08gO}HeadingCmd: 0.412653 target range: 564.260559 and range: 566.90 m.}GG>*" ʎjZ@6@]Bɢ+)! %i!)!!)i-D ;iEGG>M̃IIԡ9@ @@0@IyIO;>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023643 PExceeded connect timeout, disconnecting. .,fObX@A6 K4>6>6Tٱ6X% BAHRS rotation from veh to nav: [[0.916372,-0.360874,-0.173298],[0.381153,0.918863,0.102043],[0.122412,-0.159562,0.979569]]6HR?׿.ƿd? Tg?x?lV?lĿX?i6 K4>I6];6QCYFZByFIbDRVDR:yZ"=%Zc=ٔ^9`Y`=bgGy`bCEb>dQ 5j4fO?Q 9j4f/2)flBYlyn>lQ Ir@f>DIf+;if,;f T4ytɮzA|j1gO=FNOT Ignoring new targets: 564.26 m.RE8ZE8gOM ProNav: ac range: 564.260559 m, nav range: 551.370728 m, bearing: 25.139586 deg, approach rate: -0.557908 m/s, LOS rate: 0.004278 deg/s, cmd heading: 23.643286 deg, new cmd heading: 23.646406 deg. BU8gOUHeadingCmd: 0.412708 target range: 564.260559 and range: 566.90 m.UkN>Y*Y"Y YYYaaʎaiijiZm` @颕@]Bɢ<)  i)顡i:ikN><IkN>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275804%9@! @!@%.0@)DIzDMAAE] E]E]'EY"E];*E]:VE]'4ZEYae@ae@ae@ae@ A؟AIIO%M>9i  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527140{X,+|X@ARR92>R>RiٱR|#A mAHRS rotation from veh to nav: [[0.917753,-0.360213,-0.167262],[0.379554,0.919487,0.102385],[0.116915,-0.157449,0.980582]]RH:^? ׿hſJ?pl?@5?? L'Ŀ`?iRR92>IR];RRCYZByIB<A<BZ>BCBIBa[BB =BBDB9~;B4Ei Mb@Mb@Mb@     9 |?5^?Mbp:v?Y ?y  T< A  A)  Y AbD%VD%1y5?=%5(=ٔ5:9="?Y="?==gGy=ŬFEwEE>AQ 5U4Ee?Q 9U4Eo/)E/lBYU?Q EU:yU>Q I]@E>DIEu ;iE ;E\4yaɮeAeEjgOFNOT Ignoring new targets: 564.26 m.RZ8ZZ8gO ProNav: ac range: 564.260559 m, nav range: 551.095276 m, bearing: 25.141018 deg, approach rate: -0.573829 m/s, LOS rate: 0.002985 deg/s, cmd heading: 23.646407 deg, new cmd heading: 23.649273 deg. Bծ8gOHeadingCmd: 0.412758 target range: 564.260559 and range: 566.90 m.T>*" ʎjZС@u]Bɢ&) J#i)is:iT>q</IT>Ii-BDAT read: Rx Time:00:30:53.2913 -TRx dataTimestamp_ set to:1761697854.1420925checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781204]9@Y @Y@e 0@aAm>Am>E EE)E"Ex;*E:VEFA4ZEBEEg )@,X@AYr2[ByrIbD VD yMY>%Uo=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032195ԙٔUQ-?9Y=gGyE>Q 554:u?Q 9=4^-)MlBYAyIQ IM@?DI !*!"I IIIQQʎQQQjYZ]`@颥]Bɢ)) i)ip:iY>;< IY>I@ @@0@] DAT read: 00:30:53.2913 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 482,-0.35, 1.728, 0.186, 1.918, 1.532, PHS= 0.297,-1.301, 0.341, RAW= 151.3, 8.2, CAL= 150.9, 8.8, ROT= 359.1, -8.8 e Ygot valid direction response: 00:30:53.2913 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 482,-0.35, 1.728, 0.186, 1.918, 1.532, PHS= 0.297,-1.301, 0.341, RAW= 151.3, 8.2, CAL= 150.9, 8.8, ROT= 359.1, -8.8 Em  Em Em (Ei "Em ;*Em ':VEm c44ZEi a} @a} @a} @a} @ PDAT read: Bearing 179.7, 4.6 (Local)  ~Local bearing/azimuth received: Bearing 179.7, 4.6 (Local)  DAT read: Range 11 to 50 : 569.9 m (Round-trip 759.9 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.988106,-0.015522,0.152986] Fpublishing direction and range infoy) - -t? W+!ʏ8C ?Y- yD) - - -  ) )- KI- b>i- +- >- )@- C>- (@ - nF>)- -@I- nF) ) - ٧! ?xy?:S? -  ?)- 7I- i- nF) ) } T****** received valid address query ******} R****** received valid ping request ******} Querying Benthos address 50 with one ping in standard two-way mode.^A ;) A I! I1 OE >_,>бX@A ^)>Z>Jѽٱ %AHRS rotation from veh to nav: [[0.922510,-0.355188,-0.151050],[0.372215,0.922228,0.104651],[0.102132,-0.152764,0.982971]]H@4?fֿ@Uÿ]? ?@bʺ?@X%?`ɍÿt?i^)>I2];SCYUQ[ByUIbDeVDeyuފ=%u:=ٔ} =Q-}>9yY=gGyƬFE>Q 54?Q 94+)mlBYy>Q I@?DIu:iK:Aj4yɮAqu<X@AJu DRu Dju>uJՠ@!EU@ru-t? W+!ʏ8C ?ZubunFub@+0PA2j@,3a@zuI.?.?Z&gOu addTargetRange:: Added new target pos. range: 569.900024 m, deltaT: 4.536018 s, deltaX: 3.000000 m, approachRate: 0.661373 m/s, rangeRepo size: 4 gO Added new target pos. range: 567.199524 m, bearing: 22.456190 deg, lat: 36.779110 deg, lon: -121.859193 deg, deltaT: 4.536018 s, deltaX: 2.938965 m, approachRate: 0.647917 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 567.20 m.RZgO ProNav: ac range: 567.199524 m, nav range: 553.164062 m, bearing: 24.205290 deg, approach rate: 0.000000 m/s, LOS rate: 0.002589 deg/s, cmd heading: 23.651425 deg, new cmd heading: 23.653422 deg. BgOEHeadingCmd: 0.412830 target range: 567.199524 and range: 569.90 m.Ex^>I*I"I IQQQY*DAT read: user:394> BDAT read: Tx time:00:30:54.6772 $Ping request sent.S<Ix^>IBO>BCBIB[BB =BBDB~;B4Ea  9@  @ @ 4@ ԙ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248939^A D %=D 4=E  E E 'E "E ;*E :VE '4ZE BE o,j0X@A>&>>c>>:ǽٱ> FAHRS rotation from veh to nav: [[0.923981,-0.353271,-0.146489],[0.369900,0.922805,0.107723],[0.097125,-0.153721,0.983329]]>H @?ֿ&¿ r??@“?@3ݸ?@ÿ ow?i>&>I>];>RCYN[ByNIi%Mb@Mb@Mb@!!!! !9%"~?:v?y&1?Y%?y%T<%`e<%A%A %A)%A!Y%pAbD=VD=ܲyM=%M4=ٔM59U ?YU ?=UgGyQ]ûE]>aQ 5m4e?Q 9m4eW()elBYm ?Q Eu:yuX>Q Iu@e!?DIep;ie ;er4y}`Bɮ}}AyPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 567.20 m.Ri7Zi7gO ProNav: ac range: 567.199524 m, nav range: 552.906128 m, bearing: 24.205706 deg, approach rate: -0.594380 m/s, LOS rate: 0.000959 deg/s, cmd heading: 23.653423 deg, new cmd heading: 23.654256 deg. B7gOHeadingCmd: 0.412845 target range: 567.199524 and range: 569.90 m._`>*" IIQQʎQQQjQZ]l?颥^Bɢ_1) i)iN~:i_`>_;ꔼI_`>I] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501162}9@y @y@}0@yI ^A I I O >,,X@A.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752084:n$>:g>:ٱ: BAHRS rotation from veh to nav: [[0.925168,-0.351960,-0.142085],[0.368109,0.923270,0.109859],[0.092517,-0.153941,0.983739]]:H`?@ֿ /¿?l?@? 2?Xÿz?i:n$>I:[];:SCEN ENELEL"EN;*EN:VELZELaR@aR@aR@aR@YV[ByVIbD^VD^yfL =%fR=ٔj?C9hYh=ngGynǬFn[En>pQ 5v4rD?Q 9v4r&)rlBYxyzB>Q Iz@r/?DIr;ir;rx4y|ɮ~bA|j!gO%FNOT Ignoring new targets: 567.20 m.R-7Z-7gO= ProNav: ac range: 567.199524 m, nav range: 552.683044 m, bearing: 24.206115 deg, approach rate: -0.575650 m/s, LOS rate: 0.001056 deg/s, cmd heading: 23.654255 deg, new cmd heading: 23.655073 deg. B=p7gOEHeadingCmd: 0.412859 target range: 567.199524 and range: 569.90 m.E>b>A*A"A AIIQQʎQQQjYZ]@?颅*^Bɢ}B) {&i)   i }[:i>b>;II>b>I!!!!AqI@I @Q@Q@Q@]=@]=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005377^AE@ԙ I) IA OU >A! A% @AB= I>B= CB= SIB= \BB= =B9 B= DB= j~;B= 4EBCBCBʕCB =B =Cʩc6,X@A6;">6>6 ⴽٱ6 < NAHRS rotation from veh to nav: [[0.926207,-0.350651,-0.138510],[0.366553,0.923481,0.113231],[0.088207,-0.155646,0.983867]]6H{?qֿu?(?@?໔?@6ÿ {?i6;">I6];6RCYV[ByV"IieMb@Mb@Mb@aaaa a9eI +?{Gz?I +?Ye9?ye#=e949Y=gGyE>Q 54 ?Q 946#)lBY?Q E:y>Q I@??DIC ;i ;]4y^BɮA EjgOFNOT Ignoring new targets: 567.20 m.RZgO ProNav: ac range: 567.199524 m, nav range: 552.435974 m, bearing: 24.205455 deg, approach rate: -0.577348 m/s, LOS rate: -0.001543 deg/s, cmd heading: 23.655073 deg, new cmd heading: 23.653752 deg. B4gOHeadingCmd: 0.412836 target range: 567.199524 and range: 569.90 m.8_>*"   ʎjZ ?EZ^BɢE'4)A M&iI)IIIiM3:iU8_>U;]I]8_>IYauchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256990DzD?AE EE%E"E;*E5:VE 4ZEBEm wk> {C ) 9 A } 9y Y A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5082384,X@AY[ByHIbDVD1yT>%F=ٔQ->9Y=gGyȬFE>Q 54?Q 94 )lBYyQ I@N?DIY;i;4y]Bɮ}Aj!gO-FNOT Ignoring new targets: 567.20 m.R-PZ-PgO= ProNav: ac range: 567.199524 m, nav range: 552.198059 m, bearing: 24.204819 deg, approach rate: -0.577941 m/s, LOS rate: -0.001546 deg/s, cmd heading: 23.653751 deg, new cmd heading: 23.652478 deg. BE 5gOEHeadingCmd: 0.412814 target range: 567.199524 and range: 569.90 m.EO\>I*I"I IIIQQʎQQYjYZ]?颅^Bɢ54) 3#i)顉iߖ :iO\>;IO\>I)59@1 @1@5?0@1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760177E EE)E"E;*E:VEFA4ZEa@a@a@a@i^AA>A?IqIOԁ V ,6X@A2!>2 7>2ٱ2  :AHRS rotation from veh to nav: [[0.927426,-0.351409,-0.128037],[0.365509,0.924151,0.111123],[0.079276,-0.149857,0.985524]]2Hx? |}ֿc d??r?jK?.ÿ`j?i2!>I2];2PCY~[By|bDVDܲy5;%5U=ٔE9IYI=MgGyIUqEU>aiQ 5}4m+?Q 9}4m)mlBYy>Q I@m\?DIme;imf;mW4yɮ{AjgOFNOT Ignoring new targets: 567.20 m.RӷZӷchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012345gO ProNav: ac range: 567.199524 m, nav range: 551.973694 m, bearing: 24.204254 deg, approach rate: -0.573694 m/s, LOS rate: -0.001445 deg/s, cmd heading: 23.652479 deg, new cmd heading: 23.651349 deg. B6)gOHeadingCmd: 0.412794 target range: 567.199524 and range: 569.90 m.Y>*" ʎjZ/@-^Bɢ-D)5W˻ 5.i1)顑i՚9iY>;IY>IQ@Q @Y@]O0@aԉ@[A@[ABE>BCBIB_\BB =BBBN~;B4EԱ^A6Ia Iq O} > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264261bEu-4jEuɅ04rEu5/E  E E (E "E f;*E :VE c44ZE BE W2ח>2žٱ2 :AHRS rotation from veh to nav: [[0.927429,-0.353191,-0.123010],[0.366302,0.924190,0.108150],[0.075487,-0.145360,0.986495]]2H?`ֿ}`~q? ??"S? '¿]?i2!>I2];2RCY^$\BybaIi}Mb@Mb@Mb@yyyy y9} +?&1?~jthY}?y}P=}D}Ay }9A)}CAyY}=AbDVDyr=%C=ٔ99Y=gGyɬFn:E>ԹQ 54?Q 94)lBYY?Q E:y>Q I@l?DIU:i:4y[Bɮ%A EPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 567.20 m.R -Z -gO ProNav: ac range: 567.199524 m, nav range: 551.729126 m, bearing: 24.203275 deg, approach rate: -0.593136 m/s, LOS rate: -0.002376 deg/s, cmd heading: 23.651349 deg, new cmd heading: 23.649389 deg. B!gO%HeadingCmd: 0.412760 target range: 567.199524 and range: 569.90 m.%>U>!*!"! !))))ʎ111j9Z=y@e^BɢeZ?B)a e/ii)iiiim9iu>U>ub;u8ᱼI}>U>IyIZA)ZA@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516466^AIYIiO>9 v,>jX@A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7682766">6f>6+qٱ69EB EBEB&E@"EB;*EB:VEB4ZE@aJ@aJ@aJ@aJ@ JAHRS rotation from veh to nav: [[0.927335,-0.355229,-0.117740],[0.367350,0.924117,0.105175],[0.071444,-0.140784,0.987459]]6H@?ֿ.$?@^??`'J?6¿D?i6">I6];6PCYRP\ByR|IbDZVDZ:2ybd=%fY=ٔf09dYh=jgGyhjP0;Ej>YQ 5e4]?Q 9e4]`)]mBYaym>Q Im@]{?DI]:i]:]m4yqɮu̐AqjgOFNOT Ignoring new targets: 567.20 m.R.Z.gO ProNav: ac range: 567.199524 m, nav range: 551.498291 m, bearing: 24.202324 deg, approach rate: -0.578780 m/s, LOS rate: -0.002385 deg/s, cmd heading: 23.649390 deg, new cmd heading: 23.647488 deg. BgO%HeadingCmd: 0.412727 target range: 567.199524 and range: 569.90 m.%P>!*!"! !!)))ʎ)11jQZU`@]_Bɢ]i?)Y e0ia)aaaim+9iP>;l.IP>IAe9@a @a@eo0@achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020224i^AM AY zAY B A B >>B CB IB \BB B B DB ~;B 4EA I I O% >; ,!X@An\%>nY>n4_ٱn$ vAHRS rotation from veh to nav: [[0.926699,-0.358694,-0.112104],[0.369690,0.923707,0.100471],[0.067513,-0.134550,0.988604]]nH? ֿٲ? ?r?@H?8`?in\%>In];lY|y|iMb@Mb@Mb@ 9(\?:v?9Y=gGyʬF;E>Q 54Z?Q 94)mBY?Q E:y>Q I@?DI:i.<4ymYBɮuŐAqjgOFNOT Ignoring new targets: 567.20 m.R<Z<ԱgO ProNav: ac range: 567.199524 m, nav range: 551.255615 m, bearing: 24.201221 deg, approach rate: -0.566358 m/s, LOS rate: -0.002576 deg/s, cmd heading: 23.647488 deg, new cmd heading: 23.645280 deg. BؖgOHeadingCmd: 0.412688 target range: 567.199524 and range: 569.90 m.K>*" ʎjZ @A_Bɢ@S) W ".; RI K>IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272316E EE(E"E1;*E:VEc44ZEBEki=>@ @@0@@=@=  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5241011 ^A ፨A=؟AIIIYaOm?(,xX@A2t'>2>28ԁٱ2} :AHRS rotation from veh to nav: [[0.926068,-0.361946,-0.106741],[0.372002,0.923128,0.097211],[0.063351,-0.129732,0.989523]]2HX?@*׿eS@?B??7?`,?i2t'>I2ܴ];0YBi\ByBIbDNVDNyR<%V<ٔV9"?Y"?=gGyˬF ;E >Q 54{.?Q 94+)mBYy>Q I@?DI:i-:(4y)ɮ-A)jQgOUFNOT Ignoring new targets: 567.20 m.R]XUZ]XUgOm ProNav: ac range: 567.199524 m, nav range: 550.974854 m, bearing: 24.199870 deg, approach rate: -0.605447 m/s, LOS rate: -0.002914 deg/s, cmd heading: 23.645280 deg, new cmd heading: 23.642577 deg. BmgOuHeadingCmd: 0.412641 target range: 567.199524 and range: 569.90 m.uE>q*q"q qqyyyʎyjZ@颵w_BɢgZK) RCi)项i*9iE>Q;IE>I[Rӻ!Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.777202E EEE"E;*E :VEZEa@a@a@a@9@ @@?0@!Q^AE7ƙԁ Au .AIy I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028202,.,~6X@A02*>2>2tٱ2J >AHRS rotation from veh to nav: [[0.925234,-0.365315,-0.102402],[0.374665,0.922278,0.095028],[0.059728,-0.126289,0.990194]]2H@?Ra׿@7@?`L? S??>*?i2*>I2œ];2OCYb}\BybIbDrVDrk1yz==%zF=ٔzR9~ ?Y~ ?=gGyW;E> Q 54 @?Q 94 `) !mBYyl>Q I@B}=>ByB}IB}\BB} =ByByB}};B}n4E ?DI *" ʎjZ@=_Bɢ=O)9 =qLi9)9AAiEf9i1@>i;cpI1@>Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=4.280339E EE&E"E*E:VE4ZEBEeA>AA]؟AIaIyO ?-7,QX@A2w->2n>2 fٱ2*$ :AHRS rotation from veh to nav: [[0.924362,-0.368620,-0.098354],[0.377334,0.921394,0.093017],[0.056334,-0.123094,0.990795]]2H@`?y׿@- <&?`|?Ϸ?׬? @?i2w->I2];2RCYB\ByBIDDi Mb@Mb@Mb@     9  +?J +?{GzY ?y H= ף A A A)  Y 3AbD%VD%ܲyd=%=ٔ;Q->9"?Y"?=gGy̬F;E>Q 54-Y?Q 94n )&mBYd?Q E:yp>Q I@?DI;iO; 4yXBɮ'A PUB*** querying acoustic contact ***Q QjYgOeFNOT Ignoring new targets: 567.20 m.ReXZmXgO} ProNav: ac range: 567.199524 m, nav range: 550.407715 m, bearing: 24.197170 deg, approach rate: -0.653569 m/s, LOS rate: -0.002952 deg/s, cmd heading: 23.640188 deg, new cmd heading: 23.637173 deg. B}ᬸgOHeadingCmd: 0.412546 target range: 567.199524 and range: 569.90 m.K9>*" ʎjZ`@E_BɢEWT)I MRiI)IIIiMT8iUK9>U;]I]MI]K9>IY@ @@0@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.785378E} E}E}(Ey"E};*E}5:VE}c44ZEya@a@a@a@^AE zlI AU .AIa Iy O >X=,X@A(>h/>>>>TYٱ> FAHRS rotation from veh to nav: [[0.923658,-0.371444,-0.094265],[0.379531,0.920705,0.090877],[0.053035,-0.119716,0.991391]]>H? ׿@!`h/>I>P];>QCRchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.036311YN\ByVIbD^VD^yf.c<%f[=ٔj9j ?Yj ?=ngGyln;En>pQ 5v4ri?Q 9v4r)r(mBYxyz>Q Iz@r?DIr):ir:rù4y|ɮAj!gO-FNOT Ignoring new targets: 567.20 m.R-"UZ-"UgO= ProNav: ac range: 567.199524 m, nav range: 550.186707 m, bearing: 24.196115 deg, approach rate: -0.609717 m/s, LOS rate: -0.002911 deg/s, cmd heading: 23.637172 deg, new cmd heading: 23.635062 deg. B=gOEHeadingCmd: 0.412510 target range: 567.199524 and range: 569.90 m.Ew4>A*I"I IIIQQʎQQQjYZ]FC@颅`Bɢz)L; [i)顉iv~9iw4>h;[6.Iw4>IA1A5AAB=@>B=CB=IB=\BB= =B9B=DB=l};B=Z4Ea@a @iq@u0@qԙ^ANJN]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288538E EE*E"E*E^:VE(N4ZEBEa9D,{X@A21>2ė>23Nٱ2z :AHRS rotation from veh to nav: [[0.923059,-0.373715,-0.091103],[0.381353,0.920073,0.089643],[0.050321,-0.117488,0.991799]]2H?@׿Rh?I2];2PCYB\ByBIPiEMb@Mb@Mb@AAAA A9E9v?S㥛?Zd;OYE?yE/9"?Y"?=gGyͬF2;E>Q 54(}?Q 94))mBYD?Q E:y>Q I@?DIV;id;)˹4yVBɮAEj)gO-FNOT Ignoring new targets: 567.20 m.RU1ZU1gO] ProNav: ac range: 567.199524 m, nav range: 549.933838 m, bearing: 24.195830 deg, approach rate: -0.538134 m/s, LOS rate: -0.000606 deg/s, cmd heading: 23.635062 deg, new cmd heading: 23.634492 deg. BegOeHeadingCmd: 0.412500 target range: 567.199524 and range: 569.90 m.e)3>i*i"i ichecking for new query: numPingsReceived=0, elapsed TxPingTime=5.540508  ʎjZ@<@mL`Bɢmzbj)i miii)qqqiu|C.9i})3>};}dI})3>IyI-[A)-[A9@ @@0@@@=) ^A 0e checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792268E  E E &E "E ;*E :VE 4ZE a @a @a @a @A I9 IQ Y Om >gK,Ū0X@Aj,3>j>jLz:ٱj- rAHRS rotation from veh to nav: [[0.922559,-0.376049,-0.086436],[0.383162,0.919260,0.090271],[0.045511,-0.116399,0.992159]]jH?/ؿ ?j??9M?T̽Ŀ?ij,3>Ij%];jRCYz\ByzIbDUVDUye<%e;=ٔe49iYi=mgGyiu;Eu>yQ 54}U?Q 94};)yYy>Q I@}?DI}:i}:}ҹ4yUBɮAjgOFNOT Ignoring new targets: 567.20 m.RpwZpwgO ProNav: ac range: 567.199524 m, nav range: 549.682922 m, bearing: 24.195497 deg, approach rate: -0.636604 m/s, LOS rate: -0.000845 deg/s, cmd heading: 23.634492 deg, new cmd heading: 23.633825 deg. BŷgOHeadingCmd: 0.412488 target range: 567.199524 and range: 569.90 m.1>*" ʎjZ@w`Bɢ%8)! %qi!)!!!i-lv9i-1>5;5x9I51>I1 9@ @@0@iߡIߡchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.044469Y^AB5C>B1B5IB5]BB5 =B1B1B52};B5?4EBCBCBǓCB =B =Cǰ5i A I) II O} >߀R,JX@A N3>N͝>NP2ٱN? VAHRS rotation from veh to nav: [[0.922590,-0.376201,-0.085449],[0.383320,0.918918,0.093036],[0.043520,-0.118588,0.991989]]NHڅ?ؿߵQ?@g?@/ѷ?DH?[``?iN3>INJ^;NPCY^\By^Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=6.296351D==D=<EE EEEAEA"EE;*EE:VEAZEABEE]9Y=gGyάF9E>Q 54?Q 94)-mBY?Q E:y>Q I@?DI ;i;ٹ4yɮAjgOFNOT Ignoring new targets: 567.20 m.R37Z37gO ProNav: ac range: 567.199524 m, nav range: 549.445251 m, bearing: 24.195901 deg, approach rate: -0.547650 m/s, LOS rate: 0.000930 deg/s, cmd heading: 23.633826 deg, new cmd heading: 23.634633 deg. B7gOHeadingCmd: 0.412502 target range: 567.199524 and range: 569.90 m.|3>*" ʎjZx@M`BɢM҇)Q U~iQ)QQQi]3O9i]|3>]Ђ;eL_Ie|3>Iaiԙ`]A9`]AYAchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.548873 9@  @ @ 80@ @ \A@ \A ^A ΒAI I!O-?Z,MilX@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=6.800196E> E>E>'E<"E>;*E>:VE>'4ZEN>N?*ٱN VAHRS rotation from veh to nav: [[0.922739,-0.375929,-0.085034],[0.383169,0.918572,0.096987],[0.041649,-0.122076,0.991647]]NH ?8ؿĵ؅?d?@Ը?S?`Z@?iN3>INC];LY=\By=IbDUVDU0ye:%e=ٔml;Q-u>9yYy=}gGy}ϬF ƹE>Q 54?Q 94Q =tI)0mBYy>Q I@@DIT;i`a;4ySBɮAEPEB*** querying acoustic contact ***A AjqgO}FNOT Ignoring new targets: 567.20 m.R97Z97gO ProNav: ac range: 567.199524 m, nav range: 549.145691 m, bearing: 24.196419 deg, approach rate: -0.572837 m/s, LOS rate: 0.000992 deg/s, cmd heading: 23.634633 deg, new cmd heading: 23.635671 deg. B\7gOHeadingCmd: 0.412520 target range: 567.199524 and range: 569.90 m.5>*"   ʎ   jZ >@!]`Bɢ]T) :i)i;o9i 5> $$; #sI 5>IqZ;I9@ @@3@checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052257y B= :>B= CB= IB= ]BB= =B9 B= DB= )};B= 54E^A ԩ A% .AII Iq O > b,X@A693>6G>6"ٱ6 >AHRS rotation from veh to nav: [[0.922988,-0.375360,-0.084836],[0.382777,0.918213,0.101816],[0.039680,-0.126448,0.991179]]6H?ؿ ̷j?b?`?P? t/?i693>I6g];6NCYF\ByDiMb@Mb@Mb@ 9I +?Mbp?y&1Y9?y;`eA$A )AY3AbD-VD-ky=)%=9=ٔE;Q-E>9E ?YM ?=MgGyIMEM>QQ 5]4U?Q 9]4U)U4mBYeE?Q Ee:ye8>Q Ie@U"@DIU ;iU;U4yiɮmAqchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.304251j1gO5FNOT Ignoring new targets: 567.20 m.9DAzDAbEjE,4rE١/EM EMEM)EI"EM;*EM :VEMFA4ZEIBEMa*" ʎjZ[@-aBɢ5s)Q u̍iq)qqqi}Q :i}8> ;y I8>Iiԑ@ @@4@@=@= checking for new query: numPingsReceived=0, elapsed TxPingTime=7.556656 ^A &A)I1IAOU?i, X@A>e2>>>>@ٱ> FAHRS rotation from veh to nav: [[0.923263,-0.374793,-0.084353],[0.382270,0.918081,0.104869],[0.038138,-0.129067,0.990902]]>H@_?׿" w?`?@غ?@ᆣ?`Ex?i>e2>I>b];>RCYN\ByNIbDVVDVy^<%^(=ٔbEP;Q-b>9`Y`=fgGyfЬFfEf>hQ 5n4j?Q 9n4j8)j8mBYpyr>Q Ir@j4@DIj:ij:j+4yvRBɮvΏAtjgOFNOT Ignoring new targets: 567.20 m.R7Z7gO- ProNav: ac range: 567.199524 m, nav range: 548.611084 m, bearing: 24.197857 deg, approach rate: -0.603925 m/s, LOS rate: 0.001645 deg/s, cmd heading: 23.637017 deg, new cmd heading: 23.638549 deg. B-@8gO5HeadingCmd: 0.412571 target range: 567.199524 and range: 569.90 m.5q<>1*1"9 9999AʎAAAjAZM @uRaBɢuǛ)y }iy)yyyi}.:iq<>;pIq<>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=7.809008EU EUEU(EQ"EU;*EUخ:VEUc44ZEQae@ae@ae@ae@)@) @)@-0@)^AI! A I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060280O >B 8>B B IB ]BB =B B B U};B I4Ep,X@A V2>V>VxٱVJ ^AHRS rotation from veh to nav: [[0.923532,-0.374197,-0.084059],[0.381711,0.918096,0.106753],[0.037227,-0.130676,0.990726]]VH@?׿ۄ@m? a?*T?@n??iV2>IV];VSCYj\ByhbDVD1yMn%MB=ٔ] ;Q-]>9iYi=ugGyqE>Q 5=4?Q 9E4);mBYIyM>Q IU@D@DIq*q"q qyyyyʎjZ ~!@aBɢX) 홿i)iV:i?>܄;I?>I=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313871DaDe<Em EmEm&Ei"Emx;*Em':VEm4ZEiBEmEg>w,(dX@A22>2>2ٱ2[p >AHRS rotation from veh to nav: [[0.923518,-0.374190,-0.084238],[0.381809,0.917800,0.108926],[0.036555,-0.132758,0.990474]]2Hv?׿@o?`^? ?J?`:?i22>I2^];2QCYF\ByFIiMb@Mb@Mb@ 99v?~jt{GztY?yDףCA A)YbD-VD-0y=$%=>=ٔ=:Q-E>9"?Y"?=gGyѬF c9E>Q 54 ?Q 94G)CmBY?Q E:y>Q I@T@DI. ;iu ;K4yɮҏAjgOFNOT Ignoring new targets: 567.20 m.R98Z98gO- ProNav: ac range: 567.199524 m, nav range: 548.108887 m, bearing: 24.199930 deg, approach rate: -0.644552 m/s, LOS rate: 0.003503 deg/s, cmd heading: 23.639937 deg, new cmd heading: 23.642697 deg. B-(8gO5HeadingCmd: 0.412643 target range: 567.199524 and range: 569.90 m.5E>1*1"1 1999AʎAAAjAZMF!@uaBɢu)uh< uCiy)yyyi}љ:iE>;YXIE>I19@ @@3@Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=8.816137E EEE"E;*E:VEZEa@a@a@a@^Ayy A I I O >U_},X@A 0N2>Nӫ>NٱNL VAHRS rotation from veh to nav: [[0.923561,-0.374144,-0.083970],[0.381726,0.917838,0.108895],[0.036329,-0.132625,0.990500]]NH`Ѝ?׿`@3n?`^??୙?-?iN2>INU];NRCY^\By^IbDfVDfJyn{5<%rR=ٔr:Q-r>9tYt=vgGytv|Ez>xQ 54z?Q 94z6)zJmBYy>Q I@zb@DIzz ;iz ;z4y OBɮďAP-B*** querying acoustic contact ***) )jgOFNOT Ignoring new targets: 567.20 m.R]8Z]8gO ProNav: ac range: 567.199524 m, nav range: 547.891907 m, bearing: 24.201112 deg, approach rate: -0.556376 m/s, LOS rate: 0.003032 deg/s, cmd heading: 23.642696 deg, new cmd heading: 23.645061 deg. B8gOHeadingCmd: 0.412684 target range: 567.199524 and range: 569.90 m.WK>*" !!ʎ!!)j)Z- "@颕aBɢ%/) i)顡if:iWK>:u; IWK>iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.068730I ԉB4>BCBBBBBDB};B`4Ea@a @a@ea4@a^A   checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321405E  E E (E "E ;*E ':VE c44ZE BE o_F,X@A22>2}>2ٱ2 :AHRS rotation from veh to nav: [[0.923566,-0.374228,-0.083544],[0.381734,0.917897,0.108368],[0.036130,-0.131977,0.990594]]2H@ڍ?@X׿`$cRn?j_?? ? `?i22>I2.];2QClY}\By}IiMb@Mb@Mb@ 9(\?y&1Mb`Yz?y`eȌA )YA@A@AbDVDy-=%-7=ٔ-O9Q-->91Y1==gGy=ҬF=i>7E=>AQ 5M4E50?Q 9M4E)ETmBYU?Q EU:yU/>Q I@Er@DIE\*" ʎ j)Z-.#@u#bBɢuΰ)y }iy)yyyi}v:i%#R>%0;%) !I%#R>I)checking for new query: numPingsReceived=0, elapsed TxPingTime=9.572751@ @@4@Yq ^A x/A [AzA I I O >Š,!-X@A2R43>2,E>2qٱ2) :AHRS rotation from veh to nav: [[0.923117,-0.375402,-0.083241],[0.382807,0.917621,0.106913],[0.036248,-0.130559,0.990778]]2H,?ؿ`HO?@&]?`^?#?$s?i2R43>I2FG];2OCYB\By@Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.824183En EnEn*El"En~ ;*En :VEn(N4ZElar@ar@ar@ar@tbDJ VDJ2y:%I=ٔꗹQ->9Y=gGy7;;E>Q 54B?Q 94)\mBYyȼ>Q I@@DIG;iH;4yɮAj!gO-FNOT Ignoring new targets: 567.20 m.Rm8Zm8gO} ProNav: ac range: 567.199524 m, nav range: 547.396912 m, bearing: 24.203928 deg, approach rate: -0.625939 m/s, LOS rate: 0.003525 deg/s, cmd heading: 23.648032 deg, new cmd heading: 23.650696 deg. B}m8gOHeadingCmd: 0.412783 target range: 567.199524 and range: 569.90 m.;X>*" ʎjZL$@-QbBɢ-g˽)) -i))111i50:i=;X>=N4;=$I=;X>IA-rg:MBA BA BA BE =BA BA BE |};BE W4E^A Q I I O >w,YJX@A>M5>>3>>ٱ> ZAHRS rotation from veh to nav: [[0.922410,-0.377237,-0.082781],[0.384483,0.917202,0.104464],[0.036519,-0.128187,0.991077]]>Ha?$ؿ #1`]?Y?@.? ?`mh?i>M5>I><];>NCYb\BybIiMb@Mb@Mb@ 9d;O?y&1MbpY?y )YbD VD2y(<%2=ٔ~Q->9Y=gGyӬF;E>Q 54W?Q 94)emBY?Q E:y>Q I@@DI/:i:4yOBɮA 2Acoustic response timeoutjgOFNOT Ignoring new targets: 567.20 m.R%j8Z%j8gO5 ProNav: ac range: 567.199524 m, nav range: 547.131104 m, bearing: 24.205386 deg, approach rate: -0.584086 m/s, LOS rate: 0.003205 deg/s, cmd heading: 23.650696 deg, new cmd heading: 23.653613 deg. B58gO=HeadingCmd: 0.412833 target range: 567.199524 and range: 569.90 m.=^>9*9"9 99AAEU EQEU)EQ"EU ;*EQVEUFA4ZEQBEUv=;Eo IE^>IAlX<Ա9@ @@4@ 2Acoustic response timeout^A I I) O5 > z, dX@A2j 7>2/>2ٱ2 FAHRS rotation from veh to nav: [[0.921652,-0.378934,-0.083467],[0.386249,0.916490,0.104200],[0.037012,-0.128275,0.991048]]2H+~?v@ؿ@^M?@S?׬?7? Qk?i2j 7>I2g];2QCYV\ByVI \\bDbVDbk1yjb<%j[=ٔjLQ-j>9lYl=ngGylr֨;Er>tQ 5z4vh?Q 9z4v)vmmBYxyz~>Q Iz@v@DIv:iv:vI&4yɮAj)gO-FNOT Ignoring new targets: 567.20 m.R5pa8Z5pa8gOE ProNav: ac range: 567.199524 m, nav range: 546.914734 m, bearing: 24.206530 deg, approach rate: -0.582146 m/s, LOS rate: 0.003080 deg/s, cmd heading: 23.653613 deg, new cmd heading: 23.655902 deg. BEY8gOMHeadingCmd: 0.412873 target range: 567.199524 and range: 569.90 m.M$d>I*I"I IIQQQʎQYYjYZ]%@%bBɢ%()) -Ei)))))i5;:i5$d>=Y;=6{I=$d>I9-2Acoustic response timeoutEm EmEm'Ei"Em;*EmǙ:VEm'4ZEia}@a}@a}@a}@!]k<@ @@4@I ^A ΒA ?A >y I I O >,d~X@A2Acoustic response timeoutb,:>bP>bϩ!ٱb( jAHRS rotation from veh to nav: [[0.920378,-0.381506,-0.085779],[0.389034,0.915512,0.102419],[0.039458,-0.127636,0.991036]]bH s?@jؿ? K? (8? 3?]V?ib,:>Ibc];bPCYr\BypbDzVDzyi%B=ٔ ھQ- >9Y=gGyԬF;E>Q 5%4{?Q 9%4)vmBY)y->Q I-@@DIf;i;-4y5NBɮ5A=EPUB*** querying acoustic contact ***Q QjYgOeFNOT Ignoring new targets: 567.20 m.ReR8ZmR8gO} ProNav: ac range: 567.199524 m, nav range: 546.670837 m, bearing: 24.207742 deg, approach rate: -0.579687 m/s, LOS rate: 0.002882 deg/s, cmd heading: 23.655903 deg, new cmd heading: 23.658328 deg. B}ƨ8gOHeadingCmd: 0.412916 target range: 567.199524 and range: 569.90 m.i>*" ʎjZ [&@bBɢ_ؽ) vi)i ;ii>;ZIi>IB <A <BBBIB ]BB =BBB4};B24EBCBCBB =B =C51)@) @1@54@12Acoustic response timeoutE- E-E)E)"E-;*E-:VE)ZE)BE-a!,czX@AY%\By%I)-A2Acoustic response timeoutiMb@Mb@Mb@ 9M?~jtxYn?yĻvA bA)AYzAbDVDky=%(=ٔQ->9 ?Y ?=gGyլF%E%>1Q 5545?Q 9=45)5mBY=p?Q E=:y=l>Q I=@5@DI5:i5:5"64yEMBɮM^AIjigOuFNOT Ignoring new targets: 567.20 m.Ru 8Z} 8gO ProNav: ac range: 567.199524 m, nav range: 546.392883 m, bearing: 24.208705 deg, approach rate: -0.571485 m/s, LOS rate: 0.001981 deg/s, cmd heading: 23.658327 deg, new cmd heading: 23.660255 deg. Bh8gOHeadingCmd: 0.412949 target range: 567.199524 and range: 569.90 m.n>*" ʎjZ'@#cBɢa/ʽ) ƿi)i;;in>B;5vIn>I%9@! @!@%2@!A^A= yb] 2Acoustic response timeoutE  E E +E "E ;*E :VE [4ZE a @a @a @a @AQ Ia q Iy O >%,@X@A2=>2>2D4ٱ2  >AHRS rotation from veh to nav: [[0.918750,-0.385079,-0.087250],[0.392381,0.915081,0.093084],[0.043996,-0.119756,0.991828]]2H ff?#ؿV?WH?[Է? ?X ?i2=>I2$r];2OCYn\BynIEAAAbDIVDIyeռ%eW=ٔmgCQ-u>9qYy=}gGy&<E>Q 54?Q 94)mBYyR>Q I@@DI+V;iW;<4yɮrAjgOFNOT Ignoring new targets: 567.20 m.R58Z58gO ProNav: ac range: 567.199524 m, nav range: 546.174072 m, bearing: 24.209379 deg, approach rate: -0.568667 m/s, LOS rate: 0.001751 deg/s, cmd heading: 23.660255 deg, new cmd heading: 23.661603 deg. B!M8gOHeadingCmd: 0.412973 target range: 567.199524 and range: 569.90 m..q>*"    ʎQQjQZU(@额XcBɢ߽) οi)顡iJ+;i.q>N;񆫹I.q>I2Acoustic response timeout9@ @@0@ԉB5>BB IB5]BB =BBB|;B3EԱ^A A zA A ؟AI I O >,X@A&BDAT read: Response Not Received &*response not received**DAT read: user:395> *BDAT read: Tx time:00:31:07.1272 .$Ping request sent..r9"?Y"?=gGy%֬F%E%>)Q 5U4-?Q 9U4-)-mBYU?Q E]:y]>Q I]@-@DI-;i-;-D4yeLBɮeAAeEjgO FNOT Ignoring new targets: 567.20 m.RQ7ZQ7gOM ProNav: ac range: 567.199524 m, nav range: 545.915100 m, bearing: 24.209871 deg, approach rate: -0.551531 m/s, LOS rate: 0.001047 deg/s, cmd heading: 23.661602 deg, new cmd heading: 23.662586 deg. BMO7gO]HeadingCmd: 0.412990 target range: 567.199524 and range: 569.90 m.]ns>a*a"a aaʎjZB|)@ cBɢ ߽)  ҿi )ir:;ins>Q;E\Ins>Ia@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250144 ^A 99 A .AI I O >&,X@AY ]ByI==bD%VD%Ny]8=%][=ٔaQ-e>9e ?Ym ?=mgGyiiEu>qQ 5}4u?Q 9}4u)umBYyQ I@u@DIu:iud:uQK4yɮAjgOFNOT Ignoring new targets: 567.20 m.R7Z7gO ProNav: ac range: 567.199524 m, nav range: 545.702942 m, bearing: 24.210274 deg, approach rate: -0.593028 m/s, LOS rate: 0.001127 deg/s, cmd heading: 23.662586 deg, new cmd heading: 23.663392 deg. B8gOHeadingCmd: 0.413004 target range: 567.199524 and range: 569.90 m.Fu>*" ʎjZ **@cBɢ)h< ֿi)iMI;i%Fu>%Y;%cI-Fu>I)Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502286E] E]E])EY"E]I;*E]':VE]FA4ZEYam@am@am@am@9@ @@0@y^ANJκԡA I I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753962B 6>B CB IB S]BB =B B DB |;B 3E ,W[X@AB&@>BQ>BTٱB JAHRS rotation from veh to nav: [[0.917566,-0.385605,-0.096859],[0.394174,0.914127,0.094860],[0.051963,-0.125219,0.990767]]BH\?ؿ˸@$:?@?H?皪?0]?iB&@>IB];BPCY]ByI <bDVD0y-%-N=ٔ-Q-5>91Y1=5gGy5׬F=;E=>AQ 5M4E?Q 9M4E\)EmBYIyU2>Q IU@E@DIE:iE:E=R4y]KBɮ],AYP}B*** querying acoustic contact ***y yjgOFNOT Ignoring new targets: 567.20 m.R'7Z'7gO ProNav: ac range: 567.199524 m, nav range: 545.477905 m, bearing: 24.210651 deg, approach rate: -0.567277 m/s, LOS rate: 0.000950 deg/s, cmd heading: 23.663392 deg, new cmd heading: 23.664146 deg. B7gOHeadingCmd: 0.413017 target range: 567.199524 and range: 569.90 m.w>*" ʎjZ`*@cBɢG) Oݿi)i6W;iw> ;i:Iw>IԱ@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006003EE EAEE'EA"EE;*EAVEE'4ZEABEEL\9 5,O=X@AB@>BP>BZ_ٱB JAHRS rotation from veh to nav: [[0.917464,-0.384814,-0.100891],[0.394055,0.913878,0.097714],[0.054601,-0.129406,0.990087]]BH[?ɠؿԹ28?|>???aˮ?iB@>IBbJ^;BOCYn/]BynIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257968iMb@Mb@Mb@ 9M?I +?=ٔ<ɻQ->9"?Y"?=gGyz'E> Q 54 Z?Q 94 ) mBYz?Q E:y>Q I@  ADI ;i ; Y4y!ɮ%ΎA!jIgOMFNOT Ignoring new targets: 567.20 m.RUwZUwgOe ProNav: ac range: 567.199524 m, nav range: 545.232605 m, bearing: 24.210541 deg, approach rate: -0.571263 m/s, LOS rate: -0.000255 deg/s, cmd heading: 23.664147 deg, new cmd heading: 23.663927 deg. Be%gOmHeadingCmd: 0.413013 target range: 567.199524 and range: 569.90 m.mv>i*i"i iqqqqʎyyyjyZ}+@颭 dBɢY!) (޿i)顱ie;iv>P;@:Iv>I @ @@0@9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510411^A% 9i Dq zDq E  E E %E "E ;*E :VE 4ZE a @a @a @a @IA IQ Oe >`,8X@A$88V?>V>VlٱV  bAHRS rotation from veh to nav: [[0.917360,-0.383984,-0.104916],[0.393872,0.913744,0.099687],[0.057588,-0.132773,0.989472]]VH[?2ؿۺ15?`c=?`?*|?``?iV?>IV$^;TYf9]Byf IlnAbDrVDrfyz<%z\=ٔ~Q-~>9|Y|=~gGyجF7E> Q 54 ?Q 94 a) mBYy>Q I@ ADI ;i ; >`4y%JBɮ%A%EjIgOMFNOT Ignoring new targets: 567.20 m.RUZUgOe ProNav: ac range: 567.199524 m, nav range: 545.020508 m, bearing: 24.210448 deg, approach rate: -0.570835 m/s, LOS rate: -0.000251 deg/s, cmd heading: 23.663928 deg, new cmd heading: 23.663742 deg. BegOmHeadingCmd: 0.413010 target range: 567.199524 and range: 569.90 m.mv>i*i"i iqqqyʎyyyjyZ,@颭NdBɢE) i)111i52s;i=v>=P.;= !:I=v>IAi checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761906B2>BCB4IB|]BB =BBDB{;B3EUqZ<Ա9@ @@0@  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014016^A 9E]  E] EY EY "E] ;*E] B:VEY ZEY BE] R4,|UX@AV ?>V >VXxwٱV6 fAHRS rotation from veh to nav: [[0.917204,-0.383424,-0.108274],[0.393817,0.913675,0.100533],[0.060381,-0.134849,0.989025]]VH`Y?ؿ@޷L4?IVQ^;TYrB]ByrIiMb@Mb@Mb@ 9Q?y&1?9Y=gGyg7E>Q 54N?Q 94 )mBY?Q E:y>Q I@,ADI:i<h4yuIBɮuAqjgOFNOT Ignoring new targets: 567.20 m.RZgO ProNav: ac range: 567.199524 m, nav range: 544.733887 m, bearing: 24.209402 deg, approach rate: -0.560533 m/s, LOS rate: -0.002047 deg/s, cmd heading: 23.663742 deg, new cmd heading: 23.661649 deg. BogOHeadingCmd: 0.412974 target range: 567.199524 and range: 569.90 m.Iq>*" ʎ!))j)Z-@-@dBɢf) i)AAAiE;iMIq>M;M^,:IUIq>IQEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265989E-[,oX@AFѿ?>F>F҂ٱFVchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518660 ^AHRS rotation from veh to nav: [[0.917087,-0.382393,-0.112811],[0.393542,0.913565,0.102579],[0.063835,-0.138470,0.988307]]FHX?yؿ1Ἷ /?;?B?zW?@c`6?iFѿ?>IF@^;DYf^]Byf"IbDvVDv1yU=%X=ٔQ->9 Y = gGy ٬F xE>Q 5%4"?Q 9%4})mBY!y%>Q I%@:ADIl:id:oo4y-LBɮ5vA5ED}=D}R=E EE'E"E;*E :VE'4ZEa@a@a@a@jgOFNOT Ignoring new targets: 567.20 m.RpZpgO ProNav: ac range: 567.199524 m, nav range: 544.513184 m, bearing: 24.208598 deg, approach rate: -0.590268 m/s, LOS rate: -0.002151 deg/s, cmd heading: 23.661648 deg, new cmd heading: 23.660040 deg. B{gOHeadingCmd: 0.412946 target range: 567.199524 and range: 569.90 m.m>*"1 11199ʎ99AjAZEX.@Q颕dBɢ ) #i)顙i;im>!Q;9Im>Iy-9@) @1@1@1]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770865ԩB <A B />B B TIB ]BB =B B B z;B 2E ^A 9Ia Iy O >`[,X@A2}@?>2DK>2ٱ2  :AHRS rotation from veh to nav: [[0.917039,-0.381045,-0.117664],[0.392994,0.913617,0.104209],[0.067792,-0.141805,0.987571]]2H`aX?` cؿ;&?YI22.^;2NCYBk]ByB*IbDNVDNJyb=%bK=ٔb!Q-f>9dYd=jgGyhj)Ej>lQ 5r4n3?Q 9r4n)nnBYpyv>Q Iv@nIADInf;in;nwv4yxɮzXAzEPB*** querying acoustic contact ***! !jIgO]FNOT Ignoring new targets: 567.20 m.RZgOm ProNav: ac range: 567.199524 m, nav range: 544.278625 m, bearing: 24.207752 deg, approach rate: -0.596808 m/s, LOS rate: -0.002153 deg/s, cmd heading: 23.660040 deg, new cmd heading: 23.658348 deg. Bm#|ԉgOHeadingCmd: 0.412916 target range: 567.199524 and range: 569.90 m.i>*" ʎ!!!j)Z-9/@udBɢuz)q u~checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022080iq)顙if;ii>;8Ii>IEe EeEe(Ea"Eea;*Ee:VEec44ZEaBEeh5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273911 {,X@AYv]Byv<IiuMb@Mb@Mb@qqqq q9u9v?I +?:v?Yu?yu94=u=ٔQ->9Y=gGyڬFE>Q 54UF?Q 94)/nBY?Q E:y>Q I@YADI` ;i ;}4yɮAjgOFNOT Ignoring new targets: 567.20 m.R鐸Z鐸gO  ProNav: ac range: 567.199524 m, nav range: 544.029724 m, bearing: 24.206080 deg, approach rate: -0.588980 m/s, LOS rate: -0.003959 deg/s, cmd heading: 23.658348 deg, new cmd heading: 23.655002 deg. BgOHeadingCmd: 0.412858 target range: 567.199524 and range: 569.90 m.b>*" !!ʎ!!)j)Z-/@U&eBɢ])Y ]iY)YaaieA;ieb>mx;mu+9Imb>IiIZA)@ @@0@!checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526287DzDE EE)E"E ;*E :VEFA4ZEa@a@a@a@^Arg:I9 I IY Om >D,qX@A2nW?>2V>2)qٱ2Ė >AHRS rotation from veh to nav: [[0.916404,-0.379135,-0.128297],[0.392817,0.913425,0.106531],[0.076800,-0.148023,0.985997]]2H.S?@Cؿ l@#?:?`E? /?`m¿@J?i2nW?>I2];2OCYB]ByFHIbDNVDN2yVK=%V[=ٔV^ƼQ-V>9XYX=ZgGyX^u9E^>`Q 5f4b{V?Q 9f4b)bGnBYhyj&>Q Ij@bgADIb ;ib ;b|4ynKBɮnApjgOFNOT Ignoring new targets: 567.20 m.R kZ kgO ProNav: ac range: 567.199524 m, nav range: 543.813416 m, bearing: 24.204617 deg, approach rate: -0.579015 m/s, LOS rate: -0.003918 deg/s, cmd heading: 23.655001 deg, new cmd heading: 23.652073 deg. BygO%HeadingCmd: 0.412807 target range: 567.199524 and range: 569.90 m.%a[>!*!") )))11ʎ111j9Z=[0@eUeBɢeT)i m7ii)iiiimm;iua[>u;BDAT read: Rx Time:00:31:10.2783 TRx dataTimestamp_ set to:1761697871.025245checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779112u}9I a[>I QBE4>BABEyIBE]BBE =BABABEIz;BE2EBBBBB =C5@ @@?0@y^Aq: checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029876Ա A I I! O- >E  E E 'E "E ;*E :VE '4ZE BE eU>U˃ٱU AHRS rotation from veh to nav: [[0.915820,-0.378947,-0.132937],[0.393189,0.913461,0.104841],[0.081703,-0.148285,0.985564]]UHfN?@ؿ*?@;?ֺ??¿@?iU?>IU];UNCY]ByOIieMb@Mb@Mb@aaaa a9eA`"?Mb?9Y=gGy۬F:E>ԩQ 54dl?Q 94')dnBY?Q E:y?Q I@zADI*:is:44yɮ܍AAjgOFNOT Ignoring new targets: 567.20 m.RϸZϸgO ProNav: ac range: 567.199524 m, nav range: 543.515808 m, bearing: 24.201678 deg, approach rate: -0.572631 m/s, LOS rate: -0.005658 deg/s, cmd heading: 23.652073 deg, new cmd heading: 23.646191 deg. B%gOHeadingCmd: 0.412704 target range: 567.199524 and range: 569.90 m.M>*" ʎiIA=DAT read: 00:31:10.2783 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 269,-0.07,-0.079,-1.668, 0.148,-0.223, PHS= 0.245,-1.400, 0.326, RAW= 152.4, 9.8, CAL= 152.1, 10.7, ROT= 357.9, -10.7 EYgot valid direction response: 00:31:10.2783 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 269,-0.07,-0.079,-1.668, 0.148,-0.223, PHS= 0.245,-1.400, 0.326, RAW= 152.4, 9.8, CAL= 152.1, 10.7, ROT= 357.9, -10.7 MPDAT read: Bearing 181.9, 0.4 (Local) M~Local bearing/azimuth received: Bearing 181.9, 0.4 (Local) UDAT read: Range 11 to 50 : 560.1 m (Round-trip 746.9 ms) speed 0.2 m/s ]R#Rx 1: Read range and direction messages.e^direction in FSK: [0.981953,-0.036007,0.185667]eFpublishing direction and range infoyO6Ok(l?ԭ5to &K{?Y D )OIHz>i33y>;*@%/>)@ t;?>)@It;?=h?棴?yaT&? ?)H'0IQ it;?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.j̀@Z@?eeBɢe)eL8]< eia)aiiim;iuM>u;u]:IuM>I)@) @1@50@1 ^AU rg: *DAT read: user:396>  BDAT read: Tx time:00:31:11.5272  $Ping request sent. ,fX@Ac@>8&>[ٰٱ %AHRS rotation from veh to nav: [[0.915072,-0.379419,-0.136695],[0.393962,0.913473,0.101794],[0.086245,-0.147002,0.985369]]H DH?dHؿ;`6?*;?1?#?¿$?ic@>IA];Y5]By5YIAE@AbDEVDEk1yU=%]D=ٔ]>3Q-]>9e ?Ye ?=egGyae;Ee>iqQ 5}4u~?Q 9}4u)u~nBYyU?Q I@uADIu :iu$:u4yJBɮAE=X@AJY DRY Dj>hý@^44|&lY@rO6Ok(l?ԭ5to &K{?ZQ bt;?c@zg`??µw?2OC:)C"m6?*adBOC“ >CD>>gO addTargetRange:: Added new target pos. range: 560.099976 m, deltaT: 16.884435 s, deltaX: -9.800049 m, approachRate: -0.580419 m/s, rangeRepo size: 4 gO Added new target pos. range: 557.402161 m, bearing: 22.803729 deg, lat: 36.779110 deg, lon: -121.859193 deg, deltaT: 16.884435 s, deltaX: -9.797363 m, approachRate: -0.580260 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 557.40 m.RZgO ProNav: ac range: 557.402161 m, nav range: 543.266968 m, bearing: 24.199191 deg, approach rate: 0.000000 m/s, LOS rate: -0.005658 deg/s, cmd heading: 23.646192 deg, new cmd heading: 23.641659 deg. BagOmHeadingCmd: 0.412625 target range: 557.402161 and range: 560.10 m.mC>i*i"q qqqyyʎyyyjZ`?eBɢy) ni)i;iC>!A;%f:I%C>I!ԙ59@9 @9@=0@9}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249642AA@AB6>BCBIB^BB =BBDBay;BM2E^Aq: A1 IY Iy O >],tX@Avchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503350%B>%>%幽ٱ% =AHRS rotation from veh to nav: [[0.914301,-0.379779,-0.140788],[0.394762,0.913336,0.099904],[0.090646,-0.146920,0.984986]]%HA?@LNؿX¿@C? :?L?`4?E¿?i%B>I%];%MCYE]ByMcIbEE'4jEE(4rEE/E EEE"Ef;*E:VEZEBEW9 Y=gGyܬF;E>IQ 5U4M=?Q 9]4M8)MnBYe?Q E:y?Q I@MADIM3a*a"a iiiiqʎqqqjqZ}@? fBɢ} ) i)i׫;i 6>;B/;I 6>I)@1 @1@50@11checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753442^A ;a A) I1 IA OU >D ,J_,X@A2B>2W(>2Jýٱ23 :AHRS rotation from veh to nav: [[0.913544,-0.379840,-0.145460],[0.395438,0.913139,0.099021],[0.095213,-0.147980,0.984396]]2H;? MOؿl¿@N?o8?qY?_?¿,?i2B>I2{];2NCYB]ByBkIF >F=bDJVDJ:yR =%R`=ٔVNQ-V>9TYT=ZgGyXZ`);EZ>\Q 5b4^ܢ?Q 9b4^h)^nBYdyf?Q If@^ADI^:i^:^¢4yhɮn{Alj|gOFNOT Ignoring new targets: 557.40 m.RZgO ProNav: ac range: 557.402161 m, nav range: 542.774292 m, bearing: 24.193970 deg, approach rate: -0.639355 m/s, LOS rate: -0.006817 deg/s, cmd heading: 23.635755 deg, new cmd heading: 23.631215 deg. BGgOHeadingCmd: 0.412443 target range: 557.402161 and range: 560.10 m.+>!*!"! !!!))ʎ))qjZ`?=7fBɢ=g!)A EiA)AAIim };iu+>};}pd;I}+>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008249E EE*E"E1;*E՚:VE(N4ZEa@a@a@a@ԡu]B CB IB [^BB =B B DB x;B 2E^A ] ;A ?A >I IO >W, IX@A 6TFD>62>62̽ٱ6c7 >AHRS rotation from veh to nav: [[0.912660,-0.380351,-0.149617],[0.396428,0.912870,0.097535],[0.099483,-0.148328,0.983922]]6H4?Wؿ&ÿ_?;6? ?w?k¿`I|?i6TFD>I65];6PCYF]ByFtI LN4<bDRVDR:2yZ<%Z1=ٔZ6Q-^>9\Y\=^gGy^ݬFb3;Eb>dQ 5j4fF?Q 9j4f)fnBYhyj7?Q In@fADIf ;if7 ;fӪ4yrHBɮr]ArEj)gO5FNOT Ignoring new targets: 557.40 m.R5[Z=[gOE ProNav: ac range: 557.402161 m, nav range: 542.495911 m, bearing: 24.190961 deg, approach rate: -0.597071 m/s, LOS rate: -0.006458 deg/s, cmd heading: 23.631215 deg, new cmd heading: 23.625193 deg. BE=gOMHeadingCmd: 0.412337 target range: 557.402161 and range: 560.10 m.U>Q*Q"Q QQQYYʎYYajaZe@? vfBɢ I) U2 iY)顉iJ&;i>;L;I>I!Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510433jZX<E5 E5E5(E1"E5I;*E5:VE5c44ZE1BE5gj?,xdX@AbF>b>bܽٱbQ nAHRS rotation from veh to nav: [[0.910885,-0.380770,-0.159067],[0.398399,0.911907,0.098506],[0.107547,-0.153100,0.982341]]bH%?^ؿQ\Ŀ `?W.?7?`,?ƘÿVo?ibF>Ibs];`Yr]ByvIiuMb@Mb@Mb@qqqq q9uK?㥛 ?{GztYu^?yu=uףuIAuA q)u+AqYqbDVDyL=%6=ٔQ->9Y=gGyެFX;E>Q 54?Q 94)nBY?Q E:y?Q I@ADIE:i:4yɮ/AjgOFNOT Ignoring new targets: 557.40 m.RZgO ProNav: ac range: 557.402161 m, nav range: 542.225037 m, bearing: 24.187852 deg, approach rate: -0.608255 m/s, LOS rate: -0.006985 deg/s, cmd heading: 23.625194 deg, new cmd heading: 23.618973 deg. BLgOHeadingCmd: 0.412229 target range: 557.402161 and range: 560.10 m.>*" ʎjZ@fBɢo) 5 i)i?;i>(;!EVM;IE>IAIIQQIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013387E EE)E"E;*E :VEFA4ZEa@a@a@a@@ @@@y ^Am ;Ա I I O >:,X@A2[H>2>2bٱ2. :AHRS rotation from veh to nav: [[0.909950,-0.381943,-0.161589],[0.399572,0.911768,0.094978],[0.111055,-0.150992,0.982277]]2H`O?`qؿĿ?4-?{P? n?@Sÿ`n?i2[H>I2];2LCYB]ByBIDFAbDNVDNyRW<%VP=ٔVQ-V>9XYX=ZgGyX^r;E^>\Q 5b4^]?Q 9f4^)^nBYdyf0?Q If@^ADI^Y;i^;^4ynLBɮn3AnEj|gOFNOT Ignoring new targets: 557.40 m.R\Z \gO ProNav: ac range: 557.402161 m, nav range: 541.988464 m, bearing: 24.185095 deg, approach rate: -0.601569 m/s, LOS rate: -0.007014 deg/s, cmd heading: 23.618973 deg, new cmd heading: 23.613457 deg. B`MgO%HeadingCmd: 0.412133 target range: 557.402161 and range: 560.10 m.% >!*!"! !!)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265525ʎjZ;:@fBɢM)! %i!Bm<Amp<Bu&>BuCBuIBu^BBu =BqBuDBux;Bq)!顡iC;i >ϱ;Iy@y @y@}0@y^AU[R;IIOC>] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519678i E  E E %E "E ;*E :VE 4ZE BE e2J>2Oٱ2% >AHRS rotation from veh to nav: [[0.908974,-0.383305,-0.163842],[0.400827,0.911622,0.091014],[0.114476,-0.148402,0.982279]]2H P? ؿĿ`$?,?L? NN?¿n?i2I>I2];0Yb^BybIiMMb@Mb@Mb@IIII I9M333333?v/?I +YM?yMxi=M9MAMhA M+A)M|AIYMAY]AAbDeVDe:yu{;%u?=ٔ}Q-}>9yYy=gGy߬FVm;E>Q 54d?Q 94)oBYd?Q E:y?Q I@ADIT ;i ; 4yɮ0APB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 557.40 m.RZgO ProNav: ac range: 557.402161 m, nav range: 541.731506 m, bearing: 24.182876 deg, approach rate: -0.599319 m/s, LOS rate: -0.005178 deg/s, cmd heading: 23.613456 deg, new cmd heading: 23.609016 deg. BgOHeadingCmd: 0.412055 target range: 557.402161 and range: 560.10 m.>*" ʎjZ @gBɢ&) }i)ie;i>;KIԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773459-9@) @)@-/0@)Թ^AM j;I I O > \F,,|X@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0255106!K>6;>6ٱ6ɽ BAHRS rotation from veh to nav: [[0.908165,-0.384050,-0.166558],[0.401726,0.911442,0.088823],[0.117695,-0.147576,0.982023]]6H?FؿQſ?*??H!?¿`l?i6!K>I6^;6MCYF^ByFIbDR VDR2yZ=%ZW=ٔZ Q-Z>\9`Y`=bgGy`bG;Ef>dQ 5j4fC?DlzDnAAEr EpEr(Ep"Er;*EpVErc44ZEpav@av@av@av@Q 9n4f)foBYxyz<?Q Iz@fADIfU;if;fǺ4yɮAEj9gOEFNOT Ignoring new targets: 557.40 m.RMFZMFgOm ProNav: ac range: 557.402161 m, nav range: 541.503540 m, bearing: 24.180876 deg, approach rate: -0.592285 m/s, LOS rate: -0.005198 deg/s, cmd heading: 23.609017 deg, new cmd heading: 23.605015 deg. Bm8gO}HeadingCmd: 0.411985 target range: 557.402161 and range: 560.10 m.}>*" ʎjZ%o @MLgBɢM?6')I UiQ)QYYi]-K;iu>u3;u(Iy-9@) @)@-m0@)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277419^AM<Bu%>BuCBuIBu^BBu =Bu?DBqBuy;Buh2EIIO>A A,3,NX@A2L>2z>2}ٱ2 :AHRS rotation from veh to nav: [[0.907422,-0.384594,-0.169330],[0.402412,0.911359,0.086543],[0.121036,-0.146671,0.981752]]2H ?/ؿſ`?@)?'?@>?¿ j?i2L>I2];0YZ"^ByZIbDjVDjyz?<%~F=ٔ~Q-~>9Y= gGy F!-;E->1Q 5=45?Q 9=45)5#oBYAyE}?Q IE@5 BDI5N;i5Vk;5κ4ymKBɮmAqjgO FNOT Ignoring new targets: 557.40 m.RfZfgO ProNav: ac range: 557.402161 m, nav range: 541.254028 m, bearing: 24.178659 deg, approach rate: -0.582033 m/s, LOS rate: -0.005175 deg/s, cmd heading: 23.605014 deg, new cmd heading: 23.600578 deg. BgO HeadingCmd: 0.411908 target range: 557.402161 and range: 560.10 m. >UBDAT read: Rx Time:00:31:14.6672 UTRx dataTimestamp_ set to:1761697875.316568]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533956Y*Y"a aaaiiʎijZ]@gBɢ) Ri)i6;E EE'E"E;*Eخ:VE'4ZEBEbl;4I!Q9@ @@/0@@[A@y^A $<ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781396A] ؟AIi Iy O >n9,2X@A2p_L>2>2Cٱ2X >AHRS rotation from veh to nav: [[0.906995,-0.384386,-0.172066],[0.402523,0.911379,0.085807],[0.123834,-0.147087,0.981341]]2H ?@əؿ?ƿ ? *?y?`?¿%g?i2p_L>I2];2NCYB+^ByFIiMb@Mb@Mb@ 97A`?9E"?YE"?=EgGyAiEK.:E>Q 54%?Q 94)4oBY?Q E:y\>Q I@BDI:i<:zֺ4yɮ ׌A jIgOUFNOT Ignoring new targets: 557.40 m.RUZUgO ProNav: ac range: 557.402161 m, nav range: 541.001221 m, bearing: 24.178173 deg, approach rate: -0.601040 m/s, LOS rate: -0.001155 deg/s, cmd heading: 23.600578 deg, new cmd heading: 23.599606 deg. BEgOHeadingCmd: 0.411891 target range: 557.402161 and range: 560.10 m.[>*" ʎjZ`ض@颭gBɢv/) i)顱i;i[>;ub7Iԙ@ @@^0@-checking for new query: numPingsReceived=0, elapsed TxPingTime=4.036317DDR=E EE%E"E;*E:VE 4ZEa @a @a @a @^AU &< A .AI I O >5@,CX@A2RL>2t>2_ٱ2 :AHRS rotation from veh to nav: [[0.906717,-0.383732,-0.174969],[0.402347,0.911426,0.086138],[0.126417,-0.148501,0.980799]]2H ?ؿ `eƿ`?`f*?' ?n.?ÿ b?i2RL>I2];2OCY@y@bDJVDJ:ٔRYֻQ-V>9V ?YV ?=VgGyVFZEZ>\Q 5b4^7?Q 9b4^4)^DoBY`ybK>Q If@^*BDI^Y;i^;^&ݺ4yhɮjՌAjEjxgO~FNOT Ignoring new targets: 557.40 m.5DAT read: 00:31:14.6672 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 332,-0.04,-1.562,-3.097,-1.309,-1.734, PHS= 0.274,-1.318, 0.381, RAW= 153.2, 8.1, CAL= 152.8, 8.6, ROT= 357.2, -8.6 =Ygot valid direction response: 00:31:14.6672 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 332,-0.04,-1.562,-3.097,-1.309,-1.734, PHS= 0.274,-1.318, 0.381, RAW= 153.2, 8.1, CAL= 152.8, 8.6, ROT= 357.2, -8.6 EPDAT read: Bearing 180.1, 2.4 (Local) M~Local bearing/azimuth received: Bearing 180.1, 2.4 (Local) UDAT read: Range 11 to 50 : 551.9 m (Round-trip 735.9 ms) speed 0.5 m/s UR#Rx 1: Read range and direction messages.ae^direction in FSK: [0.987576,-0.048300,0.149535]mFpublishing direction and range infoy+8?tϺS&r#?Y D )QII>i9o>D +@>*@ `>)@I`py]p?s [?ֿ8? Eq?B(>BCB IB^BB =B>DBB+z;B2EBMCBMCBMCBIBM =CM5)I*Hi`T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.R~קZקgOE ProNav: ac range: 557.402161 m, nav range: 540.776917 m, bearing: 24.177745 deg, approach rate: -0.600489 m/s, LOS rate: -0.001146 deg/s, cmd heading: 23.599606 deg, new cmd heading: 23.598750 deg. BEEgOMHeadingCmd: 0.411876 target range: 557.402161 and range: 560.10 m.Me>I*I"I IIQQQʎj@3?@Zʪ? gBɢ *)  fi )iZ;i%e>-;-:t6I9ԑ9@ @@61@*DAT read: user:397> BDAT read: Tx time:00:31:16.0772 $Ping request sent.] kC G  ! E  E U 9Q YU FAE &E "E ;*E :VE 4ZE BE ae 2E bF,lX@AVK>Vn>VBaٱVL ^AHRS rotation from veh to nav: [[0.906734,-0.381914,-0.178815],[0.401514,0.911497,0.089214],[0.128917,-0.152690,0.979830]]VH?Fqؿ`iƿf?*?ֶ? ^? XÿZ?iVK>IV];VLCYrI^ByvIiMb@Mb@Mb@ 9X9v?MbV-Y?y A )ČAYGAbDVDy =%<ٔ#Q->9"?Y"?=gGyE> Q 54 K?Q 94 ) ZoBY?Q E:yg>Q I@ :BDI  ;i i ; 4y!ɮ%A!IMaX@AJMN DRMN DjM@>MGD@z.:dKT@rM+8?tϺS&r#?ZM*HbM`MX@t~@5i@ƫ%bNc@zMV?c?'i?W?2MHC:MC"M?*M.BMRCIMad“MFCMDMP>gOm addTargetRange:: Added new target pos. range: 551.900024 m, deltaT: 4.539719 s, deltaX: -8.199951 m, approachRate: -1.806268 m/s, rangeRepo size: 4 gO Added new target pos. range: 549.232178 m, bearing: 22.409530 deg, lat: 36.779110 deg, lon: -121.859360 deg, deltaT: 4.539719 s, deltaX: -8.169983 m, approachRate: -1.799667 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 549.23 m.RZgO ProNav: ac range: 549.232178 m, nav range: 534.603027 m, bearing: 22.724886 deg, approach rate: 0.000000 m/s, LOS rate: -0.001146 deg/s, cmd heading: 23.598749 deg, new cmd heading: 23.597722 deg. BgOHeadingCmd: 0.411858 target range: 549.232178 and range: 551.90 m. >*" ʎjZ5?&hBɢ(1) i)iC;iu >uL;uCU+Iy5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2467179@ @@4@@=@ > 1^A) A) zA- \AY Ay I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497971L,5X@AE~ E~E~%E|"E~f;*E~5:VE~ 4ZE|a@a @a @a @^-eJ>^>^4ٱ^ ! %AHRS rotation from veh to nav: [[0.906850,-0.379941,-0.182396],[0.400364,0.911805,0.091220],[0.131651,-0.155748,0.978985]]^H ?@PؿXǿ?-?1Z?`?ÿ`S?i^-eJ>I^^;^NCY-5^By5IAAbDEVDEk1yU+O%]U=ٔ] Q-]>9YYa=egGyeFe<Ee>iQ 5u4mg\?Q 9}4m)mnoBYyy}>Q I}@mIBDIm;im ;m4yJBɮAPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 549.23 m.R`7Z`7gO ProNav: ac range: 549.232178 m, nav range: 534.381775 m, bearing: 22.725272 deg, approach rate: -0.581075 m/s, LOS rate: 0.001013 deg/s, cmd heading: 23.597723 deg, new cmd heading: 23.598495 deg. Bf7gOHeadingCmd: 0.411871 target range: 549.232178 and range: 551.90 m.>*" ʎjZ'? YhBɢP;) <"i)i;i%>%{;%I)19@ @@4@a=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750007B'>BB" IB^BBBBBRy;B:2E^A5}<ԑA} .AI I O >Թ [S,OX@A2H>2#>2 ٱ2I" :AHRS rotation from veh to nav: [[0.907081,-0.378114,-0.185026],[0.398923,0.912454,0.091037],[0.134406,-0.156389,0.978508]]2H? 3ؿ ǿ@?2?8N?`34?ĿO?i2H>I2Y^;0Yjb^ByjIbDvVDvfyz~=%~Q=ٔ~Q-~>9 ?Y ?=gGy DnE > Q 5%4  n?Q 9-4 X) oBY1y=>Q I=@ WBDI ;i m; v4yaɮmfAijgOFNOT Ignoring new targets: 549.23 m.R 7Z7checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004183gO= ProNav: ac range: 549.232178 m, nav range: 534.156372 m, bearing: 22.725701 deg, approach rate: -0.547742 m/s, LOS rate: 0.001042 deg/s, cmd heading: 23.598495 deg, new cmd heading: 23.599353 deg. B=#7gOEHeadingCmd: 0.411886 target range: 549.232178 and range: 551.90 m.M>I*i"i iqqyyʎjZa?bE-4jE¨,4rEz:0E  E E +E "E ;*E :VE  [4ZE BE ];VI]9@Y @Y@e4@a M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254432^A <9 A ؟AI I O > Z,;VjX@A2SG>20o>2 ٱ2># >AHRS rotation from veh to nav: [[0.907303,-0.376313,-0.187592],[0.397537,0.913051,0.091120],[0.136991,-0.157248,0.978011]]2H?ؿȿ`=q?@7?S?? ĿK?i2SG>I2];2LCYB^ByBIi Mb@Mb@Mb@     9 |?5^?I +QY ?y 94 u A A ١A) hA Y AbD%VD%y5g=%5@=ٔ=6ɻQ-=>9="?Y="?==gGy=FESEE>IQ 54Me?Q 94MB)MoBYl?Q E:yV>Q I@MgBDIMl1*1"1 19999ʎAAAjAZM`?颅hBɢF@) ;$i)顉i;if>;a;If>ԩII[A)9@ @@4@@\A@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.507254Eu EuEu)Eq"Eu ;*Euk:VEuFA4ZEqa}@a}@a}@a}@^AH< A I I) O= >) Z`, X@A2kE>2>2pGٱ22M% >AHRS rotation from veh to nav: [[0.907675,-0.373986,-0.190423],[0.395823,0.913676,0.092304],[0.139465,-0.159156,0.977353]]2H ? c׿_ȿ,U? I2^;0YB^ByFI J;Jp<Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.758001bDVVDVkyZD=%^S=ٔ^ӻQ-^>9`Y`=bgGy`fEf>hQ 5j4j?Q 9n4j_)joBYlynk>Q In@juBDIj;ij;j4ytɮvAtj gOFNOT Ignoring new targets: 549.23 m.R8Z8Be >BeCBeA IBe1_BBaBe?DBaBeVx;Be1EgO ProNav: ac range: 549.232178 m, nav range: 533.693420 m, bearing: 22.728927 deg, approach rate: -0.597141 m/s, LOS rate: 0.004226 deg/s, cmd heading: 23.602685 deg, new cmd heading: 23.605807 deg. B{8gOHeadingCmd: 0.411999 target range: 549.232178 and range: 551.90 m.>*" ʎjZWt@-hBɢ-0<)) -X&i1)1qqiu;i}>};}ƶ;I}>I 9@  @ @ 0@ 9^AUr;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015958EM  EM EM 'EI "EM ;*EM :VEM '4ZEI q BEI a 2EI a JEM %g,X@A :7D>:>: ٱ:' BAHRS rotation from veh to nav: [[0.907931,-0.371737,-0.193578],[0.394313,0.914165,0.093915],[0.142050,-0.161599,0.976579]]:H ?׿)ȿkI:];:MCY^^By^IiEMb@Mb@Mb@AAAA A9EʡE?ktMb?YE?yE 0E9qYq=ugGyuF}fE}>Q 54ܥ?Q 94Q)oBY ?Q E:yʫ>Q I@BDI:iA:4y1ɮ5ӋA9jygO}FNOT Ignoring new targets: 549.23 m.R|8Z|8gO ProNav: ac range: 549.232178 m, nav range: 533.456970 m, bearing: 22.730483 deg, approach rate: -0.524245 m/s, LOS rate: 0.003450 deg/s, cmd heading: 23.605807 deg, new cmd heading: 23.608919 deg. B8gOHeadingCmd: 0.412053 target range: 549.232178 and range: 551.90 m.>*" ʎjZ@%@7iBɢ6) (i)i ;i>;];I>Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.262943@ @@0@ԙ^A; I I O m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514825Nm, зX@AE" E"E E "E" ;*E"B:VE ZE a&@a&@a&@a&@:B>:G>:lٱ:*P bAHRS rotation from veh to nav: [[0.908126,-0.369666,-0.196606],[0.392994,0.914550,0.095674],[0.144438,-0.164149,0.975804]]:H^?׿^*ɿ&?C?`~?@|?@ſ9?i:B>I:e^;:KCY^By I)-AbD5VD5yEX=%EM=ٔE@ƻQ-M>9IYI=MgGyIUUEU>YQ 5e4]v?Q 9e4]i)]pBYaye%>Q Im@]BDI]:i]:]4yuIBɮu{AuEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 549.23 m.RĐ8ZĐ8gO ProNav: ac range: 549.232178 m, nav range: 533.236328 m, bearing: 22.731966 deg, approach rate: -0.588101 m/s, LOS rate: 0.003955 deg/s, cmd heading: 23.608919 deg, new cmd heading: 23.611887 deg. B8gOHeadingCmd: 0.412105 target range: 549.232178 and range: 551.90 m.s>*" ʎjZ@jiBɢC) f)i)i);i s> OV;A`;Is>IQ-9@) @)@)@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765916B]>B]CB]g IB]n_BB] =BYB]DB]nx;B]1E^AU}U;AUZAzAUZAIIO>! 6t,TX@A6A>6ڂ>6ٱ6?E* >AHRS rotation from veh to nav: [[0.908256,-0.368299,-0.198560],[0.391789,0.915178,0.094606],[0.146875,-0.163720,0.975512]]6Ho?8׿@ijɿ? $I?8? ?Ŀ e7?i6A>I6];6LCYJ_ByJ# I`b@AbDbVDbyj=%jQ=ٔnλQ-n>9pYp=rgGyrFr}DEr>tQ 5z4v?Q 9z4v)v6pB|Yy>Q I@vBDIvM;iv`;v4y%MBɮ%3A-EEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021809jqgOFNOT Ignoring new targets: 549.23 m.R58Z58DzD@AE EEE"E;*EP:VEZEBEeA*A"A AAAIIʎQQQjQZ]`̈ @)EiBɢE.) *i)顉i;i9>+; ;I9>I]9@Y @a@a@aQ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271953ԁ ^A ?BI;I! I1 OE >|`z,X@A2@>2~>2ٱ2]& :AHRS rotation from veh to nav: [[0.908266,-0.368049,-0.198981],[0.390976,0.915946,0.090449],[0.148967,-0.159948,0.975820]]2H ?׿8xɿ?`mO?'?`V?0yĿ9?i2@>I2^;2MCYB_ByB3 Ii Mb@Mb@Mb@     9 ʡE?{Gz{Gz?Y -?y # ף< A AY A) ^A Y AbDVDyo=%?=ٔӡQ->9Y=gGyE>Q 54?Q 94n)fpBY?Q E:y>Q I@BDI ;i ;`4yɮAjgOFNOT Ignoring new targets: 549.23 m.R {8Z {8gO% ProNav: ac range: 549.232178 m, nav range: 532.780334 m, bearing: 22.734864 deg, approach rate: -0.580470 m/s, LOS rate: 0.003429 deg/s, cmd heading: 23.614848 deg, new cmd heading: 23.617685 deg. B%8gO5HeadingCmd: 0.412206 target range: 549.232178 and range: 551.90 m.5 >1*1"1 999AAʎAIIjIZU  @颕iBɢN) ,i)顡iVM;i >;#:I5 >I1ԉ@ @@@5BDAT read: Rx Time:00:31:19.2212 =TRx dataTimestamp_ set to:1761697879.850336Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.524847E EE$E"E7;*E՚:VE4ZEa@a@a@a@Ա^A 2;Iq I O > H,cX@A2Zt@>22>2uٱ2Z/% :AHRS rotation from veh to nav: [[0.908123,-0.367536,-0.200572],[0.390436,0.916357,0.088597],[0.151233,-0.158767,0.975665]]2HX?׿@Wɿ@?R?@G?[?@}RĿ8?i2Zt@>I2^;2LCBchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.774073YFC_ByFL IN=N=bDRVDRJyZA=%ZZ=ٔZ6ȻQ-^>9\Y\=^gGy^FbNEb>dQ 5j4f?Q 9j4f)fpBYhynϮ>Q In@fBDIfq';if);f#4ypɮvAtA|A|BBB IB_BBBBBxy;BC2Ej)gO5FNOT Ignoring new targets: 549.23 m.R5s8Z5s8ԹgO ProNav: ac range: 549.232178 m, nav range: 532.569824 m, bearing: 22.736120 deg, approach rate: -0.557962 m/s, LOS rate: 0.003330 deg/s, cmd heading: 23.617686 deg, new cmd heading: 23.620199 deg. B8gO HeadingCmd: 0.412250 target range: 549.232178 and range: 551.90 m. v> * "  ʎjZ%V@颍jBɢR@) ,i)111i5;=l;=:I=v>IA@ @@@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.031617^A0::E-  E) E- 'E) "E- ~ ;*E) VE- '4ZE) BE- Vs,xAX@AY~f_By~b IiMb@Mb@Mb@ 9|?5^?I +Q?Y?y94\=5ASA )AYpA p;bDVDyD=%;=ٔQ->9Y=gGyE>Q 54?Q 94)pBY>?Q E:y>Q I@BDIi ;i; ;+4yɮfAEjgOFNOT Ignoring new targets: 549.23 m.R3Z3gO ProNav: ac range: 549.232178 m, nav range: 532.324646 m, bearing: 22.736123 deg, approach rate: -0.543276 m/s, LOS rate: 0.000007 deg/s, cmd heading: 23.620198 deg, new cmd heading: 23.620204 deg. BK4gOHeadingCmd: 0.412250 target range: 549.232178 and range: 551.90 m.z>*" ʎjZ @LjBɢ,>) U.i) i ;:Iz>IDAT read: 00:31:19.2212 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 485, 0.15, 2.027, 0.424, 2.234, 1.714, PHS= 0.416,-1.245, 0.476, RAW= 151.8, 4.2, CAL= 150.8, 4.2, ROT= 359.2, -4.2 Ygot valid direction response: 00:31:19.2212 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 485, 0.15, 2.027, 0.424, 2.234, 1.714, PHS= 0.416,-1.245, 0.476, RAW= 151.8, 4.2, CAL= 150.8, 4.2, ROT= 359.2, -4.2 PDAT read: Bearing 175.6, 6.9 (Local) %~Local bearing/azimuth received: Bearing 175.6, 6.9 (Local) UDAT read: Range 11 to 50 : 554.9 m (Round-trip 739.9 ms) speed 0.4 m/s ]R#Rx 1: Read range and direction messages.^direction in FSK: [0.997217,-0.013925,0.073238]Fpublishing direction and range infoyg.4?l?Y D )KI>i)\F>)@Q =q(@ Q =)y@IQ t"?wGG?$ղ?  ?)ΖIDdiQ T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.@ @@0@@@@@AqIi I O >M *DAT read: user:398> U BDAT read: Tx time:00:31:20.6272 ] $Ping request sent.] :̱>:ǟٱ:z! AHRS rotation from veh to nav: [[0.907704,-0.367273,-0.202940],[0.389834,0.917045,0.084004],[0.155252,-0.155364,0.975581]]:H ?g׿ɿ ?oX?N?O?ÿ@7?i: @>I:V2^;:KCY_By IbD-VD-1y=>%=R=ٔE+Q-E>9AYA=MgGyMFMEM>QQ 5}4U?Q 9}4U݅)UpBYy>Q I@UBDIU:;iU;U]24yɮA\&X@AJ DR Dj&>=K5@8D@rg.4?l?ZDdbQ ͵^F~@Uj`j@pJwt_@zZ?uF?t?2SO=?2SC::C"<ӕ?*!B 6C“D,>gO= addTargetRange:: Added new target pos. range: 554.900024 m, deltaT: 4.535850 s, deltaX: 3.000000 m, approachRate: 0.661398 m/s, rangeRepo size: 4 gOM Added new target pos. range: 552.198669 m, bearing: 23.110802 deg, lat: 36.779110 deg, lon: -121.859360 deg, deltaT: 4.535850 s, deltaX: 2.966492 m, approachRate: 0.654010 m/s, posRepo size: 4 jIgOMFNOT Ignoring new targets: 552.20 m.qR}ZygO ProNav: ac range: 552.198669 m, nav range: 532.106079 m, bearing: 22.736140 deg, approach rate: 0.000000 m/s, LOS rate: 0.000007 deg/s, cmd heading: 23.620205 deg, new cmd heading: 23.620210 deg. BgOHeadingCmd: 0.412250 target range: 552.198669 and range: 554.90 m.}>*" ʎj@3W@Z:?5jBɢ5A)1 5Y.i9)999i=?E׾;EA:IE}>II@ @@ 0@ IIԡO=>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249257B>BCB IB%`BBBBDBz;B2EBCBCBB =B =Cƨ5 τ,RX@A2O@>2>2!ٱ25 :AHRS rotation from veh to nav: [[0.907300,-0.367604,-0.204140],[0.389933,0.917244,0.081337],[0.157347,-0.153398,0.975557]]2H? ӆ׿`F!ʿ?Z?Ҵ?#?ÿ7?i2O@>I2 ^;2LCY^_By^ IdfAbDj VDj2yI=%G=ٔQ->9Y=gGychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503962=:E=>E EE%E"E ;*E՚:VE 4ZEBEOQ I@=BDI=*" ʎ   j Z pl?UjBɢ]4)Y ]0iY)顁iX;:I>II)A9@9 @9@=0@9IIO>i  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753386,lX@A 6A>6q8>6/$ٱ67 >AHRS rotation from veh to nav: [[0.906658,-0.368285,-0.205760],[0.390489,0.917217,0.078943],[0.159653,-0.151921,0.975413]]6H@X?׿VVʿ?Y?5?@o?'rÿ6?i6A>I609^;6JCYF`ByF IaM@aM iMMb@Mb@Mb@IIII I9M%I=ٔQ->9Y=gGyF;E>Q 543?Q 94׀)bqBY?Q E:yO>Q I@BDIN;iE9;@4yɮ3AEjgOFNOT Ignoring new targets: 552.20 m.R%Z%gO= ProNav: ac range: 552.198669 m, nav range: 531.645020 m, bearing: 22.734647 deg, approach rate: -0.651998 m/s, LOS rate: -0.004691 deg/s, cmd heading: 23.620242 deg, new cmd heading: 23.617221 deg. BE\ gOMHeadingCmd: 0.412198 target range: 552.198669 and range: 554.90 m.M >I*I"I IQQYYʎYYajaZes? jBɢ X)  M//iQ)QQQiU~]o;];I] >Iaqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005731E EE(E"Ef;*EVEc44ZEa@a@a@a@@ @@ 0@IIԙO^> {,稆X@A6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257262>DRA>>%T>>G&ٱ> FAHRS rotation from veh to nav: [[0.906233,-0.367810,-0.208464],[0.390533,0.917148,0.079522],[0.161943,-0.153478,0.974792]]>H?4׿@ʿ ~?FY?[??(ÿ~1?i>DRA>I>j ^;>ICBPAR<BV>BVCBV IBV`BBV =BTBTBV{;BVG3E`Yb,`Byb IbDjVDjyr8=%rV=ٔvǻQ-v>9tYt=zgGyxzz:Ez>|Q 54~$D?Q 94~P~)~qBY y z>Q I @~CDI~:i~:~XG4yɮۈAj9gOEFNOT Ignoring new targets: 552.20 m.RE#ZE#gOU ProNav: ac range: 552.198669 m, nav range: 531.430664 m, bearing: 22.733096 deg, approach rate: -0.570475 m/s, LOS rate: -0.004129 deg/s, cmd heading: 23.617221 deg, new cmd heading: 23.614118 deg. BUgO]HeadingCmd: 0.412144 target range: 552.198669 and range: 554.90 m.]>Y*a"a aaaiiʎiiijqZu ?颥%kBɢO) /i)顩i ;ϱ;I5>I99@ @@2@%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510022^A5"5;bEȀ'4jE(4rEn/E EE)E"E;*E:VEFA4ZEBEbA >,X@AY~T`By~ I  = =aa iMb@Mb@Mb@ 9`"??~jt?Y?yL=<+A )YAbD VD2yo=%==ٔQ->9Y=gGyFE>9Q 5E4=uW?Q 9E4= {)=qBYMl?Q EM:yM%>Q IM@=CDI=X:i=:=O4yQɮ]AYjygOFNOT Ignoring new targets: 552.20 m.RZgO ProNav: ac range: 552.198669 m, nav range: 531.171265 m, bearing: 22.730300 deg, approach rate: -0.582764 m/s, LOS rate: -0.006284 deg/s, cmd heading: 23.614119 deg, new cmd heading: 23.608525 deg. B8gOHeadingCmd: 0.412046 target range: 552.198669 and range: 554.90 m.>*" ʎjZ`Q?ckBɢ;) 0i)iG: ;H;I>I>i>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765657I@ @@3@q^A] ;ԡ A I I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017191E  E E E "E x;*E :VE ZE a @a @a @a @,__X@AY`By  I <<bDVD1ye >%eP=ٔiQ-m>9iYq=ugGyqqEu>yQ 54g?Q 94Bx)qBYyQ I@%CDI:i:U4yɮAjgOFNOT Ignoring new targets: 552.20 m.RZgO ProNav: ac range: 552.198669 m, nav range: 530.949768 m, bearing: 22.727911 deg, approach rate: -0.582241 m/s, LOS rate: -0.006283 deg/s, cmd heading: 23.608525 deg, new cmd heading: 23.603744 deg. B7gOHeadingCmd: 0.411963 target range: 552.198669 and range: 554.90 m.>*" ʎjZ@%kBɢ%K)) -0i)))))i5_ =/P;=y;I=>I99@ @@4@@=@=ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.269191B>BCBm IBaBB =BBB{;Bk3E^AAA II IY Om > Ҵ,:X@A:9@>:>:F,ٱ:$ NAHRS rotation from veh to nav: [[0.905739,-0.364968,-0.215491],[0.389171,0.917530,0.081757],[0.167881,-0.157913,0.973077]]:H`?[׿3˿`,?h\?@ ?@}?@6Ŀ s#?i:9@>I:^;:JCYZ`ByZ1 IbDjVDj1yvT=%zR=ٔz~}Q-~>9Y=gGy F 3E >Q 554x?Q 9=4fu)rBYIyM>Q IM@3CDI;it;\4yYɮ]ƇA]Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.523878jgOFNOT Ignoring new targets: 552.20 m.E EE*E"E;*E:VE(N4ZEBE]*" ʎjZ]@mkBɢmA8)q u)2iq)qqqiuM };ڿ:I>I =9@9 @A@E4@A1iߩ Iߩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773420^A !;Y A I I O >D,CX@AF0@>F>F.ٱFT% RAHRS rotation from veh to nav: [[0.905448,-0.364408,-0.217647],[0.388909,0.917666,0.081474],[0.170038,-0.158415,0.972621]]FHn?tR׿ ˿?]?v۴??@FĿ@?iF0@>IFD^;FLCY^`By^G IddieMb@Mb@Mb@ԡaaaa a9eZd;?y&1?{Gzt?Ye?ye`e=eף;eAa eA)eAaYabDVDy=%5=ٔQ->9Y=gGyJE>Q 54?Q 94r)FrBY?Q E:y>Q I@DCDI:i;sd4y ɮ ~A P%B*** querying acoustic contact ***) )j1gO5FNOT Ignoring new targets: 552.20 m.R=;Z=;gOM ProNav: ac range: 552.198669 m, nav range: 530.455811 m, bearing: 22.722493 deg, approach rate: -0.644832 m/s, LOS rate: -0.007225 deg/s, cmd heading: 23.598872 deg, new cmd heading: 23.592903 deg. BMSgOUHeadingCmd: 0.411774 target range: 552.198669 and range: 554.90 m.U>Q*Q"Q QYYaaʎaaajiZmƳ @颕 lBɢoP) "3i)顙iF; :I>I}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0253959@ @@4@E EEE"E~ ;*E :VEZEa-@a-@a-@a-@^Aq:A I I! ) O5 >A A B >B B IB aBB =B B DB {;B m3E- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277257#,X@A2%@>2>2q0ٱ2ue& :AHRS rotation from veh to nav: [[0.905133,-0.363916,-0.219771],[0.388798,0.917696,0.081674],[0.171960,-0.159372,0.972127]]2H? hJ׿q!̿?@]???OfĿ`?i2%@>I2W.^;0YBaByBa IJ@AHbDNVDN:yV=%Va=ٔV"Q-V>9XYX=ZgGyZFZS8E^>Q 5%47?Q 9-45o)lrBY)y-?Q I-@SCDI:i:k4y5QBɮ5;A=EjygOFNOT Ignoring new targets: 552.20 m.RZgO ProNav: ac range: 552.198669 m, nav range: 530.233826 m, bearing: 22.720003 deg, approach rate: -0.586565 m/s, LOS rate: -0.006582 deg/s, cmd heading: 23.592903 deg, new cmd heading: 23.587921 deg. B@gOHeadingCmd: 0.411687 target range: 552.198669 and range: 554.90 m.>*" ʎjZ @=BlBɢ=L)9 E3iA)AAAiEzMV;M3:IU>Iq 9@  @ @ #4@ @[A@\AABDAT read: Rx Time:00:31:23.7601 TRx dataTimestamp_ set to:1761697884.392274checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533423EM EMEIEI"EM;*EM:VEIZEIBEML\ԙ HM,"X@A2]@>2>282ٱ2O * :AHRS rotation from veh to nav: [[0.904730,-0.363063,-0.222820],[0.388886,0.917435,0.084148],[0.173872,-0.162783,0.971221]]2H?m<׿Z̿?[?ช?@lA?@Ŀ@>?i2]@>I2U^;2JCYB*aByBx IrPExceeded connect timeout, disconnecting.iMb@Mb@Mb@ 9x?Zd;O?MbpYK?yj<=١AA )IAYAbD-VD-y5=%=B=ٔސQ->9Y=gGy(:E>Q 54?Q 94(l)rBY?Q E:y>Q I@cCDIG ;im ;ur4yɮAjgOFNOT Ignoring new targets: 552.20 m.RHȸZHȸgO- ProNav: ac range: 552.198669 m, nav range: 529.984741 m, bearing: 22.717687 deg, approach rate: -0.588243 m/s, LOS rate: -0.005472 deg/s, cmd heading: 23.587922 deg, new cmd heading: 23.583288 deg. B-: gO5HeadingCmd: 0.411606 target range: 552.198669 and range: 554.90 m.=>9*9"9 999AAʎAAIjIZM@q}|lBɢ} G) #5i)顁i";:I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.781315 @  @ @ 0@ԡ^A5] ;IA Ii O > checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035845EU  EU EU )EQ "EU ~ ;*EU B:VEU FA4ZEQ au @a} @a} @a} @ L,<X@A2/@>2 >24ٱ241 :AHRS rotation from veh to nav: [[0.904333,-0.361582,-0.226804],[0.389105,0.916800,0.089867],[0.175439,-0.169520,0.969785]]2H@L?'$׿Ϳ?lV??t? زſ{?i2/@>I2)^;0Y^RaBy^ IbDfVDfyn=%rN=ٔrEQ-r>9pYt=vgGyvFvz:Ev>xQ 5~4z}?Q 94zqi)zrBYy>Q I@zqCDIz;iz;zy4y ɮ AEj1gO=FNOT Ignoring new targets: 552.20 m.R=ǸZ=ǸgOM ProNav: ac range: 552.198669 m, nav range: 529.763062 m, bearing: 22.715618 deg, approach rate: -0.584463 m/s, LOS rate: -0.005457 deg/s, cmd heading: 23.583287 deg, new cmd heading: 23.579148 deg. BMgOUHeadingCmd: 0.411534 target range: 552.198669 and range: 554.90 m.U>Q*Y"Y YYYaaʎaaajiZm^@Ա颕lBɢs/Q) 5i)i;;I>II)\Ae9@a @i@m0@iB>BB IBbBB =BBDB{;BV3EiIA DAT read: 00:31:23.7601 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 323, 0.18,-1.847, 2.840,-1.664,-2.143, PHS= 0.397,-1.255, 0.434, RAW= 151.1, 5.1, CAL= 150.3, 5.2, ROT= 359.7, -5.2 Ygot valid direction response: 00:31:23.7601 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 323, 0.18,-1.847, 2.840,-1.664,-2.143, PHS= 0.397,-1.255, 0.434, RAW= 151.1, 5.1, CAL= 150.3, 5.2, ROT= 359.7, -5.2 PDAT read: Bearing 176.1, 8.6 (Local) %~Local bearing/azimuth received: Bearing 176.1, 8.6 (Local) -DAT read: Range 11 to 50 : 546.6 m (Round-trip 728.8 ms) speed 0.4 m/s 5R#Rx 1: Read range and direction messages.=^direction in FSK: [0.995871,-0.005214,0.090633]=Fpublishing direction and range infoyoT,?+? 0L3?YD )PIC>iף?5>(@K='@ ޹=)@I޹-zŽJ?Vy`v?[o?  ?)BIi޹UT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.i^AMv;ԑ I) I9 OM > p,VX@A,2z@>2E>2i5ٱ2>5 :AHRS rotation from veh to nav: [[0.904051,-0.360621,-0.229444],[0.389160,0.916471,0.092926],[0.176768,-0.173301,0.968876]]2H?k׿o^Ϳ?S?ʷ? T?.ƿ?i2z@>I2^;2LCY^{aBy^ I f;fbDjVDjN2y=%H=ٔXQ->9 Y = gGy  N9E>E*DAT read: user:399> EBDAT read: Tx time:00:31:25.1772 M$Ping request sent.MQ I@CDIWT~@qSNP%H@roT,?+? 0L3?Zb޹}@Gj@ܻKAb@zC:s4?Q] ?DgO addTargetRange:: Added new target pos. range: 546.599976 m, deltaT: 4.540266 s, deltaX: -8.300049 m, approachRate: -1.828097 m/s, rangeRepo size: 4 gO Added new target pos. range: 543.932739 m, bearing: 23.933274 deg, lat: 36.779099 deg, lon: -121.859360 deg, deltaT: 4.540266 s, deltaX: -8.265930 m, approachRate: -1.820583 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 543.93 m.RZgO ProNav: ac range: 543.932739 m, nav range: 528.419067 m, bearing: 22.763594 deg, approach rate: 0.000000 m/s, LOS rate: -0.005457 deg/s, cmd heading: 23.579148 deg, new cmd heading: 23.573793 deg. BgOHeadingCmd: 0.411440 target range: 543.932739 and range: 546.60 m.N>*" ʎ!!j%@Z%`XS?mlBɢu2)q u7iq)qyyi}*n;1!;IN>IԹnManaging dock network, ignoring radio surface power off1@1 @9@=4@9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250929 ^A} [RS;I I O >,*pX@AB A>B>B!7ٱB#2 JAHRS rotation from veh to nav: [[0.903553,-0.361734,-0.229655],[0.389806,0.916480,0.090085],[0.177887,-0.170917,0.969094]]BH ?&׿QeͿ? S?? ?ſ?iB A>IBF;^;@YRaByR I\i-Mb@Mb@Mb@)))) )9-1Zd?:v?y&1Y-"?y-<-`e-5A-IA -5A)-A)Y-AbDMVDMk1y]?=%]E=ٔ]3Q-]>9aYa=egGyeFe:Em>iQ 54mF?Q 94mc)msBYQ?Q E:yO>Q I@mCDIm*"   !!ʎ!!!j)Z- ?颕(mBɢf`) 9i)顙i>;+R;IL>IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503370E EE'E"E;*EVE'4ZEa@a@a@a@9@ @@0@^AE d;I I O >A B A <B B B ; IB hbBB B B B {;B H3EBeCBeCBe˓CBe =Be =Ce645 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754870,VX@A2LB>2.>2b8ٱ2 . :AHRS rotation from veh to nav: [[0.902978,-0.363373,-0.229328],[0.390585,0.916578,0.085600],[0.179093,-0.166867,0.969578]]2H1?A׿ZͿY?T?@? ?[ſ?i2LB>I2(^;2MCYBaByB IbDJVDJyU=%UK=ٔU:GQ-]>9YYY=]gGyae;Ee>iQ 5u4m?Q 9u4m`)m*sBYqy}>Q I}@mCDIm;im";m4yɮڅAEjgOFNOT Ignoring new targets: 543.93 m.RZgO ProNav: ac range: 543.932739 m, nav range: 527.928528 m, bearing: 22.760976 deg, approach rate: -0.650819 m/s, LOS rate: -0.003516 deg/s, cmd heading: 23.571167 deg, new cmd heading: 23.568556 deg. B͸gOHeadingCmd: 0.411349 target range: 543.932739 and range: 546.60 m.S>*" ʎjZI? XmBɢ ѵ])   :i )ih2;;IS>I!9@ @@0@I fCG!echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008049mAq^Av;A[AzA¿9YAE EE(E"E ;*E:VEc44ZEBEvT;a :E>;a IYIyO>ԡ ",[X@AY~aBy~ IԉiMb@Mb@Mb@ 9\(\?~jtx:vY?yĻTA?A ١A)?AYAAAbDVDy>%C=ٔQ->9Y=gGyFE>Q 54 ?Q 94k^)TsBY?Q E:y>Q I@CDIr;i;ؕ4yɮmAjgOFNOT Ignoring new targets: 543.93 m.R%F6Z%F6gO5 ProNav: ac range: 543.932739 m, nav range: 527.678589 m, bearing: 22.761048 deg, approach rate: -0.597113 m/s, LOS rate: 0.000170 deg/s, cmd heading: 23.568556 deg, new cmd heading: 23.568699 deg. B56gO=HeadingCmd: 0.411351 target range: 543.932739 and range: 546.60 m.=>9*9"A AAAIIʎIIIjQZU?颅mBɢpK) 5:i)顉iqq;A;I>IiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261423I@I @I@M0@I@Q@Qԩ^AmΒ{;IIO>m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510817E  E E &E "E ;*E :VE 4ZE a @a @a @a @ 4,6X@A2nC>2b>2j;ٱ2% :AHRS rotation from veh to nav: [[0.902269,-0.365562,-0.228638],[0.391030,0.917179,0.076665],[0.181677,-0.158577,0.970488]]2Hc?\e׿@DͿ@?Y?@Q?.A??LĿ<?i2nC>I2>^;2JCYNbByR IbDZVDZy~=%~X=ٔKQ->9Y = gGy F :E >Q 54?Q 94!\)zsBY!y%>Q I%@CDI;i;u4y)ɮ-A)jQgOUFNOT Ignoring new targets: 543.93 m.R]~6Z]~6gOm ProNav: ac range: 543.932739 m, nav range: 527.452576 m, bearing: 22.761091 deg, approach rate: -0.597511 m/s, LOS rate: 0.000114 deg/s, cmd heading: 23.568698 deg, new cmd heading: 23.568784 deg. BmU6gOuHeadingCmd: 0.411353 target range: 543.932739 and range: 546.60 m.u؜>q*q"q yyyʎjZ`z ?颵mBɢ.mW) :i)项i+&;;I؜>I@ @@+0@BM>BIBM IBMbBBIBIBIBMk{;BM43Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762675^Avт;1A I I! O- >a ,{X@AY~;bBy~ I bDVD뱝-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015592y=%B=ٔQ->9Y=gGyE>bE]:4jE]A84rE]d/E EEE"E*EǙ:VEZEBE1N*" ))))1ʎ111j1Z=]@颅nBɢ=) ʧ;;I>Ii=9@A @A@E0@Aԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266843^Ae +;Թ A I I O >,?X@A28A>2pG>2&=ٱ2/$ :AHRS rotation from veh to nav: [[0.902770,-0.363484,-0.229970],[0.388937,0.918158,0.075596],[0.183670,-0.157689,0.970257]]2H}?RC׿@oͿ W? a?@Z??`)/ĿY ?i28A>I2G^;2MCYB|bByBH IiMb@Mb@Mb@ 9㥛 ?{Gz~jtxY?yףĻ|A |A)AYA p<bDVD1y>%?=ٔQ->9Y=gGyFE>Q 54C?Q 947W)sBY ?Q E :y ֽ>Q I @CDIX ;i ;T4yɮTA)P=B*** querying acoustic contact ***9 9jAgOMFNOT Ignoring new targets: 543.93 m.RM8ZM8gO] ProNav: ac range: 543.932739 m, nav range: 526.953613 m, bearing: 22.761822 deg, approach rate: -0.642278 m/s, LOS rate: 0.001852 deg/s, cmd heading: 23.568884 deg, new cmd heading: 23.570248 deg. B]X8gOeHeadingCmd: 0.411378 target range: 543.932739 and range: 546.60 m.e2>a*i"i iqqqqʎyyyjyZ}`@U7nBɢU^)Y ];iY)YYYiem5n;m ;Im2>Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518894Ei EmEm+Ei"Ei*Em:VEm [4ZEia}@a}@a}@a@9@ @@ 0@Yԙ^A% ;A A AAB >B CB IB 3cBB B B DB {;B ?3EAU .AIY Ii } checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770867O > ,Ό X@A2?>29>2>ٱ2' :AHRS rotation from veh to nav: [[0.903414,-0.360988,-0.231367],[0.387011,0.918804,0.077600],[0.184569,-0.159647,0.969767]]2H?l׿ rͿ?f?`ݳ?? MoĿT?i2?>I25^;2LCYNbByRW IbDZVDZkyb=%b_=ٔb#Q-b>9f ?Yf ?=fgGydjEj>lQ 5r4n,T?Q 9r4n9U)nsBYpyrƼ>Q Ir@nCDIn;in+;n4yxɮz#AxjgOFNOT Ignoring new targets: 543.93 m.R7Z7gO ProNav: ac range: 543.932739 m, nav range: 526.743713 m, bearing: 22.762475 deg, approach rate: -0.552204 m/s, LOS rate: 0.001718 deg/s, cmd heading: 23.570249 deg, new cmd heading: 23.571555 deg. BCI8gOHeadingCmd: 0.411401 target range: 543.932739 and range: 546.60 m./>*" ʎjZ  @ԱlnBɢ]=U) y=i)i;\M@:I/>I9@ @@o0@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022780E} E}E}&Ey"E};*E}:VE}4ZEyBE}L\9 ( ,g&X@A><>>)>>>ٱ>+) FAHRS rotation from veh to nav: [[0.904070,-0.358475,-0.232706],[0.385070,0.919445,0.079635],[0.185414,-0.161604,0.969281]]>H$?BֿSͿ ?l?b?? pĿY?i><>I>2^;>JCYNbByNn Ii%Mb@Mb@Mb@!!!! !9%^I +?Zd;OMb`?Y%X?y%j%;%rA! !)!!Y% AbD5VD5NyEp=%MB=ٔMQ-M>9M"?YU"?=UgGyUFUϡEU>YQ 5e4]g?Q 9m4]R)],tBYmu?Q Em:ym>Q Im@]CDI]:i]:]4yqɮ}ڃAyjgOFNOT Ignoring new targets: 543.93 m.R8Z8gO ProNav: ac range: 543.932739 m, nav range: 526.496155 m, bearing: 22.763356 deg, approach rate: -0.610650 m/s, LOS rate: 0.002173 deg/s, cmd heading: 23.571555 deg, new cmd heading: 23.573317 deg. B~8gOHeadingCmd: 0.411432 target range: 543.932739 and range: 546.60 m.7>*" ʎjZ @=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274759额nBɢQS) >i)顡i;JtI7>IIZA)[AQ@Q @Q@Uo1@QI^Amrg:i  BDAT read: Rx Time:00:31:28.3146  TRx dataTimestamp_ set to:1761697888.925800 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528767E  E E (E "E %;*E :VE c44ZE a @a @a @a @A I I O >,B@X@A 2A;>2+>2Gx?ٱ2+ >AHRS rotation from veh to nav: [[0.904729,-0.356191,-0.233650],[0.383285,0.920018,0.081606],[0.185895,-0.163386,0.968890]]2H@?`ֿ@<Ϳ࿇?p??e?Ŀ&?i2A;>I2m@^;0YBbByF IHHbDNVDNJyV=%VU=ٔZQ-Z>9XYX=ZgGy\^㤻E^>`Q 5f4byy?Q 9f4bP)bZtBYhyj>Q Ij@b DDIbK:ib:bɿ4y]TBɮ]A]EjgOFNOT Ignoring new targets: 543.93 m.R8Z8gO ProNav: ac range: 543.932739 m, nav range: 526.270386 m, bearing: 22.764207 deg, approach rate: -0.563970 m/s, LOS rate: 0.002127 deg/s, cmd heading: 23.573317 deg, new cmd heading: 23.575020 deg. B&y8gOHeadingCmd: 0.411462 target range: 543.932739 and range: 546.60 m.>*" ʎjZ@R@nBɢΆ\) ?i)i(;ȅ%I>Iqu9@q @q@}4@yB>BCB IBcBB =BBB{;BI3EMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778817ԙ^AΒ{A I I O >9,ZX@A29>2m>2 @ٱ2- :AHRS rotation from veh to nav: [[0.905188,-0.354151,-0.234972],[0.381932,0.920349,0.084170],[0.186447,-0.165933,0.968351]]2HL?@jֿο q?s?'? ?H=ſ@?i29>I2&^;0YBcByB IbDJVDJ0PVchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.031348yZ#=%ZJ=ٔ^Q-^>9\Y`=bgGybFbjEb>dQ 5j4f>?Q 9n4fN)ftBYpyr>Q Iv@fDDIfސ;if;fƻ4yWBɮOAڨEE EE&E"E ;*Eh:VE4ZEBEO*!"! !!!IIʎIIQjQZU m@颵oBɢ >B) Ai)项iLN;pId>Iy@y @y@}0@DAT read: 00:31:28.3146 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 480, 0.20, 0.409,-1.155, 0.515,-0.172, PHS= 0.684,-0.938, 0.643, RAW= 148.8, -4.9, CAL= 148.5, -6.1, ROT= 1.5, 6.1 Ygot valid direction response: 00:31:28.3146 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 480, 0.20, 0.409,-1.155, 0.515,-0.172, PHS= 0.684,-0.938, 0.643, RAW= 148.8, -4.9, CAL= 148.5, -6.1, ROT= 1.5, 6.1 PDAT read: Bearing 165.3, 12.9 (Local) ~Local bearing/azimuth received: Bearing 165.3, 12.9 (Local) DAT read: Range 11 to 50 : 549.9 m (Round-trip 733.3 ms) speed 0.7 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.993997,0.026029,-0.106264]Fpublishing direction and range infoyQUT0,uX@A R8>R>R_?ٱRd. ^AHRS rotation from veh to nav: [[0.905542,-0.353196,-0.235045],[0.381125,0.920612,0.084957],[0.186378,-0.166514,0.968265]]RH3?`šֿο`Zd?u?ཿ???QPſ?iR8>IR^;RKCYb0cByf IiMMb@Mb@Mb@IIII I9Mn?:v{Gz?YM?yMԼM#9Y=gGyE>Q 54?Q 942L)tBY/?Q E:y>Q I@*DDIa;i;λ4yɮAʊkX@AJDRDj>'9qXW@]h|,@0MrT0gO addTargetRange:: Added new target pos. range: 549.900024 m, deltaT: 4.535749 s, deltaX: 3.300049 m, approachRate: 0.727564 m/s, rangeRepo size: 4 *DAT read: user:400> BDAT read: Tx time:00:31:29.6772 $Ping request sent.*" ʎE EE)E"E~ ;*EVEFA4ZEa@a@a@a@j@3/@Z`2?]OoBɢ]T)Y ]AiY)aaaieix;'bI>It>i>}9@y @y@}1@yԡ B >B B 5 IB cBB =B B B {;B A3E^A y checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255331A .AI I O >#,X@A27>2ݓ>2U@ٱ20 :AHRS rotation from veh to nav: [[0.905812,-0.352101,-0.235646],[0.380425,0.920753,0.086549],[0.186498,-0.168042,0.967977]]2Hi?ӈֿ)ο@X?v? (?,? jſ?i27>I2ܶ];2HCYBWcByB I J49Z ?YZ ?=ZgGyZF^E^>`Q 5f4bٲ?Q 9f4bJ)btBYdyf;>Q Ij@b8DDIb;ib;bջ4ynXBɮnAnۨEPzB*** querying acoustic contact ***x xjgOFNOT Ignoring new targets: 547.20 m.R }8Z }8gO ProNav: ac range: 547.202393 m, nav range: 527.636963 m, bearing: 23.302849 deg, approach rate: -0.627160 m/s, LOS rate: 0.003464 deg/s, cmd heading: 23.578458 deg, new cmd heading: 23.580985 deg. B8gO%HeadingCmd: 0.411566 target range: 547.202393 and range: 549.90 m.%¸>!*!"! !)ʎjZ ?uoBɢ}d)y }zBi)i ;?4I¸>I!@ @@4@]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502728D-=D-4=E5 E1E5%E1"E5;*E1VE5 4ZE1BE5L\#"*,X@A062*7>6"@>6h@@ٱ6/ >AHRS rotation from veh to nav: [[0.906029,-0.351516,-0.235685],[0.379835,0.920997,0.086542],[0.186645,-0.167931,0.967968]]6H 1?<ֿ*ο7O? x?'??~ſ?i62*7>I65];6LCbchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754662YfrcByf IiUMb@Mb@Mb@QQQQ Q9US?Zd;O~jt?YU?yUjUD9Y=gGy!%E%>)Q 554-?Q 954-G)-1uBY=?Q E=:y=b>Q I=@-IDDI- ;i-] ;-ݻ4yAɮM}AIjgOFNOT Ignoring new targets: 547.20 m.RhP8ZhP8gO ProNav: ac range: 547.202393 m, nav range: 527.372192 m, bearing: 23.304134 deg, approach rate: -0.586292 m/s, LOS rate: 0.002847 deg/s, cmd heading: 23.580986 deg, new cmd heading: 23.583557 deg. B8gOHeadingCmd: 0.411611 target range: 547.202393 and range: 549.90 m.>*" ʎjZ r:?ԉ额oBɢU) UDi)顡i>F!A;I>I9@ @@4@Թuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006756EU  EU EU &EQ "EU ;*EU :VEU 4ZEQ a] @a] @a] @a] @^A A zA [A A ؟AI I O > 1,ZX@A`Y~cBy~ IbD VD Ny:+>%%P=ٔ%Q-%>9-"?Y-"?=-gGy-F-E5>1Q 5=45?Q 9E45E)5buBYAyAQ IE@5WDDI5;i5a;54yMYBɮMAQjqgO}FNOT Ignoring new targets: 547.20 m.R}T8Z}T8gO ProNav: ac range: 547.202393 m, nav range: 527.152283 m, bearing: 23.305202 deg, approach rate: -0.595932 m/s, LOS rate: 0.002897 deg/s, cmd heading: 23.583557 deg, new cmd heading: 23.585695 deg. B8gOHeadingCmd: 0.411648 target range: 547.202393 and range: 549.90 m.>*" ʎjZ v?oBɢbe) %Ci!)!!!i%"-^f;-sI->I1B>BCBt IBddBB =BBDB{;B;3EBCBCB”CB =B =C 5ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2589139@ @@`4@ ^A- #2 G) I Q } 19y Y AA9 IA IY Oe > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510858DY zD] @AEm  Em Em +Ei "Em ;*Em :VEm [4ZEi BEm eZw>ZN@ٱZ3. AHRS rotation from veh to nav: [[0.905859,-0.352132,-0.235420],[0.380216,0.920936,0.085511],[0.186696,-0.166971,0.968125]]ZH? Tֿ@"ο@uU?Ox?`?? P_ſ`?iZ7>IZ>O];ZJCYcBy% IiMMb@Mb@Mb@IIII I9MQ?Mb`?I +?YM?yM;M949Y=gGyPc:E>Q 54?Q 94B)uBY?Q E:y>Q I@iDDI:is:4yɮAjigOmFNOT Ignoring new targets: 547.20 m.Ru;6Zu;6gO} ProNav: ac range: 547.202393 m, nav range: 526.871826 m, bearing: 23.305284 deg, approach rate: -0.550599 m/s, LOS rate: 0.000160 deg/s, cmd heading: 23.585695 deg, new cmd heading: 23.585858 deg. B6gOHeadingCmd: 0.411651 target range: 547.202393 and range: 549.90 m.>*" ʎjZH7? *pBɢ j)B)  aDi )i2#3s;véI>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7632221q@q @q@u4@qa ^A lԉ A .AI I uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.019180O>>,X@AE: E:E:)E8"E:~ ;*E:k:VE:FA4ZE8a>@a>@a>@aB@R9>Rl>R{S@ٱRZ+ jAHRS rotation from veh to nav: [[0.905144,-0.354712,-0.234294],[0.381905,0.920585,0.081676],[0.186716,-0.163406,0.968729]]RH`? ֿ@WͿ"q?ou? ?P?`~Ŀ?iR9>IR[_];RKCYrdByrE IbDzVDz:y,>%L=ٔ UQ- >9  ?Y ?=gGyFc;E>Q 5%4?Q 9%4I@)uBYIyM>Q IM@xDDIL;i;4yaɮ4AܨEjgO%FNOT Ignoring new targets: 547.20 m.R%i5Z%i5gO5 ProNav: ac range: 547.202393 m, nav range: 526.641907 m, bearing: 23.305306 deg, approach rate: -0.523236 m/s, LOS rate: 0.000050 deg/s, cmd heading: 23.585859 deg, new cmd heading: 23.585903 deg. B5պ5gOHeadingCmd: 0.411652 target range: 547.202393 and range: 549.90 m.>*" ʎjZ V8@颍gpBɢC~K) Di1)11i5!#=;EYfIE>IAA1A5@ABE>BECBE IBEdBBE =BABEDBEV{;BE3EE9@A @A@E4@Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.271950Y^Am Au ?Au ?ԡ A ؟AI I O >k^F,xX@A6H@>6|>6eAٱ6*! >AHRS rotation from veh to nav: [[0.902365,-0.362735,-0.232725],[0.387784,0.918996,0.071202],[0.188046,-0.154497,0.969933]]6H,? 7׿Ϳr?jh?L:?? ÿ ?i6H@>I6];6ICYFBdByF_ IbDNVDNkyVX=%V8=ٔZGQ-Z>9^"?Y^"?=^gGy\^t<Eb>`Q 5f4b=?Q 9j4hb=)bvBYlyn>Q In@bDDIb+;ib,;bo4yrZBɮrApPB*** querying acoustic contact *** j gOFNOT Ignoring new targets: 547.20 m.R0Z0gO% ProNav: ac range: 547.202393 m, nav range: 526.387634 m, bearing: 23.305151 deg, approach rate: -0.656267 m/s, LOS rate: -0.000398 deg/s, cmd heading: 23.585903 deg, new cmd heading: 23.585595 deg. B%:gO-HeadingCmd: 0.411646 target range: 547.202393 and range: 549.90 m.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522897-M>*" ʎjZ@Y@bE}-4jE}14rE}60E EE'E"E%;*EM:VE'4ZEBEKec;eO;IeM>IiIq)u\A 9@! @!@%4@))^Ayb]iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.775996ԁ A I I O >zL,4X@AJKD>J>JBٱJ ^AHRS rotation from veh to nav: [[0.900657,-0.368010,-0.231053],[0.391237,0.918154,0.062672],[0.189079,-0.146842,0.970921]]JH.?z׿&Ϳ  ?a? @ ?3?¿?iJKD>IJ~];JJCYfpdByf{ IYiMb@Mb@Mb@ 9l?Mb?{Gzt?Y?y<ף;^A A)AzAYGA bDVDy=%;=ٔQ->9Y=gGyF4<E>Q 54'?Q 94:)9vBY?Q E:ys>Q I@DDIC ;i ;4yɮAj gO FNOT Ignoring new targets: 547.20 m.R\Z\gO% ProNav: ac range: 547.202393 m, nav range: 526.134521 m, bearing: 23.304657 deg, approach rate: -0.581437 m/s, LOS rate: -0.001136 deg/s, cmd heading: 23.585594 deg, new cmd heading: 23.584605 deg. B%gO-HeadingCmd: 0.411629 target range: 547.202393 and range: 549.90 m.- >)*)") )1199ʎ999jAZE @mpBɢmaZ) Ei)iZ&%I;*;I >IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.027377ԁ@ @@4@E  E E +E "E ;*E Ǚ:VE  [4ZE a@a@a@a@^A ;ԱAIIO>B >B CB IB /eBB =B B B z;B 2E  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279212kS,XNX@A2$G>2>2Cٱ2 :AHRS rotation from veh to nav: [[0.899155,-0.372786,-0.229241],[0.394285,0.917357,0.054727],[0.189895,-0.139594,0.971830]]2H@?׿WͿ;?Z?&?zN?:;?i2$G>I2o}];0YBdByB IbDJVDJ0yR>%R]=ٔVQ-V>9TYT=ZgGyXZh<EZ>\Q 5b4^ 8?Q 9b4^8)^evBYdyf2>Q If@^DDI^:i^:^ 4yj[Bɮj)AjݨEj|gO~FNOT Ignoring new targets: 547.20 m.RƷZƷgO ProNav: ac range: 547.202393 m, nav range: 525.920044 m, bearing: 23.304158 deg, approach rate: -0.581301 m/s, LOS rate: -0.001353 deg/s, cmd heading: 23.584606 deg, new cmd heading: 23.583607 deg. BugOHeadingCmd: 0.411612 target range: 547.202393 and range: 549.90 m.>*" !!!!)ʎ)))j)Z5@s @ԹpBɢ՗f) Ei)iU( ]; I@ @@0@]BDAT read: Rx Time:00:31:32.8192 eTRx dataTimestamp_ set to:1761697893.465076echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.531814^A5] ;1E] E]E]&EY"E];*E]:VE]4ZEYBE]1N9 rY,2hX@A2 K>2^0>2Dٱ2S :AHRS rotation from veh to nav: [[0.897754,-0.377270,-0.227387],[0.397025,0.916619,0.046695],[0.190811,-0.132199,0.972684]]2H@f?3%ؿͿh?@T?@s? }l?: ?i2 K>I2 ];2LCYVdByV Ii5Mb@Mb@Mb@1111 195On?9aYi=mgGymFm;Em>qQ 5}4uHK?Q 94u5)uvBY?Q E:y>Q I@uDDIuB;iu;u4yɮAjgOFNOT Ignoring new targets: 547.20 m.RZgO ProNav: ac range: 547.202393 m, nav range: 525.669861 m, bearing: 23.303486 deg, approach rate: -0.584722 m/s, LOS rate: -0.001570 deg/s, cmd heading: 23.583607 deg, new cmd heading: 23.582263 deg. B7gOHeadingCmd: 0.411588 target range: 547.202393 and range: 549.90 m.>*" ʎjZy @ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.782981U4qBɢU W)Q UFiQ)YYYi]X);f)Ie9@a @a@a@a^A < checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037089Ei  Em Em 'Ei "Ei *Em ?:VEm '4ZEi a} @a} @a} @a} @ IA IY Oe >`,-X@A2X=M>2I>2Eٱ2x :AHRS rotation from veh to nav: [[0.896675,-0.380162,-0.226827],[0.398852,0.916082,0.041355],[0.192071,-0.127552,0.973057]]2H? TؿͿ`Ɇ? P?o,? ɕ? SG#?i2X=M>I2T];2GCYBdByB IHJ@AbDLVDLyR=%VV=ٔV[Q-V>9XYX=ZgGyX^;E^>`Q 5b4bk\?Q 9f4bK3)bvBYdyf>Q If@bDDIb;ib;b4yn\BɮnAlj|gOFNOT Ignoring new targets: 547.20 m.RZ gO ProNav: ac range: 547.202393 m, nav range: 525.445862 m, bearing: 23.302831 deg, approach rate: -0.585355 m/s, LOS rate: -0.001712 deg/s, cmd heading: 23.582263 deg, new cmd heading: 23.580952 deg. BHgO%HeadingCmd: 0.411565 target range: 547.202393 and range: 549.90 m.%>!*!"! !!)))ʎ111j1Z5`c@]eqBɢec)a eFia)ai*$;DI@ @@0@@\A@BE<AE<BM>BMCBM/ IBMeBBM =BIBMDBMz;BM2EDAT read: 00:31:32.8192 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 496, 0.18, 1.044,-0.523, 1.202, 0.558, PHS= 0.588,-1.036, 0.600, RAW= 150.4, -1.9, CAL= 149.6, -2.7, ROT= 0.4, 2.7 Ygot valid direction response: 00:31:32.8192 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 496, 0.18, 1.044,-0.523, 1.202, 0.558, PHS= 0.588,-1.036, 0.600, RAW= 150.4, -1.9, CAL= 149.6, -2.7, ROT= 0.4, 2.7 PDAT read: Bearing 169.6, 11.6 (Local) ~Local bearing/azimuth received: Bearing 169.6, 11.6 (Local) DAT read: Range 11 to 50 : 553.4 m (Round-trip 737.9 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages. ^direction in FSK: [0.998866,0.006974,-0.047106]Fpublishing direction and range infoy,ٴ?bA|?P7VYY D )NI+?i?'@'@ A);IA=1b?R #*?5Q&ޠ f?)=I;iA=-T****** received valid address query ******-R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.^Af,X@A2RqN>2>2GGٱ2  :AHRS rotation from veh to nav: [[0.895971,-0.381937,-0.226630],[0.399800,0.915851,0.037117],[0.193383,-0.123862,0.973273]]2H`ʫ?qؿ4Ϳ R?N?? ?`r`%?i2RqN>I2];2JCYN eByR IbDZVDZ:2yvd=%vG=ٔvnUQ-v>9xYx=zgGyzFz;;E~>%*DAT read: user:401> -BDAT read: Tx time:00:31:34.2271 -$Ping request sent.-Q I @DDI:i[:g4E EEE"E=;*E':VEZEBE}ITg0@zŚ@9r,ٴ?bA|?P7VZ;bA=Qd@:*k@fp)T@zش?At??)t?2v^C:C"+?*(4dUB C<ӕ?Z“ 6CD(>IgO] addTargetRange:: Added new target pos. range: 553.400024 m, deltaT: 4.539994 s, deltaX: 3.500000 m, approachRate: 0.770926 m/s, rangeRepo size: 4 gOm Added new target pos. range: 550.675171 m, bearing: 24.103604 deg, lat: 36.779143 deg, lon: -121.859267 deg, deltaT: 4.539994 s, deltaX: 3.472778 m, approachRate: 0.764930 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 550.68 m.RZgOM ProNav: ac range: 550.675171 m, nav range: 530.857910 m, bearing: 23.386636 deg, approach rate: 0.000000 m/s, LOS rate: -0.001712 deg/s, cmd heading: 23.580953 deg, new cmd heading: 23.579332 deg. BIgOeHeadingCmd: 0.411537 target range: 550.675171 and range: 553.40 m.>*" ʎj@3K@Z`B?qBɢ6eA) Ii)iGf*;RIy@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250704ԩ ^A *:<I I! O= >l,X@A6A0O>6*C>6AHRS rotation from veh to nav: [[0.895437,-0.381841,-0.228889],[0.400344,0.915541,0.038845],[0.194725,-0.126418,0.972677]]6Hj?pؿ?LͿ@I6Ӑ];6ICYF>eByF IHN=N=iMb@Mb@Mb@ 9333333?I +?Mb`Y?y94<AV~A  A)wAYAbDVDk1y=%?=ٔ#RQ->9Y=gGyF:E>Q 54?Q 94-)#wBY?Q E:y>Q I@DDI ;i;K&4y_Bɮ~AԨEPB*** querying acoustic contact *** j gO FNOT Ignoring new targets: 550.68 m.RZgO% ProNav: ac range: 550.675171 m, nav range: 530.625610 m, bearing: 23.385876 deg, approach rate: -0.638425 m/s, LOS rate: -0.002091 deg/s, cmd heading: 23.579333 deg, new cmd heading: 23.577811 deg. B%tgO-HeadingCmd: 0.411510 target range: 550.675171 and range: 553.40 m.->)*)") 11119ʎ999j9ZE?颽qBɢꁾ)U< 6Ii)i,m;m[IqMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5034139@ @@0@EM EMEM(EI"EM~ ;*EM:VEMc44ZEIaU@aU@aU@aU@^A/C<Iq I O >Be >Ba Be n IBe eBBe =Ba Be DBe 7z;Be 2Eԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754725˩s,d]X@AFN>F >FJٱFR RAHRS rotation from veh to nav: [[0.895356,-0.379782,-0.232599],[0.399849,0.915508,0.044338],[0.196107,-0.132703,0.971562]]FH¦?@[Nؿ`Ϳ?K??`?h?iFN>IFwv];DYVieByZ IbDbVDbyj=%jZ=ٔjvQ-j>9lYl=ngGyprEr>tQ 5z4vɒ?Q 9z4v^+)vOwBYxyzG>Q I~@vDDIv:iv;v,4y`Bɮ]}Aj)gO-FNOT Ignoring new targets: 550.68 m.R5V Z5V gOE ProNav: ac range: 550.675171 m, nav range: 530.404968 m, bearing: 23.385164 deg, approach rate: -0.589678 m/s, LOS rate: -0.001903 deg/s, cmd heading: 23.577811 deg, new cmd heading: 23.576387 deg. BE^gOMHeadingCmd: 0.411486 target range: 550.675171 and range: 553.40 m.M=>I*I"I IQQQQYʎYaajaZeE ?颍rBɢ=Sl) tIi)顙i'F.+M;uTI1@1 @1@5/0@1@==@=>ԉ^A2D<echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007332IiIO~>ԱEU EUEU&EQ"EU ;*EU:VEU4ZEQBEUR2h>>2(Kٱ2= :AHRS rotation from veh to nav: [[0.895798,-0.376801,-0.235725],[0.398369,0.915868,0.049881],[0.197098,-0.138589,0.970539]]2H a?ؿ?,ο`~? N??:?H`?i2&M>I2];2FCY^eBy^' Ii=Mb@Mb@Mb@9999 99=On?MbP~jtxY=?y==Ļ=?A=|A =^A)=-vA9Y=AbDUVDU2ye5=%eA=ٔmXQ-m>9iYi=ugGyuFuqEu>yQ 54}?Q 94}()}wBY?Q E:y>Q I@}EDI}s:i}:}>44yAɮE|AAjigOmFNOT Ignoring new targets: 550.68 m.RuAZuAgO ProNav: ac range: 550.675171 m, nav range: 530.156982 m, bearing: 23.384973 deg, approach rate: -0.556364 m/s, LOS rate: -0.000429 deg/s, cmd heading: 23.576387 deg, new cmd heading: 23.576005 deg. BIgOHeadingCmd: 0.411479 target range: 550.675171 and range: 553.40 m.]>*" ʎjZ)?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2586899rBɢ%W)Y\< Ki)i.ݵ;&>II[A)XA@ @@0@1^ALM<m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511298A I I E]  E] E] (EY "E] ~ ;*E] :VE] c44ZEY am @am @am @am @i O >ϻ,X@A6J>6r>6b,Lٱ6<@ BAHRS rotation from veh to nav: [[0.896528,-0.373184,-0.238685],[0.396239,0.916474,0.055411],[0.198070,-0.144254,0.969515]]6H`\?@@׿6ο@[?S?^?WZ? v¿@D?i6J>I6B];6ICYFeByJ= IbDRVDRyZ=%ZW=ٔZ*Q-Z>9\Y\=^gGy\bOŻEb>dQ 5j4f?Q 9j4fc&)fwBYhyjo>Q Ij@fEDIf :if9:f:4ypɮr]|ArըEj gO FNOT Ignoring new targets: 550.68 m.R ZgO% ProNav: ac range: 550.675171 m, nav range: 529.934570 m, bearing: 23.384857 deg, approach rate: -0.621440 m/s, LOS rate: -0.000322 deg/s, cmd heading: 23.576005 deg, new cmd heading: 23.575774 deg. B%gO-HeadingCmd: 0.411475 target range: 550.675171 and range: 553.40 m.-֬>)*)") ))111ʎ199j9Z= n?eerBɢmq)i mKii)iqqiu`0};}fI1A A AAB>BB IBjfBBBBDBy;B@2EBCBCBB =B =C5]ujk,X@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014691E EE&E"E ;*E?:VE4ZEBEO9Y=gGyFE>Q 54m?Q 94w#)wBYyQ I@"EDI;i#;$C4yɮq{AjgOFNOT Ignoring new targets: 550.68 m.RZgO- ProNav: ac range: 550.675171 m, nav range: 529.657959 m, bearing: 23.384714 deg, approach rate: -0.585421 m/s, LOS rate: -0.000304 deg/s, cmd heading: 23.575774 deg, new cmd heading: 23.575487 deg. B-2gO5HeadingCmd: 0.411470 target range: 550.675171 and range: 553.40 m.5.>1*9"9 999AAʎAAIjIZM@颕rBɢuQ) Ki)顡i08;#IԹjZX<checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267588e9@a @a@a@a@u[A@q ^A &$<9IIO>L,=X@A2C>2|>2Mٱ2*+% :AHRS rotation from veh to nav: [[0.898907,-0.363366,-0.244809],[0.389943,0.918261,0.068861],[0.199777,-0.157362,0.967123]]2H?`bA׿ UϿ? db?`報?@I? l$Ŀ?i2C>I2'];0YBfByB{ Inchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518627iuMb@Mb@Mb@qqqq q9uOn?I +Yqyu94uuIAuAzA uA)utAqYu׉AbDVDy=%,=ٔpQ->9Y=gGylE>Q 54?Q 94 )xBY?Q E:y >Q I@4EDI]:if:oK4E EE(E"E ;*E:VEc44ZEa@a@a@a@yaBɮzAPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 550.68 m.R7Z%7gO= ProNav: ac range: 550.675171 m, nav range: 529.380920 m, bearing: 23.385238 deg, approach rate: -0.578001 m/s, LOS rate: 0.001093 deg/s, cmd heading: 23.575487 deg, new cmd heading: 23.576535 deg. B=8gOEHeadingCmd: 0.411488 target range: 550.675171 and range: 553.40 m.E>A*A"A AIIQQʎQQQjYZ],@颅rBɢ BR) Li )   i;<1j;=u;I>IAAAAB>BB IBfBB =BBDB[y;B2E9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771673! I ^A 9<I1 IA OM > ,YX@A2(?>2>2Oٱ2?) :AHRS rotation from veh to nav: [[0.900160,-0.358724,-0.247040],[0.386508,0.919365,0.073350],[0.200807,-0.161509,0.966225]]2H?WֿϿ?ok? Dz?`?UĿ Q?i2(?>I2];2HCYZEfByZ I \\bDbVDb1yjY>%nG=ٔn'Q-n>9lYp=rgGyrFrEr>tQ 5z4v?Q 9~4vP)vOxBY|y~">Q I~@vCEDIvw;iv;vR4ybBɮzA ֨Ej)gO-FNOT Ignoring new targets: 550.68 m.R5Z7Z5Z7gOE ProNav: ac range: 550.675171 m, nav range: 529.141418 m, bearing: 23.385788 deg, approach rate: -0.590072 m/s, LOS rate: 0.001355 deg/s, cmd heading: 23.576536 deg, new cmd heading: 23.577636 deg. BE8gOMHeadingCmd: 0.411507 target range: 550.675171 and range: 553.40 m.M>I*Q"Q QQQYYʎYYajaZe @颍sBɢd) Li)顑i)R2%;:I>I1checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023485a@a @i@m?0@ibEijEm-4rEmQ/E EEE"E=;*EZ:VEZEBE}IYԁ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275353Ա G,0sX@ARn-<>R>R|~OٱRF. bAHRS rotation from veh to nav: [[0.901502,-0.354118,-0.248786],[0.383137,0.920367,0.078300],[0.201247,-0.165906,0.965388]]RH?`ީֿ8Ͽ@O?s?@t ?`w? l<ſ v?iRn-<>IR];RICYnffByn IiMb@Mb@Mb@ 9zG?:vMb`?Y ?yԼ;wA )pAY A p<;bDVDy̚=%<=ٔrQ->9Y=gGy E>Q 54?Q 94)xBY/?Q E:yR>Q I@SEDIc;i;4Z4yɮyyAj!gO%FNOT Ignoring new targets: 550.68 m.R-]e8Z-]e8gO= ProNav: ac range: 550.675171 m, nav range: 528.890808 m, bearing: 23.387150 deg, approach rate: -0.576174 m/s, LOS rate: 0.003133 deg/s, cmd heading: 23.577635 deg, new cmd heading: 23.580361 deg. B=}8gOEHeadingCmd: 0.411555 target range: 550.675171 and range: 553.40 m.ET>A*A"A AIIQQʎQYYjYZ]+J @颅FsBɢ ]) Mԑi)顑i3n9;IT>I)@) @)@)@)Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526629E EE&E"E ;*E:VE4ZEa@a@a@a@^A-yb];A5ZAzA5ZAIIO>B <A <B >B CB 6IB ?gBB =B B DB y;B 62E ,,QX@A:}8>:>:֢Oٱ:=5 VAHRS rotation from veh to nav: [[0.902850,-0.349083,-0.251006],[0.379878,0.921085,0.085409],[0.201383,-0.172463,0.964210]]:H$?^WֿzпO?y?Yݵ??Cƿ?i:}8>I:];:GCYZfBy^ IbDfVDfynu>%n[=ٔn¹Q-r>9pYp=rgGyrFv-Ev>xQ 5~4z?Q 9~4z )zxBYy>Q I@zaEDIz ;ize ;z`4y cBɮ xA j1gO5FNOT Ignoring new targets: 550.68 m.R=u8Z=u8gOM ProNav: ac range: 550.675171 m, nav range: 528.675964 m, bearing: 23.388401 deg, approach rate: -0.576516 m/s, LOS rate: 0.003359 deg/s, cmd heading: 23.580361 deg, new cmd heading: 23.582864 deg. BM8gOUHeadingCmd: 0.411599 target range: 550.675171 and range: 553.40 m.U>Q*Q"Q Qechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778747aiiiʎiqqjqZu#@颥tsBɢ m) DMi)顩i4;ڢI>I1A9@ @@F1@^A II!O--> checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030559I E  E E )E "E ~ ;*E y:VE FA4ZE BE VX@A }y4>}>}9wOٱ}pW= AHRS rotation from veh to nav: [[0.904363,-0.343501,-0.253246],[0.376347,0.921723,0.093749],[0.201220,-0.180092,0.962849]]}H?տ@/5п?~?@??@= ǿ?i}y4>I}:];}ICYfBy IiMb@Mb@Mb@ 9ʡE?:v{Gz?Y?y#<tsA A)YQAbDVDky=%.=ٔ9Q->9Y=gGyE>Q 54/?Q 94u)xBY?Q E:y>Q I@sEDI :i:h4yɮwAj)gO-FNOT Ignoring new targets: 550.68 m.R-~8Z5~8gO= ProNav: ac range: 550.675171 m, nav range: 528.394287 m, bearing: 23.390032 deg, approach rate: -0.600050 m/s, LOS rate: 0.003477 deg/s, cmd heading: 23.582864 deg, new cmd heading: 23.586128 deg. BE8gOMHeadingCmd: 0.411656 target range: 550.675171 and range: 553.40 m.M>I*I"I IIQQQʎQYYjYZ]@a颍sBɢT) fMi)顑i@4;I>Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.283193]9@Y @Y@]0@Yԙ^AE eAE ?AA Au .AIy I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534615>,X@AF0>F>FkOٱFBP VAHRS rotation from veh to nav: [[0.905721,-0.338800,-0.254725],[0.373092,0.922420,0.099721],[0.201178,-0.185355,0.961858]]FH? տhMп`? v?N?0?ǿ?iF0>IF];FHCYZfByZ IEb EbE`E`"Eb%;*Eb1:VE`ZE`af@aj@aj@aj@n@AnAAbDrVDr1yz=%zo=ٔz9Q-~?9~ ?Y~ ?=~gGyFs,E? Q 54 @?Q 94 ) *yBYy>Q I@ EDI X;i ; n4y%dBɮ%)wA-רEPEB*** querying acoustic contact ***A AjIgOUFNOT Ignoring new targets: 550.68 m.RUm8ZUm8gOe ProNav: ac range: 550.675171 m, nav range: 528.189209 m, bearing: 23.391298 deg, approach rate: -0.599081 m/s, LOS rate: 0.003700 deg/s, cmd heading: 23.586129 deg, new cmd heading: 23.588662 deg. Bm8gOmHeadingCmd: 0.411700 target range: 550.675171 and range: 553.40 m.mR>q*q"q qqqyyʎyjZ Ra@颭sBɢCy) Mi)项i6O;7IR>IU9@Q @Q@U4@Q@]\A@][A^AMB>B CBIBgBB =BBDBy;B>2EAyIIO^>}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786564! Fj,2X@A2.>2S>2U@Oٱ2B :AHRS rotation from veh to nav: [[0.906577,-0.336857,-0.254256],[0.371095,0.923187,0.100074],[0.201015,-0.185078,0.961946]]2H@?տEп`??r? ۺ?ǿ B?i2.>I2];0YB;gByB3IbDJVDJ02yR>%RO=ٔV9Q-V>9TYT=VgGyXZjEZ>\Q 5b4^R?Q 9b4^w)^byBYdyfDz>Q If@^EDI^a:i^z:^u4yjeBɮj8vAh|jgOFNOT Ignoring new targets: 550.68 m.R 8Z 8gO ProNav: ac range: 550.675171 m, nav range: 527.952698 m, bearing: 23.392817 deg, approach rate: -0.599386 m/s, LOS rate: 0.003851 deg/s, cmd heading: 23.588663 deg, new cmd heading: 23.591702 deg. B8gO%HeadingCmd: 0.411753 target range: 550.675171 and range: 553.40 m.%F>!*!"! !))))ʎ111j1Z= ^@e tBɢef)a eLii)iiiim7u_;unQIuF>IyI)[Achecking for new query: numPingsReceived=0, elapsed TxPingTime=5.0400049@ @@{4@E EE&E"El;*E҆:VE4ZEBE[F checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291206ԑ ᔼ,XX@A:-,>:#%>:ۀOٱ:== FAHRS rotation from veh to nav: [[0.907097,-0.336562,-0.252789],[0.369692,0.924166,0.096157],[0.201256,-0.180677,0.962731]]:H?9տ-п?Ò?ඝ?? m ǿ ?i:-,>I:];:ICYJegByNMIR=R=YieMb@Mb@Mb@aaaa a9e$C?V-y&1?Ye?yee`e9"?Y"?=gGyFgE>Q 54f?Q 949)yBYU?Q E:y>Q I@EDI;i;Y}4yɮuAjgOFNOT Ignoring new targets: 550.68 m.R8Z8gO ProNav: ac range: 550.675171 m, nav range: 527.699219 m, bearing: 23.394623 deg, approach rate: -0.586207 m/s, LOS rate: 0.004177 deg/s, cmd heading: 23.591702 deg, new cmd heading: 23.595315 deg. B8gOHeadingCmd: 0.411816 target range: 550.675171 and range: 553.40 m.>*"   ʎ jZB@E>tBɢEh])A EMiA)IIIiM͡8U;UCeIU>IY @  @ @ h4@ ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.545127E EE%E"E ;*EZ:VE 4ZEa@a@a@a@ԩ^A-jZXAY Ii Iy O > AY A] @ABe >Be CBe IBe 3hBBa Ba Ba Be y;Be P2Et,X@A6r,>6F>6lOٱ6p7 BAHRS rotation from veh to nav: [[0.907200,-0.337612,-0.251011],[0.369291,0.924876,0.090717],[0.201527,-0.174994,0.963724]]6H?`qտпu??69? ? 7fƿ?i6r,>I6џ];6GCYJgByJzI R%^W=ٔ^>Q-^>9`Y`=bgGy`b Ef>dQ 5n4fx?Q 9n4f@)fyBYlyn1>Q Ir@fEDIfh;if;f4yvgBɮvtAvΨEj gOFNOT Ignoring new targets: 550.68 m.R-8Z-8%checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794723gO5 ProNav: ac range: 550.675171 m, nav range: 527.476379 m, bearing: 23.396226 deg, approach rate: -0.584997 m/s, LOS rate: 0.004212 deg/s, cmd heading: 23.595315 deg, new cmd heading: 23.598524 deg. B58gO=HeadingCmd: 0.411872 target range: 550.675171 and range: 553.40 m.=>A*A"A AAAIIʎIIIjQZU7@ԙ%ltBɢ%i)) -Ki))1qqi}D9Ǘ;,jI>IM9@I @I@M3@I^Amjbchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.047570E  E E )E "E l;*E ?:VE FA4ZE BE a 2E a JE ;a :E ;a A .AI I O >9 E,t(X@A,>>HPٱv3 ]AHRS rotation from veh to nav: [[0.907011,-0.338873,-0.249992],[0.369493,0.925205,0.086435],[0.202003,-0.170768,0.964382]]H@<?տ@Ͽǥ?F? ?>?@ſ7?i,>Iv];ICYgByIbDVDyU=%]4=ٔ]Q-]>9e ?Ye ?=egGyeFe:Em>iQ 54m΍?Q 94m )mzBYyA>Q I@mEDIm%;im;m틼4yɮsAjgOFNOT Ignoring new targets: 550.68 m.Rm8Zm8gO% ProNav: ac range: 550.675171 m, nav range: 527.211182 m, bearing: 23.398133 deg, approach rate: -0.575050 m/s, LOS rate: 0.004137 deg/s, cmd heading: 23.598524 deg, new cmd heading: 23.602340 deg. B%H8gO-HeadingCmd: 0.411939 target range: 550.675171 and range: 553.40 m.U>Q*Q"Q QYYYaʎaaijiZ S@ tBɢs|Q) Li)i#9<Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.299532i%>;mfI>IR>iI9@! @!@%4@!q^AE zlAM ?AM ?ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551179A ؟AI I O >,'CX@AE" E E"%E "E"%;*E VE" 4ZE a&@a&@a&@a&@>5%->>=>>ePٱ>qN/ FAHRS rotation from veh to nav: [[0.906827,-0.340154,-0.248917],[0.369780,0.925451,0.082481],[0.202304,-0.166840,0.965006]]>H?տ`Ͽx?K?s?@?`[ſ U?i>5%->I>];>HCYNhByNIiMb@Mb@Mb@ 9S?%M=ٔJQ->9"?Y"?=gGy`:E>Q 54I?Q 94 )PzBY?Q E:y>Q I@EDI;iO;䒼4yhBɮrA PB*** querying acoustic contact *** j!gO-FNOT Ignoring new targets: 550.68 m.R5_8Z5_8gO= ProNav: ac range: 550.675171 m, nav range: 526.976929 m, bearing: 23.399332 deg, approach rate: -0.597881 m/s, LOS rate: 0.003060 deg/s, cmd heading: 23.602340 deg, new cmd heading: 23.604738 deg. BE18gOEHeadingCmd: 0.411980 target range: 550.675171 and range: 553.40 m.E>*" ʎjZ@MtBɢM2h)I MRLiI)QQQiU$;]o;]jcI]>IYB>BBIBhBB =B@DBDBy;BC2EB CBCBB =B =Cċ6@ @@0@9checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802631i^A cA G I I) ) m q9i Ym tgAOu >ԑ ,p\X@A2->2]>2 Pٱ2r* :AHRS rotation from veh to nav: [[0.906502,-0.341915,-0.247685],[0.370403,0.925599,0.077903],[0.202620,-0.162362,0.965704]]2H ?տ Ͽ??@n?v?HĿ` ?i2->I2];2FCYBMhByBIJAAJ@AbDNVDNy5>%=U=ٔ=\Q-M>9QYQ=]gGy]F]:E]>aQ 5m4e=?Q 9m4e)ezBYqyuP>Q Iu@eEDIel:ieB:e4y}iBɮ}rAϨEjgOFNOT Ignoring new targets: 550.68 m.RWZ8ZWZ8gO ProNav: ac range: 550.675171 m, nav range: 526.749451 m, bearing: 23.400483 deg, approach rate: -0.589236 m/s, LOS rate: 0.002983 deg/s, cmd heading: 23.604738 deg, new cmd heading: 23.607041 deg. B8gOHeadingCmd: 0.412021 target range: 550.675171 and range: 553.40 m.]>*" ʎjZ+@uBɢul)  YKi )   i w<;UZI]>I]checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054674qDU?AzDU?AEe EeEe&Ea"Ee;*EeM:VEe4ZEaBEeD ,vX@A2/>2->2Qٱ2" :AHRS rotation from veh to nav: [[0.905930,-0.344673,-0.245949],[0.371345,0.925825,0.070364],[0.203453,-0.155077,0.966725]]2H`a?ֿB{Ͽ@?[?e? ?ÿj?i2/>I2 ];2HCY^hBybIi}Mb@Mb@Mb@yyyy y9}1Zd?y&1 rh?Y}"?y}`e}C<}A}XoA }A)}lAyY}AbDVD:2y=%D=ٔQ->9Y=gGy/;E>Q 54s?Q 94G)zBY=?Q E:y>Q I@EDI:iv:頼4yɮBqAjgOFNOT Ignoring new targets: 550.68 m.R38Z38gO ProNav: ac range: 550.675171 m, nav range: 526.505066 m, bearing: 23.401502 deg, approach rate: -0.588919 m/s, LOS rate: 0.002457 deg/s, cmd heading: 23.607041 deg, new cmd heading: 23.609080 deg. B8gOHeadingCmd: 0.412056 target range: 550.675171 and range: 553.40 m.>*" !!!!ʎ)))j)Z- @]4uBɢ][y_)Y ]5Kia)aaaie1=m3o;m8'LIm>Iq@ @@@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.558825Ea EeEe(Ea"Ea*Ee?:VEec44ZEaam@am@am@am@^AhWAzA1 A I I O >B <A <B >B B nIB 9qYq=ugGyuF}E>Q 54?Q 94 )zBYyQ I@EDIS;iT;᧼4yjBɮpAjagOmFNOT Ignoring new targets: 550.68 m.Rm+8Z+8gO ProNav: ac range: 550.675171 m, nav range: 526.270081 m, bearing: 23.402483 deg, approach rate: -0.561775 m/s, LOS rate: 0.002346 deg/s, cmd heading: 23.609080 deg, new cmd heading: 23.611042 deg. B^8gOHeadingCmd: 0.412090 target range: 550.675171 and range: 553.40 m.>*" ʎjZ@HD @)juBɢ&W) Ki)i= ;;zOI>I9@ @@@Yuchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.062538bEȀ'4jE(4rE/Eu  Eu Eq Eq "Eu V:*Eu :VEq ZEq BEu 9!,X@A4e1>eQ>eCSٱe AHRS rotation from veh to nav: [[0.904628,-0.350869,-0.241950],[0.373743,0.925921,0.054645],[0.204853,-0.139861,0.968749]]eH?@tֿ4οg?%?{?8??ie1>IeS];eGCYhBy0Ii Mb@Mb@Mb@     9 A`"?I +?Y ?y  94< +A `oA ?A) iA Y =A %p<%4<bD5VD50yEȮ=%E/=ٔMTIQ-U>9QYQ=]gGy]F]=;E]>qQ 5}4u?Q 9}4uM)u={BY}?Q E}:y}>Q I@u FDIu':iu:u4yԉɮoAjgOFNOT Ignoring new targets: 550.68 m.Rp7Zp7checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314774gO ProNav: ac range: 550.675171 m, nav range: 525.999207 m, bearing: 23.402895 deg, approach rate: -0.606631 m/s, LOS rate: 0.000925 deg/s, cmd heading: 23.611042 deg, new cmd heading: 23.611868 deg. B7gOHeadingCmd: 0.412105 target range: 550.675171 and range: 553.40 m.h>*" ʎjZ`%!@ uBɢ Y) Li)i=;%i'I%h>IAԹ9@ @@@@@@@  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566576E}  E} E} 'Ey "E} ;*E} :VE} '4ZEy a @a @a @a @A .AI I O >N,|X@A6ّ2>6>6Sٱ6 ZAHRS rotation from veh to nav: [[0.904280,-0.351665,-0.242096],[0.374340,0.925746,0.053513],[0.205300,-0.139017,0.968776]]6H? ֿ`ο .??f?GG?M5?i6ّ2>I6];4Y^&iBybaIbDjVDjfyr2i>%rn=ٔrQ-r?9v ?Yv ?=vgGytz;Ez?|Q 54~}?Q 94~H)~l{BYyS>Q I@~FDI~`:i~y:~4yɮnAШEP5B*** querying acoustic contact ***1 1j9gO=FNOT Ignoring new targets: 550.68 m.REx7ZEx7gO ProNav: ac range: 550.675171 m, nav range: 525.800049 m, bearing: 23.403184 deg, approach rate: -0.584838 m/s, LOS rate: 0.000849 deg/s, cmd heading: 23.611868 deg, new cmd heading: 23.612447 deg. B7gOHeadingCmd: 0.412115 target range: 550.675171 and range: 553.40 m.>*" ʎjZ@!@=uBɢ=Ty)A E JiA)A顁ii?;!I>II)iB>B CBIBiBB =BBDBx;B1E]9@Y @Y@]0@Y]checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819449ԑA؟AIIO-o>Թ r,W>X@A23>2]y>2mTٱ2? :AHRS rotation from veh to nav: [[0.903769,-0.352790,-0.242364],[0.375206,0.925483,0.051981],[0.205966,-0.137915,0.968792]]2H ?`ֿ@Ͽ `? ?@>?]?5W?i23>I2.^;2ICYBQiByB|IDFAbDJVDJ PyVO=%VO=ٔVdQ-Z>9Z"?YZ"?=ZgGyX^(;E^>`Q 5f4bi?Q 9f4b)b{BYdyj>Q Ij@b(FDIb>:ib6:b༼4ylɮ]nAYjgOFNOT Ignoring new targets: 550.68 m.R\7Z\7gO ProNav: ac range: 550.675171 m, nav range: 525.569519 m, bearing: 23.403494 deg, approach rate: -0.560368 m/s, LOS rate: 0.000753 deg/s, cmd heading: 23.612447 deg, new cmd heading: 23.613067 deg. Bf7gOHeadingCmd: 0.412126 target range: 550.675171 and range: 553.40 m.&>*" ʎchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.070755jZ@"@uBɢ^d) @Ji)iZ;@r;5tI&>IE EE%E"E;*EZ:VE 4ZEBE]} checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323560) ,X@A2J4>2>2ITٱ2$o :AHRS rotation from veh to nav: [[0.903241,-0.354472,-0.241878],[0.376315,0.925172,0.049427],[0.206258,-0.135666,0.969047]]2HY?ֿο? ?sN? f?]n?i2J4>I2];2JCYBviByBI|iMb@Mb@Mb@ 9v?~jt?9AYA=EgGyEFMB;EM>QQ 5]4U[!?Q 9]4UR)U{BY]?Q E]:y]>Q Ie@U8FDIU;iU ;U@ļ4ymkBɮmmAij gOFNOT Ignoring new targets: 550.68 m.R5#Z5#gOE ProNav: ac range: 550.675171 m, nav range: 525.323608 m, bearing: 23.403258 deg, approach rate: -0.583116 m/s, LOS rate: -0.000560 deg/s, cmd heading: 23.613067 deg, new cmd heading: 23.612595 deg. BE'gOMHeadingCmd: 0.412118 target range: 550.675171 and range: 553.40 m.M>I*I"Q QqqyyʎyyyjZ#@M*vBɢM W)i mDKiq)qqqiue]@} ;} I}>I)checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575473!@! @!@%/0@!E EE(E"E&:*E$:VEc44ZEa@a@a@a@II1O=r>QA A B >B CB IB DjBB =B B B x;B P1Eԁ ,HX@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=9.827328QY]iBy]IbDmVDmy}>%}F=ٔQ->9Y=gGyE>Q 543?Q 94)|BYyQ I@GFDI:i<:y˼4ylBɮlAѨEjgOFNOT Ignoring new targets: 550.68 m.R*Z*gO ProNav: ac range: 550.675171 m, nav range: 525.082642 m, bearing: 23.403027 deg, approach rate: -0.606450 m/s, LOS rate: -0.000583 deg/s, cmd heading: 23.612594 deg, new cmd heading: 23.612131 deg. BgOHeadingCmd: 0.412109 target range: 550.675171 and range: 553.40 m.>*" ʎjZ  H$@5VvBɢ56l)1 =Ji9)999i=AyAE7;EIE>II@ @ @ $4@ ԁԱE EE&E"E;*E:VE4ZEBED-Q>-Uٱ-Թ AHRS rotation from veh to nav: [[0.902081,-0.358652,-0.240039],[0.378894,0.924458,0.042634],[0.206615,-0.129408,0.969827]]-H?(ֿ@ο??@(?!ԥ?`Zr?u?i-7>I-];-HCYiByIiMb@Mb@Mb@ 9v? rh?Mb`YyC<AmA ԐA)eAYAbDVDy>%5=ٔRQ->i1I1=2Acoustic response timeout9Y=gGyF;E>Q 54I?Q 94)L|BY?Q E:y>Q I@YFDI/:i{:Ӽ4y!ɮEkAAjigOmFNOT Ignoring new targets: 550.68 m.RuMZuMgO ProNav: ac range: 550.675171 m, nav range: 524.801208 m, bearing: 23.402489 deg, approach rate: -0.576043 m/s, LOS rate: -0.001102 deg/s, cmd heading: 23.612131 deg, new cmd heading: 23.611055 deg. B gOHeadingCmd: 0.412091 target range: 550.675171 and range: 553.40 m.>*" ʎjZ?E%@MvBɢM)I)Q UJiQ)QQQiUv@efB;eN}Ie>Ia@ @@@0@  2Acoustic response timeout^A 9 IY Iq O} >E  E E 'E "E V:*E $:VE '4ZE a @a @a @a @,aFX@AJp8>J$>JMUٱJs  VAHRS rotation from veh to nav: [[0.901638,-0.359569,-0.240331],[0.379845,0.924073,0.042502],[0.206801,-0.129610,0.969760]]JH8?,׿*ο`O?`?¥?vx? F?iJp8>IJ];JFCYZ jByZI `bp;bDfVDfyn;=%nt=ٔrQ-r?9pYp=vgGytve;Ev?xQ 5~4z=W?Q 9~4z)zr|BYy>Q I@zeFDIzf;izQ;z8ټ4y mBɮ 9kA P-B*** querying acoustic contact ***) )j9gO=FNOT Ignoring new targets: 550.68 m.REZEgOU ProNav: ac range: 550.675171 m, nav range: 524.622375 m, bearing: 23.402126 deg, approach rate: -0.598412 m/s, LOS rate: -0.001215 deg/s, cmd heading: 23.611056 deg, new cmd heading: 23.610329 deg. BUWgOUHeadingCmd: 0.412078 target range: 550.675171 and range: 553.40 m.]>Y*Y"Y YYaaaʎaiijiZm0%@额vBɢ)3< SJi)顡iBķ;I>I9@ @@4@Bu>Bu CBu\IBujBBu =BqBuDBuw;Bu"1E^A IqIO>AE2Acoustic response timeoutiԙ N,`X@A29>2>26Uٱ29 :AHRS rotation from veh to nav: [[0.901384,-0.359962,-0.240694],[0.380494,0.923764,0.043419],[0.206715,-0.130720,0.969629]]2H#?@ ׿@οZ?x?@ ;?@u?o 4?i29>I2b];2GCYN?jByRIbDZVDZyr=%vI=ٔvb9Q-v>9xYx=zgGyzFz$:Ez>Q 54ri?Q 9 4()|BY y >Q I @tFDIy:i:O4yɮojAj9gOEFNOT Ignoring new targets: 550.68 m.RE ZE gOU ProNav: ac range: 550.675171 m, nav range: 524.384949 m, bearing: 23.401625 deg, approach rate: -0.586204 m/s, LOS rate: -0.001237 deg/s, cmd heading: 23.610330 deg, new cmd heading: 23.609328 deg. 2Acoustic response timeoutBgOHeadingCmd: 0.412060 target range: 550.675171 and range: 553.40 m.>*" !!!!ʎ)))j)Z-˷&@qE EEE"E*E1:VEZEBE9-B;5!I5>I1!@! @!@%4@!@\A@\AԩM 2Acoustic response timeout^A `Ի I I O% >,c_zX@AYZjByIiMb@Mb@Mb@ 9K?MbPMbY^?y+AlA ߒA)vdAY\AbDVDyyy=%==ٔQ->9Y=gGyFE>Q 54Z}?Q 94)|BYa?Q E:y>Q I@FDI]:i:4yuoBɮ}jA}ȨEjgOFNOT Ignoring new targets: 550.68 m.Rd7Zd7gO ProNav: ac range: 550.675171 m, nav range: 524.128967 m, bearing: 23.401975 deg, approach rate: -0.570407 m/s, LOS rate: 0.000781 deg/s, cmd heading: 23.609328 deg, new cmd heading: 23.610028 deg. B۶7gOHeadingCmd: 0.412073 target range: 550.675171 and range: 553.40 m.2>*" ʎjZ'@wBɢ1a)  Ki )  i̅CY;I2>I2Acoustic response timeout9@ @@04@E EEE"Es:*E:VEZEa@a@a@a@^A) Bm <Am <Bq Bq Bu IBu -kBBu =Bq Bq Bu w;Bu %1EB5 CB5 CB1B5 =B5 =C55I I O >e 2Acoustic response timeouti g$,|X@AY~jBy~?I  AAbDVDky%>%%S=ٔ!Q-->9)Y)=-gGy)1E5>9Q 5E4="?Q 9E4==)=}BYAyAQ IM@=FDI=):i=:=4yQɮU?iAQjqgO}FNOT Ignoring new targets: 550.68 m.Rw7Zw7gO ProNav: ac range: 550.675171 m, nav range: 523.900269 m, bearing: 23.402288 deg, approach rate: -0.617709 m/s, LOS rate: 0.000846 deg/s, cmd heading: 23.610028 deg, new cmd heading: 23.610654 deg. B/7gOHeadingCmd: 0.412084 target range: 550.675171 and range: 553.40 m.>*" ʎjZ`N(@@wBɢl) $Ki)i&Dڼ;I>I ek>e\C/G]=9YY]+`Au<9q@q @q@}4@y2Acoustic response timeoutE EE(E"EV:*E:VEc44ZEBEa2EaJE;a:E;ai ^A I! I9 OE >+,6X@A,YjByQI-BDAT read: Response Not Received 5*response not received5*DAT read: user:402> =BDAT read: Tx time:00:31:46.6771 =$Ping request sent.=9Y=gGyFE>Q 54a?Q 94)?}BY?Q E:y>Q I@FDIn:iH:4ypBɮhAjgOFNOT Ignoring new targets: 550.68 m.Rs8Zs8gO ProNav: ac range: 550.675171 m, nav range: 523.618896 m, bearing: 23.403888 deg, approach rate: -0.584766 m/s, LOS rate: 0.003327 deg/s, cmd heading: 23.610654 deg, new cmd heading: 23.613856 deg. B8gOHeadingCmd: 0.412140 target range: 550.675171 and range: 553.40 m.>*"     ʎjZ`6E)@ExwBɢEDP)I MLiI)IIIiM9_D]|;]mI]>IYԩ<H< 1 @1  @1 @5 )3@1 @= =@= = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245762E  E E )E "E =;*E VE FA4ZE a @a @a @a @ ^A=3IIO>C!3, X@A2q9>2ď>2Tٱ2d :AHRS rotation from veh to nav: [[0.901391,-0.357205,-0.244741],[0.380608,0.923132,0.054462],[0.206474,-0.142242,0.968058]]2H2?rֿ@SϿ[? K?u?`m?@4¿@T?i2q9>I29];2ECBZ>BZCBZIBZkBBZ =BXBZDBZx;BZL1EYbjByfIj=j=bD5VD5JyE4>%EH=ٔE:Q-M>9IYI=MgGyIU9EU>YQ 5e4]H?Q 9e4]t)]p}BYaym>Q Im@]FDI]:i]6:]*4qy}qBɮ}gA}ɨEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 550.68 m.Rs8Zs8gO ProNav: ac range: 550.675171 m, nav range: 523.379883 m, bearing: 23.405249 deg, approach rate: -0.583890 m/s, LOS rate: 0.003327 deg/s, cmd heading: 23.613856 deg, new cmd heading: 23.616580 deg. B8gOHeadingCmd: 0.412187 target range: 550.675171 and range: 553.40 m./ >*" ʎjZ*@wBɢ=`)  Ki )  iDA;2I/ >I!!!!checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497226ԡ @ @@4@@@@@ I I1 O= >] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749222F9,X@AD@AzDbEjE7&4rE/E EE%E"E:*E:VE 4ZEBE<Z>ZFUٱZE bAHRS rotation from veh to nav: [[0.901290,-0.356271,-0.246469],[0.380535,0.922986,0.057366],[0.207050,-0.145494,0.967451]]ZH`^? %ֿ`MϿZ? ?@ _?`?¿`\?iZ9>IZԯ];XYj kByjI pr<bDvVDvy~E=%~P=ٔ~úQ->9Y=gGy F 閸E >Q 54|?Q 94W)}BYy%>Q I%@FDI;i; 4y-{Bɮ-gA)jgOFNOT Ignoring new targets: 550.68 m.R3k8Z3k8gO  ProNav: ac range: 550.675171 m, nav range: 523.149719 m, bearing: 23.406563 deg, approach rate: -0.562590 m/s, LOS rate: 0.003213 deg/s, cmd heading: 23.616579 deg, new cmd heading: 23.619208 deg. B )8gO5HeadingCmd: 0.412233 target range: 550.675171 and range: 553.40 m.=3>9*9"9 999AAʎAAIjIZM`*@MwBɢ_) Li)顉iE< i3>r;etIm3>Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.001652u9@q @y@}4@y1A .AI I O >Y /@,eX@ABr9>Bd>BUٱB JAHRS rotation from veh to nav: [[0.901390,-0.355288,-0.247522],[0.380257,0.922932,0.060005],[0.207127,-0.148210,0.967022]]BH@/? ֿˮϿ V???!?¿?iBr9>IB];BGCYR&kByVIieMb@Mb@Mb@aaaa a9e~jt?ktMbYe?ye 0eeAefA eA)e_AaYep}AbDuVDuy =%B=ٔ[DQ->9 ?Y ?=gGy9;E>Q 54?Q 948)}BY ?Q E:y٦>Q I@FDI:i:k 4y|BɮHgAjgOFNOT Ignoring new targets: 550.68 m.R8Z8gO ProNav: ac range: 550.675171 m, nav range: 522.898621 m, bearing: 23.408843 deg, approach rate: -0.619021 m/s, LOS rate: 0.005622 deg/s, cmd heading: 23.619209 deg, new cmd heading: 23.623770 deg. B$9gOHeadingCmd: 0.412313 target range: 550.675171 and range: 553.40 m.>*"   ʎ  jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.253368Z%+@1UxBɢU g)Y ]MiY)YYYi]sFe;mMIm>IiE5 E5E5&E1"E5;*E5 :VE54ZE1aE@aE@aE@aE@a9@ @@0@AAB>BCB$IBlBB =BBDBx;B1EA؟AII O>ԑ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505160Թ 9YF,X@AB8>B>BUٱB NAHRS rotation from veh to nav: [[0.901540,-0.354559,-0.248019],[0.379761,0.923083,0.060813],[0.207381,-0.149013,0.966844]]BHj?`ֿ@ϿN?`?@"?u?ÿc?iB8>IBX^;BECYVekByVIXZAbD^VD^yfn&>%fW=ٔj*3Q-j>9j"?Yj"?=jgGyn FnpEn>pQ 5v4r?Q 9v4rP)r~BYxyz>Q Iz@rFDIr:ir:r4y~}Bɮ~SfAʨEjgOFNOT Ignoring new targets: 550.68 m.R8Z8gO ProNav: ac range: 550.675171 m, nav range: 522.672607 m, bearing: 23.410910 deg, approach rate: -0.576385 m/s, LOS rate: 0.005274 deg/s, cmd heading: 23.623770 deg, new cmd heading: 23.627906 deg. Bm9gOHeadingCmd: 0.412385 target range: 550.675171 and range: 553.40 m.$>*" ʎjZ,@ԑe6xBɢm,[)i Mi)顑iFB;e·I$>I-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757231E9@A @A@A@AEE EEEAEA"EE&:*EE҆:VEAZEABEEb;! L,ʊ4X@ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.009327R>9>RJ>RUٱR( ^AHRS rotation from veh to nav: [[0.901442,-0.355301,-0.247312],[0.380065,0.923063,0.059202],[0.207250,-0.147362,0.967126]]RH??ֿ@ϿR? ?O?(?¿?iR>9>IR-^;RGCYbkBybIiMMb@Mb@Mb@IIII I9MQ?T㥛 YM(?yMMIMeA MA)M\AIYMz|Ae@Ae@AbDmVDm0y}=%}?=ٔ}Ƥ9Q-}>9Y=gGyG:E>Q 54I?Q 94])A~BY?Q E:yߖ>Q I@FDI<:i:4yɮeAjgOFNOT Ignoring new targets: 550.68 m.R 9Z 9gO ProNav: ac range: 550.675171 m, nav range: 522.419067 m, bearing: 23.414092 deg, approach rate: -0.611380 m/s, LOS rate: 0.007678 deg/s, cmd heading: 23.627906 deg, new cmd heading: 23.634273 deg. B`9gOmHeadingCmd: 0.412496 target range: 550.675171 and range: 553.40 m.m2>i*q"q qqqyyʎyyyjZ@_]-@mdxBɢmfe)i mLii)qqqiuG}_;}ߍI}2>II@ @@0@5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261159EM  EM EM )EI "EM ;*EM a:VEM FA4ZEI aU @aU @aU @aU @Y ^A A I I O >oS,iNX@A B">B"CB"iIB"slBB" =B B"DB"y;B"1ENW9>NV>N*UٱNYq VAHRS rotation from veh to nav: [[0.901414,-0.355734,-0.246793],[0.380157,0.923106,0.057938],[0.207206,-0.146046,0.967335]]NHa?Vֿ@Ͽ|T????ॱ¿g?iNW9>INI^;NHCYkByIbD!VD!y5.=%5O=ٔ=8Q-=>99Y9==gGyE FE9EE>IQ 5U4M\?Q 9U4M)Mx~BYYy]>Q I]@MGDIMj;iM;Mm!4ye~BɮedAaPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 550.68 m.Rv9Zv9gO ProNav: ac range: 550.675171 m, nav range: 522.184021 m, bearing: 23.417042 deg, approach rate: -0.593824 m/s, LOS rate: 0.007456 deg/s, cmd heading: 23.634273 deg, new cmd heading: 23.640176 deg. BVZ9gOHeadingCmd: 0.412599 target range: 550.675171 and range: 553.40 m.*@>*" ʎjZ`.@xBɢp)! %Mi!))))i-JH=ݺ;=+I=*@>IAIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.513314@ @@@q^A[Rӻԩ A I I1 = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765336Om >Y,?hX@AE EE&E"E ;*E:VE4ZEBEO^>^Uٱ^  fAHRS rotation from veh to nav: [[0.901662,-0.355460,-0.246279],[0.379561,0.923419,0.056834],[0.207217,-0.144723,0.967531]]^H`j?ֿܿϿJ??X??I¿?i^8>I^S^;^ECYnkBynIv=vp=bDzVDz1y>%N=ٔJQ->9 Y = gGy ٺE>Q 5%4+?Q 9%4)~BY!y%>Q I%@GDI:i:_(4y5Bɮ5dA1jYgOeFNOT Ignoring new targets: 550.68 m.Reg 9Zeg 9gO} ProNav: ac range: 550.675171 m, nav range: 521.947937 m, bearing: 23.420027 deg, approach rate: -0.593562 m/s, LOS rate: 0.007508 deg/s, cmd heading: 23.640176 deg, new cmd heading: 23.646148 deg. B}[9gO}HeadingCmd: 0.412703 target range: 550.675171 and range: 553.40 m.M>*" ʎjZ .@颽xBɢqqf) Ki)ivI;?ɻIM>IM9@I @I@Mb0@Iԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020304^A5ȿAa Ii Iy O > v}`,9X@A2X8>2x>2sUٱ2 :AHRS rotation from veh to nav: [[0.901835,-0.356175,-0.244609],[0.379301,0.923732,0.053380],[0.206941,-0.140920,0.968151]]2H? ֿYOϿyF?6?T?}? ¿?i2X8>I2Hx^;2DCYBlByB.IliEMb@Mb@Mb@AAAA A9Ev?~jt~jt?YE?yEED9yYy=}gGy} FDE>Q 54P??Q 94)~BY?Q E:y@>Q I@ GDI ;i;/4yBɮcA˨EjgOFNOT Ignoring new targets: 550.68 m.Ra 9Za 9gO ProNav: ac range: 550.675171 m, nav range: 521.706482 m, bearing: 23.423677 deg, approach rate: -0.579454 m/s, LOS rate: 0.008763 deg/s, cmd heading: 23.646149 deg, new cmd heading: 23.653452 deg. BN9gOHeadingCmd: 0.412831 target range: 550.675171 and range: 553.40 m.^>*" checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269307ʎj Z /@5xBɢ5y`)9 =En1;MӻIM^>IIE= E=E='E9"E=:*E=:VE='4ZE9aM@aM@aM@aM@@ @@0@ B=<A9BE>BECBEIBElBBE =BABEDBEx;BE1E9^A[RӻA>A>I  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521326I O >a xf,X@AY~^lBy~\IbDVDy%;>%%P=ٔ%Q-%>9)Y)=-gGy)-E5>91Q 5E45Q?Q 9E45f)5(BYIyIQ IM@5/GDI5u*;i5+;564yUBɮUbAQjgOFNOT Ignoring new targets: 550.68 m.R9Z9gO ProNav: ac range: 550.675171 m, nav range: 521.478821 m, bearing: 23.427122 deg, approach rate: -0.576546 m/s, LOS rate: 0.008729 deg/s, cmd heading: 23.653452 deg, new cmd heading: 23.660346 deg. B9gOHeadingCmd: 0.412951 target range: 550.675171 and range: 553.40 m.Nn>*" ʎjZ`nE0@yBɢe) \Ki)i Km;ֻINn>I-9@) @)@-M2@)i BDAT read: Rx Time:00:31:49.8071 TRx dataTimestamp_ set to:1761697910.601519checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774658EE EAEE*EA"EE:*EAVEE(N4ZEABEE3 Dl,5ϵX@A>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027711Y=|lBy=oIAEAԑiMb@Mb@Mb@ 9Q?3333339Y=gGy FE> Q 54 f?Q 94 ) lBYg?Q E:y>Q I@ ?GDI L ;i ; >4y!ɮ%!bA!jIgOMFNOT Ignoring new targets: 550.68 m.RUw9ZUw9gOe ProNav: ac range: 550.675171 m, nav range: 521.224121 m, bearing: 23.430822 deg, approach rate: -0.592033 m/s, LOS rate: 0.008604 deg/s, cmd heading: 23.660346 deg, new cmd heading: 23.667749 deg. Be{9gOmHeadingCmd: 0.413080 target range: 550.675171 and range: 553.40 m.m>>i*i"i iqqqqʎyyyjyZ}@0@]HyBɢ^R) Li)顉iJ>w;ڻI>>I]9@Y @Y@]0@Y=DAT read: 00:31:49.8071 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 293,-0.39,-1.312,-2.868,-1.183,-1.879, PHS= 0.669,-0.944, 0.652, RAW= 149.5, -4.8, CAL= 149.2, -5.9, ROT= 0.8, 5.9 EYgot valid direction response: 00:31:49.8071 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 293,-0.39,-1.312,-2.868,-1.183,-1.879, PHS= 0.669,-0.944, 0.652, RAW= 149.5, -4.8, CAL= 149.2, -5.9, ROT= 0.8, 5.9 MPDAT read: Bearing 165.9, 13.7 (Local) U~Local bearing/azimuth received: Bearing 165.9, 13.7 (Local) ]DAT read: Range 11 to 50 : 544.3 m (Round-trip 725.8 ms) speed 0.3 m/s ]R#Rx 1: Read range and direction messages.e^direction in FSK: [0.994606,0.013888,-0.102793]mFpublishing direction and range infoy   ?0Umq?zBPY D     ) LI C+?i q y&? <&@  r&@ Bҽ) d4P1 ??) A=I d B= >B= CB= IB= RmBB= =B9 B= DB= x;B= 1EBCs,X@AB5CB1B5 =B5 =C5666>6t'>6Uٱ6 >AHRS rotation from veh to nav: [[0.902264,-0.355714,-0.243694],[0.378057,0.924410,0.050399],[0.207345,-0.137603,0.968542]]6HY?ֿ`\1Ͽ2?@Ô?ͩ?`J?K?i66>I6y];6FCYVlByVI^AA\bDrVDrܲyznS>%z]=ٔzZQ-z>9|Y=%gGy!-/jE->YQ 5m4]4y?Q 9m4])]BYqyuN>Q Iu@]NGDI],;i];]D4yBɮ`ĄEAEX@AJEaDREaDjE >E@Ԁ@Ko`@\e#KrE ?0Umq?zBPZEd<bEB=E  @P+*i@iL]L@zEwi7\?@(q#?&@YѺ?2EOC:EmC"EWI?*E3Q{BEBE+?E3Q{“E CEDE>gOm addTargetRange:: Added new target pos. range: 544.299988 m, deltaT: 16.884061 s, deltaX: -9.100037 m, approachRate: -0.538972 m/s, rangeRepo size: 4 gO} Added new target pos. range: 541.528992 m, bearing: 22.693298 deg, lat: 36.779233 deg, lon: -121.859261 deg, deltaT: 16.884061 s, deltaX: -9.146179 m, approachRate: -0.541705 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 541.53 m.RZgO ProNav: ac range: 541.528992 m, nav range: 530.406067 m, bearing: 23.060251 deg, approach rate: 0.000000 m/s, LOS rate: 0.008604 deg/s, cmd heading: 23.667750 deg, new cmd heading: 23.674752 deg. BgOHeadingCmd: 0.413202 target range: 541.528992 and range: 544.30 m.C>*" !!!!ʎ)))jM`f@ZU,?u*DAT read: user:403> }BDAT read: Tx time:00:31:51.1271 }$Ping request sent.}穬;R IC>I>i>)UGe9@i @i@m4@iqꟿ9YAQ^A (A \AzA ]AI) I9 OM >= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253328y y,wX@AE EE(E"E:*E]t:VEc44ZEBEG-b8>bJVٱb jAHRS rotation from veh to nav: [[0.902544,-0.354728,-0.244093],[0.377169,0.924756,0.050697],[0.207743,-0.137820,0.968426]]bH?`޳ֿ`q>Ͽ#??@?`R?@W?ibO6>Ib.];bECYlBy IbDVDβyM=%ME=ٔMYQ-M>9QYQ=UgGyUF]E]>aQ 5m4e?Q 9m4e3)eBYiymҌ>Q Im@e]GDIeK:ie :eK4yyɮ}M`AyPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 541.53 m.R9Z9gO ProNav: ac range: 541.528992 m, nav range: 530.167480 m, bearing: 23.063556 deg, approach rate: -0.628993 m/s, LOS rate: 0.008716 deg/s, cmd heading: 23.674752 deg, new cmd heading: 23.681364 deg. B79gOHeadingCmd: 0.413318 target range: 541.528992 and range: 544.30 m.c>*" ʎjZS?QeyBɢmm)i mJii)iqqiuhLwѫ;[Ic>I@ @@4@ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.506943^AUXԱIIO> ^ˀ,TX@A25>27>2vVٱ2U :AHRS rotation from veh to nav: [[0.902844,-0.353754,-0.244400],[0.376359,0.925049,0.051368],[0.207910,-0.138359,0.968313]]2H?ֿ|HϿE??L?̜?k?i25>I2];2GCYVmByZI^=^=i=Mb@Mb@Mb@9999 99=rh|? rh:v?Y=?y=C=<=A=`A =+A)=~XA9Y=uAbDUVDUye6=%eI=ٔeܹQ-e>9iYi=mgGyimEu>qQ 54u*?Q 94uh)uBY?Q E:y >Q I@ulGDIuv:iu/:uR4yBɮ_AjgOFNOT Ignoring new targets: 541.53 m.R9Z9gO ProNav: ac range: 541.528992 m, nav range: 529.928406 m, bearing: 23.066551 deg, approach rate: -0.588283 m/s, LOS rate: 0.007373 deg/s, cmd heading: 23.681364 deg, new cmd heading: 23.687357 deg. BW9gOHeadingCmd: 0.413422 target range: 541.528992 and range: 544.30 m.>*" ʎjZ )?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758878Ա颥yBɢ_) Ji)i>M_Ӫ;I>IE= E=E=)E9"E=~ ;*E=:VE=FA4ZE9aE@aE@aE@aE@@ @@1@AAAAB>BCB=IBmBB =BBDBMy;B1E^A I I) O5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0107889 ,0X@A2C 4>21>2 Vٱ2 :AHRS rotation from veh to nav: [[0.903158,-0.352454,-0.245115],[0.375484,0.925312,0.053003],[0.208127,-0.139907,0.968044]]2H?ֿ@_Ͽ@?(?5#??y`7?i2C 4>I2[Z];2DCYb^mBybIbDj VDj:2yr!>%vR=ٔvQ-v>9xYx=zgGyzFz Ez>|Q 54~ò?Q 9 4~)~6BY y >Q I @~{GDI~:i~:~Y4yBɮ^AèEj9gOEFNOT Ignoring new targets: 541.53 m.RE9ZE9gOU ProNav: ac range: 541.528992 m, nav range: 529.699890 m, bearing: 23.069437 deg, approach rate: -0.587906 m/s, LOS rate: 0.007430 deg/s, cmd heading: 23.687357 deg, new cmd heading: 23.693133 deg. BUY9gOHeadingCmd: 0.413523 target range: 541.528992 and range: 544.30 m.O>*" ʎjZ`p?=yBɢ=}#d)9 E[IiA)AAAiEMM#թ;M-IMO>IQY 9@  @ @ 0@  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2628579bE:4jEŭ54rE5/EM EMEM+EI"EM:*EM:VEM [4ZEIBEIa]2EIa]JEM;a]:EM;a]^A;A?A>q A I I O >#,7X@A:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517094% 2>%!">%$Wٱ%+ =AHRS rotation from veh to nav: [[0.903533,-0.350323,-0.246784],[0.374403,0.925515,0.056959],[0.208448,-0.143861,0.967395]]%H?kֿϿ8?ѝ?)?`o? j¿?i% 2>I%qJ];%GCYMmByMIiMb@Mb@Mb@ 9~jt?)\(?Y?yGa<]A A)QVAYsAbDVDy>%:=ٔCQ->9Y=gGy-E> Q 54 ?Q 94 ) YBYj?Q E:y>Q I@ GDI :i : fa4y!ɮ-]A)jIgOUFNOT Ignoring new targets: 541.53 m.RU8ZU8gOe ProNav: ac range: 541.528992 m, nav range: 529.441589 m, bearing: 23.072126 deg, approach rate: -0.587173 m/s, LOS rate: 0.006116 deg/s, cmd heading: 23.693132 deg, new cmd heading: 23.698513 deg. Be39gOHeadingCmd: 0.413617 target range: 541.528992 and range: 544.30 m.>*" ʎ!!j!ZE?a颭%zBɢ?S) Hi)项i²M;d>I>I}9@y @y@y@yԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.766774EM  EM EM &EI "EM s:*EM z:VEM 4ZEI aU @aU @aU @aU @^A 0 A B >B B IB ZnBB =B B B `y;B 1EI I O >v,CPX@APfQ2>f>f-Wٱf vAHRS rotation from veh to nav: [[0.903729,-0.349595,-0.247099],[0.373850,0.925697,0.057629],[0.208592,-0.144459,0.967275]]fH@X?_ֿϿ )?`O??$? }¿?ifQ2>If1V];fECYmByIIbD)VD)yE6>%EW=ٔMtʹQ-M>9QYQ=UgGyUFeͺEe>iQ 5u4m?Q 9u4m)mxBYyy}Ĝ>Q I}@mGDImT;im;mh4yBɮ\AjgOFNOT Ignoring new targets: 541.53 m.R^8Z^8gO ProNav: ac range: 541.528992 m, nav range: 529.217163 m, bearing: 23.074478 deg, approach rate: -0.587259 m/s, LOS rate: 0.006157 deg/s, cmd heading: 23.698513 deg, new cmd heading: 23.703219 deg. BK49gOHeadingCmd: 0.413699 target range: 541.528992 and range: 544.30 m.b>*" QQʎYYYjYZe`c@颭MzBɢ@g) Fi)iI{NA;FIb>I}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0198009@ @@@@=@=^Am0:D! A I I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274113b1,jX@AE EE'E"EV:*E:VE'4ZEBE9B>BnKWٱB JAHRS rotation from veh to nav: [[0.903900,-0.348878,-0.247484],[0.373373,0.925832,0.058547],[0.208703,-0.145324,0.967121]]BH?TֿϿU?j??ȶ?¿?iB11>IB@G];@YRnByRkIbD^VD^yf >%fR=ٔfQ-f>9hYh=jgGyhnݯEn>pQ 5v4r?Q 9v4r )rBYtyv>Q Iv@rGDIr:ir:rn4y|ɮ~[A|PB*** querying acoustic contact *** j)gO-FNOT Ignoring new targets: 541.53 m.R-%8Z5%8gOE ProNav: ac range: 541.528992 m, nav range: 528.990479 m, bearing: 23.076869 deg, approach rate: -0.585695 m/s, LOS rate: 0.006178 deg/s, cmd heading: 23.703219 deg, new cmd heading: 23.708001 deg. BE49gOMHeadingCmd: 0.413783 target range: 541.528992 and range: 544.30 m.MS>I*I"I IIQQQʎQYjZ@wzBɢ\b)   Fi )   i [ O=9t;=88OI=S>IAIuZA)q9@ @@@1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526034Q^A5NJNAa Ii Iy ԁ O >,ǜX@A6R1>6eT>6e]Wٱ6 >AHRS rotation from veh to nav: [[0.904056,-0.348482,-0.247474],[0.372958,0.926001,0.058514],[0.208770,-0.145197,0.967126]]6H?Mֿ9Ͽ?@͡???`ѕ¿`?i6R1>I6z];6CCYFFnByFIiMb@Mb@Mb@ 9V-?S㥛I +?Y|?y/ݼ9<\A A);UAYrAbD-VD-0y=S=%=C=ٔ=+Q-E>9AYA=EgGyEFMEM>QYQ 5]4U?Q 9e4U)UBYe?Q Ee:yex>Q Ie@UGDIU0;iU0;U"v4ymBɮu#[AuĨEjgOFNOT Ignoring new targets: 541.53 m.Rcq8Zcq8gO ProNav: ac range: 541.528992 m, nav range: 528.737976 m, bearing: 23.078246 deg, approach rate: -0.604070 m/s, LOS rate: 0.003297 deg/s, cmd heading: 23.708002 deg, new cmd heading: 23.710758 deg. B8gOHeadingCmd: 0.413831 target range: 541.528992 and range: 544.30 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7749345>1*1"1 9999AʎAAAjAZMU@颵zBɢW) Ei)项i'O1;VI>IEE EEEE%EA"EE:*EE:VEE 4ZEAaM@aM@aU@aU@ԉ@ @@0@B<A<B>BCBIBnBB =BBDBx;Bk1EԹ^A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026795 A I I! O5 >C,wX@A2 1>2s0>2TWٱ29 >AHRS rotation from veh to nav: [[0.904165,-0.348249,-0.247405],[0.372713,0.926099,0.058532],[0.208738,-0.145134,0.967142]]2H?IֿϿ???@?¿?i2 1>I2M];2BCYFnByFIbDNVDNyVt.>%VT=ٔVŲ8Q-Z>9XYX=ZgGyX^:E^>`Q 5f4bv?Q 9f4b)b؀BYdyjT>Q Ij@bGDIbE:ib]:b|4ynBɮnZAljgOFNOT Ignoring new targets: 541.53 m.R  s8Z  s8gO ProNav: ac range: 541.528992 m, nav range: 528.505127 m, bearing: 23.079525 deg, approach rate: -0.604475 m/s, LOS rate: 0.003320 deg/s, cmd heading: 23.710758 deg, new cmd heading: 23.713315 deg. Bp8gO%HeadingCmd: 0.413875 target range: 541.528992 and range: 544.30 m.%{>!*!"! !))))ʎ111j1Z5I @ԹzBɢ5e) %Di) i rO ;~ZI{>I9@ @@ 0@@[A@[Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278754EE EEEE&EA"EEs:*EEAr:VEE4ZEABEEi0p,_X@A.BDAT read: Rx Time:00:31:54.2536 6TRx dataTimestamp_ set to:1761697914.892878:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537194)1>(o> Wٱ} AHRS rotation from veh to nav: [[0.904039,-0.348254,-0.247855],[0.373167,0.925803,0.060291],[0.208469,-0.146997,0.966919]]H?IֿϿ?-?~ޮ??¿?i)1>I&Z];DCYnByIiMb@Mb@Mb@ 9Zd;?~jtMb?Y?yD<AZA rA)QAYoA p<<bDVDy^=%+=ٔP:Q->9Y=gGyFN:E>Q 54 )?Q 94)BY?Q E:yi>Q I @GDI.;i-;74yɮaYAj9gOEFNOT Ignoring new targets: 541.53 m.RE}8Z}8gO ProNav: ac range: 541.528992 m, nav range: 528.217041 m, bearing: 23.080369 deg, approach rate: -0.602849 m/s, LOS rate: 0.001769 deg/s, cmd heading: 23.713315 deg, new cmd heading: 23.715006 deg. B.O8gOHeadingCmd: 0.413905 target range: 541.528992 and range: 544.30 m.Y>*" !))ʎ))1j1Z56O@}{Bɢ`C) Di)iN|N ;SIY>I9Mi>iI9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783042iEM  EM EM (EI "EM :*EM :VEM c44ZEI aU @aU @aU @aU @^A o=Zԑ B >B CB DIB woBB =B ADB B w;B 1EAM .AIQ Ia Ou >,`X@A21>2m>2Vٱ2i :AHRS rotation from veh to nav: [[0.904076,-0.348045,-0.248017],[0.373172,0.925742,0.061190],[0.208303,-0.147873,0.966821]]2H/?]Fֿ Ͽ ?ୟ?@AT??`¿`3?i21>I2|:];2CCYBnByBIbDJVDJyR>%R_=ٔRP9Q-V>9V ?YV ?=VgGyTZ߷EZ>\Q 5b4^k:?Q 9b4^)^BY`yfk>Q If@^GDI^:i^y:^4yjBɮjXAjŨEj|gO~FNOT Ignoring new targets: 541.53 m.R8Z8gO ProNav: ac range: 541.528992 m, nav range: 527.995605 m, bearing: 23.081019 deg, approach rate: -0.604639 m/s, LOS rate: 0.001775 deg/s, cmd heading: 23.715006 deg, new cmd heading: 23.716306 deg. BO8gOHeadingCmd: 0.413928 target range: 541.528992 and range: 544.30 m.R>*" !!!!ʎ)))j)Z-2@QMchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.037705颕-{BɢX) Ci)顙iNQi;UIR>Iԁ]9@Y @a@e.0@aԩ^A% lX DAT read: 00:31:54.2536 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 401,-0.08,-0.344,-1.718,-0.234,-0.705, PHS= 0.463,-0.968, 0.427, RAW= 148.7, 1.1, CAL= 147.8, 0.9, ROT= 2.2, -0.9  Ygot valid direction response: 00:31:54.2536 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 401,-0.08,-0.344,-1.718,-0.234,-0.705, PHS= 0.463,-0.968, 0.427, RAW= 148.7, 1.1, CAL= 147.8, 0.9, ROT= 2.2, -0.9 % PDAT read: Bearing 172.2, 14.2 (Local) % ~Local bearing/azimuth received: Bearing 172.2, 14.2 (Local) - DAT read: Range 11 to 50 : 541.7 m (Round-trip 722.3 ms) speed 0.4 m/s 5 R#Rx 1: Read range and direction messages.= \direction in FSK: [0.999140,0.038383,0.015707]= Fpublishing direction and range infoy  ?WF?y&?Y lD ) OI V>i w > x&@ nF< %@ <) nF=I G+ ?R ?K? d?) oҟI nF=i U T****** received valid address query ******e R****** received valid ping request ******m Querying Benthos address 50 with one ping in standard two-way mode. u PExceeded connect timeout, disconnecting.A ؟AE  E E &E "E D:*E ?:VE 4ZE BE 1,jX@A}2>}>} Vٱ} AHRS rotation from veh to nav: [[0.903711,-0.349354,-0.247502],[0.374114,0.925459,0.059706],[0.208194,-0.146551,0.967046]]}H 4?[ֿ%Ͽy?\?@ϑ?@?.¿` ?i}2>I}4];}ACYm4oByuIyybDVDNy >%-=ٔ(v9Q->9"?Y"?=gGyF6;E>Q 54P?Q 94);BYy>Q I@GDI6:iN:4y-Bɮ-WA) CX@AJDRDj>n$Ӏ@j g4@[@ @r?WF?y&?ZnF=b{v}@*Lk@nP]@zX#W?6!A?}?2]C:C"l?*B1C\ )“<D >gO addTargetRange:: Added new target pos. range: 541.700012 m, deltaT: 4.540321 s, deltaX: -2.599976 m, approachRate: -0.572641 m/s, rangeRepo size: 4 gOm Added new target pos. range: 538.913940 m, bearing: 24.854870 deg, lat: 36.779233 deg, lon: -121.859226 deg, deltaT: 4.540321 s, deltaX: -2.615051 m, approachRate: -0.575962 m/s, posRepo size: 4 jqgOFNOT Ignoring new targets: 538.91 m.RZ]*DAT read: user:404> mBDAT read: Tx time:00:31:55.6771 u$Ping request sent.u*" ʎj @Z ?ub{Bɢu]D)y }Biy)yyyi}"jM;GIU>I I@I @I@M0@I1 ^Am ONAu ZAzAu ZA checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246259aA.AE EE'E"Es:*Ei:VE'4ZEa@a@a@a@IIO>MA, X@A23>2>2Vٱ2 :AHRS rotation from veh to nav: [[0.903295,-0.350723,-0.247085],[0.375116,0.925152,0.058152],[0.208196,-0.145214,0.967247]]2H?>rֿzϿ@?ؚ? ƭ?+?[¿?i23>I2G];2FCYBroByBAIi Mb@Mb@Mb@     9 Cl?Mb{Gz?Y ;?y  #< vA hWA \A) NA Y pmA!%AAbD-VD-y= >%=:=ٔ=ljQ-=>9E ?YE ?=EgGyEFE%;EM>AqAu@AByByB}IB}pBByByByB}Aw;B}0EB=CB=CB9B= =B= =C=6 Q 54 f?Q 94 3) \BYD?Q E:y%>Q I%@  HDI =N;i E; 4y1ɮ5VA9ԩPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 538.91 m.R7Z7gO5 ProNav: ac range: 538.913940 m, nav range: 528.664307 m, bearing: 23.394293 deg, approach rate: -0.602308 m/s, LOS rate: 0.001654 deg/s, cmd heading: 23.718059 deg, new cmd heading: 23.719586 deg. B5A8gO=HeadingCmd: 0.413985 target range: 538.913940 and range: 541.70 m.=>9*9"9 9AAAIʎIIIjIZU0?颽{Bɢ),X) Ai)i|M [; 9I >I9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499210 WC]/G}`]AT9`]AYPA ^A A ؟AI I) 1 O= >^,L'X@A2ý4>2 >27Wٱ2 :AHRS rotation from veh to nav: [[0.902857,-0.352020,-0.246841],[0.375996,0.924913,0.056242],[0.208508,-0.143590,0.967423]]2H@5?`~ֿ`}ϿP? ?ˬ?f?$a¿ ?i2ý4>I23];2CCYBoByBUIbDJVDJyR=%RV=ٔVE[Q-V>9V"?YV"?=ZgGyXZ,;EZ>\Q 5b4^w?Q 9b4^)^vBYdyf>Q If@^HDI^d:i^ ;^84yjBɮjVAnƨEj|gO~FNOT Ignoring new targets: 538.91 m.R7Z75checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749684gO ProNav: ac range: 538.913940 m, nav range: 528.447510 m, bearing: 23.394865 deg, approach rate: -0.642893 m/s, LOS rate: 0.001699 deg/s, cmd heading: 23.719586 deg, new cmd heading: 23.720731 deg. BF8gOHeadingCmd: 0.414005 target range: 538.913940 and range: 541.70 m.r>*" ʎjZps?nManaging dock network, ignoring radio surface power offD=D<E EEE"E*E]t:VEZEBEi0=;='-I=r>Ia9@ @@y0@I^A*: checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005475ԉ A .AI I) O5 >>,AX@A0rA5>r1>rOWٱr_L zAHRS rotation from veh to nav: [[0.902390,-0.353660,-0.246205],[0.376999,0.924664,0.053546],[0.208720,-0.141138,0.967737]]rH`?^ֿ`Ͽ ?ږ?\j?`W?@¿?irA5>IrGV];rGCY%oBy%sIiMb@Mb@Mb@ 9X9v?{GztMb?Y?yף<A;UA A)OAYkAbDVDy%=%-5=ٔ-uQ-->95 ?Y5 ?=5gGy5F=$;E=>AQ 5E4Eό?Q 9M4EY)EBYM?Q EM:yMc>Q IM@E,HDIE{:iE :E4yYɮ]OUAYjygOFNOT Ignoring new targets: 538.91 m.R7Z7gO ProNav: ac range: 538.913940 m, nav range: 528.175903 m, bearing: 23.395422 deg, approach rate: -0.601430 m/s, LOS rate: 0.001234 deg/s, cmd heading: 23.720731 deg, new cmd heading: 23.721846 deg. B8gOHeadingCmd: 0.414024 target range: 538.913940 and range: 541.70 m.>*" ʎjZ Z?{BɢjW) Ai)iN;c'I>Iԉ]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255299i@i @i@m4@i@u\A@uWAE  E E $E "E :*E :VE 4ZE a@a@a@a@B>BCBIBpBBBBBv;Bk0E^A[1A?A? A I I O% > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505551h,aZX@AB6>Bn>BP)WٱB& JAHRS rotation from veh to nav: [[0.902112,-0.354944,-0.245373],[0.377742,0.924479,0.051462],[0.208576,-0.139113,0.968062]]BH?gֿ `hϿ@,?V?GY??p\?iB6>IB08];BFCYRoByRI Z4%jc=ٔj9Q-j>9lYl=ngGylr;Er>tQ 5z4v?Q 9z4v.)vBYxyz>Q Iz@v:HDIv:iv:vg4yBɮTAj!gO-FNOT Ignoring new targets: 538.91 m.R-|7Z-|7gO} ProNav: ac range: 538.913940 m, nav range: 527.959229 m, bearing: 23.395849 deg, approach rate: -0.601853 m/s, LOS rate: 0.001185 deg/s, cmd heading: 23.721846 deg, new cmd heading: 23.722700 deg. B 8gOHeadingCmd: 0.414039 target range: 538.913940 and range: 541.70 m.>*" ʎjZYP? |Bɢ ϶^)  @i )i`N]E&;]v]I]>Ia 9@  @ @ 4@ uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760959^AD zD @AbE!4jEY"4rEȟ/E  E E *E "E s:*E :VE (N4ZE BE a5 2E a5 JE ;a5 :E ;a5 I) A II O] >,stX@A2*z7>2(h>2 Wٱ2.y :AHRS rotation from veh to nav: [[0.901849,-0.355790,-0.245116],[0.378406,0.924250,0.050697],[0.208511,-0.138474,0.968167]]2H`?Bֿ_Ͽ7? u?@?`?@:?i2*z7>I27)];2BCYn$pBynIbDz VDz2y1=%G=ٔc(9Q->9 Y = gGy F :E>Q 5%4?Q 9%4)ˁBY)y-(>Q I-@IHDI*;i+;4y=BɮESAEǨEjygO}FNOT Ignoring new targets: 538.91 m.R7Z7gO ProNav: ac range: 538.913940 m, nav range: 527.712646 m, bearing: 23.396315 deg, approach rate: -0.594421 m/s, LOS rate: 0.001125 deg/s, cmd heading: 23.722700 deg, new cmd heading: 23.723634 deg. B8gOHeadingCmd: 0.414056 target range: 538.913940 and range: 541.70 m.>*" ʎjZX@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012111u2|BɢuN) @i)顱iM(;9 I>IIa@a @i@m4@iq^A m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261655ԡ I I O >E%  E% E% 'E! "E% :*E% |:VE% '4ZE! a- @a- @a- @a- @{,X@A2}7>2i>2+Wٱ2؇ :AHRS rotation from veh to nav: [[0.901844,-0.355549,-0.245485],[0.378418,0.924193,0.051648],[0.208512,-0.139474,0.968024]]2H?@Oֿ@ lϿ 8??q?@?H ?i2}7>I2O];2DCYBhpByBIi Mb@Mb@Mb@     9 S?y&1~jtx?Y /?y `e ; |}A  EA) NA Y  kAbD%VD%fy-&>%5G=ٔ5Q-5>yBAB>BCB7IBqBB =BBBv;Bq0E9Y=gGy8E>Q 5%45?Q 9%46)BY-;?Q E-:y-L>Q I-@ZHDIR;i;4yUBɮ]RA]EPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 538.91 m.R8Z8gO ProNav: ac range: 538.913940 m, nav range: 527.453857 m, bearing: 23.397237 deg, approach rate: -0.586035 m/s, LOS rate: 0.002088 deg/s, cmd heading: 23.723634 deg, new cmd heading: 23.725479 deg. Bt8gOHeadingCmd: 0.414088 target range: 538.913940 and range: 541.70 m.N>*" ʎjZiy@e]|BɢeՓR)a eX?ia)iiiiMH; IN>IԩA@A @A@E4@A@M=@M=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514173^A zA zA [AI I O > ,>vX@A217>2 D>2Vٱ2 :AHRS rotation from veh to nav: [[0.902025,-0.355015,-0.245593],[0.378188,0.924208,0.053043],[0.208148,-0.140726,0.967921]]2Hb?ֿ`oϿ:4??@n(??@R¿4?i217>I2fl];2CCYBpByBIJ@AJ@AbDNVDNyr=%rO=ٔrew:Q-r>9tYt=vgGyvFvJEz>xQ 54z?Q 94z)zBYy)>Q I@zhHDIz` ;iz:zŽ4yBɮ(RAE%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765839jAgOMFNOT Ignoring new targets: 538.91 m.RM#8ZM#8gO] ProNav: ac range: 538.913940 m, nav range: 527.231262 m, bearing: 23.398037 deg, approach rate: -0.619192 m/s, LOS rate: 0.002227 deg/s, cmd heading: 23.725478 deg, new cmd heading: 23.727079 deg. B]j8gOeHeadingCmd: 0.414116 target range: 538.913940 and range: 541.70 m.e>a*a"i iiiqqʎqqqjyZ}H@颥|Bɢe)  ?i)顩iRN;V<I>IE EEE"Ea:*E:VEZEBE(checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020011Y ,OX@A6Q67>6:F>6Vٱ6. BAHRS rotation from veh to nav: [[0.902032,-0.354718,-0.245995],[0.378209,0.924128,0.054274],[0.208079,-0.141994,0.967750]]6Hr?ֿ@|Ͽ4?t?@ɫ?R?,¿?i6Q67>I6];6@CYFpByF IiMb@Mb@Mb@ 9Gz?X9v~jtx?Yp?y9zASA A)LAYgAbD-VD-k2y==%=E=ٔE39Q-E>9AYA=EgGyIM'8EM>QQ 5]4Un?Q 9]4Uթ)U!BYe?Q Ee:yeֱ>Q Ie@UxHDIU ;iU ;U̽4yiɮmQAijgOFNOT Ignoring new targets: 538.91 m.Rj8Zj8gO ProNav: ac range: 538.913940 m, nav range: 526.982361 m, bearing: 23.399692 deg, approach rate: -0.601509 m/s, LOS rate: 0.004000 deg/s, cmd heading: 23.727080 deg, new cmd heading: 23.730390 deg. BC8gOHeadingCmd: 0.414173 target range: 538.913940 and range: 541.70 m.>*" ʎjZS @|B9ɢukR)q u ?iq)yyyi}}N;I>I5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.26992259@9 @9@9@9aE EE&E"E:*E&p:VE4ZEa@a@a@a@B~>BCB|IBsqBB =BBDB;w;B0E^AmԉII O >Թ  BDAT read: Rx Time:00:31:58.8007  TRx dataTimestamp_ set to:1761697919.425151 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522816,,X@ABu7>BL>BjVٱB9P JAHRS rotation from veh to nav: [[0.901793,-0.355450,-0.245814],[0.378724,0.923973,0.053309],[0.208177,-0.141169,0.967850]]BH|?ֿvϿ@=? 0?MK? ?¿?iBu7>IB];BCCYRpByR IbDZVDZ0yf׵=%fR=ٔfRQ-f>9hYh=jgGyjFjg:En>pQ 5v4r?Q 9v4r)rQ Iv @rHDIr:irI:rӽ4y~Bɮ~PA|j!gO%FNOT Ignoring new targets: 538.91 m.R%8Z-8gO5 ProNav: ac range: 538.913940 m, nav range: 526.748962 m, bearing: 23.401230 deg, approach rate: -0.599120 m/s, LOS rate: 0.003950 deg/s, cmd heading: 23.730391 deg, new cmd heading: 23.733468 deg. BN8gOHeadingCmd: 0.414227 target range: 538.913940 and range: 541.70 m.>*" ʎjZ@=|Bɢ=W)A E?iA)E/AAiE$NMV;M; ԑIU>I)@) @)@-0@)@1@5\AԹ=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773622^AmAu?Au?IIE EE'E"E~ ;*Exv:VE'4ZEBEV6>6Vٱ6~ BAHRS rotation from veh to nav: [[0.901705,-0.355593,-0.245930],[0.378908,0.923892,0.053405],[0.208222,-0.141340,0.967815]]6H?ֿ@zϿ @??W?? l¿W?i68>I6x];4Y^qByb?I df<bDjVDjβyr=%rI=ٔvQ-v>9tYt=vgGytz:Ez>|Q 54~M?Q 94~)~YBY y <>Q I  @~HDI~+;i~I;~ڽ4yBɮ:PAj9gO=FNOT Ignoring new targets: 538.91 m.RE8ZE8gOU ProNav: ac range: 538.913940 m, nav range: 526.505127 m, bearing: 23.402833 deg, approach rate: -0.598478 m/s, LOS rate: 0.003936 deg/s, cmd heading: 23.733468 deg, new cmd heading: 23.736675 deg. BU8gO]HeadingCmd: 0.414283 target range: 538.913940 and range: 541.70 m.]>Y*Y"a aaaiiʎiiijiZu@颽|Bɢ[) >i)&ϜieN ؖ;6 I>IiߩIߩchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.031321}9@y @@0@^AI A% ؟AI) I9 u DAT read: 00:31:58.8007 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 420, 0.05,-2.180, 2.694,-2.038,-2.491, PHS= 0.413,-1.053, 0.409, RAW= 149.9, 3.2, CAL= 148.9, 3.1, ROT= 1.1, -3.1 } Ygot valid direction response: 00:31:58.8007 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 420, 0.05,-2.180, 2.694,-2.038,-2.491, PHS= 0.413,-1.053, 0.409, RAW= 149.9, 3.2, CAL= 148.9, 3.1, ROT= 1.1, -3.1  PDAT read: Bearing 174.1, 12.7 (Local)  ~Local bearing/azimuth received: Bearing 174.1, 12.7 (Local)  DAT read: Range 11 to 50 : 539.6 m (Round-trip 719.5 ms) speed 0.5 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.998353,0.019169,0.054079] Fpublishing direction and range infoyA E mB?my^!?ʾ7?YE DA A A A A )E NIE t>iE ȆE sh>E p'@E d=E R&@ E k]=)E nFE  E E E "E :*E :VE ZE a @a @a @a @+,. X@AZJ8>Z>ZVٱZ zAHRS rotation from veh to nav: [[0.901516,-0.355535,-0.246705],[0.379396,0.923574,0.055406],[0.208152,-0.143549,0.967505]]A!A%AAB-x>B-CB-IB-qBB- =B)B-DB-w;B-0EZH8?`ֿ ϿH??@<^?? _¿?iZJ8>IZc];XY:qByYIi%Mb@Mb@Mb@!!!!I !9%Zd;?J +Mb?Y%?y%H%<%"yA%PA %A)%pKA!Y%ffAbDeVDe0y=%&=ٔ9Q->9"?Y"?=gGyF:E>Q 54](?Q 94 )~BY{?Q E:y>Q I @HDI:i:x4yɮOAqu X@AJu3DRu3Dju4>ung@_G$@HnOR=@rumB?my^!?ʾ7?ZunF<buk]u= _4}@Pj@~~:Ea@zu^''?: ?"x?2upVC:u)C"ugO addTargetRange:: Added new target pos. range: 539.599976 m, deltaT: 4.535637 s, deltaX: -2.100037 m, approachRate: -0.463008 m/s, rangeRepo size: 4 gO Added new target pos. range: 536.810059 m, bearing: 24.418529 deg, lat: 36.779233 deg, lon: -121.859165 deg, deltaT: 4.535637 s, deltaX: -2.103882 m, approachRate: -0.463856 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 536.81 m.RZgO ProNav: ac range: 536.810059 m, nav range: 528.373413 m, bearing: 23.942976 deg, approach rate: 0.000000 m/s, LOS rate: 0.003936 deg/s, cmd heading: 23.736675 deg, new cmd heading: 23.740705 deg. BgOHeadingCmd: 0.414353 target range: 536.810059 and range: 539.60 m.#&>*"   ʎ  j܀@Z`?]3}BɢC) ?i)顁iMӼ;1I#&>I*DAT read: user:405> BDAT read: Tx time:00:32:00.1771 $Ping request sent. ,L. X@A298>2.>24Vٱ22 :AHRS rotation from veh to nav: [[0.901435,-0.354987,-0.247789],[0.379649,0.923284,0.058418],[0.208042,-0.146733,0.967051]]2H@?@ֿ@Ͽ+L????$¿`?i298>I2y];2BCEJ EJEJ%EH"EJ:*EJ:VEJ 4ZEHBEJ#9~ ?Y~ ?=~gGy6:E >Q 54;?Q 9%4)BY!y-#>Q I- @HDIC;iE;84y5Bɮ=NA=EԁP-B*** querying acoustic contact ***) )jYgOeFNOT Ignoring new targets: 536.81 m.Rez8Zez8gOu ProNav: ac range: 536.810059 m, nav range: 528.140442 m, bearing: 23.945444 deg, approach rate: -0.576239 m/s, LOS rate: 0.006106 deg/s, cmd heading: 23.740704 deg, new cmd heading: 23.745641 deg. Bu29gOHeadingCmd: 0.414440 target range: 536.810059 and range: 539.60 m.n1>*" ʎjZ.?=[}Bɢ=ba)9 =?iA)Eԇ(AAiEMM;MFIMn1>Iԩ-9@) @)@-0@)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502915^A  AE ؟AII IY Om >y,G X@A>9>>>>ކVٱ>, FAHRS rotation from veh to nav: [[0.901146,-0.355780,-0.247701],[0.380373,0.923008,0.058071],[0.207970,-0.146549,0.967095]]>H 1?`ֿϿ X?H?u?? ¿p?i>9>I>.];>DCYNqByNIi-Mb@Mb@Mb@)))) )9-S?T㥛 ~jt?Y-/?y--D<-vA-OA -~A)--HA)Y-\cA=AA=AAbDEVDE02yU#=%UF=ٔU(;9Q-]>9]"?Y]"?=]gGyeFe :Ee>iQ 5u4mN?Q 9u4m4)mBYu ?Q E}:y}>Q I} @mHDIm ;im; ;mj4yɮANAjgOFNOT Ignoring new targets: 536.81 m.R9Z9gO ProNav: ac range: 536.810059 m, nav range: 527.895447 m, bearing: 23.948641 deg, approach rate: -0.648506 m/s, LOS rate: 0.008468 deg/s, cmd heading: 23.745641 deg, new cmd heading: 23.752039 deg. Bw9gOHeadingCmd: 0.414551 target range: 536.810059 and range: 539.60 m.@>*" ʎjZ`?=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762966A}BɢJd)  ?i)OiaN;I@>IE EE&E"E:*E n:VE4ZEa@a@a@a@9@ @@@Bq>BCBIBSrBB =BBBx;B1EBCBCBB =B =C5aԑ^A= >G] \Aq  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014774 9 \AY Թ ,a X@A23:>2>2)>Vٱ2  :AHRS rotation from veh to nav: [[0.900827,-0.357027,-0.247067],[0.381276,0.922716,0.056785],[0.207698,-0.145354,0.967333]]2H?ֿϿ f??@?ܕ?¿d?i23:>I2];2@CYBqByBIbDJVDJfyR>%RV=ٔR>:Q-V>9V ?YV ?=VgGyTZ';EZ>\Q 5b4^\a?Q 9b4^o)^ւBYdyf4>Q If @^HDI^ ;i^%;^4yjBɮjMAhjgOFNOT Ignoring new targets: 536.81 m.R9Z9gO ProNav: ac range: 536.810059 m, nav range: 527.668518 m, bearing: 23.951581 deg, approach rate: -0.568695 m/s, LOS rate: 0.007371 deg/s, cmd heading: 23.752039 deg, new cmd heading: 23.757922 deg. BW9gOHeadingCmd: 0.414654 target range: 536.810059 and range: 539.60 m.M>*" ʎjZv?}Bɢxgk) a>i)sieO6p;޻IM>I i !>ԑy@y @y@}`0@yMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.266917E EE(E"E:*Ek:VEc44ZEBEG-) 8,L{ X@Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.521207Y%qBy-IiMb@Mb@Mb@ 9/$?㥛 Q?Y?yu<tALA )FAYpaAbDVDN2y=%+=ٔQ-e>9m"?Ym"?=mgGymFuEu>yQ 54}By?Q 94}D)}BY?Q E:y>Q I @}HDI}j:i}P;}4yBɮLAEjgOFNOT Ignoring new targets: 536.81 m.R%9Z%9gO ProNav: ac range: 536.810059 m, nav range: 527.375916 m, bearing: 23.955901 deg, approach rate: -0.614016 m/s, LOS rate: 0.009069 deg/s, cmd heading: 23.757922 deg, new cmd heading: 23.766565 deg. BƄ9gOHeadingCmd: 0.414805 target range: 536.810059 and range: 539.60 m.La>*" ʎjZ@?}Bɢ%FU)! %>i!)%))i-C^O5[;5 I5La>I19@ @@.0@AUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.770855i E  E E &E "E s:*E Ar:VE 4ZE a @a @a @a @^A% [RӻB =A <B n>B B JIB rBB B B DB w;B 0Eԑ A I I O >W%,h X@AY %rBy I <bD%VD%1y5>%5b=ٔ1Q-5>99Y9==gGy9AEE?Q 54h?Q 94)BYyQ I @HDI:i:4yɮKAjgOFNOT Ignoring new targets: 536.81 m.R 9Z 9gO ProNav: ac range: 536.810059 m, nav range: 527.165894 m, bearing: 23.959004 deg, approach rate: -0.591866 m/s, LOS rate: 0.008749 deg/s, cmd heading: 23.766565 deg, new cmd heading: 23.772774 deg. B9gOHeadingCmd: 0.414913 target range: 536.810059 and range: 539.60 m.o>*" ʎjZ@-}Bɢ-{u)) 5T=i1)5F11i55P=ܑ;=gI=o>IAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.023311@ @@4@1^Aԉ A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274854z+," X@AbE5'4jE1rE5..E EE'E"E*Ez:VE'4ZEBEi0].>][Uٱ] uAHRS rotation from veh to nav: [[0.900107,-0.360261,-0.244987],[0.383429,0.922057,0.052843],[0.206854,-0.141500,0.968085]]]H ?׿[Ͽ?@~?C? 3z?¿ ?i]=>I]d];]DCY}ZrBy IbDVD 8y=%D=ٔ;Q->9Y=gGyF;E>Q 54?Q 94)8BYy>Q I @IDI:i: 4yBɮ3KAPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 536.81 m.R9Z9gOu ProNav: ac range: 536.810059 m, nav range: 526.924316 m, bearing: 23.962517 deg, approach rate: -0.591970 m/s, LOS rate: 0.008614 deg/s, cmd heading: 23.772774 deg, new cmd heading: 23.779804 deg. Bu8|9gO}HeadingCmd: 0.415036 target range: 536.810059 and range: 539.60 m.}>y*y"y yʎjZ =@5%~Bɢ5gb)1 5E(;EPIE>IIqԑ@ @@4@ @ @ =iYIYechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.527226^A I I O% >a2, X@A2=>2>2ySUٱ2 :AHRS rotation from veh to nav: [[0.899863,-0.362024,-0.243281],[0.384020,0.922059,0.048331],[0.206823,-0.136916,0.968751]]2H ?f+׿#Ͽȓ??@Ͼ?)y?`u ?i2=>I2];2AC\YbrByb%IdfAiMb@Mb@Mb@ 9+?(\µI +?Yv?y9<qAZJA O{A)CAY^AbDVDyP=%J=ٔc8Q->9Y=gGychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.778963:E>Q 54?Q 941)ZBY ?Q E:y>Q I @IDI ;i~ ;$4yBɮJAEj gOFNOT Ignoring new targets: 536.81 m.Rb39Zb39gO% ProNav: ac range: 536.810059 m, nav range: 526.681580 m, bearing: 23.966496 deg, approach rate: -0.597762 m/s, LOS rate: 0.009802 deg/s, cmd heading: 23.779804 deg, new cmd heading: 23.787764 deg. B%9gO-HeadingCmd: 0.415175 target range: 536.810059 and range: 539.60 m.-ˑ>)*)"1 11199ʎ99AjAZE e@mK~Bɢmڻp)q T틐;IB]e>B]CB]IB]2sBB] =BYB]DB]w;B]0EEu EuEu*Eq"Eua:*Eu|:VEu(N4ZEqBEu(<2Eu(<JEub;:Eub;@ @@ 4@ ^A- 3m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030780I Ia Iq O >8, X@A28=>2s>22Uٱ2P :AHRS rotation from veh to nav: [[0.899936,-0.361791,-0.243357],[0.383914,0.922073,0.048899],[0.206701,-0.137434,0.968704]]2H@F?@'׿ O&Ͽ` ??J ?0u?o?i28=>I2 ];2CCY^rBybGIdf@AbDjVDjyr2>%rX=ٔv9Q-v>9tYt=vgGyvFz+Ez>|Q 54~?Q 94~)~yBYy >Q I  @~&IDI~:i~ :~4yBɮIAjAgOEFNOT Ignoring new targets: 536.81 m.RM29ZM29gO ProNav: ac range: 536.810059 m, nav range: 526.456360 m, bearing: 23.970192 deg, approach rate: -0.595492 m/s, LOS rate: 0.009778 deg/s, cmd heading: 23.787764 deg, new cmd heading: 23.795161 deg. B(9gOHeadingCmd: 0.415304 target range: 536.810059 and range: 539.60 m.>*" ʎjZ5@ۜ @额s~Bɢj) \;i)Dݼ顡iS-<;5ƭI5>I1I@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283991DAzDAE EE(E"E:*Ega:VEc44ZEBE.<2E.<JE;:E;y^A- #2I I O >ԡ >, X@ABDAT read: Rx Time:00:32:03.2971 &TRx dataTimestamp_ set to:1761697923.972448.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540986ԁ`=>F>Uٱ AHRS rotation from veh to nav: [[0.899789,-0.361507,-0.244320],[0.384043,0.921949,0.050205],[0.207101,-0.139003,0.968394]]H`?@"׿EϿ (??v?J?@?i`=>I];@CYrBydIi]Mb@Mb@Mb@YYYY Y9]Cl?(\µ/$?Y]d?yY]<]XoAY ]9zA)]BAYY]]AbDuVDuܲy=%'=ٔZQ->9Y=gGy~9E>Q 54,?Q 94)BY?Q E:y5>Q I @8IDI:i] ;K$4yBɮHAjgOFNOT Ignoring new targets: 536.81 m.R39Z39gO ProNav: ac range: 536.810059 m, nav range: 526.169312 m, bearing: 23.974991 deg, approach rate: -0.587227 m/s, LOS rate: 0.009821 deg/s, cmd heading: 23.795160 deg, new cmd heading: 23.804762 deg. Bˏ9gOHeadingCmd: 0.415471 target range: 536.810059 and range: 539.60 m.>*" ʎjZu@ԩ~Bɢ^) V;i)B"itT ); nI >Iy@y @y@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786820E  E E E "E :*E g:VE ZE a% @a% @a% @a% @AE AAAE @ABM d>BI BM IBM sBBM =BI BI BM )v;BM 0E^A QϻA A  I IY Oe >E,!X@AY~"sBy~IbD VD y%">%%{=ٔ%Q-%?9)Y)=-gGy-F-E5 ?1Q 5=45?Q 9E45B)5BYAyAQ IE @5EIDI5;i5+;5)4yIɮU(HAQjqgO}FNOT Ignoring new targets: 536.81 m.R39Z39gO ProNav: ac range: 536.810059 m, nav range: 525.978516 m, bearing: 23.978183 deg, approach rate: -0.585968 m/s, LOS rate: 0.009809 deg/s, cmd heading: 23.804761 deg, new cmd heading: 23.811149 deg. B9gOHeadingCmd: 0.415583 target range: 536.810059 and range: 539.60 m.J>*" qyʎjZ"@DAT read: 00:32:03.2971 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 398,-0.04,-0.934,-2.734,-0.854,-1.778, PHS= 0.945,-0.911, 0.879, RAW= 148.2, -10.0, CAL= 148.8, -11.9, ROT= 1.2, 11.9 Ygot valid direction response: 00:32:03.2971 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 398,-0.04,-0.934,-2.734,-0.854,-1.778, PHS= 0.945,-0.911, 0.879, RAW= 148.2, -10.0, CAL= 148.8, -11.9, ROT= 1.2, 11.9 PDAT read: Bearing 159.9, 14.6 (Local) ~Local bearing/azimuth received: Bearing 159.9, 14.6 (Local) DAT read: Range 11 to 50 : 536.9 m (Round-trip 715.9 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.978294,0.020492,-0.206204]Fpublishing direction and range infoyAEF0N?,-?Fa5dʿYE9DAAAA A)ELIEq?iEL7iE%a?E~%@E¸2E6&@ EȭT)EAAEeb?!?!_ Nƿ E>)E^3>IE ~Bɢ-hx)-< -J:i))5/11i5@8V=M;= I=J>IAAAmT****** received valid address query ******mR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode. @ @@1@1^A uIq I O > *DAT read: user:406>  BDAT read: Tx time:00:32:04.5271  $Ping request sent. e >e0Uٱe AHRS rotation from veh to nav: [[0.900061,-0.359599,-0.246126],[0.383265,0.922033,0.054441],[0.207359,-0.143332,0.967708]]eHM?׿ Ͽh?J?߫??X¿@v?ie<>Ie];eCC!YhsByI 4<bDVD0y>%1=ٔ Q->9Y=gGyzE> Q 54 Y?Q 94 Z) BYy>Q I @ WIDI <;i H; #24y%Bɮ-GA-Eae[!X@AJeDReDje >eȌBPT@.js%@f[reF0N?,-?Fa5dʿZe<beȭT>e쩄f~@Ah`i@@2?zeЧ?.cJ=|?V68?2e[LC:eC"ehq?*e(Be5tBaa“aemDeO>gOu addTargetRange:: Added new target pos. range: 536.900024 m, deltaT: 4.293951 s, deltaX: -2.699951 m, approachRate: -0.628780 m/s, rangeRepo size: 4 gO Added new target pos. range: 534.103455 m, bearing: 22.495707 deg, lat: 36.779233 deg, lon: -121.859165 deg, deltaT: 4.293951 s, deltaX: -2.706604 m, approachRate: -0.630329 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 534.10 m.RZgO ProNav: ac range: 534.103455 m, nav range: 525.705322 m, bearing: 23.982778 deg, approach rate: 0.000000 m/s, LOS rate: 0.009809 deg/s, cmd heading: 23.811149 deg, new cmd heading: 23.820385 deg. BgOHeadingCmd: 0.415744 target range: 534.103455 and range: 536.90 m.j>*" ʎj@3ǀ@Zt?~BɢB)p) Y8i)َ iWHߍ;BϻIj>IQ9@ @@0@=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251673ԉ^A &tI I) O5 >ԩ R,EK!X@A2$<>2r>2 Vٱ2w :AHRS rotation from veh to nav: [[0.900312,-0.358326,-0.247062],[0.382596,0.922172,0.056737],[0.207504,-0.145606,0.967337]]2H \? ֿໟϿs|?o?@ ?z?5¿ m?i2$<>I2G];2ACYEvsByEIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502911iMb@Mb@Mb@ 9K?~jt/$?Y^?y+mAGA uA)AAYZAbDVDy-=%-V=ٔ-˹Q-->91Y1=5gGy5F=:E=>AQ 5M4E=?Q 9M4E)EBYM?Q EM:yUӎ>Q IU @EeIDIE;iE;E84y]Bɮ]FA]EPB*** querying acoustic contact *** ԙjgOUFNOT Ignoring new targets: 534.10 m.R]"9Ze"9gO ProNav: ac range: 534.103455 m, nav range: 525.486633 m, bearing: 23.986129 deg, approach rate: -0.579651 m/s, LOS rate: 0.008887 deg/s, cmd heading: 23.820384 deg, new cmd heading: 23.827090 deg. B9gOHeadingCmd: 0.415861 target range: 534.103455 and range: 536.90 m.>*" E EE(E"ED:*Ex:VEc44ZEa@a@a@a@ʎjZ@?Bg>BB%IB&tBB =BBDBHu;B/EMBɢM8s)Q U9iQ)U`SQQiUY],;]]$Ie>Ia@) @)@)@)U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755422^AE [RӻAI zAM ZA AU .AIa Iq O} >tX,ve!X@A2;>2 >2.Vٱ28: :AHRS rotation from veh to nav: [[0.900343,-0.358351,-0.246917],[0.382232,0.922426,0.055032],[0.208042,-0.143927,0.967473]]2H`?`7ֿ`Ͽ@v??#-? ?4l¿`?i2;>I20];2DCYFsByFIbDNVDN:yVӂ>%Vc=ٔV:ȺQ-Z>9Z ?YZ ?=ZgGy\^ڀE^>`Q 5f4bb%?Q 9f4b8)bBYdyf>Q Ij @brIDIb;ib#;b>4ylɮn\EAljgOFNOT Ignoring new targets: 534.10 m.R &9Z &9gO ProNav: ac range: 534.103455 m, nav range: 525.277100 m, bearing: 23.989354 deg, approach rate: -0.591097 m/s, LOS rate: 0.009100 deg/s, cmd heading: 23.827089 deg, new cmd heading: 23.833541 deg. B;9gO%HeadingCmd: 0.415974 target range: 534.103455 and range: 536.90 m.%>!*!"! !))))ʎ111j1Z=`h?6Bɢ.) 6i)4 i $[5w;5;I5>I1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006851Eu EuEu'Eq"Eu:*Eu]t:VEu'4ZEqBEu+9 a,`!X@A\Y~sBy~ IiMb@Mb@Mb@ 9S? rhZd;O?Y/?yCj<lADA sA)x?AYYA@AAAbDVDy=%=ٔQ->9"?Y"?=gGy FE>Q 54g>?Q 94ډ)FBYA?Q E:y>Q I @IDIe:ia:H4yBɮDAjgO%FNOT Ignoring new targets: 534.10 m.R- 9Z- 9gO= ProNav: ac range: 534.103455 m, nav range: 524.969238 m, bearing: 23.993555 deg, approach rate: -0.592412 m/s, LOS rate: 0.008089 deg/s, cmd heading: 23.833540 deg, new cmd heading: 23.841948 deg. B=l9gOEHeadingCmd: 0.416120 target range: 534.103455 and range: 536.90 m.E >A*A"A AIIIIʎQQQjQZ]m?颅eBɢ^a) 6i)V)顉i[=;I >I-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510995E EE)E"E:*E҆:VEFA4ZEa@a@a@a@~M<BU<AQB]c>BYB]vIB]tBB] =BYBYB]t;B] /EB%CB%CB%ǓCB% =B% =C%ǝ5@ @@(4@A RC `]A! M 9U `]AYU ܓAy X? A^A A >A > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763576i AIIO>vqh,i!X@AYvGtByv9IbD~VD~y= >%=/=ٔAQ-E>9AYA=MgGyM!FIEM>QQ 5]4UT?Q 9]4U)UlBYayaQ Ie @UIDIU:iU:U=P4ymBɮuCAqjgOFNOT Ignoring new targets: 534.10 m.R99Z99gO ProNav: ac range: 534.103455 m, nav range: 524.692383 m, bearing: 23.997338 deg, approach rate: -0.592477 m/s, LOS rate: 0.008099 deg/s, cmd heading: 23.841948 deg, new cmd heading: 23.849518 deg. B)m9gOHeadingCmd: 0.416253 target range: 534.103455 and range: 536.90 m.>*" ʎjZ`@BɢQh) 4i)a4i\ ;eI>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015452EU EUEU%EQ"EU2:*EUi:VEU 4ZEQBEU$*Rp,Z!X@A ]<;>]2>]yWٱ] AHRS rotation from veh to nav: [[0.900448,-0.356714,-0.248894],[0.381529,0.922527,0.058132],[0.208875,-0.147305,0.966785]]]Hx?fֿϿj?W?ní?k?¿`?i]<;>I]R];]ACYxtByXI!!iMb@Mb@Mb@ 9x&1?:v{Gz?Y!?yTף<iAAA )b>AY\WAbDVDNy-=%-=ٔ57ҺQ-5>91Y1=5gGy9=խE=>AQ 5M4En?Q 9M4E)EBYU*"?Q EU:yU>Q IU @EIDIE:iE:EY4yYɮ]BAYajgOFNOT Ignoring new targets: 534.10 m.R8Z8gO ProNav: ac range: 534.103455 m, nav range: 524.368347 m, bearing: 24.000786 deg, approach rate: -0.609524 m/s, LOS rate: 0.006489 deg/s, cmd heading: 23.849518 deg, new cmd heading: 23.856418 deg. B>9gOHeadingCmd: 0.416373 target range: 534.103455 and range: 536.90 m..>*" ʎjZNZ@Bɢ_) 4i)8@iw];}I.>I1@1 @9@=A3@9ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521113Em EmEm)Ei"Ema:*Emz:VEmFA4ZEiau@a}@a}@a}@Ba>BBIB8uBB =BBDBr;B_.EԹ ^A= A I I O >Ov,*!X@A2 ;>2|0>2Wٱ2_ >AHRS rotation from veh to nav: [[0.900376,-0.356511,-0.249446],[0.381480,0.922526,0.058468],[0.209276,-0.147802,0.966622]]2H?ֿϿ+j?U?@v?@?)¿@?i2 ;>I2];2CCYFtByJIbDRVDR02yZt>%Zt=ٔ^_Q-^?9\Y\=bgGyb"FbSEb?dQ 5j4f_?Q 9j4fN)fBYlyn>Q In @fIDIf;if;f`_4yrBɮrAArEPB*** querying acoustic contact *** j gOFNOT Ignoring new targets: 534.10 m.RZ8ZZ8gO ProNav: ac range: 534.103455 m, nav range: 524.163696 m, bearing: 24.002966 deg, approach rate: -0.611071 m/s, LOS rate: 0.006512 deg/s, cmd heading: 23.856418 deg, new cmd heading: 23.860780 deg. B>9gOHeadingCmd: 0.416449 target range: 534.103455 and range: 536.90 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7710068>*"  ʎjZM@@Bɢ) 1i)cIic_E;Ex IE8>IIi@ @@0@ԑ^AzAZAzA checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023937 A .AI I bEc44jEʅ04rEͰ/E  E E &E "E O:*E n:VE 4ZE BE |,!X@A2l8;>2LG>2~Xٱ2 :AHRS rotation from veh to nav: [[0.900196,-0.356473,-0.250148],[0.381589,0.922470,0.058641],[0.209850,-0.148243,0.966430]]2Hg?tֿ`nпk?@?B?_?¿?i2l8;>I2^;2BC\YbtBybIbDjVDjyr=%rH=ٔv&Q-v>9v ?Yv ?=zgGyxz&9Ez>|Q 54~l?Q 94~8)~ԄBY y פ>Q I  @~IDI~:i~-:~f4yBɮ@Aj9gO=FNOT Ignoring new targets: 534.10 m.RE8ZE8gOU ProNav: ac range: 534.103455 m, nav range: 523.914062 m, bearing: 24.005622 deg, approach rate: -0.610783 m/s, LOS rate: 0.006503 deg/s, cmd heading: 23.860779 deg, new cmd heading: 23.866095 deg. BUh>9gOeHeadingCmd: 0.416542 target range: 534.103455 and range: 536.90 m.eD>a*a"a aiiiiʎqqqjqZu`>N @颥Bɢb) 0i)Q顩iea;oID>IU9@Q @Q@Q@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274911!^AYA ؟AI I O >A 躃,+"X@A&BDAT read: Rx Time:00:32:07.6346 *TRx dataTimestamp_ set to:1761697928.2545142checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530274fP;>fvS>fwYٱf)e AHRS rotation from veh to nav: [[0.900053,-0.356351,-0.250834],[0.381627,0.922439,0.058892],[0.210393,-0.148731,0.966237]]fH`If6^;f@CY)uByIAE EEE"Ea:*Ega:VEZEa@a@a@a@B=_>B=CB=IB=uBB9B9B9B=q;B=-EiMb@Mb@Mb@ 9ʡE?+ rh?Y?yC<hABA XoA)595"?Y5"?=5gGy5#F=?K9E=>AQ 5m4E+?Q 9m4E~)EBYm?Q Em:yu>Q Iu @EIDIE;iE6;En4yyɮ})@AyjgOFNOT Ignoring new targets: 534.10 m.R8Z8gO ProNav: ac range: 534.103455 m, nav range: 523.628479 m, bearing: 24.008067 deg, approach rate: -0.586608 m/s, LOS rate: 0.005025 deg/s, cmd heading: 23.866095 deg, new cmd heading: 23.870987 deg. B!9gOHeadingCmd: 0.416627 target range: 534.103455 and range: 536.90 m.-P>*"   ʎjZ`;@IeBɢe.f)a e1ia)m']iiimqBbu;uIu-P>Iy@ @@0@@@@%@%qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778887ԙ A ?A ?A I I O >F,L+"X@A2+;>2>2cYٱ2 :AHRS rotation from veh to nav: [[0.899768,-0.356505,-0.251638],[0.381896,0.922331,0.058822],[0.211124,-0.149026,0.966032]]2H?`ֿ@п@p? ???Fÿ@?i2+;>I2`^;2ACXY^guBy^IbDfVDf:ynC.>%rd=ٔrt Q-r>9tYt=vgGytvL:Ev>|Q 5~4~?Q 94~|)~BYy>Q I @~IDI~y:i~N:~u4y Bɮ7?A%EjAgOEFNOT Ignoring new targets: 534.10 m.RMٽ8ZMٽ8gO] ProNav: ac range: 534.103455 m, nav range: 523.417297 m, bearing: 24.009868 deg, approach rate: -0.607904 m/s, LOS rate: 0.005187 deg/s, cmd heading: 23.870987 deg, new cmd heading: 23.874591 deg. Be9gOeHeadingCmd: 0.416690 target range: 534.103455 and range: 536.90 m.ekX>i*i"i iiqyyʎyyyjZ@颭,Bɢ%H)  /i)Ad顱i2d N;EIkX>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.03465259@1 @9@=0@AEE EEEE'EA"EE:*EE:VEE'4ZEABEE i9 I9 m DAT read: 00:32:07.6346 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 319,-0.31, 2.513, 1.015, 2.668, 2.298, PHS= 0.318,-1.238, 0.327, RAW= 150.3, 7.7, CAL= 149.7, 8.2, ROT= 0.3, -8.2 u Ygot valid direction response: 00:32:07.6346 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 319,-0.31, 2.513, 1.015, 2.668, 2.298, PHS= 0.318,-1.238, 0.327, RAW= 150.3, 7.7, CAL= 149.7, 8.2, ROT= 0.3, -8.2 } PDAT read: Bearing 179.5, 11.1 (Local) } ~Local bearing/azimuth received: Bearing 179.5, 11.1 (Local)  DAT read: Range 11 to 50 : 527.5 m (Round-trip 703.4 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.989763,0.005182,0.142629] Fpublishing direction and range infoy9 = "?,:u?x0A?Y= D9 9 9 9 9 )= OI= Т>i= v= l>= '@= >= m7'@ = C>)= ;I= C9 9 = 9 u7b?Ta0?5 ? = Q?)= I= ;i= C9 9  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. .,#D"X@Aԑm)<>m>mOZٱmN AHRS rotation from veh to nav: [[0.899437,-0.356784,-0.252423],[0.382245,0.922205,0.058543],[0.211899,-0.149143,0.965844]]mH 1? ֿ@'пv??M??@ÿ2?im)<>Imp^;m@CYuByIi=Mb@Mb@Mb@9999 99=+?~jt~jt?Y=?y==<=fA=@A =npA)=;A9Y=TA QU4<bDUVDUye[=%e=ٔm ȺQ-m>9m ?Yu ?=ugGyu$Fu-h:Eu>yQ 54}?Q 94} z)}?BY ?Q E:yo>Q I @}IDI}3:i}:}'~4yBɮ>AԹim@"X@AJm/DRm/Djmm>m u;@z@R@rm"?,:u?x0A?Zm;bmCmb.{@2ci@|f@zm ̭F?"7 ?rz0?2mkMC:mC"mƞ?*mQ_BmUsCml?mQ_“m1Cm&Dm>*DAT read: user:407> BDAT read: Tx time:00:32:09.0271 $Ping request sent.a*a"a aaaNmDReached init depth of 61.395466 m.ʎj|@Z5?FBɢ\`) /i) qE5 E5E5&E1"E5:*E5]t:VE54ZE1a=@a=@a=@a=@AiEe<Bu\>BqBuwIBuKvBBqBqBqBuq;Bu{-EiQe>n(;IQe>I! @!  @! @% 0@!  I9 II O] >U,z^"X@A2<>2 >2k[ٱ2Y :AHRS rotation from veh to nav: [[0.899067,-0.357195,-0.253161],[0.382704,0.922037,0.058179],[0.212643,-0.149192,0.965673]]2H'?Jֿ3п7~?T?ɭ?7?ÿ?i2<>I2^;0~checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249644YmuBym2I}=}=bDVD1yYb>%=ٔ} Q-?9Y=gGy:E?Q 54?Q 94^x)XBYy>Q I @ JDI;i;4yɮo=AP%B*** querying acoustic contact ***! !j)gOUFNOT Ignoring new targets: 524.75 m.RU8ZU8gOe ProNav: ac range: 524.748230 m, nav range: 512.420471 m, bearing: 23.623964 deg, approach rate: -0.638890 m/s, LOS rate: 0.004806 deg/s, cmd heading: 23.880228 deg, new cmd heading: 23.883051 deg. Be 9gOmHeadingCmd: 0.416838 target range: 524.748230 and range: 527.50 m.k>*" ʎjZ@?颍SBɢ)6= ,i)-w顑iּgǟ;N"Ik>I)9@9 @A@E0@AI9IIO]v>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502583EE  EE EA EA "EE a:*EE :VEA ZEA BEE (2]>2Y~\ٱ2@ :AHRS rotation from veh to nav: [[0.898623,-0.357612,-0.254147],[0.383177,0.921873,0.057677],[0.213666,-0.149213,0.965444]]2H@?ֿ`Cп??ˇ?`eY?@hÿ@?i2ne=>I2y^;2AC @)B`ABB0E@DF`AiFIFFDIFCiJr@ HH)HJC J`AJNELLN`AIR)RFiP)RCIR`AR/ݼRpE TV3CVvAVDiTTYXY^uBy^;IbDj VDj2yr"=%rW=ٔrb4Q-r>9tYt=vgGyv%Fz:Ez>xQ 54z?Q 94zPv)zvBYy >Q I @zJDIz;iz;z:4yBɮ9=AEjgOFNOT Ignoring new targets: 524.75 m.R8Z8gO ProNav: ac range: 524.748230 m, nav range: 512.190735 m, bearing: 23.625677 deg, approach rate: -0.595652 m/s, LOS rate: 0.004443 deg/s, cmd heading: 23.883051 deg, new cmd heading: 23.886478 deg. B9gOHeadingCmd: 0.416898 target range: 524.748230 and range: 527.50 m.s>*" ʎjZ2?QedBɢe)i m-ii)m7#iiimi};}"bI}s>Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754397)@) @)@-x1@)ԉ^AmΒԩIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006039 t,"X@AEr ErEr+Ep"Er:*Erc:VEr [4ZEpav@av@av@av@BR>BCBIBvBB =BBDBq;B-EY]'vByeaIi5Mb@Mb@Mb@1111 195jt?A 5AnA)58A1Y5RAMAAIbDMVDM:y]>%]3=ٔeQ-e>9aYi=mgGyimEm>qQ 5}4u1 ?Q 9}4us)uBY!?Q E:y>Q I @u+JDIu:iu{:u74yɮG*" фBʎjZ a?'vBɢL*)jȼ Ti)O#i`U;]I]|>IaIu[A)uVA@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257554^A [RӻIi Iy O > },@K"X@A2t>>2>28t^ٱ2  :AHRS rotation from veh to nav: [[0.897849,-0.358163,-0.256098],[0.383942,0.921585,0.057183],[0.215536,-0.149668,0.964958]]2H-?%ֿcп?@}? G??U(ÿ`?i2t>>I2)_;0YvcvByvIbD~VD~ky (>% e=ٔ ܯQ->9Y=gGy&FMf:;EM>QQ 5]4U?Q 9]4Uq)UBYaye>Q Ie @U9JDIU;iU;U4ymBɮm^;AqjgOFNOT Ignoring new targets: 524.75 m.R8Z8gO ProNav: ac range: 524.748230 m, nav range: 511.691925 m, bearing: 23.629212 deg, approach rate: -0.602776 m/s, LOS rate: 0.004238 deg/s, cmd heading: 23.890450 deg, new cmd heading: 23.893552 deg. B -8gOHeadingCmd: 0.417021 target range: 524.748230 and range: 527.50 m.̃>*" !!)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5108891ʎjZ t^? ɢ n)  n=i))56 11i5X=0};=̻I=̃>IAE EE&E"E:*EL_:VE4ZEBE'u,?R"X@A^>>^>^Q_ٱ^ jAHRS rotation from veh to nav: [[0.897623,-0.358269,-0.256741],[0.384120,0.921520,0.057035],[0.216158,-0.149815,0.964796]]^HT?`ֿqnпl? }?@3? ?$-ÿ?i^>>I^A^;^@CYvByIqieMb@Mb@Mb@aaaa a9eʡE?l񢿸Q?Ye?yeeu9YYY=egGye'Fm9Em>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014139yQ 54}H6?Q 94}n)}BY?Q E:y>Q I @}MJDI}:;i}L;}4yBɮ:AEjgOFNOT Ignoring new targets: 524.75 m.RC8ZC8gO ProNav: ac range: 524.748230 m, nav range: 511.369751 m, bearing: 23.631576 deg, approach rate: -0.596281 m/s, LOS rate: 0.004379 deg/s, cmd heading: 23.893552 deg, new cmd heading: 23.898284 deg. B69gOHeadingCmd: 0.417104 target range: 524.748230 and range: 527.50 m.>*"   Bʎ   jZ@ I@=(vBɢ=}d)A E=iA)E{AAiM NMM;QIU>IQԙE% E%E%%E!"E%2:*E%&p:VE% 4ZE!a-@a-@a-@a-@B=U>B9B=IB=]wBB= =B9B9B=Sr;B=.EBCBCBB =B =CA5(;M9@I @Q@UE0@QQiQ9YʼnA E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266236^Au Xһ!AE؟AIQIaOm>D,h"X@AJS?>J>J_ٱJH RAHRS rotation from veh to nav: [[0.897027,-0.360333,-0.255935],[0.385078,0.921394,0.052424],[0.216927,-0.145581,0.965271]]JHq?@׿>aп?|?]ת?C?g¿?iJS?>IJw^;HY^vBy^IbDfVDfynA">%nP=ٔnQ-r>9r"?Yr"?=rgGypv?;Ev>xQ 5~4zH?Q 9~4zl)zBY|y.>Q I @z\JDIzd:iz:zͨ4y ɮ 9A P-B*** querying acoustic contact ***) )j1gO=FNOT Ignoring new targets: 524.75 m.R=8Z=8gOM ProNav: ac range: 524.748230 m, nav range: 511.137054 m, bearing: 23.633260 deg, approach rate: -0.602739 m/s, LOS rate: 0.004363 deg/s, cmd heading: 23.898284 deg, new cmd heading: 23.901652 deg. BU8gOUHeadingCmd: 0.417163 target range: 524.748230 and range: 527.50 m.UT>Y*Y"Y YYYaaʎaajZo@U)vBɢUkO)Q U\,>iQ)]YYi]E;WIT>Iemp>im>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5182489@ @@1@E EE'E"E:*Ec:VE'4ZEBE+5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770626,;V#X@AN k@>N>Nb^ٱNC VAHRS rotation from veh to nav: [[0.897123,-0.361433,-0.254039],[0.385670,0.921208,0.051327],[0.215471,-0.144022,0.965831]]NH@IN^;NACYb wBybIbDjVDjkyr>%rK=ٔrLr;Q-v>9tYt=vgGyv(Fzc:Ez>9Q 5M4=D\?Q 9M4=j)=!BYQyUn>Q IU @=lJDI= ;i=<;=4y}Bɮ}8AEj gO=FNOT Ignoring new targets: 524.75 m.RMr8Zer8gO ProNav: ac range: 524.748230 m, nav range: 510.891144 m, bearing: 23.635027 deg, approach rate: -0.571602 m/s, LOS rate: 0.004110 deg/s, cmd heading: 23.901653 deg, new cmd heading: 23.905189 deg. B%8QgOHeadingCmd: 0.417224 target range: 524.748230 and range: 527.50 m.k>*" ʎjZ;: @E*vBɢEtC) Ia>i)>~i:aO;GIk>Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021666ǼA @AA E5  E5 E5 &E1 "E5 :*E5 k:VE5 4ZE1 a= @a= @a= @a= @B S>B B jIB wBB =B B B ;r;B .Eԡ } 9@  @ @ 0@ ^ASA?A?Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273646AIIO ?,c%#X@A2J@>2d>20[ٱ2 >AHRS rotation from veh to nav: [[0.897821,-0.361910,-0.250876],[0.385838,0.921097,0.052055],[0.212241,-0.143534,0.966619]]2H?@)׿ Xп?y??*?P_¿`?i2J@>I2 _;2@CYFHwByFIiUMb@Mb@Mb@QQQQ Q9U?Zd;O:v?YU ?yUj9Y=gGycE>Q 54w?Q 94g)LBYw ?Q E:y>Q I @JDI:if:ٹ4yBɮ7AjgOFNOT Ignoring new targets: 524.75 m.Rh8Zh8gO ProNav: ac range: 524.748230 m, nav range: 510.549469 m, bearing: 23.638039 deg, approach rate: -0.626945 m/s, LOS rate: 0.005530 deg/s, cmd heading: 23.905189 deg, new cmd heading: 23.911217 deg. B!9gOHeadingCmd: 0.417329 target range: 524.748230 and range: 527.50 m.5>*" ҄BʎjZ, @5+vBɢ5v4)9 =G>i9)= $}99i=/Es6;EBIIE5>IQYYYYy%BDAT read: Rx Time:00:32:12.1413 -TRx dataTimestamp_ set to:1761697932.790299-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5278529@ @@@bE=Ǟ4jE=$4rE=./E EE(E"E7;*Ee:VEc44ZEBEZ,C#X@A2q@>2P>2ZVٱ2 :AHRS rotation from veh to nav: [[0.898776,-0.362349,-0.246788],[0.386029,0.920921,0.053723],[0.207806,-0.143552,0.967579]]2H@?0׿@Ͽ?/x?? a?_¿h?i2q@>I2L^;0YFwByFCIbDNVDNyVn2>%V9=ٔVj(X9\Y\=^gGy^)FbEb>`Q 5f4b?Q 9j4bYe)bnBYhyj>Q Ij @bJDIbU;ib;b4ypɮr6ApjIgOMFNOT Ignoring new targets: 524.75 m.Ru8Z}8gO ProNav: ac range: 524.748230 m, nav range: 510.281219 m, bearing: 23.640410 deg, approach rate: -0.595704 m/s, LOS rate: 0.005269 deg/s, cmd heading: 23.911217 deg, new cmd heading: 23.915962 deg. BF9gOHeadingCmd: 0.417412 target range: 524.748230 and range: 527.50 m.>*" ʎjZ-Zz@-vBɢ>") ϴ>i) {  i $};ƵI>I19@ @@0@ =DAT read: Range 11 to 50 : 532.5 m (Round-trip 710.0 ms) speed 0.5 m/s EX#Rx 1: Read range message, but no direction.y1Y5 D1ET****** received valid address query ******ER****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.BN>BCBIBQxBB =BBBq;B-EE EEE"E:*Ega:VEZEBE<2E<JE;:E;^A #2A AI IY Ii O} >,]#X@AtYzwByzVI|~AiMb@Mb@Mb@ 9V-?A`" rh?Y|?yYC<\A8A eA)3AYKAbDVDN2y.=%8=ٔQ->9Y=gGyE>Q 54?Q 94c)BY ?Q E:y>Q I @JDI ;i;Vɾ4yBɮ6AEgO- addTargetRange:: Added new target pos. range: 532.500000 m, deltaT: 4.283816 s, deltaX: 5.000000 m, approachRate: 1.167184 m/s, rangeRepo size: 4 j)gO-FNOT Ignoring new targets: 524.75 m.R58Z58gOE ProNav: ac range: 524.748230 m, nav range: 510.012756 m, bearing: 23.643113 deg, approach rate: -0.615576 m/s, LOS rate: 0.006201 deg/s, cmd heading: 23.915962 deg, new cmd heading: 23.921371 deg. BE59gOMHeadingCmd: 0.417507 target range: 524.748230 and range: 532.50 m.Mp>I*I"I IQQQUBʎYYYj]@Ze k ?m*DAT read: user:408> uBDAT read: Tx time:00:32:13.2771 u$Ping request sent.ui)6yz顱iYv|;7Ip>I!y@y @@`0@@=@=I^A3A[AzA[A% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251222q A I I O >E  E E )E "E :*E :VE FA4ZE a @a @a @a @?,w#X@A2O @>2<>2Jٱ24 :AHRS rotation from veh to nav: [[0.900920,-0.363969,-0.236368],[0.386908,0.920320,0.057557],[0.196586,-0.143307,0.969957]]2HU?FK׿QAο@?`Cs?"x?)? W¿ ?i2O @>I2Z^;0YjwByj~I rp%~Z=ٔ~9Y=gGy*F WظE >Q 54´?Q 940a)BYy>Q I @JDI;i;Ͼ4y-Bɮ-5A)PEB*** querying acoustic contact ***A AjQgOUFNOT Ignoring new targets: 524.75 m.YRe8Ze8gOm ProNav: ac range: 524.748230 m, nav range: 509.785278 m, bearing: 23.645401 deg, approach rate: -0.605115 m/s, LOS rate: 0.006089 deg/s, cmd heading: 23.921372 deg, new cmd heading: 23.925950 deg. BuL29gOuHeadingCmd: 0.417587 target range: 524.748230 and range: 532.50 m.}>y*y"y yyʎjZ9?颵0vBɢG) $>i)yiL{;I>Ii@q @q@u4@qԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.506403^A=&tA .AI I O > .,#X@A27@>2>2}Cٱ2 >AHRS rotation from veh to nav: [[0.902015,-0.364884,-0.230714],[0.387561,0.919861,0.060433],[0.190174,-0.143927,0.971143]]2HM?`DZ׿ Ϳ?o?@?W?1l¿?i27@>I2]^;0YFxByFIjchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754851iMb@Mb@Mb@ 9Mb?9U ?YU ?=UgGyQU`9E]>YQ 5e4]d?Q 9m4]>_)]̆BYm!?Q Em:ym'>Q Im @]JDI]* ;i];],׾4yyɮ}~4AyԩB <A <BL>BBIBxBBBBBq;B-EjYgO]FNOT Ignoring new targets: 524.75 m.Em EmEm*Ei"Em:*Emg:VEm(N4ZEiBEm3*" zBʎ9jAZENh?颍2vBɢhO) >i) Jw顑iŰ y;I>I@ @@2@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006781^A 4|Ż1 I I O >P,D#X@AYv\xByzIbD VD2yE>%MK=ٔMQ-M>9IYQ=UgGyU+FUEU>YQ 5e4]R?Q 9m4]]])]BYiyiQ Im @]JDI]:i]:]2޾4yuBɮu3AyjgOFNOT Ignoring new targets: 524.75 m.R 9Z 9gO ProNav: ac range: 524.748230 m, nav range: 509.286072 m, bearing: 23.652141 deg, approach rate: -0.649233 m/s, LOS rate: 0.008774 deg/s, cmd heading: 23.932807 deg, new cmd heading: 23.939437 deg. Bv9gOHeadingCmd: 0.417822 target range: 524.748230 and range: 532.50 m.>*" ʎjZ?%4vBɢ%ߡ)) - ?i1)=ѻu9AiEMQx;UIU>IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258737AE EE&E"E:*E1]:VE4ZEa@a@a@a@y @  @ @ 0@ @ [A@ XAiߙ Iߙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510991ԩ ^A*AA?IIO ?<,ۿ#X@AB% ?>B0>BK5ٱBo bAHRS rotation from veh to nav: [[0.904826,-0.365837,-0.217838],[0.387543,0.919524,0.065474],[0.176354,-0.143664,0.973786]]BHU?i׿˿?l?`°?ǒ?c¿B)?iB% ?>IB ^;BBCYrxByvI iMb@Mb@Mb@ 9Zd;?sh|?9Y=gGy,F~E>Q 5%4?Q 9-4Z)BY-t ?Q E-:y-j>Q I- @JDI ;i; ;O4y1ɮ=2A=EjYmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762939gOmFNOT Ignoring new targets: 524.75 m.Ru.9Zu.9gO ProNav: ac range: 524.748230 m, nav range: 508.935699 m, bearing: 23.657642 deg, approach rate: -0.605227 m/s, LOS rate: 0.009509 deg/s, cmd heading: 23.939437 deg, new cmd heading: 23.950447 deg. B99gOHeadingCmd: 0.418014 target range: 524.748230 and range: 532.50 m.>*" BʎjZ0@7vBɢT˼) ?i)riya;i>fv;II>IBG>BB?IB0yBBBBDBq;B-EC E EE%E"E:*E&p:VE 4ZEBEp% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014771 ,s#X@A6<>>6>6F.ٱ6  >AHRS rotation from veh to nav: [[0.906024,-0.366584,-0.211512],[0.387672,0.919341,0.067252],[0.169798,-0.142929,0.975059]]6H%?v׿˿ ?=k?j7?? K¿3?i6<>>I6^;6@CY^xBy^IbDfVDfynS>%na=ٔr 9pYp=vgGytv5Ev>xQ 5~4z ?Q 9~4zBY)z,BYyO>Q I @zJDIzD;iz@;z4y Bɮ =1A j1gO5FNOT Ignoring new targets: 524.75 m.R=.9Z=.9gOM ProNav: ac range: 524.748230 m, nav range: 508.715363 m, bearing: 23.661111 deg, approach rate: -0.606282 m/s, LOS rate: 0.009549 deg/s, cmd heading: 23.950448 deg, new cmd heading: 23.957388 deg. BM͋9gOUHeadingCmd: 0.418135 target range: 524.748230 and range: 532.50 m.U>Q*Q"Q QYYYaʎaaajaZm?@颕9vBɢH!) Z*?i)#p顙i$;i>fu;I>IԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267348KE% E%E%(E!"E%:*E%1]:VE%c44ZE!a-@a-@a-@a-@Q@Y @Y@]0@YA ^A I! I1 O= >O ,\$X@A2m=>2M>2é'ٱ2|, :AHRS rotation from veh to nav: [[0.907366,-0.366981,-0.204968],[0.387449,0.919285,0.069270],[0.163003,-0.142268,0.976314]]2H$ ?|׿a<ʿ?`j?@?G?@5¿=?i2m=>I2 ^;2=CYF yByN)I\^AbDbVDb1yj=%nL=ٔn 9pYp=rgGyr-Fr[Er>t~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518928Q 5u4v?Q 9u4vW)vGBYyy}>Q I} @vKDIv1*1"1 19999ʎAAAjAZE@s;E IMo'>IIQQQQa9@ @@ 0@ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.774895B B B IB yBB =B B B p;B g-EBmCBmCBiBm =Bm =Cme}5Ea  Ee Ee &Ea "Ea *Ee [:VEe 4ZEa BEe E ,~$X@A>Tƿ9An8<>n>nw'ٱnQ vAHRS rotation from veh to nav: [[0.910173,-0.368348,-0.189484],[0.386869,0.919394,0.071042],[0.148042,-0.137966,0.979310]]nH# ?׿Aȿ x?k?/?` ?V?in8<>In^;nCCY6yByBIiMb@Mb@Mb@ 9V-?I +Q?Y?y9u< TA2A 5XA)YDA <bDVDy-=%3=ٔ=Q->9Y=gGywmE>Q 546?Q 94U)bBY?Q E:y>Q I @KDI 2;i:4yBɮ/AEjgOFNOT Ignoring new targets: 524.75 m.R<=9Z<=9gO ProNav: ac range: 524.748230 m, nav range: 508.198029 m, bearing: 23.669676 deg, approach rate: -0.600677 m/s, LOS rate: 0.010340 deg/s, cmd heading: 23.965083 deg, new cmd heading: 23.974528 deg. Bc9gOHeadingCmd: 0.418434 target range: 524.748230 and range: 532.50 m. =>*" BʎjZ}" @uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.026957颍?vBɢp ) =?i)7k顑iL-;i =>Ƚq;aI =>I9@ @@4@)^A pIY Iq O} >% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278809Q R? ,:7$X@AE& E&E$E$"E&a:*E&g:VE$ZE$a*@a*@a*@a*@>P;>>S>> ٱ>b ^AHRS rotation from veh to nav: [[0.911567,-0.368885,-0.181574],[0.386510,0.919431,0.072503],[0.140200,-0.136272,0.980701]]>H+?@ћ׿ =ǿ?k??@?Xqa?i>P;>I>^;>%zV=ٔz9|Y|=~gGy~.FE> Q 54 I?Q 94  T) xBYy>Q I @ )KDI >:i : N4y!ɮ%)/A!jAgOMFNOT Ignoring new targets: 524.75 m.RMI9ZUI9gOe ProNav: ac range: 524.748230 m, nav range: 507.967896 m, bearing: 23.673659 deg, approach rate: -0.637099 m/s, LOS rate: 0.011032 deg/s, cmd heading: 23.974529 deg, new cmd heading: 23.982499 deg. Be9gOmHeadingCmd: 0.418574 target range: 524.748230 and range: 532.50 m.mFO>i*i"i iiqqqʎqjZ`p @EAvBɢE9)I M2J?iI)MIiIIiUba;iUFO>]p;]6*,I]FO>IYi @  @ @ 4@ AeBDAT read: Rx Time:00:32:16.3871 eTRx dataTimestamp_ set to:1761697937.077175mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.531887^A &iAU ؟AI I OM >ԙ  ,.Q$X@AYnyBynIr=r=ieMb@Mb@Mb@aaaa a9e1Zd?V-?Ye"?ye̽e%B=ٔQ->9"?Y"?=gGyE>Q 542^?Q 94tR)BYh?Q E:y-x>Q I @9KDI ;i ; 4yBɮ9.Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.782865jgOFNOT Ignoring new targets: 524.75 m.RR9ZR9gO ProNav: ac range: 524.748230 m, nav range: 507.718842 m, bearing: 23.678508 deg, approach rate: -0.590570 m/s, LOS rate: 0.011504 deg/s, cmd heading: 23.982498 deg, new cmd heading: 23.992201 deg. B n9gO HeadingCmd: 0.418743 target range: 524.748230 and range: 532.50 m. xe>*" mBʎ!!j!Z% .@BBBIBzBBBBBp;B_-EԩMDvBɢ@=;) X?i)fiKE;ixe>n;k,Ixe>IEu EuEu(Eq"EuO:*Euc:VEuc44ZEqBEu  A ,k$X@AV8>k>ٱA 5AHRS rotation from veh to nav: [[0.914510,-0.368103,-0.167844],[0.384624,0.919722,0.078585],[0.125443,-0.136423,0.982676]]HC?׿ {ſ?@]n???Pvr?iV8>I^;@CYEyByEIbD]VD]1ymN=%mM=ٔm=Q-m>9qYq=ugGyu/F7E>Q 54r?Q 94P)BYyu>Q I @HKDI:i:4yBɮ-AEq=e$X@AJDRDj>[ @s@OZ@FLgغ@rGF?zJ?I:?Z+H<b+H}@oj@PQ@z熡 ?Ϭb`d?Q0ի`?2PC:C"ɚ?*BC“CG>gO addTargetRange:: Added new target pos. range: 529.299988 m, deltaT: 4.289510 s, deltaX: -3.200012 m, approachRate: -0.746009 m/s, rangeRepo size: 4 gO= Added new target pos. range: 526.517700 m, bearing: 23.607549 deg, lat: 36.779160 deg, lon: -121.859192 deg, deltaT: 8.573326 s, deltaX: 1.769470 m, approachRate: 0.206392 m/s, posRepo size: 4 j9gOEFNOT Ignoring new targets: 526.52 m.REZAgO} ProNav: ac range: 526.517700 m, nav range: 509.527222 m, bearing: 24.202942 deg, approach rate: 0.000000 m/s, LOS rate: 0.011504 deg/s, cmd heading: 23.992201 deg, new cmd heading: 24.002125 deg. BygOHeadingCmd: 0.418916 target range: 526.517700 and range: 529.30 m.,|>*" ʎj`f@Z@?HvBɢ;) b?i))-*c))i-Վ;i5,|>5k;55,|>I9*DAT read: user:409> BDAT read: Tx time:00:32:17.5771 $Ping request sent._?! ,;$X@Ai IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249782Y-zBy5IbDEVDENyU=%UI=ٔUQ-U>9YYY=]gGyYeEe>aQ 5u4e?Q 9u4ekO)ećBYqyqQ Iu @eXKDIe;ie+;e4yBɮ,AEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 526.52 m.R>s9Z>s9gO ProNav: ac range: 526.517700 m, nav range: 509.288605 m, bearing: 24.207896 deg, approach rate: -0.639801 m/s, LOS rate: 0.013291 deg/s, cmd heading: 24.002125 deg, new cmd heading: 24.012039 deg. B9gOHeadingCmd: 0.419089 target range: 526.517700 and range: 529.30 m.ڒ>*" ʎjZQ? KvBɢ H~<)  n?i)‡`iT;iڒ>i;^XIڒ>I!I-ZA)-\A)9@ @@0@^AqZQIIOh>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501484BmE>BmCBmIBmazBBiBiBiBmp;Bme-EEe  Ee Ee $Ea "Ee 2:*Ee k:VEe 4ZEa BEe $*2Q>2<ٱ2( :AHRS rotation from veh to nav: [[0.917261,-0.367753,-0.152939],[0.382586,0.920306,0.081640],[0.110728,-0.133397,0.984858]]2H`3Z?B׿`ÿH|?%s?U?X?(@?i2M5>I2 ^;2>CYv3zByvIxzAiuMb@Mb@Mb@qqqq q9uMb?~jt/$?Yu ?yuĽu9Y=gGy0FE>Q 54?Q 94M)ڇBYx"?Q E:y%}>Q I @hKDIs:i: 4yBɮ+AEjgOFNOT Ignoring new targets: 526.52 m.RCa9ZCa9gO  ProNav: ac range: 526.517700 m, nav range: 509.034332 m, bearing: 24.212965 deg, approach rate: -0.617111 m/s, LOS rate: 0.012309 deg/s, cmd heading: 24.012039 deg, new cmd heading: 24.022182 deg. B 59gOHeadingCmd: 0.419266 target range: 526.517700 and range: 529.30 m.>*" %kBʎ!!!j!Z-b ?OvBɢV<)+Ҽ y?i)>]i+Pi;i>g;w:I>I5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753595ԉ@ @@@Թ^A lXA ZAzA YAIi I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005444- ,oָ$X@AE EE(E"E:*Ec:VEc44ZEa@a@a@a@>3>>>>Խٱ> FAHRS rotation from veh to nav: [[0.918546,-0.366939,-0.147067],[0.381450,0.920374,0.086069],[0.103774,-0.135157,0.985375]]>H d?@{׿ ¿@i?@s???L0?i>3>I>^;>?CYR[zByRIbDZVDZf`yfh=%fY=ٔf9hYh=jgGyhnEn>pQ 5v4rf?Q 9v4r>LQ =vtI)rBYtyv{>Q Iz @rwKDIr':ira:r'4y|ɮ[+Aj!gO-FNOT Ignoring new targets: 526.52 m.R-b9Z-b9gO ProNav: ac range: 526.517700 m, nav range: 508.801697 m, bearing: 24.217643 deg, approach rate: -0.616354 m/s, LOS rate: 0.012399 deg/s, cmd heading: 24.022182 deg, new cmd heading: 24.031541 deg. B9gOHeadingCmd: 0.419430 target range: 526.517700 and range: 529.30 m.w>*" ʎjZq?eRvBɢeq<)a e?ia)mqYiiimO;iuw>xd;TIw>I@ @@@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257510^A]IY Iy O Y t4 ,1$X@AY~zBy~IiMb@Mb@Mb@ 9Gz?(\µS㥛?Yp?ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509529/<KA,A IA)Y9Y=gGy1FE>Q 54%?Q 94lJ)BY?Q E:y>Q I @KDI:iQ:!/4yB?>BB9IBzBBBBBqp;B-Eɮ*AjgOFNOT Ignoring new targets: 526.52 m.RA9ZA9gO ProNav: ac range: 526.517700 m, nav range: 508.537994 m, bearing: 24.222464 deg, approach rate: -0.578896 m/s, LOS rate: 0.010589 deg/s, cmd heading: 24.031541 deg, new cmd heading: 24.041188 deg. B9gOHeadingCmd: 0.419598 target range: 526.517700 and range: 529.30 m.>*" ABʎ j Z ?E5 E5E5$E1"E5:*E5e:VE54ZE1BE5+la;RI>It>i>I@ @@@qU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761579^A (I1 II OU >ԡ : ,$X@A21>2c>2ͫٱ2_ :AHRS rotation from veh to nav: [[0.920502,-0.366975,-0.134184],[0.380335,0.920220,0.092419],[0.089563,-0.136106,0.986638]]2Ht?|׿,gW?pr?@¨??k?i21>I2y^;2@CYFzByF,I HHbDRVDRyV>%Z^=ٔZ=Q-Z>9\Y\=^gGy\bEb>`Q 5f4b?Q 9j4bH)bBYhyjR>Q Ij @bKDIb :ib$:b54yMBɮM *AUEԁjgOFNOT Ignoring new targets: 526.52 m.R2I9Z2I9gO- ProNav: ac range: 526.517700 m, nav range: 508.314392 m, bearing: 24.226593 deg, approach rate: -0.595106 m/s, LOS rate: 0.010994 deg/s, cmd heading: 24.041188 deg, new cmd heading: 24.049450 deg. B-9gO]HeadingCmd: 0.419742 target range: 526.517700 and range: 529.30 m.]o>Y*Y"Y aaaiiʎijZ@[vBɢ=<)  ?i ) R顉i);io>"^;RIo>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013491ԱEE EEEE#EA"EE:*EEL_:VEE3ZEAaM@aM@aM@aM@yM 9@I  @I @I @I ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265378^Am )AIIO?oC ,Yi%X@A9~2>W>tٱ AHRS rotation from veh to nav: [[0.920961,-0.367812,-0.128628],[0.380664,0.919780,0.095397],[0.083221,-0.136821,0.987094]]H@x?:׿v\?n?k?M?`[E?i~2>Ip^;9Y=gGy2F d9E>Q 54?Q 94F)/BY"?Q E:y2>Q I @KDI:i:?4yBɮ)APB*** querying acoustic contact *** j gOFNOT Ignoring new targets: 526.52 m.Rw49Zw49gO% ProNav: ac range: 526.517700 m, nav range: 507.944397 m, bearing: 24.232194 deg, approach rate: -0.650938 m/s, LOS rate: 0.009861 deg/s, cmd heading: 24.049450 deg, new cmd heading: 24.060660 deg. B-_9gO-HeadingCmd: 0.419938 target range: 526.517700 and range: 529.30 m.->1*1"1 1119=JBʎ99AjAZEE@m`vBɢu<)q u??iq)uMqqi}Gd:i}>Z;K+I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517354AAAEAABM<>BMCBMqIBM"{BBM =BMBDBMDBM/p;BM,EaE EEE"E:*Ec:VEZEBE V>VhٱV fAHRS rotation from veh to nav: [[0.921386,-0.368954,-0.122149],[0.380965,0.919588,0.096035],[0.076894,-0.135020,0.987855]]VH {?׿ E a?Dm??`R?RH?iV#2>IVJ^;V?CYvzByvQIAbDMVDMk2y]c=%],=ٔ][9aYa=egGym3Fm9Em>qQ 5}4u ?Q 9}4uC)uCBYyy@>Q I @uKDIu ;iu ;u?H4yɮ!)AjgOFNOT Ignoring new targets: 526.52 m.R,9Z,9gO ProNav: ac range: 526.517700 m, nav range: 507.649689 m, bearing: 24.236658 deg, approach rate: -0.622044 m/s, LOS rate: 0.009427 deg/s, cmd heading: 24.060660 deg, new cmd heading: 24.069592 deg. B9gOHeadingCmd: 0.420094 target range: 526.517700 and range: 529.30 m.>*" ʎjZ  @fvBɢ <) ?i!)%GXI!!i%b:i->-*W;-p՜I5>I19999checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025599qE EE%E"E>:*E:VE 4ZEa%@a%@a%@a%@a@a @a@e0@aԡ 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273407^A A I I O >lS ,ƧL%X@A292>24>2ٱ2 >AHRS rotation from veh to nav: [[0.921534,-0.370561,-0.116015],[0.381748,0.919252,0.096147],[0.071019,-0.132891,0.988583]]2H4}?E׿(n?`j??G.?`x?i292>I2yj^;2=CYJ{ByJmIbDRVDR0yZ&=%Z<=ٔ^^9\Y\=^gGy\b:Eb>lQ 5z4n"?Q 9z4nA)nTBYxyz>Q I~ @nKDInF;in@;nO4yɮn(A EjgOEFNOT Ignoring new targets: 526.52 m.R] 9Z] 9gO ProNav: ac range: 526.517700 m, nav range: 507.378204 m, bearing: 24.240754 deg, approach rate: -0.581128 m/s, LOS rate: 0.008773 deg/s, cmd heading: 24.069592 deg, new cmd heading: 24.077789 deg. Bs9gOHeadingCmd: 0.420237 target range: 526.517700 and range: 529.30 m.D)>I*I"I IQQQQʎYYYjYZu @lvBɢ<) ?i)qDi$:iD)>_|S;MID)>IBDAT read: Rx Time:00:32:20.6835  TRx dataTimestamp_ set to:1761697941.362016checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527751BE;>BABEIBEj{BBE =BABABEdp;BE-EBCBCBB =B =C5q@q @q@u0@y@=@=iE EE(E"E:*E1]:VEc44ZEBE+'Y ,gf%X@A6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777533@YB{ByIiMb@Mb@Mb@ 9x&1?y&1:v?YA ?y`eT<KAS+A CA)2AY;A -;-p;bD5VD5yE̫=%E4=ٔEQ-E>9IYI=MgGyM4FUEU>YQ 5e4]9?Q 9e4]?)]cBYe ?Q Ee:ye>Q Im @]KDI];i]u:]W4yuBɮu'AqjgOFNOT Ignoring new targets: 526.52 m.R!9Z!9gO ProNav: ac range: 526.517700 m, nav range: 507.098053 m, bearing: 24.244457 deg, approach rate: -0.668359 m/s, LOS rate: 0.008840 deg/s, cmd heading: 24.077790 deg, new cmd heading: 24.085200 deg. Bl9gOHeadingCmd: 0.420366 target range: 526.517700 and range: 529.30 m.8:>*" xBʎjZp@pvBɢ#=) F?i)h@iH\:i 8:>II!)%[AԱ9@ @@0@MDAT read: 00:32:20.6835 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 404,-0.21,-0.837,-2.265,-0.708,-1.116, PHS= 0.381,-1.104, 0.364, RAW= 149.4, 4.9, CAL= 148.7, 5.1, ROT= 1.3, -5.1 ]Ygot valid direction response: 00:32:20.6835 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 404,-0.21,-0.837,-2.265,-0.708,-1.116, PHS= 0.381,-1.104, 0.364, RAW= 149.4, 4.9, CAL= 148.7, 5.1, ROT= 1.3, -5.1 ePDAT read: Bearing 176.0, 4.6 (Local) e~Local bearing/azimuth received: Bearing 176.0, 4.6 (Local) }DAT read: Range 11 to 50 : 526.7 m (Round-trip 702.3 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.995785,0.022598,0.088894]Fpublishing direction and range infoy>+w?G#??YD )PIo>iO5^>&@%=x&@ K=)޹p` ,D%X@A2B3>28>2vٱ2 :AHRS rotation from veh to nav: [[0.921757,-0.373469,-0.104334],[0.383060,0.918787,0.095366],[0.060245,-0.127870,0.989959]]2H?׿ ?f?i?@qخ?^`?i2B3>I2^;2>CYNK{ByRIbDZVDZNyb|<%bf=ٔb(9dYd=fgGydjzP;Ej>lhQ 5r4j^K?Q 9v4j=)jmBYtyv>Q Iv @jKDIj/;ij0;j]4yxɮz'A|IMAcw%X@AJMDRMDjM&>Mp'xʭM@'F{'@cIG@rM>+w?G#??ZM޹<bMKMy}@ءKj@ܥ mS@zM>+?ǑtH?D5H;?2M*WC:MC"MuC܈?*MS"BM CMuC܈?I“M CMDMW>gOE addTargetRange:: Added new target pos. range: 526.700012 m, deltaT: 4.283558 s, deltaX: -2.599976 m, approachRate: -0.606966 m/s, rangeRepo size: 4 gOU Added new target pos. range: 523.918335 m, bearing: 24.524238 deg, lat: 36.779245 deg, lon: -121.859192 deg, deltaT: 4.283558 s, deltaX: -2.599365 m, approachRate: -0.606824 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 523.92 m.RZgO ProNav: ac range: 523.918335 m, nav range: 515.508362 m, bearing: 23.815979 deg, approach rate: 0.000000 m/s, LOS rate: 0.008840 deg/s, cmd heading: 24.085200 deg, new cmd heading: 24.091556 deg. BgOHeadingCmd: 0.420477 target range: 523.918335 and range: 526.70 m.H>*"     ʎ11j=u@Z= ?颅uvBɢ"=) ǚ?i)<顉i&2 :iH>wN;|IH>I}*DAT read: user:410> BDAT read: Tx time:00:32:21.8771 $Ping request sent.a % checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249345BE <AE 4=BE =>BA BE IBE {BBE =BA BA BA BE -E;f ,$%X@AE2 E2E2(E0"E2:*E2:VE2c44ZE0BE25b9>bsaٱb jAHRS rotation from veh to nav: [[0.921609,-0.375261,-0.099071],[0.384193,0.918279,0.095708],[0.055060,-0.126268,0.990467]]bH}?Gؿ\?b?R?0?)?ib5>Ib[x^;b9YYY=]gGy]5F];Ee>aQ 5m4eb?Q 9u4e;)exBYu"?Q Eu:yu>Q Iu @eLDIe ;iem ;ee4yyɮ'APB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 523.92 m.R9Z9gO ProNav: ac range: 523.918335 m, nav range: 515.221985 m, bearing: 23.819672 deg, approach rate: -0.635188 m/s, LOS rate: 0.008194 deg/s, cmd heading: 24.091556 deg, new cmd heading: 24.098945 deg. Bo9gOHeadingCmd: 0.420606 target range: 523.918335 and range: 526.70 m.Y>*" [BʎjZ a? zvBɢ } =) Қ?i)C8iRe9iY>6K;\ÍI%Y>I!i9@ @@0@@\A@\A}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501323ԑ^AmA>A>Ii Iy O > 0dl ,%X@A25>2>2YNٱ2T :AHRS rotation from veh to nav: [[0.921575,-0.376313,-0.095329],[0.384927,0.917645,0.098794],[0.050301,-0.127740,0.990531]]2H}? ؿ@xg`?X]?`J?? Yn?i25>I2e^;2>Cԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753446YT{ByI@A@AbDVDkyz;%C=ٔa:9Y=gGy:E>Q 54w?Q 94x9)BYy>Q I @LDIW*" ʎjZ*?vBɢ =)  m?i )e4i i$i>YH;׫I$i>I-p>i)@ @@ 0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005744^A eI) I9 OM > Ls ,$%X@AFY6>FƵ>F ;ٱFV VAHRS rotation from veh to nav: [[0.921676,-0.376907,-0.091947],[0.385251,0.917124,0.102299],[0.045770,-0.129709,0.990495]]FH^~??ؿ@܉?Y?@0?(o?@O#?iFY6>IFd_;D `)b`Abddhj`AijYIhlIlip pp)pt tvxxxz`AIz)~~Fi|)I`A `  &CuAiYY=s{ByEIbDVD:2y=%<=ٔP+9Y=gGy6F:E>Q 54 ?Q 94S7)BYyI>Q I @)LDIq;ii:t4yɮ'AjAgOmFNOT Ignoring new targets: 523.92 m.Rm9Zm9gO} ProNav: ac range: 523.918335 m, nav range: 514.685303 m, bearing: 23.826547 deg, approach rate: -0.643096 m/s, LOS rate: 0.008234 deg/s, cmd heading: 24.105712 deg, new cmd heading: 24.112701 deg. B}q9gOHeadingCmd: 0.420846 target range: 523.918335 and range: 526.70 m.!y>*" ʎjZ?vBɢM%=) ?i)0iS6ǹi!y>E;I!y>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257340B9>BBIB{BBBBBo;B,EaE EE'E"E:*E[:VE'4ZEBEWy ,`%X@AV6>V >VٱV  ^AHRS rotation from veh to nav: [[0.921749,-0.378348,-0.085039],[0.386007,0.916173,0.107822],[0.037117,-0.132210,0.990527]]VH~? 6ؿ #ŵU?`JQ?5? ? Ed?iV6>IV1E_;V;CYU{ByUIonly read 0 of 1 data item for BIT error. Device response is::TS +65, -629, -3, -4,A a@a a@a a@a a@a bDԩVDN2y?=%]=ٔ*9Y=gGy:E>Q 54?Q 94~5)BQ A+:YQ E:y>Q I @8LDI:i>z4yBɮ&AjgOFNOT Ignoring new targets: 523.92 m.R9Z9gO- ProNav: ac range: 523.918335 m, nav range: 514.452637 m, bearing: 23.829508 deg, approach rate: -0.643755 m/s, LOS rate: 0.008196 deg/s, cmd heading: 24.112700 deg, new cmd heading: 24.118625 deg. B-o9gO5HeadingCmd: 0.420949 target range: 523.918335 and range: 526.70 m.5>1*1"1 19999ʎAAAjAZMG?颕vBɢK=) A?i)h,顩i~&%i>;C;꠆I>IY@Y @a@e4@a@m=@m=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761320 E EE)E"E:*EV:VEFA4ZEa@a@a@a@^A A .AI I O >1 mˀ ,;U&X@ABGu7>Be>BٱBJ JAHRS rotation from veh to nav: [[0.921625,-0.379365,-0.081789],[0.386684,0.915551,0.110647],[0.032906,-0.133601,0.990489]]BH}?Gؿn?0L?`US? ٠? ?iBGu7>IB ^;B=CYMz{ByMI ]4<]<bDeVDekyԼ%L=ٔ,9 ?Y ?=gGy7F:E>Q 54E?Q 943)BQ A :YQ E[:y >Q I @HLDI:iLD?~4yɮ 'AEjgOFNOT Ignoring new targets: 523.92 m.R9Z9gO ProNav: ac range: 523.918335 m, nav range: 514.200867 m, bearing: 23.832694 deg, approach rate: -0.629959 m/s, LOS rate: 0.007977 deg/s, cmd heading: 24.118624 deg, new cmd heading: 24.125000 deg. Bi9gO%HeadingCmd: 0.421061 target range: 523.918335 and range: 526.70 m.%D>!*!"! !!)))ʎ)11j1Z5@evBɢe8=)a e4?ia)mg(iiim;fiuD>}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013441}@;>NID>I@ @@4@Ay^AM }UA A @AB 7>B B IB {BB =B B B (o;B t,E- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265494A} ؟AI I ԙ O >E  E E 'E "E :*E c:VE '4ZE BE F>F\ٱF NAHRS rotation from veh to nav: [[0.921610,-0.380233,-0.077838],[0.387077,0.915144,0.112620],[0.028411,-0.133921,0.990585]]FH`}?Uؿ0 ?H?`Լ??S$޲?iF7>IF._;F>CYV{ByZIaMaM aMaM aMaM aMaM iMMb@Mb@Mb@IIII I9M-?#~j{GztYM5?yM㥽MףMGAM*A Mv9"?Y"?=gGy\k:E>Q 54?Q 941)BQ AT:Y?Q E:y݈>Q I @XLDIp;i;ƅ4yɮ&AP%B*** querying acoustic contact ***! !j)gO5FNOT Ignoring new targets: 523.92 m.R5<9Z=<9gOE ProNav: ac range: 523.918335 m, nav range: 513.948425 m, bearing: 23.836909 deg, approach rate: -0.615121 m/s, LOS rate: 0.010276 deg/s, cmd heading: 24.125000 deg, new cmd heading: 24.133435 deg. BMt9gOMHeadingCmd: 0.421208 target range: 523.918335 and range: 526.70 m.M>Q*Q"Q QQYY]@BʎYaajaZe /Y@q颕vBɢB9=) _?i)x>$顙i䒺i>;>;4I>IM9@I @I@Mr4@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517382ԡ^AuA I I O > " ,U7&X@AFi8>F>F8ƼٱFrZ NAHRS rotation from veh to nav: [[0.921492,-0.381206,-0.074393],[0.387639,0.914630,0.114838],[0.024265,-0.134660,0.990595]]FH|?@eؿr ?`D? f? ٘?`<?iFi8>IFҪ_;F9tYt=vgGyv8Fz:Ez>|Q 54~?Q 94~0)~BYy*>Q I  @~gLDI~:i~:~O4yBɮ&AjIgOMFNOT Ignoring new targets: 523.92 m.RU:9ZU:9gOe ProNav: ac range: 523.918335 m, nav range: 513.717896 m, bearing: 23.840746 deg, approach rate: -0.613534 m/s, LOS rate: 0.010215 deg/s, cmd heading: 24.133435 deg, new cmd heading: 24.141112 deg. Be9gOmHeadingCmd: 0.421342 target range: 523.918335 and range: 526.70 m.m >i*i"i iqqyyʎyyyjZZ@颭vBɢK=) ?i)ev 顱ii >,;;}I >IE} E}EyEy"E}>:*E}g:VEyZEya@a@a@a@I@I @I@M0@I@Q@Q^Auƒchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0217309 A I I O >Y  ,Q&X@A2p9>2c>2Hٱ2[ >AHRS rotation from veh to nav: [[0.921189,-0.382771,-0.069973],[0.388597,0.914236,0.114740],[0.020053,-0.132889,0.990928]]2H bz?Rؿ鱿`? kA?@_??}வ?i2p9>I2A`;2?CYR{ByVI\^AAbDbVDbyj<%jJ=ٔjM+9lYl=ngGylr";Er>tQ 5z4vX?Q 9z4v[.)vBYxyz>Q I~ @vwLDIvf;iv;vY4yBɮ&AE!jgO-FNOT Ignoring new targets: 523.92 m.R-Q#9Z-Q#9gO= ProNav: ac range: 523.918335 m, nav range: 513.469666 m, bearing: 23.844853 deg, approach rate: -0.539123 m/s, LOS rate: 0.008924 deg/s, cmd heading: 24.141112 deg, new cmd heading: 24.149330 deg. B=9gOeHeadingCmd: 0.421485 target range: 523.918335 and range: 526.70 m.e>a*a"i iiiiqʎqqqjqZ}@ @B6>BCBBBBBBn;BO,Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273577-vBɢ-$=)5˸ 5w?i1)5611izκi>N8;J"tI>II ) Ey E}E}+Ey"Ey*E}k:VE} [4ZEyBE}i ,l&X@A #:>>-ٱ mAHRS rotation from veh to nav: [[0.920994,-0.383972,-0.065838],[0.389257,0.913844,0.115626],[0.015768,-0.132119,0.991108]]H`x? ؿ@ڰ@?4>?`?%?`F)?i #:>I9\`;=CԡY}{ByIi}Mb@Mb@Mb@yyyy y9}?zGế{GztY} ?y} ׽yy}(A }:A)yyY}7AbDVDy<%=ٔ9 ?Y ?=gGy9Fq:E>Q 54 ?Q 94T,)BY?"?Q E:yco>Q I @LDI:i#:4yɮ\&AjgOFNOT Ignoring new targets: 523.92 m.R 9Z 9gO ProNav: ac range: 523.918335 m, nav range: 513.142212 m, bearing: 23.851598 deg, approach rate: -0.702987 m/s, LOS rate: 0.014490 deg/s, cmd heading: 24.149331 deg, new cmd heading: 24.162830 deg. B%9gO%HeadingCmd: 0.421721 target range: 523.918335 and range: 526.70 m.%>!*!"! !)))-'Bʎ111j1Z=@evBɢen;=)a e?ia)miiimiu>uR6;upIu>Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.7775519@ @@0@DzDAAE EE&E"EV:*E:VE4ZEa@a@a@a@^A 8k! AA Ii I O} >4' ,&X@ARDAT read: 00:32:24.9813 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 412, 0.14,-2.654, 2.126,-2.495,-3.054, PHS= 0.502,-1.058, 0.515, RAW= 150.4, 0.5, CAL= 149.2, 0.0, ROT= 0.8, -0.0 VYgot valid direction response: 00:32:24.9813 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 412, 0.14,-2.654, 2.126,-2.495,-3.054, PHS= 0.502,-1.058, 0.515, RAW= 150.4, 0.5, CAL= 149.2, 0.0, ROT= 0.8, -0.0 ZPDAT read: Bearing 171.4, 1.8 (Local) Z~Local bearing/azimuth received: Bearing 171.4, 1.8 (Local) bDAT read: Range 11 to 50 : 525.0 m (Round-trip 700.0 ms) speed 1.0 m/s bR#Rx 1: Read range and direction messages.f\direction in FSK: [0.999903,0.013962,0.000000]fFpublishing direction and range infoy$&3?4?Y&@D$$$$ $)&KI&?i&l& ?&'@&5<&r&@ &)&dQ2?Rpw1? &?)&I&dmk>mr:ٱm! AHRS rotation from veh to nav: [[0.920931,-0.384895,-0.061168],[0.389559,0.913713,0.115642],[0.011380,-0.130327,0.991406]]mHDx?@ؿcQ@? "=? ?`Im_;iY{ByI)-AbD=VD=1y}6"<%};=ٔq$9Y=gGy:F4:E>Q 54#?Q 94*)BYyo>Q I @LDI!;i;?4yBɮO&AE$&-&X@AJ&DR&Dj&>&aaQ@N^O_*@r&3?4?Z&d<b&&8B}@UΉBj@ @z&ʻrK?z?j[?2&RC:& C"&D?*&JNB&·B&ɚ?$“&C&D&>gO} addTargetRange:: Added new target pos. range: 525.000000 m, deltaT: 4.284541 s, deltaX: -1.700012 m, approachRate: -0.396778 m/s, rangeRepo size: 4 gO Added new target pos. range: 522.223511 m, bearing: 23.721847 deg, lat: 36.779279 deg, lon: -121.859192 deg, deltaT: 4.284541 s, deltaX: -1.694824 m, approachRate: -0.395567 m/s, posRepo size: 4 jYgOeFNOT Ignoring new targets: 522.22 m.RZgO ProNav: ac range: 522.223511 m, nav range: 516.344482 m, bearing: 23.686716 deg, approach rate: 0.000000 m/s, LOS rate: 0.014490 deg/s, cmd heading: 24.162829 deg, new cmd heading: 24.176702 deg. BgOHeadingCmd: 0.421963 target range: 522.223511 and range: 525.00 m. >*"    ʎ)11j5h@Z5 ?颅vBɢp=) ?i)˖顉B=A<BBBBBBBBfo;B,EB]CB]CBYB] =B] =C]*5ii >to3;spI >I *DAT read: user:411>  BDAT read: Tx time:00:32:26.2271 $Ping request sent.BCU /Gi E  E E %E "E :*E Ar:VE 4ZE BE F-_:>>>>,ٱ>e FAHRS rotation from veh to nav: [[0.920995,-0.385419,-0.056750],[0.389509,0.913690,0.115991],[0.007146,-0.128932,0.991628]]>Hx?ؿ@E?@_:>I>C_;>>CYLyLi-Mb@Mb@Mb@)))) )9-1Zd?v/9qYy=}gGyy[ E>Q 54?;?Q 94()BY?Q E:y^>Q I @LDIw;iz;h4yɮQ&AP}B*** querying acoustic contact ***y yjgOFNOT Ignoring new targets: 522.22 m.RXy9ZXy9gO ProNav: ac range: 522.223511 m, nav range: 516.062256 m, bearing: 23.692936 deg, approach rate: -0.617856 m/s, LOS rate: 0.013625 deg/s, cmd heading: 24.176703 deg, new cmd heading: 24.189150 deg. Bz9gOHeadingCmd: 0.422180 target range: 522.223511 and range: 525.00 m.(>*!"! !!))-$Bʎ)11j1Z5`:?}vBɢ&P=) ?i) 顩ii(>41; uI(>IePExceeded connect timeout, disconnecting.ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.499685ԩۼDD<E EE&E"E:*Exv:VE4ZEa@a@a@a@ @  @ @ O0@ ^A zchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752156A؟AIIO?<" ,$&X@AF :>Fc>F2ZٱF ^AHRS rotation from veh to nav: [[0.921140,-0.385654,-0.052646],[0.389217,0.913799,0.116110],[0.003329,-0.127444,0.991840]]FH y?ؿa`?=?^?`\Fk?@P'?iF :>IF^;DYn{BynI ttbDVD1y-rA%-=ٔ5;Q-5>9="?Y="?==gGyE;FM"$EM>QQ 5e4UU?Q 9e4U-')UBYiymV^>Q Iu @ULDIUr];iU^;U{4y}Bɮ&AEjgOFNOT Ignoring new targets: 522.22 m.Rj9Zj9gOM ProNav: ac range: 522.223511 m, nav range: 515.748535 m, bearing: 23.699870 deg, approach rate: -0.634514 m/s, LOS rate: 0.014034 deg/s, cmd heading: 24.189149 deg, new cmd heading: 24.203026 deg. BUv9gOUHeadingCmd: 0.422422 target range: 522.223511 and range: 525.00 m.]G>Y*Y"Y YYYaaʎaajZ@6?vBɢ'=) Ә?i)i}iG>".;~IG>IIB7>BCBBB =BBBp;B,E=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003825iE EE(E"E:*E n:VEc44ZEBE Nv#>Nsǃ;ٱNC VAHRS rotation from veh to nav: [[0.921556,-0.385322,-0.047559],[0.388225,0.913298,0.123163],[-0.004022,-0.131965,0.991246]]NHb}?ؿY@?9?`?xp8J?iN8>IN^;LYb{BybIiMb@Mb@Mb@ 9Gz?S㥛9 ?Y ?=gGyE>Q 54-s?Q 94[%)ňBY !?Q E:yG>Q I @LDI;ip;q4yɮ%AnManaging dock network, ignoring radio surface power offjgO%FNOT Ignoring new targets: 522.22 m.R%B9Z%B9gO5 ProNav: ac range: 522.223511 m, nav range: 515.398987 m, bearing: 23.708530 deg, approach rate: -0.613857 m/s, LOS rate: 0.015219 deg/s, cmd heading: 24.203026 deg, new cmd heading: 24.220359 deg. B59gO=HeadingCmd: 0.422725 target range: 522.223511 and range: 525.00 m.=io>A*A"A AAAIM BʎIIQjQZUE?}vBɢbh-=) T?i)顁i&iio>*;Iio>I1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507782bEŀ'4jE^+4rEœ/EM EMEM'EI"EM:*EMk:VEM'4ZEIaU@aU@aU@a]@aQ@Q @Q@] 0@Yԉ m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760451^A} |Թ A؟AIIO> ,'X@AB=x8>B6>BF;ٱB< JAHRS rotation from veh to nav: [[0.921719,-0.385161,-0.045655],[0.387795,0.913044,0.126353],[-0.006982,-0.134167,0.990934]]BH`~? |ؿ@`?7?V,?٘|_,?iB=x8>IB{^;B?CYR{ByVIbD\VD\yfW<%f2=ٔft;Q-f>9j"?Yj"?=jgGyjpQ 5v4r?Q 9v4r#)r̈BYtyvF>Q Iz @rLDIr2:|irK:rvǿ4yɮ%Aj!gO-FNOT Ignoring new targets: 522.22 m.R-Ƌ9Z-Ƌ9gOE ProNav: ac range: 522.223511 m, nav range: 515.117554 m, bearing: 23.715522 deg, approach rate: -0.614508 m/s, LOS rate: 0.015275 deg/s, cmd heading: 24.220358 deg, new cmd heading: 24.234349 deg. BE9gOEHeadingCmd: 0.422969 target range: 522.223511 and range: 525.00 m.Mk>I*I"I IIIQQʎQYYjYZ]%@颅vBɢ.VL=) ?i)顑i1ik>';Ik>I)@1 @1@=/0@91AAB4>BCBIB{BBBBBpp;B-E%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011853E EE%E"E2:*EAr:VE 4ZEBE$*y  ,b)'X@A238>2>2B%<ٱ2 :AHRS rotation from veh to nav: [[0.921796,-0.385315,-0.042720],[0.387544,0.913005,0.127403],[-0.010086,-0.133996,0.990931]]2H@Z?@ؿ`kߥ?V7?N?: &@?i238>I2^;2>CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.263818YJ{ByJIYiuMb@Mb@Mb@qqqq q9uK7A?V-:v?Yu "?yuu=ٔ;Q->9Y=gGy=F+E>Q 54?Q 94H")ԈBY$?Q E:y&e>Q I @MDI};i;ο4yBɮ5%AEjgOFNOT Ignoring new targets: 522.22 m.Rx9Zx9gO ProNav: ac range: 522.223511 m, nav range: 514.846252 m, bearing: 23.721333 deg, approach rate: -0.632397 m/s, LOS rate: 0.013551 deg/s, cmd heading: 24.234350 deg, new cmd heading: 24.245977 deg. Bg9gO%HeadingCmd: 0.423172 target range: 522.223511 and range: 525.00 m.->)*)") 119AE/BʎIIQjQZU+@5vBɢ=`=)9 =?iA)EAAiE4V;iu>u$;u㐼Iu>Iyԉ!@! @!@-0@)@1@1Ա=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515733^Am mE  E E 'E "E :*E ]t:VE '4ZE a @a @a @a @ A I I O > ,C'X@A2S*8>2D>2LX<ٱ2e :AHRS rotation from veh to nav: [[0.921777,-0.385636,-0.040158],[0.387497,0.912761,0.129283],[-0.013202,-0.134731,0.990794]]2H1?Cؿ ?V5?Z?j >?i2S*8>I2/^;0YF{ByFI Jp9xYx=~gGy|~WǸE~>Q 5 4?Q 9 4 )ۈBYy1e>Q I @MDIu:i:տ4y!ɮ%%A!P=B*** querying acoustic contact ***A AjIgOMFNOT Ignoring new targets: 522.22 m.RUow9ZUow9gOe ProNav: ac range: 522.223511 m, nav range: 514.605042 m, bearing: 23.726504 deg, approach rate: -0.630327 m/s, LOS rate: 0.013520 deg/s, cmd heading: 24.245976 deg, new cmd heading: 24.256324 deg. Be9gOmHeadingCmd: 0.423353 target range: 522.223511 and range: 525.00 m.m>i*i"i qqqqyʎyyyjZУ@颭vBɢV=) ?i)顱ԹiEi>]";slI>I59@1 @1@5.4@9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767867^AA- .AIY I O >B 5>B B IB {BB =B B B q;B l-EU checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021181Q $ ,]'X@AE" E"E"(E "E":*E":VE"c44ZE BE"B>BT<ٱB JAHRS rotation from veh to nav: [[0.921696,-0.386000,-0.038480],[0.387600,0.912420,0.131363],[-0.015597,-0.135991,0.990587]]BH`~?`9ؿ`n?2??*h?iBbK8>IBC^;B9 ?Y ?=gGy>Fk9E>Q 54?Q 94)BY3"?Q E%:y%Z>Q I% @"MDI:i:_ݿ4y)ɮ-$A)jqgOFNOT Ignoring new targets: 522.22 m.RFP9ZFP9gO ProNav: ac range: 522.223511 m, nav range: 514.328979 m, bearing: 23.731618 deg, approach rate: -0.614104 m/s, LOS rate: 0.011380 deg/s, cmd heading: 24.256324 deg, new cmd heading: 24.266556 deg. B9gOHeadingCmd: 0.423531 target range: 522.223511 and range: 525.00 m.>*" QBʎjZ8F @]vBɢ]Ie=)Y ]?iY)eaaieNim>!A;I>IA@A @A@E0@Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2718191^A ma A ؟AI! I1 O= >C ,w'X@A>8>>f>><ٱ> FAHRS rotation from veh to nav: [[0.921569,-0.386584,-0.035554],[0.387791,0.912413,0.130848],[-0.018143,-0.134373,0.990765]]>H}}?ɽؿ +4?@|2??0` 3@X?i>8>I>u^;>=CYR|ByRIV=V=bDZVDZ0yb&=%bV=ٔfh;Q-f>9f"?Yf"?=fgGyhj!:Ej>lQ 5r4n?Q 9r4n)nBYtyv}>Q Iv @n1MDIn:in:n4yzBɮz$A|jgOFNOT Ignoring new targets: 522.22 m.R%{X9Z%{X9gO5 ProNav: ac range: 522.223511 m, nav range: 514.100769 m, bearing: 23.735845 deg, approach rate: -0.638262 m/s, LOS rate: 0.011829 deg/s, cmd heading: 24.266556 deg, new cmd heading: 24.275014 deg. B5/9gO=HeadingCmd: 0.423679 target range: 522.223511 and range: 525.00 m.=r>9*9"A AAAIIʎIIIjQZU@@}vBɢ}=) ?i)_$ۼ顁i.Xir>;gIr>IQuBDAT read: Rx Time:00:32:29.3268 }TRx dataTimestamp_ set to:1761697949.949817checking for new query: numPingsReceived=0, elapsed TxPingTime=3.545834 @  @ @ 4@ Em EmEm&Ei"Em2:*Em n:VEm4ZEia}@a}@a}@a}@y^A-WԩAy I I O >% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.795725 & ,i'X@A2 I:>2>2,+<ٱ2 :AHRS rotation from veh to nav: [[0.920863,-0.388543,-0.032337],[0.389358,0.912133,0.128116],[-0.020283,-0.130568,0.991232]]2Hw?`ؿ@~`?? 10? f? Ŕ u,?i2 I:>I2^;29tYt=vgGyv?Fz;Ez>|Q 54~?Q 94~)~BYy ~>Q I  @~AMDI~ ;i~:~4yɮ$AEj9gOFNOT Ignoring new targets: 522.22 m.RR9ZR9gO ProNav: ac range: 522.223511 m, nav range: 513.847046 m, bearing: 23.740507 deg, approach rate: -0.624302 m/s, LOS rate: 0.011475 deg/s, cmd heading: 24.275015 deg, new cmd heading: 24.284342 deg. B9gOHeadingCmd: 0.423842 target range: 522.223511 and range: 525.00 m.>*" !!ʎ!!)j)ԹZ@B<AB56>B5CB5IB5 |BB5 =B1B1B5q;B5-EwBɢHA[=) ?i ) ~м  i `i>J;cHI>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.050407E EE(E9@ @@4@"E:*Ei:VEc44ZEBE#i5 X5 >5 &@5 k]=5 H%@ 5 k]=)5 Pw )^IPw9Y=gGyE>Q 54<?Q 94 )BY.%?Q E%:y%0>Q I% @XMDI;i!;4y-Bɮ-r$A)Ա'X@AJDRDjȴ> 0@!+@_zrU<@r'5?wĚ?ʾ7?ZPw<bk]N^,Zm}@, 5k@[V|/@zocΐ?n6? ?2YC:jC"z ?*ReB&BJN“D>gO addTargetRange:: Added new target pos. range: 521.700012 m, deltaT: 4.554421 s, deltaX: -3.299988 m, approachRate: -0.724568 m/s, rangeRepo size: 4 gO5 Added new target pos. range: 518.942810 m, bearing: 24.810211 deg, lat: 36.779279 deg, lon: -121.859163 deg, deltaT: 4.554421 s, deltaX: -3.280701 m, approachRate: -0.720333 m/s, posRepo size: 4 j1gO5FNOT Ignoring new targets: 518.94 m.R=Z9gOM ProNav: ac range: 518.942810 m, nav range: 514.559631 m, bearing: 24.013278 deg, approach rate: 0.000000 m/s, LOS rate: 0.011475 deg/s, cmd heading: 24.284341 deg, new cmd heading: 24.297589 deg. BIgOuHeadingCmd: 0.424073 target range: 518.942810 and range: 521.70 m.u >q*q"q qqyy}_BʎyjM@Z? wBɢ f=) ?i)*LƼi+5ji >;I >I *DAT read: user:412> BDAT read: Tx time:00:32:30.7271 $Ping request sent.% ,o'X@A2=>2r>2q<ٱ2":checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249535 BAHRS rotation from veh to nav: [[0.919461,-0.392197,-0.027802],[0.392424,0.911007,0.126763],[-0.024388,-0.127464,0.991543]]2H9l?ٿ@6x@y?&?9?+P?i2=>I2V^;2=CYJ|ByJ IbDUVDUkym횼%mR=ٔu-9 ?Y ?=gGy@F <E>Q 54%?Q 94)BYyѝ>Q I @hMDIW:i :d4yɮ$AP-B*** querying acoustic contact ***) )jagOmFNOT Ignoring new targets: 518.94 m.Rm9Zm9gO} ProNav: ac range: 518.942810 m, nav range: 514.307068 m, bearing: 24.016411 deg, approach rate: -0.658137 m/s, LOS rate: 0.008169 deg/s, cmd heading: 24.297589 deg, new cmd heading: 24.303858 deg. B}2o9gOHeadingCmd: 0.424182 target range: 518.942810 and range: 521.70 m.n.>*" ʎjZe?EwBɢE(O=)I M?iI)M|wIIiMCriUn.>U7;UdI]n.>IYi9@ @@4@QBBB IB |BBBBBbr;B.EBiBiBiBm =Bm =CmM5-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5016845>GM`]Ai¿9`]AY8A^A ]EE  EE EA EA "EE :*EE c:VEA ZEA BEE + ,K#'X@A06@>6z>6W<ٱ6 >AHRS rotation from veh to nav: [[0.918501,-0.394547,-0.026228],[0.394544,0.910043,0.127114],[-0.026284,-0.127102,0.991541]]6H\d?C@ٿ{ۚ 4@?? BE?'ꚿ Dഺ?i6@>I6c^;6:CYJ|ByJIiUMb@Mb@Mb@QQQQ Q9U#~j?:v/$?YU%?yUTU9"?Y"?=gGy;E>Q 54>:?Q 94)BY&?Q E:y0>Q I @yMDI;i ;V4yBɮ$AEjgOFNOT Ignoring new targets: 518.94 m.R_8Z_8gO ProNav: ac range: 518.942810 m, nav range: 514.049622 m, bearing: 24.018964 deg, approach rate: -0.673008 m/s, LOS rate: 0.006676 deg/s, cmd heading: 24.303859 deg, new cmd heading: 24.308967 deg. BC9gOHeadingCmd: 0.424271 target range: 518.942810 and range: 521.70 m.:>*" BʎjZ a?颽|Bɢv)<  i)wixhi:>;II:>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754403ԩ@ @@04@Թ^A cA?A? A .AI I O5 >E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005470EE  EE EE #EA "EE :*EE &p:VEE 3ZEA aM @aM @aM @aM @ ,(X@AR LB>R$>RY<ٱR) ^AHRS rotation from veh to nav: [[0.917613,-0.396736,-0.024229],[0.396475,0.909279,0.126571],[-0.028185,-0.125749,0.991662]]RH]? !dٿ`^Ϙ_?@?w3?pܜ`@?\iR LB>IRT^;R8CY|ByI = =bDVDβy%2%-P=ٔ-l;Q-->9- ?Y5 ?=5gGy5AF5 ;E5>9Q 5E4=N?Q 9M4=)=BYIyM?>Q IM @=MDI=:i=:=6 4yQɮU$AYjygOFNOT Ignoring new targets: 518.94 m.R8Z8gO ProNav: ac range: 518.942810 m, nav range: 513.794678 m, bearing: 24.021436 deg, approach rate: -0.647937 m/s, LOS rate: 0.006286 deg/s, cmd heading: 24.308966 deg, new cmd heading: 24.313912 deg. B 89gOHeadingCmd: 0.424358 target range: 518.942810 and range: 521.70 m.nE>*" ʎjZ?ɢ) *i){it^inE>!;/InE>IQ @  @ @ 0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258751^A4|EA% ؟AI) I9 A OM >&. ,(X@AA A B27>B0B2IB2+|BB0B0B0B21s;B2u.EE>9><checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512950ٱ %AHRS rotation from veh to nav: [[0.916484,-0.399425,-0.022733],[0.398981,0.908316,0.125601],[-0.029520,-0.124181,0.991820]]HS?/ٿ`0G?@??q:Pʿ ?iE>I3^;;CY5 |By=IE EE,E"E ;*EP:VEg4ZEBERQ9e"?Ye"?=egGyam׼;Em>qQ 5}4uig?Q 9}4u)uBY})?Q E}:y}.>Q I @uMDIuf:iu:u4yBɮ$AEjgOFNOT Ignoring new targets: 518.94 m.RVc8ZVc8gO ProNav: ac range: 518.942810 m, nav range: 513.478577 m, bearing: 24.022917 deg, approach rate: -0.662443 m/s, LOS rate: 0.003106 deg/s, cmd heading: 24.313913 deg, new cmd heading: 24.316877 deg. Bߵ8gOHeadingCmd: 0.424410 target range: 518.942810 and range: 521.70 m.6L>*" BʎjZ @?A颕 |Bɢ) i)U|顙iPi6L>hT; I6L>Iu9@q @y@y@y@@i checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762371ԙ ^A 0AM .AIQ Ia Ou > ,%6(X@A(22H>2w>2?+<ٱ2 >AHRS rotation from veh to nav: [[0.915243,-0.402316,-0.021739],[0.401726,0.907117,0.125516],[-0.030777,-0.123611,0.991853]]2H I?`ٿ B ߵ?@??!@C?i22H>I2^;0YF|ByJIbDRVDRJyjm%jd=ٔne;Q-n>9n ?Yn ?=rgGyrBFr <Er>tQ 5z4vz?Q 9z4v8 )vBY|y~>Q I~ @vMDIvK:ivB:v4yBɮ$AjgOFNOT Ignoring new targets: 518.94 m.RJ8ZJ8gO ProNav: ac range: 518.942810 m, nav range: 513.240906 m, bearing: 24.023952 deg, approach rate: -0.635096 m/s, LOS rate: 0.002767 deg/s, cmd heading: 24.316877 deg, new cmd heading: 24.318948 deg. B8gOHeadingCmd: 0.424446 target range: 518.942810 and range: 521.70 m.P>*" ʎjZ@d@颩ɢ) @i)'顱iWFiP>D;&YǻIP>Iԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013492bEeĞ4jEeģ#4rEeW\0E EE&E"E:*Ek:VE4ZEa@a@a@a@ԩea@a @a@e4@a iߑ Iߕ A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266691^A  IIO>v ,T(X@A6AM>6L>6ڜ=ٱ6? BAHRS rotation from veh to nav: [[0.913171,-0.407067,-0.020364],[0.406209,0.904885,0.127188],[-0.033347,-0.124417,0.991670]]6H 8?`a ڿkڔ@U??G?ٿ?i6AM>I6^;6=CYJ{ByJIIN{>)N=PRAbDV VDV:2y^%^,=ٔb;Q-b>9`Y`=bgGy`f*<Ef>hQ 5n4j?Q 9n4j )jBYlyrA>Q Ir @jMDIj:ij:j 4yvBɮv%AvEPB*** querying acoustic contact ***  jgOFNOT Ignoring new targets: 518.94 m.R?8Z?8gO- ProNav: ac range: 518.942810 m, nav range: 512.925415 m, bearing: 24.025153 deg, approach rate: -0.685301 m/s, LOS rate: 0.002609 deg/s, cmd heading: 24.318948 deg, new cmd heading: 24.321351 deg. B-Θ8ԑgOHeadingCmd: 0.424488 target range: 518.942810 and range: 521.70 m.rV>*" ʎjZm@|Bɢ,˼) i)!!i%7i%rV>- ;UIUrV>IyB6>BB IB |BBBBBs;B.EM 7checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526171@ @@0@E EEE"E:*E~:VEZEBEF-] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770208$ ,n(X@ARnO>R(b>R =ٱRpc bAHRS rotation from veh to nav: [[0.912270,-0.409091,-0.020181],[0.408129,0.903760,0.129028],[-0.034545,-0.125945,0.991436]]RHQ1?.ڿV`?`??쯡 ׹?iRnO>IR^;R;CYr{ByrIi Mb@Mb@Mb@     9 ~jt?ˡE~jthY $?y ' D AFA $,A 5A) :A Y bD%VD%ܲy5j%54=ٔ5-;Q-5>99Y9==gGy=CF=;EE>IQ 5U4M?Q 9U4Mk)MBY]$?Q E]:y]>Q I] @MMDIM:iMQ:M (4yaɮe%AijgOFNOT Ignoring new targets: 518.94 m.R\8Z\8gO% ProNav: ac range: 518.942810 m, nav range: 512.634094 m, bearing: 24.027189 deg, approach rate: -0.626442 m/s, LOS rate: 0.004381 deg/s, cmd heading: 24.321351 deg, new cmd heading: 24.325426 deg. B%J9gO-HeadingCmd: 0.424559 target range: 518.942810 and range: 521.70 m.-_>)*)") )1115hBʎ99yjyZ @ |Bɢ _ټ)  Ni ) 3i(i]_>]@ ;]?I]_>Iachecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0213799E EEE"EV:*E:VEZEa@a@a@a@Vʮ>Vu =ٱV ^AHRS rotation from veh to nav: [[0.911236,-0.411360,-0.020784],[0.410445,0.902678,0.129260],[-0.034411,-0.126317,0.991393]]VH`(?SڿH@D?@??J*+}?iV^R>IVt^;V9Y=gGyDF0;E > Q 54 ?Q 94 ) BYy>Q I @ MDI :i ; <04y)ɮ-%A)jIgOUFNOT Ignoring new targets: 518.94 m.RU?8ZU?8gOe ProNav: ac range: 518.942810 m, nav range: 512.332886 m, bearing: 24.029211 deg, approach rate: -0.659892 m/s, LOS rate: 0.004433 deg/s, cmd heading: 24.325425 deg, new cmd heading: 24.329472 deg. Bm9gOmHeadingCmd: 0.424629 target range: 518.942810 and range: 521.70 m.mi>q*q"q qqqyyʎyjZ߬ @颭|Bɢ) 8i)&顱iY9i}i>} ;}=:Ii>IaB<A4=B8>BBIB|BB =BBBt;B$/EBDAT read: Rx Time:00:32:33.8233 TRx dataTimestamp_ set to:1761697954.487440checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5291709@ @@4@E EE$E"E:*EL_:VE4ZEBE* ,(X@AY{ByI monly read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768, am@am am@am am@am am@am bDuVDuys%<=ٔQ->9Y=gGyE>Q 54?Q 94)BQ A+:YQ E:yQ I @)}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778434MDIm64yBɮb&AEj1gO5FNOT Ignoring new targets: 518.94 m.R=]8Z=]8gOu ProNav: ac range: 518.942810 m, nav range: 512.051636 m, bearing: 24.031101 deg, approach rate: -0.586626 m/s, LOS rate: 0.003944 deg/s, cmd heading: 24.329472 deg, new cmd heading: 24.333254 deg. Bu8gO}HeadingCmd: 0.424695 target range: 518.942810 and range: 521.70 m.q>*" ʎjZ>N@颥|BɢG) ׽i)<顩iB iq> ;9By:Iq>IY9@ @@3@ԉ DAT read: 00:32:33.8233 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 412, 0.10, 1.597, 0.154, 1.764, 1.383, PHS= 0.317,-1.184, 0.337, RAW= 150.7, 7.1, CAL= 150.1, 7.5, ROT= 359.9, -7.5  Ygot valid direction response: 00:32:33.8233 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 412, 0.10, 1.597, 0.154, 1.764, 1.383, PHS= 0.317,-1.184, 0.337, RAW= 150.7, 7.1, CAL= 150.1, 7.5, ROT= 359.9, -7.5  PDAT read: Bearing 179.1, -3.0 (Local)  ~Local bearing/azimuth received: Bearing 179.1, -3.0 (Local)  DAT read: Range 11 to 50 : 519.0 m (Round-trip 692.1 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.991443,-0.001731,0.130526] Fpublishing direction and range infoy) - g?榣Z\ /?Y- D) ^A rg:) ) ) ) )- PI- M>i- P- D>- aU(@- =- ϩ'@ - >)- @I- ) ) - gQ?L1?eՄ? - ?)- I- "i- ) )  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.E  E E &E "E :*E V:VE 4ZE a% @a% @a- @a- @I9 II O] > 0 ,(X@AbNU>bĀ>bzV<ٱbT jAHRS rotation from veh to nav: [[0.909868,-0.414180,-0.024402],[0.413726,0.901309,0.128344],[-0.031164,-0.126872,0.991429]]bH?ڿ|z?? m?|響T=@ʹ?ibNU>Ib^;b:CY]{By]IbDuVDuy好%G=ٔQ->9Y=gGyEF<E>Q 54?Q 94)BQ A :YQ EX:yٹ>Q I @ NDI:i3Z?);4yɮ&Aae^(X@AJeDReDje%>eeRr@쿏yݬP@reg?榣Z\ /?Ze"be e([j^}@6\Zsk@at'|I@zeiE?/we9?mK#XF?2e[C:e7C"e1͙?*eoBeBaeS"“eBedDe>ԱgO addTargetRange:: Added new target pos. range: 519.000000 m, deltaT: 4.285760 s, deltaX: -2.700012 m, approachRate: -0.629996 m/s, rangeRepo size: 4 gO Added new target pos. range: 516.257874 m, bearing: 25.306895 deg, lat: 36.779279 deg, lon: -121.859114 deg, deltaT: 4.285760 s, deltaX: -2.684937 m, approachRate: -0.626478 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 516.26 m.RZgO- ProNav: ac range: 516.257874 m, nav range: 513.576172 m, bearing: 24.476751 deg, approach rate: 0.000000 m/s, LOS rate: 0.003944 deg/s, cmd heading: 24.333254 deg, new cmd heading: 24.336316 deg. B1gO5HeadingCmd: 0.424749 target range: 516.257874 and range: 519.00 m.=x>9*9"9 999AAʎAAIjM8@ZmRA?颕|BɢB ) i).`顙iXfix>s ;c=;Ix>Ia@i @i@m0@i*DAT read: user:413> BDAT read: Tx time:00:32:35.0270 $Ping request sent.B) B- IB- {BB- =B) B) B- wt;B- /EA I I O >7 ,=(X@A~checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251156E EE$E"E:*EX:VE4ZEBEa2EaJEq;a:Eq;a-JW>-P>-%<ٱ- UAHRS rotation from veh to nav: [[0.909285,-0.415259,-0.027592],[0.415198,0.900614,0.128472],[-0.028500,-0.128274,0.991329]]-H ?ڿA?? q?/Ik?i-JW>I-^;-=CYmc{BymIaa aa aa aa iMb@Mb@Mb@ 9ʡE?MbX9I +Y?yʡ94GAO+A 5A):AY8AImAAibDVD:y%.=ٔQ->9Y=gGy\;E>Q 54?Q 94K)BQ AT:Y?Q E:y[>Q I @NDI;i_;MC4yɮp'AP B*** querying acoustic contact ***  jgOFNOT Ignoring new targets: 516.26 m.R%'9Z%'9gO5 ProNav: ac range: 516.257874 m, nav range: 513.289368 m, bearing: 24.480862 deg, approach rate: -0.638388 m/s, LOS rate: 0.009154 deg/s, cmd heading: 24.336316 deg, new cmd heading: 24.344541 deg. B59gO=HeadingCmd: 0.424892 target range: 516.257874 and range: 519.00 m.=>9*9"9 9AAIM1BʎIIIjQZUe?}|Bɢ})y 0i)9¼顁iYܺi> L ;:%;I>Iy9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501301ԡ ^A vт; A I I O% >9= ,P(X@A2X>2|>2<ٱ2 :AHRS rotation from veh to nav: [[0.909060,-0.415451,-0.031795],[0.415895,0.900093,0.129866],[-0.025334,-0.131279,0.991022]]2H?ڿjG?? p?F s?i2X>I2^;29CYE8{ByE~IIM=)M=IIbD]VD]0ye %mS=ٔmQ-m>9qYq=ugGyuFF}:E}>Q 54V?Q 94l)߈BYy>Q I @,NDI`:i:J4yBɮ"(AEjgOFNOT Ignoring new targets: 516.26 m.R&!9Z&!9gO ProNav: ac range: 516.257874 m, nav range: 513.050903 m, bearing: 24.484263 deg, approach rate: -0.617118 m/s, LOS rate: 0.008805 deg/s, cmd heading: 24.344541 deg, new cmd heading: 24.351346 deg. B9gOHeadingCmd: 0.425011 target range: 516.257874 and range: 519.00 m.>*" ʎjZ`g ?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.768432E EE%E"E:*Ega:VE 4ZEa@a%@a%@a%@}|Bɢ}-) ]i)"ļ顁ivi> ;;I>I a@a @a@m0@i1 ^Ae ;M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.020473Y A I I O >D ,er)X@A2VX>2G>2j<ٱ2v :AHRS rotation from veh to nav: [[0.908859,-0.415586,-0.035534],[0.416514,0.899755,0.130215],[-0.022143,-0.133148,0.990849]]2H``?`ڿ1`+???Ƭ ?i2VX>I2^;29tYt=vgGytz:Ez>|Q 54~*?Q 94~)~݈BYy>Q I  @~;NDI~A;i~o;~P4yɮ(Aj1gO=FNOT Ignoring new targets: 516.26 m.RE/ 9ZE/ 9gOU ProNav: ac range: 516.257874 m, nav range: 512.820618 m, bearing: 24.487533 deg, approach rate: -0.616022 m/s, LOS rate: 0.008753 deg/s, cmd heading: 24.351346 deg, new cmd heading: 24.357890 deg. BU&9gOUHeadingCmd: 0.425125 target range: 516.257874 and range: 519.00 m.]>Y*Y"Y YʎjZC?5|Bɢ5>-)1 ]yiY)]<żYYi]0اie>eH.;e;Im>IiԙAYAYBe8>BaBeIBe{BBaBaBaBezs; Be.EBABA9@A @A@M0@I-GBAé\Aſ9\AYABABACEt5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.273548E EE"E"E:*Eg:VE(3ZEBE ! J ,.)X@AZpY>Zc>Z@<ٱZ jAHRS rotation from veh to nav: [[0.908616,-0.415818,-0.038887],[0.417202,0.899512,0.129696],[-0.018950,-0.134068,0.990791]]ZHa?Üڿ飿q?? ?@g`$) ?iZpY>IZ^;Z;Cchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.524592Y{ByiIonly read 0 of 1 data item for BIT error. Device response is::TS,00050504205675,35.0, +11.1, 3.7, 0 a@a a@a a@a a@a bDVDym(%u5=ٔuQ-u>9yYy=}gGy}GF}:E}>Q 54@?Q 94k)ڈBQ A+:YQ E:yr>Q I @MNDI ;is>V4yɮ(AjgOFNOT Ignoring new targets: 516.26 m.R^9Z^9gO ProNav: ac range: 516.257874 m, nav range: 512.542175 m, bearing: 24.491468 deg, approach rate: -0.615953 m/s, LOS rate: 0.008708 deg/s, cmd heading: 24.357889 deg, new cmd heading: 24.365762 deg. B~9gOHeadingCmd: 0.425263 target range: 516.257874 and range: 519.00 m. >*" ʎjZ>? -|Bɢ-))) -ǁi1)5#SǼ11i5xi= >=a;=f;I= >IA@ @@0@9^AQ;5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.776709a E  E E )E "E :*E ?:VE FA4ZE a @a @a @a @I I O% >Q ,G)X@A 2!eY>2]>2f<ٱ2 >AHRS rotation from veh to nav: [[0.908685,-0.415342,-0.042224],[0.417184,0.899551,0.129479],[-0.015795,-0.135270,0.990683]]2H?`ڿ ]`%??? ,`P?i2!eY>I2 ^;2=CY{By^I !!bD5VD5ܲyeM%m]=ٔm Q-m>9iYq=ugGyquEu>Q 54S?Q 94)؈BQ A :YQ E`:ym>Q I @[NDI<:iR?<[4yBɮ)AEjgOFNOT Ignoring new targets: 516.26 m.R9Z9gO ProNav: ac range: 516.257874 m, nav range: 512.314209 m, bearing: 24.494694 deg, approach rate: -0.616104 m/s, LOS rate: 0.008723 deg/s, cmd heading: 24.365762 deg, new cmd heading: 24.372217 deg. Bj9gOHeadingCmd: 0.425375 target range: 516.257874 and range: 519.00 m.>*" ʎjZ@A@|Bɢ%66)! %Bi!)%ȼ))i-r:ji->5?;55;I5>I9q9@ @@u1@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.032354ԙ^AX;IqIO>Bu 6>Bq Bu IBu U{BBq Bq Bq Bu s;Bu k.E U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282630X ,a)X@AE: E:E:&E8"E::*E:xv:VE:4ZE8BE:+=>=AM<ٱ=a MAHRS rotation from veh to nav: [[0.909006,-0.414230,-0.046060],[0.416594,0.899708,0.130286],[-0.012528,-0.137619,0.990406]]=H ?`ڿ@5`{?h?`7?g?i=iX>I=^;=;CY]zBy]XIaa aa aa aa iMb@Mb@Mb@ 9Zd;?{Gz?Y?y#<HA 6A)Yp9AbD VDf2y%?=ٔQ->9Y=gGyHF%ͺE%>)Q 54-h?Q 94-)-܈BQ AT:Y+?Q E:yZj>Q I @-lNDI-۔I*I"I IQQQUBʎYYYjYZ]1@|Bɢ*2) i)t˼i4iG>C;;IG>I9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.532504^A  Ia Iq O >8^ , {)X@A2̘W>2w>26<ٱ2[ :AHRS rotation from veh to nav: [[0.909491,-0.412775,-0.049434],[0.415622,0.900181,0.130127],[-0.009213,-0.138896,0.990264]]2H ?`jڿyO?G? ?@uނ V>?i2̘W>I2^;28CYFzByFGILN@AbDR VDR:2yZx%Ze=ٔZQ-Z>9\Y\=^gGy\bFEb>dQ 5j4fz?Q 9j4f)fBYhyjFi>Q Ij @fzNDIf:if#:fh4yrBɮr)Ap|j gOFNOT Ignoring new targets: 516.26 m.R?9Z?9gO% ProNav: ac range: 516.257874 m, nav range: 511.842346 m, bearing: 24.505354 deg, approach rate: -0.637214 m/s, LOS rate: 0.014453 deg/s, cmd heading: 24.383787 deg, new cmd heading: 24.393547 deg. B%9gO-HeadingCmd: 0.425748 target range: 516.257874 and range: 519.00 m.->)*)"1 11119ʎ99AjAZE@ |BɢKG) i)̼i i>;/;I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.785309bEjE4rE(90Eq EuEu)Eq"Eq*Euga:VEuFA4ZEqa@a@a@a@9@ @@4@)Q^Aȿ;II O>ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036439 e ,V)X@A2V>2>2iȻ;ٱ2 :AHRS rotation from veh to nav: [[0.910127,-0.411085,-0.051750],[0.414290,0.901186,0.127388],[-0.005731,-0.137379,0.990502]]2H? 7Oڿ?? ?N?yw`1?i2V>I2^;2:CY^zBybHIIbC>)b4<bDjVDjyr- ;%rG=ٔv Q-v>9tYt=vgGyzIFzkEz>QYQ 5e4Uُ?Q 9e4U;)UBYayeg>Q Ie @UNDIU,;iU,;UPp4yqɮu)AqjgOFNOT Ignoring new targets: 516.26 m.R{9Z{9gO ProNav: ac range: 516.257874 m, nav range: 511.588898 m, bearing: 24.511152 deg, approach rate: -0.601199 m/s, LOS rate: 0.013760 deg/s, cmd heading: 24.393548 deg, new cmd heading: 24.405150 deg. Bv9gOHeadingCmd: 0.425950 target range: 516.257874 and range: 519.00 m.&>*" ʎjZ<< @"|Bɢ^A) i)μidwi &> $; éB;I &>I BAB%7>B!B%wIB%-{BB% =B!B!B%Xs;B%.E9@ @@\3@ԑ%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.291144E EE(E"E:*E҆:VEc44ZEBE+B.>B!(;ٱB RAHRS rotation from veh to nav: [[0.910697,-0.409498,-0.054244],[0.413067,0.901978,0.125746],[-0.002565,-0.136923,0.990578]]BH n$?65ڿūo?@?o?@ eெѲ?iB%T>IBq^;B9CYbzBybNIeBDAT read: Rx Time:00:32:38.1194 eTRx dataTimestamp_ set to:1761697958.785261mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.541640iMb@Mb@Mb@Ա 9/$?L7A`~jt?Y?y+<)A 7A)^8AY8AbDVDNyV<%;=ٔQ->9Y=gGyJE>Q 54?Q 94)BYd ?Q E:ya>Q I @NDI<:i:w4y Bɮ G)AEj1gO=FNOT Ignoring new targets: 516.26 m.R=*9Z=*9gOM ProNav: ac range: 516.257874 m, nav range: 511.328705 m, bearing: 24.517284 deg, approach rate: -0.612533 m/s, LOS rate: 0.014444 deg/s, cmd heading: 24.405150 deg, new cmd heading: 24.417421 deg. BMw9gOUHeadingCmd: 0.426164 target range: 516.257874 and range: 519.00 m.U82>Y*Y"Y YYYaeBʎaaajiZm@U&|BɢU<)Q UiY)]>ѼYYi]kAie82>e;e:Ie82>I%9@! @!@%3@!  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.792818^AE -;D =D =E  E E 'E "E :*E e:VE '4ZE a @a @a @a @9 A ؟AI I O >2r ,8)X@A2*OS>2R>2ڹٱ2 :AHRS rotation from veh to nav: [[0.911262,-0.407597,-0.058880],[0.411828,0.902044,0.129282],[0.000417,-0.142058,0.989858]]2H )?ڿy%c[? ?P?U;?.¿@?i2*OS>I2^;2=CYBzByD Jp9Z"?YZ"?=ZgGyZJF^tEb>dQ 5j4fy?Q 9j4fe)fBYhyj`>Q Ij @fNDIf,:ifE:f~4ypɮrH)ApjgO FNOT Ignoring new targets: 516.26 m.Rń9Zń9gO ProNav: ac range: 516.257874 m, nav range: 511.105499 m, bearing: 24.522577 deg, approach rate: -0.611594 m/s, LOS rate: 0.014510 deg/s, cmd heading: 24.417421 deg, new cmd heading: 24.428012 deg. Bo9gOHeadingCmd: 0.426349 target range: 516.257874 and range: 519.00 m.rJ>*" ʎjZ@M(|BɢME)q }tiy)}z&Ӽyyi,irJ>;9IrJ>I=9@9 @A@E0@IDAT read: 00:32:38.1194 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 404,-0.27, 1.417,-0.076, 1.578, 1.220, PHS= 0.299,-1.251, 0.314, RAW= 150.5, 8.3, CAL= 150.0, 8.9, ROT= 0.0, -8.9 Ygot valid direction response: 00:32:38.1194 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 404,-0.27, 1.417,-0.076, 1.578, 1.220, PHS= 0.299,-1.251, 0.314, RAW= 150.5, 8.3, CAL= 150.0, 8.9, ROT= 0.0, -8.9 PDAT read: Bearing 180.5, -1.4 (Local) ~Local bearing/azimuth received: Bearing 180.5, -1.4 (Local)  DAT read: Range 11 to 50 : 516.1 m (Round-trip 688.2 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages.\direction in FSK: [0.987960,0.000000,0.154710]Fpublishing direction and range infoyy}~^?j?Y}Dyyyy y)}NI}>i} }Ġ>}0(@}V>}6'@ }>)}I}yy}kI.K?" ?+UX? })-?)}EI}i}yy5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.AqB 6>B B eIB {BB =B B B s;B .E^AM 0::A ԩ I 5 *DAT read: user:414> E BDAT read: Tx time:00:32:39.3270 M $Ping request sent.M x ,)X@AbWR>b>bz^ٱbcS zAHRS rotation from veh to nav: [[0.911646,-0.405968,-0.063969],[0.410963,0.901790,0.133734],[0.003395,-0.148207,0.988951]]bH3,?@aٿC``7M?@v?1?Wk? p¿{?ibWR>Ibf^;b9C1YUzByUMI YYiMb@Mb@Mb@ 9Zd;O?i|?5l?Yj?y=IA~*A :A)Y9AbD5VD5y=%E%=ٔEĻQ-E>9AYI=MgGyIMEU>QQ 5]4U?Q 9e4Uq)UBYe?Q Ee:ye@y>Q Ie @UNDIU:iU:Uʆ4yuBɮuV)AuEim)X@AJmWDRmWDjm>m!ar @u@S@rm~^?j?ZmbmmcF|@9ak@ ˧&T@zm75?̾!O?r,o?2m[C:mC"maY?*msjBmCm1͙?mRe“imCm>gO addTargetRange:: Added new target pos. range: 516.099976 m, deltaT: 4.300247 s, deltaX: -2.900024 m, approachRate: -0.674386 m/s, rangeRepo size: 4 gO Added new target pos. range: 513.370728 m, bearing: 25.595714 deg, lat: 36.779252 deg, lon: -121.859070 deg, deltaT: 4.300247 s, deltaX: -2.887146 m, approachRate: -0.671391 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 513.37 m.RZgO ProNav: ac range: 513.370728 m, nav range: 509.724213 m, bearing: 25.065971 deg, approach rate: 0.000000 m/s, LOS rate: 0.014510 deg/s, cmd heading: 24.428011 deg, new cmd heading: 24.442669 deg. BgOHeadingCmd: 0.426605 target range: 513.370728 and range: 516.10 m.k>*" !!% Bʎ)))j- @Z5@ ?,|Bɢ :<)  i)ռir9iEk>M;MdԹIMk>IQa@ @@0@=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246641ԉ^A q9Թ AM .AIY Ii Ou >7 ,_)X@AYzBy FIbDVDy-%-[=ٔ5Q-5>95 ?Y5 ?==gGy=KF=E=>AQ 5M4E?Q 9M4E)EBYQyQQ IU @ENDIE;iEQ;EN4yYɮ])AY}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498457yPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 513.37 m.Rz9Zz9gO ProNav: ac range: 513.370728 m, nav range: 509.496979 m, bearing: 25.070994 deg, approach rate: -0.619918 m/s, LOS rate: 0.013709 deg/s, cmd heading: 24.442669 deg, new cmd heading: 24.452719 deg. B9gOHeadingCmd: 0.426780 target range: 513.370728 and range: 516.10 m.>*" ʎjZ?DzD@AE EE(E"E:*EL_:VEc44ZEa@a@a@a@/|Bɢ>Q) ?i)ɟ׼i9i%>%7;%MI%>I!@ @@ 0@ԡ^A%- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750430AU ؟AIa Iq O >  ,t*X@A6nQ>6b>6[ٱ6" BAHRS rotation from veh to nav: [[0.911972,-0.403609,-0.073529],[0.410138,0.901178,0.140228],[0.009665,-0.158041,0.987385]]6H@.?ٿҲ??@t??@`˃?:Ŀ?i6nQ>I6^;6:CYJ{ByJeIbDRVDRfyZ>%ZS=ٔ^~Q-^>9b"?Yb"?=bgGy`bEf>dQ 5j4fF?Q 9n4fs)fBYlyny>Q In @fNDIfz ;if ;f4yvBɮv(Atj gOFNOT Ignoring new targets: 513.37 m.Rix9Zix9gO% ProNav: ac range: 513.370728 m, nav range: 509.260956 m, bearing: 25.076219 deg, approach rate: -0.612833 m/s, LOS rate: 0.013574 deg/s, cmd heading: 24.452719 deg, new cmd heading: 24.463175 deg. B-9gO-HeadingCmd: 0.426963 target range: 513.370728 and range: 516.10 m.->1*1"1 11199ʎAAAjAZE#j?AYA]AABe5>BaBekIBe{BBe =BaBaBes;Be.E颍2|Bɢv?) 鑾i)mټ顙i^S9i>T;8I>Ii@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004367E% E%E!E!"E% :*E%&p:VE!ZE!BE%N" i9 I9 E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254550E ,v3*X@A2KyR>2>21Rٱ2I-! :AHRS rotation from veh to nav: [[0.911522,-0.404171,-0.075981],[0.411050,0.901155,0.137688],[0.012821,-0.156737,0.987557]]2H1+? ٿysN? B??A?Ŀ`?i2KyR>I2.^;29CYF {ByFbIIJ=)Jj?iMb@Mb@Mb@ 9+?Zd;OMb?Yv?yj@="KA :A)Y=:AbDVD1y!%;=ٔCQ->9Y=gGyLFM;E>Q 54P?Q 94g)+BY ?Q E:y*>Q I @NDI;iQ:4y ɮ (A jagOeFNOT Ignoring new targets: 513.37 m.Rm99Zm99gO ProNav: ac range: 513.370728 m, nav range: 508.991058 m, bearing: 25.080758 deg, approach rate: -0.603241 m/s, LOS rate: 0.010150 deg/s, cmd heading: 24.463175 deg, new cmd heading: 24.472257 deg. B9gOHeadingCmd: 0.427121 target range: 513.370728 and range: 516.10 m.>*" 3BʎjZW?%6|Bɢ%<)) -/i))-ۼIIiUl:iU>][;]KI]>IY@ @@0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507264DD<E EE"E"E;*E:VE(3ZEa%@a%@a%@a%@^A= NJκI IA IQ Oe >K, ,OM*X@AfS>f>fkٱfT nAHRS rotation from veh to nav: [[0.910883,-0.405183,-0.078226],[0.412370,0.900890,0.135456],[0.015589,-0.155643,0.987690]]fH%?`ٿ Fd??V? ? ÿ)?ifS>If5^;f;CYv"{ByvqIbDVDyFz=%V=ٔQ->9Y=gGy%{;E%>)Q 554-!?Q 954-)-8BY1y5ה>Q I5 @-NDI-:i-:-f4yAɮEt(AEEjagOmFNOT Ignoring new targets: 513.37 m.RmA9ZuA9gO ProNav: ac range: 513.370728 m, nav range: 508.755432 m, bearing: 25.084689 deg, approach rate: -0.633523 m/s, LOS rate: 0.010573 deg/s, cmd heading: 24.472257 deg, new cmd heading: 24.480122 deg. B͚9gOHeadingCmd: 0.427259 target range: 513.370728 and range: 516.10 m.>*" ʎjZ ?M:|BɢU"w?)q uiq)}|Nݼyyi}W:i>%;Id#:I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.758598Q-9@) @)@-00@1yBe9>BaBe~IBe7{BBaBaBaBet;Be.EB!B!B!B!B!C%4MG`]A=t9E`]AYEtA^Au9Ա Ia I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012894O >E=  E= E= $E9 "E= :*E= R:VE= 4ZE9 BE= U>>>@>떼ٱ> JAHRS rotation from veh to nav: [[0.910095,-0.406667,-0.079683],[0.413990,0.900776,0.131201],[0.018422,-0.152393,0.988148]]>H@?ڿf~? )?/?`*ݒ?@ÿ?i>U>I>A^;>9CYR0{ByRzIi]Mb@Mb@Mb@YYYY Y9]Mb?lˡE?Y] ?y]]'=]KA])A ];A)]7AYYYbDuVDuky*=%C=ٔݻQ->9Y=gGyMF;E>Q 546?Q 94l)FBY!?Q E:y>Q I @ODI:i:4yBɮA(AjgOFNOT Ignoring new targets: 513.37 m.R9Z9gO ProNav: ac range: 513.370728 m, nav range: 508.493500 m, bearing: 25.088169 deg, approach rate: -0.624901 m/s, LOS rate: 0.008307 deg/s, cmd heading: 24.480122 deg, new cmd heading: 24.487086 deg. B?s9gO%HeadingCmd: 0.427380 target range: 513.370728 and range: 516.10 m.%>!*!"! !)))-FBʎ111j9Z=&@e>|Bɢezz:)a mii)m ߼iiim$2:iu>u;}n;I}>IyԱ-9@1 @1@5*1@1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262409^Amq:IIO> > ,5*X@A2/W>2>2hٱ2B :AHRS rotation from veh to nav: [[0.909296,-0.408391,-0.079988],[0.415619,0.900919,0.124926],[0.021045,-0.146839,0.988937]]2H?#ڿz~?S???`¿@^?i2/W>I2Lc^;0lechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.514364YB{ByI bDVDJyo+=%F=ٔ!лQ->E EE%E"E;*EAr:VE 4ZEa @a @a @a @9Y=gGyЇ;E>Q 54L?Q 94")UBY y>Q I @ ODI=i=^4yɮ'APB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 513.37 m.R/9Z/9gO ProNav: ac range: 513.370728 m, nav range: 508.219940 m, bearing: 25.091766 deg, approach rate: -0.540730 m/s, LOS rate: 0.007114 deg/s, cmd heading: 24.487085 deg, new cmd heading: 24.494283 deg. BLP9gOHeadingCmd: 0.427506 target range: 513.370728 and range: 516.10 m. >*" !!!ʎ)))j)Z- )@]C|Bɢ]0)Y ]iY)e9 aaietlI:im >mA;mZ;Im >Iq@ @@/0@A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766270a ^A= ] ;I I O >:p ,**X@A2L?Y>2J>2,żٱ2F :AHRS rotation from veh to nav: [[0.908594,-0.409736,-0.081081],[0.416984,0.901034,0.119428],[0.024123,-0.142321,0.989527]]2H 3?9ڿ@ݯ?@D?ג??@7¿3?i2L?Y>I2v^;2:CYFX{ByFIbDRVDR:yZ>o=%Z]=ٔZqQ-Z>9\Y\=^gGy^NF^;Eb?`Q 5j4b]?Q 9j4bR)b`BYhyjU>Q Ij @b-ODIb;ib;be4ynBɮr'ArEBz<>BxBzIBz_{BBz =BxBxBzs;Bz.Ej!gO%FNOT Ignoring new targets: 513.37 m.)R579Z579gOE ProNav: ac range: 513.370728 m, nav range: 508.004364 m, bearing: 25.094575 deg, approach rate: -0.769187 m/s, LOS rate: 0.010028 deg/s, cmd heading: 24.494283 deg, new cmd heading: 24.499904 deg. BEђ9gOMHeadingCmd: 0.427604 target range: 513.370728 and range: 516.10 m.M>I*I"I IQQQQʎYYYjYZ] Fh @F|Bɢ ݱ@)  Dni ) w2i)V:i>v;;I>I@ @@4@}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020905ԉE EEE"E:*ER:VEZEBE,  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270350 ,*X@A2_Z>2>2uݼٱ2q :AHRS rotation from veh to nav: [[0.908067,-0.410574,-0.082732],[0.417953,0.901067,0.115732],[0.027030,-0.139671,0.989829]]2H?Fڿ-???@ڭ?`୬?i2_Z>I2Q^;0YFS{ByFIiMb@Mb@Mb@ 9S㥛?lV-?Y$&?y<"KA )6AY9AbD-VD-k2ytA%:=ٔػQ->9Y=gGy#;E>Q 54Tt?Q 94)lBY&?Q E:y >Q I% @@ODI9;i;4y)ɮ-'A)jigOFNOT Ignoring new targets: 513.37 m.R8Z8gO ProNav: ac range: 513.370728 m, nav range: 507.719330 m, bearing: 25.096407 deg, approach rate: -0.641166 m/s, LOS rate: 0.004124 deg/s, cmd heading: 24.499904 deg, new cmd heading: 24.503570 deg. B~8gOHeadingCmd: 0.427668 target range: 513.370728 and range: 516.10 m.L>*" HBʎjZ< @颕K|Bɢ13) xi)*顙if:iL>;;IL>II@Q @Q@U4@Q}BDAT read: Rx Time:00:32:42.4161 TRx dataTimestamp_ set to:1761697963.069105checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523401bE}!4jE}4rE}+0E EE(E"E:*E&p:VEc44ZEa@a@a@a @1^AM ;9 Ay I I O > ,Ӽ*X@A2([>23>2ٱ26 :AHRS rotation from veh to nav: [[0.907713,-0.410964,-0.084652],[0.418534,0.901126,0.113145],[0.029784,-0.138133,0.989966]]2H` ?=Mڿ`īB?`???Z̭?i2([>I2eh^;29CYFk{ByFIIJ4>)J<bDNVDN:yV@=%Z]=ٔZ"Q-Z>9\Y\=^gGy^OF^:E^>`Q 5j4b?Q 9j4b0)bvBYhyjl>Q In @bOODIbr;ibn ;b4ypɮr^'ApjgO FNOT Ignoring new targets: 513.37 m.RS8ZS8gO% ProNav: ac range: 513.370728 m, nav range: 507.481018 m, bearing: 25.097925 deg, approach rate: -0.661720 m/s, LOS rate: 0.004216 deg/s, cmd heading: 24.503570 deg, new cmd heading: 24.506607 deg. B%8gO%HeadingCmd: 0.427721 target range: 513.370728 and range: 516.10 m.-?>)*)") ))111ʎ199j9Z= @mO|Bɢm'7)i mcii)uGqqiu:q:i ?> TH; m{;I ?>II)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774990@ @@0@1B>>BCBIB{BB =BBDBs;B.E^A%;aAq E  E E &E "E :*E c:VE 4ZE BE x/ ,#*X@A"DAT read: Range 11 to 50 : 513.6 m (Round-trip 684.9 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 infoyY]> ?Į0ց?֏ Y]fDYYYY Y)]LI]~*?i]̌]1,?]g'@]A]<&@ ])]5M^>M;ٱMР AHRS rotation from veh to nav: [[0.907411,-0.410412,-0.090376],[0.418754,0.901134,0.112264],[0.035367,-0.139715,0.989560]]MH ?0Dڿ "??U??@.y?iMf[>IM>^;M mBDAT read: Tx time:00:32:43.6770 m$Ping request sent.m9Y=gGyPF:E>Q 54?Q 94z)BY+&?Q E:y>Q I @gODIv:i:4yBɮ['AEY]*X@AJ]rCR]rCj]CJ>]!@WbR@F% @r]> ?Į0ց?֏ Z]5<b]=])|@9Vj@,z]{] ? )?$E8Ѻ2]UC:]C"]KI?*]f9B]BB]z ?Y“]&B]FC]F>gO addTargetRange:: Added new target pos. range: 513.599976 m, deltaT: 4.286846 s, deltaX: -2.500000 m, approachRate: -0.583179 m/s, rangeRepo size: 4 gO  Added new target pos. range: 510.893677 m, bearing: 24.763648 deg, lat: 36.779286 deg, lon: -121.859070 deg, deltaT: 4.286846 s, deltaX: -2.477051 m, approachRate: -0.577826 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 510.89 m.RZgO- ProNav: ac range: 510.893677 m, nav range: 510.549377 m, bearing: 24.919273 deg, approach rate: 0.000000 m/s, LOS rate: 0.004216 deg/s, cmd heading: 24.506608 deg, new cmd heading: 24.511499 deg. B)gO-HeadingCmd: 0.427806 target range: 510.893677 and range: 513.60 m.5o >1*1"1 1199=jBʎAAAjE @ZE@?uV|Bɢu))q uhiq)}syyi}2y:io >g;;Io >II@ @@4@y ^A A ?A ?% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252051E  E E (E "E >:*E ga:VE c44ZE a @a @a @a @ԡA.AIIO >d( , +X@A23n[>27b>2/ٱ2U JAHRS rotation from veh to nav: [[0.907308,-0.409728,-0.094416],[0.418738,0.900840,0.114651],[0.038078,-0.143559,0.988909]]2H?`8ڿ+?`?Y?~? (`¿@$?i23n[>I2qt^;28CYVy{ByVIbD^VD^0yf=%fq=ٔj=Q-j?9j ?Yn ?=ngGyln8En?pQ 5v4r6?Q 9v4rL)rBYxyz>Q Iz @ruODIr;ir;r4y~Bɮ~4'APB*** querying acoustic contact *** j!gO-FNOT Ignoring new targets: 510.89 m.R5|8Z5|8gOE ProNav: ac range: 510.893677 m, nav range: 510.330353 m, bearing: 24.920431 deg, approach rate: -0.653247 m/s, LOS rate: 0.003456 deg/s, cmd heading: 24.511498 deg, new cmd heading: 24.513815 deg. BE^8gOMHeadingCmd: 0.427847 target range: 510.893677 and range: 513.60 m.M>I*I"I IQQQQʎYYYjYZ]x?颅Z|Bɢĺ9) ai)顑i?~:i>_;8;I>I@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502776^Am*;! Ia Iy O >B :>B CB IB {BB B B DB s;B .EL ,9"+X@ABn[>Bdb>BX'ٱB2 NAHRS rotation from veh to nav: [[0.907209,-0.408835,-0.099130],[0.418694,0.900375,0.118409],[0.040845,-0.148927,0.988004]]BH`?X*ڿ`?@?` P?`?ÿ ?iBn[>IB^;B;CYVe{ByVI XXbDfVDfyB% H=ٔ ݻQ->=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7574289QYY=egGyeQFmU6Eu>E EEE"E*E1]:VEZEBEQ I @ODI*" ʎjZi?a|Bɢyo5) {i))-))i-ހ:i5>5;5o;I=>I9Ee>iE!>@ @@p0@ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006812ԩ ^A ;I I O >Lw ,<+X@A2I[>2 P>2ë3ٱ2 :AHRS rotation from veh to nav: [[0.907151,-0.407849,-0.103612],[0.418513,0.900095,0.121147],[0.043851,-0.153262,0.987212]]2Hb?`2ڿO??@{?`s?ÿ >?i2I[>I2^;0@Yn{BynIieMb@Mb@Mb@aaaa a9eJ +?Qy&1|?Ye(?yee`;e"KAa e>A)e5AaYau@AqbD}VD}N2y$=%B=ٔQ->9Y=gGyE>Q 54y?Q 94)BY(?Q E:y>Q I @ODI:i{:4yBɮ&AEjgOFNOT Ignoring new targets: 510.89 m.R 8Z 8gO ProNav: ac range: 510.893677 m, nav range: 509.789093 m, bearing: 24.923264 deg, approach rate: -0.679447 m/s, LOS rate: 0.003528 deg/s, cmd heading: 24.516954 deg, new cmd heading: 24.519484 deg. B8gOHeadingCmd: 0.427946 target range: 510.893677 and range: 513.60 m.>*"     sBʎjZ ?颽f|BɢVf9) Pei)if:i>#Z;ȸ;I>Iԩ=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259724D%=D4=E EE&E"E:*Ei:VE4ZEa@a@a@a@@ @@0@^AX;I1 IA OU >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510837 _ ,YV+X@A2PS[>2T>2>ٱ2! >AHRS rotation from veh to nav: [[0.907028,-0.407095,-0.107585],[0.418496,0.899774,0.123561],[0.046502,-0.157097,0.986488]]2H^? ڿ@@???` ϧ?ĿN?i2PS[>I2M^;27CYFk{ByFIbDRVDRkyVf%ZY=ٔZ@Q-Z>9\Y\=^gGy^RFbw8Eb>dQ 5f4f?Q 9j4fn)fBYhyj#>Q Ij @fODIfp:if:f4lyrBɮr'AvEj gO FNOT Ignoring new targets: 510.89 m.RMy8ZMy8gO% ProNav: ac range: 510.893677 m, nav range: 509.541809 m, bearing: 24.924546 deg, approach rate: -0.656589 m/s, LOS rate: 0.003406 deg/s, cmd heading: 24.519484 deg, new cmd heading: 24.522050 deg. B%q8gO-HeadingCmd: 0.427990 target range: 510.893677 and range: 513.60 m.-!>)*)"1 11119ʎ99AjAZE ?mj|Bɢm,B)q uiq)uhqqiu:i!>;?~;I!>IB}8>ByB}IB}{BB} =ByByB}_t;B} /E@ @@0@ Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763074A^Aϩ;E EE'E"EV:*EV:VE'4ZEBE9a  ,{fp+X@AFj[>FUx>FHٱFӃ$ RAHRS rotation from veh to nav: [[0.906805,-0.406679,-0.110983],[0.418691,0.899491,0.124954],[0.049012,-0.159777,0.985936]]FH?ڿZi ?@? ? ?`sĿ Ɍ?iFj[>IF^;F9CYZe{ByZIIz>)z>xzA9i}Mb@Mb@Mb@yyyy y9}L7A`?~jtMb`Y}+'?y}D}}LA})A }>A)yyY}:AbDVDyS%<=ٔ=Q->9Y=gGy~#:E>Q 545 ?Q 94)BY'?Q E:y>Q I @ODI]:i:34yɮ'AjgOFNOT Ignoring new targets: 510.89 m.Rn8Zn8gO ProNav: ac range: 510.893677 m, nav range: 509.258209 m, bearing: 24.926960 deg, approach rate: -0.652545 m/s, LOS rate: 0.005558 deg/s, cmd heading: 24.522049 deg, new cmd heading: 24.526880 deg. B"9gOHeadingCmd: 0.428075 target range: 510.893677 and range: 513.60 m.,>*" !!%jBʎ!))j)Z-@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014676q|Bɢϕ?)9 慾i)EiX:i,>I;c;I,>Ii@ @@@ԑ^A;I I) O= >M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266803D zD AAE  E E "E "E :*E k:VE (3ZE a @a @a @a @ [q ,>+X@A2\>2>2Rٱ2%# :AHRS rotation from veh to nav: [[0.906310,-0.407249,-0.112915],[0.419468,0.899396,0.123021],[0.051455,-0.158859,0.985959]]2H~?\ڿ輿? ?I~?@^X?UĿ?i2\>I2^;2:CYFs{ByFI N9XY\=^gGy^SF^ ;Eb>`Q 5f4bm?Q 9j4b)bBYhyj>Q Ij @bODIbt:ib:b4yrBɮr'ApPB*** querying acoustic contact ***! !j1gO=FNOT Ignoring new targets: 510.89 m.RE8ZE8gOe ProNav: ac range: 510.893677 m, nav range: 509.015198 m, bearing: 24.929007 deg, approach rate: -0.641591 m/s, LOS rate: 0.005405 deg/s, cmd heading: 24.526880 deg, new cmd heading: 24.530974 deg. BeC9gOmHeadingCmd: 0.428146 target range: 510.893677 and range: 513.60 m.m5>i*q"q qԹʎjZ0@-v|Bɢ-A)5 U}iQ)UYYi]}:i]5>e;eo;Ie5>Ia @  @ @(0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518935^A5ϩ;II wk>3CO> G5 ^AI Bi Am <Bu 7>Bq Bu IBu {BBu =Bq Bq Bu t;Bu 2/EB1B1B1B5 =B5 =C5 5 Ș9 ^AY A9 u ,+X@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770714Y Z{By IbDUVDU1E EE&E"EO:*EV:VE4ZEBE 9Y=gGyE >QQ 5]4U5?Q 9]4U)U‰BYYyYQ Ie @UODIU:iUp:U;4yiɮm'AjgOFNOT Ignoring new targets: 510.89 m.R28Z28gO ProNav: ac range: 510.893677 m, nav range: 508.697510 m, bearing: 24.931684 deg, approach rate: -0.648519 m/s, LOS rate: 0.005470 deg/s, cmd heading: 24.530974 deg, new cmd heading: 24.536333 deg. B( 9gOHeadingCmd: 0.428240 target range: 510.893677 and range: 513.60 m.?B>*" ʎjZ%; @i颅|Bɢ@) ,i)ls顉i x:i?B>Ñ;;I?B>II[A)q@q @q@u0@qԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022907Թ ^A X;A؟AIIOm?0 ,y+X@Azchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274885Eu EuEu(Eq"Eu:*Eu1]:VEuc44ZEqa}@a}@a}@a}@]>>eٱmV" -AHRS rotation from veh to nav: [[0.905537,-0.407906,-0.116686],[0.420550,0.899315,0.119873],[0.056041,-0.157621,0.985908]]H`(?!ڿ%߽ K?1?@?e?,Ŀ@?i]>Iq^;8CY=^{By=I IIԩi5Mb@Mb@Mb@1111 195jt?x&Mbp?Y5 ?y575;5fNA1 1)5x3A1Y1bDMVDMβy];%]=ٔ]Q-e>9e"?Ye"?=egGyeTFm?%;Em>qQ 5}4u!O?Q 9}4u)uωBY}!?Q E:y9>Q I @uODIuX ;iu& ;u$ 4yɮ'AjgOFNOT Ignoring new targets: 510.89 m.R9Z9gO ProNav: ac range: 510.893677 m, nav range: 508.378296 m, bearing: 24.935463 deg, approach rate: -0.631025 m/s, LOS rate: 0.007474 deg/s, cmd heading: 24.536333 deg, new cmd heading: 24.543895 deg. BZ9gOHeadingCmd: 0.428372 target range: 510.893677 and range: 513.60 m.S>*" gBʎjZ) @|BɢH) i)T!!i%Ǣq:i%S>-W;-;I-S>I)BDAT read: Rx Time:00:32:46.7625 TRx dataTimestamp_ set to:1761697967.353152checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527907 0;m 9@i  @q @u 4@q ) BU 8>BQ BQ BQ BU =BQ BQ BU (u;BU p/E^A]c;YAazAe]AUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778833E EE)E"E:*E|:VEFA4ZEBE >{tٱk AHRS rotation from veh to nav: [[0.905119,-0.408162,-0.119008],[0.420952,0.899616,0.116151],[0.059653,-0.155227,0.986076]]H?Sڿ`Jw? ? ?֊? wÿ?in^>IŒ^;9 ?Y ?=gGyUFp:E%>)Q 554-m?Q 9=4-̾)-BYE&?Q EE:yE>Q IE @- PDI-H[;i-LZ;-y4yQɮU'AUEajygOFNOT Ignoring new targets: 510.89 m.R,9Z,9gO ProNav: ac range: 510.893677 m, nav range: 507.997620 m, bearing: 24.941017 deg, approach rate: -0.646621 m/s, LOS rate: 0.009441 deg/s, cmd heading: 24.543895 deg, new cmd heading: 24.555011 deg. B89gOHeadingCmd: 0.428566 target range: 510.893677 and range: 513.60 m.l>*" 4BʎjZw@=|Bɢ=MZ;M;IMl>IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.031029ԑt>i>Թ 5 9@1  @1 @5 4@9  DAT read: 00:32:46.7625 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 398, 0.08, 0.461,-1.100, 0.584, 0.092, PHS= 0.471,-1.147, 0.448, RAW= 149.3, 2.9, CAL= 148.4, 2.8, ROT= 1.6, -2.8  Ygot valid direction response: 00:32:46.7625 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 398, 0.08, 0.461,-1.100, 0.584, 0.092, PHS= 0.471,-1.147, 0.448, RAW= 149.3, 2.9, CAL= 148.4, 2.8, ROT= 1.6, -2.8  PDAT read: Bearing 175.3, 4.4 (Local)  ~Local bearing/azimuth received: Bearing 175.3, 4.4 (Local)  DAT read: Range 11 to 50 : 511.0 m (Round-trip 681.4 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.998417,0.027888,0.048850]bEijEm!4rEm͇ 0E  E E %E "E :*E 1]:VE 4ZE a @a @a @a @Fpublishing direction and range infoya e ?d?s!D?Ye Ca a a a a )e NIe &>ie Вe B`>e &@e 4QO=e %@ e +H=)e R>Rx{ٱR: ZAHRS rotation from veh to nav: [[0.905259,-0.407670,-0.119631],[0.420406,0.900189,0.113657],[0.061356,-0.153182,0.986291]]RH?Cڿ?Y?@?j?yÿಏ?iR]>IR|^;R8CY ^{By II4=)<bDEVDE0yUb:%U$=ٔU`Q-U>9]"?Y]"?=]gGyYE>Q 54 ?Q 94:)BYy>Q I @ PDI>:iW:54yBɮ'A,X@AJ&CR&Cj8>UR\)@Y,@Pل8@r?d?s!D?Z<b+H飖*|@]gl@X!lJ@zY!_?AP?҆6?2dC:UC"37?*X16BB1͙?o“BC7>gOU addTargetRange:: Added new target pos. range: 511.000000 m, deltaT: 4.531078 s, deltaX: -2.599976 m, approachRate: -0.573810 m/s, rangeRepo size: 4 YgO Added new target pos. range: 508.301392 m, bearing: 26.930494 deg, lat: 36.779252 deg, lon: -121.859037 deg, deltaT: 4.531078 s, deltaX: -2.592285 m, approachRate: -0.572112 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 508.30 m.RZgO ProNav: ac range: 508.301392 m, nav range: 505.480927 m, bearing: 25.427014 deg, approach rate: 0.000000 m/s, LOS rate: 0.009441 deg/s, cmd heading: 24.555012 deg, new cmd heading: 24.564718 deg. BgOHeadingCmd: 0.428735 target range: 508.301392 and range: 511.00 m..>*" ʎj@Z!?E|BɢEHI)A EiA)MIIiMcV:iu.>u-;uj;Iu.>Iyi1I1=*DAT read: user:416> =BDAT read: Tx time:00:32:48.1270 E$Ping request sent.EBBIB{BBBBBVu;B/Ea@a @a@e0@aԱ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254008 E}  E} E} 'Ey "E} :*E} i:VE} '4ZEy BE} N" ,K.,X@AY Z{By IiMb@Mb@Mb@ 9}?5^I?:vy&1?YM"?yԽ`e<QJA (A )50AYQ8AbDVDy>ڻ%=ٔQ->9 ?Y ?=gGyVFE>Q 54?Q 94ݹ)BY $?Q E :y >Q I  @5PDIU:if:3&4yɮ'AEP5B*** querying acoustic contact ***1 1jAgOEFNOT Ignoring new targets: 508.30 m.RMc9ZMc9gO] ProNav: ac range: 508.301392 m, nav range: 505.156738 m, bearing: 25.433219 deg, approach rate: -0.649323 m/s, LOS rate: 0.012436 deg/s, cmd heading: 24.564717 deg, new cmd heading: 24.577135 deg. B]9gOeHeadingCmd: 0.428952 target range: 508.301392 and range: 511.00 m.e>a*i"i iiiquBʎqqjZ?e|Bɢe1P)a eia)m^iiimJ:i>;i<;I>I]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502981)@) @)@-4@)A^Ac;A?A>ԁ A! I) I9 OM > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754355 ,G,X@AE& E&E&$E$"E&:*E&ga:VE&4ZE$a*@a*@a*@a*@Pv\>vl >v/Ƀٱvy  AHRS rotation from veh to nav: [[0.905550,-0.406481,-0.121459],[0.419337,0.901015,0.111031],[0.064304,-0.151477,0.986367]]vHD?ڿ`k??l?=v?cÿ`Q?iv\>Iv^;v:CYMf{ByMIbD]VD]kym<%u5=ٔuֻQ-u>9qYy=}gGyy}E}>ԩQ 54 ?Q 94η)BYy>Q I @GPDI|*" !!!))ʎ)))j1Z5q?]|Bɢ]V)Y e砾ia)eaaie@:im>m?v;mqǽ;Iu>Iqy@ @@@}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006421 ^A% 0;B 8>B B B B B B B t;B D/EAQ Ia Iq O} >a# ,S"b,X@A6\[>6Δ>6U䄽ٱ6 BAHRS rotation from veh to nav: [[0.905895,-0.405469,-0.122269],[0.418510,0.901297,0.111864],[0.064843,-0.152508,0.986173]]6H?5ٿ`M@?l???^ÿ`?i6\[>I6c^;68C D)F`AJHHHLiNGaILLINُCiNq@ LP)PP R`AR+RETTTIV)TiTl)zsCIxz`x x|||i||Y|Y k{By I QQbD]VD]Jyp<%h=ٔȺQ->9Y=gGyWF&E>Q 54W?Q 942)BYy>Q I @UPDIW:i:?44yɮ'Aj gOFNOT Ignoring new targets: 508.30 m.Rd9Zd9gO% ProNav: ac range: 508.301392 m, nav range: 504.650513 m, bearing: 25.443019 deg, approach rate: -0.642619 m/s, LOS rate: 0.012489 deg/s, cmd heading: 24.588104 deg, new cmd heading: 24.596743 deg. B%ڶ9gO-HeadingCmd: 0.429294 target range: 508.301392 and range: 511.00 m.-q>)*)"1 11119ʎ999j9ZE C?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258489|Bɢ _) i)iA8:E- E-E-%E)"E- :*E-k:VE- 4ZE)BE)a=2E)a=JE-Ҽ;a=:E-Ӽ;a=iEq>M!;MR;IMq>IIy@y @@4@^A ;9 e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510460A ؟AI I) O= >h@ ,{,X@A2[>2':>2Rٱ28 BAHRS rotation from veh to nav: [[0.906142,-0.404695,-0.122995],[0.417864,0.901572,0.112056],[0.065540,-0.152934,0.986061]]2H@? ٿ@|H??? Cǰ?@[ÿ΍?i2[>I2^;25CY r{By I)iMb@Mb@Mb@ 9jt?X9v/$?Y ?y< )YAAAAbDVDk1y p<% G=ٔ ޺Q- >9"?Y"?=gGyjܺE>Q 5-4?Q 9-4).BY-#?Q E-:y-y>Q I- @fPDI;iv;n;4y9ɮ='A=EjYgOeFNOT Ignoring new targets: 508.30 m.RmӃ9ZmӃ9gO} ProNav: ac range: 508.301392 m, nav range: 504.394592 m, bearing: 25.448939 deg, approach rate: -0.622456 m/s, LOS rate: 0.014407 deg/s, cmd heading: 24.596742 deg, new cmd heading: 24.608589 deg. B}9gO}HeadingCmd: 0.429501 target range: 508.301392 and range: 511.00 m.}>*" )BʎjZ n?|BɢfT])  i)viʴ.:i>;Y#;I>IY@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762452EU EUEQEQ"EU2:*EU:VEQZEQa]@a]@a]@ae@ԁ^A;A zA ZAԱ A) I9 II Oe > % ,違,X@A2Z>2>2Ɉٱ2Y ! :AHRS rotation from veh to nav: [[0.906320,-0.403554,-0.125411],[0.417288,0.901498,0.114771],[0.066741,-0.156352,0.985444]]2H?ٿv ״? ?a?? XĿ?i2Z>I2Y_;29CYv{ByvIbDVDy ם=%]=ٔ UQ->9Y=gGyXFԺE%>!Q 5-4%?Q 954%)%>BY1y5x>Q I5 @%uPDI%y:i%-:%A4Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014478yMBɮM5'AIjqgOuFNOT Ignoring new targets: 508.30 m.R}9Z}9gO ProNav: ac range: 508.301392 m, nav range: 504.164124 m, bearing: 25.454287 deg, approach rate: -0.619841 m/s, LOS rate: 0.014391 deg/s, cmd heading: 24.608589 deg, new cmd heading: 24.619291 deg. B9gOHeadingCmd: 0.429688 target range: 508.301392 and range: 511.00 m.>*ԙ" ʎjZ A@|Bɢ}Z) i)RiN8$:i>\<;o;I>IIZA)U9@Q @Y@]0@YB<A<B4>BCBIB{BB =BBBs;B.E^AU;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266982E  E E &E "E >:*E X:VE 4ZE BE ) L+ ,d,X@ANZ>N">NՅٱN$ ZAHRS rotation from veh to nav: [[0.906441,-0.402495,-0.127918],[0.416811,0.901387,0.117342],[0.068074,-0.159681,0.984819]]NH?`|ٿ_?*?& ?Fm?qpĿ?iNZ>INX_;N7CY{ByII ,>) =iMb@Mb@Mb@ 9?`"S㥛?Y ?y/<;'A >A).AY7AbDVDfy=%==ٔIQ->9 ?Y ?=gGyNE> Q 54 P ?Q 94 J) QBY#?Q E:yz}>Q I @ PDI  ;i P; {I4y!ɮ-&A)PEB*** querying acoustic contact ***A AjQgOUFNOT Ignoring new targets: 508.30 m.R]9Z]9gOm ProNav: ac range: 508.301392 m, nav range: 503.895599 m, bearing: 25.460373 deg, approach rate: -0.619994 m/s, LOS rate: 0.014059 deg/s, cmd heading: 24.619291 deg, new cmd heading: 24.631469 deg. Bm9gOuHeadingCmd: 0.429900 target range: 508.301392 and range: 511.00 m.u>q*q"q yyyy%BʎjZ๷@颵|BɢnS) ʓi))项i>:i>O\;L;I>IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518632e9@i @i@m0@i!I^Ayb];A ؟AI I O >y  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.77036422 ,9,X@AE EE$E"E:*Ec:VE4ZEa@a@a@a@Yu{ByuI 4<bDVDJy=%N=ٔQ->9"?Y"?=gGyYFE>Q 54?Q 94)cBYyQ I @PDI2;i};oP4y Bɮ`&AEjAgOEFNOT Ignoring new targets: 508.30 m.RM~9ZM~9QgOe ProNav: ac range: 508.301392 m, nav range: 503.649414 m, bearing: 25.465959 deg, approach rate: -0.612970 m/s, LOS rate: 0.013914 deg/s, cmd heading: 24.631469 deg, new cmd heading: 24.642645 deg. Be9gOmHeadingCmd: 0.430095 target range: 508.301392 and range: 511.00 m.ms5>i*i"i iiqqyʎyyyjyZF@|BɢHN) i)/i :is5>7w;~F;Is5>Iԁ@ @@0@echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022769ԩ /G^A "5; M ſ9I YU AB 7>B CB IB |BB B B B zs;B .EBQBQBQBQBQCUʆ4 AA IQ Ia Om >Gi8 ,G,X@A2 Y>2#>2ٱ2^ BAHRS rotation from veh to nav: [[0.906308,-0.402551,-0.128679],[0.416675,0.902018,0.112894],[0.070625,-0.155934,0.985239]]2Hy? fٿ@x̪?U??@?ÿ?i2 Y>I2(}`;25CYJ{ByJIbDVVDV0y^fl=%^Z=ٔ^.Q-^>9`Y`=bgGy`f@Ef>hQ 5n4j3?Q 9n4j))juBYlyn}>Q In @jPDIj:ij):jV4yvBɮv &AzEjgOFNOT Ignoring new targets: 508.30 m.R>9Z>9gO- ProNav: ac range: 508.301392 m, nav range: 503.419037 m, bearing: 25.471201 deg, approach rate: -0.625167 m/s, LOS rate: 0.014233 deg/s, cmd heading: 24.642645 deg, new cmd heading: 24.653135 deg. B-c9gO5HeadingCmd: 0.430278 target range: 508.301392 and range: 511.00 m.5rM>1*9"9 999ʎjZ  @5|Bɢ5oS)1 5i1checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274691ԩ)="项i9irM>W;8;IrM>IE! E%E%&E!"E!*E%1]:VE%4ZE!BE% ! > ,,X@AY{ByI  iMb@Mb@Mb@ 9)\(?`"Q?YG!?y<HAj&A )-AY6AbDVD02y% =%==ٔQ->9Y=gGyZFE>Q 54wI?Q 94a)BYh$?Q E:y9>Q I @PDI ;iq ;^4yɮ%Aj gO FNOT Ignoring new targets: 508.30 m.R9Z9gO ProNav: ac range: 508.301392 m, nav range: 503.149414 m, bearing: 25.477276 deg, approach rate: -0.624071 m/s, LOS rate: 0.014067 deg/s, cmd heading: 24.653134 deg, new cmd heading: 24.665289 deg. B9gOHeadingCmd: 0.430490 target range: 508.301392 and range: 511.00 m.@i>*" ,BʎjZH@M|BɢMK) i),ui`9i@i>H;]$.;I@i>Ia@a @a@e90@achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779397EE EEEE(EA"EEO:*EEVL:VEEc44ZEAaU@aU@aU@aU@Y^AM 2;q I! I9 OE >\rE ,^-X@A EDAT read: 00:32:51.2093 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 413, 0.35, 0.512,-0.931, 0.659, 0.247, PHS= 0.367,-1.133, 0.368, RAW= 150.0, 5.4, CAL= 149.3, 5.6, ROT= 0.7, -5.6 UYgot valid direction response: 00:32:51.2093 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 413, 0.35, 0.512,-0.931, 0.659, 0.247, PHS= 0.367,-1.133, 0.368, RAW= 150.0, 5.4, CAL= 149.3, 5.6, ROT= 0.7, -5.6 PDAT read: Bearing 177.6, 4.1 (Local) ~Local bearing/azimuth received: Bearing 177.6, 4.1 (Local) DAT read: Range 11 to 50 : 508.6 m (Round-trip 678.2 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.995153,0.012159,0.097583]Fpublishing direction and range infoyG^K?}YD?A_1?YLC )MIm>i%j>6'@= &@ +=)+H>?ٱ`)lI+HIa;9CY{ByI@AibDVD0y}ǁ=%}0=ٔ}`Q->9Y=gGy[F6E>Q 54a?Q 94t)BYy~>Q I @PDIi;iK;f4yɮ]%AB59>B1B5IB55|BB5 =B1B1B52s;B5w.E-X@AJCRCj{~>\Yiw@gO addTargetRange:: Added new target pos. range: 508.600006 m, deltaT: 4.284163 s, deltaX: -2.399994 m, approachRate: -0.560201 m/s, rangeRepo size: 4 gO  Added new target pos. range: 505.915314 m, bearing: 26.241250 deg, lat: 36.779212 deg, lon: -121.859035 deg, deltaT: 4.284163 s, deltaX: -2.386078 m, approachRate: -0.556953 m/s, posRepo size: 4 j gOFNOT Ignoring new targets: 505.92 m.RZgOE ProNav: ac range: 505.915314 m, nav range: 498.949982 m, bearing: 25.720776 deg, approach rate: 0.000000 m/s, LOS rate: 0.014067 deg/s, cmd heading: 24.665288 deg, new cmd heading: 24.679256 deg. BIgOMHeadingCmd: 0.430734 target range: 505.915314 and range: 508.60 m.M4>Q*Q"Q QQQyyʎyj@Z@?|BɢC) Xli)ci9i4>%;%z!;I%4>I!ԑ@ @@0@*DAT read: user:417> BDAT read: Tx time:00:32:52.4270 $Ping request sent.טK ,80-X@APYm6|BymIiMb@Mb@Mb@ 9ʡE?:v rh?Y?yԽC =GA%A C=A)Y6AbDVD1y$>%e=ٔQ->9!Y!=%gGy!%E%>)Q 5u4-vs?Q 9}4-)-BY}* ?Q E}:y}h>Q I} @-PDI-'Q*Q"Q QQQY]DBʎYYajaZe@И?5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251005颭|Bɢ@) 8i)顱i@6[9ib>ܛ;;Ib>I]9@Y @Y@]03@a! ^A ;I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502804PqR ,>J-X@AbE5-4jE5-4rE5"/E EE&E"E:*Ee:VE4ZEa@a@a@a@)5\NZ>5L>5n/ٱ5֊ UAHRS rotation from veh to nav: [[0.905786,-0.403649,-0.128914],[0.416830,0.903489,0.099800],[0.076188,-0.144133,0.986621]]5H2? dٿ@BV?b?z?? r¿`f?i5\NZ>I5g`;1Y}>|By} II=);bDVD0y<%S=ٔQ->9Y=gGy\Fq:E>Q 54߆?Q 948)ĊBYyU>Q I @PDI-:i<s4yQɮUV$AYjygOFNOT Ignoring new targets: 505.92 m.RAc9ZAc9gO ProNav: ac range: 505.915314 m, nav range: 498.499573 m, bearing: 25.730021 deg, approach rate: -0.604192 m/s, LOS rate: 0.012418 deg/s, cmd heading: 24.688077 deg, new cmd heading: 24.697754 deg. Bε9gOHeadingCmd: 0.431057 target range: 505.915314 and range: 508.60 m.>*" ʎjZ@b?|BɢY=) 8i)li;[8i>;;lW&;I>II9@ @@14@]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754737q^A;I I! O5 >BM 7>BI BM FIBM ||BBI BI BI BM Gr;BM .Eԡ qX ,d-X@A2A0Z>2>>2Bٱ2 :AHRS rotation from veh to nav: [[0.905751,-0.403319,-0.130189],[0.416687,0.903554,0.099808],[0.077379,-0.144649,0.986453]]2H?`ٿ ?`?`?@ϳ?`܃¿?i2A0Z>I2j`;27CYB\|ByF2I J49|Y|=~gGyqE> Q 54 ?Q 94 ) ֊BYyH>Q I @ PDI %;i '; >z4y!ɮ-#A)jIgOUFNOT Ignoring new targets: 505.92 m.RUn9ZUn9gOe ProNav: ac range: 505.915314 m, nav range: 498.268311 m, bearing: 25.734779 deg, approach rate: -0.633503 m/s, LOS rate: 0.013042 deg/s, cmd heading: 24.697754 deg, new cmd heading: 24.707276 deg. Be9gOmHeadingCmd: 0.431223 target range: 505.915314 and range: 508.60 m.mM>i*q"q qqqyyʎjZ?颵|Bɢ8) #i)项i(Z7iM>;;IM>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007526E= E=E9E9"E=O:*E=g:VE9ZE9BE= IIO>m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258791 ^ ,}-X@AY~n|By~=IiMb@Mb@Mb@ 9x&1?/$y&1?Y!?y`<GAj&A ) ,AY5AbDVDky)=%?=ٔQ->9Y=gGy]FE>Q 54?Q 94l)BY#?Q E:ys>Q I @QDI2;i1;4yɮ#Aj gO FNOT Ignoring new targets: 505.92 m.R,>9Z,>9gO% ProNav: ac range: 505.915314 m, nav range: 498.000977 m, bearing: 25.739227 deg, approach rate: -0.624300 m/s, LOS rate: 0.010391 deg/s, cmd heading: 24.707275 deg, new cmd heading: 24.716175 deg. B%#9gO-HeadingCmd: 0.431379 target range: 505.915314 and range: 508.60 m.->)*)") )1VBʎjZ ?e }Bɢma2)i Si)1y 项ioѸi>;F ;I>II[A)WA@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511748EM EMEM%EI"EM :*EMi:VEM 4ZEIaU@aU@aU@a]@1^A ] ;a A .AI! I1 OM >Щe ,-X@A2-Z>2>2ݡٱ2e5 :AHRS rotation from veh to nav: [[0.905642,-0.402179,-0.134402],[0.416627,0.902942,0.105435],[0.078953,-0.151482,0.985302]]2H?Mٿ 4??`?K6?cÿ?i2-Z>I2La;28CYF|ByFaI HHbDNVDNyn,>%nY=ٔrQ-r>9v ?Yv ?=vgGytvͷEz>xQ 5~4z?Q 9~4z)zBYy>Q I @zQDIz3;iz;zL4y Bɮ"AEi!I!-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763131jIgOMFNOT Ignoring new targets: 505.92 m.RU<9ZU<9gOe ProNav: ac range: 505.915314 m, nav range: 497.765991 m, bearing: 25.743129 deg, approach rate: -0.621237 m/s, LOS rate: 0.010322 deg/s, cmd heading: 24.716175 deg, new cmd heading: 24.723983 deg. Be9gOmHeadingCmd: 0.431515 target range: 505.915314 and range: 508.60 m.m>i*i"i iiqqqʎqyyjyZ}@*7@9e}BɢeB()m! mnҽii)m! iiim`[iu>ua;, ;I>IBBBqIB|BBBBBq;B-E59@1 @1@=0@9i^AU ;ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015217A ؟AI E  E E (E "E :*E c:VE c44ZE BE a] JE ;am :E ;am k ,v-X@AY |BynIiMb@Mb@Mb@ 9)\(?L7A`尿:v?YG!?y+<=FA r9"?Y"?=gGy^FE>!Q 5-4%_?Q 9-4%)%BY-L"?Q E-:y->Q I5 @%*QDI% ;i%;%4y=Bɮ=j"A9PUB*** querying acoustic contact ***Q QjagOmFNOT Ignoring new targets: 505.92 m.Rm9Zm9gO} ProNav: ac range: 505.915314 m, nav range: 497.471039 m, bearing: 25.747083 deg, approach rate: -0.626733 m/s, LOS rate: 0.008406 deg/s, cmd heading: 24.723984 deg, new cmd heading: 24.731896 deg. B}$v9gOHeadingCmd: 0.431653 target range: 505.915314 and range: 508.60 m.>*" nBʎjZ t@}Bɢ#) ;A$:I>IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266798}9@y @@@A ^A ?B:A [AzA A I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518829O >ñr ,M-X@AE~ E~E|E|"E~:*E~i:VE|ZE|a@a@a@a@ߟZ>>GmٱZ AHRS rotation from veh to nav: [[0.905335,-0.402268,-0.136194],[0.416963,0.902828,0.105087],[0.080687,-0.151927,0.985093]]H? ľٿn?`?@?秴?Vrÿ`?iߟZ>Iza;7CY|BywIbDVDky%=%-Z=ٔ-&Q-->91Y1=5gGy15*:E=>9Q 5E4=?Q 9M4=)= BYIyM>Q IM @=9QDI=:i=: ;=4yYɮ]/"AYjygOFNOT Ignoring new targets: 505.92 m.R9Z9gO ProNav: ac range: 505.915314 m, nav range: 497.237213 m, bearing: 25.750209 deg, approach rate: -0.624388 m/s, LOS rate: 0.008351 deg/s, cmd heading: 24.731896 deg, new cmd heading: 24.738151 deg. Bt9gOHeadingCmd: 0.431762 target range: 505.915314 and range: 508.60 m.>*" ʎjZ }@%}Bɢ,$) i)!e inPIiU>U~;U;IU>IY9@ @@0@y]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770751^AM ;Ա B B B IB }BB B B B &q;B p-EA I I O >x ,-X@A2ĥZ>2>2ٱ2 :AHRS rotation from veh to nav: [[0.905265,-0.402141,-0.137034],[0.416956,0.902845,0.104971],[0.081507,-0.152164,0.984989]]2H?ٿT`g??cߺ? ݴ?zÿ?i2ĥZ>I2q`;28CXYr|ByrIIvi>)v<bD~VD~y =% _=ٔ Q- >9Y=gGy_F8E>!Q 5-4%t?Q 9-4%)%1BY)y->Q I- @%HQDI%:i%:%4y9ɮ=!AEEjagOmFNOT Ignoring new targets: 505.92 m.Rm9Zm9gO} ProNav: ac range: 505.915314 m, nav range: 497.008362 m, bearing: 25.753270 deg, approach rate: -0.623025 m/s, LOS rate: 0.008338 deg/s, cmd heading: 24.738151 deg, new cmd heading: 24.744276 deg. B}#t9gOHeadingCmd: 0.431869 target range: 505.915314 and range: 508.60 m.>*" ʎjZ @.}Bɢ) \i) ii>x;_ ;I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022893E EE&E"E:*Eg:VE4ZEBEX ,.X@A2p`Z>2Y>2Ҩٱ2m :AHRS rotation from veh to nav: [[0.905313,-0.401680,-0.138065],[0.416688,0.902923,0.105364],[0.082340,-0.152917,0.984803]]2HR?@ٿ ??@?`<? ʒÿ ?i2p`Z>I2 a;0YF}ByFIi Mb@Mb@Mb@     9 rh|?S㥫I +?Y ?y /] 9< lEA $A C=A) O+A Y 4A %p<%<bD-VD-y\=%&=ٔ8ߺQ->9Y=gGyK E>Q 5 4?Q 94K)EBY?Q E:y>Q I @[QDI ;i; ;4yBɮa!A!jAgOMFNOT Ignoring new targets: 505.92 m.RM9ZM9gO] ProNav: ac range: 505.915314 m, nav range: 496.712433 m, bearing: 25.756717 deg, approach rate: -0.604060 m/s, LOS rate: 0.007041 deg/s, cmd heading: 24.744276 deg, new cmd heading: 24.751175 deg. B],N9gOeHeadingCmd: 0.431989 target range: 505.915314 and range: 508.60 m.e->a*ai"i iqqqu{BʎyyyjyZ} ^ @颭:}Bɢ5/)  ci) 顱iaXKi->d;%:I->I-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531005DzD?AE  E E 'E "E :*E e:VE '4ZE a@a@a@a@]9@Y @Y@]0@Yԙ^A ; checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782701A .A I I O >Ɔ ,Lk.X@A ((f>Gr`]A|-19-`]AY-3AUΰZ>U>UϪٱU2, AHRS rotation from veh to nav: [[0.905112,-0.401763,-0.139133],[0.416932,0.902818,0.105300],[0.083306,-0.153317,0.984659]]UH?@~ٿ? ??S?ÿ@T?iUΰZ>IUJ`;U6CY}ByIbDVDy8=%K=ٔAA@ABBBIB[}BBBBBq;B-EBBBBBC4Q-U>9] ?Y] ?=]gGy]`F]~A:Ee>aQ 5m4e*?Q 9u4e)eVBYqyuƲ>Q Iu @ekQDIe:ie:eX4yɮ*!AjgOFNOT Ignoring new targets: 505.92 m.Ro9Zo9gO ProNav: ac range: 505.915314 m, nav range: 496.461823 m, bearing: 25.759630 deg, approach rate: -0.603447 m/s, LOS rate: 0.007018 deg/s, cmd heading: 24.751175 deg, new cmd heading: 24.757004 deg. BM9gOHeadingCmd: 0.432091 target range: 505.915314 and range: 508.60 m.;>*" ʎj Z N@UE}BɢUߥ)Y ]lViY)]E YYi]|sie;>eX;m;Im;>IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.035901 &E EE)E"E:*E1]:VEFA4ZEBEx.X@AR+Z>R5>RDٱR4l ZAHRS rotation from veh to nav: [[0.905144,-0.401529,-0.139606],[0.416776,0.902882,0.105362],[0.083742,-0.153552,0.984586]]RH?लٿu?i??@p? ÿ?iR+Z>IRmV_;R4CYf}ByfI hhn=n=iUMb@Mb@Mb@QQQQ Q9U'1Z?i|?5y&1?YU"?yUqU`e<%}=ٔ\Q->9Y=gGy.E>Q 54}D?Q 94/)jBY#?Q E:y>Q I @QDI:iƓ<54y)ɮ-!A5EaPmB*** querying acoustic contact ***i ijygO}FNOT Ignoring new targets: 505.92 m.R/ 9Z/ 9gO ProNav: ac range: 505.915314 m, nav range: 496.141846 m, bearing: 25.763588 deg, approach rate: -0.605585 m/s, LOS rate: 0.007496 deg/s, cmd heading: 24.757004 deg, new cmd heading: 24.764926 deg. B~[9gOHeadingCmd: 0.432229 target range: 505.915314 and range: 508.60 m./M>*" lBʎjZ`@=S}Bɢ=)Y ettia)e1E aaieӓim/M>mK>;m:Im/M>Iqyyԑ]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538985E! E%E%$E!"E!*E%]t:VE%4ZE!a5@a5@a5@a5@ @  @ @ 0@ ^Ae v;checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790806A؟AIIO? ,$_.X@AB<B<B>IB>}BB> =B<B<B>"r;B>-EJS[>JT>J-ٱJX VAHRS rotation from veh to nav: [[0.904847,-0.402154,-0.139726],[0.417491,0.902452,0.106218],[0.083380,-0.154445,0.984477]]JH?`ٿ,?`?1?kX?`ÿ`Հ?iJS[>IJ^;J9CY^#}By^IbDjVDj1yr<%r$=ٔrb>:Q-r>9v"?Yv"?=vgGyvaFv:Ez>|Q 54~]?Q 94~`)~}BYy>Q I @~QDI~K:i~B:~4yBɮ Aj1gO=FNOT Ignoring new targets: 505.92 m.R=F9ZEF9gOU ProNav: ac range: 505.915314 m, nav range: 495.827026 m, bearing: 25.767458 deg, approach rate: -0.658691 m/s, LOS rate: 0.008102 deg/s, cmd heading: 24.764926 deg, new cmd heading: 24.772670 deg. BU>m9gO]HeadingCmd: 0.432365 target range: 505.915314 and range: 508.60 m.]^>Y*Y"Y YYaaaʎaiijiZm@颕_}BɢH) oi)e~ 顡ii^>;;b;I^>Iia@a @a@m0@iԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.043914E EE0E"E*E:VE4ZEBEa2EaJEM;a:EM;a^AM] ;A] .AI I O > ,y.X@A21[>2C>2bĪٱ27T :AHRS rotation from veh to nav: [[0.904909,-0.401916,-0.140013],[0.417377,0.902395,0.107140],[0.083286,-0.155391,0.984336]]2H@?ٿ N? l?m?7R?ÿ ?i21[>I2/^;28CYF9}ByFIi Mb@Mb@Mb@     9 Mb?i|?59M ?YM ?=MgGyMbFUrEU>YQ 5e4]Ir?Q 9e4])]BYeQ Im @]QDI]:i]:]34yuBɮuf AuEjQgO]FNOT Ignoring new targets: 505.92 m.R]9Z]9uPExceeded connect timeout, disconnecting.gO ProNav: ac range: 505.915314 m, nav range: 495.568176 m, bearing: 25.770720 deg, approach rate: -0.588064 m/s, LOS rate: 0.007415 deg/s, cmd heading: 24.772671 deg, new cmd heading: 24.779199 deg. B Y9gOHeadingCmd: 0.432479 target range: 505.915314 and range: 508.60 m.m>*" sBʎjZ}f@=k}Bɢ=)9 =HiA)E? AAiE1iMm>M 2;Mj;IMm>IQIY)][A@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547372^A ) bEU-4jEUɅ04rEUɹ0EU  EU EU (EQ "EU D:*EU :VEU c44ZEQ am @am @am @am @I! I1 O= >Q  ,E.X@A2Є[>2m>2ɨٱ24 :AHRS rotation from veh to nav: [[0.904849,-0.402491,-0.138742],[0.417698,0.902322,0.106504],[0.082323,-0.154323,0.984585]]2H?`jٿL??@C??ÿ@?i2Є[>I2=^;27CYBJ}ByFIIJ4=)J=HHbDnVDnfyv4+=%vP=ٔz'!;Q-z>9|Y|=~gGy|~S:E>Q 5 4Ӆ?Q 9 4)BYyԮ>Q I @QDI;i;4yɮ%" A!jAgOMFNOT Ignoring new targets: 505.92 m.RM9ZM9gO] ProNav: ac range: 505.915314 m, nav range: 495.323578 m, bearing: 25.773798 deg, approach rate: -0.663084 m/s, LOS rate: 0.008347 deg/s, cmd heading: 24.779199 deg, new cmd heading: 24.785357 deg. B]ht9gOeHeadingCmd: 0.432586 target range: 505.915314 and range: 508.60 m.e{>a*i"i iiiqqʎqqyjyZ}P@颥t}Bɢ߉) *i) 顩igкi{>/;B;I{>I1i@i @i@m0@iMchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.798907YB5>BBIB}BB =BBBjr;B.E^A0::ԁ I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051771E]  E] E] %EY "E] :*E] 1]:VE] 4ZEY BE] 6>6i2ٱ6v >AHRS rotation from veh to nav: [[0.904849,-0.402690,-0.138163],[0.417850,0.902189,0.107033],[0.081548,-0.154580,0.984609]]6H?@ٿW ?@? f? \?Iÿ?i6 [>I6^^;4YFQ}ByJIbDRVDRyZō<%ZM=ٔZ:Q-Z>9\Y\=^gGy\bx9Eb>dQ 5j4f?Q 9j4f)fBYhyn>Q In @fQDIf;ifF;f 4yvBɮv AtjgOFNOT Ignoring new targets: 505.92 m.R9Z9gO% ProNav: ac range: 505.915314 m, nav range: 495.075073 m, bearing: 25.776923 deg, approach rate: -0.590954 m/s, LOS rate: 0.007436 deg/s, cmd heading: 24.785356 deg, new cmd heading: 24.791610 deg. B-Y9gOeHeadingCmd: 0.432695 target range: 505.915314 and range: 508.60 m.m:>i*i"q ʎjZЭ@yU}BɢUe)Q U,DiY)]7 YYi]:im:>u,;qIu:>Iq!@! @!@%0@!ԡEchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.302768UnManaging dock network, ignoring radio surface power off ^AA I I O >< ,).X@A:\>:>:Vٱ: BAHRS rotation from veh to nav: [[0.904744,-0.403080,-0.137712],[0.418190,0.901998,0.107312],[0.080961,-0.154679,0.984642]]:H`?ٿ?+?x?ڹ?ÿ/?i:\>I:6^;:5CYNX}ByNI`i-Mb@Mb@Mb@)))) )9-+?MbX9~jth?Y-?y-ʡ-D;-CA-!A -:A)-(A)Y-2AbDAVDAyU<%UB=ٔU:Q-]>9YYY=egGyecFe\:Ee>iQ 5u4mϮ?Q 9u4m)mBYu!?Q E}:y}>Q I} @mQDImi ;im ;mf4yɮAPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 505.92 m.RkD9ZkD9gOM ProNav: ac range: 505.915314 m, nav range: 494.814392 m, bearing: 25.781216 deg, approach rate: -0.651363 m/s, LOS rate: 0.010733 deg/s, cmd heading: 24.791609 deg, new cmd heading: 24.800200 deg. BU"9gO}HeadingCmd: 0.432845 target range: 505.915314 and range: 508.60 m.}>*" checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555805UBʎjZ b>@E EE'E"E:*EL_:VE'4ZEa%@a%@a%@a%@=}Bɢ= k)9 =pPi9)E'$ AAiE*.iM>M/;M ;IM>Iqa>i%>Y)@) @)@-<2@)q^A qZ;I I O >m checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806774ԡ  ,1.X@AB8>BB IB}BBBBB%s;Bn.EY=q}ByEI AAM=M=bDUVDUk1yex=%eI=ٔmQ-m>9iYi=ugGyudFuEu>yQ 54A?Q 94)ċBYyQ I @QDI:i:4yɮAEjgOFNOT Ignoring new targets: 505.92 m.R6;9Z6;9gO ProNav: ac range: 505.915314 m, nav range: 494.562286 m, bearing: 25.785372 deg, approach rate: -0.620163 m/s, LOS rate: 0.010229 deg/s, cmd heading: 24.800200 deg, new cmd heading: 24.808517 deg. Bĕ9gOHeadingCmd: 0.432990 target range: 505.915314 and range: 508.60 m.>*" ʎjZ#@%}Bɢ%)! %i!)-@ ))i-i5>5R/;5;I5>I9@ @@4@ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.058905E% E%E%&E!"E%:*E%e:VE%4ZE!BE%'  ,i.X@A2N\>2>20ٱ2 :AHRS rotation from veh to nav: [[0.904747,-0.403894,-0.135289],[0.418497,0.902044,0.105724],[0.079335,-0.152271,0.985150]]2H`?fٿ@#Q? ??MO?}ÿ@X?i2N\>I2sD^;28CYDyD%checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310884iUMb@Mb@Mb@QQQQ Q9Ujt?B`"۹~jtx?YU ?yUνU;U$BAU!A U+9A)U(AQYUG1AbDmVDmβٔ};Q-}>9Y=gGyZ3:E>Q 54 ?Q 94)ӋBY"?Q E:yb>Q I @QDIz ;i ;4yBɮAjgOFNOT Ignoring new targets: 505.92 m.Rg9Zg9gO ProNav: ac range: 505.915314 m, nav range: 494.309845 m, bearing: 25.790513 deg, approach rate: -0.621994 m/s, LOS rate: 0.012673 deg/s, cmd heading: 24.808517 deg, new cmd heading: 24.818804 deg. B9gOHeadingCmd: 0.433170 target range: 505.915314 and range: 508.60 m.p>*" HBʎ j Z `D`@=}Bɢ=c)A E0DiA)Ei AAiE iMp>Mm1;U;IUp>IQM9@I @I@MV1@I 1^A0;checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563121D) zD- @AE5  E5 E5 (E1 "E5 :*E5 VL:VE5 c44ZE1 a= @a= @a= @a= @I I O >Y ,{/X@A2o[>2b>25ٱ2 :AHRS rotation from veh to nav: [[0.905124,-0.403202,-0.134826],[0.417734,0.902399,0.105706],[0.079046,-0.151998,0.985215]]2H`?ٿA '?t??]I2 ];25CY^x}BybIbDjVDj1yr<<%r<ٔr|E:Q-r>9tYt=vgGyveFz]Ez>xQ 54z?Q 94z)zBYy>Q I @zRDIz3;iz;zR4yɮzAj1gO=FNOT Ignoring new targets: 505.92 m.REi9ZEi9gOU ProNav: ac range: 505.915314 m, nav range: 494.070374 m, bearing: 25.795419 deg, approach rate: -0.622915 m/s, LOS rate: 0.012768 deg/s, cmd heading: 24.818804 deg, new cmd heading: 24.828621 deg. BU9gOUHeadingCmd: 0.433341 target range: 505.915314 and range: 508.60 m.U>*" ʎjZ@@1 }Bɢvt) <[i) i&i%>%;%:I%>I!U5checking for new query: numPingsReceived=0, elapsed TxPingTime=7.8153619@ @@/@iA%AAA!B-<>B)B--IB-}BB- =B)B-DB-s;B-.Eԑ^A q:I I O% >Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066823E=  E= E= )E9 "E= m:*E= x:VE= FA4ZE9 BE= Un\>nٱn# AHRS rotation from veh to nav: [[0.905429,-0.403201,-0.132768],[0.417193,0.902976,0.102874],[0.078408,-0.148535,0.985794]]nH`F? ٿ L?.?U?`?5ÿ?inyZ>In^;lY5z}By=IIE%=)E=IMAbD]VD]0yu/;%uA=ٔ}j:Q-}>9yYy=gGy0E>Q 54t?Q 94)BYy>Q I @RDI;i;4yBɮuAEj1gOUFNOT Ignoring new targets: 505.92 m.R]c9Z]c9gOm ProNav: ac range: 505.915314 m, nav range: 493.806976 m, bearing: 25.800843 deg, approach rate: -0.603957 m/s, LOS rate: 0.012444 deg/s, cmd heading: 24.828620 deg, new cmd heading: 24.839474 deg. Bm/9ԙgOHeadingCmd: 0.433531 target range: 505.915314 and range: 508.60 m.>*"  !!ʎQQYjaZm @}Bɢ) 惽i) 顡iܥ i>;QV:I>IԹ=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319003u9@q @y@}R4@y@=@=^A rg:I I  O5 > ,msH/X@AY~}By~Ii Mb@Mb@Mb@     9 ?X9v~jt?Y  ?y  D< ?A A 7A) f&A Y \/AbD%VD%y-=%5?=ٔ5Q-=>99Y9==gGy=fFEEE>IQ 5U4M?Q 9U4Mh~)MBYU%#?Q E]:y]Bu>Q I] @M(RDIM;iMm ;M24yaɮeAaPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 505.92 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570914Rߐ9Zߐ9gO ProNav: ac range: 505.915314 m, nav range: 493.542267 m, bearing: 25.807420 deg, approach rate: -0.636910 m/s, LOS rate: 0.015832 deg/s, cmd heading: 24.839474 deg, new cmd heading: 24.852634 deg. B9gOHeadingCmd: 0.433760 target range: 505.915314 and range: 508.60 m.>*"  BʎjZy!@D5=D5=E= E=E=$E9"E=:*E=L_:VE=4ZE9aE@aE@aE@aE@颵}BɢF) -i) 项i(i>;,5:IM>II9@ @@0@!I U checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823543^A] "9q ^A Ƅ9 ^AY LfAI I O >B% 5>B! B% 9IB% ~BB% =B! B% DB% 't;B% .EBBBBBC'5>. ,Ob/X@ANX>Nr>NlٱN ZAHRS rotation from veh to nav: [[0.906632,-0.400974,-0.131297],[0.414876,0.903863,0.104452],[0.076792,-0.149171,0.985825]]NH ?ٿ`S@R?q?V??ÿ?iNX>IN!];N6CYb}BybIbDjVDjyr[=%vb=ٔvӒ;Q-v>9xYx=zgGyxzEz>Q 54^*?Q 9 4|)BY y r>Q I  @7RDI[:i:4yɮAj9gOEFNOT Ignoring new targets: 505.92 m.RE9ZE9gOU ProNav: ac range: 505.915314 m, nav range: 493.318542 m, bearing: 25.813052 deg, approach rate: -0.619008 m/s, LOS rate: 0.015591 deg/s, cmd heading: 24.852634 deg, new cmd heading: 24.863903 deg. BUC9gO]HeadingCmd: 0.433957 target range: 505.915314 and range: 508.60 m.]/>a*a"a aaaiiʎiiqjqZu@a"@额}BɢjO) i) 顡it/i/>B;I/>II)Qi@i @q@u0@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.074676EM EMEM&EI"EM:*EM1]:VEM4ZEIBEM'Ա ,X ,5*|/X@A2U>2>2Eٱ2Q :AHRS rotation from veh to nav: [[0.907621,-0.398913,-0.130738],[0.412948,0.904425,0.107188],[0.075484,-0.151275,0.985605]]2H; ?ȇٿ m? ?p?R?\ÿ`?i2U>I2-];28C@YF}ByF I HHN=N=iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.327164iMb@Mb@Mb@ 9x&1?K7 rh?Y!?yI C<>AA )Y /AbDVD0y<%==ٔG;Q->9Y=gGygFҤE>Q 54A?Q 94k{)#BY[%?Q E:y=_>Q I @HRDI:i: 4yBɮ~AEjgOFNOT Ignoring new targets: 505.92 m.R9Z%9gO- ProNav: ac range: 505.915314 m, nav range: 493.049713 m, bearing: 25.820451 deg, approach rate: -0.622773 m/s, LOS rate: 0.017149 deg/s, cmd heading: 24.863903 deg, new cmd heading: 24.878709 deg. B59gO=HeadingCmd: 0.434215 target range: 505.915314 and range: 508.60 m.={Q>9*9"9 999AE%BʎAIIjIZM>#@U}BɢU )Q ]iY)]0 YYi]L8ie{Q>ec;evIe{Q>ԩIA@A @A@E0@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=9.578802DI zDI E]  E] EY EY "E] :*E] :VEY ZEY ae @ae @ae @ae @^A I I  O >? ,/X@A2]S>2Q}>2Dٱ2s :AHRS rotation from veh to nav: [[0.908611,-0.396630,-0.130812],[0.410986,0.904841,0.111143],[0.074282,-0.154747,0.985158]]2H`V?abٿrM? v? s??ÿ@i?i2]S>I2( ^;25ClYE}ByE IbD]VD]1ym<%m@=ٔm9;Q-u>9qYq=ugGyy}LE}>Q 54W?Q 94y)5BYy7]>Q I @ZRDII;i;4yɮtAjgOFNOT Ignoring new targets: 505.92 m.R9Z9gO ProNav: ac range: 505.915314 m, nav range: 492.784393 m, bearing: 25.827824 deg, approach rate: -0.623105 m/s, LOS rate: 0.017326 deg/s, cmd heading: 24.878710 deg, new cmd heading: 24.893465 deg. B9gOHeadingCmd: 0.434473 target range: 505.915314 and range: 508.60 m.*" ʎjZ`%$@checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831015颥}Bɢ) (=i)] 项i8hAif<;k¼IIBA<BBBLIB'~BBBBBs;B.E9@ @@0@9i ^A y ,/X@A4VQQ>VN>VϏٱVHW" ^AHRS rotation from veh to nav: [[0.909485,-0.394728,-0.130490],[0.409285,0.905207,0.114400],[0.072963,-0.157452,0.984828]]VH?8Cٿ1?s?JI? ?@c'Ŀ?iVQQ>IV7^;V7C t)v`Avttxz`AizIxxIzCizq@ ||)|| |~!!I%))i))-CI-`A-/ݼ) 1111i11Y1Y}By IbDVDy=%G=ٔKS;Q->9Y=gGyhF(E>Q 54'm?Q 94jx)GBYyr[>Q I @kRDIf;i;4yɮ%A)ԩjgOFNOT Ignoring new targets: 505.92 m.Rk9Zk9gO- ProNav: ac range: 505.915314 m, nav range: 492.529327 m, bearing: 25.834975 deg, approach rate: -0.543179 m/s, LOS rate: 0.015236 deg/s, cmd heading: 24.893465 deg, new cmd heading: 24.907774 deg. B-9gOUHeadingCmd: 0.434723 target range: 505.915314 and range: 508.60 m.U>Q*Q"Q QYYYYʎaaajaZeu %@颽}Bɢ ) i)'w iIi>&;eI>I1ep>ie>M2Acoustic response timeout!@! @!@!@! ^AE [Rӻ Au ؟AI I O >ka ,-/X@A.2Acoustic response timeoutbE}4jE}24rE}g/E~ E~E~%E|"E~a:*E~z:VE~ 4ZE|a @a @a @a @Y~By:II=)AbDVDN2y-=%-2=ٔ5Q-5>95"?Y5"?==gGy9=E=>AQ 5U4Ed?Q 9U4Ev)E[BYQyYQ I] @E}RDIEp;iE;E#4yBɮOAEԩPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 505.92 m.Rִ9Zִ9gO ProNav: ac range: 505.915314 m, nav range: 492.243164 m, bearing: 25.843008 deg, approach rate: -0.703659 m/s, LOS rate: 0.019762 deg/s, cmd heading: 24.907774 deg, new cmd heading: 24.923848 deg. B:gOHeadingCmd: 0.435003 target range: 505.915314 and range: 508.60 m.>*" ʎjZf%@~BɢJ ) :i!)%v !!i%KQi->-;)I5>I19@ @@0@ 2Acoustic response timeout^A B 4>B B eIB O~BB B B B s;B .EA1 I9 II O] >) ,=/X@A2 N>2>2ٱ2@f" :AHRS rotation from veh to nav: [[0.910825,-0.392598,-0.127531],[0.406811,0.906117,0.116005],[0.070014,-0.157542,0.985027]]2Hz%?T ٿR2 ? ?@?s? S*ĿW?i2 N>I24\^;26CY~By?IbDMVDMym<%mX=ٔu49qYy=}gGyiFE>Q 54o?Q 94mu)kBYyX>Q I @RDIW;i$k;T*4yɮ0AjgO FNOT Ignoring new targets: 505.92 m.R 9Z9gO= ProNav: ac range: 505.915314 m, nav range: 492.006866 m, bearing: 25.849727 deg, approach rate: -0.622652 m/s, LOS rate: 0.017713 deg/s, cmd heading: 24.923847 deg, new cmd heading: 24.937292 deg. B=:gOEHeadingCmd: 0.435238 target range: 505.915314 and range: 508.60 m.E>A*I"I au2Acoustic response timeoutqʎjZU&@E EEE"E:*E n:VEZEBE>+;D)I>I9Y@Y @Y@]o0@ay ^AE Β% 2Acoustic response timeoutAq I I ԙ O >V ,+n0X@A2N>2| >2Čٱ2 :AHRS rotation from veh to nav: [[0.910935,-0.392930,-0.125709],[0.406792,0.906236,0.115139],[0.068680,-0.156022,0.985363]]2Ha&?%ٿ9?? y?@?@ÿ?i2N>I21,^;25CYFD~ByF^IiMb@Mb@Mb@ 9x&1?M¿y&1?Yyn`<>ApA E4A)%AYG-AbD VD2y-=%-:=ٔ5G;Q-5>91Y1=5gGy9=E=>AQ 5M4E?Q 9M4Es)EBYU%?Q EU:yUQ>Q IU @ERDIEH:iE:E14y]Bɮ]jA]EjgOFNOT Ignoring new targets: 505.92 m.R(9Z(9gO ProNav: ac range: 505.915314 m, nav range: 491.735535 m, bearing: 25.857678 deg, approach rate: -0.630463 m/s, LOS rate: 0.018486 deg/s, cmd heading: 24.937292 deg, new cmd heading: 24.953204 deg. BS:gOHeadingCmd: 0.435516 target range: 505.915314 and range: 508.60 m.>*" 1BʎjZx'@!颥"~BɢӅ) =i)b 顩i`i>N;U(I>IYq9@ @@4@52Acoustic response timeoutIE EE'E"E:*EVE'4ZEa@a@a@a@^A'A9 IA IY Oe >y  ,s*0X@A0Y~c~By~qI  = =bDVDk2y%,=%%^=ٔ-Q-->9)Y)=-gGy-jF5E5>AQ 5E4E?Q 9M4Er)EBYIyIQ IM @ERDIE:iE:Eh84yQɮ]AYjygOFNOT Ignoring new targets: 505.92 m.R9Z9gO ProNav: ac range: 505.915314 m, nav range: 491.506195 m, bearing: 25.864406 deg, approach rate: -0.622253 m/s, LOS rate: 0.018263 deg/s, cmd heading: 24.953205 deg, new cmd heading: 24.966667 deg. 2Acoustic response timeoutB:gOHeadingCmd: 0.435751 target range: 505.915314 and range: 508.60 m.>*" ʎjZ@o5(@A@AAB5>BCBIB~BB =BBB?s;Bx.Eԉ额/~Bɢx) O=i): 顡ithi> ;+I>Ie9@a @a@e4@aԹU 2Acoustic response timeout^A 0E  E E )E "E *E z:VE FA4ZE BE # ,60X@AB/P>B>BAٱB JAHRS rotation from veh to nav: [[0.910494,-0.395349,-0.121241],[0.408142,0.906295,0.109770],[0.066483,-0.149428,0.986535]]BH@"?@dMٿ ?^? ?@?w ÿ౑?iB/P>IBE^;B3CYR~ByVI`bDjVDj:y ؒ=%5<=ٔE;Q-E>9QY=gGy8L;E>Q 54g?Q 94q)BYyR>Q I @RDI*};i|j;u@4y!ɮ-sA)jQgOUFNOT Ignoring new targets: 505.92 m.R]9Z]9gOm ProNav: ac range: 505.915314 m, nav range: 491.219604 m, bearing: 25.872787 deg, approach rate: -0.618815 m/s, LOS rate: 0.018107 deg/s, cmd heading: 24.966667 deg, new cmd heading: 24.983439 deg. Bm:gOuHeadingCmd: 0.436043 target range: 505.915314 and range: 508.60 m.uA>q*q"q qyyyyʎjZ`")@>~Bɢ )  =i ) i,qiA> ;IA>IBDAT read: Response Not Received *response not received*DAT read: user:418> BDAT read: Tx time:00:33:04.8770 $Ping request sent.-' ,HkQ0X@A0YE~ByEIiMb@Mb@Mb@ 9)\(?(\µMb?YG!?y=?=AA 2A)#AY(,AbDVD0yw`=%@=ٔQ->9Y=gGykF E >Q 54?Q 94'o)BY"?Q E%:y%@>Q I% @RDI;i;jG4y-Bɮ-A-EPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 505.92 m.R:J9Z:J9gO ProNav: ac range: 505.915314 m, nav range: 490.971649 m, bearing: 25.877343 deg, approach rate: -0.601101 m/s, LOS rate: 0.011050 deg/s, cmd heading: 24.983439 deg, new cmd heading: 24.992555 deg. Bȡ9gO5HeadingCmd: 0.436202 target range: 505.915314 and range: 508.60 m.5U>1*1"1 1999=8BʎAAAjAZE")@ԉ颵M~Bɢ<) =i) 项izyiU>m ;4IU>II)a@a @a@e0@aԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502082BU7>BUCBUIBU~BBU =BQBQBU>s;BUy.E^A-  I) I9 OM >R ,nMk0X@AR2S>R5>RٱRA ZAHRS rotation from veh to nav: [[0.909442,-0.398940,-0.117314],[0.410763,0.905778,0.104117],[0.064724,-0.142876,0.987622]]RH%?<ٿBI?!?c?ຑ?I¿?iR2S>IRm^;`R4CYz~ByzII~%=)~<|~AbD VD :2y%;=%%Y=ٔ-$;Q-->9)Y1=5gGy15;E5>9Q 5E4=?Q 9E4=Qm)=ɌBYIyM{>Q IM @=RDI=:i=6:=N4yYɮ]AYjygOFNOT Ignoring new targets: 505.92 m.R:X9Z:X9gO ProNav: ac range: 505.915314 m, nav range: 490.736328 m, bearing: 25.881604 deg, approach rate: -0.652269 m/s, LOS rate: 0.011815 deg/s, cmd heading: 24.992555 deg, new cmd heading: 25.001080 deg. B9gOHeadingCmd: 0.436351 target range: 505.915314 and range: 508.60 m.li>*" ʎjZ`*@Y~BɢI) =i)B{ ]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754456iili>wD ;HIli>IE EE&E"E:*Ec:VE4ZEBE 8! ,0X@AY~~By~IiMb@Mb@Mb@ 9L7A`?DlS㥛?Y+'?yO/<;A 1A)"#AY\+AbD VD2y=%==ٔ Q- >9 Y = gGylFE>Q 5%4S?Q 9%4j)ڌBY-=(?Q E-:y->Q I- @RDI:iH:U4y5Bɮ5A=EjagOmFNOT Ignoring new targets: 505.92 m.R}/9Z}/9gO ProNav: ac range: 505.915314 m, nav range: 490.456757 m, bearing: 25.885754 deg, approach rate: -0.645833 m/s, LOS rate: 0.009594 deg/s, cmd heading: 25.001081 deg, new cmd heading: 25.009387 deg. Bv9gOHeadingCmd: 0.436496 target range: 505.915314 and range: 508.60 m.l|>*" >BʎjZԎ+@%h~Bɢ%>7ܼ)) -h=i))5 11i5}iEl|>E;E IEl|>IIIuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258749@ @@@E  E E 'E "E :*E [:VE '4ZE a@a@a@a@q^AE rԡ I I O >  G \A1 ne' ,0X@A=9\AY`Ay:?:Abchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509984M/X>M>M{ٱM ]AHRS rotation from veh to nav: [[0.907422,-0.404790,-0.112828],[0.415709,0.903957,0.100244],[0.061413,-0.137867,0.988545]]MH ?ٿ@F⼿?@6??q? )?iM/X>IM+/^;M5CYu~ByuIqbD VD:2yf=%Q=ٔ 9Y=gGy5`<E>Q 54.?Q 94h)BYy/>Q I @SDI;i;a\4yɮAjBA<BBBIBBB =BBB8s;Bw.EBBBBBC5gO]FNOT Ignoring new targets: 505.92 m.Re)9Ze)9gO ProNav: ac range: 505.915314 m, nav range: 490.203705 m, bearing: 25.889361 deg, approach rate: -0.649819 m/s, LOS rate: 0.009268 deg/s, cmd heading: 25.009387 deg, new cmd heading: 25.016605 deg. B9gOHeadingCmd: 0.436622 target range: 505.915314 and range: 508.60 m.>*" ʎjZ ^,@v~BɢԼ) =i)% !!i%CiM>M(;M\=IM>IQ]e>iYԡ9@ @@0@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762600^APE  E E *E "E :*E i:VE (N4ZE BE ' A- ,׸0X@AYByI ==bDVD:yM!=%?=ٔQ->9Y=gGymFE>Q 543E?Q 94[f)BYyQ I @SDI2:i:c4yBɮcAjgOFNOT Ignoring new targets: 505.92 m.RW)9ZW)9gO ProNav: ac range: 505.915314 m, nav range: 489.922852 m, bearing: 25.893370 deg, approach rate: -0.647990 m/s, LOS rate: 0.009253 deg/s, cmd heading: 25.016604 deg, new cmd heading: 25.024625 deg. By9gOHeadingCmd: 0.436762 target range: 505.915314 and range: 508.60 m.H>*" ʎ j Z 0-@=~Bɢ=3Ѽ)9 =R=iA)EI AAiE7iMH>Md;M2rIMH>IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013918 9@  @ @ 0@ 9^AM yb]I I O >Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266033D1 D5 <EE  EE EE &EA "EE :*EE ~:VEE 4ZEA aM @aM @aM @aM @Ou4 ,0X@AF[>F|>FsUtٱF NAHRS rotation from veh to nav: [[0.906156,-0.408009,-0.111399],[0.418720,0.902558,0.100311],[0.059616,-0.137543,0.988700]]FH`;? ڿ P?`?? ?`n?iF[>IF|M^;F4CYVByVIiEMb@Mb@Mb@AAAA A9EPn?~jt~jt?YE$?yEE9Y=gGy <E>Q 5%4X?Q 9-4c)BY-t$?Q E-:y->Q I- @%SDI:i:1j4y9ɮ=AEEP]B*** querying acoustic contact ***Y YjagOmFNOT Ignoring new targets: 505.92 m.Rm8Zm8gO} ProNav: ac range: 505.915314 m, nav range: 489.675140 m, bearing: 25.895515 deg, approach rate: -0.635724 m/s, LOS rate: 0.005509 deg/s, cmd heading: 25.024625 deg, new cmd heading: 25.028918 deg. BM!9gOHeadingCmd: 0.436837 target range: 505.915314 and range: 508.60 m.>*" QBʎjZ@=-@~BɢǼ)  >i) iٱi>;>I>Ii@i @i@m0@iachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518047BBBIBMBB =BBBJs;B~.Eԉ^A"5I1 IA OM >Թ : ,e0X@AJj]>Jj`>JpٱJv VAHRS rotation from veh to nav: [[0.905586,-0.409346,-0.111133],[0.420075,0.901816,0.101318],[0.058747,-0.138436,0.988627]]JH?2ڿ .s?@???`Iբ?iJj]>IJE^;J8CY\y\bDfVDf:ٔr;Q-r>9pYp=rgGyvnFv;Ev>xQ 5~4zj?Q 9~4za)zBYyV>Q I @z4SDIz ;izy;z q4y ɮ  jAgOEFNOT Ignoring new targets: 505.92 m.RM8ZM8gOe ProNav: ac range: 505.915314 m, nav range: 489.442139 m, bearing: 25.897494 deg, approach rate: -0.636047 m/s, LOS rate: 0.005404 deg/s, cmd heading: 25.028917 deg, new cmd heading: 25.032877 deg. Be=9gOmHeadingCmd: 0.436906 target range: 505.915314 and range: 508.60 m.m)>i*q"q qqyyʎjZ@E.@~Bɢ̼) =Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770217i)u| qqi}i})>}߸;W39I)>IԑE EE$E"E:*E&p:VE4ZEBE#! A ,g1X@ABr_>B\.>B&nٱB] JAHRS rotation from veh to nav: [[0.904958,-0.410832,-0.110758],[0.421513,0.901124,0.101495],[0.058110,-0.138535,0.988651]]BH@k?@Kڿ`Z?????iBr_>IBhX^;B7CYV1ByVIIZR>)Za=XXiEMb@Mb@Mb@AAAA A9E%C?V-~jt?YEZ$?yEED91YQ=]gGyY]d;E]>iQ 54mz?Q 94m^)mBY$?Q E:y>Q I @mFSDIm !*!"! !))IU`BʎQQQjYZ]1/@颥~BɢҼ)  =i )   iAi9>;O:I9>IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2744989@ @@@DzDbEu!4jEuY"4rEuų0E EE'E"E:*Ee:VE'4ZEa@a@a@a@aԉ ^A 9A5 .AIA Ia O >G ,Q 1X@A>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525858B`>Bn>BmٱB NAHRS rotation from veh to nav: [[0.904326,-0.412100,-0.111211],[0.422883,0.900397,0.102249],[0.057997,-0.139496,0.988523]]BH=?_ڿTx?` ? ,?`ӱ??iB`>IBii^;B6CYZAByZIbDbVDb0yj-=%j_=ٔj9Q-n>9n ?Yn ?=ngGynoFr;Er>tQ 5=4vp?Q 9=4vh\)v(BYAyEV>Q IE @vUSDIv:BqBu'IBuBBqBqBqBuqs;Bu.EjgOFNOT Ignoring new targets: 505.92 m.R[8Z[8gOe ProNav: ac range: 505.915314 m, nav range: 488.922424 m, bearing: 25.901011 deg, approach rate: -0.627760 m/s, LOS rate: 0.004190 deg/s, cmd heading: 25.036839 deg, new cmd heading: 25.039916 deg. Be_8gOmHeadingCmd: 0.437029 target range: 505.915314 and range: 508.60 m.mC>q*q"q qqqyyʎyyyjZ@20@ ~Bɢ zxʼ) P>i) ikZiC>a;$&;IC>IY@Y @Y@e4@aԉ-BDAT read: Rx Time:00:33:07.9458 -TRx dataTimestamp_ set to:1761697988.7770745checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779028E EE#E"E:*EVE3ZEBE M ,`:1X@ABa>B>BKlTٱB vAHRS rotation from veh to nav: [[0.903861,-0.413019,-0.111586],[0.423924,0.899765,0.103491],[0.057657,-0.140845,0.988351]]BHm? nڿߐ!?? ]~?@? 5¿?iBa>IB[:^;B2CYIByIchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030081iMb@Mb@Mb@ 9Pn?/${Gzt?Y$?y,ף;7AA 10A)#AY)AbDVDya<%=ٔ`*:Q->9"?Y"?=gGypF;E>Q 54ŭ?Q 94-Y)5BY s$?Q E:yٿ>Q I @jSDII *I "I  Q Y a i m HBʎy y y jy Z} 0@ ~Bɢ ߼) =i ) W i [! i 2> ~; V;I 2>I I ZA) m DAT read: 00:33:07.9458 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 268, 0.14,-1.775, 3.099,-1.662,-2.077, PHS= 0.404,-1.062, 0.372, RAW= 148.9, 4.0, CAL= 148.1, 4.1, ROT= 1.9, -4.1 u Ygot valid direction response: 00:33:07.9458 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 268, 0.14,-1.775, 3.099,-1.662,-2.077, PHS= 0.404,-1.062, 0.372, RAW= 148.9, 4.0, CAL= 148.1, 4.1, ROT= 1.9, -4.1  PDAT read: Bearing 177.0, 4.5 (Local)  ~Local bearing/azimuth received: Bearing 177.0, 4.5 (Local)  DAT read: Range 11 to 50 : 498.4 m (Round-trip 664.6 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.996892,0.033070,0.071497] Fpublishing direction and range infoyA E ')?&r? M?YE 3CA A A A A )E PIE >iE E v>E R&@E 5=E m%@ E C=)E =IE CA A E UY(?<0?NZѥFα? E .&?)E IE =iE CA A  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.E  E E (E "E *E :VE c44ZE a @a @a @a @} 9@y  @y @} 0@y Q ^A]] ;ԁA.AIIO?X , a1X@A*DAT read: user:419> "BDAT read: Tx time:00:33:09.3270 &$Ping request sent.&BCB@IBBBBBBs;B.Emb>m>m5jٱm^  AHRS rotation from veh to nav: [[0.903449,-0.413756,-0.112192],[0.424854,0.899108,0.105379],[0.057271,-0.142870,0.988083]]mH ?@zڿ`0?@}?&?R?I¿``?imb>Imc^;m5CY-RBy-I 11====bDEVDE:2ym<%m=ٔuO::Q-u>9u ?Y} ?=}gGyy}m:E}>Q 54?Q 94U)BBYyc>Q I @SDI ;i ;4yɮ*A  Q1X@AJ CR Cj ;> (~@f,e0@!A@r ')?&r? M?Z =b C 簥;{@ܧml@^uAC~N@z âk? ?yN}?H}?2 sdC: C" 8?* IB B 37? +“ B [C >gO addTargetRange:: Added new target pos. range: 498.399994 m, deltaT: 16.887913 s, deltaX: -10.200012 m, approachRate: -0.603983 m/s, rangeRepo size: 4 gO Added new target pos. range: 495.768219 m, bearing: 27.666763 deg, lat: 36.779199 deg, lon: -121.858990 deg, deltaT: 16.887913 s, deltaX: -10.147095 m, approachRate: -0.600850 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 495.77 m.RZ gO ProNav: ac range: 495.768219 m, nav range: 488.716522 m, bearing: 26.400923 deg, approach rate: 0.000000 m/s, LOS rate: 0.005316 deg/s, cmd heading: 25.046007 deg, new cmd heading: 25.051170 deg. BgOHeadingCmd: 0.437225 target range: 495.768219 and range: 498.40 m.>*!"! !!!))ʎ))1j5`f&@Z5@[?]~Bɢ]mռ)a e=ia)mdiiimbiu>u;u`E;Iu>Iq!@ @@0@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250804E EE$E"E:*EV:VE4ZEBE#/)^ ,e{1X@A2c>2m>2Tjٱ2BF BAHRS rotation from veh to nav: [[0.903141,-0.414373,-0.112393],[0.425503,0.898788,0.105486],[0.057307,-0.143092,0.988049]]2H@?@ڿżq;???LW?`P¿?i2c>I28^;0YVDByVIbD^VD^02yf'%fj=ٔjyԸQ-j>9hYh=ngGynqFn;Er>pQ 5~4r?Q 94rS)rKBY y>Q I @rSDIrk;ir;r4ay5BɮgAEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 495.77 m.R8Z8gO5 ProNav: ac range: 495.768219 m, nav range: 488.493317 m, bearing: 26.403136 deg, approach rate: -0.550247 m/s, LOS rate: 0.005458 deg/s, cmd heading: 25.051170 deg, new cmd heading: 25.055598 deg. B59gO=HeadingCmd: 0.437303 target range: 495.768219 and range: 498.40 m.=#>9*9"9 9AAAAʎIIIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502759jqZu U?颽~Bɢq) =i)tiȥi#>po;(;I#>Iԉ9@ @@4@Ա^A r;  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754923E  E E 'E "E m:*E [:VE '4ZE a @a @a @a @A ؟AI I! O- >e ,B1X@A2d>2&>2jٱ2G\ :AHRS rotation from veh to nav: [[0.902544,-0.415740,-0.112140],[0.426772,0.898297,0.104540],[0.057273,-0.142210,0.988178]]2H`?{ڿ, =P?`ؾ?@&ú?R?`3¿'?i2d>I2?];24CYBPByFIiMMb@Mb@Mb@IIII I9MRQ?v/YM"?yMxiMM+9AM-A M-A)M"#AIYM)AbDeVDe1ym<%u@=ٔu}8Q-u>9}"?Y}"?=}gGyyX;E>Q 54?Q 941Q)TBY6#?Q E:y>Q I @SDI ;i ;4yɮ9AԹjgOFNOT Ignoring new targets: 495.77 m.R+9Z+9gO ProNav: ac range: 495.768219 m, nav range: 488.224670 m, bearing: 26.406553 deg, approach rate: -0.734669 m/s, LOS rate: 0.009350 deg/s, cmd heading: 25.055598 deg, new cmd heading: 25.062436 deg. B9gOHeadingCmd: 0.437422 target range: 495.768219 and range: 498.40 m.>*" 2BʎjZ?-Bɢ- H)1 5L=i1)5.?19i=i=>E;EV;IE>IAUi>iU>@ @@2@@=@>echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006701B3>BBSIBBB =BBBs;B.E^A-vт;Ae .AIq I O >9 >k ,k)1X@AB˜e>Bw>B1jٱB2 RAHRS rotation from veh to nav: [[0.902280,-0.416282,-0.112248],[0.427334,0.898016,0.104654],[0.057235,-0.142395,0.988154]]BH {?`\ڿMpY??`ʺ?M?9¿?iB˜e>IB];@Y^QBybIIf=)fs?hhbDrVDrN2y~Y;%~R=ٔ~8Q->9 ?Y  ?= gGy rF :E>Q 5-4?Q 9-4N)]BY)y5>Q I5 @SDIE;i2;[4y=Bɮ=AEEjagOeFNOT Ignoring new targets: 495.77 m.Rmw9Zmw9gO} ProNav: ac range: 495.768219 m, nav range: 487.977386 m, bearing: 26.409684 deg, approach rate: -0.631879 m/s, LOS rate: 0.008003 deg/s, cmd heading: 25.062437 deg, new cmd heading: 25.068701 deg. B}Xj9gOHeadingCmd: 0.437531 target range: 495.768219 and range: 498.40 m.>*" checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258775)ʎ111j1Z5*u?EU EUEU*EQ"EU:*EUxv:VEU(N4ZEQBEU5w`;5^;I5>I1@ @@/@Yԑ^A;ia Ia m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510901A5 ؟AIA IQ O] >Ա $r ,1X@AB9f>B>B;jٱB  RAHRS rotation from veh to nav: [[0.902023,-0.416827,-0.112294],[0.427888,0.897743,0.104736],[0.057155,-0.142523,0.988140]]BH_?Iڿ@Qb?O?@Ϻ?`bC?@5>¿מ?iB9f>IBӇ];B2CYfZByf IԑiMb@Mb@Mb@ 9#~j?333333Y%?yZ8A )Q"AY(AbDVD2y$<%0=ٔ59Q->9"?Y"?=gGy:E=>AQ 5M4ED?Q 9M4EOL)EiBYU&?Q EU:yU;>Q IU @ESDIEG ;iE ;E4y]Bɮ]AeEjgOFNOT Ignoring new targets: 495.77 m.R99Z99gO ProNav: ac range: 495.768219 m, nav range: 487.671661 m, bearing: 26.414467 deg, approach rate: -0.646163 m/s, LOS rate: 0.010115 deg/s, cmd heading: 25.068700 deg, new cmd heading: 25.078272 deg. B9gOHeadingCmd: 0.437698 target range: 495.768219 and range: 498.40 m.>*" (BʎjZ?(BɢWl) 4G=i)3i®i>;O;I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763052@ @@0@^A X;m \G} `]A 2ÿ9 `]AY ˨AA .AI I O > CMx ,1X@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0147036e>6)>6gٱ69BdBdBfYIBfBBf =BdBdBfs;Bf.EBCBCBBBC4 AHRS rotation from veh to nav: [[0.902247,-0.416652,-0.111139],[0.427492,0.898046,0.103751],[0.056580,-0.141120,0.988374]]6H4?mڿs\?ʼ?@n??8¿@à?i6e>I6?];65CY-lBy-I5@A5@AbD=VD=yMH=%Mh=ٔU":Q-U>9U ?YU ?=UgGy]sF]E]>aQ 5m4e.?Q 9m4elJ)eqBYqyu>Q Iu @eSDIe:ie:e4yyɮ}AjgOFNOT Ignoring new targets: 495.77 m.R99Z99gO ProNav: ac range: 495.768219 m, nav range: 487.450928 m, bearing: 26.417936 deg, approach rate: -0.645067 m/s, LOS rate: 0.010144 deg/s, cmd heading: 25.078272 deg, new cmd heading: 25.085214 deg. B9gOHeadingCmd: 0.437820 target range: 495.768219 and range: 498.40 m.)>*" ʎjZ I@6Bɢ) V=i )   i 8i)>a;;I)>I-9@) @1@5/@1!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266622^AMT;AUZAzAQE EE#E"E[:*E|:VE3ZEBE<2E<JEb;:Eb;Q IQ Ia Om >gw~ ,21X@A2'$e>25=>2,fٱ2 >AHRS rotation from veh to nav: [[0.902525,-0.416225,-0.110474],[0.426959,0.898329,0.103494],[0.056165,-0.140574,0.988476]]2H|?pڿ`HIS??~??@S ?i2'$e>I2|k];21CYFdByFI HHbDVDN2yE0%M<=ٔ]x:Q-]>9iYi=ugGyyвE>Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521262QQ 54+E?Q 94G)|BYy>Q I @SDI;==i:i4y!ɮ%A!P=B*** querying acoustic contact ***9 9jgOFNOT Ignoring new targets: 495.77 m.R$9Z$9gO- ProNav: ac range: 495.768219 m, nav range: 487.163544 m, bearing: 26.422479 deg, approach rate: -0.568799 m/s, LOS rate: 0.008996 deg/s, cmd heading: 25.085214 deg, new cmd heading: 25.094304 deg. B-9gO5HeadingCmd: 0.437978 target range: 495.768219 and range: 498.40 m.5>>1*1"1 99999ʎjZ @LBɢe)a e>*;ݧ;I>>I9@ @@0@ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770655E  E E 'E "E O:*E ]t:VE '4ZE a @a @a @a @ ^A IIO>W ,L2X@A2c>2dm>2bٱ2 :AHRS rotation from veh to nav: [[0.903242,-0.414551,-0.110911],[0.425546,0.898603,0.106882],[0.055357,-0.143738,0.988066]]2H[?ڿd@&I2O];22CYFbByFIbDnVDnkyrJ@%v8=ٔv:Q-v>9xYx=zgGyztF~lE~>Q 54[?Q 9 4E)BY y >Q I  @SDI:i*;4yɮA%EjAgOEFNOT Ignoring new targets: 495.77 m.RMZ9ZMZ9gOe ProNav: ac range: 495.768219 m, nav range: 486.883301 m, bearing: 26.426965 deg, approach rate: -0.745920 m/s, LOS rate: 0.011947 deg/s, cmd heading: 25.094305 deg, new cmd heading: 25.103282 deg. Be9gOeHeadingCmd: 0.438135 target range: 495.768219 and range: 498.40 m.m8S>i*i"i iiqqqʎqyyjyZ}n @颥ZBɢD,) U! ;gl;I8S>Ie9@a @i@m 0@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022918A!A!B)B)B)B)B)B)AB)B-Ds;B-x.Ei^Aԅ;IIO >ԙ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274698E  E E &E "E :*E c:VE 4ZE BE N"a>>>>.`ٱ>; FAHRS rotation from veh to nav: [[0.904046,-0.412764,-0.111022],[0.423925,0.899066,0.109399],[0.054660,-0.145967,0.987778]]>H@?jڿ`k!?@%??@s?` ¿?i>a>I>^];>4CYRdByRI Z;Zp;bDZVDZyb;%fM=ٔfl:Q-f>9dYh=jgGyhjEj>lQ 5r4nsp?Q 9r4njC)nBYtyv>Q Iv @nTDIn:inW:n4yzBɮzA|jgO%FNOT Ignoring new targets: 495.77 m.R%?9Z%?9gO5 ProNav: ac range: 495.768219 m, nav range: 486.626526 m, bearing: 26.431134 deg, approach rate: -0.645548 m/s, LOS rate: 0.010489 deg/s, cmd heading: 25.103281 deg, new cmd heading: 25.111625 deg. B59gO=HeadingCmd: 0.438281 target range: 495.768219 and range: 498.40 m.=Nf>9*A"A AAAIIʎIIIjQZU @ykBɢ ) `i)ii Nf> & ; yU;I Nf>I9@ @@0@@=@=BDAT read: Rx Time:00:33:12.3919 TRx dataTimestamp_ set to:1761697993.061587checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528205^Ayb];A?A?I9IIO> y ,'O2X@AY~xBy~II=)9IYI=MgGyMuFUEU>YQ 5e4]F?Q 9e4] A)]BQ Ae+:YaQ Ee:yaQ Im @]TDI]s:i]>]4yqɮuAqjgOFNOT Ignoring new targets: 495.77 m.R?9Z?9gO ProNav: ac range: 495.768219 m, nav range: 486.355865 m, bearing: 26.435535 deg, approach rate: -0.644922 m/s, LOS rate: 0.010490 deg/s, cmd heading: 25.111624 deg, new cmd heading: 25.120429 deg. B9gOHeadingCmd: 0.438434 target range: 495.768219 and range: 498.40 m.sz>*" ʎjZ@@-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780303-}Bɢ5)1 =@i9)=99i=EiEsz>E' ;E ;IEsz>IIE EE'E"E;*EL_:VE'4ZEa@a@a@a@@ @@0@9^AU?B:I IA Ou > DAT read: 00:33:12.3919 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 395,-0.17, 1.747, 0.076, 1.951, 1.145, PHS= 0.704,-1.024, 0.762, RAW= 151.6, -5.1, CAL= 151.4, -6.4, ROT= 358.6, 6.4  Ygot valid direction response: 00:33:12.3919 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 395,-0.17, 1.747, 0.076, 1.951, 1.145, PHS= 0.704,-1.024, 0.762, RAW= 151.6, -5.1, CAL= 151.4, -6.4, ROT= 358.6, 6.4 % PDAT read: Bearing 166.0, 2.7 (Local) B- .>B) B) B) B- =B) B- DB- r;B- >.EE ~Local bearing/azimuth received: Bearing 166.0, 2.7 (Local) M DAT read: Range 11 to 50 : 495.6 m (Round-trip 660.8 ms) speed 0.6 m/s U R#Rx 1: Read range and direction messages.] `direction in FSK: [0.993471,-0.024280,-0.111469]] Fpublishing direction and range infoy  FE?5ܘ -V:Y C ) QI X94?i o oC? V)@ K )@ ) G@I =  a!#?m4.?ӡܜ [ ?) ͙=I *ȼi =  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.Y e ,i2X@A=]>=>=\ٱ= MAHRS rotation from veh to nav: [[0.905644,-0.409289,-0.110866],[0.420609,0.900259,0.112348],[0.053825,-0.148379,0.987465]]=H@ ?1ڿa@??¼? ?¿O?i=]>I=JK];=5CY}By}+IbDVDܲyi=%D=ٔ;Q->9Y=gGyE>Q 54?Q 94>)BQ A :YQ EU:y >Q I @*TDI:iV?4yɮ&AEX7d2X@AJ}CR}Cj>ט"~@3#pL'uyKrFE?5ܘ -V:Z*ȼb=PPޛh|@PDŽg@# :zր>??v8"2 =C:DC"7:?*3BB1“B C1E>gOM addTargetRange:: Added new target pos. range: 495.600006 m, deltaT: 4.285476 s, deltaX: -2.799988 m, approachRate: -0.653367 m/s, rangeRepo size: 4 gO] Added new target pos. range: 492.977020 m, bearing: 22.582972 deg, lat: 36.779199 deg, lon: -121.858990 deg, deltaT: 4.285476 s, deltaX: -2.791199 m, approachRate: -0.651316 m/s, posRepo size: 4 jagOeFNOT Ignoring new targets: 492.98 m.ReZagO} ProNav: ac range: 492.977020 m, nav range: 486.087524 m, bearing: 26.440019 deg, approach rate: 0.000000 m/s, LOS rate: 0.010490 deg/s, cmd heading: 25.120430 deg, new cmd heading: 25.129376 deg. BygO}HeadingCmd: 0.438590 target range: 492.977020 and range: 495.60 m.>*" ʎj~@Ze?颽BɢuD) :i)miiimiu>};}`uI}>I%*DAT read: user:420> -BDAT read: Tx time:00:33:13.6270 -$Ping request sent.-Թ Π ,d2X@AJchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.253027-\\>-r>-V\ٱ-g EAHRS rotation from veh to nav: [[0.906276,-0.407564,-0.112057],[0.419262,0.900450,0.115798],[0.053706,-0.151926,0.986932]]-H5?ڿ`/?|??@g?Mrÿ?i-\\>I-+];-4CYUByU2IaUaU aUaU aUaU aUaU iUMb@Mb@Mb@QQQQ Q9US?Dl?YU/?yUO Uԉ9Y=gGyvF`E>Q 54??Q 94S=)BQ AT:Y;!?Q E:y`>Q I @A*I"I IIIQ]BʎYaajZ? Bɢ ) `i)ϧii>E;E(IE>IIUe>iU>Թ@ @@0@@@5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502915E EE'E"E:*Ee:VE'4ZEa @a @a @a @^A eI  I O > ,s02X@A2"[>24<>2O\ٱ2T :AHRS rotation from veh to nav: [[0.906778,-0.406189,-0.112978],[0.418174,0.900631,0.118294],[0.053702,-0.154511,0.986531]]2H@S?ٿ 켿^??H?~?@ÿ?i2"[>I2 W];25CYFByF*I HHJ=J=bDRVDRk1yVs%Zn=ٔZj7Q-Z?9\Y\=^gGy\bdEb?dQ 5j4f?Q 9j4f<)fÍBYlyn_>Q In @fITDIf;if;fE4ypɮr+Atj gO FNOT Ignoring new targets: 492.98 m.R9Z9gO% ProNav: ac range: 492.977020 m, nav range: 485.615997 m, bearing: 26.453778 deg, approach rate: -0.615501 m/s, LOS rate: 0.018021 deg/s, cmd heading: 25.144708 deg, new cmd heading: 25.156908 deg. B%:gO-HeadingCmd: 0.439071 target range: 492.977020 and range: 495.60 m.->)*)") 11111ʎjZsb?]Bɢ])a e@ia)e aaieim>m=u;u"ysIu>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755363B+>BCBeIBBB =BBBr;BN.E@ @@4@!^A I I I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006919E  E E &E "E :*E n:VE 4ZE BE Z>ZZٱZZ  AHRS rotation from veh to nav: [[0.907265,-0.405176,-0.112709],[0.417152,0.901043,0.118767],[0.053433,-0.154770,0.986504]]ZHO?hٿwڼ?X?g?[?`ÿq?iZY>IZ,-];Z2CY5By5FIbD]VD]0ym=%m?=ٔue$:Q-u>9qYq=}gGy}wF}-E}>Q 54?Q 94:)ԍBYy^>Q I @[TDI;i$;4yɮzAEjYgO]FNOT Ignoring new targets: 492.98 m.Re9Ze9gOu ProNav: ac range: 492.977020 m, nav range: 485.356445 m, bearing: 26.461417 deg, approach rate: -0.580879 m/s, LOS rate: 0.017106 deg/s, cmd heading: 25.156908 deg, new cmd heading: 25.172195 deg. Bur9gO}HeadingCmd: 0.439338 target range: 492.977020 and range: 495.60 m.}>y*y"y yʎjZ ?颽Bɢ ) `i)ixûi>N;I>IQ9@ @@3@ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261790^AvтIY Ii O >ԡ  ,y2X@A6Y>6>6'Y\ٱ6 >AHRS rotation from veh to nav: [[0.907302,-0.405310,-0.111924],[0.417027,0.901428,0.116260],[0.053770,-0.152159,0.986892]]@6H ?ٿ?~??ý?`?yÿ ?i6Y>I64];63CYJByJIIiMb@Mb@Mb@ 9Mb?/$X9v?Y ?y1< K+A)AY%A 11bD5VD5NyEf<%MM=ٔMV]Q-M>9QYQ=UgGyQUĩEU>YQ 5e4]?Q 9m4]9)]BYuF$?Q E}:yk>Q I @]kTDI];i]S;]4yɮcAjgOFNOT Ignoring new targets: 492.98 m.RV9ZV9gO ProNav: ac range: 492.977020 m, nav range: 485.109650 m, bearing: 26.468291 deg, approach rate: -0.640555 m/s, LOS rate: 0.017850 deg/s, cmd heading: 25.172194 deg, new cmd heading: 25.185949 deg. B:gOHeadingCmd: 0.439578 target range: 492.977020 and range: 495.60 m.U>*" checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511014uBʎqqyjyZ} w?E EE'E"EO:*Ez:VE'4ZEa@a@a@a@BɢR ) i) iŻiU>P;@ѣIU>I Ա9@ @@0@^AmIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762886B ->B B rIB BB =B B B 6s;B l.E 1 ,2X@AlYBy\IbD-VD-βy==%EK=ٔEQ-E>9IYI=MgGyMxFE>Q 54R ?Q 94{7)BYyQ I @|TDI ;iT ;4yɮAjgOFNOT Ignoring new targets: 492.98 m.R9Z9gO ProNav: ac range: 492.977020 m, nav range: 484.853394 m, bearing: 26.475436 deg, approach rate: -0.627233 m/s, LOS rate: 0.017497 deg/s, cmd heading: 25.185949 deg, new cmd heading: 25.200245 deg. B:gO HeadingCmd: 0.439827 target range: 492.977020 and range: 495.60 m.  1> * "  ʎj!Z%_@]Bɢe )a e ǻii)miiimuǻi} 1>}k;}`I} 1>I @ @@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015029E EEE"E:*Eh:VEZEBEa2EaJE;a:E;aA^AIaIqO}>a \ ,3X@A:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269185Y9Z>>[ٱ AHRS rotation from veh to nav: [[0.907151,-0.406605,-0.108393],[0.417371,0.902225,0.108583],[0.053645,-0.143742,0.988160]]Ha?ڿ6??̻?`Qw?f¿@?i9Z>IIL];5CYBynIiMb@Mb@Mb@ 9+?y&1Q?Y?y`彙<5A )A)AY%AbD VD:2y%r=%%/=ٔ-9Q-->9)Y)=-gGy15S:E5>9Q 5E4= ?Q 9E4=5)= BYMz"?Q EM:yM…>Q IM @=TDI= ;i=; ;=4yQɮUxAUEPuB*** querying acoustic contact ***q qjgOFNOT Ignoring new targets: 492.98 m.R9Z9gO ProNav: ac range: 492.977020 m, nav range: 484.572021 m, bearing: 26.482209 deg, approach rate: -0.615831 m/s, LOS rate: 0.014833 deg/s, cmd heading: 25.200246 deg, new cmd heading: 25.213800 deg. B+9gOHeadingCmd: 0.440064 target range: 492.977020 and range: 495.60 m. P>*" BʎjZ @ԁBɢr) :i)i`ʻi P>;I P>I@ @@@ԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519000DzDE EE%E"Ea:*Ega:VE 4ZEa@a@a@a@^A  ! % -C G ^A Tſ9 ^AY "AA I I! O5 > ,W 3X@ABIZ>BL>BZٱB NAHRS rotation from veh to nav: [[0.907018,-0.406982,-0.108093],[0.417690,0.902107,0.108340],[0.053419,-0.143415,0.988220]]BH@J?@ ڿ@o??'?@Y? p[¿ ?iBIZ>IBw$];B2CYV ByV}IxbDVD1y-=%-^=ٔ-S!:Q-->91Y1=5gGy5yF=v:E=>AQ 5E4E. ?Q 9M4E3)EBYIyM>Q IM @ETDIE;iE3;EV4yYɮ]AYjygOFNOT Ignoring new targets: 492.98 m.RI9ZI9gO ProNav: ac range: 492.977020 m, nav range: 484.345306 m, bearing: 26.487664 deg, approach rate: -0.618708 m/s, LOS rate: 0.014894 deg/s, cmd heading: 25.213800 deg, new cmd heading: 25.224715 deg. B9gOHeadingCmd: 0.440254 target range: 492.977020 and range: 495.60 m.i>*" ʎjZ@Bɢ) ';Ii>IB2>BCBIBBB =BBDBr;B.EBYBYBYB] =B] =C]5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778655@ @@0@!Q^AϩAzA\AA= ؟AIA IQ Oe >} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030841ԁ E  E E E "E %;*E F:VE ZE BE KF>FaYٱF RAHRS rotation from veh to nav: [[0.907108,-0.406823,-0.107940],[0.417534,0.902124,0.108797],[0.053114,-0.143760,0.988186]]FH`?b ڿ`?3? 'ڻ? 1?f¿8?iFDeZ>IF ];DYZ'ByZIbDf VDf2yj0>%nP=ٔnL:Q-n>9r"?Yr"?=rgGyprEv>tQ 5z4vB ?Q 9~4vG2)v)BY|y~م>Q I~ @vTDIv;ivY;v14y ɮ 1A j)gO5FNOT Ignoring new targets: 492.98 m.R5$9Z5$9gOE ProNav: ac range: 492.977020 m, nav range: 484.103180 m, bearing: 26.493499 deg, approach rate: -0.617041 m/s, LOS rate: 0.014878 deg/s, cmd heading: 25.224715 deg, new cmd heading: 25.236391 deg. BM9gOMHeadingCmd: 0.440458 target range: 492.977020 and range: 495.60 m.M>Q*Q"Q QQQYYaʎaaajaZmd @颕BɢV) hB=i)顙i-λi>Q;I>IQ@Q @Q@U+0@QԑiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.286218^A=3I1 IA OU > ,T3X@A>>,>>Vٱ> JAHRS rotation from veh to nav: [[0.907209,-0.406710,-0.107516],[0.417408,0.902075,0.109691],[0.052375,-0.144391,0.988134]]>H?@ڿ'`϶???@Ъ?f{¿ʞ?i>I>?];>1CYR)ByRI=BDAT read: Rx Time:00:33:16.6888 ETRx dataTimestamp_ set to:1761697997.353228Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.536067iuMb@Mb@Mb@qqqq q9uRQ?KQ?Yu"?yu^quE4AuA q)qqYu%AE EE(E"Ex;*Ek:VEc44ZEa@a@a@a@bDVDN2Աyy<%<=ٔ:Q->9Y=gGyzFE>Q 54X ?Q 94'0)9BYf$?Q E:y—>Q I @TDI@:i:4yɮ"AEjgOFNOT Ignoring new targets: 492.98 m.Rsd9Zsd9gO- ProNav: ac range: 492.977020 m, nav range: 483.830261 m, bearing: 26.498914 deg, approach rate: -0.628754 m/s, LOS rate: 0.012483 deg/s, cmd heading: 25.236391 deg, new cmd heading: 25.247228 deg. B-¶9gO5HeadingCmd: 0.440647 target range: 492.977020 and range: 495.60 m.5>1*1"1 1999=3BʎAAAjAZEߑ@5Bɢ5)1 5E߼;EIe>Ii9@ @@0@ B1>BBIB:BB =BBBq;B-Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.787242^Ae S1 IY Ii O} > ,m3X@A67Z>6 >6 Uٱ67y >AHRS rotation from veh to nav: [[0.907234,-0.406441,-0.108317],[0.417401,0.901744,0.112400],[0.051990,-0.147185,0.987742]]6H?!ڿ?@?@CƼ??`¿`?i67Z>I6 ];63CYF7ByJI N49dYd=fgGydj%7Ej>pQ 5v4r#l ?Q 9v4rR.)rHBYxyzڗ>Q Iz @rTDIrdE;irF;rL4yBɮA EjgOFNOT Ignoring new targets: 492.98 m.RX9ZX9gO ProNav: ac range: 492.977020 m, nav range: 483.595428 m, bearing: 26.503573 deg, approach rate: -0.597356 m/s, LOS rate: 0.011857 deg/s, cmd heading: 25.247227 deg, new cmd heading: 25.256550 deg. B9gOHeadingCmd: 0.440810 target range: 492.977020 and range: 495.60 m.ױ>*"  ))11ʎ119j9Z=E@颅#Bɢ3)  %=i)\m顩iӻiױ>:Iױ>IE EE+E"Ea:*Ee:VE [4ZEBE(iUȆU >Um7'@UQ =Ux&@ U=)U޹Ii Iy O >Թ  *DAT read: user:421> % BDAT read: Tx time:00:33:17.9269 5 $Ping request sent.= :> Tٱ -AHRS rotation from veh to nav: [[0.907146,-0.406669,-0.108197],[0.417623,0.901612,0.112639],[0.051745,-0.147365,0.987728]]HW?`ڿ ɲT??ռ?`L~?¿w?i+vZ>I1];2CYEIByEIԉiMb@Mb@Mb@ 9)\(?DlQ?YG!?yO )YbD VD y1=%*=ٔ:Q-%>9!Y!=-gGy-{F-:E5>1Q 5=45E ?Q 9E45+)5ZBYEm"?Q EE:yE>Q IE @5TDI5 ;i5" ;5$4yQɮUAUEv3X@AJLCRLCjH>j,~@?&@5)߼D0@rXVc? 8?B3?Z޹<bu>]f{@I1k@?aC@zBlj?@?c9՝ô?2XC:2C"q#ә?*ыoBBыo“C'>gO addTargetRange:: Added new target pos. range: 493.200012 m, deltaT: 4.292324 s, deltaX: -2.399994 m, approachRate: -0.559136 m/s, rangeRepo size: 4 gO Added new target pos. range: 490.594330 m, bearing: 26.290560 deg, lat: 36.779199 deg, lon: -121.858981 deg, deltaT: 4.292324 s, deltaX: -2.382690 m, approachRate: -0.555105 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 490.59 m.RZgO ProNav: ac range: 490.594330 m, nav range: 483.680115 m, bearing: 26.599555 deg, approach rate: 0.000000 m/s, LOS rate: 0.011857 deg/s, cmd heading: 25.256549 deg, new cmd heading: 25.267563 deg. BgOHeadingCmd: 0.441002 target range: 490.594330 and range: 493.20 m. >*" SBʎj@3~@Z?%-Bɢ%)) -Z=i))->:))i-36ֻi5 >5B:5!I= >I9Թq@q @y@}0@y]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244528E EE%E"E:*EVE 4ZEa@a@a@a@^A #2I I O% > = ,3X@A2O"[>2L<>2Rٱ2ܤ :AHRS rotation from veh to nav: [[0.906887,-0.407306,-0.107970],[0.418225,0.901326,0.112691],[0.051416,-0.147354,0.987747]]2H7?@Oڿ죻4?@?@Tټ?=S?~¿?i2O"[>I2h4];25CYFPByFIbDjVDjJyr};=%rx=ٔr:Q-r?9tYt=vgGytz;Ez?xQ 54zӔ ?Q 94z))zfBYyO>Q I @zTDIz;iz;zs*4yɮAP-B*** querying acoustic contact ***) )j9gO=FNOT Ignoring new targets: 490.59 m.RE 89ZE 89gOU ProNav: ac range: 490.594330 m, nav range: 483.474304 m, bearing: 26.602833 deg, approach rate: -0.631133 m/s, LOS rate: 0.010056 deg/s, cmd heading: 25.267563 deg, new cmd heading: 25.274121 deg. BU<9gO]HeadingCmd: 0.441117 target range: 490.594330 and range: 493.20 m.] >Y*Y"Y aaaaaʎiiijiZm :lI >IBe0>BaBeIBeXBBe =BaBaBeq;Be-Ei߱I߱checking for new query: numPingsReceived=0, elapsed TxPingTime=0.49678859@1 @1@573@1!^AUIIO>Q m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747987bEMʀ'4jEM$4rEM.0E  E E 'E "E >:*E 1]:VE '4ZE BE ::>:Qٱ: BAHRS rotation from veh to nav: [[0.906627,-0.407893,-0.107934],[0.418818,0.901014,0.112982],[0.051165,-0.147637,0.987717]]:H?ڿ@`?`?c?R2?¿ a?i:*[>I:];:3CY^VBybIdf@AbDjVDjk2yr<%rJ=ٔv #:Q-v>9tYt=vgGyv|Fz:Ez>|Q 54~$ ?Q 94~')~uBYy >Q I  @~TDI~:i~d:~14yɮAj9gO=FNOT Ignoring new targets: 490.59 m.RE59ZE59gOU ProNav: ac range: 490.594330 m, nav range: 483.221558 m, bearing: 26.606841 deg, approach rate: -0.626252 m/s, LOS rate: 0.009937 deg/s, cmd heading: 25.274121 deg, new cmd heading: 25.282142 deg. BU|9gO]HeadingCmd: 0.441257 target range: 490.594330 and range: 493.20 m.]c>Y*Y"Y YaaaaʎaiijiZm?额?Bɢ )  :=i)顡i`ڻic>:|Ic>IQ @  @ @ 0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002458ԉ^AAzAWAIYIiOu>ԡ & ,@3X@A2]>2,>2ƵQٱ2zG :AHRS rotation from veh to nav: [[0.906129,-0.409241,-0.107017],[0.419895,0.900819,0.110512],[0.051176,-0.145074,0.988096]]2H?`1ڿqe ??J?@3?ˑ¿@|?i2]>I2];0@YFbByFI%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252081iUMb@Mb@Mb@QQQQ Q9U}?5^I?ktI +?YUM"?yU 0U99Y=gGy}Fw6;E>Q 54X ?Q 945%)BY"?Q E:yS>Q I @UDIx;i;84yɮCAEjgOFNOT Ignoring new targets: 490.59 m.R(8Z(8gO ProNav: ac range: 490.594330 m, nav range: 482.952698 m, bearing: 26.609806 deg, approach rate: -0.629417 m/s, LOS rate: 0.006944 deg/s, cmd heading: 25.282142 deg, new cmd heading: 25.288074 deg. BSK9gO HeadingCmd: 0.441360 target range: 490.594330 and range: 493.20 m. > *" ]Bʎ!j!Z%`3?IBɢ) @G=i)iWܻi>4:@\I>IԱ@ @@@B]2>BYB]IB]wBBYBYBYB]Zr;B].Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.504054^A A I) I9 OE >.; ,a3X@AR]>Ro>RPٱR ^AHRS rotation from veh to nav: [[0.905740,-0.410457,-0.105642],[0.420760,0.900755,0.107711],[0.050947,-0.142008,0.988554]]RH?DڿW ??? ?`R-¿;?iR]>IR];PpYriByrIbDVDy=%S=ٔ%a:Q-%>9!Y)=-gGy)5 ;E5>9Q 5E4= ?Q 9E4=")=BYIyM>Q IM @= UDI=:i=:=?4yQɮU AQjygO}FNOT Ignoring new targets: 490.59 m.R8Z8gO ProNav: ac range: 490.594330 m, nav range: 482.707062 m, bearing: 26.612493 deg, approach rate: -0.630874 m/s, LOS rate: 0.006904 deg/s, cmd heading: 25.288074 deg, new cmd heading: 25.293450 deg. B+J9gOHeadingCmd: 0.441454 target range: 490.594330 and range: 493.20 m.B>*" ʎjZ`?]SBɢ]@)Y ]`3=iY)ePaaie*޻imB>mb:m^UImB>Iq @ @@@=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757803E EE%E"E:*EL_:VE 4ZEBE  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0098726 ,8H 4X@A=1_>= D>=8Pٱ= MAHRS rotation from veh to nav: [[0.905249,-0.411581,-0.105473],[0.421831,0.900308,0.107257],[0.050813,-0.141586,0.988621]]=H?@XWڿKH?R?/u?@9?`~¿Ȣ?i=1_>I=];=1CY]oByeIiMb@Mb@Mb@ 9L7A`?y&1{Gz?Y+'?y`弙#<2AA (A) AYQ$A p<<bDVDk2y<%9=ٔ9Q->9Y=gGy~F%/;E%>)Q 554- ?Q 954-)-BY5W'?Q E5:y=>Q I= @-2UDI-P ;i- ;-tG4yAɮEAAjigOFNOT Ignoring new targets: 490.59 m.R8Z8gO ProNav: ac range: 490.594330 m, nav range: 482.421448 m, bearing: 26.614830 deg, approach rate: -0.650210 m/s, LOS rate: 0.005323 deg/s, cmd heading: 25.293451 deg, new cmd heading: 25.298127 deg. B9gOHeadingCmd: 0.441536 target range: 490.594330 and range: 493.20 m.>* "    `BʎjZ @颅^Bɢ,) x=i)7顉i#di>:iI>II)ZAAY@Y @Y@Y@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.260055Eu EuEu(Eq"EuO:*Eu:VEuc44ZEqa}@a}@a}@a}@ԁ^A *:ԙ A I I O >\ ,+#4X@A2`>2>2kNٱ2  :AHRS rotation from veh to nav: [[0.904913,-0.412384,-0.105219],[0.422604,0.899921,0.107460],[0.050374,-0.141708,0.988626]]2H ?dڿ@ﺿ` ?'?{?ʩ?{#¿Ң?i2`>I2R];24CYFnByFIIJp>)J;HJAbDRVDRyVW%Ze=ٔZ#:Q-Z>9\Y\=^gGy\bw;Eb>dQ 5f4f ?Q 9j4f)fBYhyj >Q Ij @fAUDIf):if:fM4ypɮrArEP~B*** querying acoustic contact ***| |j gO FNOT Ignoring new targets: 490.59 m.R8Z8gO% ProNav: ac range: 490.594330 m, nav range: 482.188599 m, bearing: 26.616713 deg, approach rate: -0.649961 m/s, LOS rate: 0.005260 deg/s, cmd heading: 25.298128 deg, new cmd heading: 25.301897 deg. B%9gO-HeadingCmd: 0.441601 target range: 490.594330 and range: 493.20 m.->)*)") )1111ʎ9yB3>BB'IBBB =BBBr;BB.EjZ@egBɢmr)i m`P:I>II@I @I@M0@Iԩ^Am"5- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764075E  E E )E "E &:*E e:VE FA4ZE BE a; ! ,(<4X@A2F_>2Gy>2/Kٱ2c :AHRS rotation from veh to nav: [[0.905125,-0.411845,-0.105512],[0.422221,0.899837,0.109653],[0.049783,-0.143799,0.988354]]2H?[ڿ`? v? 4? 3}?g¿?i2F_>I24];21CYFpByFIbDNVDNyVR<%VJ=ٔZ(:Q-Z>9XYX=ZhGy^F^#E^>`Q 5f4b ?Q 9f4b)bBYhyj>Q Ij @bRUDIb:ib:bT4ylɮnApjgOFNOT Ignoring new targets: 490.59 m.R 68Z 68gO ProNav: ac range: 490.594330 m, nav range: 481.926025 m, bearing: 26.618852 deg, approach rate: -0.651185 m/s, LOS rate: 0.005306 deg/s, cmd heading: 25.301896 deg, new cmd heading: 25.306175 deg. B_9gO%HeadingCmd: 0.441676 target range: 490.594330 and range: 493.20 m.%^#>!*!"! )))))ʎ111j1Z= @qBɢ) \i)wii^#>:5I^#>I@ @@o0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019915^ANJκ1A I I! O- >Y n ,V4X@A2M_>2J:>2hEJٱ2N :AHRS rotation from veh to nav: [[0.905347,-0.411224,-0.106030],[0.421795,0.899753,0.111954],[0.049363,-0.146080,0.988041]]2H?}Qڿ$? ?? F?¿ ?i2M_>I2BS];0YfjBrchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.268120yID9D=<EE EEEE%EA"EE:*EE:VEE 4ZEAaM@aM@aM@aM@iMb@Mb@Mb@ 9%C?I +{Gzt?YZ$?y94ף;5AA (A)AY$A@AAAbDVDyM%8=ٔx:Q->9Y=hGyE>Q 54$ ?Q 942)BY$?Q E:y >Q I  @dUDI:i:\4yB1ɮAjgOFNOT Ignoring new targets: 490.59 m.Rv8Zv8gO- ProNav: ac range: 490.594330 m, nav range: 481.642487 m, bearing: 26.622077 deg, approach rate: -0.606083 m/s, LOS rate: 0.006897 deg/s, cmd heading: 25.306175 deg, new cmd heading: 25.312629 deg. B-I9gO5HeadingCmd: 0.441789 target range: 490.594330 and range: 493.20 m.5!2>9*9"9 999AEjBʎAAAjIZM@w @|B/G-`]Aɢ-CA)9 MiI)e]u9u`]AYuAai i!2>&:((;I!2>Ia9@9 @9@E 0@AB2>BB:IBBBBBB(s;Bh.EBBBB =B =C&+5BDAT read: Rx Time:00:33:20.9748 TRx dataTimestamp_ set to:1761698001.638519checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523428Թ^A% "5A) zA- ]A AY Iq I O >7 ,e4q4X@A:;{^>:>:[Fٱ:I BAHRS rotation from veh to nav: [[0.905651,-0.410649,-0.105658],[0.421251,0.899797,0.113632],[0.048408,-0.147419,0.987889]]:H`?Hڿb ?#??`Ȩ?¿Ȝ?i:;{^>I:d];:0CYNtByNI PPbDVVDV1y^?b=%bZ=ٔb&;Q-b>9dYd=fhGyfFf*ٺEf>lQ 5n4n7 ?Q 9r4n)nBYpyrż>Q Ir @nsUDIn :in:nc4ytɮzAzEjgOFNOT Ignoring new targets: 490.59 m.RR9ZR9gO- ProNav: ac range: 490.594330 m, nav range: 481.402435 m, bearing: 26.624827 deg, approach rate: -0.683198 m/s, LOS rate: 0.007831 deg/s, cmd heading: 25.312628 deg, new cmd heading: 25.318132 deg. B-Qe9gO5HeadingCmd: 0.441885 target range: 490.594330 and range: 493.20 m.5>>9*9"9 999AAʎAAIjIZM@Bɢ) i)~ii%>>%G:%[scI%>>I)qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.7722249@ @@4@E EE&E"E:*EX:VE4ZEBE,# ,ߌ4X@ADAT read: Range 11 to 50 : 482.7 m (Round-trip 643.7 ms) speed 0.7 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.998665,0.010458,0.050593].Fpublishing direction and range infoynt?ab>3k?|rQ?YYC )MIT>iF1>'@k]=&@ 4QO=)+9Y=hGy%E%>)Q 554-S ?Q 954-)-ȎBY5&?Q E5:y5>Q I5 @-UDI-:i-:-l4yAɮEAA%4X@AJCRCji>-<)}@ƫ@<=J8@rnt?ab>3k?|rQ?Z+<b4QO=z@rƻ(j@ñU"gO addTargetRange:: Added new target pos. range: 482.700012 m, deltaT: 4.284716 s, deltaX: -10.500000 m, approachRate: -2.450571 m/s, rangeRepo size: 4 gO Added new target pos. range: 480.151276 m, bearing: 25.970198 deg, lat: 36.779196 deg, lon: -121.858990 deg, deltaT: 4.284716 s, deltaX: -10.443054 m, approachRate: -2.437280 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 480.15 m.RZgO ProNav: ac range: 480.151276 m, nav range: 480.325073 m, bearing: 26.557842 deg, approach rate: 0.000000 m/s, LOS rate: 0.007831 deg/s, cmd heading: 25.318132 deg, new cmd heading: 25.326725 deg. BgOHeadingCmd: 0.442035 target range: 480.151276 and range: 482.70 m.aR>*" ;Bʎj@3+~@Z%?%Bɢ%-)! -[i))-))i-Ji5aR>5&:5fI5aR>I9*DAT read: user:422> BDAT read: Tx time:00:33:22.2769 $Ping request sent.B B FIB BB =B B B fs;B .EI I O >) ,q4X@AVchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251482J]>Jpv>J?ٱJ$ bAHRS rotation from veh to nav: [[0.906087,-0.409928,-0.104716],[0.420493,0.899893,0.115665],[0.046818,-0.148835,0.987753]]JH@?`B<ڿκ [?@?:?? ÿ`?iJ]>IJ)];J-CYutBy}IbDVDNy(μ%n=ٔ;Q-?9Y=hGyF&E?ԱQ 54 e ?Q 94)ώBYy@>Q I @UDI:i:r4yɮAPB*** querying acoustic contact *** jgO FNOT Ignoring new targets: 480.15 m.R 9Z9gO ProNav: ac range: 480.151276 m, nav range: 480.103607 m, bearing: 26.560540 deg, approach rate: -0.654605 m/s, LOS rate: 0.007977 deg/s, cmd heading: 25.326726 deg, new cmd heading: 25.332124 deg. B%i9gO%HeadingCmd: 0.442129 target range: 480.151276 and range: 482.70 m.%^>)*)") )))11ʎ119j9Z=?eBɢe) i)''ib>i^>n:0:I^>I@ @@4@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502241^A"5E EE$E"E:*EF:VE4ZEBE1 m0 ,4X@A6d^>6Z>6>ٱ6w BAHRS rotation from veh to nav: [[0.905918,-0.410478,-0.104020],[0.420893,0.899823,0.114749],[0.046497,-0.147735,0.987933]]6HG? GEڿ@ ?@Z?8`?`~Χ?@¿&?i6d^>I6e];60CYJlByJIbDV VDV2yZ %^[=ٔ^ra:Q-^>9`Y`=bhGy`f:Ef>dQ 5j4fx ?Q 9n4fQ)f׎BYlynw>Q In @fUDIf#;if;fy4yvBɮvAvEj gOFNOT Ignoring new targets: 480.15 m.R 9Z 9gO% ProNav: ac range: 480.151276 m, nav range: 479.863098 m, bearing: 26.563460 deg, approach rate: -0.647881 m/s, LOS rate: 0.007871 deg/s, cmd heading: 25.332123 deg, new cmd heading: 25.337967 deg. B-{f9gO-HeadingCmd: 0.442231 target range: 480.151276 and range: 482.70 m.-l>1*1"1 11199ʎ9AAjAZEལ?mBɢm))q uiq)u~qyi}i}l>c:҂Il>I91@1 @9@=/@9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758032i^AII O>ԉe checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006168E  E E E "E :*E g:VE ZE a @a @a @a @ ϗ6 ,/4X@A2%W^>2>2Z<ٱ2' :AHRS rotation from veh to nav: [[0.905814,-0.410832,-0.103531],[0.421175,0.899681,0.114831],[0.045969,-0.147620,0.987975]]2Hl?Kڿ?@/?e?@I2];21CYFwByFIiMb@Mb@Mb@ 9}?5^I?~jt~jth?YM"?y1A %A)Yf"AmAAibDqVDqyM=%>=ٔ:Q->9Y=hGyF7:E>Q 54 ?Q 94 )BYw#?Q E:y>Q I @UDI':is:4yɮAjgOFNOT Ignoring new targets: 480.15 m.RJ9ZJ9gOu ProNav: ac range: 480.151276 m, nav range: 479.591858 m, bearing: 26.568224 deg, approach rate: -0.630113 m/s, LOS rate: 0.011073 deg/s, cmd heading: 25.337966 deg, new cmd heading: 25.347499 deg. Bu9gO}HeadingCmd: 0.442397 target range: 480.151276 and range: 482.70 m.}>y*y"y y*BʎjZ@?ԑ颕Bɢ&) i)顙ihi>:|I>II[A)9@ @@0@B->BCBBB =BBDBHs;Bt.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258565^A yI1 II O] > < ,=4X@A2Y^>2>2Y9ٱ2 :AHRS rotation from veh to nav: [[0.905840,-0.410862,-0.103178],[0.421197,0.899547,0.115797],[0.045236,-0.148352,0.987899]]2H?Kڿ@i??@ߤ?9)?@0¿`ߜ?i2Y^>I2o];20CYZpByZIbDfVDf0ynB%nV=ٔn~:Q-r>9pYp=rhGypv7Ev>xQ 5~4z ?Q 9~4z )zBY|y>Q I @zUDIz ;iz ;zA4y ɮ A j1gO5FNOT Ignoring new targets: 480.15 m.R=J9Z=J9gOM ProNav: ac range: 480.151276 m, nav range: 479.351135 m, bearing: 26.572456 deg, approach rate: -0.630316 m/s, LOS rate: 0.011086 deg/s, cmd heading: 25.347500 deg, new cmd heading: 25.355968 deg. BMP9gOUHeadingCmd: 0.442545 target range: 480.151276 and range: 482.70 m.UF>Q*Q"Q QYYYaʎaaajaZm@?颕Bɢ5) hi)$Z顙iA}iF>P:U҅IF>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510152bE -4jE ž4rE T0E EEE"E:*Ega:VEZEBE#a  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763451C ,_^5X@A :^>:>:k7ٱ:h BAHRS rotation from veh to nav: [[0.905738,-0.411071,-0.103243],[0.421467,0.899270,0.116957],[0.044766,-0.149446,0.987756]]:H?`NڿnP???? !ÿ?i:^>I:S^;8YNrByNIR=R=i%Mb@Mb@Mb@!!!! !9%?~jt9QYQ=UhGyUF]@4:E]>aQ 5m4eڶ ?Q 9m4e)eBYm!?Q Em:yu>Q Iu @eUDIe:ie:e4y}Bɮ}A}EjgOFNOT Ignoring new targets: 480.15 m.Ris9Zis9gO ProNav: ac range: 480.151276 m, nav range: 479.091431 m, bearing: 26.578020 deg, approach rate: -0.620430 m/s, LOS rate: 0.013300 deg/s, cmd heading: 25.355967 deg, new cmd heading: 25.367102 deg. B9gOHeadingCmd: 0.442739 target range: 480.151276 and range: 482.70 m.>*" BʎjQZUb@额ǀBɢa6) )i)顡ii>ݧ:kI>Iqm9@i @i@m0@i@u@u@u@u-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014173E EE)E"EO:*E[:VEFA4ZEa@a@a@a@ԙ AA II IY Om >A A AAB )>B B @IB BB B B B Nr;B -EI ,6)5X@AFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266511P^Ȕ_>^u>^r6ٱ^ fAHRS rotation from veh to nav: [[0.905360,-0.412139,-0.102298],[0.422299,0.899129,0.115027],[0.044572,-0.147342,0.988081]]^H?z`ڿ40?@?or?Ҧ?¿[?i^Ȕ_>I^P=^;^1CYreByrI zp9 Y=hGy;E>Q 5%4 ?Q 9%4?)BY)y-!>Q I- @UDIN:i:y4y1ɮ5 A9jYgOeFNOT Ignoring new targets: 480.15 m.Rer9Zer9gOu ProNav: ac range: 480.151276 m, nav range: 478.846222 m, bearing: 26.583254 deg, approach rate: -0.620793 m/s, LOS rate: 0.013256 deg/s, cmd heading: 25.367102 deg, new cmd heading: 25.377575 deg. Bu9gOHeadingCmd: 0.442922 target range: 480.151276 and range: 482.70 m.>*" ʎjZ#@ҀBɢmaF)! %Xi!)% !!i-i5>5::=aZI=>I9@ @@ 0@A1IAIQO]v>=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518166E EE$E"E:*Ega:VE4ZEBEx2$>27ٱ2' :AHRS rotation from veh to nav: [[0.904970,-0.413087,-0.101924],[0.423123,0.898918,0.113635],[0.044681,-0.145963,0.988281]]2H? pڿ@r?@?.?@^?¿?i2`>I2Li^;20CY^iBybIbDjVDjܲyr<%rM=ٔr܎Q-r>9tYt=vhGyvFv;Ez>|xQ 54zN ?Q 94z^)z BY y >Q I  @zUDIz*;iz+;zr4yɮAPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 480.15 m.RCg9ZCg9gO ProNav: ac range: 480.151276 m, nav range: 478.598541 m, bearing: 26.588519 deg, approach rate: -0.594061 m/s, LOS rate: 0.012637 deg/s, cmd heading: 25.377575 deg, new cmd heading: 25.388112 deg. B9gOHeadingCmd: 0.443106 target range: 480.151276 and range: 482.70 m.>*"    ʎ j1Z5 V@颍݀BɢpJ) &gi)c ii>@ :I4IU>IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7702981@! @!@%0@!AA?QAIIO>ԁ E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022136E  E E E "E *E V:VE ZE a @a @a @a @V ,\5X@A22a>2Dl>2i7ٱ2% :AHRS rotation from veh to nav: [[0.904556,-0.414392,-0.100292],[0.423999,0.899012,0.109558],[0.044764,-0.141625,0.988908]]2H?dڿ@"?? ?`G? ¿!?i22a>I29^;21CYFlByFIIJ0>)J=YiuMb@Mb@Mb@qqqq q9uX9v?!rh~jt?Yu?yul罙uD9Y=hGy;E>Q 54 ?Q 94)BY ?Q E:y>Q I @ VDI ;i" ;4yBɮAEjgOFNOT Ignoring new targets: 480.15 m.R9Z9gO  ProNav: ac range: 480.151276 m, nav range: 478.336639 m, bearing: 26.594975 deg, approach rate: -0.638526 m/s, LOS rate: 0.015747 deg/s, cmd heading: 25.388112 deg, new cmd heading: 25.401030 deg. B 9gOHeadingCmd: 0.443332 target range: 480.151276 and range: 482.70 m.\>*" BʎjZ1 @-Bɢ5|N)1 5|xi1)5@: 99i=i=\>E:EIE\>IAԉ@ @@ x0@ B}(>ByB}:IB}BB} =ByByB}q;B}-Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274776A1I9IQO]v>Ա $] ,Xv5X@A2ub>2e>2n8ٱ2 :AHRS rotation from veh to nav: [[0.904073,-0.415842,-0.098627],[0.424994,0.899102,0.104861],[0.045070,-0.136717,0.989584]]2H +? &ڿ?`3?@q? $غ?@m??i2ub>I2}(^;2/CYFqByFILLbDRVDRyV<%Z[=ٔZWQ-Z>9XY\=^hGy^F^ B;Eb>`Q 5f4b ?Q 9j4b)bBYhyj'>Q Ij @bVDIb:ib:bu4ylɮrApjgO FNOT Ignoring new targets: 480.15 m.R 9Z 9gO ProNav: ac range: 480.151276 m, nav range: 478.107697 m, bearing: 26.600598 deg, approach rate: -0.612410 m/s, LOS rate: 0.015050 deg/s, cmd heading: 25.401030 deg, new cmd heading: 25.412282 deg. BY9gO%HeadingCmd: 0.443528 target range: 480.151276 and range: 482.70 m.%>!*)") )))11ʎ111j9Z=H@eBɢe\Y)i m=ii)mT iiimp=iu>Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526127u05:{I>IE] E]EYEY"E]:*E]L_:VEYZEYBE] A c ,ȴ5X@A:.c>:6B>:W9ٱ: FAHRS rotation from veh to nav: [[0.903843,-0.416481,-0.098033],[0.425466,0.899091,0.103022],[0.045234,-0.134825,0.989836]]:HH?ࡧڿ@:?`[?_?@(?@A`?i:.c>I:>^;:.CYLyNIiUMb@Mb@Mb@QQQQ Q9U+?X9v~jt?YUv?yUU9Y=hGy:E>Q 54A ?Q 946)-BY!?Q E:yB}>Q I @+VDI:i:4yɮAjgOFNOT Ignoring new targets: 480.15 m.Rr9Zr9gO ProNav: ac range: 480.151276 m, nav range: 477.842804 m, bearing: 26.607599 deg, approach rate: -0.613474 m/s, LOS rate: 0.016223 deg/s, cmd heading: 25.412282 deg, new cmd heading: 25.426292 deg. B9gOHeadingCmd: 0.443773 target range: 480.151276 and range: 482.70 m.'6>*" Bʎ j Z@MBɢMބX)I UiQ)Ux QQiU_i]'6>]V:]SI]'6>Ia@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=4.0302759Ea EeEe&Ea"Ea*EeT:VEe4ZEaam@am@am@am@ #CuG^A^A?BɺAzA\A5ܽ95^AY5AiA .AI! I9 OE >BY A] p<Ba Ba Ba Ba Ba Ba Ba Be r;Be -EB%CB%CB!B% =B% =ԑ C% 75"j ,5X@AJDAT read: 00:33:25.3315 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 399, 0.07,-1.868, 3.054,-1.560,-1.804, PHS= 0.038,-1.380, 0.200, RAW= 155.4, 15.0, CAL= 156.0, 17.2, ROT= 354.0, -17.2 NYgot valid direction response: 00:33:25.3315 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 399, 0.07,-1.868, 3.054,-1.560,-1.804, PHS= 0.038,-1.380, 0.200, RAW= 155.4, 15.0, CAL= 156.0, 17.2, ROT= 354.0, -17.2 R8DAT read: $Error in header R*Received a bad headerVb>Vj)>V+8ٱV ^AHRS rotation from veh to nav: [[0.903929,-0.416281,-0.098098],[0.425297,0.899116,0.103501],[0.045116,-0.135278,0.989780]]VH?Yڿ8?`?@ ?`c?PG?iVb>IV{^;V1C~X#Rx 1: Read direction message, but no range.^direction in FSK: [0.950045,-0.099854,0.295708]y02~=f?ڣ_-?0000 0)2PI2=i2ף2L>2^-@2 >2@.@ 2`>)2@I2`02]35?"#?qX? 2y?)2&I2iwֽi2`]T****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseYzByI bDmyVDm:yL=%8=ٔ_9Q->9 ?Y ?=hGyF{ܹE> Q 554 `5 ?Q 954 d) Q I= @ =VDI ;;i 1; ޹4yBɮYAEjgOFNOT Ignoring new targets: 480.15 m.R͍9Z͍9gO- ProNav: ac range: 480.151276 m, nav range: 477.566528 m, bearing: 26.614916 deg, approach rate: -0.584809 m/s, LOS rate: 0.015497 deg/s, cmd heading: 25.426293 deg, new cmd heading: 25.440935 deg. B-9gO5HeadingCmd: 0.444028 target range: 480.151276 and range: 482.70 m.5W>1*9"9 999AAʎAAijiZml@颵 Bɢ)X) Pi) 项iHhiW>9C:&IW>Iԡ9@ @@4@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE EE'E"Em:*E n:VE'4ZEBEU6Mq ,u5X@A>b>>>>8ٱ>A FAHRS rotation from veh to nav: [[0.903982,-0.416111,-0.098328],[0.425183,0.899111,0.104014],[0.045126,-0.135834,0.989703]]>Hj? ڿ,36??? ?c@?i>b>I>];>2CYR~ByR I Z9j"?Yn"?=nhGylnWEn>pQ 5v4rfG ?Q 9v4r)rGBYxyz|>Q Iz @rKVDIr;ir;r4y|ɮ~<A|PB*** querying acoustic contact *** j!gO-FNOT Ignoring new targets: 480.15 m.R59Z=9gO] ProNav: ac range: 480.151276 m, nav range: 477.351135 m, bearing: 26.620629 deg, approach rate: -0.654380 m/s, LOS rate: 0.017363 deg/s, cmd heading: 25.440935 deg, new cmd heading: 25.452365 deg. B]59gOmHeadingCmd: 0.444228 target range: 480.151276 and range: 482.70 m.mq>q*q"q qqyyyʎQjZ@Bɢh) 엾i)PiNiq>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse e: !Iq>II5ZA)5[A@ @@0@@\A@\Aԁԩ^A= NJκ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseD D <E  E E &E "E :*E xv:VE 4ZE a @a @a @a @Aq Iy I O > rw ,=5X@ARb>R>RG8ٱR ZAHRS rotation from veh to nav: [[0.903965,-0.416104,-0.098512],[0.425219,0.899049,0.104401],[0.045125,-0.136264,0.989644]]RHG?sڿ8@6?? ??q*?iRb>IRl];R1CYfByfIiMb@Mb@Mb@ 9rh|?X9vI +?Y?y9<.AA #A)AYz AbD]VD]ym><%m3=ٔm5Q-u>9Y=hGyF8E>Q 54^ ?Q 94)WBY?Q E:ԱyJ>Q I @]VDI.;i; 4yɮAjygOFNOT Ignoring new targets: 480.15 m.R 9Z 9gO ProNav: ac range: 480.151276 m, nav range: 477.073547 m, bearing: 26.627808 deg, approach rate: -0.578740 m/s, LOS rate: 0.014976 deg/s, cmd heading: 25.452365 deg, new cmd heading: 25.466732 deg. BD9gOHeadingCmd: 0.444478 target range: 480.151276 and range: 482.70 m.>*" )-Bʎ119j9ZE@B*>BBBBBBBr;B%.E颵$BɢE`) gi)0项iKi>":16 I>IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@ @@b4@ ^A "5A ?A >9  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseE EE%E"E :*E&p:VE 4ZEBEN"~ ,5X@AbXc>bW>bo9ٱbf jAHRS rotation from veh to nav: [[0.903772,-0.416451,-0.098819],[0.425612,0.898847,0.104543],[0.045286,-0.136541,0.989599]]bH? ڿ5L:=?Y?Oú?/?0zʪ?libXc>IbB];b/CY By IbD=VD=yM <%M:=ٔUMQ-U>9yYy=}hGyy}:E>Q 54t ?Q 94Q)fBYy>Q I @oVDI;i;4yBɮAEjgOFNOT Ignoring new targets: 480.15 m.R Ӓ9Z Ӓ9gO= ProNav: ac range: 480.151276 m, nav range: 476.808014 m, bearing: 26.634669 deg, approach rate: -0.620665 m/s, LOS rate: 0.016045 deg/s, cmd heading: 25.466733 deg, new cmd heading: 25.480462 deg. B=9gOEHeadingCmd: 0.444718 target range: 480.151276 and range: 482.70 m.E>A*A"I IIIIqʎqqqjyZ}`̛@e/Bɢeho)a eLia)eDiii>w,:ݝI>I A@A @A@M0@IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse1^AU ea A .AI I O > ,6X@A>b>>%>>B:ٱ> FAHRS rotation from veh to nav: [[0.903930,-0.415925,-0.099581],[0.425261,0.898843,0.105991],[0.045423,-0.138157,0.989368]]>H?`ڿ &~`z7?R?`="?A??i>b>I>k];9e ?Ye ?=ehGyeFm{Em>qQ 5}4u ?Q 9}4um)usBY!?Q E:y>Q I @uVDIuL ;iu;u4yɮyAjgOFNOT Ignoring new targets: 480.15 m.Rr9Zr9gO ProNav: ac range: 480.151276 m, nav range: 476.560883 m, bearing: 26.639883 deg, approach rate: -0.628607 m/s, LOS rate: 0.013271 deg/s, cmd heading: 25.480461 deg, new cmd heading: 25.490896 deg. BM9gOHeadingCmd: 0.444900 target range: 480.151276 and range: 482.70 m.>*" BʎjZ p&@=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseE EE(E"E:*Ee:VEc44ZEa@a@a@a@颵9Bɢp) i)?B项i$Zi>&:$I>Ip>i!>im9@q @q@u/@qԑB])>BYB]FIB]BBYBYBYB]0s;B]f.E^A?Bɺ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse A ؟AI I O% >xNj ,g16X@AFb>F (>F4:ٱF+ NAHRS rotation from veh to nav: [[0.903919,-0.415879,-0.099873],[0.425282,0.898766,0.106564],[0.045445,-0.138799,0.989277]]FH@?ڿ`B@7? ?G?@D? *)?iFb>IF];F1CYZByZ1IbDbVDb:yj2=%jS=ٔnfQ-n>9r"?Yr"?=rhGypr|8Er>tQ 5z4v ?Q 9~4v)vBY|y~>Q I~ @vVDIv;ivW;v4y ɮ /A j)gO5FNOT Ignoring new targets: 480.15 m.R5n9Z5n9gOE ProNav: ac range: 480.151276 m, nav range: 476.322479 m, bearing: 26.644917 deg, approach rate: -0.615899 m/s, LOS rate: 0.013011 deg/s, cmd heading: 25.490896 deg, new cmd heading: 25.500969 deg. BM~9gOMHeadingCmd: 0.445076 target range: 480.151276 and range: 482.70 m.M>Q*Q"Q QQQԙʎjZ&@MDBɢMq)Q UIiy)}WOyyi}hi> :_)I>I 9@  @ @ @MT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapsebEEŞ4jEE4rEE0E EEE"E:*E1]:VEZEBEp%! ,oEK6X@A6Jc>6tP>6:ٱ6g >AHRS rotation from veh to nav: [[0.903784,-0.416076,-0.100281],[0.425558,0.898575,0.107069],[0.045561,-0.139442,0.989182]]6H?`ڿ V`?RT****** received valid address query ******RR****** received valid ping request ******Rreceived new query, but waiting for acoustic response period to elapsei6Jc>I6];6/CYeBye6IbDuVDuyj<%;= ٔ=Q-u>9Y=hGyFt,:E>9Q 54= ?Q 94=T)=BYyD>Q I @=VDI=WI*Q"Q QQQYYʎYYYjaZe`@颭QBɢ֔n) zi)项iOa߻i>O:Y#I>I!}9@y @y@}0@yUT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseYE EEE"E:*ET:VEZEa@a@a@a@^Aa ԁ Au .AI I O > ,ie6X@A2Jc>2Rm>2u:ٱ2 :AHRS rotation from veh to nav: [[0.903692,-0.416057,-0.101178],[0.425758,0.898241,0.109061],[0.045507,-0.141635,0.988872]]2H ?ڿ 湿@??c?k?L? !¿פ?i2Jc>I2];21CYFByFLIiMb@Mb@Mb@ 9+?sh|??B+>BB_IBÀBBBBB?s;Bn.EY?y.AA #A)Y A p<bDVD y y=% C=ٔL 9Q->9 ?Y ?=hGyF :E>!Q 54% ?Q 94%g)%BYG!?Q E:y>Q I @%VDI% ;i% ;%{4yɮAjgOFNOT Ignoring new targets: 480.15 m.RS9ZS9gO ProNav: ac range: 480.151276 m, nav range: 475.792786 m, bearing: 26.655433 deg, approach rate: -0.632947 m/s, LOS rate: 0.011577 deg/s, cmd heading: 25.513443 deg, new cmd heading: 25.522013 deg. B}9gOHeadingCmd: 0.445443 target range: 480.151276 and range: 482.70 m. >*" Bʎ   j Z 0@=[Bɢ=_w)9 =iA)EAAiEmݻiM >M?:M IM >IQeT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse@ @@0@@@1i^Au T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA) I9 II OU >Eu  Eq Eu $Eq "Eu :*Eq VEu 4ZEq BEu .^>^z9ٱ^B  jAHRS rotation from veh to nav: [[0.903590,-0.416189,-0.101549],[0.426001,0.897970,0.110335],[0.045267,-0.142958,0.988693]]^H4?٢ڿC?*?>?J-?@rL¿_?i^sc>I^y];^/CYrByrIIbD~VD~y-=%-[=ٔ-8(:Q-->91Y1=5hGy15i9:E]>aQ 5m4e ?Q 9m4ez)eBYiym2>Q Im @eVDIe:ieN:e4yBɮA|EjgOFNOT Ignoring new targets: 480.15 m.RS9ZS9gO ProNav: ac range: 480.151276 m, nav range: 475.558990 m, bearing: 26.659702 deg, approach rate: -0.631340 m/s, LOS rate: 0.011533 deg/s, cmd heading: 25.522013 deg, new cmd heading: 25.530555 deg. Bۨ9gO%HeadingCmd: 0.445592 target range: 480.151276 and range: 482.70 m.%$>!*!") )))11ʎ119j9Z=`@颅eBɢ x~) Ti)顉ԱiBܻi$>:EI$>InManaging dock network, ignoring radio surface power offm9@i @i@uf1@q}T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^Ae A ؟AI I O >9 F ,Y6X@A29d>2>29ٱ2 :AHRS rotation from veh to nav: [[0.903405,-0.416480,-0.102002],[0.426384,0.897709,0.110975],[0.045349,-0.143747,0.988575]]2H?ڿ@I??h? 8?Pf¿g?i29d>I2];21CY^By^ZIIb<)b=iMb@Mb@Mb@ 9jt?MbZd;O?Y ?yj<-A #A)YAbDVDܲy=%B=ٔLQ->9"?Y"?=hGyFń:E>Q 54h ?Q 94%)BY!?Q E:y԰>Q I @VDI]:i:Y4T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseyɮAj gO FNOT Ignoring new targets: 480.15 m.R(9Z(9gO% ProNav: ac range: 480.151276 m, nav range: 475.299225 m, bearing: 26.663476 deg, approach rate: -0.634282 m/s, LOS rate: 0.009221 deg/s, cmd heading: 25.530554 deg, new cmd heading: 25.538106 deg. B-9gO-HeadingCmd: 0.445724 target range: 480.151276 and range: 482.70 m.-5>1*1E= E=E=(E9"E=;*E=R:VE=c44ZE9aE@aE@aE@aE@"1 IIIQUBʎQQYjYZ]` @颅pBɢrz) 尾i)b顉i ڻi5>:C I5>I!@ @@4@9B*>BBxIB׀BB =BBB%s;Ba.E^A"5i  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA I I! O5 >g5 ,46X@A 2ge>2\+>28ٱ2@ >AHRS rotation from veh to nav: [[0.903090,-0.417213,-0.101798],[0.427075,0.897401,0.110806],[0.045124,-0.143543,0.988615]]2H ?ڿo`2U??]?y?_¿`?i2ge>I2g];2-CYFByDLNBAbDRVDR:2yZ%Z[=ٔZ:Q-^>9\Y\=bhGy`b;Eb>dQ 5j4f ?Q 9j4f)fBYhyn6>Q In @fVDIfl:if;f4yrBɮrApj gO FNOT Ignoring new targets: 480.15 m.R%9Z%9gO% ProNav: ac range: 480.151276 m, nav range: 475.066559 m, bearing: 26.666839 deg, approach rate: -0.626806 m/s, LOS rate: 0.009064 deg/s, cmd heading: 25.538106 deg, new cmd heading: 25.544835 deg. B%9gO-HeadingCmd: 0.445841 target range: 480.151276 and range: 482.70 m.-VE>)*)") )1111ʎ999j9ZE>e!@zBɢ) pi)iػiVE>\:3̺IVE>Ii9@ @@4@@=@=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEM EMEM'EI"EM:*EML_:VEM'4ZEIBEM5 ,6X@A"T****** received valid address query ******&R****** received valid ping request ******&received new query, but waiting for acoustic response period to elapse6Te>68U>649ٱ6 BAHRS rotation from veh to nav: [[0.902950,-0.417447,-0.102073],[0.427362,0.897227,0.111109],[0.045201,-0.143948,0.988552]]6H`?uڿu!Y??q?`$?l¿8?i6Te>I6o];4YJ̀ByJjIPbDVVDVy]y=%]@=ٔ]=Q-e>9aYa=ehGyeFmD:Em>qQ 5}4u. ?Q 9}4u)uϏBYyyc>Q I @uVDIu#;iu@;uJ4yBɮA}EjygOFNOT Ignoring new targets: 480.15 m.Rp9Zp9gO5 ProNav: ac range: 480.151276 m, nav range: 474.801025 m, bearing: 26.670669 deg, approach rate: -0.588459 m/s, LOS rate: 0.008493 deg/s, cmd heading: 25.544836 deg, new cmd heading: 25.552501 deg. B5x9gOuHeadingCmd: 0.445975 target range: 480.151276 and range: 482.70 m.uV>q*y"y ʎjZ`"@5Bɢ5y)9 =i9)=}w99i=ֻiEV>EK:*IV>I9@ @!@%4@!T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEU EUEQEQ"EUD:*EU n:VEQZEQa]@ae@ae@ae@G = 99 Y= -cA^A ?Bɺ) A1 IA IY Oe >O , 6X@AJ` f>Jڰ>J9ٱJ ZAHRS rotation from veh to nav: [[0.902647,-0.418057,-0.102260],[0.427991,0.896938,0.111024],[0.045307,-0.143982,0.988543]]JH@{?sڿ@-@4d?ඳ? l?t2?m¿@$?iJ` f>IJ5];J1CYj̀ByjlI ppxv=v=B)>BBIBBB =BBBrs;B.EBBBB =B =CV4i%Mb@Mb@Mb@!!!! !9%x&1? ףp= rh?Y%!?y%Q8%C<%.A%A !)!!Y!bD=VD=yM<%M;=ٔU~Q-U>9QYY=]hGyY]:E]>iQ 5u4m, ?Q 9u4m)mۏBYu"?Q Eu:yu>Q I} @mWDIm:imE:m4yɮAPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 480.15 m.R_9Z_9gO ProNav: ac range: 480.151276 m, nav range: 474.526123 m, bearing: 26.673649 deg, approach rate: -0.666925 m/s, LOS rate: 0.007233 deg/s, cmd heading: 25.552501 deg, new cmd heading: 25.558464 deg. BS9gOHeadingCmd: 0.446079 target range: 480.151276 and range: 482.70 m.d>*" *BʎET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapsejZ@-#@Bɢń) Tþi)99i=ԻiEd>E=8:M}IMd>IQ@ @@/@A^A y  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseE]  E] E] &EY "E] l;*E] Ar:VE] 4ZEY BE] ZFuF ,'7X@A6g.f>6]>6p7ٱ6W( NAHRS rotation from veh to nav: [[0.902609,-0.418136,-0.102268],[0.428121,0.896737,0.112140],[0.044818,-0.145001,0.988416]]6H@-?ڿ7.Uf??/? V?g¿?i6g.f>I6Ӂ];60CY րBy wI ;bD!VD!)yUR<=%UY=ٔUĪ:Q-]>9] ?Y] ?=]hGy]FeZ9Ee>Q 54? ?Q 94)BYy>Q I @WDI:i$:4yBɮIAjgOFNOT Ignoring new targets: 480.15 m.Rx8Zx8gO ProNav: ac range: 480.151276 m, nav range: 474.287750 m, bearing: 26.676230 deg, approach rate: -0.629111 m/s, LOS rate: 0.006816 deg/s, cmd heading: 25.558464 deg, new cmd heading: 25.563629 deg. BG9gOHeadingCmd: 0.446169 target range: 480.151276 and range: 482.70 m.Tp>*" ʎjZ`.#@-Bɢ-)-C` -þi))5R11i5һi=Tp>=:=ݽI=Tp>I9Ma>iI9@ @@0@@@Y5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapseԁ^AΒ{I I OM >Ա h ,7X@A6ef>6>6h6ٱ6v >AHRS rotation from veh to nav: [[0.902527,-0.418316,-0.102257],[0.428313,0.896605,0.112461],[0.044640,-0.145297,0.988380]]6H?ڿ -yi?@? ?ʼ? ۦ?`¿Р?i6ef>I6dH];6/CYJڀByJ|IiMb@Mb@Mb@ 9E?v/Q?Y&?yxiu< #A)(AYbD5VD5yE<%EL=ٔE9Q-E>9IYI=MhGyIM:EU>QQ 5e4US ?Q 9e4UM)UBYeV'?Q Ee:ye7>Q Ie @U"WDIU:iU:Uz4yqɮu'Au~Eq*q"q yyyy6BʎjZ&$@Bɢ0^) ?˾i)D.i_лi%c>%F:%qI%c>I)%9@! @!@%/@)ByByB}IB}BB} =ByByB}t;B}.EM DAT read: U 2Acoustic response timeout^AQ  Iq I O > ,I47X@A2~f>26>25ٱ2ܿ :AHRS rotation from veh to nav: [[0.902498,-0.418412,-0.102120],[0.428404,0.896515,0.112828],[0.044343,-0.145576,0.988353]]2H D?Aڿ@$j?@?L?`,?@9¿ ?i2~f>I2;*];2-CYFۀByF}IHJAbDRVDRkyV;%ZT=ٔZLJ:Q-Z>9XY\=^hGy^F|9E>!Q 5-4%Ph ?Q 9-4%)%BY1y5E>Q I5 @%3WDI%:i%':%l$4y9ɮ= A9jagOeFNOT Ignoring new targets: 480.15 m.RmM9ZmM9gO} ProNav: ac range: 480.151276 m, nav range: 473.774048 m, bearing: 26.682824 deg, approach rate: -0.647898 m/s, LOS rate: 0.008322 deg/s, cmd heading: 25.570212 deg, new cmd heading: 25.576826 deg. B}s9gOHeadingCmd: 0.446400 target range: 480.151276 and range: 482.70 m.>*" ʎjZGw%@Bɢ.) Ծi)niͻi>M:zI>IY@Y @Y@]0@Y2Acoustic response timeoutE  E E &E "E D:*E ҆:VE 4ZE BE 1Qy ] 2Acoustic response timeout ,!N7X@A2f>2>24ٱ2? :AHRS rotation from veh to nav: [[0.902429,-0.418562,-0.102113],[0.428577,0.896366,0.113356],[0.044084,-0.146059,0.988293]]2H`?ڿ$m?@?? 5? ¿?i2f>I2Fy];0YDyDLLbDRVDRNٔZ':Q-Z>9\Y\=^hGy\^9E^>`Q 5f4b| ?Q 9f4b)bBYhyj`>Q Ij @bCWDIb;ib;bK+4ynBɮnApjgOFNOT Ignoring new targets: 480.15 m.R :9Z :9gO ProNav: ac range: 480.151276 m, nav range: 473.519226 m, bearing: 26.686093 deg, approach rate: -0.648121 m/s, LOS rate: 0.008318 deg/s, cmd heading: 25.576827 deg, new cmd heading: 25.583367 deg. Bs9gO%HeadingCmd: 0.446514 target range: 480.151276 and range: 482.70 m.%{>!*!") )))ʎjZ`H&@Q颵BɢՌ) ߾i) i`5˻ie{>m:u=iIu{>Iy2Acoustic response timeout E EEE"EO:*ET:VEZEa%@a%@a%@a%@ԡy @  @ @ 0@ @ @ = Bu %>Bu CBu IBu BBu =Bq Bq Bu ht;Bu .E^A I IO%>v ,[l7X@AhY݀By%IM2Acoustic response timeouti%Mb@Mb@Mb@!!!! !9%x&1?~jtQ?Y%A ?y%D!%-A%/A %#A)%A!Y%3AbDMVDMyeL;%e<ٔmQ-m>9qYq=uhGyuF}E}>Q 54' ?Q 94k)BY ?Q E:y>Q I @XWDI":i:g44yBɮAEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 480.15 m.R39Z39gO ProNav: ac range: 480.151276 m, nav range: 473.194336 m, bearing: 26.689834 deg, approach rate: -0.622235 m/s, LOS rate: 0.007169 deg/s, cmd heading: 25.583367 deg, new cmd heading: 25.590853 deg. BQ9gOHeadingCmd: 0.446645 target range: 480.151276 and range: 482.70 m.>*" *BʎjZ`K'@-ƁBɢ-)5 5fi1)5"11i5Ȼi=>=:=IE>IAEΒ{9@ @@0@)2Acoustic response timeoutbEjEw4rEEC0Ee  Ee Ee "Ea "Ee >:*Ee [:VEe (3ZEa BEe Gw ,&7X@A2Ng>2Ҕ>2Y2ٱ2# :AHRS rotation from veh to nav: [[0.901969,-0.419535,-0.102192],[0.429593,0.895770,0.114218],[0.043622,-0.146922,0.988186]]2H`?`ڿ`=)q~?&? g=?U?`W¿7?i2Ng>I2]=^;2/CYNByRI XXb=b=bDfVDfyv`=%vg=ٔz:Q-z>9|Y|=hGy M;E>1IQ 5]45Ч ?Q 9e45D)5BYaye>Q Ie @5fWDI5;i5;5:4yɮ Aj1gO=FNOT Ignoring new targets: 480.15 m.R==8ZE=8gOM ProNav: ac range: 480.151276 m, nav range: 472.970367 m, bearing: 26.692384 deg, approach rate: -0.583315 m/s, LOS rate: 0.006645 deg/s, cmd heading: 25.590852 deg, new cmd heading: 25.595956 deg. BMB9gO]HeadingCmd: 0.446734 target range: 480.151276 and range: 482.70 m.]H>Y*Y"Y YYaaaʎaiijiZm p(@颕ЁBɢHÔ) :i)6$顡i'ŻiH>3Q:$LIH>IM2Acoustic response timeouti?BIԙ}9@y @@0@  2Acoustic response timeoutDY zD] AAEe  Ee Ee (Ea "Ee :*Ee :VEe c44ZEa au @au @au @au @^Au " A؟AIIO> ,&57X@A6{h>6>6h3ٱ6 >AHRS rotation from veh to nav: [[0.901525,-0.420657,-0.101488],[0.430505,0.895614,0.111985],[0.043787,-0.144649,0.988514]]6HL? ڿ$d? ߨ??Ck?ڃ¿?i6{h>I6@^;60CYJByJIiMb@Mb@Mb@ 9'1Z?i|?5y&1?Y"?yq`e< )XAYA p<bDVD:y|%=ٔQ- >9 "?Y "?= hGyF;E>Q 5%4 ?Q 9%4@)(BY%#?Q E%:y->Q I- @{WDI ;iT ;C4y5Bɮ5 A1IjagOeFNOT Ignoring new targets: 480.15 m.Rm!9Zm!9gO} ProNav: ac range: 480.151276 m, nav range: 472.644226 m, bearing: 26.696710 deg, approach rate: -0.665025 m/s, LOS rate: 0.008826 deg/s, cmd heading: 25.595956 deg, new cmd heading: 25.604613 deg. B}99gOHeadingCmd: 0.446885 target range: 480.151276 and range: 482.70 m.>*" B#>BBIBBB =BBDBt;B/E  $Bʎ  jZ)@]݁Bɢ]򋑽)a i)]E&顡i)i>x:;f:I>I2Acoustic response timeoutyԡE 9@A  @A @A @A  BDAT read: Response Not Received  *response not received TDAT read: user:424>Tx time:00:33:34.7269  B>BZ4ٱBͺ RAHRS rotation from veh to nav: [[0.901133,-0.421795,-0.100245],[0.431289,0.895703,0.108192],[0.044155,-0.140730,0.989063]]BH ?ڿ@=??@x?`?q¿ g?iBi>IBVL^;B1CYbByfIbDvVDvy<%(=ٔ (FQ- >9 ?Y ?=hGy%:E->AQ 54E} ?Q 94E])E5BYy>Q I @EWDIEo * "  ʎjZ *@EBIɢM콖)Q UiQ)UL(QQi]4Ľi]>]s:eA]:Ie>Ia9@ @@0@mDAT read: m2Acoustic response timeouty^A yb]:ԩAQ Ia Iq O >  2Acoustic response timeout ,B7X@AE EE'E"E:*Ega:VE'4ZEa@a@a@a@V}Fj>Vj>V7ٱV$ bAHRS rotation from veh to nav: [[0.900890,-0.422570,-0.099157],[0.431726,0.895972,0.104150],[0.044832,-0.136636,0.989606]]VH ?a ۿ^bf?̫??*?@K}ڪ?iV}Fj>IV5^;V-CYjByjIieMb@Mb@Mb@aaaa a9eMb?Q뱿Q?Ye#?ye\eu9Y=hGyF:E>Q 54 ?Q 94)@BY$?Q E:yƮ>Q I @WDI]:i:S4yɮ AvEjygO}FNOT Ignoring new targets: 480.15 m.Rs-9Zs-9ԱgO ProNav: ac range: 480.151276 m, nav range: 472.069763 m, bearing: 26.704817 deg, approach rate: -0.622738 m/s, LOS rate: 0.009478 deg/s, cmd heading: 25.612849 deg, new cmd heading: 25.620839 deg. BÊ9gOHeadingCmd: 0.447168 target range: 480.151276 and range: 482.70 m.4>*" BʎjZQ*@Bɢ>)  i)O8*iiU4>]ֶ:]-:I]4>IYBU'>BQBUIBUBBQBQBUDBUt;BU/E9@ @@0@2Acoustic response timeout ^A 0::A I! I1 9 OE > ,7X@A>[j>>>>F6<ٱ>&b FAHRS rotation from veh to nav: [[0.900689,-0.423061,-0.098894],[0.432030,0.896195,0.100917],[0.045934,-0.133620,0.989968]]>Hp?`lۿQb? ?չ?@? w`Э?i>[j>I>0Z^;>2CYRByRIZ@AZ@AbDZVDZ0ybE=%bY=ٔf?Q-f>9hYh=jhGyhjL{:Ej>lQ 5r4n ?Q 9v4n)nJBYtyv>Q Iv @nWDIn& ;in ;nZ4yxɮ~U A~wEPB*** querying acoustic contact *** j!gO%FNOT Ignoring new targets: 480.15 m.R- :9Z- :9gO= ProNav: ac range: 480.151276 m, nav range: 471.830719 m, bearing: 26.708451 deg, approach rate: -0.668457 m/s, LOS rate: 0.010165 deg/s, cmd heading: 25.620839 deg, new cmd heading: 25.628109 deg. B=Ԕ9gOEHeadingCmd: 0.447295 target range: 480.151276 and range: 482.70 m.E>A*A"A AAIIIʎQQQjQZ]+@颅Bɢ$Ѧ) ,i)+顉iK϶i>:%:I>I2Acoustic response timeout9@  @ @ 4@ )EM EMEM$EI"EM:*EMX:VEM4ZEIBEM  2Acoustic response timeoutm,8X@A02i>2>2;?ٱ25 :AHRS rotation from veh to nav: [[0.900969,-0.422353,-0.099358],[0.431371,0.896554,0.100544],[0.046614,-0.133447,0.989959]]2H?ۿ~o??F?`ݧ??i2i>I2!^;2/CYbBybIbDvVDv02y%G=ٔٺQ->9 "?Y "?= hGy F _E>Q 54d ?Q 9%4)VBY!y%>Q I% @WDI;i;Ea4y-Bɮ5u A1jgOFNOT Ignoring new targets: 480.15 m.R"9Z"9gO= ProNav: ac range: 480.151276 m, nav range: 471.571259 m, bearing: 26.712421 deg, approach rate: -0.580112 m/s, LOS rate: 0.008882 deg/s, cmd heading: 25.628109 deg, new cmd heading: 25.636055 deg. B= 9gOUHeadingCmd: 0.447434 target range: 480.151276 and range: 482.70 m.U>Q*Q"Q YYYYYʎaaajaZm@s,@ԉ颽Bɢu) Ri)-iG粻i > zz:SI:I>I uk>}C9@ @@3@/G`]A2Acoustic response timeoutM9M`]AYM`AEa EeEe%Ea"Ea*EeL_:VEe 4ZEaam@am@am@am@Թ ^A% 0::B} )>B} CB} IB} BB} =By By B} t;B} .EB%CB!B!B!B!C%f5I9 IQ O] > ,-8X@A2h>2 >2Cٱ2C :AHRS rotation from veh to nav: [[0.901413,-0.421029,-0.100941],[0.430322,0.896929,0.101693],[0.047722,-0.135105,0.989681]]2H `?#ڿ K׹ f? ??n? Kx?i2h>I2^;2-CYFByFIl]2Acoustic response timeoutiMb@Mb@Mb@ 9RQ?~jt:v?Y"?yT<,A^A )YAbDVDNy%0P=%%9=ٔ%\$Q-%>9)Yi=mhGymFu%Eu>yQ 5}4}G. ?Q 94}*Q =tI)}bBY#?Q E:y֨>Q I@}WDI}-;i}6-;}$i4yɮ AjgOFNOT Ignoring new targets: 480.15 m.RR9ZR9gO ProNav: ac range: 480.151276 m, nav range: 471.286865 m, bearing: 26.717170 deg, approach rate: -0.689293 m/s, LOS rate: 0.011516 deg/s, cmd heading: 25.636055 deg, new cmd heading: 25.645557 deg. B9gOHeadingCmd: 0.447599 target range: 480.151276 and range: 482.70 m.+>*" BʎjZ'U-@Bɢnꧽ)! %F i!)%/!!i-fi-+>- :5檹I5+>I1@ @@4@1^A rg: 2Acoustic response timeoutEm  Em Em "Ei "Em m:*Em 1]:VEm (3ZEi BEm U,rG8X@AJOVg>JPV>JYGٱJxf ZAHRS rotation from veh to nav: [[0.901964,-0.419535,-0.102235],[0.429063,0.897415,0.102724],[0.048650,-0.136519,0.989442]]JH?@ڿ ,u??`#L?@? qy?iJOVg>IJ];HYjByjI r49Y=hGy  #|E >YQ 54t@ ?Q 94;)lBYy'>Q I@WDIu*" ʎjZ`w.@Bɢ) i)%Y1!!i%ګi-0=>-R:-οѺI-0=>I)@ @@0@@[A@m2Acoustic response timeoutԁԹ^AU9Ae?Ae?II1 O= >  2Acoustic response timeout,Ja8X@AE EE#E"E,:*E|:VE3ZEa@a@a@a@:e>:>:(^Mٱ: FAHRS rotation from veh to nav: [[0.902598,-0.417547,-0.104741],[0.427556,0.897847,0.105195],[0.050118,-0.139732,0.988920]]:H?ڿRк@]?*?@?@?;?i:e>I:];:2CYNByRIIV>)Vp9QYQ=]hGy]F]NE]>aQ 5m4e6V ?Q 9m4eC)ezBYu&?Q Eu:yu>Q Iu@eWDIe:Թief:ev4yBɮ AjAgOEFNOT Ignoring new targets: 480.15 m.RM(9ZM(9gO} ProNav: ac range: 480.151276 m, nav range: 470.796875 m, bearing: 26.726968 deg, approach rate: -0.627376 m/s, LOS rate: 0.014224 deg/s, cmd heading: 25.653180 deg, new cmd heading: 25.665163 deg. B}A9gOHeadingCmd: 0.447942 target range: 480.151276 and range: 482.70 m.X>*" BʎjZ ..@}$Bɢ}װ) i)u3顑iiX>:JIX>IB*>BBBBBBBUs;Bx.E@ @@/@}2Acoustic response timeout^A ?BɺI) I9 OM >9 ,#{8X@A2"bd>2>>2Tٱ2EM :AHRS rotation from veh to nav: [[0.903056,-0.415950,-0.107122],[0.426392,0.898201,0.106882],[0.051760,-0.142196,0.988484]]2H ?`ڿ^l J??\?G?@~3¿?i2"bd>I2];2/CYFByFIbDNVDN:2yV=%VU=ٔZQ-Z>9XYX=ZhGy\^UE^>`Q 5f4bZj ?Q 9j4bs)bBYhyj>Q Ij@bXDIb;ib8;bT}4yYɮ] AYP}B*** querying acoustic contact ***y yjgOFNOT Ignoring new targets: 480.15 m.R9Z9gO ProNav: ac range: 480.151276 m, nav range: 470.552338 m, bearing: 26.732551 deg, approach rate: -0.643724 m/s, LOS rate: 0.014704 deg/s, cmd heading: 25.665163 deg, new cmd heading: 25.676335 deg. BG9gOHeadingCmd: 0.448137 target range: 480.151276 and range: 482.70 m.(r>*" ʎjZϬ/@-Bɢ`Ѳ) i)x)5iƤi(r>ɺ:0I(r>I2Acoustic response timeoutE= E=E=%E9"E=:*E=ga:VE= 4ZE9BE= 2Acoustic response timeoutԙ %,78X@A2=c>2:>2[ٱ2 :AHRS rotation from veh to nav: [[0.903493,-0.414048,-0.110742],[0.425239,0.898271,0.110824],[0.053589,-0.147221,0.987651]]2Hj?@ڿ@Y7?ࡾ?^?p? "¿՚?i2=c>I2];21CYFByFIHHbDNVDN1yVL%VJ=ٔZQ-Z>9XYX=ZhGy^F^GE^>`Q 5f4b ?Q 9f4b)bBYhyjm>Q Ij@bXDIb>:iby:bb4ynBɮn AnyEjgOFNOT Ignoring new targets: 480.15 m.R ֋9Z֋9gO ProNav: ac range: 480.151276 m, nav range: 470.294983 m, bearing: 26.738466 deg, approach rate: -0.664531 m/s, LOS rate: 0.015282 deg/s, cmd heading: 25.676334 deg, new cmd heading: 25.688170 deg. B9gO-HeadingCmd: 0.448343 target range: 480.151276 and range: 482.70 m.5<>Q*Y"Y YaiyʎjZ@jG0@颭8Bɢeg6)) -8i))-7))i-_i5<>5ex:=SI=<>I9ԡBDAT read: Rx Time:00:33:37.7722 TRx dataTimestamp_ set to:1761698018.5220492Acoustic response timeoutEU EUEU'EQ"EU[:*EUP:VEU'4ZEQau@a}@a}@a@@ @@@@@=^A B #>B CB IB )BB =B B B |s;B .EA! zA% ZA I I O >+,S8X@AJ2Acoustic response timeoutJ}4b>Jl>JcٱJ  VAHRS rotation from veh to nav: [[0.903776,-0.412367,-0.114641],[0.424383,0.898157,0.114944],[0.055567,-0.152535,0.986735]]JH?7dڿY )?`?@l? >s?HÿT?iJ}4b>IJ ^;J/CYbBybI ddiMb@Mb@Mb@ 9(\?K~jt?Y'?y^<A |!A)YbDVD0y.Z=%1=ٔWQ->9Y=hGyE>Q 54 ?Q 94 )BYf)?Q E:yh>Q I@'XDI;i;v4yBɮr AjgOFNOT Ignoring new targets: 480.15 m.R%h9Z%h9gO5 ProNav: ac range: 480.151276 m, nav range: 469.994965 m, bearing: 26.744340 deg, approach rate: -0.649090 m/s, LOS rate: 0.012717 deg/s, cmd heading: 25.688171 deg, new cmd heading: 25.699927 deg. B509gO=HeadingCmd: 0.448548 target range: 480.151276 and range: 482.70 m.=!>9*9"A AAAIMBʎIIIjQZU0@ABɢ) fi)%q9!!i%*i-!>-e:-̻I-!>I1@ @@!@!ImDAT read: 00:33:37.7722 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 353, 0.14, 3.040, 1.769,-3.117, 2.790, PHS= 0.352,-0.975, 0.333, RAW= 149.3, 4.4, CAL= 148.5, 4.6, ROT= 1.5, -4.6 q}Ygot valid direction response: 00:33:37.7722 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 353, 0.14, 3.040, 1.769,-3.117, 2.790, PHS= 0.352,-0.975, 0.333, RAW= 149.3, 4.4, CAL= 148.5, 4.6, ROT= 1.5, -4.6 PDAT read: Bearing 177.6, 3.7 (Local) ~Local bearing/azimuth received: Bearing 177.6, 3.7 (Local) DAT read: Range 11 to 50 : 480.9 m (Round-trip 641.2 ms) speed 0.5 m/s bE%Ȼ 4jE%4rE%Ȳ0E EE$E"E:*E:VE4ZEBEp%Tx time:00:33:38.8769 R#Rx 1: Read range and direction messages.\direction in FSK: [0.996437,0.026093,0.080199]Fpublishing direction and range infoy9=7}? U?zꇴ?Y=sC9999 9)=NI=X9>i=y=~>= &@=nF==H%@ =l=)=Pwԩ a2,8X@A2=b>2&>2kٱ2m >AHRS rotation from veh to nav: [[0.903659,-0.411794,-0.117584],[0.424368,0.897945,0.116649],[0.057548,-0.155310,0.986188]]2H?Zڿ(?`? ܽ?v?1ÿڎ?i2=b>I2^;20CYf ByfIbDrVDryz9<%zZ=ٔzQ-z>9|Y=hGyF%8E%>)Q 554- ?Q 954-$)-BY1y5~>Q I=@-7XDI-;i-~;-4yaɮeV AaX8X@AJ,CR,Cj>Q0G}@@o(@?ǀr.C@r7}? U?zꇴ?ZPw<bl1u%Qz@ >k@I^$O@z!+?_o:)?PZ?2YC:C"NF?*PƫVBBNF?ыo“Cq>gO addTargetRange:: Added new target pos. range: 480.899994 m, deltaT: 16.881517 s, deltaX: -1.800018 m, approachRate: -0.106627 m/s, rangeRepo size: 4 gO% Added new target pos. range: 478.346588 m, bearing: 27.366918 deg, lat: 36.779210 deg, lon: -121.858981 deg, deltaT: 16.881517 s, deltaX: -1.804688 m, approachRate: -0.106903 m/s, posRepo size: 4 j!gO%FNOT Ignoring new targets: 478.35 m.R-Z)gO] ProNav: ac range: 478.346588 m, nav range: 471.560883 m, bearing: 26.755301 deg, approach rate: 0.000000 m/s, LOS rate: 0.012717 deg/s, cmd heading: 25.699927 deg, new cmd heading: 25.709974 deg. BYgOeHeadingCmd: 0.448724 target range: 478.346588 and range: 480.90 m.e>a*a"a aiiiiԑʎqj`f~@Zz?JBɢAq) _i);))iE9:iU>U:UD̻IU>IYDAT read: 2Acoustic response timeout@ @@0@ ^AM [RӻI I O >e 2Acoustic response timeoutD D <E  E E &E "E O:*E [:VE 4ZE a @a @a @a @ 8,s8X@A> b>>2>>7sٱ>| JAHRS rotation from veh to nav: [[0.903376,-0.411876,-0.119457],[0.424724,0.897820,0.116312],[0.059345,-0.155810,0.986003]]>Ht?.\ڿ@.??ƽ?kb?@ÿU?i> b>I>^;>.CYRByRIi-Mb@Mb@Mb@)))) )9-'1Z?+ηy&1?Y-"?y-v-`<-,A-A ))-A)Y-A Ep=%eC=ٔmQ-u>9Y=hGy :E>Q 5=4= ?Q 9E4)ǐBYM$?Q EM:yM>Q IM@IXDIKb;i*;4y}Bɮ} A}zEjgOFNOT Ignoring new targets: 478.35 m.RBj9ZBj9gO ProNav: ac range: 478.346588 m, nav range: 471.287964 m, bearing: 26.760825 deg, approach rate: -0.632034 m/s, LOS rate: 0.012800 deg/s, cmd heading: 25.709974 deg, new cmd heading: 25.721029 deg. Bh9gOHeadingCmd: 0.448917 target range: 478.346588 and range: 480.90 m.g>* "    QU"BʎQQYjYZ]`?TBB>BCBIB8BB =BBDBs;B.EɢM^)I U]iQ)U=QQiU@i]g>]%q:]K-ŻI]g>Ia9@ @@/0@)2Acoustic response timeoutQ ^A A ?A >Ii Iy O >ߵ>,58X@A2c>26>2yٱ2)p >AHRS rotation from veh to nav: [[0.903125,-0.412236,-0.120112],[0.425030,0.897998,0.113794],[0.060950,-0.153822,0.986217]]2H@f?bڿ3?`f?`!?@4? mÿ?i2c>I2B _;2-CYDyFIbDRVDR:yZ_%ZV=ٔZQ-Z>9\Y\=^hGy~F:E> Q 5 4 ? ?Q 94  ) ֐BYy>Q I@ XXDI K:i : 4yEBɮE AAP}B*** querying acoustic contact ***y yjgOFNOT Ignoring new targets: 478.35 m.R%m9Z%m9gO ProNav: ac range: 478.346588 m, nav range: 471.054901 m, bearing: 26.765541 deg, approach rate: -0.640094 m/s, LOS rate: 0.012958 deg/s, cmd heading: 25.721029 deg, new cmd heading: 25.730465 deg. B9gOHeadingCmd: 0.449081 target range: 478.346588 and range: 480.90 m.>*" 2Acoustic response timeoutʎ!!!j!Z- (?E} E}E}#Ey"E}:*E}g:VE}3ZEyBE}3m:uؿIu>Iq9@ @ @ 4@ y^A- #2I I Ա O > 2Acoustic response timeoutŝE,q9X@A6.d>6>>6ٱ6n@ BAHRS rotation from veh to nav: [[0.902586,-0.413215,-0.120798],[0.425951,0.897879,0.111260],[0.062487,-0.151876,0.986422]]6H`?`rڿ@쾿 B?l?`{?M?`pÿŐ?i6.d>I6^;6/CYN%ByNIbDVVDVfyb-*=%bJ=ٔjwQ-j>9pYp=vhGytv-;Ev>xQ 5~4z ?Q 94z)zBYy6>Q I@zhXDIz ;iz;z#4y ɮ x Aj1gOEFNOT Ignoring new targets: 478.35 m.RUm9ZUm9gO ProNav: ac range: 478.346588 m, nav range: 470.802124 m, bearing: 26.770632 deg, approach rate: -0.642944 m/s, LOS rate: 0.012956 deg/s, cmd heading: 25.730465 deg, new cmd heading: 25.740653 deg. B9gOHeadingCmd: 0.449259 target range: 478.346588 and range: 480.90 m.K>*" ʎjZ}`?]fBɢe0)a e8 ia)eAiiimiK>:XIK>IԱM2Acoustic response timeoutQ@Q @Q@U4@QDzD@AE EE%E"E:*EX:VE 4ZEa@a@a@a@^Am &tI I O >A AAA @AB >B B IB LBB B B B s;B .E! K,m19X@A6d>67>6Dٱ6kaB2Acoustic response timeout BAHRS rotation from veh to nav: [[0.902247,-0.413922,-0.120908],[0.426456,0.898048,0.107907],[0.063916,-0.148921,0.986781]]6H 5?@}ڿ@K?м?џ?\?ÿ@?i6d>I6#^;4YN4ByNIli-Mb@Mb@Mb@)))) )9-)\(?/$X9v?Y-G!?y--<-,A- A ))-A)Y-A=AA9bDEVDEβyU=%UA=ٔ^Q->9Y=hGyF:E>Q 54 ?Q 94޲)BY"?Q E:y>>Q I@zXDI:i;4yBɮ A{Ej!gO%FNOT Ignoring new targets: 478.35 m.R-R9Z-R9gO= ProNav: ac range: 478.346588 m, nav range: 470.530975 m, bearing: 26.775635 deg, approach rate: -0.623773 m/s, LOS rate: 0.011516 deg/s, cmd heading: 25.740652 deg, new cmd heading: 25.750664 deg. B=9gOEHeadingCmd: 0.449434 target range: 478.346588 and range: 480.90 m.E2>A*A"A AIIIM/BʎQQQjYZ] ~0?颅nBɢE~) i)C顉i4=i2>Q:II2>I I@I @I@M0@I152Acoustic response timeout^Am3Au[AzAqE EE&E"E:*ER:VE4ZEBE+ůR,DK9X@A2Ye>2W>2̵ٱ2?a :AHRS rotation from veh to nav: [[0.901940,-0.414464,-0.121341],[0.426905,0.898118,0.105527],[0.065242,-0.146980,0.986986]]2H@?ڿ;hR?`b???`?¿b?i2Ye>I2/^;2,CYZDByZIbDbVDbkyj@=%jS=ٔn`Q-n>9pYp=rhGypv.:Ev>tQ 5z4v?Q 9~4v)v BY|y~q>Q I~@vXDIv;ivL;v?4y Bɮ r A j)gO5FNOT Ignoring new targets: 478.35 m.R5iR9Z5iR99gOM ProNav: ac range: 478.346588 m, nav range: 470.298553 m, bearing: 26.779916 deg, approach rate: -0.623831 m/s, LOS rate: 0.011497 deg/s, cmd heading: 25.750664 deg, new cmd heading: 25.759231 deg. BMT9gOUHeadingCmd: 0.449583 target range: 478.346588 and range: 480.90 m.U/>Q*Q"Q QYYaaʎaaajiZm`/@颕vBɢt) i)~E顙ii/>ٽ:㤓I/>Ia@a @a@e/@i2Acoustic response timeouti^AԱ G ^A! A! IA IQ ] 9] ^AY] AOm > E 2Acoustic response timeoutE  E E E "E ,:*E ga:VE ZE a @a @a @a @X,e9X@A2%f>2>28Їٱ2 BAHRS rotation from veh to nav: [[0.901547,-0.415179,-0.121819],[0.427577,0.897991,0.103873],[0.066267,-0.145733,0.987102]]2H@x?Kڿ /m]?W?l?? e¿W?i2%f>I2c^;2-CYZEByZIiiMb@Mb@Mb@ 9NbX9? ףp= V-?Y%?yQ<G+AA  A)AY(AbDVDNy?;%8=ٔ?Q->9Y=hGyF\:E>Q 54)?Q 94)BY d'?Q E :y >Q I @XDI/;i;4yBɮt ArEj9gO=FNOT Ignoring new targets: 478.35 m.REr`9ZEr`9gOU ProNav: ac range: 478.346588 m, nav range: 470.013824 m, bearing: 26.785365 deg, approach rate: -0.640439 m/s, LOS rate: 0.012264 deg/s, cmd heading: 25.759230 deg, new cmd heading: 25.770135 deg. BU9gO]HeadingCmd: 0.449774 target range: 478.346588 and range: 480.90 m.]H>Y*Y"Y aaaim0BʎiiijqZu!@额Bɢ{) i)G顡iAiH>S=:0IH>IB>BB!IB`BBBBBs;BN.EBMCBMCBIBM =BM =CMý5Y@Y @Y@]0@aԑu2Acoustic response timeout^AyA I I O > _,h<9X@A6q"g>6f<>6ѷٱ6] >AHRS rotation from veh to nav: [[0.901077,-0.416132,-0.122046],[0.428422,0.897821,0.101844],[0.067194,-0.144056,0.987285]]6H?ڿ_>Ek??s?3?op¿ח?i6q"g>I6W^;6/CYJQByJI R;PbDVVDVyZj=%Za=ٔ^'Q-^>9`Y`=bhGy`f\.;Ef>hQ 5j4j<?Q 9n4j)j,BYlyn>Q In@jXDIj;ij ;j]4yvBɮv AtPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 478.35 m.RB_9ZB_9gO- ProNav: ac range: 478.346588 m, nav range: 469.781067 m, bearing: 26.789801 deg, approach rate: -0.639901 m/s, LOS rate: 0.012199 deg/s, cmd heading: 25.770135 deg, new cmd heading: 25.779009 deg. B-9gO5HeadingCmd: 0.449929 target range: 478.346588 and range: 480.90 m.5 ]>1*1"1 199AAʎAAAjIZM @uBɢuS쿽)q }@iy)}Iyyi}mi ]>:Te[I ]>I2Acoustic response timeoutEE EEEE*EA"EE:*EE1]:VEE(N4ZEABEAaU2EAaUJEE;a]:EE;a]1@1 @1@50@1^AUyA]>A]>1 2Acoustic response timeoutA I I O >Y ze,z9X@A2g>2>2䉽ٱ2 :AHRS rotation from veh to nav: [[0.900780,-0.416698,-0.122308],[0.429033,0.897514,0.101975],[0.067280,-0.144331,0.987240]]2H/?,ڿ@OHu?o? ?`E9?sy¿`w?i2g>I2(^;2.CYFTByFIIJJ>)J4<bDRVDR0yVu<%ZK=ٔZV_Q-Z>9\Y\=^hGy^Fb:Eb>dQ 5f4fQ?Q 9j4f)f>BYhyj_>Q Ij@fXDIf:if:fh4y]Bɮ] AY9jIgOFNOT Ignoring new targets: 478.35 m.RJ9ZJ9gO ProNav: ac range: 478.346588 m, nav range: 469.522888 m, bearing: 26.794702 deg, approach rate: -0.581087 m/s, LOS rate: 0.011038 deg/s, cmd heading: 25.779009 deg, new cmd heading: 25.788817 deg. B9gOHeadingCmd: 0.450100 target range: 478.346588 and range: 480.90 m.zs>*" ʎjZ @BDAT read: Rx Time:00:33:41.9175 TRx dataTimestamp_ set to:1761698022.5533832Acoustic response timeoutBɢ ) ?i!EM EMEM&EI"EM :*EMX:VEM4ZEIaU@aU@aU@aU@a)e5Liiimimzs>u:ucIDIuzs>Iq9@ @@0@ԉB B B GIB BB =B B B *s;B Y.E^A] yb]Թ  2Acoustic response timeoutA I I O >6l,z9X@AYzdByz%IiMb@Mb@Mb@ 9? rhI +?Yf&?yC9<v*A A )rAY\A15AAbD=VD=k1yMJx=%M!=ٔUQ-U>9QYQ=UhGyQ]E]>aQ 5m4ek?Q 9m4e)eQBYmg'?Q Eu:yu>Q Iu@eXDIe ;ieX ;e>4yyɮ}l AyjgOFNOT Ignoring new targets: 478.35 m.R@9Z@9gO ProNav: ac range: 478.346588 m, nav range: 469.196777 m, bearing: 26.799586 deg, approach rate: -0.701949 m/s, LOS rate: 0.010519 deg/s, cmd heading: 25.788817 deg, new cmd heading: 25.798591 deg. B9gOHeadingCmd: 0.450270 target range: 478.346588 and range: 480.90 m.։>*" 6BʎjZ|@AUBɢUۗ)Q UiQ)]WNYYi)※i։>Q8:VSI։>I]9@Y @Y@a@a2Acoustic response timeoutE EE$E"E,:*EVE4ZEBEs,˼9X@A2i>2>2iٱ2Ko :AHRS rotation from veh to nav: [[0.899865,-0.418316,-0.123513],[0.430756,0.896797,0.101021],[0.068507,-0.144109,0.987188]]2H?ڿ??`ܹ?`?,r¿@ ?i2i>I2`^;2/CYBlByF0IbDNVDNNyVW9=%Va=ٔV:^Q-V>9XYX=ZhGyZF^W;E^>`Q 5f4bO~?Q 9f4b)b_BYdyf>Q Ij@bXDIb;ib;b4ynBɮn! AnsEjgOFNOT Ignoring new targets: 478.35 m.R l.9Z l.9DAT read: 00:33:41.9175 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 386,-0.17, 2.104, 0.585, 2.269, 1.752, PHS= 0.454,-1.123, 0.472, RAW= 150.6, 2.5, CAL= 149.5, 2.3, ROT= 0.5, -2.3 Ygot valid direction response: 00:33:41.9175 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 386,-0.17, 2.104, 0.585, 2.269, 1.752, PHS= 0.454,-1.123, 0.472, RAW= 150.6, 2.5, CAL= 149.5, 2.3, ROT= 0.5, -2.3 PDAT read: Bearing 175.8, 3.8 (Local) ~Local bearing/azimuth received: Bearing 175.8, 3.8 (Local) DAT read: Range 11 to 50 : 477.3 m (Round-trip 636.5 ms) speed 0.3 m/s BDAT read: Tx time:00:33:42.9832 $Ping request sent.*" ʎAAAjM}@ZM ?颵Bɢۿ) i)QP项iЍ|i>Eg:7 ĺI>I @ @@0@Թ@=@=E  E E 'E "E :*E P:VE '4ZE a @a @a @a @^A I I O > ="z,9X@ABj>B%>BٱB JAHRS rotation from veh to nav: [[0.899355,-0.419437,-0.123423],[0.431722,0.896554,0.099033],[0.069118,-0.142350,0.987400]]BH?@ڿ@T??2Z?റ?8¿`Ș?iBj>IB 4^;B.CYftByf9I hhBe>BaBe`IBeBBe =BaBaBes;Be.EiMb@Mb@Mb@ 9S㥛?Zd;~jt?Y$?yy<)A )AY AbD-VD-1y==%=4=ٔ=°Q-E>9AYI=MhGyIe8;Em>Q 54?Q 94Ȣ)qBY%?Q E:y->Q I@XDI&@;i,;4yBɮA9X@AJ`CR`Cjډ>r}@AU@40 3@r:?0ہ?.='?Z5<bl$y`6phz@1^nLj@II@zp z?;\?WLiz?2cRC:CC"ǿ?**NByBǿ?*N“C>gO addTargetRange:: Added new target pos. range: 477.299988 m, deltaT: 4.283858 s, deltaX: -3.600006 m, approachRate: -0.840365 m/s, rangeRepo size: 4 gO Added new target pos. range: 474.757568 m, bearing: 26.470032 deg, lat: 36.779248 deg, lon: -121.858992 deg, deltaT: 4.283858 s, deltaX: -3.589020 m, approachRate: -0.837801 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 474.76 m.RZgO ProNav: ac range: 474.757568 m, nav range: 472.006927 m, bearing: 26.468757 deg, approach rate: 0.000000 m/s, LOS rate: 0.009531 deg/s, cmd heading: 25.805500 deg, new cmd heading: 25.814743 deg. BgOHeadingCmd: 0.450552 target range: 474.757568 and range: 477.30 m.ɮ>*" )-;Bʎ))1j1Z5`ڌ?}Bɢ}[) i)vRiBwiɮ>s:mIɮ>I!y@y @y@0@I ^A NJκI I O5 > ,%\:X@AbEU4jEU4rEUuf0E& E&E&!E$"E&:*E&[:VE&c3ZE$BE&9!Y!=%hGy%F-E->IQ 5]4Mѩ?Q 9e4My)MBYayaQ Ie@MYDIMDA;iMJ;M4yiɮuAqPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 474.76 m.R9Z9gO ProNav: ac range: 474.757568 m, nav range: 471.757599 m, bearing: 26.471925 deg, approach rate: -0.666430 m/s, LOS rate: 0.008470 deg/s, cmd heading: 25.814743 deg, new cmd heading: 25.821081 deg. Bx9gOHeadingCmd: 0.450663 target range: 474.757568 and range: 477.30 m.I>*" ʎjZD?Bɢ-Hǽ) i)F>Ti 6ri I>):݁II>II@ @@4@yT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^AΒ{IQ Ia Om >ԩ 7,F:X@AMx>MUٱMQ ]AHRS rotation from veh to nav: [[0.898151,-0.422018,-0.123389],[0.434011,0.895877,0.095076],[0.070417,-0.138945,0.987793]]MH?Xۿ@h ??V???iMm>IM];M,CYuByuGI*DAT read: user:426> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248903i=Mb@Mb@Mb@9999 9EM EMEM%EI"EM:*EM;J:VEM 4ZEIaU@a]@a]@a]@9=E?Q뱿y&1?Y=&?y=\=`e<=(A9 =A)99Y=fAbDmVDmy}8<%}6=ٔ}=Q-}>9Y=hGy;E>Q 54?Q 94)BY'?Q E:yi>Q I@YDԡI:i>/;^4yɮ{AtEjgO FNOT Ignoring new targets: 474.76 m.R S%9ZS%9gO- ProNav: ac range: 474.757568 m, nav range: 471.468719 m, bearing: 26.475999 deg, approach rate: -0.640111 m/s, LOS rate: 0.009034 deg/s, cmd heading: 25.821081 deg, new cmd heading: 25.829235 deg. B5C9gO=HeadingCmd: 0.450805 target range: 474.757568 and range: 477.30 m.=>9*9" 2Bʎ  j Z `F?UBɢ}^)y }>iy)}ɲV顁ijli>::I>I59@1 @1@573@1@9@=[ABe>BaBeIBeBBe =BaBaBe"t;Be.E  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500047^Aq A} >A} >I I O >L^,'8:X@AlYrByrRIIv,>)v>bDzVDzNy%X=%-z=ٔ-Q--?91Y1=5hGy5F5E5?iQ 5m4m?Q 9u4m)mBYqyqQ Iu@m#YDIm:imUI*I"I IIIQQʎQYYjYZ]IQ?颅ĂBɢoн) i)EX顉ivgi>Q޵:[`E:I>I M9@I @I@M/@I^A%"9IIJIO>>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752107Ee EeEe&Ea"Ee:*Ee n:VEe4ZEaBEex6 >6#3ٱ6 >AHRS rotation from veh to nav: [[0.897798,-0.422803,-0.123273],[0.434673,0.895711,0.093608],[0.070839,-0.137624,0.987948]]6H`ú?@3ۿ͎? ?`? "? @E?i6_n>I6]];4Y^BybHIddbDjVDj0yr&%rO=ٔv"Q-v>9tYt=vhGyxz:Ez>|Q 54~$?Q 94~)~BY y ı>Q I @~3YDI~:i~/:~4yɮiAQjQechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004254gOeFNOT Ignoring new targets: 474.76 m.Rm-9Zm-9gO} ProNav: ac range: 474.757568 m, nav range: 471.001495 m, bearing: 26.482577 deg, approach rate: -0.675685 m/s, LOS rate: 0.009495 deg/s, cmd heading: 25.835303 deg, new cmd heading: 25.842397 deg. B}9gOHeadingCmd: 0.451035 target range: 474.757568 and range: 477.30 m. >*" ʎjZ`0@˂BɢM̽) m%i)FZiai >ֵ::Iu >Iq 9@ @@0@iԙ^AM0:: checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257644Du %=Du =A I I E  E O >E 'E "E *E 1]:VE '4ZE a @a @a @a @p,k:X@A:Sn>:>:ٱ: BAHRS rotation from veh to nav: [[0.897711,-0.422914,-0.123526],[0.434822,0.895633,0.093656],[0.071025,-0.137788,0.987912]]:H` ?ۿb !? ?`?.??i:Sn>I:=];8YNByN\IB>BBIBBBBBDBct;B.Ei]Mb@Mb@Mb@YYYY Y9]/$?l񲿜 rh?Y]1(?y]]C<]%A]I A ] A)]AYY]AbDuԹVDuy%7=%%8=ٔ-۹Q-->91Y1=UhGyUF]9E]>iQ 54m?Q 94m )mBYO)?Q E:y>Q I@mFYDIm[;im;m4yBɮAuEjgOFNOT Ignoring new targets: 474.76 m.R-)9Z-)9gO- ProNav: ac range: 474.757568 m, nav range: 470.707397 m, bearing: 26.486869 deg, approach rate: -0.633081 m/s, LOS rate: 0.009244 deg/s, cmd heading: 25.842398 deg, new cmd heading: 25.850987 deg. B-W9gOUHeadingCmd: 0.451185 target range: 474.757568 and range: 477.30 m.U>Q*Q"Q QYYY]BʎaaajaZe@MԂBɢUpQ½)Q U"iQ)U\YYi]4[i]>eϵ:eڡ:Ie>uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508194I9@9 @9@A@A@M=@M=^Aa 9 % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760205A I I O >פ,!:X@ADDEl EnElEl"El*Enc:VElZElBElav2ElavJEn;av:En;avyYByUI bDVDy@ּ%F=ٔQ->9Y=hGyE>Q 54?Q 94)ɑBYyQ I@WYDIu:iW: 4yBɮAPB*** querying acoustic contact *** j!gO-FNOT Ignoring new targets: 474.76 m.R-y49Z5y49gOE ProNav: ac range: 474.757568 m, nav range: 470.441864 m, bearing: 26.490748 deg, approach rate: -0.674646 m/s, LOS rate: 0.009861 deg/s, cmd heading: 25.850987 deg, new cmd heading: 25.858750 deg. BEa9gOEHeadingCmd: 0.451320 target range: 474.757568 and range: 477.30 m.Mu>I*I"I IIIQQʎQYYjYZ] @颍܂BɢnϽ) (i)^顑iUiu>vµ:q:Iu>I-9@) @1@1@1Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012154^AU?B:A I I O > CƧ,:X@AG&`]AD9`]AY%AUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264115YBy`Ionly read 0 of 1 data item for BIT error. Device response is::TS,000505042206 +10.9, 0.0,1493.3, 0 a@a a@a a@a a@a  4<bDVDJy5=%56=ٔ9Q-=>9AYA=MhGyMFQEU>YQ 5u4]Z*?Q 9u4])]ڑBQ A}+:YyE EE%E"E,:*ET:VE 4ZEa@a@a@a@Q E=:y9Q I=@]jYDI]z]W4yAɮMAIjgOFNOT Ignoring new targets: 474.76 m.R#9Z#9gO ProNav: ac range: 474.757568 m, nav range: 470.148163 m, bearing: 26.495044 deg, approach rate: -0.611432 m/s, LOS rate: 0.008949 deg/s, cmd heading: 25.858750 deg, new cmd heading: 25.867347 deg. B9gOHeadingCmd: 0.451470 target range: 474.757568 and range: 477.30 m. '>*" ʎjZd @MBɢM Ž)I M(iQ)UoaQi0Oi '>::I '>IB}>ByB}IB}ˁBB} =ByB}DB}s;B}.EBABECBABE =BE =CE5m9@i @i@q@qY BDAT read: Rx Time:00:33:46.0208  TRx dataTimestamp_ set to:1761698026.837177 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517229^AU rg:ԑ A I I O >,M:X@A2m>2>2@ٱ2Q :AHRS rotation from veh to nav: [[0.897965,-0.421435,-0.126698],[0.434140,0.895456,0.098389],[0.071988,-0.143355,0.987050]]2H ?ڿ@7?@? 0?`m?sY¿@?i2m>I2h];0YFByFfIbDNVDN:yV <%V`=ٔZT-Q-Z>9XYX=ZhGy^F^E^>`Q 5f4bG=?Q 9f4b)bBQ Aj :YhQ EjR:yjO>Q Ij@byYDIb;ibP?b4ylɮnArlE jgOFNOT Ignoring new targets: 474.76 m.R69Z69gO ProNav: ac range: 474.757568 m, nav range: 469.911438 m, bearing: 26.498526 deg, approach rate: -0.679377 m/s, LOS rate: 0.009998 deg/s, cmd heading: 25.867347 deg, new cmd heading: 25.874314 deg. B_9gOHeadingCmd: 0.451592 target range: 474.757568 and range: 477.30 m.7>*" ʎjZ @=BɢE׽)A E)iQ)UTcYYi]!Iiu7>}/n:}9I}7>I checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7690369DazDa9@ @@0@E= E=E=&E9"E=:*E=e:VE=4ZE9BE= DAT read: 00:33:46.0208 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 146, 0.49,-2.458, 2.384,-2.321,-2.729, PHS= 0.373,-1.124, 0.364, RAW= 149.7, 5.2, CAL= 149.0, 5.5, ROT= 1.0, -5.5  Ygot valid direction response: 00:33:46.0208 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 146, 0.49,-2.458, 2.384,-2.321,-2.729, PHS= 0.373,-1.124, 0.364, RAW= 149.7, 5.2, CAL= 149.0, 5.5, ROT= 1.0, -5.5  PDAT read: Bearing 179.5, 4.2 (Local)  ~Local bearing/azimuth received: Bearing 179.5, 4.2 (Local) % DAT read: Range 11 to 50 : 475.0 m (Round-trip 633.4 ms) speed 0.1 m/s - BDAT read: Tx time:00:33:47.0847 - $Ping request sent.- i;ߏ5^>m7'@޹=Bo&@ =)5>~uٱ;7 mAHRS rotation from veh to nav: [[0.897979,-0.421223,-0.127296],[0.434037,0.895475,0.098674],[0.072426,-0.143858,0.986944]]H>?@Sڿ9KA?@?B??i¿` ?iƴm>IFn];YBylII=);bDVDy<%-=ٔsQ->9Y=hGy\E>Q 5-4U?Q 9549)BQ A59Y1Q E5*:y5D>Q I5@YDI( [c}@p?`j @\`F@r061 ?q#ɑ?aVX?Z5<b ĽńՍty@F0j@4#edS@z;}^? C??UY?2WC:C"7J?*v^B`CNF?ыo“yB!C>gO addTargetRange:: Added new target pos. range: 475.000000 m, deltaT: 4.032005 s, deltaX: -2.299988 m, approachRate: -0.570433 m/s, rangeRepo size: 4 gO Added new target pos. range: 472.469513 m, bearing: 27.598484 deg, lat: 36.779210 deg, lon: -121.858981 deg, deltaT: 4.032005 s, deltaX: -2.288055 m, approachRate: -0.567473 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 472.47 m.RUZQԩgO ProNav: ac range: 472.469513 m, nav range: 466.261841 m, bearing: 26.843376 deg, approach rate: 0.000000 m/s, LOS rate: 0.009998 deg/s, cmd heading: 25.874314 deg, new cmd heading: 25.883772 deg. BgO-HeadingCmd: 0.451757 target range: 472.469513 and range: 475.00 m.5L>1*9"9 aiiyʎj}@Z9?uBɢu&ƽ) =,i)Of顙i?BiL>:m9IL>II@I @Q@U0@QEe EeEe$Ea"Eem:*Ee[:VEe4ZEaa}@a}@a}@a}@ B% >B! B% IB% ՁBB% =B! B! B% r;B% 8.E^Au 9)A.AIIO>H,wj:X@A2m>2p>2jٱ2' >AHRS rotation from veh to nav: [[0.898007,-0.421011,-0.127802],[0.433876,0.895586,0.098375],[0.073041,-0.143791,0.986909]]2H@y?ڿ[??@/?ɲ?`g¿”?i2m>I2w];2*CYbByfdIaUaU aUaU aUaU aUaU iUMb@Mb@Mb@QQQQ Q9Ujt?:v~jt?YU ?yUԽU9 ?Y ?=hGyF`E>Q 54l?Q 94) BQ AT:Y#?Q E:y>Q I@YDId;i;#4yɮAjgOFNOT Ignoring new targets: 472.47 m.R9Z9gO ProNav: ac range: 472.469513 m, nav range: 465.984100 m, bearing: 26.849507 deg, approach rate: -0.645597 m/s, LOS rate: 0.014261 deg/s, cmd heading: 25.883772 deg, new cmd heading: 25.896042 deg. B9gOHeadingCmd: 0.451971 target range: 472.469513 and range: 475.00 m.h>*" Bʎ  j Z s?a颵Bɢhܽ) 2i)hh项i=;ih>Ԣ:=Ih>I9@ @@0@ԑD=D<E EE)E"E:*EL_:VEFA4ZEBE3 >,h$;X@A:gm>:a>:k,ٱ:T FAHRS rotation from veh to nav: [[0.897865,-0.421347,-0.127689],[0.434132,0.895555,0.097523],[0.073261,-0.142996,0.987008]]:HP? [ڿ`X?b?>?@??M¿?i:gm>I:A];:,CYRByRqIbD^VD^0yfV=%fX=ٔfQ-f>9j"?Yj"?=jhGyhjJ:En>pQ 5v4r ?Q 9v4rI)rBYtyv >Q Iv@rYDIr/:irj:rP*4y~Bɮ~KA|PB*** querying acoustic contact *** j!gO%FNOT Ignoring new targets: 472.47 m.R-{9Z-{9gO= ProNav: ac range: 472.469513 m, nav range: 465.748535 m, bearing: 26.854707 deg, approach rate: -0.621316 m/s, LOS rate: 0.013721 deg/s, cmd heading: 25.896042 deg, new cmd heading: 25.906446 deg. B=9gOEHeadingCmd: 0.452153 target range: 472.469513 and range: 475.00 m.E>A*A"A IIIIIʎQQQjQZ]?颅BɢQݽ)  1i)"wj顉i4i> M:RI>IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. @ @@4@^A=Β{1 AI Iq I O > *DAT read: user:427>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245980E}  E} Ey Ey "E} :*E} F:VEy ZEy a @a @a @a @,);X@ABύm>Br>B@IٱBT JAHRS rotation from veh to nav: [[0.897985,-0.421021,-0.127923],[0.433875,0.895629,0.097989],[0.073316,-0.143495,0.986932]]BH@K?ڿ_?`??`IJ?^¿`?iBύm>IB{];B-CYZByZ|I \\iuMb@Mb@Mb@qqqq q9uCl?=ٔQ->9Y=hGyFE-E>Q 54?Q 94:)-BYW!?Q E:y=>Q I@YDI ;i" ;14yɮAnEjgOFNOT Ignoring new targets: 472.47 m.RTs9ZTs9gO  ProNav: ac range: 472.469513 m, nav range: 465.483459 m, bearing: 26.860420 deg, approach rate: -0.616607 m/s, LOS rate: 0.013296 deg/s, cmd heading: 25.906446 deg, new cmd heading: 25.917878 deg. B 9gO HeadingCmd: 0.452352 target range: 472.469513 and range: 475.00 m.>*" Bʎ!!j!Z%``+?B=>B9B=IB=߁BB9B9B9B=q;B=-Em BɢmTRս)q um0iq)u6lyyi}-i}>Aɳ:I>II[A)1M9@I @I@M4@I@U\A@U\AiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.496398Y^A59ԉ Aa Ii Iy O >,C;X@A0:m>:m8>:ٱ: BAHRS rotation from veh to nav: [[0.898168,-0.420589,-0.128057],[0.433476,0.895803,0.098159],[0.073430,-0.143673,0.986897]]:H˽?@ڿ`/d`?@k? ? K̲?c¿?i:m>I:tn];:,CYRByRI Zp9hYh=nhGylr&Ev>xQ 5 4z?Q 9 4zh)zQ I@zYDIz;iz;zz84y)ɮ-fA)mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.748885jgOFNOT Ignoring new targets: 472.47 m.Rn9Zn9gO ProNav: ac range: 472.469513 m, nav range: 465.249207 m, bearing: 26.865486 deg, approach rate: -0.600952 m/s, LOS rate: 0.013005 deg/s, cmd heading: 25.917879 deg, new cmd heading: 25.928017 deg. Bh9gOHeadingCmd: 0.452529 target range: 472.469513 and range: 475.00 m.>*"bE!4jE£#4rEa0E EEE"E:*ErN:VEZEBE &:5I>Iԉ@ @@4@Թ^AΒ{ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001583 A I) I9 OE >,W];X@A2l>27>2 ٱ2 :AHRS rotation from veh to nav: [[0.898334,-0.420108,-0.128472],[0.433090,0.895942,0.098597],[0.073682,-0.144213,0.986800]]2H@'? ڿq`?`?=?ܲ?u¿ܓ?i2l>I2G];2/CYDyDbDRVDRٔZ%Q-Z>9XY\=^hGy^F`b Eb>dQ 5j4f?Q 9j4f)fLBYhynЖ>Q In@fYDIf:if%;fr?4yvBɮv`Atj gOFNOT Ignoring new targets: 472.47 m.Rz9Zz9gO% ProNav: ac range: 472.469513 m, nav range: 465.003662 m, bearing: 26.870815 deg, approach rate: -0.630443 m/s, LOS rate: 0.013689 deg/s, cmd heading: 25.928018 deg, new cmd heading: 25.938681 deg. B-k9gO-HeadingCmd: 0.452715 target range: 472.469513 and range: 475.00 m.-P>1*1"1 11199ʎ99AjAZE wQ@Bɢܽ) &.i!)-Gq))i5 ieP>m`s:uOźIP>I}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253223y@ @@/@E EE&E"E:*E1]:VE4ZEa@a@a@a@B=>B9B=IB=BB9B9B9B=6q;B=a-E^AqI A I I O% >% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504175>,Ɏw;X@A2l>2r>2hٱ2 :AHRS rotation from veh to nav: [[0.898258,-0.420220,-0.128634],[0.433216,0.895895,0.098472],[0.073863,-0.144180,0.986791]]2H?ڿwι?`+?w5? ?@|t¿ʓ?i2l>I2 /];2,CYFByFI9iuMb@Mb@Mb@qqqq q9u/$?MbI +?Yu?yuu99Y=hGyk9E>Q 54o?Q 94k)^BY?Q E:y>Q I@YDIC ;iX ;G4yBɮ0AoEjgOFNOT Ignoring new targets: 472.47 m.Re9Ze9gO  ProNav: ac range: 472.469513 m, nav range: 464.741058 m, bearing: 26.876253 deg, approach rate: -0.606352 m/s, LOS rate: 0.012562 deg/s, cmd heading: 25.938682 deg, new cmd heading: 25.949563 deg. B 9gOHeadingCmd: 0.452905 target range: 472.469513 and range: 475.00 m.4>*" Bʎ!!!j!Z-@U BɢUٽ)Q ]e:er\Ie4>Iiu>iu>9@ @@@@=@=ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759326ԙE EEE"E:*Exv:VEZEBE &,6>6=ٱ6n >AHRS rotation from veh to nav: [[0.898233,-0.420218,-0.128820],[0.433224,0.895917,0.098239],[0.074130,-0.144049,0.986790]]6HR? ڿ+}`?@Y?,&?1?2p¿ȓ?i6Kl>I6 ];4YJˁByJIPPbDV VDV2yZ<=%^Z=ٔ^t;Q-b>9`Y`=bhGybFfK8Ef>hQ 5n4j?Q 9n4j)jmBYlyr>Q Ir@jYDIj;ij;jM4ytɮvAtPB*** querying acoustic contact ***  jgOFNOT Ignoring new targets: 472.47 m.Re9Ze9gO- ProNav: ac range: 472.469513 m, nav range: 464.513733 m, bearing: 26.880963 deg, approach rate: -0.605338 m/s, LOS rate: 0.012551 deg/s, cmd heading: 25.949562 deg, new cmd heading: 25.958988 deg. B-9gO5HeadingCmd: 0.453070 target range: 472.469513 and range: 475.00 m.5>1*1"1 999AAʎAAAjIZM @u'Bɢu4t߽)q } .iy) u顁ii>:ӺI>IԙiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.009187U9@Q @Q@U0@Q^AuNJκA .AI! Iy  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262724O >E  E E E "E :*E [:VE ZE a @a @a @a @ P,D;X@A2hl>2d>2\ٱ2ȅ :AHRS rotation from veh to nav: [[0.898327,-0.419960,-0.129008],[0.432995,0.896024,0.098265],[0.074327,-0.144134,0.986763]]2H?ڿR 0?:?'?`?r¿?i2hl>I2];2-CYRՁByRIieMb@Mb@Mb@aaaa a9e+?~jt:v?Ye?yeĽe=ٔQ->9 ?Y ?=hGyE>Q 54?Q 94~})BY!?Q E:y>Q I@ZDI:i{:U4yBɮABA<B>BBIBBB =BBBq;BQ-EjgO%FNOT Ignoring new targets: 472.47 m.R%wf9Z-wf9gOE ProNav: ac range: 472.469513 m, nav range: 464.247650 m, bearing: 26.886475 deg, approach rate: -0.607591 m/s, LOS rate: 0.012593 deg/s, cmd heading: 25.958988 deg, new cmd heading: 25.970018 deg. BE_9gOMHeadingCmd: 0.453262 target range: 472.469513 and range: 475.00 m.M>I*I"Q QQYY]BʎaaijiZm@Q @颭.Bɢ-׽)1 5,i1)5)x11i=[S i=>=:E?IE>IA@ @@/@!BDAT read: Rx Time:00:33:50.1193 TRx dataTimestamp_ set to:1761698030.869141checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513216i^A- ?BɺA] ؟AIa Iq ԉ O >8,2;X@AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.764072YE߁ByMIbD]VD]ymG=%mL=ٔmQ-u>9u"?Yu"?=uhGyuF}E}>Q 54?Q 94{)BYyQ I@ ZDI:i:\4E EE%E"E:*ET:VE 4ZEBE3*"     ʎjZ`v@E5BɢEݽ)A E*iI)MLzIIiMf\yiUl)>M$:^5 Il)>I@ @@0@@@ԩ^AeU DAT read: 00:33:50.1193 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 148,-0.28, 1.498,-0.080, 1.718, 1.069, PHS= 0.530,-1.104, 0.604, RAW= 152.2, -0.4, CAL= 151.1, -1.2, ROT= 358.9, 1.2 ] Ygot valid direction response: 00:33:50.1193 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 148,-0.28, 1.498,-0.080, 1.718, 1.069, PHS= 0.530,-1.104, 0.604, RAW= 152.2, -0.4, CAL= 151.1, -1.2, ROT= 358.9, 1.2 e PDAT read: Bearing 172.2, 3.4 (Local) m ~Local bearing/azimuth received: Bearing 172.2, 3.4 (Local) u DAT read: Range 11 to 50 : 472.8 m (Round-trip 630.4 ms) speed 0.4 m/s } BDAT read: Tx time:00:33:51.1847 } $Ping request sent.} c,;X@Adr^A|5S95^AY5Anl>n>n$ٱn, AHRS rotation from veh to nav: [[0.898223,-0.420116,-0.129222],[0.433145,0.896005,0.097775],[0.074707,-0.143795,0.986784]]nH>?,ڿ[स??? ?g¿?inl>In\;n*CYByI 4< p;bDeVDe:yp<%7=ٔ?_Q->9Y=hGy =B9EE>Q 54&?Q 9 44y)BYy'>Q I%@3ZDI-wa}@+)r "c ♲#r-4?.Wj_2qZ-Fb-<-D z@6׍'&Rh@aӲ:@z-|b?BQyxz?y$?2-BC:-C"-TϜ?*-v{B-LB)-*N“)-C-c>gO addTargetRange:: Added new target pos. range: 472.799988 m, deltaT: 4.033591 s, deltaX: -2.200012 m, approachRate: -0.545423 m/s, rangeRepo size: 4 gO Added new target pos. range: 470.281342 m, bearing: 24.481118 deg, lat: 36.779210 deg, lon: -121.858992 deg, deltaT: 4.033591 s, deltaX: -2.188171 m, approachRate: -0.542487 m/s, posRepo size: 4 jagOeFNOT Ignoring new targets: 470.28 m.RmZigO ProNav: ac range: 470.281342 m, nav range: 463.264252 m, bearing: 26.789178 deg, approach rate: 0.000000 m/s, LOS rate: 0.012910 deg/s, cmd heading: 25.980257 deg, new cmd heading: 25.993218 deg. BgOHeadingCmd: 0.453667 target range: 470.281342 and range: 472.80 m.G>*"   ʎ  ǰ}@Z`?u>Bɢulѽ)y }+iy)}G}顁ip iG>9: IG>I1@1 @1@=/@9B >B B  IB 'BB =B B B q;B -EBBBB =B =Cǚ4) ^AU ] a I1IAO]>w,;X@A2٬l>2>2~pٱ20 :AHRS rotation from veh to nav: [[0.898254,-0.420010,-0.129348],[0.433055,0.896053,0.097738],[0.074852,-0.143809,0.986771]]2H?qڿy@+? w?b? x)?Sh¿ ?i2٬l>I2\;2,CYFByFIiMb@Mb@Mb@ 9ףp= ?ʡEZd;O?Y?y-j<I"A A A) AYA!5PBattery below minimum, enabling chargingI9bDUVDU:y3=%7=ٔ Q- >9 Y = hGyF)fE>Q 5E4;?Q 9E4w)BYMb ?Q EM:yM>Q IM@DZDI:;i;k4yUBɮUlAQjgOFNOT Ignoring new targets: 470.28 m.R-b9Z-b9gO ProNav: ac range: 470.281342 m, nav range: 463.006134 m, bearing: 26.794071 deg, approach rate: -0.651635 m/s, LOS rate: 0.012359 deg/s, cmd heading: 25.993219 deg, new cmd heading: 26.003010 deg. B9gO HeadingCmd: 0.453838 target range: 470.281342 and range: 472.80 m. y]> * "  9=BʎAAAjIZM3?Y额DBɢܽ) A&i)h顡iSi-y]>5:5+I5y]>I1DD=E EE)E"E%;*EL_:VEFA4ZEBE Kn,2 >2Zٱ2vZ :AHRS rotation from veh to nav: [[0.898187,-0.420089,-0.129561],[0.433169,0.895991,0.097799],[0.075002,-0.143963,0.986737]]2H?ڿ@v ? ?@V ?L3?dm¿X?i2l>I2{\;2+CYFByFIIbDVVDVy^=%^d=ٔ۹Q->9 Y = hGy  {9E>Q 5%4M?Q 9%44u)ȒBY!y%>Q I%@RZDI;i;%r4y)ɮ5A1PMB*** querying acoustic contact ***I IjYgO]FNOT Ignoring new targets: 470.28 m.ReY9ZeY9gOu ProNav: ac range: 470.281342 m, nav range: 462.780182 m, bearing: 26.798355 deg, approach rate: -0.627274 m/s, LOS rate: 0.011898 deg/s, cmd heading: 26.003010 deg, new cmd heading: 26.011582 deg. Bu29gO}HeadingCmd: 0.453988 target range: 470.281342 and range: 472.80 m.}q>y*y"y yʎjZ?ԙ颽IBɢk)  i)ʄiߺiq>O,:Iq>Iu9@q @q@u4@q^A] T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԡE EE'E"Em:*E[:VE'4ZEa- @a- @a- @a- @II IY Om >Թ A @AA O ,a0F>FٱFWBN!>BNCBN: IBNEBBN =BLBNDBNr;BN-E ZAHRS rotation from veh to nav: [[0.898302,-0.419747,-0.129871],[0.432944,0.895997,0.098731],[0.074922,-0.144917,0.986603]]FH?#ڿ@\??kF?`.?`¿@?iFNl>IF ];F,CYbBybIiMMb@Mb@Mb@IIII I9MV-?㥛 S㥛?YM|?yMM/9Y=hGyFE>Q 5 4ec?Q 94r)ڒBY ?Q E:y>Q I@dZDI2 ;i ;y4y!ɮ%A%qEjAgOMFNOT Ignoring new targets: 470.28 m.RM"59ZM"59gOe ProNav: ac range: 470.281342 m, nav range: 462.511749 m, bearing: 26.802656 deg, approach rate: -0.617365 m/s, LOS rate: 0.009898 deg/s, cmd heading: 26.011582 deg, new cmd heading: 26.020189 deg. Be9gOmHeadingCmd: 0.454138 target range: 470.281342 and range: 472.80 m.mƄ>i*i"i iiqquBʎyyyjyZ}{?ԑ颭PBɢֽ) i)o顱ieѺiƄ>:-5IƄ>I*DAT read: user:428> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495954M9@I @I@M4@I^Am2IIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746305D zD E  E E E "E >:*E R:VE ZE BE 2!>2:]ٱ2 :AHRS rotation from veh to nav: [[0.898150,-0.420252,-0.129283],[0.433277,0.895960,0.097603],[0.074815,-0.143678,0.986793]]2H?iڿ[`Ϻ???`'?`d¿͓?i2_l>I2\;2*CYFByF IbDRVDR:yV)W=%VX=ٔZћ9Q-Z>9XY\=^hGy\^d:Eb>`Q 5f4bUu?Q 9f4bp)bBYhyjǭ>Q Ij@brZDIb:ibd:b4yBɮ2A!jagOeFNOT Ignoring new targets: 470.28 m.Rm /9Zm /9gO ProNav: ac range: 470.281342 m, nav range: 462.287872 m, bearing: 26.806238 deg, approach rate: -0.597453 m/s, LOS rate: 0.009565 deg/s, cmd heading: 26.020190 deg, new cmd heading: 26.027358 deg. B 9gOHeadingCmd: 0.454263 target range: 470.281342 and range: 472.80 m.,>*" ʎjZx?%VBɢ-D۽)) -i))-D)1i5Aĺi],>] :]q#I],>Ia@ @@Q4@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998120^A"5IQIiOu>I ,-[drl>rҙٱr -AHRS rotation from veh to nav: [[0.897888,-0.420868,-0.129106],[0.433782,0.895834,0.096512],[0.075039,-0.142661,0.986923]]rH~?~ڿ ???5?B¿ߔ?irm>Ir];pY,By IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.252661E EEE"E;*E1]:VEZEa@a@a@a@QiMb@Mb@Mb@ 9V-?V-Mb?Yyh=A )I AYAbDVDyia=%#=ٔ1Q->9Y=hGyF:E>Q 54?Q 94n)BYQ E:y6>Q I@ZDI ;i:݈4yBɮAhEjgO FNOT Ignoring new targets: 470.28 m.R z29Zz29gO ProNav: ac range: 470.281342 m, nav range: 461.978058 m, bearing: 26.811016 deg, approach rate: -0.631933 m/s, LOS rate: 0.009752 deg/s, cmd heading: 26.027358 deg, new cmd heading: 26.036920 deg. B%Ȏ9gO%HeadingCmd: 0.454430 target range: 470.281342 and range: 472.80 m.- >)*)") )))15Bʎ119j9Z=`ب@e^Bɢm?ҽ)i m"ii)mƒqqiuxviu >}k:}YI} >Iy!@! @!@%4@)@5[A@5[AB]>B]CB]` IB]dBB] =BYB]DB]q;B]-EyԱ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502276^A] 7Ai Am ?A I I O >,qZ2>2pjٱ2I >AHRS rotation from veh to nav: [[0.897729,-0.421054,-0.129602],[0.434061,0.895669,0.096790],[0.075327,-0.143146,0.986831]]2H2?ڿ͖ ?@R? 7Ǹ?H?R¿@?i2 m>I2\;2+CYF=ByF1 IbDnVDnyv=%zw=ٔzdQ-z?9|Y|=~hGy|~_}:E~?Q 5 4q?Q 94Bl)BYyd>Q I@ZDIM;iI;4yBɮ>A!jAgOEFNOT Ignoring new targets: 470.28 m.RM-9ZM-9gO] ProNav: ac range: 470.281342 m, nav range: 461.773560 m, bearing: 26.814164 deg, approach rate: -0.617011 m/s, LOS rate: 0.009503 deg/s, cmd heading: 26.036920 deg, new cmd heading: 26.043219 deg. B]"9gOeHeadingCmd: 0.454540 target range: 470.281342 and range: 472.80 m.eu>a*a"a iiiqqʎqqqjyZ}@O@颥cBɢ/޽) i)顩i@٪iu>;:Iu>I!a@i @i@m0@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754263DD<bEĞ4jE24rEϚ/E% E%E%%E!"E%:*E%g:VE% 4ZE!BE%%,:>:8ٱ:8 FAHRS rotation from veh to nav: [[0.897767,-0.420952,-0.129666],[0.433969,0.895714,0.096788],[0.075401,-0.143164,0.986823]]:H`? ڿ $? ?Ǹ?@uM?2S¿ ?i:߼m>I:\;:(CY^>Byb2 IbDjVDjk1yr_;%rL=ٔrAQ-r>9v ?Yv ?=vhGyvFvłEz>xQ 54z-?Q 94z j)z"BYyW>Q I @zZDIz`;iz;z4yBɮ0AiEP-B*** querying acoustic contact ***) )j9gO=FNOT Ignoring new targets: 470.28 m.RE-9ZE-9gOU ProNav: ac range: 470.281342 m, nav range: 461.526672 m, bearing: 26.817972 deg, approach rate: -0.615496 m/s, LOS rate: 0.009498 deg/s, cmd heading: 26.043219 deg, new cmd heading: 26.050839 deg. BU9gO]HeadingCmd: 0.454673 target range: 470.281342 and range: 472.80 m.]>Y*Y"Y aaaaaʎiiijiZu@颕iBɢ׽) qi)‹顙i˝i>;:XI>Iԑi@i @i@m/@iԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.261320EM EMEM'EI"EM&:*EML_:VEM'4ZEIau@au@au@au@^ANJκ A ؟AB <A <I I1 OM >B >B CB IB BB =B B DB r;B -E*,,K6>>6;Rٱ6 >AHRS rotation from veh to nav: [[0.897671,-0.421144,-0.129713],[0.434105,0.895735,0.095979],[0.075768,-0.142466,0.986895]]6H?ڿp^?ܩ??e?V<¿?i6m>I6];6-CYFRByJK IXimMb@Mb@Mb@iiii i9mMbX9?T㥛 I +?Ym!?ymm99"?Y"?=hGy9E>Q 54?Q 94g)3BY"?Q E:yz>Q I@ZDI. ;ie ;!4yɮAjgOFNOT Ignoring new targets: 470.28 m.R! 9Z! 9gO ProNav: ac range: 470.281342 m, nav range: 461.258362 m, bearing: 26.821709 deg, approach rate: -0.627834 m/s, LOS rate: 0.008750 deg/s, cmd heading: 26.050838 deg, new cmd heading: 26.058317 deg. B9gO HeadingCmd: 0.454803 target range: 470.281342 and range: 472.80 m. > * "  BʎjZ%k @MoBɢMս)Q UiQ)UyQQiUi]>]S:]Ie>Ia5BDAT read: Rx Time:00:33:54.2165 =TRx dataTimestamp_ set to:1761698034.902111Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.512470@ @@0@@@^A 7AZAzA[AA I I O >9  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762214D1 zD5 ?AE=  E= E= #E9 "E= :*E= ga:VE= 3ZE9 BE= .R>RҳٱRl ZAHRS rotation from veh to nav: [[0.897569,-0.421352,-0.129740],[0.434282,0.895696,0.095536],[0.075953,-0.142094,0.986935]]RH?mڿ RF?? u?q?"0¿?iRn>IR];R.CYfXByfR IbDrVDryz%<%zV=ٔzuQ-z>9|Y|=~hGy~FF :E> Q 54 ?Q 94 \e) BBYy>Q I@ ZDI :i : У4y!ɮ-\A)jIgOUFNOT Ignoring new targets: 470.28 m.RU9ZU9gOe ProNav: ac range: 470.281342 m, nav range: 461.018768 m, bearing: 26.825045 deg, approach rate: -0.625881 m/s, LOS rate: 0.008718 deg/s, cmd heading: 26.058317 deg, new cmd heading: 26.064992 deg. BeI9gOmHeadingCmd: 0.454920 target range: 470.281342 and range: 472.80 m.mD>i*i"q qqqyyʎyyjZ n@颭uBɢnؽ) Xi)X顱iiD>w: ID>Iq@q @q@u 0@qQuDAT read: 00:33:54.2165 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 150, 0.37,-1.008,-2.529,-0.841,-1.452, PHS= 0.546,-1.032, 0.567, RAW= 150.7, -1.0, CAL= 149.7, -1.8, ROT= 0.3, 1.8 }Ygot valid direction response: 00:33:54.2165 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 150, 0.37,-1.008,-2.529,-0.841,-1.452, PHS= 0.546,-1.032, 0.567, RAW= 150.7, -1.0, CAL= 149.7, -1.8, ROT= 0.3, 1.8 PDAT read: Bearing 171.9, 5.0 (Local) ~Local bearing/azimuth received: Bearing 171.9, 5.0 (Local) DAT read: Range 11 to 50 : 470.7 m (Round-trip 627.6 ms) speed 0.5 m/s BDAT read: Tx time:00:33:55.2769 $Ping request sent.ԡ <9,Zh>ZjٱZr ~AHRS rotation from veh to nav: [[0.897647,-0.421148,-0.129860],[0.434095,0.895789,0.095521],[0.076099,-0.142116,0.986921]]ZH?`ڿ@D@5?@M?@t?9{?0¿`ڔ?iZlm>IZ`J];Z+CyE  E E &E "E >:*E L_:VE 4ZE a-@a5@a5@a5@YmcByu_ Ii-Mb@Mb@Mb@)))) )9-NbX9?QI +?Y-%?y-u))-`A -A)-E A)Y-3AbDEVDEyU/=%U)=ٔUyQ-]>9YYY=]hGy]FeܹEe>iQ 5u4m?Q 9u4mrb)mVBYup&?Q Eu:y}>Q I}@mZDImQ:im:mB4yBɮAjEae eBħi?}@(@nͿi-reOr?Mou?IzZe;be=e$WMOz@-C4}i@ǿ4@zeK}P(?XdB@?ʯ?2eKC:exC"eo+?*efnBeBeǿ?a“ae>Ce!>gO addTargetRange:: Added new target pos. range: 470.700012 m, deltaT: 4.030532 s, deltaX: -2.099976 m, approachRate: -0.521017 m/s, rangeRepo size: 4 gO Added new target pos. range: 468.200806 m, bearing: 25.848340 deg, lat: 36.779248 deg, lon: -121.858992 deg, deltaT: 4.030532 s, deltaX: -2.080536 m, approachRate: -0.516194 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 468.20 m.RZgO ProNav: ac range: 468.200806 m, nav range: 464.490082 m, bearing: 26.593424 deg, approach rate: 0.000000 m/s, LOS rate: 0.008718 deg/s, cmd heading: 26.064992 deg, new cmd heading: 26.073479 deg. BgOHeadingCmd: 0.455068 target range: 468.200806 and range: 470.70 m.>*"   0Bʎj@3k}@Z%~?ԡ%|Bɢ%ν)! % i))-))i-Oqi]>]D5:]#I]>IaB}>B}CB} IB}BB} =ByB}DB}r;B}.E9@ @@0@^A #2? A I I! O5 >@,j=X@A2Y`m>2_[>2ٱ2U :AHRS rotation from veh to nav: [[0.897873,-0.420060,-0.131807],[0.433629,0.895540,0.099867],[0.076088,-0.146824,0.986232]]2H`?Dڿ ? D?@ꐹ?|z?¿`6?i2Y`m>I20 ];2.CYF]ByFX IJ=J> N;NbDRVDRܲyZ %Zl=ٔZ8Q-Z?9\Y\=^hGy\^ĺEb?`Q 5j4b?Q 9j4b\`)bdBYhyjǹ>Q Ij@bZDIb;ib;bM4ylɮr1Apxj gO FNOT Ignoring new targets: 468.20 m.R9Z9gO% ProNav: ac range: 468.200806 m, nav range: 464.268036 m, bearing: 26.596210 deg, approach rate: -0.648315 m/s, LOS rate: 0.008138 deg/s, cmd heading: 26.073479 deg, new cmd heading: 26.079053 deg. B%In9gO5HeadingCmd: 0.455165 target range: 468.200806 and range: 470.70 m.5o >1*9"9 99AIIʎ jZ`q?mBɢmr)q u.iq)uLOqqi}|wXi}o >}ZC:goGIo >IDD<E% E%E%+E!"E%:*E%1]:VE% [4ZE!BE%zF,'=X@A:$l>:D>:ٱ:@ BAHRS rotation from veh to nav: [[0.898074,-0.419159,-0.133296],[0.433210,0.895368,0.103177],[0.076101,-0.150406,0.985691]]:H? ڿ@?`ڦ?i?`b{?@ÿNJ?i:$l>I:;];:*CYNuByNv IbDVVDVy^I=%^J=ٔbQ-b>9`Y`=fhGyfFfYEf>hQ 5n4j5?Q 9n4j])juBYpyr>Q Ir@jZDIjD;ij;j[4yvBɮvhAtP B*** querying acoustic contact ***  jgOFNOT Ignoring new targets: 468.20 m.R9Z9gO- ProNav: ac range: 468.200806 m, nav range: 464.008881 m, bearing: 26.599474 deg, approach rate: -0.642135 m/s, LOS rate: 0.008093 deg/s, cmd heading: 26.079054 deg, new cmd heading: 26.085586 deg. B-l9gO5HeadingCmd: 0.455279 target range: 468.200806 and range: 470.70 m.5`>1*9"9 9AAAAʎIIIjIZM>?y颅Bɢ~ٽ) i)!顉iAi`> :q^eI`>I @! @!@%4@!%\A9C9\AYAԩT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.EU EUEU'EQ"EU:*EUh:VEU'4ZEQau@a}@a}@a}@^AaA A BE >BE CBE IBE BBE =BA BE DBE Xs;BE p.EBeCBeCBaBe =Be =Ceʩ5A I I O > L,6=X@AY~rBy~r IiMb@Mb@Mb@ 9%C?v/~jt?YZ$?yxi<AA ) AYAbDVDyr%;=ٔQ->9Y=hGyE>Q 54;/?Q 94L[)BY%?Q E:yM>Q I@ [DI:i:4yɮAjgOFNOT Ignoring new targets: 468.20 m.R%59Z%59gO5 ProNav: ac range: 468.200806 m, nav range: 463.730377 m, bearing: 26.602873 deg, approach rate: -0.636461 m/s, LOS rate: 0.007770 deg/s, cmd heading: 26.085585 deg, new cmd heading: 26.092386 deg. =*DAT read: user:429> Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.501539BEc9gOMHeadingCmd: 0.455398 target range: 468.200806 and range: 470.70 m.M)>I*I"I QQQY]BʎYYYjaZe`F?颍Bɢֽ̚) < i),顑iĦ&i)>S :_hI)>I>i%>)@) @)@-4@)@1@5= 9^AMyb] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753346EM  EM EM &EI "EM [:*EM g:VEM 4ZEI BEM 2V>2cٱ22 :AHRS rotation from veh to nav: [[0.898154,-0.418722,-0.134132],[0.433012,0.895298,0.104604],[0.076288,-0.152032,0.985427]]2H ?Wڿ=+y?G?ZǺ? ? uÿ`?i2Hl>I2\;2-CYfByf IIjR>)j>hjAbDrVDr:yv=%zX=ٔzQ-z>9~ ?Y~ ?=~hGy~FE> Q 54 EB?Q 94 Y) BYy:>Q I@ [DI $:i : 4y!ɮ%A%kEjIgOMFNOT Ignoring new targets: 468.20 m.RU9ZU9gOe ProNav: ac range: 468.200806 m, nav range: 463.489624 m, bearing: 26.605818 deg, approach rate: -0.638381 m/s, LOS rate: 0.007815 deg/s, cmd heading: 26.092386 deg, new cmd heading: 26.098281 deg. Bed9gOmHeadingCmd: 0.455501 target range: 468.200806 and range: 470.70 m.mk7>i*i"i iiqqqʎyyyjyZF?颥Bɢڽ) bi)顱itik7>[:j{Ik7>IQ)@) @)@-0@)Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004821ԁ^AyԱA! I9 IQ Om > Y,i=X@AZchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.259280E% E%E!E!"E%:*E%VL:VE!ZE!aE@aE@aE@aM@%]l>%>%Rٱ% =AHRS rotation from veh to nav: [[0.898299,-0.418302,-0.134471],[0.432740,0.895287,0.105816],[0.076127,-0.153245,0.985251]]%Hݾ?@uڿY6?1??`}?ÿ .?i%]l>I%\;%*CYIyQԩi]Mb@Mb@Mb@YYYY Y9]E?kty&1?Y]&?y] ]`e<] A]A ]A)] AYY]AbDVDNٔڪ9Q->9Y=hGy $E>Q 54\?Q 94VV)BY$(?Q E:y>Q I@-[DI;i;?4BBCB IBĂBB =BBDBs;B.EyBɮAj!gO%FNOT Ignoring new targets: 468.20 m.R-Q9Z-Q9gO= ProNav: ac range: 468.200806 m, nav range: 463.169922 m, bearing: 26.611503 deg, approach rate: -0.641934 m/s, LOS rate: 0.011422 deg/s, cmd heading: 26.098281 deg, new cmd heading: 26.109658 deg. B=:9gOEHeadingCmd: 0.455700 target range: 468.200806 and range: 470.70 m.ErQ>A*A"A AIIIMBʎQQQjQZU@8@Bɢr)ӽ)  i)  i -$i rQ>ų:ŋIrQ>I!@ @@4@@@\AUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508850 ^A vт1 A- ؟AI9 IQ Om >qla,=X@AF$l>F2>FWٱF. NAHRS rotation from veh to nav: [[0.898384,-0.418080,-0.134593],[0.432539,0.895382,0.105837],[0.076264,-0.153299,0.985233]]FH?@ڿW:????Iÿ?iF$l>IF\;DYVByZ IbDbVDb02yj<%j<ٔjιQ-n?9n"?Yn"?=nhGynFr$Er?tQ 5z4v$n?Q 9z4vvT)vBYxyz>Q I~@v;[DIv#;iv;vK4yɮX@jgOFNOT Ignoring new targets: 468.20 m.RJ9ZJ9gO ProNav: ac range: 468.200806 m, nav range: 462.946472 m, bearing: 26.615487 deg, approach rate: -0.620987 m/s, LOS rate: 0.011078 deg/s, cmd heading: 26.109658 deg, new cmd heading: 26.117630 deg. B/9gOHeadingCmd: 0.455839 target range: 468.200806 and range: 470.70 m.%c>!*!"! !!!))ʎ)11j1Z5@]Bɢe.ݽ)a eia)eRݍaiimwiuc>u`:uyIuc>Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767185E EE%E"EO:*EP:VE 4ZEBE q g,=X@A2( l>2D>2ٱ2 >AHRS rotation from veh to nav: [[0.898415,-0.417977,-0.134705],[0.432454,0.895424,0.105830],[0.076383,-0.153333,0.985218]]2Hп?$ڿ>R?P??ݍ?hÿ ?i2( l>I2\;2-CYDyF IN=N= N49^ ?Y^ ?=bhGy`b%oEb>dQ 5j4f?Q 9j4fMR)fœBYlyn>Q In@fL[DIf;if;fE4ypɮr@@rlEPB*** querying acoustic contact *** j gOFNOT Ignoring new targets: 468.20 m.R8\9Z8\9gO% ProNav: ac range: 468.200806 m, nav range: 462.688812 m, bearing: 26.620089 deg, approach rate: -0.673346 m/s, LOS rate: 0.012033 deg/s, cmd heading: 26.117631 deg, new cmd heading: 26.126840 deg. B--9gO-HeadingCmd: 0.455999 target range: 468.200806 and range: 470.70 m.-x>1*1"1 11199ʎ99AjAZE @mBɢmO߽)q u iq)uӰqqia္ix>8:ԛIx>IY@ @@@ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.267211E EE#E"E,:*EX:VE3ZEaE@aE@aE@aE@^ABQAU<ԩB>BB IBӂBB =BBBs;B.EA ؟AI I! O- > #m,=X@A:k>:z>:bxٱ:F BAHRS rotation from veh to nav: [[0.898599,-0.417588,-0.134683],[0.432080,0.895576,0.106065],[0.076327,-0.153504,0.985196]]:H`S?`ùڿH=`4??'?-?ÿ@?i:k>I:\;:,CYNByN IBDAT read: Rx Time:00:33:58.3047  TRx dataTimestamp_ set to:1761698038.933210 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517943i5Mb@Mb@Mb@1111 195 r?RQ{Gz?Y5#?y5½5ף<5A5A 5A)5 A1Y5AbDUVDUye2=%e@=ٔe 9Q-e>9m"?Ym"?=mhGymFmEu>qQ 54u?Q 94u#P)uדBYv%?Q E:y>Q I@u][DIu:iu{:u4yBɮ@jgOFNOT Ignoring new targets: 468.20 m.Rb9Zb9gO ProNav: ac range: 468.200806 m, nav range: 462.419281 m, bearing: 26.625428 deg, approach rate: -0.625216 m/s, LOS rate: 0.012392 deg/s, cmd heading: 26.126840 deg, new cmd heading: 26.137524 deg. Bo9gOHeadingCmd: 0.456186 target range: 468.200806 and range: 470.70 m.1>*"  BʎԱjZ @Bɢ%F׽)! % i!)%))i-ZiU1>U:U^IU1>IQ@ @@/@@=@^Aԅchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.769560A[AzAZA bEjE4rEDN0E  E E 'E "E ;*E P:VE '4ZE BE R9 t,dv=X@A2][k>2X>2ٱ2 :AHRS rotation from veh to nav: [[0.898705,-0.417309,-0.134841],[0.431847,0.895656,0.106336],[0.076396,-0.153795,0.985145]]2H1?.ڿuBb?7?8?@?@ÿN?i2][k>I2\;2-CYFByF IbDRVDR0yV=%ZV=ٔZ=Q-Z>9\Y\=^hGy\ ,E >Q 54 ?Q 94&N)BY!y%>Q I%@n[DIj;iw;4y-Bɮ-O@-cEjQgOUFNOT Ignoring new targets: 468.20 m.R]i9Z]i9gOm ProNav: ac range: 468.200806 m, nav range: 462.171600 m, bearing: 26.630349 deg, approach rate: -0.642209 m/s, LOS rate: 0.012765 deg/s, cmd heading: 26.137524 deg, new cmd heading: 26.147370 deg. Bm9gOuHeadingCmd: 0.456358 target range: 468.200806 and range: 470.70 m.u>q*q"q yyyyʎjZy@Bɢ^M) i){i :i>l:I>I@ @@?0@5checking for new query: numPingsReceived=0, elapsed TxPingTime=4.0244299^A- Si I I) O5 >E5  E5 E5 #E1 "E5 :*E5 ;J:VE5 3ZE1 aM @aM @aU @aU @z,>]=X@AUDAT read: 00:33:58.3047 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 398, 0.41, 2.250, 0.681, 2.446, 1.864, PHS= 0.488,-1.138, 0.538, RAW= 151.5, 1.4, CAL= 150.3, 0.9, ROT= 359.7, -0.9 eYgot valid direction response: 00:33:58.3047 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 398, 0.41, 2.250, 0.681, 2.446, 1.864, PHS= 0.488,-1.138, 0.538, RAW= 151.5, 1.4, CAL= 150.3, 0.9, ROT= 359.7, -0.9 PDAT read: Bearing 174.1, 4.0 (Local) ~Local bearing/azimuth received: Bearing 174.1, 4.0 (Local) DAT read: Range 11 to 50 : 467.7 m (Round-trip 623.7 ms) speed 0.0 m/s BDAT read: Tx time:00:33:59.3769 $Ping request sent.Bm>BiBm IBmBBm =BiBiBms;Bm.Ei^ ?%:)@+<'@ <)@IVǽF?&^?;o[?  ?)_ļIi:publishing transmit ping timeFpublishing direction and range infoy:??quy&?Y )Ii-j>->-r国ٱ-` =AHRS rotation from veh to nav: [[0.898993,-0.416838,-0.134382],[0.431311,0.895909,0.106387],[0.076048,-0.153602,0.985202]]-H@?xڿl3 ?@I?/I-\;-*C )IVǽF?&^?;o[? )IiiYBy II=)AiMb@Mb@Mb@ 9S㥛?A`"~jt?Y$?yٽ<KA A)1AYQAAAbDMVDM:yD%=ٔ{!:Q->9Y=hGyFrE>Q 54q?Q 94kK)BY''?Q E:y2>Q I@[DI:i:_4yɮ@,=X@AJCRCj>&UYN}@֦{!:@r:??quy&?Zb!rS#z@4rh@; yE@z7t?J(h?44 ?27GC:C"^r?*B{B^r?fn“{BpCl>gO addTargetRange:: Added new target pos. range: 467.700012 m, deltaT: 4.285765 s, deltaX: -3.000000 m, approachRate: -0.699992 m/s, rangeRepo size: 4 ԑgO Added new target pos. range: 465.207886 m, bearing: 25.471925 deg, lat: 36.779297 deg, lon: -121.859037 deg, deltaT: 4.285765 s, deltaX: -2.992920 m, approachRate: -0.698340 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 465.21 m.RZgO ProNav: ac range: 465.207886 m, nav range: 464.882660 m, bearing: 25.897734 deg, approach rate: 0.000000 m/s, LOS rate: 0.012765 deg/s, cmd heading: 26.147369 deg, new cmd heading: 26.162026 deg. BgOHeadingCmd: 0.456614 target range: 465.207886 and range: 467.70 m.?>*" Bʎ  j @3;}@Z `?}Bɢ}Hӽ)y }iy)Jё顁i8i?>ʎ:лI?>IA @A  @A @M 0@I ^A &tIq I O >$V, >X@AR8j>R>RٱR  ZAHRS rotation from veh to nav: [[0.898929,-0.417023,-0.134229],[0.431456,0.895863,0.106181],[0.075971,-0.153364,0.985245]]RH`?ڿl.?`?.?r?@kÿ ?iR8j>IR\;PYfByf IbDnVDnyvL1=%v=ٔv9Q-z?9xYx=~hGy|~:E~?Q 5 4U?Q 9 4J) BY y F>Q I@[DI;i;X4yɮH@dEjIgOMFNOT Ignoring new targets: 465.21 m.RUu9ZUu9gOe ProNav: ac range: 465.207886 m, nav range: 464.700684 m, bearing: 25.901410 deg, approach rate: -0.664312 m/s, LOS rate: 0.013426 deg/s, cmd heading: 26.162027 deg, new cmd heading: 26.169383 deg. Be9gOmHeadingCmd: 0.456742 target range: 465.207886 and range: 467.70 m.m>i*q"q qqqyyʎyyyjZ2a?DDE EE!E"E*ET:VEc3ZEBE3]::]ͻI]>IaԉPExceeded connect timeout, disconnecting.!@! @!@%1@!Թ^AAIIO> ׀,T#>X@AR k>R1>R8ٱR)z bAHRS rotation from veh to nav: [[0.898885,-0.417417,-0.133297],[0.431602,0.895950,0.104850],[0.075661,-0.151779,0.985514]]RH@?ڿ `^??s׺?^? mÿ U?iR k>IR\;PY=ByE IbD]VD]1ym=%uB=ٔuVA:Q-u>9yYy=}hGy}F}9E}>Q 54W?Q 94G)BYyP>Q I@[DIw;i;4yɮ@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 465.21 m.Rl9Zl9gO ProNav: ac range: 465.207886 m, nav range: 464.431763 m, bearing: 25.906846 deg, approach rate: -0.640196 m/s, LOS rate: 0.012948 deg/s, cmd heading: 26.169383 deg, new cmd heading: 26.180261 deg. B9gOHeadingCmd: 0.456932 target range: 465.207886 and range: 467.70 m.>*" ʎjZ?%Bɢ-ܽ)) -i))5M11i5"9i=>=G:=`XϻI=>I9@ @@4@MT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.E EE$E"E[:*EX:VE4ZEa@a@a@a@!AAB>BB !IBBBBBB}s;B|.E^A`ԻIIO >A  *DAT read: user:430>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.172850,s=>X@A(6Âk>6l>6&ٱ6T >AHRS rotation from veh to nav: [[0.898739,-0.418323,-0.131430],[0.432030,0.896034,0.102339],[0.074955,-0.148758,0.986029]]6Hx?@ڿ_?O?@2?@H0? ÿ@?i6Âk>I6\;6,CYzByz I ||==iMb@Mb@Mb@ 9K7A?i|?5~jt?Y "?y<"AzA A) AYA p;bDVDy萼%E=ٔ:Q->9Y=hGy&:E>Q 54?Q 94!F)1BY$?Q E:y5>Q I@[DI:ie;4yBɮQ@jgOFNOT Ignoring new targets: 465.21 m.R%т9Z%т9gO5 ProNav: ac range: 465.207886 m, nav range: 464.171326 m, bearing: 25.912770 deg, approach rate: -0.628143 m/s, LOS rate: 0.014296 deg/s, cmd heading: 26.180262 deg, new cmd heading: 26.192117 deg. B5O9gO=HeadingCmd: 0.457139 target range: 465.207886 and range: 467.70 m.=>9*9"9 AAAAMBʎIIIjQZU?}Bɢ}E) R i)28顁i9i>O:PȻI>Iԉ)@) @)@-c4@)ԱUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.424309DzD@AE EEE"E:*E H:VEZEBE.i,NW>X@A6يk>6p>6ٱ6 >AHRS rotation from veh to nav: [[0.898749,-0.418692,-0.130181],[0.432068,0.896229,0.100449],[0.074615,-0.146525,0.986389]]6H?ڿ Ʃ`? ??@?W¿`?i6يk>I6\;6*CYJByJ IbDVVDVyZr=%Z^=ٔ^r:\Q-b>9`Y`=bhGyfFf8Ef>hQ 5n4j?Q 9n4jzD)jBBYpyr(>Q Ir@j[DIjD;ijr;jf4ytɮvs@veEjgOFNOT Ignoring new targets: 465.21 m.R9Z9gO- ProNav: ac range: 465.207886 m, nav range: 463.939636 m, bearing: 25.918049 deg, approach rate: -0.627874 m/s, LOS rate: 0.014312 deg/s, cmd heading: 26.192117 deg, new cmd heading: 26.202680 deg. B-9gO5HeadingCmd: 0.457323 target range: 465.207886 and range: 467.70 m.5?&>1*1"1 11999ʎAAAjAZM`3r?uŃBɢu)q uiy)} yyi}~:i?&>:mλI?&>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.676496e/G`]A19`]AYAΒ{@ @@4@A m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.928301E  E E %E "E :*E 1]:VE 4ZE a @a @a @a @^A &tB >B CB !IB BB =B B DB r;B .EBCBCBB =B =C.5q II!O5>ꦜ,u>X@AYÂBy IiMb@Mb@Mb@ 9MbX9?p= ףV-?Y!?y<AA nA) AYAbDVD:2y=%$=ٔQ->9Y=hGyE>Q 541?Q 94cB)ZBYX%?Q E:y*>Q I@[DI:i8:4iyuBɮu@qjgOFNOT Ignoring new targets: 465.21 m.R9Z9gO ProNav: ac range: 465.207886 m, nav range: 463.627747 m, bearing: 25.925866 deg, approach rate: -0.603734 m/s, LOS rate: 0.015143 deg/s, cmd heading: 26.202680 deg, new cmd heading: 26.218326 deg. B9gOHeadingCmd: 0.457596 target range: 465.207886 and range: 467.70 m. J>*" BʎjZ@ ˃Bɢ ׽) i)ii$:i J>:hֻI J>I!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.180676%2D<ԙ9@ @@p4@^A `Ի checking for new query: numPingsReceived=0, elapsed TxPingTime=2.434358E  E E 'E "E [:*E rN:VE '4ZE BE ,)>X@AYÛByU II]=)]=bDeVDeyuB=%uQ=ٔyQ-}>9yY=hGyFE>Q 54VF?Q 94@)mBYyQ I@[DIN:ig:4yɮ@@jgOFNOT Ignoring new targets: 465.21 m.R9Z9gO ProNav: ac range: 465.207886 m, nav range: 463.382935 m, bearing: 25.932010 deg, approach rate: -0.657621 m/s, LOS rate: 0.016511 deg/s, cmd heading: 26.218325 deg, new cmd heading: 26.230618 deg. B9gOHeadingCmd: 0.457811 target range: 465.207886 and range: 467.70 m.(f>*" ʎjZ n@-σBɢ-)) -Ei1)5}ޖ11i5d1@:i=(f>=:=ܻI=(f>IAK'<ة,J>X@A2mtk>2ee>2ƥٱ2e :AHRS rotation from veh to nav: [[0.898829,-0.419652,-0.126490],[0.432012,0.896949,0.094069],[0.073979,-0.139197,0.987498]]2H4?ڿ 0?`ͳ? ?I?4`?i2mtk>I2\;0YFЂByF IbDNVDNkyVX<%VR=ٔZ_:Q-Z>9XYX=^hGy\^eE^>`Q 5f4bZ?Q 9f4b?)bBYhyj݀>Q Ij@b[DIbY;ib;b%4ylɮn@nfEPuB*** querying acoustic contact ***q qjgOFNOT Ignoring new targets: 465.21 m.R9Z9gO ProNav: ac range: 465.207886 m, nav range: 463.138702 m, bearing: 25.938163 deg, approach rate: -0.600516 m/s, LOS rate: 0.015139 deg/s, cmd heading: 26.230618 deg, new cmd heading: 26.242931 deg. B9gOHeadingCmd: 0.458026 target range: 465.207886 and range: 467.70 m.S>*" ʎjZ'@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.936451E EE%E"Eغ:*EVL:VE 4ZEa@a@a@a@5ԃBBU<AU<BBB4!IBBB =BBBr;B-Eɢ=s۽) i)"ԗizF`:iS> k: ;I S>I 99A  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.189324 9@  @ @ 4@ i ^A(I)IAOM?u;,\>X@A(2k>296>2qٱ2 >AHRS rotation from veh to nav: [[0.898991,-0.419417,-0.126118],[0.431692,0.897150,0.093622],[0.073880,-0.138609,0.987588]]2H?ڿ$@֠?r?? ?@Q?i2k>I2\;0YF߂ByJ I LLiMb@Mb@Mb@ 9X9v?T㥛 Q?Y?y\=AzA A)`AY=AbD1VD1y=.]=%E=ٔEG9Q-E>9IYI=MhGyMFUl5EU>YQ 5]4]u?Q 9e4]<)]BYeu!?Q Ee:ye>Q I@] \DI]SQ*Q"Y YYYE EE&E"E:*E n:VE4ZEBE3e:mmIm>Iiy@ @@0@ԩ^Au r绝 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.692289 I I O >K`,!>X@A`Ej>E{>EٱEx eAHRS rotation from veh to nav: [[0.899087,-0.419223,-0.126078],[0.431470,0.897287,0.093322],[0.074006,-0.138303,0.987621]]EH`Q?ڿ`R# 4??? ??iEj>IE9];E,CYBy!IbDVDky2=%D=ٔOQ->9Y=hGyFE>Q 54B?Q 94C;)BYy>Q I@\DIY!;i";64yɮ|@jgOFNOT Ignoring new targets: 465.21 m.R @9Z @9gO  ProNav: ac range: 465.207886 m, nav range: 462.566864 m, bearing: 25.952434 deg, approach rate: -0.634756 m/s, LOS rate: 0.015874 deg/s, cmd heading: 26.258777 deg, new cmd heading: 26.271489 deg. B f9gOHeadingCmd: 0.458524 target range: 465.207886 and range: 467.70 m.>*" ʎ!!!jZ@-ރBɢ5\I۽)1 5i1)5p99i=`x:i=>em:e Ie>IiE EE%E"Em:*EA:VE 4ZEa@a@a@a@@ @@@DAT read: 00:34:02.4010 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 409,-0.48, 0.018,-1.338, 0.206,-0.159, PHS= 0.279,-1.133, 0.321, RAW= 151.5, 7.5, CAL= 150.9, 7.9, ROT= 359.1, -7.9 @M=@M=Ygot valid direction response: 00:34:02.4010 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 409,-0.48, 0.018,-1.338, 0.206,-0.159, PHS= 0.279,-1.133, 0.321, RAW= 151.5, 7.5, CAL= 150.9, 7.9, ROT= 359.1, -7.9 PDAT read: Bearing 181.2, 2.5 (Local) ~Local bearing/azimuth received: Bearing 181.2, 2.5 (Local) =DAT read: Range 11 to 50 : 465.0 m (Round-trip 620.0 ms) speed 0.4 m/s Bm >BmCBmT!IBm*BBiBiBm~DBmr;Bm-ETDAT read: user:431>Tx time:00:34:03.4769 R#Rx 1: Read range and direction messages.^direction in FSK: [0.990387,-0.015558,0.137445]Fpublishing direction and range infoyAEp@?O܏yjȗ?YECAAAA A)EKIEَ>iE%EZ>AE >E(@ E0 >)E-@IE0 AAEh#?%+ ;?? E ?)E*IEiE0 AAT****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.^A ΒI AM .AIY Ii Ou >|,D>X@A>DAT read: Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.196763xYBy!IiMb@Mb@Mb@ 9jt?X9v rh?Y ?yC =jAA A)AY AbDVDyc=%F=ٔQ->9 ?Y ?=hGyE>Q 54|?Q 94q9)ÔBY#?Q E:y >Q I@,\DI;i;S=4yɮc@gEQU%>X@AJUACRUACjUi>U~\|@wuO@rUp@?O܏yjȗ?ZUbU0 U smy@xa˹h@mc)SkX@zU %?F?u=?2UEC:UkC"U ?*UuBU*#CQU“QURCU!>gO addTargetRange:: Added new target pos. range: 465.000000 m, deltaT: 4.030871 s, deltaX: -2.700012 m, approachRate: -0.669833 m/s, rangeRepo size: 4 gO Added new target pos. range: 462.509583 m, bearing: 25.850423 deg, lat: 36.779297 deg, lon: -121.859080 deg, deltaT: 4.030871 s, deltaX: -2.698303 m, approachRate: -0.669409 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 462.51 m.RZ!gO] ProNav: ac range: 462.509583 m, nav range: 460.643097 m, bearing: 25.529206 deg, approach rate: 0.000000 m/s, LOS rate: 0.015874 deg/s, cmd heading: 26.271489 deg, new cmd heading: 26.285215 deg. BagOeHeadingCmd: 0.458764 target range: 462.509583 and range: 465.00 m.m>i*i"i iiiquBʎqqyj}}@ZP?Bɢ ؽ)  i ) Gy i%:i>]l}:] I]>Ia @ @@/@I-checking for new query: numPingsReceived=0, elapsed TxPingTime=4.448330bE Ȼ 4jE Ȕ4rE 7/E EE&E"E[:*E;J:VE4ZEBE1,?X@A>R2j>>Z>>ٱ>$ FAHRS rotation from veh to nav: [[0.899262,-0.418649,-0.126733],[0.430861,0.897754,0.091632],[0.075414,-0.137005,0.987695]]>H?`%ڿ@89?f?0u?QN?`e`3?i>R2j>I>ƥ];>'CYRByR!!IIV<)V=XXbD^ VD^2yf=%fD=ٔj^Q-j>9j"?Yj"?=jhGynFnźEn>pQ 5v4r۴?Q 9v4r7)rؔBYxyz>Q Iz@r=\DIr;ir/;rD4y~Bɮ~@|j!gO%FNOT Ignoring new targets: 462.51 m.R-9Z-9gO= ProNav: ac range: 462.509583 m, nav range: 460.384369 m, bearing: 25.535022 deg, approach rate: -0.653732 m/s, LOS rate: 0.014702 deg/s, cmd heading: 26.285215 deg, new cmd heading: 26.296852 deg. B=?9gOEHeadingCmd: 0.458967 target range: 462.509583 and range: 465.00 m.E>A*A"A AIIIQʎQQQjQZ]xO?颅Bɢ2) i)E顉i:i>Kly:DzI>I-checking for new query: numPingsReceived=0, elapsed TxPingTime=4.700250!@ @@0@I^Ay  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.952306A .AI) EU  EU EQ EQ "EU :*EU VL:VEQ ZEQ ae @ae @ae @ae @Iy O >A A AAB >B CB s!IB CBB =B CDB }DB r;B .E!X,3?X@A0 Xi> ^> ٱ H AHRS rotation from veh to nav: [[0.899358,-0.418011,-0.128152],[0.430443,0.897925,0.091923],[0.076646,-0.137834,0.987485]] H?@ڿ`Eg@a?̻?D? ? z?i Xi>I w]; *CY By0!I only read 0 of 1 data item for altitude. Device response is::BD, -345.45, 0.00 a @a  a @a  a @a  a @a  bDVDNy%^C=%%*=ٔ-(Q-->9- ?Y- ?=5hGy15eE5>9Q 5E4=?Q 9E4=5)=BQ AM+:YIQ EM:yMu>Q IM@=Q\DI= ;i=>=aK4yQɮU+@QԁP B*** querying acoustic contact ***  jgOFNOT Ignoring new targets: 462.51 m.Rev9Zev9gOu ProNav: ac range: 462.509583 m, nav range: 460.085632 m, bearing: 25.541760 deg, approach rate: -0.596967 m/s, LOS rate: 0.013473 deg/s, cmd heading: 26.296852 deg, new cmd heading: 26.310336 deg. BuB9gO}HeadingCmd: 0.459202 target range: 462.509583 and range: 465.00 m.}>y*y"y Echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.204473YYaaʎaaajiZmvEq:E3IE>IIԱ@ @@/@@@ZA ^A A ?A > checking for new query: numPingsReceived=0, elapsed TxPingTime=5.457249 EU  EU EU 'EQ "EU :*EU .:VEU '4ZEQ BEU ] v,JQ?X@AR i>R1>RLٱR[S bAHRS rotation from veh to nav: [[0.899552,-0.417019,-0.130003],[0.429758,0.898193,0.092505],[0.078192,-0.139083,0.987189]]RH"? pڿ`&??d?^?v@ ?iR i>IRW];PYnByn9"?Y"?=hGyF }E >Q 54?Q 943)BQ A :YQ E%Y:y% >Q I%@`\DI:iW_?O4y)ɮ-@-hEjgOFNOT Ignoring new targets: 462.51 m.RZ9ZZ9gO ProNav: ac range: 462.509583 m, nav range: 459.842651 m, bearing: 25.547266 deg, approach rate: -0.642700 m/s, LOS rate: 0.014573 deg/s, cmd heading: 26.310336 deg, new cmd heading: 26.321355 deg. B\9gOHeadingCmd: 0.459394 target range: 462.509583 and range: 465.00 m.5>*" ʎjZ?!5Bɢ=u޽)9 =4׾i9)=ZAAiei:im5>mD!m:m&Im5>Iq@ @@-0@Qi߉I߉checking for new query: numPingsReceived=0, elapsed TxPingTime=5.708621^AyA1 I9 II O] >ԩ HA,:k?X@A2h>2>2ٱ2 :AHRS rotation from veh to nav: [[0.899669,-0.416375,-0.131254],[0.429278,0.898440,0.092338],[0.079477,-0.139418,0.987039]]2H@?ڿ Iy? ?@q?@X?pӕ?i2h>I2 ];2(CYF(ByFQ!I HHJ=J=bDRVDRyV=%ZP=ٔZeWQ-Z>9\Y\=^hGy\^Eb>`Q 5f4b?Q 9j4b2)bBQ Aj9YhQ Ej0:yj߇>Q Ij@bp\DIb<:ibޡ?bS4yYɮ]q@ajgOFNOT Ignoring new targets: 462.51 m.R}9Z}9gO ProNav: ac range: 462.509583 m, nav range: 459.598755 m, bearing: 25.552816 deg, approach rate: -0.609432 m/s, LOS rate: 0.013874 deg/s, cmd heading: 26.321355 deg, new cmd heading: 26.332460 deg. B 9gOHeadingCmd: 0.459588 target range: 462.509583 and range: 465.00 m."O>*" ʎchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.960468jZ"@Ee EeEe(Ea"Ee:*EeP:VEec44ZEaam@am@am@am@ԙBɢ%սB>BCB!IB\BB =BB|DBs;B(.E)9 EʾiA)Ni{:i"O> e: /I "O>I @ @@0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=6.212192^A K'! A .AI I) O= >y,׽?X@A>g>>x{>>6ٱ>` FAHRS rotation from veh to nav: [[0.899992,-0.415439,-0.132006],[0.428437,0.898855,0.092202],[0.080350,-0.139537,0.986951]]>H?`ڿk?k??ؑ?@Y@?i>g>I>v];>*CYR1ByR]!Ia-a- a-a- a-a- a-a- i-Mb@Mb@Mb@)))) )9-)\(?RQMb?Y-G!?y-½-=-SA) -AA)-IA)Y- AbDEVDE0yUT+=%U4=ٔ]Q-]>9] ?Y] ?=ehGyeFeEe>iQ 5u4m ?Q 9u4m/)m.BQ A}T:Y}O#?Q E}:y}>Q I}@m\DIm;im:mp[4yBɮ@_EjgOFNOT Ignoring new targets: 462.51 m.RV9ZV9 gO ProNav: ac range: 462.509583 m, nav range: 459.315186 m, bearing: 25.557952 deg, approach rate: -0.646984 m/s, LOS rate: 0.011727 deg/s, cmd heading: 26.332459 deg, new cmd heading: 26.342739 deg. B9gOHeadingCmd: 0.459768 target range: 462.509583 and range: 465.00 m.f>*" 7BʎjZy@Bɢҽ) Tľi)|iW:if>C_:E>IEf>II-checking for new query: numPingsReceived=0, elapsed TxPingTime=6.465244E EE'E"E*EC:VE'4ZEBE ;a:E>;a9@ @@1@@=@9a^Ax/AzAA I I1 O= >ԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.716341,?X@A2/g>2z>2̧ٱ2Ym Bk>B C BAHRS rotation from veh to nav: [[0.899884,-0.415036,-0.133990],[0.428381,0.898802,0.092976],[0.081842,-0.141067,0.986611]]2H@? ڿ@&`j??Nͷ?? {¿R?i2/g>I2q?^;2)Cr>G| Y1=d99Y=Ay9yz?AbD5VD5AyUB%U9=ٔ]\^Q-]>9Y=hGyBE>Q 54|#?Q 94-)DBYy>Q I@\DI;iq;Q*Q"Q QYYYyʎjZC@mBɢu&Vӽ)q uȾiq)uqi:i}>@X:?I}>IqM9@Q @Q@U1@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.968746Eu EqEqEq"Eu[:*EqVEqZEqa@a@a@a@ԡB>BCB!IB{BB =BB{DBns;BX.EBCBCBȕCB =B =C6^A] /C A ؟AI I O >=,?X@A2kg>2a>2ٱ2˕ :AHRS rotation from veh to nav: [[0.899825,-0.414194,-0.136964],[0.428136,0.898712,0.094959],[0.083759,-0.144086,0.986014]]2H\?'ڿ@f?>?BO?@q?@hq¿@m?i2kg>I2zK^;2(CYFCByFs!IIJN>)J=HJAi=Mb@Mb@Mb@9999 99=Mb?ʡEy&1?Y= ?y=-=`<=&A=A 9)=3A9Y= AbDVDy=%J=ٔAQ->9"?Y"?=hGyFE>checking for new query: numPingsReceived=0, elapsed TxPingTime=7.220395Q 547?Q 94+)WBY5"?Q E:y ->Q I @\DI ;i ;9j4yɮ@`E)P5B*** querying acoustic contact ***1 1jAgOEFNOT Ignoring new targets: 462.51 m.RMA9ZMA9gO] ProNav: ac range: 462.509583 m, nav range: 458.788208 m, bearing: 25.567163 deg, approach rate: -0.632342 m/s, LOS rate: 0.010598 deg/s, cmd heading: 26.352844 deg, new cmd heading: 26.361171 deg. B]*9gOeHeadingCmd: 0.460089 target range: 462.509583 and range: 465.00 m.eА>a*a"a iiiqu$BʎqqqjyZ}W @颥Bɢ ֽ) ̹i)G顩iY:iА>hCR:*EIА>I%9@) @)@-4@)Y^A0:Dԙ BDAT read: Rx Time:00:34:06.4984  TRx dataTimestamp_ set to:1761698047.253060 checking for new query: numPingsReceived=0, elapsed TxPingTime=7.477599D zD E  E E "E "E :*E M:VE (3ZE BE : Ա ,?X@A6g>6<4>6쮽ٱ6  BAHRS rotation from veh to nav: [[0.899852,-0.413650,-0.138419],[0.427771,0.898926,0.094572],[0.085309,-0.144312,0.985848]]6H ?I6Nv^;4YJLByJ~!IbDV VDV2yZ-F=%^_=ٔ^5Q-^>9`Y`=bhGy`ftEf>hQ 5~4jI?Q 94j))jhBYy>Q I@j\DIja;ijX;jp4y ɮL@j1gO=FNOT Ignoring new targets: 462.51 m.R=u=9ZEu=9gOM ProNav: ac range: 462.509583 m, nav range: 458.561493 m, bearing: 25.570975 deg, approach rate: -0.615400 m/s, LOS rate: 0.010352 deg/s, cmd heading: 26.361170 deg, new cmd heading: 26.368797 deg. BU9gOUHeadingCmd: 0.460222 target range: 462.509583 and range: 465.00 m.UC>Q*Y"Y YYYaaʎaaijiZm I @颕BɢcMԽ) ڳi)mϟ顡iie:iC>MK:LIC>Iԙ59@1 @1@5/@9@9@=\A checking for new query: numPingsReceived=0, elapsed TxPingTime=7.724234^AqA}?A}>A I I O > K,`?X@ARDAT read: 00:34:06.4984 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 415,-0.46, 2.779, 1.208, 2.951, 2.354, PHS= 0.527,-1.101, 0.552, RAW= 150.8, 0.3, CAL= 149.6, -0.3, ROT= 0.4, 0.3 ZYgot valid direction response: 00:34:06.4984 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 415,-0.46, 2.779, 1.208, 2.951, 2.354, PHS= 0.527,-1.101, 0.552, RAW= 150.8, 0.3, CAL= 149.6, -0.3, ROT= 0.4, 0.3 Ep ErEr'Ep"Ep*ErC:VEr'4ZEpav@az@az@az@PDAT read: Bearing 172.5, 5.7 (Local) ~Local bearing/azimuth received: Bearing 172.5, 5.7 (Local) DAT read: Range 11 to 50 : 463.0 m (Round-trip 617.4 ms) speed 0.5 m/s TDAT read: user:432>Tx time:00:34:07.5768 R#Rx 1: Read range and direction messages.^direction in FSK: [0.999962,0.006981,-0.005236]B>BCB!IBBB =BBBs;Bz.EFpublishing direction and range infoy02H$%?XH|?sNruY2C0000 0)2JI2y?i2팿2O ?2q(@2;2'@ 2)2;I2;002 ?7]?mG׫+ks? 2pk ?)2YI2;i2;00T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.g>>d(ٱ> AHRS rotation from veh to nav: [[0.899252,-0.414292,-0.140387],[0.428419,0.898947,0.091386],[0.088341,-0.142323,0.985870]]H`?ƒڿ75k? -? e?~?7¿??ig>Ik_;*CY5OBy5!I 99iMb@Mb@Mb@ 9ˡE?~jtZd;O?Y'?yĽj<AQA A)AY AbDVDN2y-<%- =ٔ-6Q-->91Y1=5hGy5F5e:E}>Q 54i?Q 94&)BY)?Q E:y>Q I@\DI:i:z4yɮ@02*?X@AJ2=CR2=Cj2m>2k.s|@Sx @ Ir2H$%?XH|?sNruZ2;b2;2kLy@TCM!h@n[`B@z2??Z ?22GC:2C"27b?*23B2B00“2B2C2ΐ>gOE addTargetRange:: Added new target pos. range: 463.000000 m, deltaT: 4.031538 s, deltaX: -2.000000 m, approachRate: -0.496089 m/s, rangeRepo size: 4 gOu Added new target pos. range: 460.483276 m, bearing: 25.828137 deg, lat: 36.779297 deg, lon: -121.859080 deg, deltaT: 4.031538 s, deltaX: -2.026306 m, approachRate: -0.502614 m/s, posRepo size: 4 jygO}FNOT Ignoring new targets: 460.48 m.RZgO ProNav: ac range: 460.483276 m, nav range: 458.177917 m, bearing: 25.577826 deg, approach rate: 0.000000 m/s, LOS rate: 0.010352 deg/s, cmd heading: 26.368797 deg, new cmd heading: 26.381256 deg. BgOHeadingCmd: 0.460440 target range: 460.483276 and range: 463.00 m.þ>*" &Bʎj|@Z?DAT read: checking for new query: numPingsReceived=0, elapsed TxPingTime=8.228762%Bɢ-ɽ)) -iI)U`QQiU:i]þ>]hA:]BI]þ>IaI @  @ @ 4@ q ^A-LMԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.480804D=D=E- E-E-%E)"E-:*E-T:VE- 4ZE)BE-a;a52E-b;a5JE-ͨ;a5:E-ͨ;a5A].AIiIyO ?M,| @X@A2[h>2b>2 ٱ2 :AHRS rotation from veh to nav: [[0.898800,-0.414942,-0.141356],[0.428972,0.898944,0.088786],[0.090230,-0.140439,0.985969]]2H?@hڿ ¿@Ft?&??Q??i2[h>I20_;2)CYFSByF!IbD~VD~1y=<%=W=ٔ=Q-=>9E ?YE ?=EhGyEFEG:EM>qQ 5u4u|?Q 9}4u$)uBYyy}*>Q I}@u\DIu:iu:u{4yɮ@aEjgOFNOT Ignoring new targets: 460.48 m.RX9ZX9gO= ProNav: ac range: 460.483276 m, nav range: 457.933594 m, bearing: 25.582178 deg, approach rate: -0.664297 m/s, LOS rate: 0.011839 deg/s, cmd heading: 26.381256 deg, new cmd heading: 26.389964 deg. B=T9AgOEHeadingCmd: 0.460592 target range: 460.483276 and range: 463.00 m.M>I*I"I IIQQQʎQYYjYZ]@{g?颍Bɢֽ) i):顑iZ\:i>;:;I>I%9@! @!@%2@)qchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.732223^AE2DԱAq Iy I O > p ,C+@X@A2i>2.->2ٱ2 :AHRS rotation from veh to nav: [[0.898500,-0.415459,-0.141746],[0.429222,0.899161,0.085305],[0.092012,-0.137488,0.986221]]2H?ڿ$¿`ax??ֵ? ?1?i2i>I2J_;2+CYFcByF!IbDNVDN0yV֥=%VU=ٔVQ-Z>9XYX=ZhGyX^s:E^>`Q 5f4b?Q 9f4b")bBYhyj?>Q Ij@b\DIby:ibN:b!4ylɮn@pjgOFNOT Ignoring new targets: 460.48 m.RO9ZO9gO ProNav: ac range: 460.483276 m, nav range: 457.686401 m, bearing: 25.586581 deg, approach rate: -0.636649 m/s, LOS rate: 0.011346 deg/s, cmd heading: 26.389964 deg, new cmd heading: 26.398775 deg. B9gOHeadingCmd: 0.460746 target range: 460.483276 and range: 463.00 m.>*" ʎjZ  ?M BɢM<ѽ)I M@echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.985059iQ)e¡iiim;iu>}5:}9I}>IE EE#E"E%:*E3:VE3ZEa@a@a@a@AA@AB>BCB!IBBB =BBzDBt;B.E9@ @@0@^A- :) A1 zA5 WA checking for new query: numPingsReceived=0, elapsed TxPingTime=9.236203A ؟AI I O >W,E@X@A2i>2j>2llٱ2 >AHRS rotation from veh to nav: [[0.898145,-0.416225,-0.141747],[0.429573,0.899402,0.080891],[0.093819,-0.133543,0.986592]]2H ?`lڿ@$¿!~??L?@? *?i2i>I2D_;2(CYFfByF!IiMMb@Mb@Mb@IIII I9M/$?B`"۹?YM1(?yMνM=ٔ}mQ-}>9}"?Y"?=hGyFƏ:E>Q 54?Q 94 )BYI*?Q E:y՘>Q I@\DI,;i;4yɮ@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 460.48 m.Rf9Zf9gO ProNav: ac range: 460.483276 m, nav range: 457.407257 m, bearing: 25.591797 deg, approach rate: -0.674323 m/s, LOS rate: 0.012609 deg/s, cmd heading: 26.398775 deg, new cmd heading: 26.409214 deg. B9gOHeadingCmd: 0.460928 target range: 460.483276 and range: 463.00 m.>*" .BʎjZk?5Bɢ5eTѽ) 0i)L顱is|;i> //:|6I>IQ@ @@/@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.488708bEU!4jEU 4rEU0E EE&E"E:*ErN:VE4ZEBEd,_@X@A2pi>2j>2_½ٱ2 :AHRS rotation from veh to nav: [[0.897930,-0.416426,-0.142514],[0.429760,0.899423,0.079653],[0.095011,-0.132770,0.986583]]2Hػ?๦ڿ=¿1?`?(d?R??i2pi>I2N_;2*Cbchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.7404109dYd=fhGydf4:Ej>hQ 5n4j?Q 9r4j)jӕBYpyr>Q Ir@j]DIj;ij;jI4ytɮz@zbEjgOFNOT Ignoring new targets: 460.48 m.R%^9Z%^9gO5 ProNav: ac range: 460.483276 m, nav range: 457.159454 m, bearing: 25.596427 deg, approach rate: -0.650994 m/s, LOS rate: 0.012169 deg/s, cmd heading: 26.409215 deg, new cmd heading: 26.418479 deg. B5(9gO=HeadingCmd: 0.461089 target range: 460.483276 and range: 463.00 m.=>9*9"9 9AAAAʎIIIjIZM`~?Bɢν)! %ji))-â))i-;i=>=8):E5IE>IAԩ-9@) @)@-0@)^AU0checking for new query: numPingsReceived=0, elapsed TxPingTime=9.995082E EE$E"E:*ET:VE4ZEa@a@a@a@B ֿ>B CB "IB ƒBB =B B xDB ct;B .EA A I I O5 >,uZy@X@A2Zi>2BX>27Žٱ2 :AHRS rotation from veh to nav: [[0.898006,-0.415910,-0.143542],[0.429349,0.899649,0.079317],[0.096149,-0.132857,0.986461]]2H w?Cڿ_¿tz??"N?5?@v?i2Zi>I2t`;0YfByf!Ili]Mb@Mb@Mb@YYYY Y9]x&?X9vX9v?Y]7)?y]]<]A]`@ Y)]AYY]p AbDuVDufyUA=%>=ٔ.Q->9Y=hGyFxE>Q 54?Q 94)BY,?Q E:y>Q I@ ]DI:i:ǝ4yɮ@jgOFNOT Ignoring new targets: 460.48 m.RW9ZW9gO ProNav: ac range: 460.483276 m, nav range: 456.879333 m, bearing: 25.602572 deg, approach rate: -0.653851 m/s, LOS rate: 0.014353 deg/s, cmd heading: 26.418478 deg, new cmd heading: 26.430777 deg. B$9gOHeadingCmd: 0.461304 target range: 460.483276 and range: 463.00 m. 0>*" Bʎ  j Z  @颵BɢNʽ) i)B项i3;i 0>$q":q?I 0>I 2Acoustic response timeoutE  E E %E "E غ:*E ?:VE 4ZE BE R>R>ȽٱR: ZAHRS rotation from veh to nav: [[0.898063,-0.415157,-0.145352],[0.428844,0.899887,0.079353],[0.097857,-0.133597,0.986193]]RH?@ڿ¿@-r?@?`{P? ??iRh>IR!Ba;R)CYbByf!IbDnVDnyv!=%vT=ٔv,Q-v>9z ?Yz ?=zhGyx~}E~>Q 5 4?Q 9 4)BY y ҋ>Q I @1]DI:i:4yɮg@9jIgOMFNOT Ignoring new targets: 460.48 m.RUd9ZUd9gOe ProNav: ac range: 460.483276 m, nav range: 456.628113 m, bearing: 25.608106 deg, approach rate: -0.651538 m/s, LOS rate: 0.014359 deg/s, cmd heading: 26.430776 deg, new cmd heading: 26.441849 deg. Be;9gOmHeadingCmd: 0.461497 target range: 460.483276 and range: 463.00 m.maI>i*i"i iiqqqʎqyyjyZ}`@颭Bɢf˽) ; i)w顱i|;iaI>>:TIIaI>IY@Y @a@e0@ai2Acoustic response timeout^Au0:DԙA I I O > [*,@X@A2Vh>2`>2˽ٱ2] :AHRS rotation from veh to nav: [[0.898023,-0.414752,-0.146750],[0.428576,0.900060,0.078837],[0.099386,-0.133690,0.986027]]2H?Kڿ¿`m?`J?.?^q??i2Vh>I2a;2*CYFByF!I)DbDRVDRyVw;%ZN=ٔZ~Q-Z>9XY\=^hGy^F^QEb>`Q 5f4b?Q 9j4b)bBYhyj>Q Ij@bA]DIb:ibW:bm4ylɮrX@rcEjgO FNOT Ignoring new targets: 460.48 m.R ^9Z^9gO- ProNav: ac range: 460.483276 m, nav range: 456.369293 m, bearing: 25.613822 deg, approach rate: -0.654601 m/s, LOS rate: 0.014466 deg/s, cmd heading: 26.441850 deg, new cmd heading: 26.453289 deg. B-9gO5HeadingCmd: 0.461697 target range: 460.483276 and range: 463.00 m.5c>1*9"9 9AAAIʎIIQjQZU~@ԹBɢ˽) i)%*!!i%d;i-c>=2Acoustic response timeout5m:U}NIUc>IYE EyE#E"E%:*E:VE3ZEa@a@a@a@BqAqB}տ>ByB}."IB}܃BB} =ByByB}~t;B}.E9@ @@2@^A7F9 2Acoustic response timeoutI) I9 O] >a .1,@X@A2h>2B>2HϽٱ2 :AHRS rotation from veh to nav: [[0.897785,-0.414883,-0.147833],[0.428688,0.900147,0.077210],[0.101039,-0.132692,0.985994]]2H@?oڿ4¿ o??ij?ݹ?`C?i2h>I2a;2)CYFByF!IiMb@Mb@Mb@ 9MbX?rh|Q?Y*?y<AI@ A)YAbDmVDmy}ۍ=%}>=ٔ|Q->9Y=hGy9E>Q 54a?Q 94)1BY-?Q E:yo>Q I@T]DI;i;4yɮf@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 460.48 m.R9Z9gO ProNav: ac range: 460.483276 m, nav range: 456.085907 m, bearing: 25.620250 deg, approach rate: -0.657626 m/s, LOS rate: 0.014927 deg/s, cmd heading: 26.453289 deg, new cmd heading: 26.466153 deg. B9gOHeadingCmd: 0.461922 target range: 460.483276 and range: 463.00 m.>*"  Bʎ  j Z  y` @1=Bɢ=YȽ)A E"iA)EAAiEG;iM>M :IIU>IQ9@ @@4@@=@=M2Acoustic response timeoutaE EE$E"E:*E=:VE4ZEBEԹ Q7,@X@A6hh>6>6IRҽٱ6n BAHRS rotation from veh to nav: [[0.897828,-0.414263,-0.149304],[0.428248,0.900372,0.077037],[0.102516,-0.133105,0.985786]]6H?@Jڿdÿ@jh? ??@v>? ?i6hh>I6b;6*CYJByJ!IR2Acoustic response timeoutIV=)V=GbDVDf!IA9YAyd=%G=ٔmQ->9Y=hGyFE>Q 54*?Q 94)IBYy6>Q I@f]DIK;i<'4yyɮ}@yԑjgOFNOT Ignoring new targets: 460.48 m.R9Z9gO] ProNav: ac range: 460.483276 m, nav range: 455.814240 m, bearing: 25.626435 deg, approach rate: -0.626089 m/s, LOS rate: 0.014262 deg/s, cmd heading: 26.466153 deg, new cmd heading: 26.478530 deg. B]9gOeHeadingCmd: 0.462138 target range: 460.483276 and range: 463.00 m.eK>a*a"a aiiʎjZ`k@颅Bɢý) pi) 顩i7;iK>[:=XIK>Im2Acoustic response timeoutE EE&E"Eغ:*ER:VE4ZEa@a@a@a@ &<B} Ϳ>B} CB} N"IB} BBy By B} wDB} qt;B} .EBUCBUCBUɔCBU =BU =CUMU6 9@  @ @ 0@ ! ^AONԡIIO?Wt@,AX@A2Acoustic response timeoutnhh>n>n~Zսٱn AHRS rotation from veh to nav: [[0.897689,-0.414048,-0.150725],[0.428183,0.900437,0.076634],[0.103988,-0.133332,0.985601]]nH޹?ڿ JÿYg?`?@M? ?  ?inhh>In`b;n'CY%By%!IiMb@Mb@Mb@ 9sh|??MbQ?Y)?y\=`@ A)@YAbDVDk1y <% =ٔ <7Q->9Y=hGy05E>!ԡQ 54%lG?Q 94%)%jBYX-?Q E:yy>Q I@%|]DI%*"    .BʎjZ4@E"BɢEKý)M MthiI)Mf~IIiMa:iU>U\9U7\IU>IYe] ;9@ @@$2@2Acoustic response timeoutDADE4=EI EMEM%EI"EI*EMX:VEM 4ZEIBEM) F,]AX@ARڊh>R>RwؽٱRU5 ZAHRS rotation from veh to nav: [[0.897490,-0.413757,-0.152701],[0.428231,0.900357,0.077304],[0.105500,-0.134771,0.985244]]RHIR@b;R(CYrByv"IbD~VD~Jy,=%T=ٔwQ->9Y=hGyFݰ9E>Q 54\?Q 94)BYy>Q I@]DI):i:*4yɮV@jgOFNOT Ignoring new targets: 460.48 m.Rp9Zp9gO- ProNav: ac range: 460.483276 m, nav range: 455.214355 m, bearing: 25.640683 deg, approach rate: -0.677912 m/s, LOS rate: 0.016113 deg/s, cmd heading: 26.494941 deg, new cmd heading: 26.507045 deg. B-9gO5HeadingCmd: 0.462635 target range: 460.483276 and range: 463.00 m.5>9*9"9 999AAʎAAIjIZM @u$Bɢuý)y }Piy)}Υyyim:i>r9g]I>IU2Acoustic response timeoutA ;U9@Q @Q@U 1@Qԁ  2Acoustic response timeoutE  E E E "E y:*E |;:VE ZE a @a @a @a @A A AAB ɿ>B CB s"IB BB  =B B B Pt;B .E^A] w\A] ?A] >I I O >:!M,7AX@A>%i>>%>>>e۽ٱ>n@ JAHRS rotation from veh to nav: [[0.897079,-0.414532,-0.153013],[0.428686,0.900425,0.073915],[0.107136,-0.131902,0.985456]]>H ޴?@ڿÿo?G?? Lm?- ۈ?i>%i>I>b;9pYp=vhGyt~:E>qQ 54uGs?Q 94u)uBYy>Q I@u]DIuA*A"A AIqyyʎjZA@颅'Bɢ) @Ii)4顱i%>:ia>:934XIa>I\A\A2Acoustic response timeout! I 9@  @ @ /0@ q U 2Acoustic response timeoutD zD AAE  E E "E "E 7:*E A:VE (3ZE BE ;a 2E ;a JE k;a :E l;a ^AmlXԩA؟AIIO ?>V,2ZAX@A6d2k>6iD>6ٱ6N >AHRS rotation from veh to nav: [[0.895980,-0.415684,-0.156291],[0.430365,0.899564,0.074630],[0.109572,-0.134129,0.984888]]6Hݫ?ڿ@XĿ?`;?? ?@"+3?i6d2k>I6Ib;6*CYfփByf("IiUMb@Mb@Mb@QQQQ Q9UZd;O?~jt?YU~*?yUU=UAU@ U+A)Uv@QYUQAbDmVDmfy}݉=%}=ٔ}Q-}>9"?Y"?=hGyFg;E>Q 540?Q 94r )BY-?Q E:y>Q I@]DI:iZ:&4yɮ@\EPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 460.48 m.RI9ZI9gO ProNav: ac range: 460.483276 m, nav range: 454.577362 m, bearing: 25.655463 deg, approach rate: -0.710417 m/s, LOS rate: 0.016205 deg/s, cmd heading: 26.520096 deg, new cmd heading: 26.536625 deg. BB9gOHeadingCmd: 0.463151 target range: 460.483276 and range: 463.00 m.1">*" GBʎjZ )@ 颵*Bɢ.) 'i)刦项i:i1"> 949 Ҩ@I 1">I U2Acoustic response timeout9a9@ @@0@ԑ  2Acoustic response timeoutEU  EU EU 'EQ "EU :*EU ,:VEU '4ZEQ ae @ae @ae @ae @^A B ƿ>B B "IB -BB B B B t;B .EAIIAOm?],NzAX@AM{k>M>M7ٱM ]AHRS rotation from veh to nav: [[0.895685,-0.415650,-0.158061],[0.430775,0.899218,0.076417],[0.110369,-0.136534,0.984468]]MHs? ڿ`Z;Ŀё?@e?@?"A? y€?iM{k>IMCb;M(CYuByu?"IiMb@Mb@Mb@ 9oʡ?)\(Q?Y-?yGὙ<A@ A)I@YAbDVD0y%ߌ=%%=ٔ%>ǺQ-%>9)Y)=-hGy-­F-ax:E5>9Q 5E4=?Q 9E4= )=BYE/?Q EE:yE>Q IE@=]DI=3:i=]:=_4yQɮU@QyjygOFNOT Ignoring new targets: 460.48 m.RKq9ZKq9gO ProNav: ac range: 460.483276 m, nav range: 454.225372 m, bearing: 25.662419 deg, approach rate: -0.666621 m/s, LOS rate: 0.013185 deg/s, cmd heading: 26.536625 deg, new cmd heading: 26.550549 deg. B9gOHeadingCmd: 0.463394 target range: 460.483276 and range: 463.00 m. B>*" +BʎjZ@]-Bɢ]p)Y eRia)eҦaaie M:im B>m}9mF?Iu B>IE2Acoustic response timeoutm9@i @i@m0@iԡ^A *:A [AzA  2Acoustic response timeoutA .AI I  O > d,7AX@AD D bE 4jE 4rEͰ/E& E&E&&E$"E&O:*E&VL:VE&4ZE$BE& n#>nٱnK ~AHRS rotation from veh to nav: [[0.895092,-0.416338,-0.159602],[0.431818,0.898614,0.077631],[0.111100,-0.138406,0.984124]]nH? IڿmĿ?@q?߳?` q?G@}?inJl>Ina;n)CYByJ"IbD%VD%y5H=%5]=ٔ=@Q-=>9E ?YE ?=EhGyAE$U;EE>IQ 5U4M?Q 9U4M)MBYYy]\>Q I]@M]DIM;iM;M4yaɮm@ijgOFNOT Ignoring new targets: 460.48 m.Rp9Zp9gO ProNav: ac range: 460.483276 m, nav range: 453.978455 m, bearing: 25.667264 deg, approach rate: -0.668304 m/s, LOS rate: 0.013120 deg/s, cmd heading: 26.550549 deg, new cmd heading: 26.560244 deg. B9gOHeadingCmd: 0.463564 target range: 460.483276 and range: 463.00 m.9X>*" ʎj!Z%Ƈ@m/Bɢm)i mpiq)u顑i:i9X>kv90I9X>I9@ @@4@e2Acoustic response timeout^AONI A I I O >Pj,AX@A2Zm>2>2Kٱ2 >AHRS rotation from veh to nav: [[0.894731,-0.416522,-0.161138],[0.432478,0.898098,0.079893],[0.111440,-0.141171,0.983693]]2H@? Mڿ`'Ŀ@?7?s?U?¿iz?i2Zm>I2Va;0YFByJN"IbD~ VD~2y Ǎ<%M=ٔ_`Q->9Y!=%hGy%íF%[:E->1Q 5E45?Q 9E45)5BYAyMՖ>Q IM@5]DI5PB;i5B;54yYɮ]@]]EjgOFNOT Ignoring new targets: 460.48 m.R.l9Z.l9gO ProNav: ac range: 460.483276 m, nav range: 453.710968 m, bearing: 25.672486 deg, approach rate: -0.660593 m/s, LOS rate: 0.012905 deg/s, cmd heading: 26.560244 deg, new cmd heading: 26.570695 deg. B9gOHeadingCmd: 0.463746 target range: 460.483276 and range: 463.00 m."p>*" ʎjZ@@1BɢO) di) 0  i B,:i"p>9*I"p>I2Acoustic response timeoutE] E]E]#EY"E]:*E] H:VE]3Bu<Au<B}¿>B}CB}"IB}FBB} =ByB}vDB}s;B}q.EZEYBE];2E];JE];:E];ԙ9@ @@0@^A-0 Ae ؟Am 2Acoustic response timeoutI I O >q,jAX@A2o>2.>2 ٱ2 :AHRS rotation from veh to nav: [[0.894110,-0.417289,-0.162594],[0.433590,0.897458,0.081047],[0.112101,-0.142963,0.983359]]2H`?@ܴڿ@Ŀ??w? ? L¿ w?i2o>I2a;2(C\YByd"I iuMb@Mb@Mb@qqqq q9u/$?Zd;:v?Yu1(?yuu9"?Y"?=hGy8;E>Q 54#?Q 94)+BY2+?Q E:y>Q I@^DIQ:iZ:4yrBɮ@jgOFNOT Ignoring new targets: 460.48 m.R9Z9gO  ProNav: ac range: 460.483276 m, nav range: 453.417114 m, bearing: 25.679059 deg, approach rate: -0.653727 m/s, LOS rate: 0.014631 deg/s, cmd heading: 26.570696 deg, new cmd heading: 26.583849 deg. B 49gOHeadingCmd: 0.463976 target range: 460.483276 and range: 463.00 m.9>*" ʎ!!!j!Z- K@3Bɢb) i)Zif:i9>a91I9>I!2Acoustic response timeoutEe EeEe&Ea"EeD:*Ee;J:VEe4ZEaBEe1<2Ee1<JEe;:Ee;9@ @@4@I ^A ܪ&I I O >tx,vAX@A.2Acoustic response timeout0^4kp>^>^Bٱ^$ fAHRS rotation from veh to nav: [[0.893461,-0.418256,-0.163675],[0.434777,0.896838,0.081553],[0.112680,-0.144027,0.983137]]^H`;?@ڿPĿa?`??ؼ?zo¿u?i^4kp>I^a;\YrByrl"IbDzVDz0y =%X=ٔ MʺQ- >9 Y =hGyĭFk;E>Q 5%4M?Q 9%4)BBY!y-s>Q I-@^DID;ia;]4y1ɮ5<@1PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 460.48 m.R|9Z|9gO ProNav: ac range: 460.483276 m, nav range: 453.172272 m, bearing: 25.684496 deg, approach rate: -0.621682 m/s, LOS rate: 0.013815 deg/s, cmd heading: 26.583849 deg, new cmd heading: 26.594731 deg. BB9gOHeadingCmd: 0.464166 target range: 460.483276 and range: 463.00 m.>*" !!IIʎIIIjQZU #@5Bɢ0y) Ȝi)y顁i@:i>m9 I>IU9@Q @Q@U/@QԱ2Acoustic response timeoutB>BB"IB`BB =BBBs;BV.EE EE#E"E[:*EV:VE3ZEBE~<2E<JE;:E;^A]  I I O >ߙ~,=AX@A<<`߿q>'>]ٱl %AHRS rotation from veh to nav: [[0.892840,-0.419204,-0.164632],[0.435911,0.896255,0.081909],[0.113215,-0.144897,0.982948]]H &?@>ڿ@ſ ??@?@?¿Ot?i߿q>Ila;Y=By={"IiMb@Mb@Mb@ 9w/?rh|S㥛?Y&?y/<+A~@  A)@YGAbDVD1y]=%==ٔhQ->9Y=hGyE;E>Q 5 47?Q 9 4)\BY )?Q E:yNj>Q I@#^DI ;i] ;4yɮ@^Ej9gO=FNOT Ignoring new targets: 460.48 m.u2Acoustic response timeoutR}~9Z}~9gO ProNav: ac range: 460.483276 m, nav range: 452.894196 m, bearing: 25.690727 deg, approach rate: -0.621007 m/s, LOS rate: 0.013922 deg/s, cmd heading: 26.594731 deg, new cmd heading: 26.607199 deg. B9gOHeadingCmd: 0.464383 target range: 460.483276 and range: 463.00 m.>*" )BʎjZ @7Bɢ0) ji)i:i>ރ9(I>Iq@q @q@q@y)A ^A I I  2Acoustic response timeoutO- >E  E E %E "E :*E 0:VE 4ZE a @a @a @a @~, BX@A2gr>2l>2)Kٱ2R :AHRS rotation from veh to nav: [[0.892381,-0.419830,-0.165530],[0.436734,0.895804,0.082452],[0.113667,-0.145871,0.982752]]2Ha?|ڿ@0ſt? m??B?¿@r?i2gr>I2Na;0YF'ByF"IbDLVDLyr=%r]=ٔrQ-r>9tYt=vhGyvŭFzD(;Ez>|Q 54~.?Q 94~+)~rBYyI>Q I @~3^DI~;i~V:~^4yɮ@jgOFNOT Ignoring new targets: 460.48 m.R 9Z 9gO ProNav: ac range: 460.483276 m, nav range: 452.656616 m, bearing: 25.696026 deg, approach rate: -0.671166 m/s, LOS rate: 0.014978 deg/s, cmd heading: 26.607200 deg, new cmd heading: 26.617804 deg. BI9gOHeadingCmd: 0.464568 target range: 460.483276 and range: 463.00 m.>*" ʎ   j Z UY!@}9Bɢ}:)y }pi)ߡ顁iܩ:i>z9).I>IIi@i @i@m0@i uk>uCGM9IYMhA2Acoustic response timeoutq^AMzIIO>ԡ ,0BX@A>t>> >>ٱ>! FAHRS rotation from veh to nav: [[0.891771,-0.421022,-0.165788],[0.437910,0.895278,0.081935],[0.113930,-0.145667,0.982752]]>Hb?`ڿ@8ſ? ??`*?9¿r?i>t>I>-a;9|Y|=~hGy|V;E> Q 5 4 QD?Q 94 E) BYy>Q I@ D^DI :i ; x4y!ɮ%>@!jAgOMFNOT Ignoring new targets: 460.48 m.RM09ZM09gOe ProNav: ac range: 460.483276 m, nav range: 452.395081 m, bearing: 25.701820 deg, approach rate: -0.671419 m/s, LOS rate: 0.014883 deg/s, cmd heading: 26.617804 deg, new cmd heading: 26.629399 deg. Be9gOeHeadingCmd: 0.464771 target range: 460.483276 and range: 463.00 m.el>i*i"i iiiqqyʎyyyjZ"@颭:Bɢ) пi)@顱iid:il>m9"ͻIl>I2Acoustic response timeoutAYAYBe>BaBe"IBeyBBaBeDDBeuDBeBs;Be.EB%CB%CB%“CB% =B% =C%l5E EE#E"E%:*E H:VE3ZEBE;a2E;aJE;a:E;aq@q @q@u?0@qԡ^A`ԻII)O=> 2Acoustic response timeout l,JBX@A2at>2>2Uٱ2, :AHRS rotation from veh to nav: [[0.891569,-0.421362,-0.166009],[0.438257,0.895129,0.081704],[0.114172,-0.145600,0.982734]]2H ?`ڿ?ſg ???]:? ¿r?i2at>I2`;0YF:ByF"Ii Mb@Mb@Mb@     9 Cl?rh|y&1?Y ;?y  `< A Q@ \ A) @ Y AbD-VD-N2y=D^=%=E=ٔ=@Q-=>9AYA=EhGyEƭFE:EM>IQ 5U4MKY?Q 9]4Mz)MBY]y"?Q E]:y]ڈ>Q I]@MT^DIM ;iM:M4yiɮm@m_EjgO FNOT Ignoring new targets: 460.48 m.R~9Z~9gO% ProNav: ac range: 460.483276 m, nav range: 452.141266 m, bearing: 25.707716 deg, approach rate: -0.613513 m/s, LOS rate: 0.014261 deg/s, cmd heading: 26.629398 deg, new cmd heading: 26.641198 deg. B%9gO-HeadingCmd: 0.464977 target range: 460.483276 and range: 463.00 m.-j>I*I"I IQQQU BʎYYYjYZ]"@z^9{̻Ij>I@ @@l0@2Acoustic response timeoutE EE(E"Eغ:*ER:VEc44ZEa@a@a@a@)^A[RӻI I O- >Q ,dBX@A"2Acoustic response timeout:+u>:A>:ٱ:u BAHRS rotation from veh to nav: [[0.891298,-0.422097,-0.165594],[0.438851,0.894902,0.080994],[0.114003,-0.144861,0.982862]]:H?@ۿ@02ſ$? ??N/?ϊ¿s?i:+u>I:_;:)CYN9dYd=fhGydj:Ej>lQ 5r4nl?Q 9r4n)nBYpyr*>Q Ir@nd^DIn6:in-:n|#4yxɮzf@xjgOFNOT Ignoring new targets: 460.48 m.R=z9Z=z9gO ProNav: ac range: 460.483276 m, nav range: 451.902740 m, bearing: 25.713244 deg, approach rate: -0.589719 m/s, LOS rate: 0.013674 deg/s, cmd heading: 26.641197 deg, new cmd heading: 26.652258 deg. B19gOHeadingCmd: 0.465170 target range: 460.483276 and range: 463.00 m.*>*" ʎjZ#@1U=Bɢ])Y ]8iY)]^Yaieo:ie*>m8R9mͿIm*>IA@A @A@M4@IY2Acoustic response timeoutB]>B]CB]#IB]BBYBYBYB]r;B]-E^Au`ԻԑE EE%E"E,:*EAr:VE 4ZEBEԹ ,+~BX@A=Wu>=dr>=ٱ= MAHRS rotation from veh to nav: [[0.891100,-0.422403,-0.165880],[0.439171,0.894769,0.080733],[0.114322,-0.144790,0.982836]]=H?ۿ;ſ@_?`?媴?9D?}¿ ds?i=Wu>I=G^;=(CYeTBye"IiMb@Mb@Mb@ 9Zd;?p= ףy&1?Y?yA$@  A)@Y AbDVDkԑy=%*=ٔz/Q->9Y=hGyǭF%M:E%>)Q 554-o?Q 954-)-ؗBY="?Q E=:y=>Q I=@-w^DI-':i-s:-+4M2Acoustic response timeoutyEsBɮU@QPmB*** querying acoustic contact ***i ijygO}FNOT Ignoring new targets: 460.48 m.Ra9Za9gO ProNav: ac range: 460.483276 m, nav range: 451.608368 m, bearing: 25.720495 deg, approach rate: -0.631267 m/s, LOS rate: 0.015560 deg/s, cmd heading: 26.652259 deg, new cmd heading: 26.666771 deg. B9gOHeadingCmd: 0.465423 target range: 460.483276 and range: 463.00 m.K>*" BʎjZv$@?Bɢ)! %+=i!)%ϙ!!i-IL:i-K>5C95I5K>I1Թ@ @@4@^A  2Acoustic response timeoutE  E E $E "E :*E H:VE 4ZE a @a @a @a @ AQ IY Ii O} >,BX@AFu>FA>F}ٱF NAHRS rotation from veh to nav: [[0.891078,-0.422671,-0.165318],[0.439294,0.894757,0.080190],[0.114025,-0.144079,0.982975]]FH@? ۿ@#)ſb? ڡ?T?0?*q¿t?iFu>IFb>^;F'CYZ^ByZ"IbDb VDb2yjg=%jt=ٔnbi:Q-n?9lYp=rhGypr9Er?tQ 5z4vw?Q 9z4vc)vBY|y~>Q I~@v^DIv;iv7;v14yɮK@ `Ej)gO5FNOT Ignoring new targets: 460.48 m.R59Z59gOE ProNav: ac range: 460.483276 m, nav range: 451.403229 m, bearing: 25.725551 deg, approach rate: -0.615972 m/s, LOS rate: 0.015189 deg/s, cmd heading: 26.666771 deg, new cmd heading: 26.676888 deg. BEb9gOMHeadingCmd: 0.465600 target range: 460.483276 and range: 463.00 m.Mc>*" ʎjZ &c%@M@BɢMSq)I Mp=iQ)UQQiUl1:i]c>] 89]pI]c>Ia9@9 @A@EN0@A=2Acoustic response timeout^A%`Ի! AQ Ia Iq O} >,mBX@A6Bv>6>62ٱ6K >AHRS rotation from veh to nav: [[0.890844,-0.423317,-0.164926],[0.439807,0.894565,0.079520],[0.113875,-0.143375,0.983095]]6Hʁ?@ۿ`Lſ%?G?@d[?&? Z¿u?i6Bv>I6];4YFgByJ"IIN<)N=bDrVDryv2=%vI=ٔz|9Q-z>9xY|=~hGy~ȭF~9:E>Q 5 4?Q 94)BYy>Q I@^DI):i:84yɮ%@!jAgOMFNOT Ignoring new targets: 460.48 m.RM9ZM9gO] ProNav: ac range: 460.483276 m, nav range: 451.154480 m, bearing: 25.731672 deg, approach rate: -0.612836 m/s, LOS rate: 0.015087 deg/s, cmd heading: 26.676888 deg, new cmd heading: 26.689136 deg. Be9gOeHeadingCmd: 0.465813 target range: 460.483276 and range: 463.00 m.e>i*i"i iiiqqʎqqqjyZ}*&@2Acoustic response timeout颵ABɢ) ̗=i){f项i:i>%,9#I>IB<A4=B>BCB5#IBBB =BBsDBq;B@-El>i!>E] E]EYEY"E]:*E]R:VEYZEYBE]18,JBX@A24v>2R>2!Mٱ2 :AHRS rotation from veh to nav: [[0.890664,-0.423797,-0.164662],[0.440223,0.894381,0.079283],[0.113670,-0.143102,0.983159]]2H`R?@|ۿſ`,?Ş?@K?@?-Q¿ v?i24v>I2u];0@YFvByF"IiMb@Mb@Mb@ 9Cl?ʡEy&1?Y;?yy\ A@ / A)h@YAbDmVDmβy}=%}B=ٔ}:Q->9Y=hGy:E>Q 54f?Q 94)BY."?Q E:y>Q I@^DI;i ;1@4yɮ@jgOFNOT Ignoring new targets: 460.48 m.Ru9Zu9gO ProNav: ac range: 460.483276 m, nav range: 450.895538 m, bearing: 25.737334 deg, approach rate: -0.613908 m/s, LOS rate: 0.013432 deg/s, cmd heading: 26.689137 deg, new cmd heading: 26.700467 deg. B9gOHeadingCmd: 0.466011 target range: 460.483276 and range: 463.00 m.>*" BʎjZ'@5BBɢ5%)1 58=i9)=:99i= 9iE>Eͫ 9EQIE>IIԱ9@ @@@2Acoustic response timeoutDazDe@AbE4jEJ4rE/Ei EmEiEi"Ei*EmrN:VEiZEia}@a}@a}@a}@^A&tA .A I I! O5 >] 2Acoustic response timeout ,u9BX@A2v>25>2zٱ2 :AHRS rotation from veh to nav: [[0.890782,-0.423704,-0.164261],[0.440052,0.894480,0.079118],[0.113406,-0.142760,0.983239]]2H@J?@ۿ@ſ)??A?@)?E¿@v?i2v>I2C];2(CYZByZ"IbDbVDbhyn=%nT=ٔn5:Q-r>9r ?Yr ?=rhGyrɭFv Ev>xQ 5~4z?Q 9~4z)z4BY|y~>Q I@z^DIzy:iz:zF4y ɮ @ aEj)gO5FNOT Ignoring new targets: 460.48 m.R=v9Z=v9gOM ProNav: ac range: 460.483276 m, nav range: 450.659363 m, bearing: 25.742511 deg, approach rate: -0.614097 m/s, LOS rate: 0.013470 deg/s, cmd heading: 26.700468 deg, new cmd heading: 26.710828 deg. BM49gOUHeadingCmd: 0.466192 target range: 460.483276 and range: 463.00 m.U>Q*Q"Q QYYYYʎaaajaZe'@颕CBɢ^) >i)顙i9i>99I>II@I @I@M0@I)^Am2Acoustic response timeoutB>BCBZ#IBτBB =BBqDB;q;B,EEm EmEm(Ei"Em:*Emk:VEmc44ZEiBEm6Y ,CX@AAB*v>Z>ٱ AHRS rotation from veh to nav: [[0.890995,-0.423770,-0.162934],[0.439778,0.894728,0.077828],[0.112800,-0.140999,0.983563]]H? ۿĿQ%???w?D ¿@Xy?iB*v>I\;&CYBy#I i}Mb@Mb@Mb@yyyy y9}ʡE?1ZdX9v?Y}?y}"۽}<} A}@ } A)}~@yY}AbDVDβyw=%1=ٔ:Q->9"?Y"?=hGy BE>BDAT read: Response Not Received *response not received*DAT read: user:433> BDAT read: Tx time:00:34:20.0268 %$Ping request sent.%Q I-@^DI@=i>=N4y5rBɮ=@=WEaP}B*** querying acoustic contact ***y yjgOFNOT Ignoring new targets: 460.48 m.RG9ZG9gO ProNav: ac range: 460.483276 m, nav range: 450.378357 m, bearing: 25.748154 deg, approach rate: -0.543072 m/s, LOS rate: 0.010911 deg/s, cmd heading: 26.710828 deg, new cmd heading: 26.722120 deg. B9gOHeadingCmd: 0.466389 target range: 460.483276 and range: 463.00 m.>*" BʎjZ(@颥EBɢs) *">i)e顩i109i> 9E̻I>Iԉ= 0:: checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250400 Dy D} <E  E E !E "E [:*E VL:VE c3ZE a @a @a @a @ @  @ @ E4@ ^A&tA-.AI1IAOU?,,-|&CX@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501920:Fu>:N>:ٱ: FAHRS rotation from veh to nav: [[0.891468,-0.423414,-0.161260],[0.439050,0.895185,0.076674],[0.111892,-0.139154,0.983929]]:H`?`8ۿ)Ŀ@c?`[???X|?i:Fu>I:H\;8Y~By'#IbD VD:2y%g=%%=ٔ%):Q-->9- ?Y- ?=-hGy5ʭF5KκE5>9Q 5E4=)?Q 9E4=T)=oBYAyMd>Q IM@=^DI=>:i=6:=X4yUsBɮU@UXEjygO}FNOT Ignoring new targets: 460.48 m.R3z9Z3z9gO ProNav: ac range: 460.483276 m, nav range: 450.043182 m, bearing: 25.754936 deg, approach rate: -0.675152 m/s, LOS rate: 0.013671 deg/s, cmd heading: 26.722120 deg, new cmd heading: 26.735694 deg. B)9gOHeadingCmd: 0.466626 target range: 460.483276 and range: 463.00 m.>*" ʎjZ@)@FBɢ؍) ?>i)Oi0!i> 8I>IzA@A @A@E/@I!checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756928AA?AB>BލCB#IBBB =BBoDBq;B,EI^Ae#2E EE"E"E,:*EVE(3ZEBEq ,B@CX@Alt>q>ٱ AHRS rotation from veh to nav: [[0.891842,-0.422954,-0.160399],[0.438480,0.895454,0.076799],[0.111148,-0.138825,0.984060]]H`?ۿ@Ŀ ?`? ?.t? k}?ilt>I+];)CY-By-##IQiMb@Mb@Mb@ 9+?!rhS㥛?Y?yl罙/< A@ A)@Y @bDVDk5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005908y=d%=-=ٔ=W:Q-E>9E"?YE"?=EhGyE˭FMDEM>QQ 5]4U?Q 9]4U*)UBY]}"?Q Ee:ye>Q Ie@U^DIU:iU:U`4yiɮm@ijgOFNOT Ignoring new targets: 460.48 m.Rq9Zq9gO ProNav: ac range: 460.483276 m, nav range: 449.752777 m, bearing: 25.761152 deg, approach rate: -0.616237 m/s, LOS rate: 0.013200 deg/s, cmd heading: 26.735693 deg, new cmd heading: 26.748134 deg. BC9gOHeadingCmd: 0.466843 target range: 460.483276 and range: 463.00 m. >*" BʎjZ*@GBɢ"j) 6>i)igMi >8I >I ԁI)[AԱ1 @9  @9 @= 4@9  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257980E  E E *E "E *E T:VE (N4ZE a @a @a @a @ ^A Β AIIO?,;aCX@Av/G\A9m9m\AYmdA@s>ہ>Mٱ AHRS rotation from veh to nav: [[0.892315,-0.422525,-0.158889],[0.437736,0.895893,0.075908],[0.110275,-0.137285,0.984374]]H؍? ۿzVĿ@?(?n?:? ?i@s>I];&CYByB#IIC=)>AbDVD0yN=%*=ٔ:Q->9Y=hGyE>Q 54@6?Q 94)BYyl>Q I@_DI:i:?i4ytBɮ@ YE)j1gO5FNOT Ignoring new targets: 460.48 m.R=+s9Z=+s9gOM ProNav: ac range: 460.483276 m, nav range: 449.457214 m, bearing: 25.767525 deg, approach rate: -0.615815 m/s, LOS rate: 0.013287 deg/s, cmd heading: 26.748134 deg, new cmd heading: 26.760889 deg. BM9gOUHeadingCmd: 0.467066 target range: 460.483276 and range: 463.00 m.U9#>Q*Q"Q QQQYYʎYYajaZe@+@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509893额HBɢ) `g>i)入顡ii9#>8AI9#>IYy@y @y@}/@yԁ^A E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761794BM u>BM ܍CBM #IBM BBM  =BM EDBM mDBM q;BM ,EBCBCBɗCB =B =C7E  E E (E "E :*E c:VE c44ZE BE 9,{CX@A2|r>2>2 ٱ2) :AHRS rotation from veh to nav: [[0.892924,-0.421902,-0.157118],[0.436768,0.896438,0.075048],[0.109183,-0.135636,0.984724]]2H`Ԓ?@sۿ@mĿ??@W6?`n?\܂?i2|r>I2e];2(CYFԄByF`#IbDRVDRܲyV >%Z`=ٔZ:E;Q-Z>9XY\=^hGy^̭F^AMEb>`Q 5f4bH?Q 9j4bO)bBYhyj͏>Q Ij@b_DIbl:ib:bo4ylɮr@pjgO FNOT Ignoring new targets: 460.48 m.R u9Z u9gO ProNav: ac range: 460.483276 m, nav range: 449.232361 m, bearing: 25.772415 deg, approach rate: -0.616962 m/s, LOS rate: 0.013423 deg/s, cmd heading: 26.760888 deg, new cmd heading: 26.770672 deg. B%9gO%HeadingCmd: 0.467236 target range: 460.483276 and range: 463.00 m.%9>)*)") )))11ʎ111j9Z=@[p,@aɢe@x)i m">ii)m&iiim)iu9>u@$S8i#I9>Iԙ9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013961^AA! I) I9 OM > $,ŏCX@A2q>2>2ݽٱ2c :AHRS rotation from veh to nav: [[0.893363,-0.421314,-0.156194],[0.436137,0.896679,0.075833],[0.108106,-0.135869,0.984811]]2H n?ڿ+ÿ??i?۬?&d`?i2q>I2 ];2'CYFلByFg#I~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265956iMb@Mb@Mb@ 9?q= ףpV-?Y ?y뽙< A@ `A)Y@bD5VD5yE<%EA=ٔMm';Q-M>9IYI=UhGyQUrEU>YQ 5e4]=^?Q 9e4]e)]ҘBYm"?Q Em:ym*>Q Im@]"_DI]/:i]:]w4yqɮ}@yE EE%E"E*E:VE 4ZEa@a@a@a@PMB*** querying acoustic contact ***Q QjYgO]FNOT Ignoring new targets: 460.48 m.Rel9Zel9gO ProNav: ac range: 460.483276 m, nav range: 448.970734 m, bearing: 25.778220 deg, approach rate: -0.583189 m/s, LOS rate: 0.012948 deg/s, cmd heading: 26.770672 deg, new cmd heading: 26.782290 deg. B9gOHeadingCmd: 0.467439 target range: 460.483276 and range: 463.00 m./T>*" BʎjZ-Z-@IBɢ})! %>i!)%!!iE2iM/T>Mj7Mv/IM/T>IQYi],>9@ @@0@@ @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517875^A% &I A1 IA IQ O] >L,gbCX@AZp>Z>Z;۽ٱZC jAHRS rotation from veh to nav: [[0.893978,-0.420566,-0.154688],[0.435188,0.897133,0.075926],[0.106844,-0.135195,0.985041]]ZH@w?ڿÿ?O? o?Z?Nu?iZp>IZH];XYvByzx#I ||==bDVDNy%ʍ=%%M=ٔ-lP;Q-->9)Y)=5hGy5ͭF5l9E5>9Q 5E4=r?Q 9E4=)=BYIyM>Q IM@=2_DI=d:i=:=~4yQɮU@]ZEjygO}FNOT Ignoring new targets: 460.48 m.R9Z9gO ProNav: ac range: 460.483276 m, nav range: 448.724365 m, bearing: 25.783731 deg, approach rate: -0.657338 m/s, LOS rate: 0.014711 deg/s, cmd heading: 26.782290 deg, new cmd heading: 26.793317 deg. Ba9gOHeadingCmd: 0.467632 target range: 460.483276 and range: 463.00 m.im>*" ʎjZ.@ɢ k) g>i)iWiim>6 BIuim>IqQBl>BۍCB#IB0BB# =BBlDBp;B,E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7698809@ @@%0@E EE&E"E:*EVL:VE4ZEBE checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0234082,8CX@A2To>2U>2bؽٱ23 :AHRS rotation from veh to nav: [[0.894635,-0.419722,-0.153172],[0.434173,0.897592,0.076301],[0.105461,-0.134765,0.985249]]2H٠?ڿ@#ÿ`~?@?`{?v?`?)?i2To>I22];2&C@YFByJ#IimMb@Mb@Mb@iiii i9m-?K7AZd;O?Ym5?ym mj9Y=hGy<E>Q 54?Q 94)BY!?Q E:y>Q I@C_DI;i%;Q4yɮw@jgOFNOT Ignoring new targets: 460.48 m.R39Z39gO  ProNav: ac range: 460.483276 m, nav range: 448.469025 m, bearing: 25.790229 deg, approach rate: -0.610328 m/s, LOS rate: 0.015540 deg/s, cmd heading: 26.793318 deg, new cmd heading: 26.806320 deg. B 9gOHeadingCmd: 0.467859 target range: 460.483276 and range: 463.00 m.(>*" !ʎ!!!j!Z-k.@QɢU`d)Y ]>iY)]YYi]|ie(>eYeSUIm(>IiԱ9@ @@:1@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273825DzD?AE EE%E"E :*EF:VE 4ZEa@a@a@a@^AM2D II Ia Om >U^,CX@AlY= By=#IbDMVDMN2yA=%L=ٔQ->9Y=hGyέFE>Q 54>?Q 949)BYyQ I@S_DIY;i;^4yuBɮ@jgOFNOT Ignoring new targets: 460.48 m.Rx9Zx9gO ProNav: ac range: 460.483276 m, nav range: 448.222717 m, bearing: 25.796504 deg, approach rate: -0.610806 m/s, LOS rate: 0.015570 deg/s, cmd heading: 26.806320 deg, new cmd heading: 26.818877 deg. B9gOHeadingCmd: 0.468078 target range: 460.483276 and range: 463.00 m.> * "    ʎjZ%غ/@MJBɢMZ)I M>iI)Uo梽QQiUחi]>]JJ]DVI]>Iai}BDAT read: Rx Time:00:34:23.0220 }TRx dataTimestamp_ set to:1761698063.629331checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527122 )@) @)@-4@)@5=@5=9^AMlXAUZAzAU\AIIO>B g>B ڍCB #IB NBB $ =B B kDB .p;B W,E- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777916a E  E E *E "E s:*E ;J:VE (N4ZE BE f067>6tҽٱ6 >AHRS rotation from veh to nav: [[0.895845,-0.418118,-0.150463],[0.432349,0.898346,0.077775],[0.102649,-0.134727,0.985552]]6Hª?sڿ `Bÿ?`@??/G?>?i6m>I6s];6'CY^Byb#IbDj VDj2yr#=%rT=ٔr;Q-r>9tYt=vhGytzxEz>|Q 54~?Q 94~)~)BYy>Q I@~b_DI~;i~ ;~4yɮ@j19gOEFNOT Ignoring new targets: 460.48 m.RE!9ZE!9gOU ProNav: ac range: 460.483276 m, nav range: 447.989960 m, bearing: 25.802505 deg, approach rate: -0.610584 m/s, LOS rate: 0.015751 deg/s, cmd heading: 26.818878 deg, new cmd heading: 26.830887 deg. BU9gO]HeadingCmd: 0.468287 target range: 460.483276 and range: 463.00 m.][>Y*a"a aaaiiʎiiijqZu?0@颙ɢjbN)  >i)E顡i Ѭi[>NLzI[>I@! @!@-3@)qchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030086^A][RSԙIIO> :o,:DX@A2l>2F>2нٱ2 :AHRS rotation from veh to nav: [[0.896203,-0.417836,-0.149106],[0.431895,0.898552,0.077915],[0.101423,-0.134226,0.985747]]2H?@Խڿÿ )??@?`?O.I20];2(CY^By^#I DAT read: 00:34:23.0220 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 142,-0.10, 2.164, 0.650, 2.354, 1.726, PHS= 0.540,-1.031, 0.584, RAW= 151.4, -1.2, CAL= 150.4, -2.0, ROT= 359.6, 2.0 Ygot valid direction response: 00:34:23.0220 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 142,-0.10, 2.164, 0.650, 2.354, 1.726, PHS= 0.540,-1.031, 0.584, RAW= 151.4, -1.2, CAL= 150.4, -2.0, ROT= 359.6, 2.0 PDAT read: Bearing 171.6, 6.0 (Local) ~Local bearing/azimuth received: Bearing 171.6, 6.0 (Local) DAT read: Range 11 to 50 : 443.3 m (Round-trip 591.1 ms) speed 0.4 m/s DD=bE%4jE%4rE%L0E EE&E"E:*Eg:VE4ZEa@a@a@a@ԱR#Rx 1: Read range and direction messages.`direction in FSK: [0.999366,-0.006977,-0.034899]Fpublishing direction and range infoypref?IwB̓|XޡYrCpppp p)rLIrq= ?irr?r)@rr'@ r5)r@Ir5=pprMPQ?O2?  r) ?)r9Y=hGyϭFE>Q 54?Q 9 4)CBY %?Q E :y {>Q I @w_DI;it;4yɮj@[Epr[DX@AJr`CRr`Cjrm>r5Ί{@-G6 6+.rref?IwB̓|XޡZrbr5=rvr(Ix@pHg@\ʽ=@zrsi?Ui ?k/*xa?2rF:C:r*C"r,)虊?*rSVBrBr7b?p“prCrX>gO addTargetRange:: Added new target pos. range: 443.299988 m, deltaT: 16.631826 s, deltaX: -19.700012 m, approachRate: -1.184477 m/s, rangeRepo size: 4 gO Added new target pos. range: 440.750610 m, bearing: 25.062718 deg, lat: 36.779295 deg, lon: -121.859080 deg, deltaT: 16.631826 s, deltaX: -19.732666 m, approachRate: -1.186440 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 440.75 m.ReZagOE ProNav: ac range: 440.750610 m, nav range: 447.504089 m, bearing: 25.821544 deg, approach rate: 0.000000 m/s, LOS rate: 0.015751 deg/s, cmd heading: 26.830887 deg, new cmd heading: 26.847262 deg. BAgOUHeadingCmd: 0.468573 target range: 440.750610 and range: 443.30 m.U>Q*Q"Q QQYy} Bʎyj̴{@Zͮ?ɢp(_) >i)Ki4ɺi >  qI>I*DAT read: user:434> BDAT read: Tx time:00:34:24.4268 $Ping request sent.IY Ii Ou >* ,S3DX@A2k>2>2̽ٱ2EP :AHRS rotation from veh to nav: [[0.896622,-0.417625,-0.147169],[0.431383,0.898829,0.077557],[0.099890,-0.133025,0.986066]]2H ?\ڿ@m¿ś?5?ڳ?d?@`ڍ?i2k>I2];2'CYB.ByF#IbDNVDNyVR=%Vk=ٔVg;Q-V?9XYX=ZhGyX^E^?`Q 5f4bi?Q 9f4b?)bUBYdyf{>Q Ij@b_DIbu:hib:b4ynvBɮr{@pP~B*** querying acoustic contact ***| |j gO FNOT Ignoring new targets: 440.75 m.RU9ZU9gO% ProNav: ac range: 440.750610 m, nav range: 447.291901 m, bearing: 25.827208 deg, approach rate: -0.664184 m/s, LOS rate: 0.017740 deg/s, cmd heading: 26.847262 deg, new cmd heading: 26.858597 deg. B%:gO-HeadingCmd: 0.468771 target range: 440.750610 and range: 443.30 m.->)*)") ))ʎjZ?!ɢ%~*)) -F>iI)MbĠIQiUںiU>]u]I]>IYBue>BqBu$IBumBBqBqBqBu o;Bu+Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249635E EEE"E>:*E&p:VEZEBE ,[LDX@A2qk>2c>2ʽٱ2% :AHRS rotation from veh to nav: [[0.896922,-0.417472,-0.145767],[0.431082,0.898938,0.077968],[0.098486,-0.132769,0.986242]]2H?`޷ڿ|¿@ٖ?@?@?\6? K?i2qk>I2 @];2%CY^:By^#I ``9iMb@Mb@Mb@ 9NbX9?M¿Q?Y%?yn<IAC@ hA)p@Y@bDVDyR=%;=ٔS;Q->9 ?Y ?=hGyЭFqE>Q 54?Q 94~)nBY)?Q E:ylq>Q I@_DI ;iG ;O4ywBɮ@\Ej gO FNOT Ignoring new targets: 440.75 m.R9Z9gO% ProNav: ac range: 440.750610 m, nav range: 447.012939 m, bearing: 25.835017 deg, approach rate: -0.639922 m/s, LOS rate: 0.017925 deg/s, cmd heading: 26.858597 deg, new cmd heading: 26.874225 deg. B%7:gO-HeadingCmd: 0.469044 target range: 440.750610 and range: 443.30 m.-&>)*)") 1119=Bʎ999jAZE s?iɢm;)i u>iq)uqqiu}i}&>}ai<ۋI&>I)@) @)@)@1ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753624E EE(E"E*E;J:VEc44ZEa@a@a@a@ԡ^AM]A I I O > 7,"fDX@A2ܵj>2*>2ƽٱ2V[ :AHRS rotation from veh to nav: [[0.897368,-0.417113,-0.144042],[0.430508,0.899197,0.078153],[0.096923,-0.132143,0.986481]]2HI2:];2'CYZWByZ$IbDfVDffyj>%nY=ٔn;Q-n>9pYp=rhGyprEv>tQ 5z4v?Q 9~4v)vBY|y~p>Q I~@v_DIv ;iv ;v4y ɮ @ j)gO5FNOT Ignoring new targets: 440.75 m.R5r9Z5r9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005650gOU ProNav: ac range: 440.750610 m, nav range: 446.772919 m, bearing: 25.841767 deg, approach rate: -0.638684 m/s, LOS rate: 0.017971 deg/s, cmd heading: 26.874225 deg, new cmd heading: 26.887732 deg. BU:gO]HeadingCmd: 0.469279 target range: 440.750610 and range: 443.30 m.]eE>Y*Y"a aaaaiʎiiijiZu@B?ԙ颡ɢp") ?i))顩i)ieE>6_NIeE>IU9@Q @Q@U0@Q^A1A9zA=WABa>BٍCBB$IBBBBBBm;B+Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257611Aa Iq I O >E  E E %E "E [:*E n:VE 4ZE BE }2>2[ýٱ2d :AHRS rotation from veh to nav: [[0.897661,-0.417147,-0.142103],[0.430232,0.899375,0.077625],[0.095423,-0.130818,0.986803]]2H@?ڿ@p0¿ ?? =߳?m?৾?i2Rj>I2d];2%CYBdByF$IbDRVDRNybu=%fK=ٔjru;Q-j>9lY9=EhGyEѭFMUmEM>yQ 54}Q?Q 94}Q)}BYyGp>Q I@}_DI};i};}+4yyBɮL@jgOFNOT Ignoring new targets: 440.75 m.R9Z 9gO ProNav: ac range: 440.750610 m, nav range: 446.506317 m, bearing: 25.849288 deg, approach rate: -0.584285 m/s, LOS rate: 0.016491 deg/s, cmd heading: 26.887731 deg, new cmd heading: 26.902781 deg. Br9gOHeadingCmd: 0.469542 target range: 440.750610 and range: 443.30 m.g>* "    ʎjZ ?Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509843!颍IBɢ0) g ?i)顑i]ig>݈ݖIg>I1@9 @9@=/@9Q^A] (ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761591E  E E &E "E 2:*E e:VE 4ZE a @a @a @a @A ؟AI I O >&,=EDX@AxY5pBy5$II=>)=>iMb@Mb@Mb@ 9#~j? rhy&1?Y%?yC `<A@ QA)@Y@bD VDf2y9=%(=ٔQ->9m"?Ym"?=mhGymҭFuEu>Q 54`7?Q 94H)BY)?Q E:yz>Q I@_DIl;igk;4 k>Cy!ɮ@-]EEG]`]Aq9`]AY>AjgOFNOT Ignoring new targets: 440.75 m.R9Z9gO- ProNav: ac range: 440.750610 m, nav range: 446.194305 m, bearing: 25.857665 deg, approach rate: -0.604364 m/s, LOS rate: 0.016239 deg/s, cmd heading: 26.902782 deg, new cmd heading: 26.919549 deg. B-9gO5HeadingCmd: 0.469835 target range: 440.750610 and range: 443.30 m.5/>1*1"1 qyyy}#BʎjZ`@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013787Iɢu$)q uC?iq)u~֜yyi}h i/>EԟҘI/>II9@ @@0@y ^A PB A <B ^>B B t$IB BB % =B B B k;B *EBڍCBڍCB̓CB$ =B$ =C i5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265619Թ Em EmEiEi"Em:*EmR:VEiZEiBEm&l.,DX@AYByI$IbDVDy1 >%(=ٔQ->9Y=hGyE>Q 54P?Q 94R)ϙBYyQ I@_DI:iQ:4y zBɮ @P-B*** querying acoustic contact ***) )j1gO=FNOT Ignoring new targets: 440.75 m.R=9Z=9gOU ProNav: ac range: 440.750610 m, nav range: 445.893463 m, bearing: 25.865755 deg, approach rate: -0.747444 m/s, LOS rate: 0.020112 deg/s, cmd heading: 26.919550 deg, new cmd heading: 26.935739 deg. BU::gOUHeadingCmd: 0.470117 target range: 440.750610 and range: 443.30 m.]8>Y*Y"Y YYYaaʎaaijiZm@ɢf4)_ܜ G$?i)ۛi-i8>I8>I 9@ @@/@!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521839I^AA>A>A I I1 O= >q O5,FDX@A2i>2'>2߹ٱ2$ >AHRS rotation from veh to nav: [[0.898237,-0.417511,-0.137314],[0.430065,0.899361,0.078705],[0.090634,-0.129750,0.987396]]2H`[?`ڿ /??@ &? 3?`?i2i>I2KX];0YBy%O$IiMb@Mb@Mb@ 9uV?/$9Y=hGyӭF`E> Q 54 nf?Q 94 ) BY,?Q E:yŁ>Q I@ _DI G ;i  ; 4y%xBɮ%@%TEjIgOMFNOT Ignoring new targets: 440.75 m.QR]9Z]9gOm ProNav: ac range: 440.750610 m, nav range: 445.629913 m, bearing: 25.872553 deg, approach rate: -0.650371 m/s, LOS rate: 0.016786 deg/s, cmd heading: 26.935739 deg, new cmd heading: 26.949344 deg. Bm9gOmHeadingCmd: 0.470355 target range: 440.750610 and range: 443.30 m.uW>E EE"E"Em:*E n:VE(3ZEa@a@a@a@)*)"1 1119= Bʎ999jAZE @ HBɢ ) &?i)Bi:iW>ǹ%۟I%W>I!ԁ@  @ @ 0@ ԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021748^A u A .AI! I9 OM >zv;,DX@A5pj>5>59ٱ5 EAHRS rotation from veh to nav: [[0.898141,-0.418733,-0.134186],[0.430835,0.899035,0.078213],[0.087887,-0.128058,0.987865]]5H@?ڿ ,˒? ?? ? 8d?i5pj>I5w];5'CY]By]l$I aam=m=bDuVDu:y=%R=ٔ};Q->9 ?Y ?=hGy :E>Q 54t{?Q 94)BYy >Q I@`DIbQ*Q"Y YYYaaʎaaijiZm t @颕GBɢ Ƽ) 2?i)ᦙ顙i;Gi>GٹI>IԹ9@ @@0@BM[>BM؍CBM$IBM݅BBM& =BIBMjDBM]i;BM(Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273814E EE$E"E[:*Ega:VE4ZEBE}SB," EX@A6BDAT read: Rx Time:00:34:27.4321 6TRx dataTimestamp_ set to:1761698068.165918:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527418O;k>H>ٱ AHRS rotation from veh to nav: [[0.897985,-0.419276,-0.133531],[0.431366,0.898708,0.079041],[0.086865,-0.128579,0.987888]]H`K?`iڿ?6? I3f];&CYByw$IiEMb@Mb@Mb@AAAA A9E%C?V-L7A`?YEZ$?yEE+=AE@ A)EC@AYEG@bD]VD]02ye(=%m>=ٔm*;Q-m>9"?Y"?=hGyԭF:E>Q 54?Q 94)BY:'?Q E:y>Q I@`DI;i";4yɮ@UEj!gO-FNOT Ignoring new targets: 440.75 m.R-9Z59gO= ProNav: ac range: 440.750610 m, nav range: 445.095276 m, bearing: 25.885527 deg, approach rate: -0.652341 m/s, LOS rate: 0.014983 deg/s, cmd heading: 26.962360 deg, new cmd heading: 26.975307 deg. B=[9gOEHeadingCmd: 0.470808 target range: 440.750610 and range: 443.30 m.E >AI*I"I QQQQ]1BʎYYYjYZe@颉ɢռ) 7?i)`顑i<Ui >#$I >IySIZA)ZAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.777595E EEE"Em:*Ez:VEZEa @a @a @a @E 9@I  @I @M 0@I @U =@U =ԡ ^AE 7ƙAi zAm \AIiIyO?J,P*EX@A6DAT read: 00:34:27.4320 LVL= 22576, 26017, 23282, 22211, AGC= 76, IDX= 35, 0.03,-1.082,-2.679,-0.916,-1.567, PHS= 0.586,-1.067, 0.606, RAW= 150.6, -1.5, CAL= 149.7, -2.3, ROT= 0.3, 2.3 :Ygot valid direction response: 00:34:27.4320 LVL= 22576, 26017, 23282, 22211, AGC= 76, IDX= 35, 0.03,-1.082,-2.679,-0.916,-1.567, PHS= 0.586,-1.067, 0.606, RAW= 150.6, -1.5, CAL= 149.7, -2.3, ROT= 0.3, 2.3 <>PDAT read: Bearing 171.3, 5.6 (Local) B~Local bearing/azimuth received: Bearing 171.3, 5.6 (Local) FDAT read: Range 11 to 50 : 450.8 m (Round-trip 601.1 ms) speed 0.6 m/s JR#Rx 1: Read range and direction messages.N^direction in FSK: [0.999181,0.005232,-0.040132]NFpublishing direction and range infoywI?)mu?.='YfC0XeZ V)I?iu"?8(@Pwּm7'@ l$);Il$=l?g1H?^3 ?)v>vTٱv AHRS rotation from veh to nav: [[0.897773,-0.420061,-0.132487],[0.431966,0.898471,0.078456],[0.086079,-0.127666,0.988075]]vH?HڿVT? F?`?M ?XWO?ivk>IvKH];v$CYƅBy$IbD-VD-:yRk=%=ٔD:Q->9Y=hGy-~:E->9Q 5e4=֭?Q 9e4=f)=0BYiym8>Q Im@=)`DI=;i=;=4yyɮ}%@ԡC*EX@AJCRCj(>>F{@Z:B@t+1rwI?)mu?.='Z;bl$=/8(7y@D%Dh@Ճ$z4@z%?}J? cd?2$BC:C"({?* /BB /“\CI>gO5 addTargetRange:: Added new target pos. range: 450.799988 m, deltaT: 4.283991 s, deltaX: 7.500000 m, approachRate: 1.750704 m/s, rangeRepo size: 4 gOe Added new target pos. range: 448.196991 m, bearing: 25.697316 deg, lat: 36.779295 deg, lon: -121.859081 deg, deltaT: 4.283991 s, deltaX: 7.446381 m, approachRate: 1.738188 m/s, posRepo size: 4 jagOeFNOT Ignoring new targets: 448.20 m.RmZigO} ProNav: ac range: 448.196991 m, nav range: 444.725159 m, bearing: 25.882383 deg, approach rate: 0.000000 m/s, LOS rate: 0.014983 deg/s, cmd heading: 26.975306 deg, new cmd heading: 26.991542 deg. BygOHeadingCmd: 0.471091 target range: 448.196991 and range: 450.80 m.2>*" ʎj,|@Z`)?%FBɢ%)! -2@?i))-))i-ei52>5^a5;.I52>IY=;BW>BB$IBBB' =BBBg;B7(E@ @@/@*DAT read: user:435> BDAT read: Tx time:00:34:28.6767 $Ping request sent.Q,GEX@Al>>Hٱj UAHRS rotation from veh to nav: [[0.897519,-0.420780,-0.131926],[0.432708,0.898017,0.079554],[0.084997,-0.128486,0.988062]]Hx? ڿ@{??@]?aµ?`>r`4?il>IbG];&CYۅBy$Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.253390I=)a=AibDuVDuy?=%9=ٔ@!;Q->9Y=hGyխFD:E>Q 54?Q 94W)GBYy>Q I @<`DI*;i;]4yyBɮ@PUB*** querying acoustic contact ***Q QjYgO]FNOT Ignoring new targets: 448.20 m.R9Z9gO ProNav: ac range: 448.196991 m, nav range: 444.443115 m, bearing: 25.888814 deg, approach rate: -0.655791 m/s, LOS rate: 0.014962 deg/s, cmd heading: 26.991542 deg, new cmd heading: 27.004411 deg. B9gOHeadingCmd: 0.471316 target range: 448.196991 and range: 450.80 m.QP>*" ʎ j Z @?UEBɢU])Y ]K?i)AiZtiQP>͢IQP>Iԑm checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503317D zD bEɻ 4jEr 4rEɝ/E-  E- E- %E) "E- :*E- ga:VE- 4ZE) a= @a= @a= @aE @A @A  @I @M 0@I ^AyA?A>IIO>KY,fEX@A22q>2ٱ2QV >AHRS rotation from veh to nav: [[0.897268,-0.421732,-0.130582],[0.433527,0.897579,0.080038],[0.083453,-0.128427,0.988201]]2Hk?`ڿ? ?_}? 4]?GpX?i2I2.];2#CYF݅ByJ$IiMb@Mb@Mb@ 9Fx?MbQ?Y+?y<hA@ 3@)Y\@bD1VD1yE<<%E5=ٔE?a;Q-E>9IYI=MhGyM֭F:E>Q 54?Q 94)^BY-?Q E:y>Q I@O`DI:i:a4checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754930yɮ@VEjagOeFNOT Ignoring new targets: 448.20 m.RkU9ZkU9gO ProNav: ac range: 448.196991 m, nav range: 444.138092 m, bearing: 25.894171 deg, approach rate: -0.663571 m/s, LOS rate: 0.011662 deg/s, cmd heading: 27.004411 deg, new cmd heading: 27.015132 deg. B9gOHeadingCmd: 0.471503 target range: 448.196991 and range: 450.80 m.h>*"    :BʎjZ?I}DBɢɤ) L?i)ih ih>>ԉIh>IY@Y @Y@]0@YqBT>B׍CB$IBBB( =BBBVg;B'Eԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006912^A (IQ Ii Ou >E  E E )E "E :*E k:VE FA4ZE BE 3J,>JLٱJAf VAHRS rotation from veh to nav: [[0.897203,-0.422491,-0.128562],[0.434106,0.897210,0.081032],[0.081112,-0.128512,0.988385]]JH? ۿ@tc???ô?s@ڠ?iJn>IJI];J&CYjByj$IbDzVDz02yer=%eI=ٔm;Q-m>9iYi=mhGyiu߸:Eu>yQ 54}?Q 94})}qBYyb>Q I@}``DI}W:i}-:}74yɮ@jgOFNOT Ignoring new targets: 448.20 m.RZ9ZZ9gO ProNav: ac range: 448.196991 m, nav range: 443.877777 m, bearing: 25.898727 deg, approach rate: -0.682276 m/s, LOS rate: 0.011950 deg/s, cmd heading: 27.015133 deg, new cmd heading: 27.024252 deg. B9gOHeadingCmd: 0.471662 target range: 448.196991 and range: 450.80 m.}>*" ʎjZ` ?CBɢ) V?i!)%!!i%ňi-}>-7 -gI-}>I1@ @@4@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261554^AӍI9IIOU> 2->2Gٱ2Ca :AHRS rotation from veh to nav: [[0.896988,-0.423547,-0.126568],[0.434973,0.896711,0.081899],[0.078807,-0.128517,0.988571]]2H!?`fۿa3?ܱ?]?,?:s`?i2o>I25-];2#CFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510911YJByN$IR=R=li%Mb@Mb@Mb@!!!! !9%p= ף?MbX9y&1?Y%%?y%ʡ%`<%QA%@ %@)!!Y%f@D=%=D=4=EE EEEE$EA"EEm:*EE|:VEE4ZEAaM@aM@aM@aM@ U;UbDVDy5<%5>=ٔ=;Q-=>99Y9==hGyE׭FEc;EE>IQ 5U4M?Q 9U4MD)MBY]&?Q E]:y]>Q I]@Mr`DIM ;iM ;M4yaɮe6@ajgOFNOT Ignoring new targets: 448.20 m.R}19Z}19gO ProNav: ac range: 448.196991 m, nav range: 443.602356 m, bearing: 25.902900 deg, approach rate: -0.639744 m/s, LOS rate: 0.009698 deg/s, cmd heading: 27.024251 deg, new cmd heading: 27.032602 deg. B9gOHeadingCmd: 0.471808 target range: 448.196991 and range: 450.80 m.ΐ>*" CBʎjZe?BBɢmZ)I U"Z?iQ)UYYi],imΐ>*Iΐ>IM9@Q @Y@]4@a9=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762860^Am a A I I O >Wl,{EX@A2p>2>2ٱ2,s :AHRS rotation from veh to nav: [[0.896684,-0.424624,-0.125106],[0.435998,0.896050,0.083670],[0.076573,-0.129572,0.988609]]2H`? -ۿ } b?q?@lk?L?ѕ`?i2p>I2!];2$CY^Byb$IbDjVDj:29ymҿ=%mX=ٔm&;Q->9Y=hGy86;E>Q 54i?Q 94 )BYy@>Q I@`DIy:iN:j 4yzBɮ@WEjgOFNOT Ignoring new targets: 448.20 m.R/9Z/9gO ProNav: ac range: 448.196991 m, nav range: 443.357574 m, bearing: 25.906576 deg, approach rate: -0.639779 m/s, LOS rate: 0.009613 deg/s, cmd heading: 27.032601 deg, new cmd heading: 27.039957 deg. B9gOHeadingCmd: 0.471936 target range: 448.196991 and range: 450.80 m.>*"     ʎjZ@l@EABɢEԻ)A Ec?iI)M IIiM6iU>U1UsI]>IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0160679@ @@/@B<A<BN>BB%IB=BB) =BBiDBhf;Bq'EEU EUEQEQ"EU:*EU~:VEQZEQBEU)ms,}^EX@ANg0q>NtC>N-ٱN~ VAHRS rotation from veh to nav: [[0.896410,-0.425884,-0.122767],[0.437046,0.895419,0.084945],[0.073751,-0.129801,0.988794]]NH`d?Aۿm?E??T?P`2?iNg0q>IN8];N(CYbByb$IiEMb@Mb@Mb@AAAA A9Ev/?+ηI +?YEx)?yEvE99yYy=}hGy}حF}m-;E>Q 541?Q 94)BY:+?ԑQ E:y">Q I@`DI2;i1;l4yɮ4@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 448.20 m.RUP9ZUP9gOe ProNav: ac range: 448.196991 m, nav range: 443.093781 m, bearing: 25.911159 deg, approach rate: -0.656566 m/s, LOS rate: 0.011413 deg/s, cmd heading: 27.039957 deg, new cmd heading: 27.049128 deg. Be9gOmHeadingCmd: 0.472096 target range: 448.196991 and range: 450.80 m.m>i*i" 5BʎjZ@!"@ @Bɢ- K)) 5}c?i1)5r 11i5yi=>=9=Ƭ{I=>IAmPExceeded connect timeout, disconnecting.@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518897DQzDU@AEY E]E]#EY"EY*E]:VE]3ZEYae@ae@ae@ae@^A% xre G 9 Y A Aq I I O Yy,2EX@A2 r>20>2ٱ2\ :AHRS rotation from veh to nav: [[0.896219,-0.426938,-0.120482],[0.437882,0.894902,0.086077],[0.071070,-0.129901,0.988977]]2H ӭ?Rۿ׾@C? ?( ?1?@@?i2 r>I2-)];2&CY\yb$IdfAdf@AbDjVDj:y% :%-O=ٔ-B;Q-->91Y1=5hGy15. ;E5>9Q 5E4=F?Q 9M4=Ÿ)=BYIyM>Q IM@=`DI=:i=:=Q4yQɮU0@YjygOFNOT Ignoring new targets: 448.20 m.RP9ZP9gO ProNav: ac range: 448.196991 m, nav range: 442.834167 m, bearing: 25.915644 deg, approach rate: -0.659879 m/s, LOS rate: 0.011407 deg/s, cmd heading: 27.049129 deg, new cmd heading: 27.058104 deg. B9gOHeadingCmd: 0.472253 target range: 448.196991 and range: 450.80 m.&>*" ʎjZ@?Bɢ`) d?i)]ii&>@;sI&>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770920I@ @@0@!^AQ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023009A B F>B ՍCB )%IB GBB , =B B hDB e;B ,'EB=׍CB=׍CB=ȔCB=( =B=( =C= 6I I O >Ei  Em Em &Ei "Ei *Em xv:VEm 4ZEi BEm (N>N-‹ٱN VAHRS rotation from veh to nav: [[0.896053,-0.427867,-0.118396],[0.438678,0.894315,0.088099],[0.068189,-0.130879,0.989051]]NH@x?@.bۿ/O@M?`;??@t?@M?iNr>INX];LYb Byb$IbDnVDnyr<%rN=ٔv;Q-v>9tYx=zhGyz٭Fz;E~>|Q 54~[?Q 9 4~)~ǚBY y  >Q I @~`DI~=:i~V:~> 4yɮ@XEj9gOEFNOT Ignoring new targets: 448.20 m.RE'O9ZE'O9gO ProNav: ac range: 448.196991 m, nav range: 442.573181 m, bearing: 25.920128 deg, approach rate: -0.658428 m/s, LOS rate: 0.011319 deg/s, cmd heading: 27.058105 deg, new cmd heading: 27.067079 deg. B9gOHeadingCmd: 0.472410 target range: 448.196991 and range: 450.80 m.>*" ʎjZk @==Bɢ=2)9 Eg?iA)E*AAiE>ūiM>Qm6HukIu>Iq @  @@@-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278987ԁ^AMmԱe nManaging dock network, ignoring radio surface power offA .AI I O > k,FX@AJDAT read: 00:34:31.6771 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 395,-0.06, 1.273,-0.309, 1.373, 0.741, PHS= 0.634,-1.005, 0.587, RAW= 148.6, -2.7, CAL= 148.0, -3.5, ROT= 2.0, 3.5 NYgot valid direction response: 00:34:31.6771 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 395,-0.06, 1.273,-0.309, 1.373, 0.741, PHS= 0.634,-1.005, 0.587, RAW= 148.6, -2.7, CAL= 148.0, -3.5, ROT= 2.0, 3.5 RBDAT read: Rx Time:00:34:31.6771 RTRx dataTimestamp_ set to:1761698072.456631V@DAT read: $Low SNR acquisition V2Received low SNR in chirpE% E%E%,E!"E%:*E%i:VE%g4ZE!a-@a-@a-@a-@5X#Rx 1: Read direction message, but no range.=^direction in FSK: [0.997527,0.034834,-0.061049]yPRE>?}pQա?.xAPRRR R)RNIRM"?iRףRE?R%@RARMQ%@ R5z)R5=IR5z=PR;$-G`?II?aP"+ Rl/>)RykA=IR5=iR5z=UT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseԹYBy$I iMMb@Mb@Mb@IIII I9Mw/?:vMb?YM&?yMԽM9 ?Y ?=hGyE>Q 54z?Q 94)ݚBY)?Q E:y>Q I@`DIB;i;y*4y{Bɮ@jgOFNOT Ignoring new targets: 448.20 m.RCk9ZCk9gO ProNav: ac range: 448.196991 m, nav range: 442.193298 m, bearing: 25.927651 deg, approach rate: -0.648597 m/s, LOS rate: 0.012855 deg/s, cmd heading: 27.067078 deg, new cmd heading: 27.082137 deg. B59gOHeadingCmd: 0.472672 target range: 448.196991 and range: 450.80 m. >*" 4BʎjZ`L@-E"REZqIE >IIU>iU>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse9@ @@@ 9 ^A zlAE؟AIIIYaOm?>^,CB4B6/%IB6LBB6- =B4B4B6se;B6&EFs>F3>F^ٱF$c NAHRS rotation from veh to nav: [[0.895966,-0.429066,-0.114666],[0.439614,0.893497,0.091659],[0.063126,-0.132532,0.989166]]FH࿫?uۿZ"??v? )?@`@?iFs>IFKS];DVCVr@iTITE EE%E"E:*EV:VE 4ZEBE09"?Y"?=hGyڭF  ;E>Q 54?Q 94)BY!y%>Q I%@`DI:i:04yYɮ]@YjgOFNOT Ignoring new targets: 448.20 m.R)_9Z)_9)gOM ProNav: ac range: 448.196991 m, nav range: 441.960175 m, bearing: 25.932241 deg, approach rate: -0.618914 m/s, LOS rate: 0.012194 deg/s, cmd heading: 27.082137 deg, new cmd heading: 27.091323 deg. BM9gOUHeadingCmd: 0.472833 target range: 448.196991 and range: 450.80 m.U$>Q*Q"Q YYYyʎjZޑ@;Bɢ@|) i?i)ieIi%$>%-Y%fI%$>I!9@ @@/@QT****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseԁ ^A mA) I1 IQ O] >J,3VFX@A$6Ct>6>6Xwٱ6-] >AHRS rotation from veh to nav: [[0.895893,-0.429823,-0.112372],[0.440129,0.893134,0.092727],[0.060507,-0.132531,0.989330]]6H(? 7ۿkļ+?@?? ? ?i6Ct>I6Z];6$CYBy $IiMb@Mb@Mb@ 9S㥛?V-¿Mb?Y$?yhI@K@ Q@)@YG@bDVDN2y<%H=ٔr;Q->9Y!=%hGy!-Ϟ:E->1Q 5545?Q 9=45 )5BY=(?Q E=:y=ly>Q IE@5`DI5] ;i5 ;574yIɮM@MYEPuB*** querying acoustic contact ***q qjgOFNOT Ignoring new targets: 448.20 m.Rݧ9Zݧ9gO ProNav: ac range: 448.196991 m, nav range: 441.698212 m, bearing: 25.939450 deg, approach rate: -0.666286 m/s, LOS rate: 0.018345 deg/s, cmd heading: 27.091324 deg, new cmd heading: 27.105749 deg. BJ:gOHeadingCmd: 0.473085 target range: 448.196991 and range: 450.80 m.$8>*" BʎjZ=@9Bɢl:) l?i)&i `i$8>_ eI$8>I]T****** received valid address query ******]R****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseyE% E%E%"E!"E%:*E%xv:VE%(3ZE!a=@a=@a=@a=@@ @@0@ԡ^Ap A  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseI I) O= >j,oFX@A`rt>r>r_oٱr ~AHRS rotation from veh to nav: [[0.895742,-0.430645,-0.110416],[0.440721,0.892784,0.093278],[0.058408,-0.132216,0.989499]]rH?ۿ3D4????p?irt>IrE];r'CYBy$IbDVDy7W%O=ٔĮ;Q->9Y=hGyۭF`:E>Q 54?Q 94i)BYyz>Q I@`DI:iy:>4y yBɮ @PEj1gO=FNOT Ignoring new targets: 448.20 m.R=k9Z=k9gOM ProNav: ac range: 448.196991 m, nav range: 441.445587 m, bearing: 25.946388 deg, approach rate: -0.645871 m/s, LOS rate: 0.017750 deg/s, cmd heading: 27.105749 deg, new cmd heading: 27.119634 deg. BM:gO]HeadingCmd: 0.473327 target range: 448.196991 and range: 450.80 m.]W>Y*Y"Y YYaaaʎaaijiZmX@颥8Bɢ9) $l?i)顩inƻiW>xf`IW>I)@) @)@-0@1Be@>BaBaBaBaBaBegDBed;Be&ET****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE= E=E=&E9"E=2:*E=x:VE=4ZE9BE=!*A A I I O >Q,AFX@A2Ot>2&>2dٱ2I2ګ];2#CYjByj$IbDvVDvβy~<%~Z=ٔ~N;Q->9Y=hGy &r9E >!Q 5E4?Q 9U4٬)BYaye#z>Q Ie@aDI=i*i"i iʎjZ@g@6BɢV)  o?i ) a i̻i*v>e1n cI*v>II@ @@0@q T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse^A% mYDe =De <bE-4jE4rEɾ0Eu  Eu Eq Eq "Eu :*Eu ga:VEq ZEq a @a @a @a @ԩ AQ Ia Iq O} >,FX@A28u>2G>2Zٱ2 :AHRS rotation from veh to nav: [[0.895849,-0.431768,-0.105028],[0.441147,0.892539,0.093611],[0.053324,-0.130194,0.990054]]2H˪?ۿ$㺿@;???@?M?5?i28u>I2];0YFByF$IQi}Mb@Mb@Mb@yyyy y9}MbX9?#~jĿ~jt?Y}!?y}%}=ٔf;Q->9Y=hGyܭF:E>Q 54?Q 94N)&BY'?Q E:ySX>Q I@aDIM;i;L4yɮ@jgOFNOT Ignoring new targets: 448.20 m.R9Z9gO ProNav: ac range: 448.196991 m, nav range: 440.934021 m, bearing: 25.961683 deg, approach rate: -0.731945 m/s, LOS rate: 0.023462 deg/s, cmd heading: 27.132862 deg, new cmd heading: 27.150243 deg. B+:gOHeadingCmd: 0.473861 target range: 448.196991 and range: 450.80 m.>*" !!%Bʎ!))j)Z-@e5Bɢm;)i u[s?iq)uCqqiu'iһi}>})Ht}FdI}>Iy@ @@4@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԩ^A c A I I O >B5 <A1 B= >>B= ԍCB9 B9 B= . =B9 B9 B= |d;B= r&E[,=FX@AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE EE'E"EO:*E:VE'4ZEBE 9Y=hGyE>Q 54g?Q 94)6BYyQ I@2aDI:i:T4yzBɮ @ QEjagOeFNOT Ignoring new targets: 448.20 m.Rms9Zus9gO} ProNav: ac range: 448.196991 m, nav range: 440.655212 m, bearing: 25.970627 deg, approach rate: -0.624567 m/s, LOS rate: 0.020048 deg/s, cmd heading: 27.150243 deg, new cmd heading: 27.168142 deg. B:gOHeadingCmd: 0.474174 target range: 448.196991 and range: 450.80 m.>*"a aiiiiʎqqqjqZ}D@3Bɢ;) v?i)Qiٻi>P|iI>II [A) [A@ @@4@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A cA A .AI I O >,FX@AR'"t>RR>R>ٱR ZAHRS rotation from veh to nav: [[0.896620,-0.431635,-0.098815],[0.440344,0.892636,0.096429],[0.046583,-0.129973,0.990423]]RH ? ۿK.?x??`٧??iR'"t>IRM];R$CYf$Byf$IiUMb@Mb@Mb@QQQQ Q9UMb?ʡEƿ:v?YU#?yU-2U9 ?Y ?=hGyݭFԉD6E>Q 54?Q 94t)FBY-)?Q E:yH>Q I@BaDI ;i] ;.[4yɮV@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsePB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 448.20 m.R۸9Z۸9gO ProNav: ac range: 448.196991 m, nav range: 440.415497 m, bearing: 25.978838 deg, approach rate: -0.589448 m/s, LOS rate: 0.020202 deg/s, cmd heading: 27.168141 deg, new cmd heading: 27.184573 deg. B:gOHeadingCmd: 0.474460 target range: 448.196991 and range: 450.80 m.v>*"DYzD]AAEe EeEe!Ea"Ee:*Ee]t:VEec3ZEaau@au@au@au@ yyBʎjZU@M2BɢMH;)Q U^y?Թi)|i:޻iv>8F.W~Iv>I@ @@u4@iQ IQ ] T****** received valid address query ******] R****** received valid ping request ******] received new query, but waiting for acoustic response period to elapse^A c A! I) I9 OM >A,dFX@A:s>:v>:<6ٱ: FAHRS rotation from veh to nav: [[0.896942,-0.431488,-0.096504],[0.439905,0.892833,0.096609],[0.044477,-0.129105,0.990633]]:H?@ۿ@h'?? ]?`Ŧ?C?i:s>I:]];:%CYN(ByN%IbDVVDV:y^|<%bG=ٔb;Q-b>9dYd=fhGydf@Ef>xqQ 5}4uC'?Q 9}4u)uVBYyG>Q I@uTaDIu{:iu/:ub4yɮ@jgOFNOT Ignoring new targets: 448.20 m.Rf9Zf9gOU ProNav: ac range: 448.196991 m, nav range: 440.142151 m, bearing: 25.988233 deg, approach rate: -0.684472 m/s, LOS rate: 0.023540 deg/s, cmd heading: 27.184573 deg, new cmd heading: 27.203374 deg. BUR,:gO]HeadingCmd: 0.474788 target range: 448.196991 and range: 450.80 m.]y>Y*Y"Y Yaaaaʎ  j Z |@u0Bɢu;)y }^|?iy)}[xyyir8iy>1Iy>I!Bm;>BiBm5%IBmRBBm- =BiBiBmc;Bm&ET****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsei@i @i@m/@iEy E}E}%Ey"Ey*E}':VE} 4ZEyBE}&in,RdGX@AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԁY}3By}%IiMb@Mb@Mb@ 9p= ף?K7ɿV-?Y%?yI<@ @)@Yp@bD-VD-:y5S/=%=)=ٔ=Q-=>9E"?YE"?=EhGyEޭFEEM>IQ 5U4M A?Q 9]4M)MjBY],?Q E]:y])>Q I]@MhaDIM:iM:Mj4ym{Bɮmw@mREjgOFNOT Ignoring new targets: 448.20 m.RZ9ZZ9gO ProNav: ac range: 448.196991 m, nav range: 439.843781 m, bearing: 25.999733 deg, approach rate: -0.644181 m/s, LOS rate: 0.024846 deg/s, cmd heading: 27.203375 deg, new cmd heading: 27.226391 deg. B5:gOHeadingCmd: 0.475190 target range: 448.196991 and range: 450.80 m. L>*" BʎjZ@.Bɢ<) R?i)OOuii L>_LI L>I ԡ@ @@@@\A@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE EE$E"EO:*Ei:VE4ZEa@a@a@a@^A ]A ?A >   ^A ׄ 9 ^AY jfAA .AI I) O= >,!(GX@A2r>2:>2*"ٱ2)+ :AHRS rotation from veh to nav: [[0.897756,-0.430626,-0.092707],[0.438702,0.893039,0.100111],[0.039681,-0.130547,0.990648]]2H`k?aۿ ?`Ɠ? 砹?Q?b?i2r>I25l];2&CYFAByF!%IbDN VDN2yV=%V=ٔZ xQ I]@buaDIboi*q"q qqqʎjZ` @,Bɢ<) N?i)*ri3i%Cp>-?j-7I-Cp>I)eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse9@ @@0@A^A}UAy A} AAB 8>B ӍCB H%IB aBB / =B B fDB 5c;B %EBEԍCBEԍCBEʓCBE- =BE. =CE*5 T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA1 IY q Iy O >E  E E 'E "E :*E :VE '4ZE BE +2>2 ٱ2K %AHRS rotation from veh to nav: [[0.898002,-0.430547,-0.090670],[0.438400,0.893058,0.101260],[0.037376,-0.130681,0.990720]]2Ho?ۿ 6 ??-?@"?*?i2q>I2P];0Y=KBy=.%IbDmVDmy}1=%}6=ٔ;Q->9Y=hGy߭F[E>Q 54l?Q 94p)BYyj(>Q I@aDI`+;il,;Ex4yɮ@jgOFNOT Ignoring new targets: 448.20 m.R9Z9gO ProNav: ac range: 448.196991 m, nav range: 439.349274 m, bearing: 26.018922 deg, approach rate: -0.673433 m/s, LOS rate: 0.026175 deg/s, cmd heading: 27.242187 deg, new cmd heading: 27.264791 deg. B?:gOHeadingCmd: 0.475860 target range: 448.196991 and range: 450.80 m.>*" !!!!ʎ)))j)Z-0 @]*Bɢ]<)Y ]L?iY)e naaie96im>mm'Im>Iq@ @@0@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A(!AM ؟AIQ Ia Ou >A ,vk\GX@A6)p>6)>6*ٱ6y BAHRS rotation from veh to nav: [[0.898387,-0.430236,-0.088304],[0.437793,0.893321,0.101559],[0.035190,-0.129898,0.990903]]6H?ۿ``??`? e?y?i6)p>I6A];6$CYJPByJ4%I TTZ=Zp=i=Mb@Mb@Mb@9999 99=\(\? ףp= ǿkt?Y=?y=Q8= 0==@=@ =@)99Y=z@bDUVDUkeT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseym<%uO=ٔuV;Q-u>9}"?Y}"?=}hGyyyE>Q 54]?Q 94R)BY!?Q E:y2>Q I@aDI,;i,;4yɮ@SEYPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 448.20 m.R9Z9gO  ProNav: ac range: 448.196991 m, nav range: 439.113678 m, bearing: 26.027768 deg, approach rate: -0.561451 m/s, LOS rate: 0.021093 deg/s, cmd heading: 27.264790 deg, new cmd heading: 27.282492 deg. B h:E5 E5E5"E1"E5 :*E5ga:VE5(3ZE1a=@a=@a=@a=@gOEHeadingCmd: 0.476169 target range: 448.196991 and range: 450.80 m.Ew>A*A"A AIIiuBʎqqqjqZ}`!@(BɢxAm<) 4?i)&jiCiw>Q{Iw>Iԁ9@ @@ 0@ԩ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse^A 7ƙ A .AI! I1 O= > ,vGX@A2p>2>2Cٱ2 :AHRS rotation from veh to nav: [[0.898575,-0.430275,-0.086179],[0.437564,0.893402,0.101835],[0.033175,-0.129215,0.991062]]2H ?@ۿ??? \?@ƶ?i2p>I2b];0YFWByF<%IbDNVDNyV =%VY=ٔZo;Q-b>9b ?Yb ?=fhGyfFfGEf>hQ 5n4j ?Q 9n4j>)jBYpyr1>Q Ir@jaDIj:ij:j4yv|BɮvM@tjgOFNOT Ignoring new targets: 448.20 m.R9Z9gO ProNav: ac range: 448.196991 m, nav range: 438.885803 m, bearing: 26.036343 deg, approach rate: -0.617721 m/s, LOS rate: 0.023257 deg/s, cmd heading: 27.282492 deg, new cmd heading: 27.299651 deg. B?*:gOHeadingCmd: 0.476469 target range: 448.196991 and range: 450.80 m.>*" ʎjZ@0z"@&Bɢ<) T?i)>gi,i%>%6~%;I%>I)9@ @@4@B 4>B B a%IB uBB B B B 1c;B %ET****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE EE#E"Ea:*Ei:VE3ZEBE(5 T****** received valid address query ******5 R****** received valid ping request ******5 received new query, but waiting for acoustic response period to elapse,GX@AmOp>ml >mw$ٱm5 AHRS rotation from veh to nav: [[0.898613,-0.430545,-0.084418],[0.437636,0.893254,0.102815],[0.031140,-0.129335,0.991112]]mH o? ۿh <?@?R?=? 0?imOp>Im=Y];m%CYeByM%IIieMb@Mb@Mb@aaaa a9eMb?/$ƿ{Gz?Ye ?ye&1e#=ae@ e@)e-@aYabD}VD}02yg`=%$=ٔ<;Q->9"?Y"?=hGyF8E>Q 54?Q 94)BY&?Q E:yE>Q I@aDI ;i;]4yɮn@jgOFNOT Ignoring new targets: 448.20 m.R9Z9gO ProNav: ac range: 448.196991 m, nav range: 438.576752 m, bearing: 26.047148 deg, approach rate: -0.650075 m/s, LOS rate: 0.022744 deg/s, cmd heading: 27.299651 deg, new cmd heading: 27.321277 deg. B~&:gOHeadingCmd: 0.476846 target range: 448.196991 and range: 450.80 m.0%>*"     BʎjZ_m#@E#BɢEBF<)A En?iI)M5?cIIiM,iU0%>UaU`_IU0%>IY9@ @@4@yT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE%  E% E! E! "E% :*E% e:VE! ZE! a- @a- @a- @a5 @ ^A% U֣AU .AIY Ii O} >,VGX@A8>p>>>>ٱ> FAHRS rotation from veh to nav: [[0.898616,-0.430905,-0.082523],[0.437776,0.893082,0.103716],[0.029008,-0.129327,0.991178]]>Hv?ۿ9 ? ? ?@M?@̍?i>p>I>i~];>$CYvnByzX%IAAAbD VD ܲyV=%x=ٔ%k;Q-%?9% ?Y% ?=%hGy!-9E-?1Q 5=45?Q 9=45)5ΛBYAyEE>Q IE@5aDI5:i5-:54yIɮM@MTEjqgOuFNOT Ignoring new targets: 448.20 m.R}9Z}9gO ProNav: ac range: 448.196991 m, nav range: 438.371033 m, bearing: 26.054344 deg, approach rate: -0.624904 m/s, LOS rate: 0.021869 deg/s, cmd heading: 27.321276 deg, new cmd heading: 27.335674 deg. B :gOHeadingCmd: 0.477098 target range: 448.196991 and range: 450.80 m. F>*" ʎjZ$@"Bɢ( =)  ?i)Z&`i"i F>]{VI F>IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԡA@A @A@E/@A^Ae_B A <B 5>B B %IB BB 0 =B B B c;B %E  E  E E E "E a:*E :VE ZE BE a 2E a JE 7;a :E 7;a ,4GX@A2PVq>2jV>2ٱ2 :AHRS rotation from veh to nav: [[0.898456,-0.431583,-0.080700],[0.438205,0.892909,0.103390],[0.027437,-0.128254,0.991362]]2H`'?ۿ¨ ??w?X?@j I2Z];2%CYByr%IbDVDkyE=%E:=ٔEj;Q-E>9M"?YM"?=MhGyMFMɇ:EU>YQ 5e4]?Q 9e4])]ߛBYaye1F>Q Ie@]aDI]:i]:]Л4yu}Bɮ@jgOFNOT Ignoring new targets: 448.20 m.R9Z9gO] ProNav: ac range: 448.196991 m, nav range: 438.095825 m, bearing: 26.063964 deg, approach rate: -0.618575 m/s, LOS rate: 0.021638 deg/s, cmd heading: 27.335674 deg, new cmd heading: 27.354927 deg. B]f:gOeHeadingCmd: 0.477434 target range: 448.196991 and range: 450.80 m.e,r>a*a"a aaiiiʎqqqjqZun%@颥Bɢ*<) ۘ?i)O[顩i i,r>5韥I,r>IIE9@A @A@A@IDAT read: 2Acoustic response timeouty^AM 짼ԡ A I I O >,cGX@A2ڛr>20>2Ӽٱ29V >AHRS rotation from veh to nav: [[0.897950,-0.432986,-0.078795],[0.439339,0.892424,0.102766],[0.025822,-0.126896,0.991580]]2H?@ ۿ@+`"?@? N?q?#>?i2ڛr>I2)I];2#CYFByJ~%IiMb@Mb@Mb@ 9~jt?nQ?Y$?yV<@52Acoustic response timeout@ @)@Y@bDUVDUk1qy}C=%V=ٔߊ;Q->91Y1=5hGy1=I;E=>AQ 5M4E>?Q 9M4Eg)EBYU(?Q EU:yU~>Q IU@EaDIE:iEQ:Eۢ4yYɮ] @abE3jE#4rE+0Ee EeEe&Ea"Ee:*EeAr:VEe4ZEaau@au@au@au@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 448.20 m.R̞9Z̞9gO ProNav: ac range: 448.196991 m, nav range: 437.837311 m, bearing: 26.071030 deg, approach rate: -0.634611 m/s, LOS rate: 0.017354 deg/s, cmd heading: 27.354928 deg, new cmd heading: 27.369067 deg. B9gO HeadingCmd: 0.477680 target range: 448.196991 and range: 450.80 m. > * "   ?BʎjZ`W%@mBɢm=)i m?ii)uWqqiu i}>};񰺉}{I>Iԙ59@1 @9@9@92Acoustic response timeout^A} ] A I I O >>,GX@A2s>2{>2Büٱ2W :AHRS rotation from veh to nav: [[0.897557,-0.434140,-0.076899],[0.440254,0.891936,0.103091],[0.023833,-0.126385,0.991695]]2Hɸ?ۿ-??$d?`g?@`-?i2s>I2|k];2%CYFByF%IJ=Ja= Np9Y=hGyuFu,;Eu>yQ 54}k?Q 94}˙)}BYy>Q I@}aDI}:i}:}q4yɮ@UEjgOFNOT Ignoring new targets: 448.20 m.Rȣ9Zȣ9gO ProNav: ac range: 448.196991 m, nav range: 437.595398 m, bearing: 26.077616 deg, approach rate: -0.657000 m/s, LOS rate: 0.017899 deg/s, cmd heading: 27.369067 deg, new cmd heading: 27.382247 deg. B:gOHeadingCmd: 0.477910 target range: 448.196991 and range: 450.80 m.>*" ʎjZ &@%Bɢ%k =)! -۝?i))-vT))i- i5>5Z=I=>I9B}4>ByB}%IB}BByByByB}b;B}|%E9@ @@0@]2Acoustic response timeoutE EE#E"Ea:*Eg:VE3ZEBEa2EaJE-;a:E-;a^A7ƙ1A I1 IA OU >Y  2Acoustic response timeout&,iHX@A9et>e&>eOٱe }AHRS rotation from veh to nav: [[0.897054,-0.435406,-0.075609],[0.441363,0.891309,0.103760],[0.022213,-0.126449,0.991724]]eHੴ? ۿ[@J????@?{/4?iet>Iee];e"CYBy%IiMb@Mb@Mb@ 9Mb?`"l?Y ?y=@@ ~@)Y@bD5VD5yE<%E,=ٔE_;Q-E>9IYI=MhGyIU+;EU>YQ 5e4]i?Q 9e4])]BYe#?Q Ee:ymÌ>Q Im@]bDI]:i]:]4yu~BɮuR@uVEjgOFNOT Ignoring new targets: 448.20 m.RG9Z%G9gOU ProNav: ac range: 448.196991 m, nav range: 437.304382 m, bearing: 26.084564 deg, approach rate: -0.605142 m/s, LOS rate: 0.014456 deg/s, cmd heading: 27.382247 deg, new cmd heading: 27.396151 deg. BU9gOUHeadingCmd: 0.478153 target range: 448.196991 and range: 450.80 m.]z>Y*Y"Y YYYae=BʎajZ '@Bɢ,V<) ?i!)ENAAiEOiMz>MUړIUz>IQa9@ @@!@!e2Acoustic response timeoutDDE% E%E%&E!"E%:*E%x:VE%4ZE!a-@a-@a-@a-@ԉ^A] 9g A .AI I O > , *.HX@A:7v>:>:ٱ:|x NAHRS rotation from veh to nav: [[0.896500,-0.436755,-0.074383],[0.442552,0.890703,0.103908],[0.020871,-0.126072,0.991802]]:H!?ۿ R??༙?_?!#ּ?i:7v>I:2];:#CYZByZ%IbDfVDffyrQ%r\=ٔvl;Q-v>9z ?Yz ?=~hGy~F~f;E> Q 54 ,?Q 94 ) BY!y%n>Q I%@ bDI V;i W; 49y9ɮ=g@A]2Acoustic response timeoutjgOFNOT Ignoring new targets: 448.20 m.R 9Z 9gO ProNav: ac range: 448.196991 m, nav range: 437.070557 m, bearing: 26.090111 deg, approach rate: -0.640220 m/s, LOS rate: 0.015196 deg/s, cmd heading: 27.396152 deg, new cmd heading: 27.407252 deg. B|9gOHeadingCmd: 0.478347 target range: 448.196991 and range: 450.80 m.>*" ʎjZ 8(@颵Bɢw,=) ?i)1K项i\Mi>_mkI>IYy@y @@0@ԉAA?AB-2>B)B-%IB-BB)B-FDB)B-yb;B-l%E^A 2Acoustic response timeoutE  E E 'E "E :*E k:VE '4ZE BE m%,9GHX@ARmw>R|>RٱR AHRS rotation from veh to nav: [[0.895813,-0.438365,-0.073174],[0.444003,0.889960,0.104083],[0.019496,-0.125729,0.991873]]RH?-ܿ@@j?z?@5?`?l?iRmw>IR];PY-By5%II5<)54<bDUVDUym=%mC=ٔmV;Q-u>9u"?Yu"?=uhGyq};{;E}>Q 54>B?Q 94)#BYyA>Q I@0bDI:iH:f4ԙyBɮ@jgOFNOT Ignoring new targets: 448.20 m.RY9ZY9gO ProNav: ac range: 448.196991 m, nav range: 436.808594 m, bearing: 26.096276 deg, approach rate: -0.637370 m/s, LOS rate: 0.015010 deg/s, cmd heading: 27.407252 deg, new cmd heading: 27.419591 deg. B9gOHeadingCmd: 0.478562 target range: 448.196991 and range: 450.80 m.>*" ʎjZ| )@%Bɢ-F&=)) 5?i9)EjGAIiMrhiU>]&-º]mlI]>IYi @  @ @ O1@ @@uBDAT read: Response Not Received u*response not received}TDAT read: user:437>Tx time:00:34:41.1267 } % DAT read: - 2Acoustic response timeout,aHX@A:y>:>:D<zD>@AE@ E@EB#E@"E@*E@VEB3ZE@aJ@aJ@aJ@aJ@ٱ: fAHRS rotation from veh to nav: [[0.894964,-0.440208,-0.072504],[0.445772,0.888926,0.105349],[0.018075,-0.126603,0.991789]]:H?\,ܿ ?@r?"?I:];:&CIe`]Ay9`]AY^^AYBy%IiMb@Mb@Mb@ 9K7?S㥻{Gz?Y)?y/ݽף<@ Q@)@YbDVDk2yz%5=ٔPN;Q->9 ?Y ?=hGyF;E>Q 54Z?Q 94)-BY ,?Q E:yg>Q I@CbDI:i:I4y ɮ 5@ WEP%B*** querying acoustic contact ***) )j1gO=FNOT Ignoring new targets: 448.20 m.R=p9Z=p9gOM ProNav: ac range: 448.196991 m, nav range: 436.509369 m, bearing: 26.102212 deg, approach rate: -0.663333 m/s, LOS rate: 0.013167 deg/s, cmd heading: 27.419591 deg, new cmd heading: 27.431471 deg. BU9gOUHeadingCmd: 0.478769 target range: 448.196991 and range: 450.80 m.UF!>Y*Y"Y YYYae@BʎaaajiZ )@MBɢUe =)Q U?iQ)U?BYYi]5imF!>mMƺmoIuF!>I!@ @@0@!iyI}A2Acoustic response timeoutQ^A oMy A5 ؟AI9 IQ O] >=,,{HX@A2{>2{>2ٱ2l :AHRS rotation from veh to nav: [[0.894213,-0.441866,-0.071674],[0.447310,0.888183,0.105092],[0.017223,-0.126036,0.991876]]2Hd?GܿAY? k?V??`! s?i2{>I2Ҭ];0YFByF%IbDNVDN:yV)%Vu=ٔVj';Q-Z?9Z"?YZ"?=^hGy\^ ;E^?`Q 5f4bl?Q 9f4b)b5BYdyjE>Q Ij@bQbDIb;ib;b4yn|Bɮnr@nMEjgOFNOT Ignoring new targets: 448.20 m.R n9Z n9gO ProNav: ac range: 448.196991 m, nav range: 436.288208 m, bearing: 26.106555 deg, approach rate: -0.664207 m/s, LOS rate: 0.013049 deg/s, cmd heading: 27.431471 deg, new cmd heading: 27.440160 deg. B 9gO%HeadingCmd: 0.478921 target range: 448.196991 and range: 450.80 m.%'5>!*!"! !)))B0>BҍCB%IBBBBBBb;Bv%EBӍCBӍCBB0 =B0 =Ck4)ʎjZ*@Q}Bɢ}pUA=) ?i)H>顩ii'5>ɺ[I'5>2Acoustic response timeoutIE EE(E"ET;*E:VEc44ZEBEG "%,PHX@Am|}>mt>m*zٱmf }AHRS rotation from veh to nav: [[0.893374,-0.443731,-0.070606],[0.449018,0.887393,0.104483],[0.016293,-0.125046,0.992017]]mH?fܿ`??e?@m???im|}>Im];m%CYBy%IiMb@Mb@Mb@ 9ˡE?!rhMb?Y'?yl罙<@@ ~@)Y3@ 54<5bD=VD=k1yE#=%E3=ٔM;Q-M>9U ?YU ?=UhGyUFUɈ;E]>YQ 5e4]?Q 9m4])]>BYmu*?Q Em:ym<>Q Im@]ebDI] ;i]~ ;]4yyɮ}@yjgOFNOT Ignoring new targets: 448.20 m.R y9Z y9ԱgO ProNav: ac range: 448.196991 m, nav range: 435.988953 m, bearing: 26.112755 deg, approach rate: -0.656279 m/s, LOS rate: 0.013608 deg/s, cmd heading: 27.440160 deg, new cmd heading: 27.452571 deg. B<9gOHeadingCmd: 0.479138 target range: 448.196991 and range: 450.80 m.Q>*" 8BʎjZ +@Bɢ=) %?i!)-9))i-F!i5Q>5=̺54FI5Q>I99@ @@b4@2Acoustic response timeoutD=DE EE*E"E:*E&p:VE(N4ZEa@a@a@a@ ^A ONA I I) 1 O= >C+,?HX@ABuj~>B~>BٱB jAHRS rotation from veh to nav: [[0.893009,-0.444528,-0.070211],[0.449756,0.887047,0.104240],[0.015943,-0.124665,0.992071]]BH?@&sܿ_?`b?}?cS?꿿@ ?iBuj~>IBZ];B$CYvByz%IbD VD y%%%`=ٔ-W{:Q-->91Y1=5hGy15;E5>9Q 5E4=n?Q 9E4U2Acoustic response timeout=)=FBYQyU>Q IU@=tbDI=W;i=W;=s4ye}Bɮe@eNEjgOFNOT Ignoring new targets: 448.20 m.RYw9ZYw9gO ProNav: ac range: 448.196991 m, nav range: 435.749512 m, bearing: 26.117696 deg, approach rate: -0.654639 m/s, LOS rate: 0.013515 deg/s, cmd heading: 27.452571 deg, new cmd heading: 27.462458 deg. B9gOHeadingCmd: 0.479310 target range: 448.196991 and range: 450.80 m.)h>*" ʎjZ@,@BɢjP=) ?i)6i$i)h>Tpκ?I)h>I!e9@i @i@m0@iI^AB<A<B3>BӍCBBBBBBb;B%E 2Acoustic response timeouty E  E E (E "E :*E :VE c44ZE BE K"z$2,zHX@A,6=>6(J>6xٱ6t >AHRS rotation from veh to nav: [[0.892657,-0.445342,-0.069533],[0.450481,0.886667,0.104344],[0.015184,-0.124466,0.992108]]6H?@ẕܿ? _?A??@ݿX?i6=>I6];6#CYFByJ%IbDRVDRyZҼ%ZS=ٔZ~;Q-Z>9^"?Y^"?=^hGybFbZ;Eb>dQ 5j4f)?Q 9j4f)fNBYhyj>Q In@fbDIf/;ifn;f84ypɮr@pj gO FNOT Ignoring new targets: 448.20 m.Rw9Zw9gO% ProNav: ac range: 448.196991 m, nav range: 435.495026 m, bearing: 26.122926 deg, approach rate: -0.658737 m/s, LOS rate: 0.013546 deg/s, cmd heading: 27.462457 deg, new cmd heading: 27.472923 deg. B%Q9gO-HeadingCmd: 0.479493 target range: 448.196991 and range: 450.80 m.->)*)"1 11199ʎ999jAZE-@Bɢɸ0=) ?i)!r2i'i>%mѺ%F7I%>I!ԉ%9@) @)@)@)m2Acoustic response timeoutԹ^A: A= .AII IY Om > 2Acoustic response timeout`M8,xHX@A:>:>:wgٱ:EF EFEF&ED"EF&:*EF]t:VEF4ZEDaJ@aJ@aJ@aJ@ RAHRS rotation from veh to nav: [[0.892404,-0.445985,-0.068644],[0.451016,0.886349,0.104738],[0.014131,-0.124429,0.992128]]:H ?ܿ q?\?"к?? ڿ ?i:>I:^;:&CYZByZs%I`Ib>)b=dfAiMMb@Mb@Mb@IIII I9MuV?`"Q?YMr(?yMMu9} ?Y} ?=}hGyy:E>Q 54>?Q 94~)VBYP+?Q E:y>Q I@bDI ;i ;4yɮ@OEjgOFNOT Ignoring new targets: 448.20 m.R9Z9gO ProNav: ac range: 448.196991 m, nav range: 435.213104 m, bearing: 26.129139 deg, approach rate: -0.658672 m/s, LOS rate: 0.014526 deg/s, cmd heading: 27.472923 deg, new cmd heading: 27.485357 deg. B9gOHeadingCmd: 0.479710 target range: 448.196991 and range: 450.80 m.>*" u2BʎqqyjyZ}-@BɢY$=) ?i)*.i*i>6Ӻ3I>I >i >9@ @@/@}2Acoustic response timeout^Al;A A ؟AI! I9 OE >>,WHX@A2=>2>2Wٱ26 :AHRS rotation from veh to nav: [[0.892136,-0.446618,-0.068016],[0.451577,0.885968,0.105541],[0.013124,-0.124871,0.992086]]2H`?cܿ@i? Y?@??`+?i2=>I2<_;2#CYF{ByFh%IbDRVDRyZB%ZV=ٔZ -;Q-Z>9^"?Y^"?=^hGy^Fb:Eb>`Q 5j4b?Q 9j4b)b^BYhyjܔ>Q Ij@bbDIba;ibn;b\4yr~Bɮr8@pP~B*** querying acoustic contact ***| |j  gOFNOT Ignoring new targets: 448.20 m.R~9Z~9gO% ProNav: ac range: 448.196991 m, nav range: 434.961884 m, bearing: 26.134660 deg, approach rate: -0.658492 m/s, LOS rate: 0.014479 deg/s, cmd heading: 27.485357 deg, new cmd heading: 27.496405 deg. B-9gO5HeadingCmd: 0.479903 target range: 448.196991 and range: 450.80 m.5ҵ>1*1"1 11999ʎ9AAjAZE8.@Bu1>BqBu%IBuBBu/ =BuEDBqBub;Bu{%EBɢ%B=) ?i)%S*!!iMM-iUҵ>]պ]ZK.I]ҵ>I2Acoustic response timeoutE EE'E"E:*E&p:VE'4ZEBE&CbE,ٔIX@AU>UXh>U@ٱUy AHRS rotation from veh to nav: [[0.891712,-0.447683,-0.066557],[0.452450,0.885545,0.105350],[0.011775,-0.124056,0.992205]]UH?@֦ܿ ?bV?=??¿%?iU>IUN`;U"CY|Byj%IiuMb@Mb@Mb@qqqq q9uMb?L7A`~jt?Yu#?yu+uD9Y=hGy;E>Q 54`?Q 94u)fBY&?Q E:y>Q I@bDI:i/:~4yBɮ)@PEjgOFNOT Ignoring new targets: 448.20 m.R9Z9gO  ProNav: ac range: 448.196991 m, nav range: 434.664734 m, bearing: 26.142082 deg, approach rate: -0.638639 m/s, LOS rate: 0.015962 deg/s, cmd heading: 27.496405 deg, new cmd heading: 27.511259 deg. B 9gOHeadingCmd: 0.480162 target range: 448.196991 and range: 450.80 m.>*"  Bʎ!!!j!Z% /@]Bɢ] =)Y ]?iY)eV%aaie 0im>m*iغm$Im>Iqԡ@ @@r0@2Acoustic response timeoutbE%ƀ'4jE%!4rE%:0E EEE"EO:*Eg:VEZEa@a@a@a@^A.)A .A I I O% >uK,90IX@AF*>F>F,ٱF- NAHRS rotation from veh to nav: [[0.891345,-0.448517,-0.065851],[0.453203,0.885027,0.106465],[0.010529,-0.124740,0.992134]]FH`?@ܿ@۰F?#R?`BA? ??iF*>IF`;DYZqByZ\%I^=^=bDfVDf!yjx%nj=ٔn;j;Q-n?9n ?Yr ?=rhGyrFv!;Ev>tQ 5z4v?Q 9~4vށ)vmBY|y~>Q I~@vbDIv`:ivW:v4y ɮ @ %2Acoustic response timeoutj9gO=FNOT Ignoring new targets: 448.20 m.RE9ZE9gOU ProNav: ac range: 448.196991 m, nav range: 434.441925 m, bearing: 26.147627 deg, approach rate: -0.636415 m/s, LOS rate: 0.015847 deg/s, cmd heading: 27.511259 deg, new cmd heading: 27.522355 deg. BU9gO]HeadingCmd: 0.480356 target range: 448.196991 and range: 450.80 m.]/>Y*Y"Y YaaaaʎiiijiZm`/#0@Թ BɢHD=) ?i!)%N"!!i%h3i-/>-Rں-AxI-/>I1@ @@4@AiAm@AB/>BҍCB%IBBB0 =BFDBBcb;B`%E^A &!2Acoustic response timeoutE  E E E "E :*E Ar:VE ZE BE +A JqR,>JIX@A2L>2.>2ٱ2V :AHRS rotation from veh to nav: [[0.891238,-0.448847,-0.065054],[0.453440,0.884798,0.107356],[0.009373,-0.125178,0.992090]]2H?ܿ@c )?`CP?{?]2?`3?i2L>I2qa;2$CYFgByFP%IbDNVDN:yVeI%VO=ٔZz?;Q-Z>9Z"?YZ"?=^hGy\^,:Eb>`Q 5f4b?Q 9j4b)btBYhyjD>Q Ij@bbDIbl:ib:b4ylɮr@pjAgOMFNOT Ignoring new targets: 448.20 m.RM9ZM9gO} ProNav: ac range: 448.196991 m, nav range: 434.189423 m, bearing: 26.153908 deg, approach rate: -0.627827 m/s, LOS rate: 0.015628 deg/s, cmd heading: 27.522355 deg, new cmd heading: 27.534925 deg. B}9gOHeadingCmd: 0.480575 target range: 448.196991 and range: 450.80 m. >*" ʎjZ@30@!ɢ%2=)! %?i!)-m))i-h61i5 >u!jܺuڢIu >Iy @  @ @ @4@ M2Acoustic response timeouta^A5ԑA I I O >  2Acoustic response timeoutjX,dIX@AE6 E6E6)E4"E6:*E6c:VE6FA4ZE4a:@a:@a:@a:@Y=nBy=X%IiMb@Mb@Mb@ 9"~j?w/ĿI +?YS#?y&9<@ )@Y@bD5VD50yE<%E3=ٔEQ-M>9IYI=MhGyMFUEU>YQ 5e4]?1?Q 9e4]M~)]BYe(?Q Ee:ymg>Q Im@]bDI]:i]:]w 4yuBɮu@uQEԑjgOFNOT Ignoring new targets: 448.20 m.R89Z89gO ProNav: ac range: 448.196991 m, nav range: 433.897919 m, bearing: 26.162929 deg, approach rate: -0.650141 m/s, LOS rate: 0.020132 deg/s, cmd heading: 27.534926 deg, new cmd heading: 27.552979 deg. B`:gOHeadingCmd: 0.480890 target range: 448.196991 and range: 450.80 m.>7>*"  BʎjZ0@ Bɢ.=) x?i ) 4  i YZ9i>7>½޺"I>7>I@ @@/@u2Acoustic response timeout^AA I I O% > ^,}IX@A28}>2}(>2hٱ2gX :AHRS rotation from veh to nav: [[0.891087,-0.449373,-0.063467],[0.453777,0.884417,0.109052],[0.007126,-0.125975,0.992008]]2Hȃ?ܿ d? ?%M??0}? ?i28}>I2a;2#CB-0>B)B-%IB-BB)B)B)B-$b;B-A%E2Acoustic response timeoutYhByQ%I  A@AbDVDy-%-==ٔ-;Q-->91Y1=5hGy1=^:E=>AQ 5E4EH?Q 9M4E|)EBYIyM3h>Q IU@EbDIE#;iEQ;E 4yYɮ]@YEu EuEu'Eq"Eu:*Euxv:VEu'4ZEqBEum%*" ʎjZl1@} Bɢ}Q(=) ?i)顉is6B,ẉc!I^>IY@Y @Y@a@a@i@iI m 2Acoustic response timeout^A y A I I O- >f,IX@A%I>%>%Żٱ% =AHRS rotation from veh to nav: [[0.891271,-0.449114,-0.062708],[0.453431,0.884472,0.110043],[0.006042,-0.126511,0.991947]]%HK?`Iܿ ?M?+?x?1 ?i%I>I%Ӊa;%!CECEr@iEIIII IMDIQQQIQ)YiY)YIYYY Yaaaiaaiim^A)m mEIi q)qqqqYqYZBy@%IiMb@Mb@Mb@ 9}?5^I?gfffffƿ:v?YM"?y33<@@ )$@Y3@bD-VD-0y=ƒ%=K=ٔE}0;Q-E>9AYA=EhGyMFMAEM>QQ 5]4Un^?Q 9]4U.{)UBYe(?Q Ee:yeU>Q Ie@UcDIU:iU:U4qy}Bɮ}a@yjQgOUFNOT Ignoring new targets: 448.20 m.R]R9Z]R9gO ProNav: ac range: 448.196991 m, nav range: 433.364380 m, bearing: 26.180108 deg, approach rate: -0.606039 m/s, LOS rate: 0.020362 deg/s, cmd heading: 27.570142 deg, new cmd heading: 27.587358 deg. B:gOHeadingCmd: 0.481490 target range: 448.196991 and range: 450.80 m.>*" BʎjZ@1@aɢej/=)i m?ii)miiim>iu>u㺉u6N,I}>Iy2Acoustic response timeout CeGԙD=DE EEE"E:*E:VEZEa@a@a@a@ʯ9YAQ@Q @Q@Q@Y^A} &  2Acoustic response timeoutA I I O >l,IX@A2J>2>2~ٱ2h :AHRS rotation from veh to nav: [[0.891273,-0.449266,-0.061591],[0.453440,0.884463,0.110080],[0.005020,-0.126039,0.992013]]2H`N?`ܿ`ሯ@)? M?`3.?Տt?@ "@?i2J>I2ߍa;2$CYMbByMI%IbD]VD]1ym=%uO=ٔu);Q-u>9yYy=}hGyy}7E}>Q 54s?Q 94y)BYyU>Q I@!cDI;i;"4yɮ@REjgOFNOT Ignoring new targets: 448.20 m.R9Z9gO ProNav: ac range: 448.196991 m, nav range: 433.113770 m, bearing: 26.188534 deg, approach rate: -0.677563 m/s, LOS rate: 0.022793 deg/s, cmd heading: 27.587358 deg, new cmd heading: 27.604219 deg. B&:gOHeadingCmd: 0.481785 target range: 448.196991 and range: 450.80 m.v>*" ʎjZ72@- Bɢ-^W=)) -Ε?i1)5o11i5Ai=v>=庉=e/I=v>IAI9@ @@@yB<A<B/>BBt%IBBB1 =BBeDBb;B0%EBҍCBҍCBBBCd5m2Acoustic response timeout^A0E5 E5E5$E1"E5:*E5i:VE54ZE1BE5# Dns,cIX@A2">2>2$xٱ2 :AHRS rotation from veh to nav: [[0.891417,-0.449111,-0.060627],[0.453169,0.884491,0.110970],[0.003786,-0.126395,0.991973]]2H|?`;ܿ @?M?h?o?`-=?i2">I2na;2#CY_ByF%IbD- VD-2y=2%=N=ٔ=L;Q-=>9AYA=EhGyEFM/KEM>IQ 5]4M1?Q 9]4M]x)MBYYy]T>Q I]@M1cDIM<;iM;M)4yiɮm@ijgOFNOT Ignoring new targets: 448.20 m.R%;9Z%;9gO5 ProNav: ac range: 448.196991 m, nav range: 432.861755 m, bearing: 26.197026 deg, approach rate: -0.636027 m/s, LOS rate: 0.021445 deg/s, cmd heading: 27.604220 deg, new cmd heading: 27.621214 deg. B5:gO=HeadingCmd: 0.482081 target range: 448.196991 and range: 450.80 m.=V>9*9"9 99AAAʎAIIjIZM2@yɢ}?>=)y }q?iy)z 顁iRDiV>.躉Ze8IV>Ie>i)>Ա2Acoustic response timeoutA@A @A@E0@A@M=@M=^Am0 Iq  2Acoustic response timeoutI O >D9 zD= ?AEE  EE EE #EA "EE :*EE |:VEE 3ZEA aM @aM @aM @aM @1 y,2IX@AJ>J`>Jbu6ٱJ RAHRS rotation from veh to nav: [[0.891580,-0.448906,-0.059732],[0.452854,0.884585,0.111502],[0.002784,-0.126463,0.991967]]JH`Ӈ?ܿ@.? N?b?`f?/2?iJ>IJa;HY^^By^E%IiEMb@Mb@Mb@AAAA A9E-?Gzǿ9qYq=uhGyq}bE}>Q 54?Q 94w)BYf%?Q E:y@>Q I@BcDI<:i/: 14yBɮ=@jgOFNOT Ignoring new targets: 448.20 m.Rg9Zg9gO ProNav: ac range: 448.196991 m, nav range: 432.607635 m, bearing: 26.206312 deg, approach rate: -0.619895 m/s, LOS rate: 0.022666 deg/s, cmd heading: 27.621213 deg, new cmd heading: 27.639796 deg. B%:gOHeadingCmd: 0.482405 target range: 448.196991 and range: 450.80 m.>*" BʎjZ6 3@ BɢRA=) R?i)i Gi>꺉AI>I9@ @@ 0@iI2Acoustic response timeout9^A9i I I O >B B B n%IB BB B B B a;B %E|, JX@A :>:>:ٱ:P BAHRS rotation from veh to nav: [[0.891525,-0.449132,-0.058856],[0.452968,0.884504,0.111682],[0.001898,-0.126227,0.992000]]:H_?ܿ`"m? M?4?7_?7(u?i:>I:`;:$CYNdByNL%IbDVVDV0y^0<%^V=ٔb;Q-b>9`Y`=fhGyfFfԭ9Ef>hQ 5n4jT?Q 9n4ju)jBYpyr@>Q Ir@jRcDIj;ij;j74ytɮv@vSEjgOFNOT Ignoring new targets: 448.20 m.R9Z9gO- ProNav: ac range: 448.196991 m, nav range: 432.371094 m, bearing: 26.214961 deg, approach rate: -0.620306 m/s, LOS rate: 0.022694 deg/s, cmd heading: 27.639797 deg, new cmd heading: 27.657104 deg. B- &:gO5HeadingCmd: 0.482708 target range: 448.196991 and range: 450.80 m.5q%>1*1"1 19E2Acoustic response timeoutAIIʎIIQjQZU h3@E EE$E"E:*E:VE4ZEBEa 2Ea JE;a :E;a BɢB&b=) ?i)% !!i% Ii-q%>-g-gCI-q%>I1q@ @@4@ԙ^A2DIyIO>2Acoustic response timeout ,JX@AP = > > 32ٱ  %AHRS rotation from veh to nav: [[0.891431,-0.449463,-0.057742],[0.453156,0.884444,0.111397],[0.001001,-0.125469,0.992097]] H?ܿg?\M? ?@FfP?`_@B?i = >I )`; "CY=eBy=M%IAEAiMb@Mb@Mb@ 9x&1?-ƿQ?YA ?y?5\=@@ )Y@  @AbDVD1y5ay;%54=ٔ=;Q-=>9AYA=EhGyAN9E>Q 54?Q 94=t)ϜBY&?Q E:y0P>Q I@ecDI/:i#:?4yɮ@P-B*** querying acoustic contact ***) )j1gO=FNOT Ignoring new targets: 448.20 m.R=Q9Z=Q9gOm ProNav: ac range: 448.196991 m, nav range: 432.075592 m, bearing: 26.225145 deg, approach rate: -0.622110 m/s, LOS rate: 0.021454 deg/s, cmd heading: 27.657104 deg, new cmd heading: 27.677486 deg. Bm:gOuHeadingCmd: 0.483063 target range: 448.196991 and range: 450.80 m.uT>q*q"y yyyyBʎjZ`3@Bɢ74=) k?i)iLi%T>%𺉨-EI-T>I)]2Acoustic response timeoutD<D<E EE&E"Es:*E:VE4ZEa%@a-@a-@a-@@ @@4@^A  II Iq O > 2Acoustic response timeoutь,5JX@A|YqBy\%IbDVDky%=%%^=ٔ-Q-->9)Y)=5hGy5F5E5>iQ 5u4m?Q 9}4ms)mٜBYyyyQ I}@mtcDIm;im ;m.F4yBɮ)@jgOFNOT Ignoring new targets: 448.20 m.R9Z9gO ProNav: ac range: 448.196991 m, nav range: 431.851074 m, bearing: 26.232891 deg, approach rate: -0.635884 m/s, LOS rate: 0.021951 deg/s, cmd heading: 27.677486 deg, new cmd heading: 27.692986 deg. B :gOHeadingCmd: 0.483334 target range: 448.196991 and range: 450.80 m.w>*" ʎjZ;4@ BɢL6~=)] ?i)ihOi%w>%򺉨%II%w>I)@ @@0@)AaAaBu.>BqBqBqBu0 =BqBqBuVa;Bu$E]2Acoustic response timeouta^AqIIO>E EE,E"E:*E&p:VEg4ZEBEm%9!Y!=%hGy!)E->1Q 5=45?Q 9=45q)5BY9yAQ IE@5cDI5;i5<;5M4yMBɮM @MTEYjqgO}FNOT Ignoring new targets: 448.20 m.R}]9Z}]9gO ProNav: ac range: 448.196991 m, nav range: 431.602020 m, bearing: 26.241494 deg, approach rate: -0.627253 m/s, LOS rate: 0.021678 deg/s, cmd heading: 27.692987 deg, new cmd heading: 27.710201 deg. B:i߱IߵA2Acoustic response timeoutgOHeadingCmd: 0.483634 target range: 448.196991 and range: 450.80 m.>*" ʎjZ@4@QɢUT=)Q UW?iY)]!YYi]xRie>ee NIe>Iiԁ)@) @1@5/@9Թ^A% NJNI I O >e 2Acoustic response timeout D zD @AbE!4jE{4rE0E%  E% E% $E! "E% :*E% |:VE% 4ZE! a5 @a5 @a5 @a5 @z,yiJX@A2>2]>2Ph:ٱ2b :AHRS rotation from veh to nav: [[0.891563,-0.449208,-0.057687],[0.452896,0.884050,0.115502],[-0.000886,-0.129103,0.991631]]2H`?Կܿ$A?"J??@ Mt`p?i2>I2cq_;2#CYn|Byni%Iv=v=ieMb@Mb@Mb@aaaa a9eMb?/$ſ9Y=hGyF<6E>Q 54 ?Q 94 p)BY(?Q E:Թy`b>Q I@cDIA;i@;mT4yɮ@jgOFNOT Ignoring new targets: 448.20 m.Rh9Zh9gO  ProNav: ac range: 448.196991 m, nav range: 431.334534 m, bearing: 26.250074 deg, approach rate: -0.638085 m/s, LOS rate: 0.020481 deg/s, cmd heading: 27.710202 deg, new cmd heading: 27.727373 deg. B :gO HeadingCmd: 0.483934 target range: 448.196991 and range: 450.80 m. 1>*" *BʎjZ5@Bɢip=)! %?i!)%*%))i-xUiU1>]]VI]1>Ia@  @ @ @ @@@@2Acoustic response timeoutA .AI1 II I Bm ->Bi Bm t%IBm BBi Bi Bi Bm u`;Bm k$EO >=ˠ,qTJX@A2V;>2>2 W:ٱ2! :AHRS rotation from veh to nav: [[0.891336,-0.449656,-0.057695],[0.453340,0.883646,0.116847],[-0.001559,-0.130305,0.991473]]2HӅ?+ܿ . ?F??Yխ%?i2V;>I2i_;2!CYFxByFe%IbDNVDNyV %VZ=ٔZ2:Q-Z>9Z ?YZ ?=ZhGy\^ :E >%2Acoustic response timeoutQ 5-4[ ?Q 9-4n)BY)y-c>Q I-@cDIS;iVT;([4y=Bɮ=@=KEjYgOeFNOT Ignoring new targets: 448.20 m.Re69Zm69gOu ProNav: ac range: 448.196991 m, nav range: 431.088318 m, bearing: 26.257960 deg, approach rate: -0.638432 m/s, LOS rate: 0.020459 deg/s, cmd heading: 27.727373 deg, new cmd heading: 27.743154 deg. B}:gOHeadingCmd: 0.484209 target range: 448.196991 and range: 450.80 m.K>*" ʎjZPo5@ɢ=) ͜?i)ݼieXiK>q(RIK>E EE'E"E :*EAr:VE'4ZEBEK"ԡ E,?JX@A9>T>eB;ٱ- AHRS rotation from veh to nav: [[0.890955,-0.450437,-0.057503],[0.454086,0.883123,0.117897],[-0.002323,-0.131152,0.991360]]H`?`ܿ`p?B?@.?Kc7?i9>I)S_;"CYByt%IieMb@Mb@Mb@iaaaa a9eMb?Ql?Ye ?ye\e=e@e@ eQ@)aaYe@bDVD1y[=%/=ٔT:Q->9Y=hGyF:E>!Q 554%9?Q 954%l)% BY5$?Q E5:y5>Q I=@%cDI%:i%v:%jc4yAɮEڿ@AP]B*** querying acoustic contact ***Y YjigOmFNOT Ignoring new targets: 448.20 m.Ru=9Zu=9gO ProNav: ac range: 448.196991 m, nav range: 430.791260 m, bearing: 26.265861 deg, approach rate: -0.629190 m/s, LOS rate: 0.016747 deg/s, cmd heading: 27.743154 deg, new cmd heading: 27.758967 deg. B/9gOHeadingCmd: 0.484485 target range: 448.196991 and range: 450.80 m.x>*" LBʎjZ/5@Bɢ`=) ?i)'Լi[ix>t KIx>I%2Acoustic response timeout?E EEE"Ea:*E:VEZEa@a@a@a@ԙq@q @q@}/@yAII O > 2Acoustic response timeout ,_ JX@A>Z>>m>>U;ٱ>| FAHRS rotation from veh to nav: [[0.890865,-0.450671,-0.057050],[0.454256,0.882888,0.118996],[-0.003259,-0.131925,0.991254]]>H? ܿ5`?@?v?`j@[?i>Z>I>5{_;Q Iv@ncDIn:inB:n'i4yxɮz`@xjgO%FNOT Ignoring new targets: 448.20 m.R%9Z%9gO5 ProNav: ac range: 448.196991 m, nav range: 430.584656 m, bearing: 26.271354 deg, approach rate: -0.631336 m/s, LOS rate: 0.016795 deg/s, cmd heading: 27.758968 deg, new cmd heading: 27.769960 deg. B59gO=HeadingCmd: 0.484677 target range: 448.196991 and range: 450.80 m.='>9*9"A AAAAIʎIIIjIZU;6@yɢ}(c=) ?i)Nͼ顁i'^i'>Ty_WLI'>IBAB .>B B %IB BB B B B _;B $E@ @@@=2Acoustic response timeoutE EE#E"E:*E:VE3ZEBEu) ,JX@A2x>2b#>23;ٱ2E >AHRS rotation from veh to nav: [[0.890232,-0.452020,-0.056251],[0.455490,0.882307,0.118589],[-0.003973,-0.131193,0.991349]]2H@|?̬ܿ &?@;? [?zFp@@!?i2x>I2F_;2$CYFByFo%IbDRVDR0yZ<%ZL=ٔZ%:Q-Z>9\Y\=hGyF (];E >Q 54_?Q 94Ni)BYy%l>Q I%@cDIU;ia;Up4y-Bɮ-0@-LEjQgOUFNOT Ignoring new targets: 448.20 m.R]79Z]79gOm ProNav: ac range: 448.196991 m, nav range: 430.326263 m, bearing: 26.278184 deg, approach rate: -0.628941 m/s, LOS rate: 0.016635 deg/s, cmd heading: 27.769961 deg, new cmd heading: 27.783629 deg. Bm9gOuHeadingCmd: 0.484916 target range: 448.196991 and range: 450.80 m.uF>q*q"q qqyyyʎjZ.6@颱ɢr|=) ?i)9)ż项iaiF>M;IF>I2Acoustic response timeout1u9@q @q@u4@qa^AAIԑ GI I O > 9 Y geAM 2Acoustic response timeoutE  E E 'E "E ;*E $:VE '4ZE a @a @a @a @1,JX@A02.>2>2;ٱ2m >AHRS rotation from veh to nav: [[0.889595,-0.453361,-0.055544],[0.456728,0.881712,0.118253],[-0.004638,-0.130566,0.991429]]2H w?ݿ@Ap;?@6?E?raɹ?i2.>I2ю_;2#CYFByFr%IiMb@Mb@Mb@ 9Mb?p= ףMb?Yy=@ h@)~@YbD-VD-k1yr3<%<=ٔ:Q->9Y=hGyV;E>Q 54u?Q 94Xg)'BY!$?Q E:y\>Q I@cDI;i;w4yBɮ@jgOFNOT Ignoring new targets: 448.20 m.R9Z9gO5 ProNav: ac range: 448.196991 m, nav range: 430.059204 m, bearing: 26.284681 deg, approach rate: -0.622570 m/s, LOS rate: 0.015155 deg/s, cmd heading: 27.783630 deg, new cmd heading: 27.796632 deg. B=9gOEHeadingCmd: 0.485143 target range: 448.196991 and range: 450.80 m.Ed>A*A"A IIIQUJBʎYYYjaZe7@颡ɢMy=) ?i)+I顩idid>S<],Id>Iԑ@ @@4@2Acoustic response timeoutԹ^A5IY Ii Ou > B B B %IB BB B B B W_;B #EBBBBBC#e4,KX@A:>:د>: ;ٱ: ZAHRS rotation from veh to nav: [[0.888843,-0.455001,-0.054147],[0.458177,0.881083,0.117331],[-0.005678,-0.129098,0.991616]]:H gq? ݿ1R?1?m ?oAw@JP?i:>I:x`;:"C\YfByfs%I hhn>n= np2Acoustic response timeout9Y = hGy F W;E >Q 54?Q 9%4e)0BY!y%%>Q I%@cDII;iw;u~4y)ɮ-@1jQgOUFNOT Ignoring new targets: 448.20 m.R]Ì9Z]Ì9gOm ProNav: ac range: 448.196991 m, nav range: 429.817657 m, bearing: 26.290514 deg, approach rate: -0.636701 m/s, LOS rate: 0.015383 deg/s, cmd heading: 27.796631 deg, new cmd heading: 27.808303 deg. Bm89gOuHeadingCmd: 0.485346 target range: 448.196991 and range: 450.80 m.uT>q*q"q yyyʎjZ@t7@颱ɢ==E EE#E"E2:*Ex:VE3ZEBE!*]]I]T>IiU9@Q @Q@Ut3@Q^Am92Acoustic response timeoutIIO >A E,KX@A!>)>;ٱ AHRS rotation from veh to nav: [[0.888059,-0.456660,-0.053032],[0.459681,0.880355,0.116915],[-0.006704,-0.128205,0.991725]]Hj?9ݿ@&hk? +??`$u{@i@6?i>Ifa;#CYByp%Ii=Mb@Mb@Mb@9999 99=}?5^I?L7A`?Y=M"?y=+=<=@9 =;@)99Y9bDUVDU:ye,%e5=ٔe;Q-e>9iYi=mhGymFuw;Eu>yQ 54}?Q 94}tc)}9BY%?Q E:yӎ>Q I@} dDI}:i}:}R4yBɮ1@MEjgOFNOT Ignoring new targets: 448.20 m.R]9Z]9gO ProNav: ac range: 448.196991 m, nav range: 429.531189 m, bearing: 26.297464 deg, approach rate: -0.636361 m/s, LOS rate: 0.015449 deg/s, cmd heading: 27.808302 deg, new cmd heading: 27.822211 deg. B.9gOHeadingCmd: 0.485589 target range: 448.196991 and range: 450.80 m.&>*" IBʎijiZm{7@颱ɢs=) s?i)~项i,+ki&>A4I&>I-2Acoustic response timeoutAE  E E $E "E :*E g:VE 4ZE a@a@a@a@y@y @@/@@\A@\Aq^A I I O5 >ԙ  2Acoustic response timeoutm,3S8KX@A2ҡ>2M>2lK<ٱ2 :AHRS rotation from veh to nav: [[0.887380,-0.458136,-0.051663],[0.460969,0.879693,0.116826],[-0.008075,-0.127484,0.991808]]2Hie?Rݿ@s`?`q&?Q?agQ?i2ҡ>I2b;0YFByFr%IbDNVDNyVv;%Vk=ٔV[;Q-V?9XYX=ZhGyX^;E^?`Q 5f4bG?Q 9f4ba)b?BYdyf>Q If@bdDIbl:ib:bc4ylɮn(@lPzB*** querying acoustic contact ***x xyjgOFNOT Ignoring new targets: 448.20 m.R9Z9gO ProNav: ac range: 448.196991 m, nav range: 429.310059 m, bearing: 26.302791 deg, approach rate: -0.607116 m/s, LOS rate: 0.014635 deg/s, cmd heading: 27.822212 deg, new cmd heading: 27.832873 deg. BC9gOHeadingCmd: 0.485775 target range: 448.196991 and range: 450.80 m.>*" ʎjZ E8@)ɢ-=)) 5ß?i1)UͣQQiUM,ni]>]@eIe>Ia9@ @@!@!AAB0>BӍCBBB/ =BEDBfDB;_;B#E2Acoustic response timeoutE5 E5E5%E1"E52:*E5x:VE5 4ZE1BE1aE2E1aEJE1aM:E1aM^AMIIO> U,.RKX@AY~{By~h%II=)4<bDVDk1y%%%C=ٔ%Q-->9)Y)=-hGy)5E5>9Q 5E4=A?Q 9E4=_)=GBYAyAQ IM@=,dDI=:i9=4yQɮU@QjqgO}FNOT Ignoring new targets: 448.20 m.R9Z9gO ProNav: ac range: 448.196991 m, nav range: 429.042999 m, bearing: 26.309233 deg, approach rate: -0.664252 m/s, LOS rate: 0.016033 deg/s, cmd heading: 27.832872 deg, new cmd heading: 27.845764 deg. B9gOHeadingCmd: 0.486000 target range: 448.196991 and range: 450.80 m.>*" ʎjZ 8@ɢ+2=) ?i)ݛiBqi>S;I>II)}2Acoustic response timeout9@ @@0@!^AQA I I O >- BDAT read: Response Not Received - *response not received5 2p>2P;<ٱ2 :AHRS rotation from veh to nav: [[0.885988,-0.461158,-0.048571],[0.463567,0.878264,0.117293],[-0.011433,-0.126436,0.991909]]2H@Z?ݿIި??? i/?i2*$>I2xd;2 CY^wBybd%Ii}Mb@Mb@Mb@yyyy y9}NbX9?MbQ?Y}%?y}}u<}@}K@ y)}h@yYybD VD2y*%B=ٔ9Y=hGyFf;E>Q 54?Q 94])LBY(?Q E:y>Q I@>dDIg;iR;4yBɮ@NEj1gO=FNOT Ignoring new targets: 448.20 m.R=d9ZEd9YgOe ProNav: ac range: 448.196991 m, nav range: 428.768005 m, bearing: 26.315466 deg, approach rate: -0.642719 m/s, LOS rate: 0.014578 deg/s, cmd heading: 27.845764 deg, new cmd heading: 27.858239 deg. Ben9gOmHeadingCmd: 0.486218 target range: 448.196991 and range: 450.80 m.m>i*i"q qqyy?BʎjZ@:9@ɢ/=) Ü?i)&i%Eti>I>I*DAT read: user:438> BDAT read: Tx time:00:34:53.5767 $Ping request sent.,KX@A*checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2501736̇>6w>6X<ٱ6 BAHRS rotation from veh to nav: [[0.885372,-0.462490,-0.047110],[0.464695,0.877573,0.118001],[-0.013231,-0.126366,0.991895]]6HT?@pݿ ?? K5?,`?i6̇>I6Nd;6!CYJfByJN%IbDVVDV1y^]%^Q=ٔ^j;Q-^>9`Y`=bhGy`fdW;Ef>hQ 5j4j?Q 9n4j[)jQBYlyn>Q In@jNdDIj:ij:j4yvBɮv@tj gOFNOT Ignoring new targets: 448.20 m.R9Z9gO- ProNav: ac range: 448.196991 m, nav range: 428.514099 m, bearing: 26.321183 deg, approach rate: -0.657759 m/s, LOS rate: 0.014819 deg/s, cmd heading: 27.858238 deg, new cmd heading: 27.869679 deg. B-9gO5HeadingCmd: 0.486418 target range: 448.196991 and range: 450.80 m.5 >1*1"1 11999ʎ9EM EMEM'EI"EM2:*EM&p:VEM'4ZEIBEIaU2EIaUJEMu;a]:EMu;a]YajaZe`|9@ Bɢ ݇=)  N?i )H]i wi >V ˏI >I!A9@ @@O0@i^ASchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502620ԑAM ؟AIQ Ii Ou > ,ܠKX@AMB>M>Mw<ٱM ]AHRS rotation from veh to nav: [[0.884929,-0.463485,-0.045624],[0.465480,0.877026,0.118967],[-0.015126,-0.126515,0.991849]]MH@WQ?@ݿ \k??t?S`1;?iMB>IMe;M CYu[ByuA%I yyiMb@Mb@Mb@ 9jt?HzGMb?Y ?y= <@@ )@YbDVD!y%`=%%6=ٔ%l;Q-%>9-"?Y-"?=-hGy-F5;E5>9Q 5E4= ?Q 9E4=Y)=VBYE}$?Q EM:yM>Q IM@=`dDI=T ;i=" ;=Ʃ4yQɮU@QjygO}FNOT Ignoring new targets: 448.20 m.R]9Z]9gO ProNav: ac range: 448.196991 m, nav range: 428.230835 m, bearing: 26.328160 deg, approach rate: -0.631270 m/s, LOS rate: 0.015558 deg/s, cmd heading: 27.869678 deg, new cmd heading: 27.883641 deg. B9gOHeadingCmd: 0.486661 target range: 448.196991 and range: 450.80 m.+>*" #BʎjZ9@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754177颡ɢ9z=) ?i)轂顩iyi+>SSFπI+>Ix>i>bEJ4jEr 4rE}0Em EmEm"Ei"Em:*EmAr:VEm(3ZEia@a@a@a@Y@Y @Y@]b0@Y9 ^A 񖻝% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006515A .AI I O- >,IKX@A2׈>2F>2<ٱ2 >AHRS rotation from veh to nav: [[0.884376,-0.464732,-0.043634],[0.466468,0.876524,0.118804],[-0.016966,-0.125421,0.991958]]2HL?+ݿ0W? { ?i? _ ?i2׈>I2e;2"CYFVByF;%IbDRVDRJyZ%Zf=ٔZ;Q-Z>9^ ?Y^ ?=^hGy^FbP;Eb>dQ 5j4fc?Q 9j4fXQ =jtI)fZBYhyj>Q In@fodDIfE:if ;f4yrBɮrW@rOEPB*** querying acoustic contact *** j gOFNOT Ignoring new targets: 448.20 m.R9Z9gO% ProNav: ac range: 448.196991 m, nav range: 428.006226 m, bearing: 26.333664 deg, approach rate: -0.631024 m/s, LOS rate: 0.015472 deg/s, cmd heading: 27.883641 deg, new cmd heading: 27.894655 deg. B-9gO-HeadingCmd: 0.486854 target range: 448.196991 and range: 450.80 m.-D>1*1"1 11199ʎ9AAjAZEI:@ɢ69=) #?i)31xiC|i-D>-_v-TLI]D>IYQB<A<B.>BҍCBn%IBBB0 =BFDBeDB__;B#E@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257952ԁE EE'E"EO:*E]t:VE'4ZEBE :,{KX@A66>6Z <ٱ6= >AHRS rotation from veh to nav: [[0.883954,-0.465677,-0.042078],[0.467196,0.876036,0.119536],[-0.018803,-0.125323,0.991938]]@6HYI?ݿ K?|?홾? A @?i6I6) f;4YJOByJ2%IbDVVDVβy^8%^J=ٔ^;Q-^>9b"?Yb"?=bhGy`f2;Ef>hQ 5n4jq3?Q 9n4j,V)j_BYlyn>Q Ir@jdDIjw;ij;j4yvBɮv@tjgOFNOT Ignoring new targets: 448.20 m.R`9Z`9gO- ProNav: ac range: 448.196991 m, nav range: 427.750549 m, bearing: 26.339908 deg, approach rate: -0.632291 m/s, LOS rate: 0.015450 deg/s, cmd heading: 27.894655 deg, new cmd heading: 27.907150 deg. B-49gO5HeadingCmd: 0.487072 target range: 448.196991 and range: 450.80 m.5ta>1*1"1 11999ʎAAAjAZE@e:@mBɢuX=)q u*?iq)}-iyyi}~ita>/Ita>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5101671@1 @1@5/@1Ա^Au_ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762118A .AI I E  E E $E "E a:*E c:VE 4ZE a @a @a @a @ O >^ ,WKX@A2x>2O>2"<ٱ2R :AHRS rotation from veh to nav: [[0.883585,-0.466481,-0.040894],[0.467823,0.875551,0.120633],[-0.020468,-0.125721,0.991854]]2HTF?@ݿ@ ???``E?i2x>I2dhf;2$CY PBy 3%II=)>AԙiMb@Mb@Mb@ 9333333?ףp= ÿ~jt?Y?y<@5@ Q@)@Yf@bDVDy;%8=ٔ9 ?Y ?=hGyF:E>Q 5 4I?Q 9 4sT)fBY ?Q E:yv>Q I@dDIf:i;ξ4yɮ@!jAgOEFNOT Ignoring new targets: 448.20 m.RM9ZM9gO ProNav: ac range: 448.196991 m, nav range: 427.482513 m, bearing: 26.347891 deg, approach rate: -0.604677 m/s, LOS rate: 0.018020 deg/s, cmd heading: 27.907149 deg, new cmd heading: 27.923125 deg. B:gOHeadingCmd: 0.487350 target range: 448.196991 and range: 450.80 m.>*"  BʎjZ% \(;@mBɢx=) =?i)X顑iSi>I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014863e9@a @a@e0@a^A 7B 0>B ӍCB U%IB kBB / =B EDB fDB _;B $E) A} ؟AI I O >-,1LX@A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266159R>R>RT<ٱRY ZAHRS rotation from veh to nav: [[0.883281,-0.467186,-0.039402],[0.468311,0.875142,0.121706],[-0.022377,-0.125953,0.991784]]RHC?`aݿ`q,?)?(?ꖿ6`?iR>IRmf;R#CYn@Byr %IbDzVDz:2yF%Z=ٔ4;Q- >9 "?Y "?= hGy $:E>Q 5%4\?Q 9%4R)kBY!y%~w>Q I-@dDI:iV:V4y1ɮ5@5PEEE EEEE'EA"EE :*EE :VEE'4ZEABEEK"*" ʎjZ@;@Bɢu24=)q }?iy)}NKyyi}iƤ>}IƤ>IM9@I @I@M/@I!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518132Q^AmeA .AI I O >ԑ ,/"LX@A aeCGX>>׌<ٱ5,91Y5dA =AHRS rotation from veh to nav: [[0.883118,-0.467614,-0.037934],[0.468524,0.874875,0.122799],[-0.024235,-0.126219,0.991706]]HB?cݿ@!lK?@? o?И'?iX>I=f;!CQY]?By]%IEonly read 0 of 1 data item for altitude. Device response is::BD, -352.13, +283 +66.05, 7.20 Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770125aU@aU aU@aU aU@aU aU@a] bD]VD]ym.%u)=ٔu{;Q-u>9} ?Y} ?=}hGy}F}5:E}>Q 54eu?Q 94Q)rBQ A+:YQ E:yw>Q I@dDI:i>04yɮ@jgOFNOT Ignoring new targets: 448.20 m.R9Z9gO ProNav: ac range: 448.196991 m, nav range: 426.963593 m, bearing: 26.363317 deg, approach rate: -0.609554 m/s, LOS rate: 0.018133 deg/s, cmd heading: 27.936577 deg, new cmd heading: 27.953996 deg. B:gOHeadingCmd: 0.487889 target range: 448.196991 and range: 450.80 m.>*" ʎjZ ;@% Bɢ%%s=)) -?i))-9))i-΂i5>5= I=>I9EM EMEM&EI"EM:*EML_:VEM4ZEIaU@aU@aU@aU@ԁy@y @y@y@yԩ^A i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022869 I I O >,=LX@A2‰>227<ٱ2m :AHRS rotation from veh to nav: [[0.883358,-0.467273,-0.036543],[0.467965,0.874926,0.124554],[-0.026228,-0.127126,0.991540]]2H wD?@ݿ͵@$?d??}ۚ E`?i2‰>I2EEf;0YF9ByF%I HHbDRVDRkyZ%Zw=ٔ^;Q-^?9`Yd=fhGydjEn?tQ 5~4vk?Q 9~4vO)vwBQ A :YQ E`:yEw>Q I@vdDIvgo;ivR?v 4yBɮ@GEPMB*** querying acoustic contact ***I IjagOFNOT Ignoring new targets: 448.20 m.R9Z9!gO5 ProNav: ac range: 448.196991 m, nav range: 426.760498 m, bearing: 26.369376 deg, approach rate: -0.591743 m/s, LOS rate: 0.017662 deg/s, cmd heading: 27.953995 deg, new cmd heading: 27.966119 deg. B5J:gO=HeadingCmd: 0.488101 target range: 448.196991 and range: 450.80 m.=[>9*9"9 99AiiʎqqqjqZ}]<@B1>BB5%IBRBB. =BBB_;B+$EBӍCBӍCBB/ =B/ =C(5- Bɢ-9=)) -Ӌ?i))5+11i5g؃i=[>]^]I@Ie[>IaIq)u\A9@ @@@@@@@QBDAT read: Rx Time:00:34:56.5580 TRx dataTimestamp_ set to:1761698097.145930checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275919E EEE"E:*E n:VEZEBE5Թ n,VLX@A2(>2tB>2<ٱ2, :AHRS rotation from veh to nav: [[0.883473,-0.467151,-0.035286],[0.467649,0.874908,0.125863],[-0.027925,-0.127698,0.991420]]2HiE?ݿ`?@>?G?@^ iX@?i2(>I2bef;0YF5ByF%IbDNVDN1yVV%VL=ٔZŊ;Q-Z>9XYX=^hGy^F^[Eb>`Q 5f4b?Q 9f4b?N)b}BQ Aj9YhQ Ej5:yjv>Q Ij@bdDIbZ:ib?b4ypɮrD@pEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526036jgOFNOT Ignoring new targets: 448.20 m.R9Z9gO ProNav: ac range: 448.196991 m, nav range: 426.519989 m, bearing: 26.376568 deg, approach rate: -0.591952 m/s, LOS rate: 0.017712 deg/s, cmd heading: 27.966119 deg, new cmd heading: 27.980512 deg. B:gOHeadingCmd: 0.488352 target range: 448.196991 and range: 450.80 m.H >*" !!ʎ!!!j)Z-@<@ԑ额 Bɢ=) ?i)V顡i+؄iH >p J\IH >IU9@Q @Q@U)0@QIIO$>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777982E  E E #E "E :*E $:VE 3ZE a @a @a @a @ ,epLX@ABG>BB>BO}<ٱB7( JAHRS rotation from veh to nav: [[0.883713,-0.466811,-0.033737],[0.467092,0.875092,0.126646],[-0.029596,-0.127677,0.991374]]BH`G? =ݿ@F??5?N W V?iBG>IB Cf;BCYv4Byv%Iauau auau auau auau iuMb@Mb@Mb@qqqq q9u{Gz? ףp= ǿZd;O?Yu#?yuQ8uj9Y=hGyE>Q 54?Q 94L)BQ AT:YL*?Q E:y%`>Q I@dDIn;i;k4yɮW@HEjgO%FNOT Ignoring new targets: 448.20 m.R%9Z%9gO ProNav: ac range: 448.196991 m, nav range: 426.236115 m, bearing: 26.385967 deg, approach rate: -0.669443 m/s, LOS rate: 0.022178 deg/s, cmd heading: 27.980512 deg, new cmd heading: 27.999321 deg. BZ":gOHeadingCmd: 0.488680 target range: 448.196991 and range: 450.80 m.O4>*" BʎjZ@@0=@= BɢE|=)A E?iA)ElQIIiЅiO4>(%I%O4>I)DAT read: 00:34:56.5580 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 210,-0.41,-2.346, 2.458,-2.159,-2.639, PHS= 0.395,-1.142, 0.436, RAW= 151.3, 4.0, CAL= 150.4, 4.0, ROT= 359.6, -4.0 Ygot valid direction response: 00:34:56.5580 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 210,-0.41,-2.346, 2.458,-2.159,-2.639, PHS= 0.395,-1.142, 0.436, RAW= 151.3, 4.0, CAL= 150.4, 4.0, ROT= 359.6, -4.0 PDAT read: Bearing 179.4, -2.7 (Local) ~Local bearing/azimuth received: Bearing 179.4, -2.7 (Local) DAT read: Range 11 to 50 : 432.8 m (Round-trip 577.1 ms) speed 0.6 m/s BDAT read: Tx time:00:34:57.6267 $Ping request sent.i]-]d;>])@]5=]'@ ]5=)]@I]5YY]8:E?P?܍%? ]] ?)]aNI]i]5YY:publishing transmit ping time Fpublishing direction and range infoyY]uv?gDel|&k۱?YYYYYY Y)YIYiYYYYY Y)YIYYY]8:E?P?܍%? Y)YIYiYYY9@ @@<0@IIOi>B2>BB%IB=BBBBB_;B5$EI <",LX@A2>22>2==ٱ2: :AHRS rotation from veh to nav: [[0.883853,-0.466660,-0.032125],[0.466709,0.875163,0.127564],[-0.031415,-0.127741,0.991310]]2H H?ݿr?V?T?  Yϸ?i2>I2Se;2#CER ERER&EP"ER:*ERk:VER4ZEPBERm%9xYx=zhGyzF~*E~>Q 5 40?Q 9 4&K)BY y _>Q I@dDI:i:4yɮ@yLX@AJ!CR!Cj>qN=z@%A)r8,t>@ruv?gDel|&k۱?Zb5PV򉓼w@# "ə0i@*E0@zN>?ԓ?bУ?2IC:C"ʚ?*BvBʚ?“B0C>gOm addTargetRange:: Added new target pos. range: 432.799988 m, deltaT: 29.234416 s, deltaX: -18.000000 m, approachRate: -0.615713 m/s, rangeRepo size: 4 gO Added new target pos. range: 430.261017 m, bearing: 27.950929 deg, lat: 36.779279 deg, lon: -121.859081 deg, deltaT: 29.234416 s, deltaX: -17.935974 m, approachRate: -0.613523 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 430.26 m.RZgO ProNav: ac range: 430.261017 m, nav range: 424.382782 m, bearing: 26.502001 deg, approach rate: 0.000000 m/s, LOS rate: 0.022178 deg/s, cmd heading: 27.999321 deg, new cmd heading: 28.016162 deg. BgO%HeadingCmd: 0.488974 target range: 430.261017 and range: 432.80 m.%Z>!*!"! !!)))ʎ)1qju {@Zu?颽 BɢZ?=) ؆?i).i귆iZ>tۙIZ>II@ @@4@I IO-->y 3(,lLX@A\>1>=ٱ'T AHRS rotation from veh to nav: [[0.884250,-0.466084,-0.029447],[0.465709,0.875316,0.130140],[-0.034881,-0.128789,0.991058]]H K?Rݿ9' -?? j?@ۡ,|?i>Ioe;CYy%IiEMb@Mb@Mb@AAAA A9EMbX9?gfffffƿy&1?YE!?yE33E`9Y=hGyE>Q 54?Q 94dI)BY(?Q E:yc>Q I@eDI;iG;4yɮ@jgOFNOT Ignoring new targets: 430.26 m.R b9Z b9gO ProNav: ac range: 430.261017 m, nav range: 424.088531 m, bearing: 26.511727 deg, approach rate: -0.642269 m/s, LOS rate: 0.021243 deg/s, cmd heading: 28.016162 deg, new cmd heading: 28.035627 deg. B:gO%HeadingCmd: 0.489314 target range: 430.261017 and range: 432.80 m.%]>!*!"! !)))-Bʎ111j1Z5?eBɢev=)a mb?ii)m iiimBiu]>u:uYIu]>IyD=D=E EEE"E:*E n:VEZEa@a@a@a@A@ @@4@i^A% I I O >ԙ &.,e6LX@AYAyE%IԁbDVDyW;%^=ٔQ->9Y=hGyFE>Q 54?Q 94G)BYyQ I@eDI;i;z4yBɮ@IEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 430.26 m.R9Z9gO ProNav: ac range: 430.261017 m, nav range: 423.854523 m, bearing: 26.519472 deg, approach rate: -0.636726 m/s, LOS rate: 0.021085 deg/s, cmd heading: 28.035626 deg, new cmd heading: 28.051125 deg. BY:gO HeadingCmd: 0.489584 target range: 430.261017 and range: 432.80 m. Ѫ> * " ʎj!Z%8?MBɢM.=)Q U^?iQ)UpRͻQYi]2di]Ѫ>eKn e|~ĻIeѪ>IaBA<B1>BB %IB.BBBBB`;B6$E 9@  @ @ 0@ ԩ^A`ԻT****** 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*Eg:VE 4ZEBE+ 5,bLX@A2;>2>2o=ٱ2"  :AHRS rotation from veh to nav: [[0.884464,-0.465726,-0.028679],[0.465174,0.875262,0.132397],[-0.036559,-0.130441,0.990782]]2H@M?vݿ ^i? &?a?ܷJ|?i2;>I2&4e;2"C%*DAT read: user:439> -checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497085Y'By%I ==bDVDy L%5=ٔr;Q->9%"?Y%"?=-hGy)EmEE>IQ 5]4M ?Q 9]4MAF)MBYYyec>Q Ie@M)eDIML;iMC;Mv4yyɮ}*@yjgOFNOT Ignoring new targets: 430.26 m.R9Z9gO] ProNav: ac range: 430.261017 m, nav range: 423.563446 m, bearing: 26.529134 deg, approach rate: -0.628393 m/s, LOS rate: 0.020874 deg/s, cmd heading: 28.051124 deg, new cmd heading: 28.070463 deg. B]:gOeHeadingCmd: 0.489922 target range: 430.261017 and range: 432.80 m.e>a*a" ʎjZ`H?Bɢ ªz=)  ?i )P!i{,i>O, ޻I>I}9@ @@}2@1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748451D zD @AbE]ɞ4jE]4rE]A/E  E E $E "E :*E x:VE 4ZE a @a @a @a @Y ^A &tA)I1IAOU><,LX@Alnr@ilIllp prTpppr _AIvD)tit)tIv_Atx 1111i19i99)9 9I9 A)EX{AAAAYAYu3Byu%I5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000445iEMb@Mb@Mb@AAAA A9Ep= ף?/$ſL7A`?YE%?yE,E+=EA@Ex@ Eh@)E@AYE=@bD]VD]ymT=%m6=ٔuQ-u>9qYq=}hGy}F}E}>Q 54$?Q 94kD)BY*?Q E:yt>Q I@*" =BʎjZ@\@-Bɢ-%k=)1 5m?i1)5?f1Yi]%i]>e ef(Ie>IaBBB%IB)BB- =BBB`;BC$E)@) @)@-/@1 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252393 E  E E %E "E *E [:VE 4ZE BE m%%>D,MX@A2wi>2>2_'=ٱ2 :AHRS rotation from veh to nav: [[0.884154,-0.466552,-0.024516],[0.465407,0.874965,0.133538],[-0.040851,-0.129478,0.990740]]2HJ?ݿ@9?`??wꤿ`%?i2wi>I2;e;2#CY-(By-%IbD=VD=1yZ%J=ٔ.9Y=hGy(c:E>Q 54:?Q 94B)BYy[t>Q I@MeDI\ ;i%;K4yɮ%@JEjgOFNOT Ignoring new targets: 430.26 m.R9Z9gO ProNav: ac range: 430.261017 m, nav range: 423.011810 m, bearing: 26.546202 deg, approach rate: -0.676534 m/s, LOS rate: 0.020943 deg/s, cmd heading: 28.088333 deg, new cmd heading: 28.104620 deg. BP:gO HeadingCmd: 0.490518 target range: 430.261017 and range: 432.80 m. 2%> * "  ʎjZ@@MBɢMld=)Q Un?iQ)UfQQiUΊi]2%>]t eߖIe2%>Ia@ @@@echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5045049^A=jԁ I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756363`J,+MX@A D^<D^<Eb EbEb$E`"Eb:*Ebc:VEb4ZE`aj@aj@aj@aj@Y.By %IiMb@Mb@Mb@ 9p= ף?w/Ŀ rh?Yy&C =n@ )`@Y@bDVD02y<%8=ٔQ->9Y=hGyFE>Q 54S?Q 94@)BY*?Q E:y {>Q I @`eDIa:i]:4yBɮ@KEj9gO=FNOT Ignoring new targets: 430.26 m.RE)9ZE)9gOU ProNav: ac range: 430.261017 m, nav range: 422.722412 m, bearing: 26.554861 deg, approach rate: -0.650237 m/s, LOS rate: 0.019470 deg/s, cmd heading: 28.104620 deg, new cmd heading: 28.121951 deg. BU:gO]HeadingCmd: 0.490821 target range: 430.261017 and range: 432.80 m.]L>Y*Y"Y aaaaeLBʎiԩjZ`>@=Bɢ=n=)9 =?i9)E{&AAiE7imL>m: mImL>Iq@ @!@%0@!@!@!@)@)}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008384 I1 IA Ou >A A AAB 0>B B $IB $BB . =B B B `;B 6$EnHQ,aEMX@A2" >2n>2$I3=ٱ2 0 :AHRS rotation from veh to nav: [[0.883395,-0.468123,-0.021751],[0.466581,0.874254,0.134095],[-0.043757,-0.128608,0.990730]]2HD?ݿEv? ?@ *?Og9v?i2" >I2be;2CYF,ByF%IbDRVDR1yVT%Zv=ٔZTQ Ij@bneDIb:ibl:b4lypɮr@pP}B*** querying acoustic contact ***y yjgOFNOT Ignoring new targets: 430.26 m.R9Z9gO ProNav: ac range: 430.261017 m, nav range: 422.506714 m, bearing: 26.561282 deg, approach rate: -0.618722 m/s, LOS rate: 0.018427 deg/s, cmd heading: 28.121952 deg, new cmd heading: 28.134799 deg. B:gOHeadingCmd: 0.491045 target range: 430.261017 and range: 432.80 m.*" ʎ11j9Z= @颥Bɢӛ=) ?i)z캝checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260468顩iIOiP 'ƻIIE EE&E"E:*EǙ:VE4ZEBEC-1a i߁ I߁  BDAT read: Rx Time:00:35:00.6035  TRx dataTimestamp_ set to:1761698101.429407 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513712uW,VI_MX@AFr>FG>F:=ٱFT NAHRS rotation from veh to nav: [[0.883035,-0.468842,-0.020902],[0.467105,0.873708,0.135825],[-0.045418,-0.129702,0.990512]]FH@A?޿Ug ?i?b?A@G?iFr>IF9 Y = hGy Ft:E>!Q 5-4%{?Q 9-4%=)%BY)y-~>Q I-@%eDI%:i%:%&41y9ɮ=@AjagOeFNOT Ignoring new targets: 430.26 m.Rm9Zm9gO} ProNav: ac range: 430.261017 m, nav range: 422.236053 m, bearing: 26.569321 deg, approach rate: -0.676923 m/s, LOS rate: 0.020118 deg/s, cmd heading: 28.134799 deg, new cmd heading: 28.150887 deg. B}E:gOHeadingCmd: 0.491326 target range: 430.261017 and range: 432.80 m. >*" ʎjZ @Bɢ=3=) ?i)Dii >* I»I >IG=^AY9^AYA@ @@1@iIIO&>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764574E EE%E"E:*Ee:VE 4ZEa@a@a@a@ԑԹ ], yMX@AY~*By~%I=a=mDAT read: 00:35:00.6035 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 388,-0.03, 0.686,-0.820, 0.882, 0.386, PHS= 0.402,-1.161, 0.452, RAW= 151.6, 3.9, CAL= 150.6, 3.8, ROT= 359.4, -3.8 }Ygot valid direction response: 00:35:00.6035 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 388,-0.03, 0.686,-0.820, 0.882, 0.386, PHS= 0.402,-1.161, 0.452, RAW= 151.6, 3.9, CAL= 150.6, 3.8, ROT= 359.4, -3.8 PDAT read: Bearing 179.6, -3.9 (Local) ~Local bearing/azimuth received: Bearing 179.6, -3.9 (Local) DAT read: Range 11 to 50 : 429.4 m (Round-trip 572.6 ms) speed 0.6 m/s ԙTDAT read: user:440>Tx time:00:35:01.6767 R#Rx 1: Read range and direction messages.^direction in FSK: [0.997747,-0.010449,0.066274]Fpublishing direction and range infoy9=[%?pi==l>=V)@='g==8(@ =ԇ=)=@I=ԇ99=bd3?>&?Hn_Ys? =& ?)=I=D+i=ԇ99T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i=Mb@Mb@Mb@9999 99=Zd;O?/$y&1?Y=~*?y=1=`<=IA=@ =@)=@9Y=@ IM4<bD]VD]yuT =%}5=ٔQ->9Y=hGyE>Q 54?Q 94B;)BY.?Q E:y>Q I@eDI =i =$4yɮ@LE9=T{MX@AJ=pCR=pCj=8>=Sz@+Ġy5 }J<@r=[%?pgO% addTargetRange:: Added new target pos. range: 429.399994 m, deltaT: 4.029565 s, deltaX: -3.399994 m, approachRate: -0.843762 m/s, rangeRepo size: 4 gO5 Added new target pos. range: 426.879517 m, bearing: 27.777163 deg, lat: 36.779281 deg, lon: -121.859056 deg, deltaT: 4.029565 s, deltaX: -3.381500 m, approachRate: -0.839173 m/s, posRepo size: 4 j1gO=FNOT Ignoring new targets: 426.88 m.R=Z9Bm1>BiBiBiBm- =BiBiBm`;Bm?$EB1B1B1B5. =B5- =C5,4gO ProNav: ac range: 426.879517 m, nav range: 423.150848 m, bearing: 26.828905 deg, approach rate: 0.000000 m/s, LOS rate: 0.020118 deg/s, cmd heading: 28.150888 deg, new cmd heading: 28.171550 deg. BgOHeadingCmd: 0.491686 target range: 426.879517 and range: 429.40 m.N>*" lBʎj`fz@Z ,?=Bɢ=JL~=)9 Ea?iA)E8AAiEiMN>M MnλIUN>IQ@ @@0@IIO>DAT read: checking for new query: numPingsReceived=0, elapsed TxPingTime=4.268969E  E E #E "E :*E :VE 3ZE BE <86>6nD=ٱ6 >AHRS rotation from veh to nav: [[0.882115,-0.470715,-0.017335],[0.468588,0.873195,0.133999],[-0.047939,-0.126325,0.990830]]6H@I:?2 ޿%Y?`6?&?nk+?i6W>I6e;4YR+ByR%IbDZVDZybr<%bk=ٔf;Q-f?9dYd=jhGyjFjI;Ej?lQ 5r4n~?Q 9v4nr9)nBYtyv>Q Iv@neDIn:in:n*4yxɮz@|jgO%FNOT Ignoring new targets: 426.88 m.R%9Z%9gO5 ProNav: ac range: 426.879517 m, nav range: 422.919495 m, bearing: 26.834286 deg, approach rate: -0.812500 m/s, LOS rate: 0.018908 deg/s, cmd heading: 28.171549 deg, new cmd heading: 28.182317 deg. B5k :gO=HeadingCmd: 0.491874 target range: 426.879517 and range: 429.40 m.=>9*A"A AAAIIʎIIIjQZU@:?}Bɢ}=) ?i)9m!:顁ibNi>a#檝I>IY@ @@Q3@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.520594ԉ^A[Rӻ-PExceeded connect timeout, disconnecting.A) I9 II O] >  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.772375j,%άMX@A2첊>28^>2I=ٱ2 :AHRS rotation from veh to nav: [[0.881733,-0.471453,-0.016716],[0.469174,0.872671,0.135353],[-0.049226,-0.127188,0.990656]]2H'7?I,޿ ??@CS?4@Gu?i2첊>I29Y=hGy!%{:E%>1Q 5]45?Q 9]45A7)5BY],?Q E]:ye">Q Ie@5eDI5;i5:514ymBɮmb@iԱjgOFNOT Ignoring new targets: 426.88 m.Rۛ9Zۛ9gO ProNav: ac range: 426.879517 m, nav range: 422.622864 m, bearing: 26.841971 deg, approach rate: -0.657030 m/s, LOS rate: 0.017032 deg/s, cmd heading: 28.182317 deg, new cmd heading: 28.197696 deg. B^9gOHeadingCmd: 0.492143 target range: 426.879517 and range: 429.40 m.>*" hBʎj Z @?uBɢu=)y }?iy)}:yyi}nߎi>,|I>I%9@! @!@%3@)]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.024350 ^Am 3Ba Aa Ba Ba Be $IBe BBa Ba Ba Be M`;Be \$EA I I O >9 q,TMX@AJ$ >Jp>JN=ٱJ VAHRS rotation from veh to nav: [[0.881363,-0.472177,-0.015747],[0.469739,0.872278,0.135931],[-0.050448,-0.127202,0.990593]]JH 4?&8޿@ `2?? 2f?Cԩ@'H`?iJ$ >IJe;JCY^By^$IIb4=)b9tYt=zhGyzFz:Ez>|Q 54~?Q 94~v5)~BY y {>Q I @~eDI~:i~:~K84yɮ%@MEP5B*** querying acoustic contact ***1 1jAgOEFNOT Ignoring new targets: 426.88 m.RMa9ZMa9gO] ProNav: ac range: 426.879517 m, nav range: 422.381042 m, bearing: 26.848220 deg, approach rate: -0.669396 m/s, LOS rate: 0.017308 deg/s, cmd heading: 28.197697 deg, new cmd heading: 28.210202 deg. B]h9gOeHeadingCmd: 0.492361 target range: 426.879517 and range: 429.40 m.e>a*a"a aiiiiʎqqqjqZ}@ˁ?颥BɢV=) ~?i);顩iyi>C+܋I>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=5.27719759@1 @1@50@1@9@9@9@9E EE"E"E:*E?:VE(3ZEBE#i m checking for new query: numPingsReceived=0, elapsed TxPingTime=5.528295w,^MX@A 2j>2>2uS=ٱ2Ӿ >AHRS rotation from veh to nav: [[0.880968,-0.472944,-0.014821],[0.470354,0.871868,0.136433],[-0.051603,-0.127165,0.990538]]2H`0?D޿ZG?W?v?`kF}?i2j>I2xd;0YFByF$IbDRVDRk1yZջ%ZN=ٔZ>;Q-Z>9\bnManaging dock network, ignoring radio surface power offY\=bhGydf:Ef>hQ 5n4j?Q 9n4j3)jĝBYpyrڏ>Q Ir@jeDIj ;ijB;jB?4ytɮv;@xjgOFNOT Ignoring new targets: 426.88 m.RΜ9ZΜ9gO- ProNav: ac range: 426.879517 m, nav range: 422.116638 m, bearing: 26.855035 deg, approach rate: -0.664426 m/s, LOS rate: 0.017136 deg/s, cmd heading: 28.210203 deg, new cmd heading: 28.223841 deg. B-9gO5HeadingCmd: 0.492599 target range: 426.879517 and range: 429.40 m.55>1*1"1 1ʎjZ;"? Bɢߐ=)1 5|?i1)= J;99i=iE5>EE}IE5>IIq@ @@/@!checking for new query: numPingsReceived=0, elapsed TxPingTime=5.784218AyIԙIO_>DzDE EE&E"E:*E[:VE4ZEa@a@a@a@ },$_MX@A6>6;N>6+W=ٱ6V >AHRS rotation from veh to nav: [[0.880718,-0.473410,-0.014800],[0.470705,0.871358,0.138462],[-0.052653,-0.128913,0.990257]]6H.?@XL޿O ? *? ?T 6/?i6>I6w:d;6!CPYRByR$I%checking for new query: numPingsReceived=0, elapsed TxPingTime=6.032483i5Mb@Mb@Mb@1111 195#~j?S㥛:v?Y5%?y5$5<5A5@ 5@)5@1Y5@bDMVDMy]%e@=ٔe!;Q-e>9iYi=mhGymFm':Em>qQ 5}4uQ?Q 94uT1)uƝBY_)?Q E:y˜>Q I@ueDIu7 ;iuf:uF4yɮ@jgOFNOT Ignoring new targets: 426.88 m.Rr9Zr9gO ProNav: ac range: 426.879517 m, nav range: 421.839691 m, bearing: 26.861506 deg, approach rate: -0.647115 m/s, LOS rate: 0.015130 deg/s, cmd heading: 28.223841 deg, new cmd heading: 28.236791 deg. B9gOHeadingCmd: 0.492825 target range: 426.879517 and range: 429.40 m.S>*" zBʎjZ@@  Bɢ =)1 5y?i1)5U;11i5lyi=S>=<E^)vIES>IA9@ @@@BBB$IBBBBBB`;Bw$EIIO%n>checking for new query: numPingsReceived=0, elapsed TxPingTime=6.284457E  E E 'E "E a:*E Z:VE '4ZE BE (2:c>2 ]=ٱ2L :AHRS rotation from veh to nav: [[0.880582,-0.473686,-0.014039],[0.470814,0.871103,0.139691],[-0.053940,-0.129619,0.990096]]2H@-?`P޿j!??a? X ݮ?i2>I2c;2CY^ Byb$I ``bDjVDj:yr}?%rS=ٔrY;Q-v>9tYt=vhGytzi9Ez>9|Q 5e4~?Q 9e4~W/)~ȝBYayeޘ>Q Ie@~eDI~[:i~:~vM4yuBɮu@uDEjgOFNOT Ignoring new targets: 426.88 m.Ri9Zi9gO ProNav: ac range: 426.879517 m, nav range: 421.586670 m, bearing: 26.867418 deg, approach rate: -0.637590 m/s, LOS rate: 0.014908 deg/s, cmd heading: 28.236791 deg, new cmd heading: 28.248623 deg. BB9gOHeadingCmd: 0.493031 target range: 426.879517 and range: 429.40 m.n>*" ʎjZc@"Bɢ;=) 5t?i)$;iin> n %zI n>I IZA)@ @@=0@5checking for new query: numPingsReceived=0, elapsed TxPingTime=6.536526iIIO=>ԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=6.789102,].NX@AD.=D.%=bEm 4jEm( 4rEmg/E2 E2E2%E0"E2:*E2 n:VE2 4ZE0a:@a>@a>@a>@Bk>B>BHa=ٱBP; RAHRS rotation from veh to nav: [[0.880364,-0.474106,-0.013524],[0.471090,0.870741,0.141011],[-0.055079,-0.130512,0.989916]]BH+?W޿bW&?@? ?@A3 c?iBk>IBAc;B CY~By~$IԱiMb@Mb@Mb@ 9'1Z?x&I +?Y"?y7 9<zA@ @)@Y@bD5VD50yEBC%E4=ٔE$;Q-E>9IYI=MhGyMFUH:EU>YQ 5e4],?Q 9e4]-)]ɝBYe|&?Q Ee:ye>Q Im@] fDI]:i]:]cU4yqɮu@qjgOFNOT Ignoring new targets: 426.88 m.R9Z9gO ProNav: ac range: 426.879517 m, nav range: 421.296417 m, bearing: 26.874552 deg, approach rate: -0.657455 m/s, LOS rate: 0.016171 deg/s, cmd heading: 28.248623 deg, new cmd heading: 28.262901 deg. B9gOHeadingCmd: 0.493281 target range: 426.879517 and range: 429.40 m.I>*" BʎjZ@$BɢOlj=) m?i)Ͳ;iPi I>KtII>IE9@A @A@E@0@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=7.0403359^Aa I I O >A A B B B $IB BB B B B ]`;B c$Ea ,GNX@AY~By~$IbD VD Jy`%%b=ٔ%Q-%>9!Y)=-hGy)-E->1Q 5=45??Q 9E45Y+)5ʝBYAyAQ IE@5fDI5;i5;5[4yIɮMW@UEEPmB*** querying acoustic contact ***i ijqgO}FNOT Ignoring new targets: 426.88 m.R9Z9gO ProNav: ac range: 426.879517 m, nav range: 421.064667 m, bearing: 26.880256 deg, approach rate: -0.639485 m/s, LOS rate: 0.015748 deg/s, cmd heading: 28.262901 deg, new cmd heading: 28.274315 deg. B9gOHeadingCmd: 0.493480 target range: 426.879517 and range: 429.40 m.e>*" ʎjZ` @&BɢN=) f?i)3;iie>aIe>IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.292702q@q @q@u4@qE EE$E"ED:*Ec:VE4ZEBE1ԩM BDAT read: Rx Time:00:35:04.6510 M TRx dataTimestamp_ set to:1761698105.461155U checking for new query: numPingsReceived=0, elapsed TxPingTime=7.545475 ,EaNX@A2Hu>2 >2Gj=ٱ2 >AHRS rotation from veh to nav: [[0.879743,-0.475258,-0.013515],[0.472001,0.869590,0.145012],[-0.057166,-0.133952,0.989338]]2H`&?`j޿B5???`DW%@?i2Hu>I2 c;2!CY^By^$IIb;>)b=bDfVDfynh%nN=ٔr;Q-r>9pYp=vhGyvFvk5;Ev>xQ 5~4zT?Q 9~4zf))xYy7>Q I@z,fDIzW:iz:zb4y ɮ 7@ j1gO5FNOT Ignoring new targets: 426.88 m.R=9Z=9gOM ProNav: ac range: 426.879517 m, nav range: 420.810760 m, bearing: 26.886466 deg, approach rate: -0.641027 m/s, LOS rate: 0.015687 deg/s, cmd heading: 28.274314 deg, new cmd heading: 28.286741 deg. BM9gOUHeadingCmd: 0.493697 target range: 426.879517 and range: 429.40 m.U>Q*Q"Q YYYYYʎaaajaZm" @ (BɢcS=) ^?i);ii>%>%JI%>I!ue>iu>ԩ@ @ @ R4@ checking for new query: numPingsReceived=0, elapsed TxPingTime=7.799093E EE&E"E:*Ez:VE4ZEa@a@a@a@^A ]IIO > 1 [8,¤{NX@A.>.M>.n=ٱ.g >AHRS rotation from veh to nav: [[0.879522,-0.475671,-0.013325],[0.472274,0.869126,0.146892],[-0.058291,-0.135488,0.989063]].H %?`dq޿LJ9??@Z?`KحWg?i.>I.pc;.CYJByJ$Ii I ]DAT read: 00:35:04.6510 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 411,-0.20, 1.817, 0.335, 2.141, 1.461, PHS= 0.458,-1.081, 0.636, RAW= 155.4, -0.2, CAL= 154.3, -1.3, ROT= 355.7, 1.3 mYgot valid direction response: 00:35:04.6510 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 411,-0.20, 1.817, 0.335, 2.141, 1.461, PHS= 0.458,-1.081, 0.636, RAW= 155.4, -0.2, CAL= 154.3, -1.3, ROT= 355.7, 1.3 uPDAT read: Bearing 174.1, -7.8 (Local) ~Local bearing/azimuth received: Bearing 174.1, -7.8 (Local) DAT read: Range 11 to 50 : 427.6 m (Round-trip 570.2 ms) speed 0.6 m/s TDAT read: user:441>Tx time:00:35:05.7267 R#Rx 1: Read range and direction messages.`direction in FSK: [0.996928,-0.074959,-0.022687]iMb@Mb@Mb@ 9Mb?nQ?Y#?yVu<A@ @)@Y3@UFpublishing direction and range infoy  ?o0NGY;Y C     ) LI ~>i 5^ "? ^-@ d Z,@ ޹) @I ޹<    ??yRg 5?) 28;I )i ޹<  mT****** received valid address query ******mR****** received valid ping request ******bDVDy}%}'=ٔ}1;Q-}>9Y=hGyFW9:E>Querying Benthos address 50 with one ping in standard two-way mode.Q 5%4on?Q 9%4')ɝBYM&?Q EM:yM>Q IM@@fDIx Jԍ|z@L$'F?YI#r ?o0NGY;BBB$IBBBBBB_;B$EZ )b ޹< Ra7@x@ 'ae@{=z >2s|5?? ~g2 +C: C" '?* G5B B   /“ vB C >gO- addTargetRange:: Added new target pos. range: 427.600006 m, deltaT: 4.033483 s, deltaX: -1.799988 m, approachRate: -0.446261 m/s, rangeRepo size: 4 gO5 Added new target pos. range: 425.090302 m, bearing: 23.787296 deg, lat: 36.779281 deg, lon: -121.859081 deg, deltaT: 4.033483 s, deltaX: -1.789215 m, approachRate: -0.443591 m/s, posRepo size: 4 j9gO=FNOT Ignoring new targets: 425.09 m.REZAgOu ProNav: ac range: 425.090302 m, nav range: 419.501587 m, bearing: 26.625062 deg, approach rate: 0.000000 m/s, LOS rate: 0.015687 deg/s, cmd heading: 28.286742 deg, new cmd heading: 28.303288 deg. BqgO}HeadingCmd: 0.493986 target range: 425.090302 and range: 427.60 m.}>y*y"y yyzBʎjz@Zi?5+Bɢ5o=)=o9 =Z?iY)];aaieim>m'+mwNIm>Ii@ @@4@@%\A@%\ADAT read: checking for new query: numPingsReceived=0, elapsed TxPingTime=8.301874i E  E E #E "E 2:*E :VE 3ZE BE !*,ﮙNX@A2>2>2:s=ٱ2 :AHRS rotation from veh to nav: [[0.879175,-0.476342,-0.012249],[0.472789,0.868839,0.146931],[-0.059347,-0.134969,0.989071]]2H2"?@d|޿.B???b@F x?i2>I2c;0YF΅ByF$IbDNVDN:yVgǽ%VY=ٔV7;Q-V>9Z ?YZ ?=ZhGyX^M:E^>`Q 5f4bT?Q 9f4b?%)`YdyfM>Q If@bPfDIb:ib^;bq4ynBɮn@nFEjgOFNOT Ignoring new targets: 425.09 m.R 9Z 9qgO ProNav: ac range: 425.090302 m, nav range: 419.259674 m, bearing: 26.631110 deg, approach rate: -0.714349 m/s, LOS rate: 0.017867 deg/s, cmd heading: 28.303288 deg, new cmd heading: 28.315389 deg. B:gOHeadingCmd: 0.494197 target range: 425.090302 and range: 427.60 m.\>*" ʎjZ`2?%checking for new query: numPingsReceived=0, elapsed TxPingTime=8.553841颕-Bɢ&w=) FP?i)<(<i >i \> X>}6I\>Iԡ@ @@/@ aeC\G\A 595\AY=ǠAyϡ?A^AA  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.806825E  E E &E "E :*E n:VE 4ZE a @a @a @a @ Aq Iy I O >D,\uNX@A2o>2>2_x=ٱ2 :AHRS rotation from veh to nav: [[0.878661,-0.477314,-0.011245],[0.473585,0.868323,0.147419],[-0.060600,-0.134857,0.989010]]2H@?P޿7O?`M? ? B?i2o>I2/c;0YF…ByF$I HHJ=J=iUMb@Mb@Mb@QQQQ Q9UX9v?+ÿ~jt?YU?yUU=ٔ{?;Q->9Y=hGyFX;E>Q 54?Q 94p#)ʝBY #?Q E:yC>Q I@bfDI ;i ;Gy4yɮ@jgOFNOT Ignoring new targets: 425.09 m.R|9Z|9gO ProNav: ac range: 425.090302 m, nav range: 418.992218 m, bearing: 26.638919 deg, approach rate: -0.622683 m/s, LOS rate: 0.018194 deg/s, cmd heading: 28.315389 deg, new cmd heading: 28.331019 deg. B0:gOHeadingCmd: 0.494470 target range: 425.090302 and range: 427.60 m.+>*" kBʎ  j Z ?=0Bɢ=/y=)9 =H?iA)EcUMrAMIM+>IQ @  @ @ /@ 5checking for new query: numPingsReceived=0, elapsed TxPingTime=9.057130^A5d1B2>BB$IBȅBB, =BBB_;B$EByByByB}- =ByC}4I) I9 OM >Y /,]NX@A23>2~i>2~|=ٱ2 :AHRS rotation from veh to nav: [[0.878317,-0.477974,-0.010018],[0.474078,0.868069,0.147327],[-0.061722,-0.134150,0.989037]]2H+? ޿{`KW?9?@? +1?i23>Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.308456I2Vb;2CYJByJs$IbDVVDVy^%^W=ٔ^A;Q-^>9`Y`=bhGy`bw:Ef>dQ 5n4f[?Q 9n4f!)f̝BYlyn>Q In@fqfDIfj;if;f4ypɮvj@tPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 425.09 m.R&9Z&9gO- ProNav: ac range: 425.090302 m, nav range: 418.755676 m, bearing: 26.645817 deg, approach rate: -0.622300 m/s, LOS rate: 0.018157 deg/s, cmd heading: 28.331018 deg, new cmd heading: 28.344822 deg. B-:gO5HeadingCmd: 0.494710 target range: 425.090302 and range: 427.60 m.5J>1*1"1 19999ʎAAAjAZEb?u2BE} E}EyEy"E}O:*E}i:VEyZEyBE} ';%3I%J>I!1Y5Tм@ @@@@=@=5checking for new query: numPingsReceived=0, elapsed TxPingTime=9.560587ԉԹ ^Am eIIIYOu>8n,NX@A8z>z\>z(=ٱz =AHRS rotation from veh to nav: [[0.878034,-0.478514,-0.008979],[0.474435,0.867772,0.147929],[-0.062995,-0.134147,0.988957]]zH`?޿c@#]?`?`V?h +?iz>Iza;zCchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.815634YByh$IEq EuEu$Eq"Eq*EuAr:VEu4ZEqa@a@a@a@ԑiMb@Mb@Mb@ 9Gz?(\¿Zd;O?Yp?yzj<3A@ @)Y@bDVDP)y6% =ٔz;Q->9 Y = hGy FJ:E>Q 5%4C?Q 9%4<)͝BY%!?Q E%:y%Պ>Q I-@fDIQ:iL;4y1ɮ5@5GEjygOFNOT Ignoring new targets: 425.09 m.R9Z9gO ProNav: ac range: 425.090302 m, nav range: 418.394196 m, bearing: 26.655538 deg, approach rate: -0.615657 m/s, LOS rate: 0.016571 deg/s, cmd heading: 28.344822 deg, new cmd heading: 28.364281 deg. B9gOHeadingCmd: 0.495050 target range: 425.090302 and range: 427.60 m.5w>*" bBʎjZ?6Bɢ[V=) :?i)*)<iMi5w> .I5w>I% B B g$IB BB B B B _;B $E ^A2IIO?, OX@A8RX >R>R=ٱR jAHRS rotation from veh to nav: [[0.877905,-0.478766,-0.008132],[0.474541,0.867638,0.148377],[-0.063982,-0.134120,0.988897]]RH? ޿^???a*@ ?iRX >IRwGa;R C~2Acoustic response timeoutY~ByK$IE- E-E-%E)"E-:*E-L_:VE- 4ZE)BE-u9Y=hGy9E>Q 54q?Q 94)Yy>Q I@fDI ;i ;4y ɮ v@ j)gO5FNOT Ignoring new targets: 425.09 m.R59Z=9gOM ProNav: ac range: 425.090302 m, nav range: 418.077789 m, bearing: 26.664055 deg, approach rate: -0.623349 m/s, LOS rate: 0.016791 deg/s, cmd heading: 28.364282 deg, new cmd heading: 28.381327 deg. BM9gOUHeadingCmd: 0.495348 target range: 425.090302 and range: 427.60 m.U4>Q*Q"Q QQYYYʎaaajaZe@颍:BɢnX=) ,?i)4<顙i i4>*'5I4>I2Acoustic response timeout 9@  @ @ 4@ 1 ^A NJκI)I9OE>5,x*OX@ARXz>R%>RƘ=ٱR4. ^AHRS rotation from veh to nav: [[0.877414,-0.479692,-0.006380],[0.475218,0.867256,0.148442],[-0.065674,-0.133277,0.988901]]RH?G޿m!z i? ? %? ϰ@5?iRXz>IR~`;R!CYfByf8$IbDvVDvy%%W=ٔ-;Q-5>9AYA=MhGyMF]+ ;E]>Q 54{?Q 948)ΝBYyO>Q I@fDI$;i;ԙ4yBɮt@HEE2Acoustic response timeoutQE EE'E"EV:*Eg:VE'4ZEaE@aE@aE@aE@jqgO}FNOT Ignoring new targets: 425.09 m.R} 9Z 9gO ProNav: ac range: 425.090302 m, nav range: 417.835510 m, bearing: 26.670558 deg, approach rate: -0.545408 m/s, LOS rate: 0.014648 deg/s, cmd heading: 28.381328 deg, new cmd heading: 28.394342 deg. Bu9gOHeadingCmd: 0.495575 target range: 425.090302 and range: 427.60 m.>*" ʎjZ@5=Bɢ5xZ=)9 =P#?i9)=Nj>mBmwIm>Iiy9@ @@/@@@ԡ 2Acoustic response timeout^A] I I O > ,wDOX@A2j>2B>2l=ٱ2 :AHRS rotation from veh to nav: [[0.877285,-0.479936,-0.005760],[0.475400,0.867217,0.148088],[-0.066077,-0.132653,0.988957]]2H@?D޿חwl? =?@?@s갿?i2j>I2\_;2CYFwByF($IBb4>B`Bb;$IBbBB`B`B`Bb~_;Bb#Ei-Mb@Mb@Mb@)))) )9-ףp= ?#~jĿS㥛?Y-?y-%-/<-A-Q@ -3@)-@)Y-@bDEVDE0yUu%UG=ٔ]:Q-]>9aYa=ehGyae:Em>iQ 5u4mv ?Q 94m)mϝBY1$?Q E:yQ>Q I@mfDIm@jIgOMFNOT Ignoring new targets: 425.09 m.Ru9Zu9gO ProNav: ac range: 425.090302 m, nav range: 417.584595 m, bearing: 26.678119 deg, approach rate: -0.688479 m/s, LOS rate: 0.020758 deg/s, cmd heading: 28.394341 deg, new cmd heading: 28.409472 deg. B:gOHeadingCmd: 0.495839 target range: 425.090302 and range: 427.60 m.>*" ԱXBʎjZ @颕?Bɢ# h=) ?i)E<顙ii>кI>It>i%>A@A @A@E0@AU2Acoustic response timeoutE% E!E%(E!"E%:*E!VE%c44ZE!BE%m%9 C,y^OX@AJӵ>J"a>JR=ٱJzRBDAT read: Rx Time:00:35:08.6968 VTRx dataTimestamp_ set to:1761698109.497248V2Acoustic response timeout ZAHRS rotation from veh to nav: [[0.877132,-0.480225,-0.004955],[0.475581,0.867121,0.148067],[-0.066809,-0.132230,0.988965]]JH v? ޿,Kt@o?@u??f@?iJӵ>IJF^;JCYfmByf$IbDrVDr1yzK%zQ=ٔz:Q-z>9|Y|=~hGy~Fw:E> Q 54 ! ?Q 94 ) НBYy>Q I@ fDI :i ; 4y!ɮ%@!PB*** querying acoustic contact *** j gO FNOT Ignoring new targets: 425.09 m.R 9Z9gOE ProNav: ac range: 425.090302 m, nav range: 417.339539 m, bearing: 26.685504 deg, approach rate: -0.619592 m/s, LOS rate: 0.018684 deg/s, cmd heading: 28.409472 deg, new cmd heading: 28.424251 deg. BE:gO]HeadingCmd: 0.496097 target range: 425.090302 and range: 427.60 m.]e>Y*Y"Y YaaaaʎaiijiZm` @颽ABɢ%A\=) ?i)>M<iie>9Ie>I@ @@/@9m2Acoustic response timeout^AbEȞ4jE4rEȓ/EU  EQ EQ EQ "EU O:*EQ VEQ ZEQ a @a @a @ ae @A I I O >p,_xOX@A6>6k>6Vʼn=ٱ6  NAHRS rotation from veh to nav: [[0.877068,-0.480340,-0.005015],[0.475640,0.866930,0.148993],[-0.067220,-0.133062,0.988826]]6H? ޿tp?`?`6?W50`u?i6>I6a^;6CYZ^ByZ $IliMb@Mb@Mb@ 9$C?SſS㥛?Y?y/A;@ @)IAYbDVD:y懽%;=ٔw:Q->9Y=hGyBF9E>Q 5 4`8 ?Q 9 4J)ҝBY [ ?Q E :ybj>Q I@fDI ;iG ;J4yɮ@IEjAgOEFNOT Ignoring new targets: 425.09 m.RM9ZM9gOm ProNav: ac range: 425.090302 m, nav range: 417.073914 m, bearing: 26.694313 deg, approach rate: -0.644776 m/s, LOS rate: 0.021397 deg/s, cmd heading: 28.424251 deg, new cmd heading: 28.441880 deg. Bu:gO}HeadingCmd: 0.496404 target range: 425.090302 and range: 427.60 m.}(>*" ?BʎjZ@>@颍DBɢDQ=)  ?i)T<顑i;i(>eV]I(>IDAT read: 00:35:08.6968 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 399, 0.40, 0.346,-1.133, 0.573, 0.054, PHS= 0.394,-1.142, 0.475, RAW= 152.6, 3.5, CAL= 151.5, 3.2, ROT= 358.5, -3.2 Ygot valid direction response: 00:35:08.6968 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 399, 0.40, 0.346,-1.133, 0.573, 0.054, PHS= 0.394,-1.142, 0.475, RAW= 152.6, 3.5, CAL= 151.5, 3.2, ROT= 358.5, -3.2 PDAT read: Bearing 178.8, -6.1 (Local) ~Local bearing/azimuth received: Bearing 178.8, -6.1 (Local) DAT read: Range 11 to 50 : 424.5 m (Round-trip 566.0 ms) speed 0.4 m/s  *DAT read: user:442>  BDAT read: Tx time:00:35:09.7767 $Ping request sent.i-33>t*@5z=%:)@ d=)c9@Idd-ۂ?D/?~TA? l?)7zIwּid=:publishing transmit ping time=Fpublishing direction and range infoyZl?AqxÚᢔ?Y )Ii )Id-ۂ?D/?~TA? )Ii9@ @@@@=@=BBB$IBcBBBBBD_;B#E1^A ?Bɺa E=  E= E= %E9 "E= :*E= 1]:VE= 4ZE9 BE9 aE 2E9 aE JE= ;aE :E= ;aM AI IY Ii Ou >Zj, OX@A2ߎ>2^>2=ٱ2 :AHRS rotation from veh to nav: [[0.876924,-0.480608,-0.004575],[0.475825,0.866776,0.149299],[-0.067788,-0.133101,0.988782]]2H?F޿r`s??@<?Zu ?i2ߎ>I2%^;0YFUByF#IIJ<)Jp;bDNVDNkyV1@%V^=ٔ:Q->91Y1=5hGy5 F=z:E=>AQ 5M4EL ?Q 9M4E)EԝBYIyMj>Q I@EfDIE#VSz@qA&7@rZl?AqxÚᢔ?ZwּbdhWhw@(Lh@lVz9;f?xmxz?,g2`BC:GC"w񖗛?*"oB{Bw񖗛?"o“BCq>gO addTargetRange:: Added new target pos. range: 424.500000 m, deltaT: 4.034583 s, deltaX: -3.100006 m, approachRate: -0.768358 m/s, rangeRepo size: 4 gO Added new target pos. range: 422.010925 m, bearing: 27.427030 deg, lat: 36.779301 deg, lon: -121.859002 deg, deltaT: 4.034583 s, deltaX: -3.079376 m, approachRate: -0.763245 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 422.01 m.RZgO  ProNav: ac range: 422.010925 m, nav range: 421.991943 m, bearing: 27.425862 deg, approach rate: 0.000000 m/s, LOS rate: 0.021397 deg/s, cmd heading: 28.441881 deg, new cmd heading: 28.458786 deg. B gOHeadingCmd: 0.496700 target range: 422.010925 and range: 424.50 m.fO>*" ʎ!!!j%z@Z%?颕FBɢ;P=) o?i)c[<顙i͏ifO>{IfO>IA]9@a @a@e0@aiߑIߑq^ANJκԙ A I I O >,^KOX@A24>2>>2=ٱ2 :AHRS rotation from veh to nav: [[0.876611,-0.481178,-0.004515],[0.476399,0.866505,0.149038],[-0.067802,-0.132799,0.988821]]2H2 ?`޿~rQ}?i??u[@l?i24>I2];2CYFDByF#IyE5 E5E1E1"E52:*E5Z:VE1ZE1a=@a=@a=@a=@bDu VDu2yM%U=ٔU7Q-U>9YYY=]hGy] F]ĩ:Ee>iQ 5u4mf ?Q 9u4m)m֝BYqyuEk>Q Iu@mgDIm:im:m׾4yɮy@jgO%FNOT Ignoring new targets: 422.01 m.R%t9Z-t9gO5 ProNav: ac range: 422.010925 m, nav range: 421.684753 m, bearing: 27.436472 deg, approach rate: -0.602151 m/s, LOS rate: 0.020813 deg/s, cmd heading: 28.458786 deg, new cmd heading: 28.480022 deg. B=]:gO=HeadingCmd: 0.497070 target range: 422.010925 and range: 424.50 m.=>A*A"A AAAIIʎIIQjQZU?}IBɢO5=) >i)@c<顉ii>pκI>I@ @@B0@1^A9 a B A <" JFailed to parse device response: .67 Ai Iy I O >I,XOX@A2m7>2>2R=ٱ2s >AHRS rotation from veh to nav: [[0.876592,-0.481216,-0.004245],[0.476410,0.866522,0.148904],[-0.067976,-0.132550,0.988843]]2H ?`?޿cq}?`?G? f`h ?i2m7>I2"];2CYF4ByF#IxbDVDy%%-o=ٔ-:Q--?91Y1=5hGy1=+i8E=?AQ 5E4Ew ?Q 9M4E)E؝BYIyIQ IM@EgDIE;iE3;E4yYɮ]l@]JEjygOFNOT Ignoring new targets: 422.01 m.R19Z19gO ProNav: ac range: 422.010925 m, nav range: 421.477295 m, bearing: 27.443647 deg, approach rate: -0.635460 m/s, LOS rate: 0.021987 deg/s, cmd heading: 28.480022 deg, new cmd heading: 28.494379 deg. B :gOHeadingCmd: 0.497321 target range: 422.010925 and range: 424.50 m.Ӡ>*" ʎjZ=?KBɢ|J=) >i)Wgh<iFiӠ>j'DIӠ>I9@ @@4@@@@@!E EE$E"E:*Ee:VE4ZEQII IY Oe >ԁ =,KOX@A2yn>2>2>t=ٱ2# :AHRS rotation from veh to nav: [[0.876388,-0.481589,-0.004070],[0.476776,0.866372,0.148605],[-0.068040,-0.132176,0.988888]]2H^ ?[޿p@?R?~? k'?i2yn>I2W];2 CYF2ByF#I HJAbDR VDR2yZ[%ZS=ٔZ-9Q-Z>9\Y\=^hGy\b؍:Eb>dQ 5j4f ?Q 9j4f7)fڝBYlynk>Q In@f gDIf ;if ;f4ypɮv@tiG^A˻9^AYݢAPB*** querying acoustic contact *** j!gO-FNOT Ignoring new targets: 422.01 m.R-ٯ9Z-ٯ9gO] ProNav: ac range: 422.010925 m, nav range: 421.241699 m, bearing: 27.451790 deg, approach rate: -0.555699 m/s, LOS rate: 0.019217 deg/s, cmd heading: 28.494380 deg, new cmd heading: 28.510675 deg. B] :gOeHeadingCmd: 0.497605 target range: 422.010925 and range: 424.50 m.e>a*i"i iiiqqʎjZ ?MBɢ5=) >i ) yn<  i-_i5>5c=WٺI=>I9IA)EWAԉ@ @@r4@T****** received valid address query ******R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.I9IYDDR=E EE"E"E:*E:VE(3ZEO > j,yOX@ABN}>B(>B=ٱBGq RAHRS rotation from veh to nav: [[0.876343,-0.481662,-0.004876],[0.476880,0.866127,0.149695],[-0.067879,-0.133510,0.988720]]BH  ?޿s 5?P?7)? ` `?iBN}>IB`F];BCYb*Byb#Iaz@az az@az a~@a~ a~@a~ bD VD 1y%%%C=ٔ-{ɹQ-->91Y1==hGy= FE9EE>IQ 5M4M< ?Q 9U4M)M۝BQ A]+:YYQ E]:y]k>Q I]@M1gDIM%-;iM>M4yeBɮe@mAEjgOFNOT Ignoring new targets: 422.01 m.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003148R=9Z=9gO ProNav: ac range: 422.010925 m, nav range: 420.986420 m, bearing: 27.460616 deg, approach rate: -0.662539 m/s, LOS rate: 0.022920 deg/s, cmd heading: 28.510675 deg, new cmd heading: 28.528337 deg. B':gOHeadingCmd: 0.497913 target range: 422.010925 and range: 424.50 m.>*" ʎjZR@OBɢի6=) >i)%tu u|Iu>Iq9@ @@/@BBB#IB&BB+ =BBB1_;B#EIIO@>I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255111E  E E 'E "E :*E e:VE '4ZE BE #6V>6W=ٱ6I BAHRS rotation from veh to nav: [[0.876169,-0.481980,-0.004874],[0.477186,0.865938,0.149814],[-0.067986,-0.133588,0.988702]]6H ?޿Es7?`ĵ?-?gjr?i6>I6?];6 CYJ ByN#IbDVVDVky^lL%^R=ٔ^M9Q-b>9`Y`=bhGy`fin:Ef>hQ 5n4j, ?Q 9n4j, )jݝBQ An :YlQ Er^:yrDl>Q Ir@jAgDIj ;ijO?j4yvBɮv@tjgOFNOT Ignoring new targets: 422.01 m.R\9Z\9gO- ProNav: ac range: 422.010925 m, nav range: 420.750885 m, bearing: 27.468757 deg, approach rate: -0.607842 m/s, LOS rate: 0.021022 deg/s, cmd heading: 28.528338 deg, new cmd heading: 28.544629 deg. B-:gO5HeadingCmd: 0.498198 target range: 422.010925 and range: 424.50 m.5>1*1"1 11999ʎAAAjAZM@uQBɢu:=)q uw>iq)}A2ylI>IY@ @@@IIO=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507295ԁԱ ~ ,60PX@Ajchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.765579M>M >Mɋ=ٱMW DqzDqE EE$E"E;*E&p:VE4ZEa-@a-@a-@a-@ =AHRS rotation from veh to nav: [[0.875947,-0.482384,-0.004666],[0.477561,0.865741,0.149760],[-0.068203,-0.133410,0.988711]]MH?a޿Ts\? &?W+?`u`?iM>IMt\;MCԩY=By=#Iaa aa aa aa iMb@Mb@Mb@ 9V-?/$ſS㥛?Y|?y,\A@ n@)AYz@AAbD-VD-y=%==ٔ=9Q-=>9AYA=EhGyE FMN:EM>QQ 5]4UY ?Q 9]4U )UߝBQ A]T:Y]T%?Q Ee:yez>Q Ie@UWgDIU;iU;U4yiɮm@mBEjgOFNOT Ignoring new targets: 422.01 m.Rʻ9Zʻ9gO ProNav: ac range: 422.010925 m, nav range: 420.403900 m, bearing: 27.480093 deg, approach rate: -0.627674 m/s, LOS rate: 0.020522 deg/s, cmd heading: 28.544629 deg, new cmd heading: 28.567319 deg. B;:gOHeadingCmd: 0.498594 target range: 422.010925 and range: 424.50 m.G>*" EBʎjZ@SBɢNe=)  >i)<i[i G> jxIG>I9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017439 A A @AB B ԍCB #IB BB B B B c_;B #EBBBB, =B, =C41 ^Ai I I O >,eRKPX@A:&>:v>:‹=ٱ:0: FAHRS rotation from veh to nav: [[0.875764,-0.482716,-0.004681],[0.477898,0.865573,0.149655],[-0.068189,-0.133299,0.988727]]:HC? ޿,s?Ʋ?'?t@?i:&>I:\;8HJ^r@iHIHLL LNDLLPPIP)PiP)TITTT TXXXiXXi\^^A)^ ^EI\ \)bS{A```Y`YjByj#IbDrVDryz%z=ٔ~:FQ-~?9|Y=hGy F:E? Q 54 U ?Q 94  ) BYyjz>Q I@ cgDI ;i ; 4y!ɮ%o@!jIgOUFNOT Ignoring new targets: 422.01 m.RU9Z]9gOe ProNav: ac range: 422.010925 m, nav range: 420.225677 m, bearing: 27.485912 deg, approach rate: -0.627976 m/s, LOS rate: 0.020515 deg/s, cmd heading: 28.567319 deg, new cmd heading: 28.578964 deg. Bm.:gOmHeadingCmd: 0.498797 target range: 422.010925 and range: 424.50 m.mRb>q*q"q qqqyyʎyyjZ` @颭TBɢ>=) ]>i)Ɂ<顱iRiRb>]ZͺIRb>Iq5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2679959@ @@ 0@E EEE"E:*Ega:VEZEBE BDAT read: Rx Time:00:35:12.7435  TRx dataTimestamp_ set to:1761698113.534616 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521668 ,ePX@A>[>>>>!=ٱ> fAHRS rotation from veh to nav: [[0.875888,-0.482488,-0.005130],[0.477716,0.865631,0.149899],[-0.067883,-0.133745,0.988688]]>HE?޿su`?@?/?` U?i>[>I>\;>CYEByM#IbD]VD]k2ym1%mC=ٔu+@Q-u>9qYq=}hGyy} E}>Q 54o ?Q 94)BYy9z>Q I@tgDI:i:4yɮ@PB*** querying acoustic contact *** jgO FNOT Ignoring new targets: 422.01 m.R 9Z 9gO= ProNav: ac range: 422.010925 m, nav range: 419.962799 m, bearing: 27.494513 deg, approach rate: -0.616140 m/s, LOS rate: 0.020172 deg/s, cmd heading: 28.578963 deg, new cmd heading: 28.596176 deg. B=:gOEHeadingCmd: 0.499097 target range: 422.010925 and range: 424.50 m.E>A*I"I IIIQQʎqqyjyZ}H @%VBɢ%+ =)! -8>i))-\<))i5xiE>MVM IM>IQ!@! @!@-0@)iAIAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.771374E EE#E"E:*Exv:VE3ZEa5@a5@a5@a5@1 ^AM eIq I O >Q ,hPX@A2Ȅ>2w>2e=ٱ2+ :AHRS rotation from veh to nav: [[0.876056,-0.482179,-0.005319],[0.477409,0.865731,0.150302],[-0.067867,-0.134212,0.988626]]2H?޿uݍ??=?_-Ң?i2Ȅ>I2\;2 CY By !%A%=%=DAT read: 00:35:12.7435 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 420, 0.20, 1.561, 0.224, 1.762, 1.518, PHS= 0.145,-1.249, 0.200, RAW= 151.9, 12.7, CAL= 152.0, 14.1, ROT= 358.0, -14.1 Ygot valid direction response: 00:35:12.7435 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 420, 0.20, 1.561, 0.224, 1.762, 1.518, PHS= 0.145,-1.249, 0.200, RAW= 151.9, 12.7, CAL= 152.0, 14.1, ROT= 358.0, -14.1 PDAT read: Bearing 189.0, -7.8 (Local) ~Local bearing/azimuth received: Bearing 189.0, -7.8 (Local) DAT read: Range 11 to 50 : 422.0 m (Round-trip 562.7 ms) speed 0.8 m/s *DAT read: user:443> BDAT read: Tx time:00:35:13.8266 $Ping request sent.i;ߟL>)@b>)@ d{>)@Id{4<&?7?x P? ?)?YbIQid{=:publishing transmit ping timeEFpublishing direction and range infoyVaY?6RT .?Y )Ii )I4<&?7?x P? )IiiMb@Mb@Mb@ 9}?5^I?K7A`ſQ?YM"?y+< A @)vAYp@ <bDVD:y:%7=ٔ*Q->9Y=hGyF)B 7>B B #IB BB B B B _;B $EM9EM>QQ 5]4U !?Q 9]4U)UBY(?Q E:y3>Q I@UgDIU'qn?jy@^4f,Y@rVaY?6RT .?ZQbd{Bv@ irh@\=WR@z^H?%:d?*G?23EC:EC"h?*6B C'?“CdR>gO addTargetRange:: Added new target pos. range: 422.000000 m, deltaT: 4.036000 s, deltaX: -2.500000 m, approachRate: -0.619425 m/s, rangeRepo size: 4 gO Added new target pos. range: 419.527924 m, bearing: 28.543485 deg, lat: 36.779281 deg, lon: -121.858967 deg, deltaT: 4.036000 s, deltaX: -2.483002 m, approachRate: -0.615214 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 419.53 m.RZgO  ProNav: ac range: 419.527924 m, nav range: 419.141998 m, bearing: 28.012470 deg, approach rate: 0.000000 m/s, LOS rate: 0.020172 deg/s, cmd heading: 28.596175 deg, new cmd heading: 28.616728 deg. B gOHeadingCmd: 0.499456 target range: 419.527924 and range: 422.00 m.>*" 1999=FBʎAAAjE`z@ZM`?Y颕XBɢv=) >i){H<iri>g.I>I@ @@/@ԁ E  E E (E "E :*E x:VE c44ZE BE .]&,PX@A:즏>:@R>:hl=ٱ: BAHRS rotation from veh to nav: [[0.876212,-0.481894,-0.005534],[0.477170,0.865899,0.150094],[-0.067538,-0.134155,0.988656]]:H ?Y޿Qv?`q?`K6?-J+@?i:즏>I:X\;:CYNByN#IbDVVDV1yb%b^=ٔb+kQ-f>9dYd=fhGydjIjEj ?lQ 5r4n #!?Q 9r4n)nBYpyv >Q Iv@ngDIn:in:n,4yxɮ~F@|jAgOMFNOT Ignoring new targets: 419.53 m.R]W9Z]W9gO} ProNav: ac range: 419.527924 m, nav range: 418.938782 m, bearing: 28.019236 deg, approach rate: -0.670334 m/s, LOS rate: 0.022331 deg/s, cmd heading: 28.616729 deg, new cmd heading: 28.630268 deg. B}x#:gOHeadingCmd: 0.499692 target range: 419.527924 and range: 422.00 m.>*" ʎjZ?uYBɢ_4=) )>i)<顑ii>{oJI>IԩA@A @A@E4@A^Ae?BɺIIO> bE4jEJ4rE#0EM  EM EM #EI "EM s:*EM :VEM 3ZEI a} @a} @a} @a} @,,PX@A~>~Z>~r=ٱ~I MAHRS rotation from veh to nav: [[0.876194,-0.481926,-0.005662],[0.477235,0.865904,0.149857],[-0.067317,-0.134005,0.988692]]~H ?޿0w?|?.?;@'\?i~>I~\;|YeBye#IiMb@Mb@Mb@ 9!rh?ʡEÿMb?Yl'?y=@ @)AY\@bDVD:y % 5=ٔ#Q->9Y=hGyFe9E%>!Q 5-4%;!?Q 954%X)%BY52,?Q E5:y5>Q I5@%gDI%:i%:%4yAɮEX@EDEjagOmFNOT Ignoring new targets: 419.53 m.Rm9Zu9gO ProNav: ac range: 419.527924 m, nav range: 418.641266 m, bearing: 28.028027 deg, approach rate: -0.665558 m/s, LOS rate: 0.019679 deg/s, cmd heading: 28.630268 deg, new cmd heading: 28.647862 deg. B:gOHeadingCmd: 0.500000 target range: 419.527924 and range: 422.00 m.>*" PBʎjZ?1e[Bɢe=)m. m>ii)mU}}ySI}>Iy)@) @)@-4@)iBAB6>BB#IBBB* =BBB`;BH$E^AM "5ԑ I I O >z3,tPX@A2>2Bm>2ʑ=ٱ2 :AHRS rotation from veh to nav: [[0.876138,-0.482024,-0.005831],[0.477364,0.865856,0.149725],[-0.067122,-0.133963,0.988711]]2H`S ?|޿uw ? ?/*?.@%@?i2>I2\;2C@YFByF#ILLLNAAbDRVDRyZ=%Ze=ٔZQ-^>9\Y\=bhGy`bV9Eb>dQ 5j4f:O!?Q 9j4f)fBYhyn>Q In@fgDIf:if;fN4ypɮv@tj gOFNOT Ignoring new targets: 419.53 m.Rұ9Zұ9gO- ProNav: ac range: 419.527924 m, nav range: 418.407013 m, bearing: 28.034953 deg, approach rate: -0.656901 m/s, LOS rate: 0.019433 deg/s, cmd heading: 28.647862 deg, new cmd heading: 28.661722 deg. B-B:gO-HeadingCmd: 0.500241 target range: 419.527924 and range: 422.00 m.5?1*1"1 11199ʎ9AAjAZE`J? \Bɢ |P$=)  D>i)ތ<11i5^xi=?=EXIE?IAE EE3E"E:*Ei:VE4ZEBE& 9,sPX@A69>6\>6B=ٱ6 >AHRS rotation from veh to nav: [[0.876208,-0.481895,-0.006030],[0.477257,0.865900,0.149808],[-0.066970,-0.134141,0.988697]]6H ?`^޿?x`?t?,?`$+@g?i69>I6E\;6CYJByJ#IbDRVDR1yZǷ%ZJ=ٔ^?ŹQ-^>9`Y`=bhGybFbLEf>dQ 5j4fGe!?Q 9n4f)fBYllyr>Q Ir@fgDIfK,;if%-;f_4ytɮv5@tP B*** querying acoustic contact ***  jgOFNOT Ignoring new targets: 419.53 m.R%±9Z%±9gO5 ProNav: ac range: 419.527924 m, nav range: 418.141174 m, bearing: 28.042827 deg, approach rate: -0.655443 m/s, LOS rate: 0.019426 deg/s, cmd heading: 28.661721 deg, new cmd heading: 28.677479 deg. B55:gO=HeadingCmd: 0.500516 target range: 419.527924 and range: 422.00 m.=!?9*9"9 9AAAAʎIIIjIZMX5?}]Bɢ}Z=)y }n>i)<顁ii!?oI!?I1@1 @1@1@1-T****** received valid address query ******-R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.D=D<E EE&E"E:*E[:VE4ZEam@am@am@am@9^AjZغA I I O- >a ڌ@,NQX@A2>2CC>2#c=ٱ2 :AHRS rotation from veh to nav: [[0.876325,-0.481679,-0.006292],[0.477101,0.866045,0.149467],[-0.066546,-0.133983,0.988747]]2H ?޿>yԈ??!?* @\&@У?i2>I2\;2CFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004133YrByr#I9iuMb@Mb@Mb@qqqq q9up= ף?L7A`L7A`?Yu%?yu+u+=u Au@ u@)uEAqYuAbDVD0yϣ%==ٔQ->9Y=hGyE>Q 548|!?Q 94i)BY(?Q E:y}>Q I@gDI;iu;4yɮF@EEjgOFNOT Ignoring new targets: 419.53 m.RƗ9ZƗ9gO  ProNav: ac range: 419.527924 m, nav range: 417.860504 m, bearing: 28.049982 deg, approach rate: -0.650228 m/s, LOS rate: 0.016586 deg/s, cmd heading: 28.677478 deg, new cmd heading: 28.691797 deg. B 9gOHeadingCmd: 0.500766 target range: 419.527924 and range: 422.00 m.92?*" zBʎjZ`@BBBs#IBBB+ =BBBE`;B^$E_Bɢ5e=)1 5ѕ>i1)5<99i=ti=92?E3EyIE92?IAimԙ=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256546E  E E E "E 2:*E c:VE ZE BE !*2e>2OZ=ٱ2ē :AHRS rotation from veh to nav: [[0.876232,-0.481845,-0.006607],[0.477343,0.866003,0.148936],[-0.066042,-0.133656,0.988825]]2H ?޿L{ʌ?`L?V?"谿s?i2>I2\;2"CYFByF#IJ=J= N49"?Y"?=hGyF9E>Q 54/!?Q 94)BYy>Q I@gDI;i;* 4yɮ@jgOFNOT Ignoring new targets: 419.53 m.R!9Z!9gO ProNav: ac range: 419.527924 m, nav range: 417.518372 m, bearing: 28.058705 deg, approach rate: -0.625796 m/s, LOS rate: 0.015969 deg/s, cmd heading: 28.691798 deg, new cmd heading: 28.709259 deg. B9gOHeadingCmd: 0.501071 target range: 419.527924 and range: 422.00 m.2F?*" ʎjZ@maBɢm=)i mq>ii)uegF >FT=ٱF%: NAHRS rotation from veh to nav: [[0.876008,-0.482204,-0.009444],[0.477915,0.865250,0.151457],[-0.064862,-0.137191,0.988419]]FHB?@n޿'W)?@!?b?Κw@ ?iF >IF\;FCYZByZo#Ii=Mb@Mb@Mb@9999 99=w/?S㥛?Y=&?y==/<== A=A@ =@)=A9Y=AbD]VD]yc%=ٔQ->9Y=hGyF:E>Q 5%4a!?Q 9%4)BYE*?Q EE:yE>Q IE@ hDI(i)<顁i-iZ?}uIZ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264019)E EE&E"E :*E|:VE4ZEBEK">>I>>=ٱ> FAHRS rotation from veh to nav: [[0.875990,-0.482199,-0.011174],[0.478038,0.864881,0.153171],[-0.064195,-0.139518,0.988137]]>H?@Z޿*↿ +???oО?i>>I>d\;>CYR߄ByRn#IbDZVDZ!yb%b(=ٔbvQ-f>9dYd=fhGydj΁9Ej>lQ 5r4na!?Q 9r4n)lYpyvɢ>Q Iv@n hDIn):in :nM24yxɮz@xjgOFNOT Ignoring new targets: 419.53 m.R%k9Z%k9gO5 ProNav: ac range: 419.527924 m, nav range: 416.838989 m, bearing: 28.074922 deg, approach rate: -0.665299 m/s, LOS rate: 0.015892 deg/s, cmd heading: 28.727017 deg, new cmd heading: 28.741719 deg. B59gO=HeadingCmd: 0.501638 target range: 419.527924 and range: 422.00 m.=Sk?9*9"9 9AAAAʎIIIjIZU @}eBɢ}8 =)y }Bu>i)d<顁iAiSk? )ISk?IA@I @I@Mq4@Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.768082ԑE EE(E"E:*EM:VEc44ZEa@a@a@a@^Ayb] A9 IY I O >@}`,V QX@A2m?>2>2*=ٱ2 :AHRS rotation from veh to nav: [[0.875901,-0.482318,-0.012912],[0.478322,0.864512,0.154360],[-0.063288,-0.141380,0.987930]]2H`a?`M޿q՜??@? 3¿ ?i2m?>I2v\;2CYFԄByF`#IPMDAT read: 00:35:16.7900 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 411, 0.20,-2.825, 1.782,-2.584, 2.897, PHS= 0.663,-1.070, 0.757, RAW= 152.6, -4.0, CAL= 152.2, -5.2, ROT= 357.8, 5.2 ]Ygot valid direction response: 00:35:16.7900 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 411, 0.20,-2.825, 1.782,-2.584, 2.897, PHS= 0.663,-1.070, 0.757, RAW= 152.6, -4.0, CAL= 152.2, -5.2, ROT= 357.8, 5.2 ePDAT read: Bearing 169.3, -5.2 (Local) e~Local bearing/azimuth received: Bearing 169.3, -5.2 (Local) mDAT read: Range 11 to 50 : 419.4 m (Round-trip 559.2 ms) speed 0.3 m/s u*DAT read: user:444> }BDAT read: Tx time:00:35:17.8766 }$Ping request sent.}9Y=hGyF #:E>Q 54P!?Q 94Y)BY#?Q E:y>Q I@3hDI':i::4B7>BBa#IBԄBBBBB3`;BU$EBԍCBԍCBB+ =B+ =C+g4yɮL@$`QX@AJxCRxCjw>|Vi:y@Sr-/ Bri҃E?pF蒣0L3ZFb޹=%=9ԯ9w@D*I[f@\9jZMNzQU8?0t?Bj^¿22C:͹C"׫9?*|DBt@w񖗛?"o“{BC@^>gO= addTargetRange:: Added new target pos. range: 419.399994 m, deltaT: 4.031909 s, deltaX: -2.600006 m, approachRate: -0.644857 m/s, rangeRepo size: 4 gOm Added new target pos. range: 416.942749 m, bearing: 25.701385 deg, lat: 36.779301 deg, lon: -121.859002 deg, deltaT: 4.031909 s, deltaX: -2.585175 m, approachRate: -0.641179 m/s, posRepo size: 4 jigOmFNOT Ignoring new targets: 416.94 m.RuZqgO ProNav: ac range: 416.942749 m, nav range: 417.040161 m, bearing: 27.570032 deg, approach rate: 0.000000 m/s, LOS rate: 0.015892 deg/s, cmd heading: 28.741719 deg, new cmd heading: 28.757736 deg. BgOHeadingCmd: 0.501917 target range: 416.942749 and range: 419.40 m.}?*" Bʎj`f6z@Zxx?MgBɢM=)I UZ>iQ)Ua8vNg,HQX@A2!>2?2 =ٱ2, >AHRS rotation from veh to nav: [[0.875684,-0.482697,-0.013445],[0.478765,0.864249,0.154459],[-0.062937,-0.141694,0.987908]]2H?޿刋 ??M?#¿?i2!>I2\;2 CYFȄByFQ#IbDRVDR:yzx%zU=ٔ~oQ-~>9~ ?Y~ ?=hGyZ:E> Q 54 !?Q 94 1) BYyU>Q I@ ChDI l:i B: BA4y%Bɮ-!@-=EPEB*** querying acoustic contact ***I IjQgOUFNOT Ignoring new targets: 416.94 m.R]u9Z]u9gOm ProNav: ac range: 416.942749 m, nav range: 416.797089 m, bearing: 27.574764 deg, approach rate: -0.688673 m/s, LOS rate: 0.013417 deg/s, cmd heading: 28.757736 deg, new cmd heading: 28.767207 deg. Bmn9gOuHeadingCmd: 0.502082 target range: 416.942749 and range: 419.40 m.uz?q*q"q yyyyyʎjZ@}v?颵hBɢ?=) *?>i)O=<项iiz?{&jIz?IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.y@ @@/@ ^A*:1 A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744330E  E E #E "E :*E c:VE 3ZE a @a @a @a @um,CtQX@A e>e^?e4~=ٱeN uAHRS rotation from veh to nav: [[0.875191,-0.483572,-0.014081],[0.479761,0.863816,0.153793],[-0.062206,-0.141354,0.988003]]eH`?޿֌f?`?~?ٯ¿?ie>Ie\;eCYBy=#I=a=iMMb@Mb@Mb@IIII I9M'1Z?S㥻/$?YM"?yM/ݽM9Y=hGyF@;E>Q 54L"?Q 94)Y;%?Q E:y>Q I@UhDIk;i ];BI4Yyaɮe)@e>EjgOFNOT Ignoring new targets: 416.94 m.R[9Z[9gO ProNav: ac range: 416.942749 m, nav range: 416.504486 m, bearing: 27.580502 deg, approach rate: -0.609913 m/s, LOS rate: 0.011968 deg/s, cmd heading: 28.767206 deg, new cmd heading: 28.778690 deg. B89gOHeadingCmd: 0.502283 target range: 416.942749 and range: 419.40 m.?*" BʎjZ%X?mkBɢm<)i m@>ii)u>rA > A! I) I9 OM >t,vOQX@A.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248257YBy%#IbD%VD%E= E=E=E9"E=:*E=]t:VE=ـ3ZE9BE=9Y=hGyE>Q 54%'"?Q 94M)BYyQ I@fhDI:i :]P4yɮd@jgOFNOT Ignoring new targets: 416.94 m.RYs9ZYs9gO5 ProNav: ac range: 416.942749 m, nav range: 416.244720 m, bearing: 27.585602 deg, approach rate: -0.676863 m/s, LOS rate: 0.013297 deg/s, cmd heading: 28.778688 deg, new cmd heading: 28.788894 deg. B59gO5HeadingCmd: 0.502461 target range: 416.942749 and range: 419.40 m.=I?9*9"9 999AAʎAAIjIZM.?umBɢ} <)y }T=iy)}Lz,QX@A2o>2?2u=ٱ2s >AHRS rotation from veh to nav: [[0.873964,-0.485730,-0.015912],[0.482271,0.862768,0.151805],[-0.060008,-0.140346,0.988282]]2H?2߿@5K ?̛?[n?b @?i2o>I2];2CYFByF#IbDVVDVyb7x%f]=ٔf»Q-f>9hYh=jhGyjFn;Er>tQ 5z4v8:"?Q 9~4v-)vBYyy}T>Q I}@vvhDIv,RX@A2\3>2Vo?2,r=ٱ2 :AHRS rotation from veh to nav: [[0.873353,-0.486803,-0.016668],[0.483491,0.862243,0.150909],[-0.059090,-0.139855,0.988407]]2H?'߿?@?`P?A` ?i2\3>I2Xf^;2CBF4>BDBF(#IBFBBF+ =BDBDBF`;BF$ELYVByV #IIZ>)Z>i=Mb@Mb@Mb@9999 99=Gz?~jt?Y=p?y=̽=<=A9 =|@)=A9Y=AbDUVDU0yK%8=ٔQ- >9 Y = hGy I;E>Q 5%4P"?Q 9%4)Y-?Q E-:y-i>Q I-@hDIo;i;^4y1ɮ5@=?EjYgOeFNOT Ignoring new targets: 416.94 m.ReY9ZeY9gOu ProNav: ac range: 416.942749 m, nav range: 415.732971 m, bearing: 27.595165 deg, approach rate: -0.654290 m/s, LOS rate: 0.011901 deg/s, cmd heading: 28.798075 deg, new cmd heading: 28.808035 deg. Bu=9gO}HeadingCmd: 0.502795 target range: 416.942749 and range: 419.40 m.}-?y*" BʎjZ @颽qBɢ<)  a=i)<i>zi-?7 -9I-?Iԩm9@i @i@m0@i@u=@u=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256226E] E]E]&EY"E]2:*E]c:VE]4ZEYBE]!* ,!RX@A6(->6>?6=Pm=ٱ6 BAHRS rotation from veh to nav: [[0.872490,-0.488314,-0.017592],[0.485188,0.861514,0.149619],[-0.057905,-0.139077,0.988587]]6Hq? @߿R ?@?&? ȥ@F?i6(->I6^;6CYJwByN"IbDVVDVy^%^b=ٔbVQ-b>9`Y`=bhGybFfz;Ef>hQ 5n4lja"?Q 9r4j)jBYpyr]>Q Ir@jhDIj+;ij,;jd4yxɮz3@xPB*** querying acoustic contact *** jgO%FNOT Ignoring new targets: 416.94 m.R%HJ9Z%HJ9gO5 ProNav: ac range: 416.942749 m, nav range: 415.509308 m, bearing: 27.599178 deg, approach rate: -0.615761 m/s, LOS rate: 0.011053 deg/s, cmd heading: 28.808034 deg, new cmd heading: 28.816063 deg. B5ӡ9gO=HeadingCmd: 0.502935 target range: 416.942749 and range: 419.40 m.=\?A*A"A AAAIIʎIIQjQZU <@}sBɢ}cѡ<)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776344a Em  Em Em "Ei "Em :*Em ga:VEm (3ZEi a} @a} @a} @a} @H<,9;RX@Ab(>bi?b:f=ٱb& rAHRS rotation from veh to nav: [[0.871644,-0.489810,-0.017952],[0.486909,0.861121,0.146256],[-0.056179,-0.136224,0.989084]]bH?@ Y߿b@)? M??@}ì@o ?ib(>Ib?@_;bCY eBy "I1iMb@Mb@Mb@ 9K?q= ףpQ?Y^?y뽙u<"A IA)YAbDVDy% 7=ٔ \}Q- >9Y=hGyr;E>Q 5%4w"?Q 9-4R)BY-2?Q E-:y->Q I5@hDIX ;i ;l4y9ɮ=R@9jYgOeFNOT Ignoring new targets: 416.94 m.Re-q9Zm-q9gO} ProNav: ac range: 416.942749 m, nav range: 415.237823 m, bearing: 27.605050 deg, approach rate: -0.608828 m/s, LOS rate: 0.013178 deg/s, cmd heading: 28.816063 deg, new cmd heading: 28.827815 deg. B}9gO}HeadingCmd: 0.503140 target range: 416.942749 and range: 419.40 m.?*" jBʎjZh@uBɢw<) i)Ӝ<i#vi?, 6F;I?Ia9@ @@4@echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.028842AyA}@AByByB}"IB}BByByByB}_;B}:$Eԉ^A] ;I I O- >Թ ,URX@A2>2?2i`=ٱ2 :AHRS rotation from veh to nav: [[0.870989,-0.490941,-0.018843],[0.488236,0.860636,0.144681],[-0.054813,-0.135215,0.989299]]2H$?k߿K@??S??r`N`V?i2>I2_;2CYFMByF"Ibchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.280442bDNVDNy% ]=ٔ  rQ- >9Y=hGyF ;E>E% E%E%&E!"E%a:*E%L_:VE%4ZE!BE%(Q IM@EhDIEl:iE:ELs4yQɮ]@YjygOFNOT Ignoring new targets: 416.94 m.Rpn9Zpn9gO ProNav: ac range: 416.942749 m, nav range: 415.010559 m, bearing: 27.609926 deg, approach rate: -0.606920 m/s, LOS rate: 0.013029 deg/s, cmd heading: 28.827814 deg, new cmd heading: 28.837571 deg. ԙB9gOHeadingCmd: 0.503311 target range: 416.942749 and range: 419.40 m.?*" ʎjZ@ @vBɢY<) i)U<i9ti? L[;I?I9@ @@p4@@[A@\A^A"5;A?A?%GI1IIYOm>uBDAT read: Rx Time:00:35:20.8370 }TRx dataTimestamp_ set to:1761698121.613217}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533466A9YA K,`oRX@AY:By"I -;-4<bD5VD5fyE(%EG=ٔEQ-E>9IYI=MhGyIUEU>YQ 5e4]."?Q 9e4]A)]BYiyiQ Im@]hDI]N:i]:]lz4yqɮu@@EjgOFNOT Ignoring new targets: 416.94 m.R Gg9Z Gg9gO ProNav: ac range: 416.942749 m, nav range: 414.763092 m, bearing: 27.615242 deg, approach rate: -0.587914 m/s, LOS rate: 0.012637 deg/s, cmd heading: 28.837571 deg, new cmd heading: 28.848210 deg. B9gO%HeadingCmd: 0.503496 target range: 416.942749 and range: 419.40 m.%!?!*!"! !))))ʎ)11j1Z=@ @exBɢe/<)a eii)m~ DAT read: 00:35:20.8370 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 412, 0.19,-1.077,-2.617,-0.800,-1.396, PHS= 0.422,-1.176, 0.552, RAW= 153.9, 2.5, CAL= 152.7, 1.8, ROT= 357.3, -1.8  Ygot valid direction response: 00:35:20.8370 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 412, 0.19,-1.077,-2.617,-0.800,-1.396, PHS= 0.422,-1.176, 0.552, RAW= 153.9, 2.5, CAL= 152.7, 1.8, ROT= 357.3, -1.8  PDAT read: Bearing 176.7, -6.0 (Local)  ~Local bearing/azimuth received: Bearing 176.7, -6.0 (Local)  DAT read: Range 11 to 50 : 417.1 m (Round-trip 556.2 ms) speed 0.6 m/s  *DAT read: user:445>  BDAT read: Tx time:00:35:21.9266  $Ping request sent. i} +} O ?} o+@} ¸2=} J*@ } =)} Ѝ@I} y y } a?`?]? } X?)} d/I} QAi} y y  :publishing transmit ping time  Fpublishing direction and range infoyy } <2?UIz?Yy y y y y y )y Iy iy y y y y y )y Iy y y } a?`?]? y )y Iy iy y y  d3,;RX@AB7>BB"IBUBBBBBX_;B#Eb+>b>a?b}Q=ٱb^G jAHRS rotation from veh to nav: [[0.870036,-0.492478,-0.022418],[0.490327,0.859725,0.143012],[-0.051157,-0.135418,0.989467]]bHU?Ä߿a?݂?9N?B1_U?ib+>Ibz_;`Y ,By "IiUMb@Mb@Mb@QQQQ Q9UZd;?V-¿Mb?YU?yUhU9M"?Ym"?=mhGymFu;Eu>yQ 54}ϵ"?Q 94})}BY%?Q E:y>Q I@}hDI};i}%;}4yBɮ@XqRX@AJSCRSCj: > )5y@%=3 ѝ *@r<2?UIz?ZQAbjS'w@#Y2g@2Ζzb?j?2a䋿2gO} addTargetRange:: Added new target pos. range: 417.100006 m, deltaT: 4.047925 s, deltaX: -2.299988 m, approachRate: -0.568189 m/s, rangeRepo size: 4 gO Added new target pos. range: 414.655457 m, bearing: 26.974647 deg, lat: 36.779318 deg, lon: -121.859048 deg, deltaT: 4.047925 s, deltaX: -2.287292 m, approachRate: -0.565053 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 414.66 m.RZgO ProNav: ac range: 414.655457 m, nav range: 414.299072 m, bearing: 26.995762 deg, approach rate: 0.000000 m/s, LOS rate: 0.012637 deg/s, cmd heading: 28.848209 deg, new cmd heading: 28.860453 deg. BgOHeadingCmd: 0.503710 target range: 414.655457 and range: 417.10 m."?*" 6Bʎ))j-z@Z-??}zBɢ}a@<)y }i):<顡ini"?6 ){;I"?IE9 E=E='E9"E9*E=k:VE='4ZE9BE=m%$,YRX@A6>6d?6wK=ٱ6B BAHRS rotation from veh to nav: [[0.870078,-0.492277,-0.025072],[0.490407,0.859407,0.144637],[-0.049654,-0.138141,0.989167]]6H ?u߿b?`C?z? JlA?i6>I6@_;6CYJ ByJh"IbDZVDZ0yb3%b[=ٔbQ-b>9f ?Yf ?=fhGydjN 9Ej>lQ 5r4n8"?Q 9r4na)nBYpyr>Q Iv@nhDIn;in;n#4yxɮz@xP B*** querying acoustic contact ***  jgOFNOT Ignoring new targets: 414.66 m.R%9Z%9gO= ProNav: ac range: 414.655457 m, nav range: 414.075073 m, bearing: 27.001528 deg, approach rate: -0.649169 m/s, LOS rate: 0.016718 deg/s, cmd heading: 28.860452 deg, new cmd heading: 28.871989 deg. BE9gOeHeadingCmd: 0.503911 target range: 414.655457 and range: 417.10 m.eT?a*a"i iiiiqʎqqqjqZ}?Թe{Bɢe;)a ebia)eI R,XRX@A2$>2:L?2D=ٱ2 >AHRS rotation from veh to nav: [[0.870328,-0.491739,-0.026845],[0.490124,0.859576,0.144596],[-0.048029,-0.139003,0.989127]]2H?x߿&}`1^?ँ?@?`4`?i2$>I2_;2!CYFByFa"IiMb@Mb@Mb@ 9S?bX9ƿ/$?Y?yE6<A A) AYA)-AAbD5VD5 yeaɼ%eB=ٔm}Q-m>9iYi=mhGymFu[fEu>Q 54"?Q 94)BYI!?Q E:yo>Q I @hDI;i;ɐ4y1ɮA@=AEjygO}FNOT Ignoring new targets: 414.66 m.RE9ZE9gO ProNav: ac range: 414.655457 m, nav range: 413.807129 m, bearing: 27.010498 deg, approach rate: -0.601094 m/s, LOS rate: 0.020138 deg/s, cmd heading: 28.871988 deg, new cmd heading: 28.889941 deg. Bj:gOHeadingCmd: 0.504225 target range: 414.655457 and range: 417.10 m.?*" $BʎjZ@-?}Bɢp(;) oi)Y<i3ji?i #;I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.997261B5>BB"IB(BBBBBQ_;B#EBqBqBqBqBqCuĴ4@ @@0@aԑ^A;A ؟AI! I9 OU > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248318Թ E  E E "E "E *E k:VE (3ZE BE 2T ?2϶?=ٱ2 >AHRS rotation from veh to nav: [[0.870708,-0.490983,-0.028348],[0.489570,0.859834,0.144939],[-0.046788,-0.140078,0.989034]]2H? Cl߿KU??``?@`+?i2W>I2*`;2 CYzByzF"IԑbD=VD=kyȽ%7=ٔ6Q->9"?Y"?=hGyĺE>Q 54"?Q 94 )BYy o>Q I@ iDI ;i ;K4yɮ@jgOFNOT Ignoring new targets: 414.66 m.R 9Z 9gO ProNav: ac range: 414.655457 m, nav range: 413.544159 m, bearing: 27.019336 deg, approach rate: -0.624224 m/s, LOS rate: 0.020991 deg/s, cmd heading: 28.889941 deg, new cmd heading: 28.907628 deg. B:gO%HeadingCmd: 0.504533 target range: 414.655457 and range: 417.10 m.%)?!*!"! !!)))ʎ111j1Z=H?e~Bɢe #i)a eia)m_j T,9RX@AY߃By 2"IbD5VD5yE%Ed=ٔMQ-M>9IYI=MhGyUFUEU>YQ 5e4]#?Q 9e4])]BYiyiQ Im@]iDI]-:i]:]4yqɮu@qjgOFNOT Ignoring new targets: 414.66 m.R9Z9gO  ProNav: ac range: 414.655457 m, nav range: 413.324829 m, bearing: 27.026717 deg, approach rate: -0.592785 m/s, LOS rate: 0.019959 deg/s, cmd heading: 28.907628 deg, new cmd heading: 28.922398 deg. B :gOHeadingCmd: 0.504791 target range: 414.655457 and range: 417.10 m.9?*" !!ʎ!!)j)Z-2?=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752499eBɢe͜)a mii)mQq<, SX@AY؃By*"IiMb@Mb@Mb@ 9Zd;O? rȿ:v?Yj?yC<A )AYA <bDVD:2y>%B=ٔQ->9Y=hGyE>Q 54#?Q 94$)BY$?Q E:y_>Q I@*iDIt;i;4yBɮ @BEj)gO-FNOT Ignoring new targets: 414.66 m.R59Z59gOE ProNav: ac range: 414.655457 m, nav range: 413.063385 m, bearing: 27.036108 deg, approach rate: -0.637229 m/s, LOS rate: 0.022905 deg/s, cmd heading: 28.922398 deg, new cmd heading: 28.941193 deg. BE':gOMHeadingCmd: 0.505119 target range: 414.655457 and range: 417.10 m.M|O?I*I"I IIQQUBʎYYYjYZetb@颍Bɢh) 慨i)K<顑iFbi|O? *h;I|O?IIm9@i @i@m1@iMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256518E EEE"E :*Ega:VEZEBEK"<2EK"<JE;:E;ԁ^AmoM;Թ A I I O >i,Ox'SX@A2i>2^4?2J0=ٱ2z :AHRS rotation from veh to nav: [[0.872613,-0.487300,-0.032948],[0.486514,0.861297,0.146530],[-0.043026,-0.143893,0.988657]]2H`q?/߿ ޠ #?? |?k¿?i2i>I2a;2C<Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508508YՃBy'"IbD- VD-2y=&J%=T=ٔ=& Q-=>9AYA=EhGyEFE3EM>IQ 5]4M2#?Q 9]4M)MBYYy]&\>Q I]@M:iDIM; ;iMG ;M4yiɮm/@iPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 414.66 m.R9Z9gO ProNav: ac range: 414.655457 m, nav range: 412.824982 m, bearing: 27.044800 deg, approach rate: -0.618633 m/s, LOS rate: 0.022567 deg/s, cmd heading: 28.941192 deg, new cmd heading: 28.958585 deg. B2%:gOHeadingCmd: 0.505423 target range: 414.655457 and range: 417.10 m.ac?*" ʎjZfw@Bɢdֻ) ii)m+<i/_iac?J2Iac?I Iq)qA@I @I@M4@I1Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760746^A_;E EE)E"E:*Eg:VEFA4ZEa@a@a@a@i A .AI II O} >TN,HASX@A:K>:?:&*=ٱ:H FAHRS rotation from veh to nav: [[0.873083,-0.486323,-0.034862],[0.485786,0.861548,0.147469],[-0.041682,-0.145688,0.988452]]:HL?߿`}١?@͑?A?OW`¿`f?i:K>I:¹a;:CYN˃ByR"IIZ>)Zp<9iUMb@Mb@Mb@QQQQ Q9U\(\?&1ʿ~jt?YU?yUPU=UAQ UvA)UrAQYUAbDuVDu0yM%F=ٔUQ->9 ?Y ?=hGy E>Q 54G#?Q 94j) BY#?Q E:yG>Q I@KiDI:iE:߳4yɮ@jgOFNOT Ignoring new targets: 414.66 m.R9Z9gO ProNav: ac range: 414.655457 m, nav range: 412.571442 m, bearing: 27.054808 deg, approach rate: -0.614534 m/s, LOS rate: 0.024272 deg/s, cmd heading: 28.958585 deg, new cmd heading: 28.978613 deg. B1:gO}HeadingCmd: 0.505772 target range: 414.655457 and range: 417.10 m.}Jz?y*y"y yyBʎjZ@Bɢ) i)!<i]iJz? { ]N*I Jz?I)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012710BYB]ӍCB]."IB]܃BB]- =BYBYB]C`;B]]$Ey9@ @@4@^Ayb]ԙA؟AII O> e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264376bEm-4jEm 4rEm~m0E  E E %E "E :*E z:VE 4ZE BE a 2E a JE ;a :E ;a x,B$[SX@A5B>5JP?5!=ٱ5 MAHRS rotation from veh to nav: [[0.874434,-0.483621,-0.038420],[0.483548,0.862400,0.149826],[-0.039326,-0.149591,0.987966]]5H]? ޿s?`ǘ?-?@"`%ÿj?i5B>I57a;5CYeŃBye"IqqbD}VD}2yѼ%J=ٔ߾Q->9"?Y"?=hGyFԙӻE>Q 543]#?Q 94)BYyE>Q I@[iDI2:i:4yBɮ@9EjgOFNOT Ignoring new targets: 414.66 m.R9Z9gO ProNav: ac range: 414.655457 m, nav range: 412.322815 m, bearing: 27.064717 deg, approach rate: -0.612636 m/s, LOS rate: 0.024433 deg/s, cmd heading: 28.978614 deg, new cmd heading: 28.998445 deg. B2:gO%HeadingCmd: 0.506118 target range: 414.655457 and range: 417.10 m.%?!*!") )))11ʎ119j9Z=+ @Bɢ) Vi)&<ihpZi?X_TI?I9@ @@/@BDAT read: Rx Time:00:35:24.8830 TRx dataTimestamp_ set to:1761698125.645088checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517360^A9A?A>A ! I) I9 OM >$,"uSX@A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768383Em EmEm)Ei"Em:*Emga:VEmFA4ZEiau@au@au@au@Y}ăBy}"IbDVDy߻%9=ٔQ->9Y=hGyFE>Q 54zt#?Q 94) BYyQ I@miDI{;i;4yɮ"@:EjgOFNOT Ignoring new targets: 414.66 m.Rj9Zj9gO ProNav: ac range: 414.655457 m, nav range: 412.052307 m, bearing: 27.075513 deg, approach rate: -0.614133 m/s, LOS rate: 0.024525 deg/s, cmd heading: 28.998446 deg, new cmd heading: 29.020051 deg. B3:gOHeadingCmd: 0.506495 target range: 414.655457 and range: 417.10 m.?*" ʎ j Z%^@颵Bɢ׻) i)H<iIWiU?]k]RI]?IY>iA= 9@9  @9 @= 4@9 @A @A  DAT read: 00:35:24.8830 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 402, 0.17, 3.098, 1.659,-2.954, 2.886, PHS= 0.315,-1.182, 0.399, RAW= 152.7, 6.1, CAL= 152.0, 6.3, ROT= 358.0, -6.3  Ygot valid direction response: 00:35:24.8830 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 402, 0.17, 3.098, 1.659,-2.954, 2.886, PHS= 0.315,-1.182, 0.399, RAW= 152.7, 6.1, CAL= 152.0, 6.3, ROT= 358.0, -6.3  PDAT read: Bearing 181.4, -5.2 (Local)  ~Local bearing/azimuth received: Bearing 181.4, -5.2 (Local)  DAT read: Range 11 to 50 : 414.1 m (Round-trip 552.2 ms) speed 0.4 m/s % *DAT read: user:446> % BDAT read: Tx time:00:35:25.9766 - $Ping request sent.- B= ԍCB= "IB= ǃBB= + =B9 B9 B= ``;B= m$E} ^direction in FSK: [0.993355,-0.034689,0.109734]} :publishing transmit ping time) } Fpublishing direction and range infoy  lb?PxX¡,=?Y C ) LI G>i K I> J*@ ^ = )@ z0=) @I z0Ὡ y?X,1?~.U? "?) ۽I Qi z0Ὡ  :publishing transmit ping time)  Fpublishing direction and range infoy  lb?PxX¡,=?Y ) I i ) I y?X,1?~.U? ) I i i ^A yb]ԙAI!I1O=?x,0SX@ABΒ>B=?By=ٱB* NAHRS rotation from veh to nav: [[0.874650,-0.483188,-0.038953],[0.483332,0.863106,0.146417],[-0.037126,-0.146891,0.988456]]BH`!?@޿@?@?ǽ?0 O¿ n?iBΒ>IBXa;@PR=r@iPIPTT V_AVTXXXXIZ)Xi\)\I^_A\\ \```i``idf^A)f f̵EId h)jX{AhhhYhYrǃByr"I ttiuMb@Mb@Mb@qqqq q9uCl?EȿJ +?Yu;?yuFuH=ufAu@ uA)u AqԉE EE$E"E :*Ez:VE4ZEBEa2EaJEa:EaYuAbDVDNyR<%"=ٔ^Q->9Y=hGyE>Q 54t#?Q 94)-BYD'?Q E:yy^>Q I@iDIW;i;v4yɮ@8SX@AJCRCj#>UJy@޾,:VF@rlb?PxX¡,=?ZQbz08v@q-g@qb?@z#3?6?t?2?C:hC"!B?*BBw񖗛?"o“{BC6>gO= addTargetRange:: Added new target pos. range: 414.100006 m, deltaT: 4.032402 s, deltaX: -3.000000 m, approachRate: -0.743973 m/s, rangeRepo size: 4 gOM Added new target pos. range: 411.671844 m, bearing: 27.880173 deg, lat: 36.779301 deg, lon: -121.859002 deg, deltaT: 4.032402 s, deltaX: -2.983612 m, approachRate: -0.739909 m/s, posRepo size: 4 jIgOUFNOT Ignoring new targets: 411.67 m.RUZQgO ProNav: ac range: 411.671844 m, nav range: 411.919678 m, bearing: 27.718202 deg, approach rate: 0.000000 m/s, LOS rate: 0.024525 deg/s, cmd heading: 29.020050 deg, new cmd heading: 29.046341 deg. BgOHeadingCmd: 0.506954 target range: 411.671844 and range: 414.10 m.?*" Bʎjy@Z? ɢ_) ki1)=8(<99i=JTiE?E Es}IE?IAԱ @  @@`4@ }\G\AfAÿ9\AYA^A5 7 Aa Iq I O >,$SX@A2>2F?2X=ٱ2$ :AHRS rotation from veh to nav: [[0.874616,-0.483162,-0.040016],[0.483480,0.863107,0.145921],[-0.035965,-0.146971,0.988487]]2H?޿|@W??@?j ¿?i2>I2`;2CYBy "IbD-VD-fy%I=ٔ;Q->9Y=hGyFԑ9E>Q 54I#?Q 94T)9BYy^>Q I@iDIl:iB:4yɮg@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 411.67 m.R9Z9gO ProNav: ac range: 411.671844 m, nav range: 411.663757 m, bearing: 27.727922 deg, approach rate: -0.681587 m/s, LOS rate: 0.025903 deg/s, cmd heading: 29.046339 deg, new cmd heading: 29.065791 deg. B=:gOHeadingCmd: 0.507294 target range: 411.671844 and range: 414.10 m.?*"    ʎjZ`G?EBɢES)A EƾiI)MU9  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994448B <A B 9>B B "IB ƒBB ) =B B B ]`;B n$E),vSX@A2e!>2\f?2Y=ٱ2 :AHRS rotation from veh to nav: [[0.874406,-0.483520,-0.040266],[0.483917,0.863080,0.144625],[-0.035176,-0.145946,0.988667]]2H #?޿@?Z?`?`\¿(?i2e!>I2=`;2CYȃBy"IiMb@Mb@Mb@ 9Q?bX9ƿ&1?Y(?yE6P=OA@ /A) AYAbDVDkyy"=%E=ٔQ->9Y=hGyK:E>Q 54Ǻ#?Q 94)DBY2#?Q E:ydr>Q I@iDIL ;i;4yɮ@;Ej)gO5FNOT Ignoring new targets: 411.67 m.R=9Z=9gOM ProNav: ac range: 411.671844 m, nav range: 411.409393 m, bearing: 27.736865 deg, approach rate: -0.615394 m/s, LOS rate: 0.021648 deg/s, cmd heading: 29.065791 deg, new cmd heading: 29.083687 deg. BMx:gOMHeadingCmd: 0.507606 target range: 411.671844 and range: 414.10 m.Uy?Q*Q"Q QQYY]$BʎYaajaZe?颕Bɢ>%) i)j~<顙iOiy?p ?xIy?I @ @@0@@@=Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.246042E] E]E])EY"E]:*E]k:VE]FA4ZEYBE]uԙ B,|dSX@A2?L>2{?2A =ٱ2 :AHRS rotation from veh to nav: [[0.874266,-0.483771,-0.040302],[0.484213,0.863120,0.143392],[-0.034583,-0.144878,0.988845]]2H@?޿Y??Z?ഡ\¿@?i2?L>I2`;2CYFǃByF"IIJ=)JG?bDjVDj02yr=%v[=ٔv кQ-v>9xYx=zhGyzFzde:Ez>Q 54:#?Q 9 4>)OBY y r>Q I @iDI`:i:U4yɮ@j9gOEFNOT Ignoring new targets: 411.67 m.RE9ZE9gOU ProNav: ac range: 411.671844 m, nav range: 411.179169 m, bearing: 27.744961 deg, approach rate: -0.616973 m/s, LOS rate: 0.021710 deg/s, cmd heading: 29.083687 deg, new cmd heading: 29.099889 deg. BU:gOeHeadingCmd: 0.507889 target range: 411.671844 and range: 414.10 m.e?a*a"a iiiiiʎqqqjyZ}*?颡ɢlC) 9i)(z<顩iMi? I?Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498763qQ@Q @Q@U0@Qԡ^AqIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750042Da Da Em  Em Em 'Ei "Em :*Em ga:VEm '4ZEi a} @a} @a} @a} @ ,=SX@AVLݓ>VP?VG =ٱV/ zAHRS rotation from veh to nav: [[0.873755,-0.484731,-0.039861],[0.485194,0.863028,0.140602],[-0.033753,-0.142192,0.989263]]VH`?߿hl ?@?>?HY3¿ ?iVLݓ>IVI`;TY5ЃBy5!"IbDVDk1y-*=%U7=ٔ]Q-]>9YYY=]hGyae ;Ee>iQ 54m#?Q 94my)m\BYy]s>Q I@miDIm?;im;m44yBɮN@A >I I O >Q ,!TX@A:H>:N2?:=ٱ: BAHRS rotation from veh to nav: [[0.872970,-0.486184,-0.039355],[0.486677,0.862757,0.137095],[-0.032700,-0.138833,0.989776]]:H@^?@߿@]&%?`?V?`J@>?i:H>I:_;:CYJ؃ByN*"Ibchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.254182imMb@Mb@Mb@iiii i9mZd;O?M¿J +?Ymj?ymnmH=im @ i)m& AiYm(AbDVDy#=%R=ٔ3Q->9Y=hGy F;E EE&E"EO:*E:VE4ZEBE qQ 5}4u4#?Q 9}4u)ufBY!!?Q E:y>Q I@uiDIuj:iu:uK4yɮ@jgOFNOT Ignoring new targets: 411.67 m.R.9Z.9)gO5 ProNav: ac range: 411.671844 m, nav range: 410.651794 m, bearing: 27.761489 deg, approach rate: -0.615713 m/s, LOS rate: 0.016740 deg/s, cmd heading: 29.119371 deg, new cmd heading: 29.132965 deg. B=9gO=HeadingCmd: 0.508466 target range: 411.671844 and range: 414.10 m.=*?9*A"A AAAimDBʎiiqjqZuW@颽Bɢ$) ~i)%p2?2O=ٱ2 >AHRS rotation from veh to nav: [[0.872405,-0.487195,-0.039379],[0.487735,0.862432,0.135372],[-0.031991,-0.137306,0.990012]]2H@?1.߿)7? ?S?a@?-?i2V>I2_;2CYFՃByF'"I HHbDnVDnyv%vX=ٔvYQ-z>9xYx=zhGyx~P;E~>Q 5 4; $?Q 9 4)oBYy>Q I@iDIf:i:4yɮ@jAgOEFNOT Ignoring new targets: 411.67 m.RMu9ZMu9gO] ProNav: ac range: 411.671844 m, nav range: 410.432404 m, bearing: 27.767425 deg, approach rate: -0.631622 m/s, LOS rate: 0.017098 deg/s, cmd heading: 29.132966 deg, new cmd heading: 29.144845 deg. B]V9gOeHeadingCmd: 0.508673 target range: 411.671844 and range: 414.10 m.em8?a*a"a aiiiiʎqqqjqZ}Ï@颡ɢSI) Ȳi)  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010099A A AAB 8>B B ""IB уBB + =B B B !`;B O$E ,LTX@A2>2?29<ٱ2D :AHRS rotation from veh to nav: [[0.871827,-0.488156,-0.040263],[0.488841,0.861974,0.134297],[-0.030852,-0.136766,0.990123]]2H?=߿b@,I?J? 0?@?i2>I2S_;2CYF߃ByF2"I\iMb@Mb@Mb@ 9+?1ZdQ?Y?y"۽\=fA9@ A) AYAbDmVDmNyud4=%}B=ٔ}0Q-}>9Y=hGy!FA;E>Q 54`!$?Q 94n)uBYR"?Q E:y{>Q I@iDI ;iL ;4yBɮZ@=EPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 411.67 m.RiX9ZiX9gO ProNav: ac range: 411.671844 m, nav range: 410.167694 m, bearing: 27.772414 deg, approach rate: -0.627030 m/s, LOS rate: 0.011825 deg/s, cmd heading: 29.144844 deg, new cmd heading: 29.154828 deg. B!9gOHeadingCmd: 0.508848 target range: 411.671844 and range: 414.10 m.C?*" dBʎjZM@1ɢ5 )1 5ki9)=-g<99i=DiEC?EI EnIEC?II9@ @@{0@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263250^AA%ZAzA!E5 E1E5%E1"E5m:*E1VE5 4ZE1BE5R7,fTX@AYԃBy%"IbDVDy-\%-O=ٔ-Q-->91Y1=5hGy15E=>AQ 5E4E 5$?Q 9M4E-)E{BYIyIQ IM@EjDIE:iE:E4yQɮ]@YjygOFNOT Ignoring new targets: 411.67 m.R+Y9Z+Y9gO ProNav: ac range: 411.671844 m, nav range: 409.920349 m, bearing: 27.777081 deg, approach rate: -0.628548 m/s, LOS rate: 0.011867 deg/s, cmd heading: 29.154830 deg, new cmd heading: 29.164169 deg. B9gOHeadingCmd: 0.509011 target range: 411.671844 and range: 414.10 m.N?*" ʎjZ @ɢ @4) Ri)^c<i|BiN?W IN?=BDAT read: Rx Time:00:35:28.9300 =TRx dataTimestamp_ set to:1761698129.677008Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515022I]>i!>I9@ @@/@y^A9 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770281ԡ E  E E "E "E :*E c:VE (3ZE a @a @a @a @A I! I9 OE > ,TX@AB>B?B<ٱB$ RAHRS rotation from veh to nav: [[0.870230,-0.490896,-0.041485],[0.491797,0.860703,0.131628],[-0.028909,-0.134949,0.990431]]BH?j߿=`y??`-?d`E?iB>IBFa_;BCYvكByv+"IԁI=)p<bD-VD-k1y!<% 0=ٔ5fQ-=>99Y9==hGy="FE;EE>IQ 5U4ML$?Q 9U4Mv)MBYYy]>Q I]@MjDIM_;iMy:M 4yaɮe@ajgOFNOT Ignoring new targets: 411.67 m.RS9ZS9gO ProNav: ac range: 411.671844 m, nav range: 409.624786 m, bearing: 27.782531 deg, approach rate: -0.627498 m/s, LOS rate: 0.011579 deg/s, cmd heading: 29.164170 deg, new cmd heading: 29.175078 deg. B9gOHeadingCmd: 0.509201 target range: 411.671844 and range: 414.10 m.[?*" ʎjZ@ɢ ) 1i)]<i,@i[? L;I[?IԩDAT read: 00:35:28.9300 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 405,-0.20,-0.166,-1.617, 0.083,-0.379, PHS= 0.315,-1.193, 0.417, RAW= 153.3, 6.0, CAL= 152.5, 6.1, ROT= 357.5, -6.1 Ygot valid direction response: 00:35:28.9300 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 405,-0.20,-0.166,-1.617, 0.083,-0.379, PHS= 0.315,-1.193, 0.417, RAW= 153.3, 6.0, CAL= 152.5, 6.1, ROT= 357.5, -6.1 PDAT read: Bearing 181.9, -5.0 (Local) ~Local bearing/azimuth received: Bearing 181.9, -5.0 (Local) DAT read: Range 11 to 50 : 411.9 m (Round-trip 549.3 ms) speed 0.4 m/s *DAT read: user:447> BDAT read: Tx time:00:35:30.0266 $Ping request sent.M<+@MPw=MX*@ M^ =)Mi@IM^ ڽIIM;b? w(r?H]L? M?)MIԽIMѸ2iM^ ڽII:publishing transmit ping timeFpublishing direction and range infoyIMY?Uy4O4?YIIIII I)IIIiIIIII I)IIIIIM;b? w(r?H]L? I)IIIiIIIB>>BՍCB."IB܃BB( =BBgDB_;B$E!@! @!@!@!^AE q Aq I I O >\n&,UTX@AbȘ>b9?bZ<ٱbbE5 4jE5w4rE5EC0E EE%E"E:*EP:VE 4ZEBE#Ib?_;bCYE׃ByM)"IԉiMb@Mb@Mb@ 9?sh|?S㥛?Y ?y/<AO@ \A)Y AbDVD:2y?'%W=ٔ6`Q->9 Y = hGy Y;E>Q 5%4_$?Q 9%4)BY%!?Q E%:y%m>Q I%@'jDI ;i] ;4y5Bɮ5@5>E15ŒTX@AJ5CR5Cj5>5Ily@@1eE@r5Y?Uy4O4?Z5Ѹ2b5^ ڽ5A8.v@Ag@$&A@z5|,?I?g?25*?C:5AC"5&G ?*52B5PB5&G ?52“5B5C5>gO addTargetRange:: Added new target pos. range: 411.899994 m, deltaT: 4.032138 s, deltaX: -2.200012 m, approachRate: -0.545619 m/s, rangeRepo size: 4 gO- Added new target pos. range: 409.492767 m, bearing: 27.935146 deg, lat: 36.779286 deg, lon: -121.858998 deg, deltaT: 4.032138 s, deltaX: -2.179077 m, approachRate: -0.540427 m/s, posRepo size: 4 j1gO5FNOT Ignoring new targets: 409.49 m.R5Z9gOm ProNav: ac range: 409.492767 m, nav range: 408.057220 m, bearing: 27.934002 deg, approach rate: 0.000000 m/s, LOS rate: 0.011579 deg/s, cmd heading: 29.175078 deg, new cmd heading: 29.184208 deg. BigOmHeadingCmd: 0.509360 target range: 409.492767 and range: 411.90 m.use?q*q"q qqqy}{Bʎyyj`fy@Z ?ɢ,) i)J%Y<i{>ise?%%,;I%se?I!@ @@@^A ] ;A ?A ? A I I O% > ,,TX@A2}>2|?2<ٱ2b :AHRS rotation from veh to nav: [[0.868564,-0.493702,-0.043069],[0.494877,0.859440,0.128298],[-0.026326,-0.132749,0.990800]]2H G?Θ߿ `?`?l?1@?i2}>I2Z_;2CYFɃByF"IbDNVDNNyV%Vd=ٔVmQ-V>9XYX=ZhGyZ#F^F};E^>`Q 5f4bp$?Q 9f4bе)bBYdyf>Q If@b6jDIb6:ib:b4ylɮn@ljgOFNOT Ignoring new targets: 409.49 m.R "9Z "9gO ProNav: ac range: 409.492767 m, nav range: 407.832031 m, bearing: 27.937008 deg, approach rate: -0.665150 m/s, LOS rate: 0.008884 deg/s, cmd heading: 29.184206 deg, new cmd heading: 29.190222 deg. B9gO%HeadingCmd: 0.509465 target range: 409.492767 and range: 411.90 m.%Tl?!*!"! !!)))ʎ)11j1Z5%?ɢM}) i ) U<  i Dy B ?>B B 5"IB BB B B B _;B $Ez3,TX@A@2Fߙ>2N?2(w<ٱ2Of :AHRS rotation from veh to nav: [[0.868223,-0.494110,-0.045210],[0.495540,0.858901,0.129343],[-0.025079,-0.134702,0.990569]]2H{? ߿ %@?|?R?4=?i2Fߙ>I2_;2CYF̃ByF"I HHN=N=iuMb@Mb@Mb@qqqq q9u)\(?~jt rh?YuG!?yuuC9 ?Y ?=hGy:E>Q 54$?Q 94)BY"?Q E:y>Q I@GjDI;ir;f 4yɮo@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 409.49 m.Re 9Ze 9gO  ProNav: ac range: 409.492767 m, nav range: 407.557159 m, bearing: 27.940273 deg, approach rate: -0.631753 m/s, LOS rate: 0.007508 deg/s, cmd heading: 29.190220 deg, new cmd heading: 29.196753 deg. B [9gOHeadingCmd: 0.509579 target range: 409.492767 and range: 411.90 m.s?*" !%kBʎ!!!j)Z-@?QqɢuQ=)q uiq)}%Oe9,yTX@A6>6?6<ٱ6 >AHRS rotation from veh to nav: [[0.868240,-0.493931,-0.046809],[0.495563,0.858790,0.129987],[-0.024005,-0.136057,0.990410]]6H?߿d N?5{? g?ȔMjp?i6>I6R_;4YJƃByJ"IbDRVDRyZ%ZZ=ٔZ;Q-^>9\Y\=bhGyb$Fb8Eb>dQ 5j4f$?Q 9j4f)fBYhyn>Q In@fWjDIfa;if;f&4yrBɮr@r?Ej gO FNOT Ignoring new targets: 409.49 m.R 9Z 9gO% ProNav: ac range: 409.492767 m, nav range: 407.320038 m, bearing: 27.943090 deg, approach rate: -0.633182 m/s, LOS rate: 0.007527 deg/s, cmd heading: 29.196754 deg, new cmd heading: 29.202391 deg. B%i\9gO-HeadingCmd: 0.509678 target range: 409.492767 and range: 411.90 m.-@z?)*)") )1119ʎ999j9ZE?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498160BɢIz) i)B1K<i>8i%@z?% B%;I-@z?I)Ա @  @ @ 4@ @=@=^A)A5[AzA1  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751488E  E E (E "E :*E L_:VE c44ZE a @a @a @a @A! I) I9 OM >1 @,rOUX@AFԙ>F?F<ٱFx VAHRS rotation from veh to nav: [[0.868296,-0.493698,-0.048205],[0.495489,0.858611,0.131444],[-0.023504,-0.138018,0.990151]]FH?߿d?y?)?f`P?iFԙ>IF_;F CYvByv "IbD-VD-k1yeq*%e@=ٔmޙQ-u>9Y=hGyraE>Q 54ح$?Q 94)BYy>Q I@hjDI;i;.4yBɮE@5EjgOFNOT Ignoring new targets: 409.49 m.RR9ZR9gO- ProNav: ac range: 409.492767 m, nav range: 407.045868 m, bearing: 27.946352 deg, approach rate: -0.589014 m/s, LOS rate: 0.007012 deg/s, cmd heading: 29.202392 deg, new cmd heading: 29.208919 deg. B-QM9gOUHeadingCmd: 0.509792 target range: 409.492767 and range: 411.90 m.U?Q*Q"i iqqqqʎyyyjyZ}?颩ɢ `) ɾi)BE<iR6i?3ܢ;I?II-ZA))checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003033BuC>Bu֍CBu."IBu܃BBu& =BqBuhDBu_;Bu1$E@ @@4@9i ^A ;A ؟AI I O% >_F,3UX@A"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254397(ER ERER'EP"ER:*ERc:VER'4ZEPBERuJ?J <ٱJ! bAHRS rotation from veh to nav: [[0.868582,-0.492963,-0.050528],[0.495013,0.858405,0.134547],[-0.022953,-0.141877,0.989618]]JHl?߿ީM? x?8? )¿?iJ >IJQ_;JCYnByn"IIrl>)r>prAiMb@Mb@Mb@ 9w/?I +y&1|?Y&?y9`;A rA)Yf AbDVDky%%%>=ٔ-`Q-->9-"?Y5"?=5hGy5%F5E5>9Q 5E4=$?Q 9E4=)=BYMo(?Q EM:yM>Q IM@=zjDI= ;i=& ;=54yQɮ]@]6EjygOFNOT Ignoring new targets: 409.49 m.R+99Z+99gO ProNav: ac range: 409.492767 m, nav range: 406.769531 m, bearing: 27.950298 deg, approach rate: -0.708053 m/s, LOS rate: 0.010118 deg/s, cmd heading: 29.208918 deg, new cmd heading: 29.216816 deg. B#9gOHeadingCmd: 0.509930 target range: 409.492767 and range: 411.90 m.?*"  iBʎ)))j1Z5r@i额Bɢ c) ,оi)?<顡i3i?oLA;I?I9@ @@4@ԙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506163 ^A= ϩ;A I I O >M,D6UX@A2S=>2Tt?2<ٱ2 >AHRS rotation from veh to nav: [[0.868889,-0.492229,-0.052380],[0.494497,0.858315,0.136995],[-0.022474,-0.144935,0.989186]]2H?߿@Ѫץ?`Qw? ?@`:¿ i?i2S=>I2_;2CYFByF!IbDRVDRyZy%Z]=ٔZQ-^>9\Y\=^hGy\bAպEb>dQ 5j4fy$?Q 9j4f)fBYhyn>Q In@fjDIf;if3;fZ<4yrBɮr@pj gO FNOT Ignoring new targets: 409.49 m.RP,9ZP,9gO ProNav: ac range: 409.492767 m, nav range: 406.527985 m, bearing: 27.953769 deg, approach rate: -0.654768 m/s, LOS rate: 0.009416 deg/s, cmd heading: 29.216817 deg, new cmd heading: 29.223764 deg. Bډ9gOHeadingCmd: 0.510051 target range: 409.492767 and range: 411.90 m.?*" ʎjZ @Yɢe)a e{Ҿi)^:<顑if1i?GE;x;I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758542EU EQEU%EQ"EU:*EQVEU 4ZEQae@ae@ae@ae@i%9@! @!@%/@)ԑ^A}U;A?A?  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010172A .AI I O >A AAA @AB B>B B "IB ̃BB % =B B B _;B :$EBՍCBՍCBB( =B' =Cv5S,PUX@A2ݘ>2D?2<ٱ2 :AHRS rotation from veh to nav: [[0.869255,-0.491320,-0.054787],[0.493867,0.858058,0.140824],[-0.022179,-0.149469,0.988518]]2H?q߿ ?`6u?? $!ÿ?i2ݘ>I29.`;0YFByF!IPiMb@Mb@Mb@ 9?EԸ rh?Y ?yƽC<Af@ ) AY AbD- VD-f2y.\%<=ٔl2Q->9 ?Y ?=hGy&FLܺE>Q 54 $?Q 94)BY!?Q E:y>Q I@jDI:is:C4yɮ@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 409.49 m.R GB9Z GB9gO ProNav: ac range: 409.492767 m, nav range: 406.255554 m, bearing: 27.958379 deg, approach rate: -0.626969 m/s, LOS rate: 0.010616 deg/s, cmd heading: 29.223763 deg, new cmd heading: 29.232989 deg. Bl9gO%HeadingCmd: 0.510212 target range: 409.492767 and range: 411.90 m.%??!*!"! !!))-eBʎ)11j1Z5`6 @eBɢe󑜼)a eݾia)m5i>)@) @)@)@)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262320Ee EeEe$Ea"Ee:*Eega:VEe4ZEaBEen% PExceeded connect timeout, disconnecting.)"Z,jUX@AZW>Z-?Z,<ٱZIt fAHRS rotation from veh to nav: [[0.869434,-0.490814,-0.056444],[0.493570,0.857875,0.142965],[-0.021748,-0.152158,0.988117]]ZH g?i߿,欿?s? L? E`yÿ`?iZW>IZ`;ZCYnByn!I ppv=tbDzVDzk1|y % U=ٔ BQ- >9Y=hGylE>!Q 5-4%%$?Q 9-4%)%BY)y->Q I-@%jDI%l:i% :%J4y9ɮ=Y@=7EeBDAT read: Rx Time:00:35:32.9775 eTRx dataTimestamp_ set to:1761698133.709269mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515383jqgO}FNOT Ignoring new targets: 409.49 m.R}2B9Z}2B9gO ProNav: ac range: 409.492767 m, nav range: 406.014343 m, bearing: 27.962472 deg, approach rate: -0.624862 m/s, LOS rate: 0.010611 deg/s, cmd heading: 29.232988 deg, new cmd heading: 29.241180 deg. B[9gOHeadingCmd: 0.510355 target range: 409.492767 and range: 411.90 m.?*" ʎjZSL @Bɢ)]9 ]iY)]T/ a,ZUX@AY|By%!IabDVDy %==ٔQ->9Y=%hGy%'FE>Q 54&%?Q 94֠)BYyQ I@jDI;ia;R4yBɮ2@jIgOmFNOT Ignoring new targets: 409.49 m.RuB9ZuB9gO ProNav: ac range: 409.492767 m, nav range: 405.723816 m, bearing: 27.967410 deg, approach rate: -0.625953 m/s, LOS rate: 0.010645 deg/s, cmd heading: 29.241180 deg, new cmd heading: 29.251062 deg. Bڛ9gOHeadingCmd: 0.510527 target range: 409.492767 and range: 411.90 m.?*" ʎjZ @DAT read: 00:35:32.9775 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 410, 0.02,-3.071, 1.681,-2.835, 2.877, PHS= 0.437,-1.151, 0.527, RAW= 152.7, 2.3, CAL= 151.6, 1.8, ROT= 358.4, -1.8 B<>BՍCB!IBBB( =BBgDB_;B?$EYgot valid direction response: 00:35:32.9775 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 410, 0.02,-3.071, 1.681,-2.835, 2.877, PHS= 0.437,-1.151, 0.527, RAW= 152.7, 2.3, CAL= 151.6, 1.8, ROT= 358.4, -1.8 PDAT read: Bearing 177.5, -3.1 (Local) ~Local bearing/azimuth received: Bearing 177.5, -3.1 (Local) DAT read: Range 11 to 50 : 410.0 m (Round-trip 546.7 ms) speed 0.7 m/s *DAT read: user:448> BDAT read: Tx time:00:35:34.0766 $Ping request sent.imSmy?mJ*@ml$=mV)@ m=)m+@ImiimQ ΁?[I?I? m3@?)mӍ%Imimii:publishing transmit ping timeFpublishing direction and range infoyim%P?R䓜Iz?Yiiiii i)iIiiiiiii i)iIiiimQ ΁?[I?I? i)iIiiiiiBɢ) _i)&<i*i?uO.;I?I@ @@@ ^A 2;A% ZAzA! E  E E 'E "E a:*E Ar:VE '4ZE BE (h,ݡUX@A2e>2?2͠<ٱ2 >AHRS rotation from veh to nav: [[0.869753,-0.489846,-0.059844],[0.493098,0.857827,0.144870],[-0.019628,-0.155510,0.987639]]2H@?Y߿ݣ?Rs?? dÿ?i2e>I2$5`;2CYFzByF!IiUMb@Mb@Mb@QQQQ Q9UX9v?K7AMb?YU?yU U9Y=hGyE>Q 54'+%?Q 94)BYP!?Q E:yp>Q I@jDI/:i:Z4yɮ\@|UX@AJCRCj~s>3¨sy@4F)&e-)@r%P?R䓜Iz?Zbޥpv@()h@}@z#O/?޷J?4!?2@C:C"W?*ɬBQBW?“QB#Cn>gO addTargetRange:: Added new target pos. range: 410.000000 m, deltaT: 4.031660 s, deltaX: -1.899994 m, approachRate: -0.471268 m/s, rangeRepo size: 4 gO  Added new target pos. range: 407.601837 m, bearing: 28.250751 deg, lat: 36.779294 deg, lon: -121.858998 deg, deltaT: 4.031660 s, deltaX: -1.890930 m, approachRate: -0.469020 m/s, posRepo size: 4 j gO FNOT Ignoring new targets: 407.60 m.RZgO% ProNav: ac range: 407.601837 m, nav range: 406.274078 m, bearing: 27.913059 deg, approach rate: 0.000000 m/s, LOS rate: 0.010645 deg/s, cmd heading: 29.251060 deg, new cmd heading: 29.259936 deg. B!gO-HeadingCmd: 0.510682 target range: 407.601837 and range: 410.00 m.-?)*)") )1115QBʎ999j=y@Z=?Bɢ=I) Ei)k <i$M(i? Y;I?IanManaging dock network, ignoring radio surface power off9@ @@0@ԑ^A;II IY O >Թ =n,4UX@AHJb>J*?Jܗ<ٱJ VAHRS rotation from veh to nav: [[0.869781,-0.489676,-0.060810],[0.493089,0.857912,0.144394],[-0.018537,-0.155576,0.987650]]JH??V߿{"@Ŏ?t?{?I`ÿ Ԛ?iJb>IJy&`;HY^_Byb!IIf=)f=bDjVDj:yrB %rT=ٔv9Q-v>9tYt=vhGyv(FzIlEz>|Q 54~>%?Q 94~)~BYy l>Q I @~jDI~:i~:~`4iIAyɮ@%8EjAgOMFNOT Ignoring new targets: 407.60 m.RM9ZM9gO] ProNav: ac range: 407.601837 m, nav range: 406.035156 m, bearing: 27.918778 deg, approach rate: -0.625221 m/s, LOS rate: 0.014973 deg/s, cmd heading: 29.259936 deg, new cmd heading: 29.271380 deg. B]89gOeHeadingCmd: 0.510882 target range: 407.601837 and range: 410.00 m.e)?a*a"a iiiE} E}E}+Ey"E}D:*E}:VE} [4ZEya@a@a@a@ʎ j Z *5?UBɢ])Y ]?iY)]BB!IBBB) =BBB_;B8$E ^AM ;I I O >|iu,%UX@A4Y ZBy !IiMb@Mb@Mb@ 9ʡE?QI +?Y?y\9<GA1@ ) AY\ AbDVDy%5=ٔQ->9Y=hGy)FE> Q 54 U%?Q 9%4 n) BY%!?Q E%:y-љ>Q I-@ jDI {;i Y; h4y=Bɮ=A@APmB*** querying acoustic contact ***i ijgOFNOT Ignoring new targets: 407.60 m.R|9Z|9gO ProNav: ac range: 407.601837 m, nav range: 405.752136 m, bearing: 27.926333 deg, approach rate: -0.611498 m/s, LOS rate: 0.016336 deg/s, cmd heading: 29.271380 deg, new cmd heading: 29.286502 deg. B-9gOHeadingCmd: 0.511146 target range: 407.601837 and range: 410.00 m.u?*" ,BʎjZ`N?T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԱBɢ|M) ibEjE 4rES}0E EE%E"E2:*Ek:VE 4ZEBE!*R{,QgUX@AFu>F?F)<ٱF RAHRS rotation from veh to nav: [[0.870704,-0.487907,-0.061812],[0.491532,0.859118,0.142522],[-0.016434,-0.154477,0.987860]]FH?9߿եBu? }?`(>?Ӑÿ?iFu>IF/`;DY^QBy^!IbDfVDflyrH%r\=ٔv˹Q-v>9tYt=vhGytzEz>|Q 54~`h%?Q 94~)~BY y ט>Q I @~jDI~:i~t:~o4yɮ@jgOFNOT Ignoring new targets: 407.60 m.R9Z9gO ProNav: ac range: 407.601837 m, nav range: 405.524750 m, bearing: 27.932476 deg, approach rate: -0.606476 m/s, LOS rate: 0.016392 deg/s, cmd heading: 29.286502 deg, new cmd heading: 29.298794 deg. B9gOHeadingCmd: 0.511360 target range: 407.601837 and range: 410.00 m.?*" !!ʎ!!)j)Z- ?Bɢf) i)O<i=a i?Yv%I?I19999 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747464E EEE"E:*E1:VEZEa%@a%@a%@a%@1m9@i @i@m?0@ia ^Au ?B:ԉ mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.999290B:>BB!IB{BBBBfDB`;BP$EA؟AIIO >'΃,VX@A$&@J>J ?JTk<ٱJ1 RAHRS rotation from veh to nav: [[0.872119,-0.485481,-0.060954],[0.489081,0.861284,0.137805],[-0.014403,-0.149994,0.988582]]JH g? ߿`V5 M???@3ÿv?iJ>IJ`;HY^PBy^!IiMb@Mb@Mb@ 9ףp= ?w/Ŀ~jt?Y?y&<AG@ A)9 AY3 A p<p;bDVDԩyX"%=ٔQ->9"?Y"?=hGy*F5E>Q 54~%?Q 94])žBY:$?Q E:yd>Q I@kDIQ:i:7x4yɮ@9EjgOFNOT Ignoring new targets: 407.60 m.Rؾ9Zؾ9gO- ProNav: ac range: 407.601837 m, nav range: 405.199921 m, bearing: 27.942990 deg, approach rate: -0.643803 m/s, LOS rate: 0.020856 deg/s, cmd heading: 29.298793 deg, new cmd heading: 29.319839 deg. B-:gO5HeadingCmd: 0.511728 target range: 407.601837 and range: 410.00 m.5?1*1"1 1999=BʎAAAjAZEI@u}Bɢu)q uoiy)}};yyi}i?/^4I?I 9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251941Eu EuEu!Eq"Eu:*Eu[:VEuc3ZEqBEu) C- GA E `]AAQ Ia Iy y ¿9 `]AY ЧAO >,)VX@AZ>Z?ZI]<ٱZx fAHRS rotation from veh to nav: [[0.872452,-0.484841,-0.061297],[0.488514,0.861765,0.136806],[-0.013506,-0.149301,0.988700]]ZH?@߿DbC?`?܂?`Jÿ@m?iZ>IZ/6`;ZCYn@Byno!IbDzVDzβy%X=ٔ(Q->9 Y = hGy /E>Q 5%4=%?Q 9%4)ɞBY!y%>Q I%@$kDI;ip:~4y5Bɮ5@1jYgOeFNOT Ignoring new targets: 407.60 m.Re9Ze9gOu ProNav: ac range: 407.601837 m, nav range: 404.963531 m, bearing: 27.950679 deg, approach rate: -0.623000 m/s, LOS rate: 0.020276 deg/s, cmd heading: 29.319840 deg, new cmd heading: 29.335227 deg. Bum:gO}HeadingCmd: 0.511996 target range: 407.601837 and range: 410.00 m.}1?y*y" ʎjZ.@}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503713颽|Bɢn) i)&;ii1?؇XI1?I@ @@`4@Aq^A8F= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757599E  E E &E "E :*E |:VE 4ZE a @a @a @a @A I) I9 OE >ԙ ߐ,CVX@A6>64T?6aP<ٱ6r >AHRS rotation from veh to nav: [[0.873114,-0.483583,-0.061804],[0.487350,0.862464,0.136548],[-0.012729,-0.149342,0.988704]]6H?@޿Ť 0?N?jz?~`ÿu?i6>I6#`;4YZFByZv!IbDbVDbyj<%nL=ٔnQ-n>9pYp=rhGyr+Fr[Er>tQ 5M4v%?Q 9M4v)vҞBYQyUT>Q IU@v4kDIv\BmԍCBm!IBmbBBm* =BiBiBm`;Bm$Eԙ@ @@1@^A _ A I II OU > ,']VX@A2r>2d?2ߕG<ٱ2h :AHRS rotation from veh to nav: [[0.873520,-0.482841,-0.061864],[0.486636,0.862986,0.135799],[-0.012181,-0.148729,0.988803]]2H?޿`@ %??a?` ÿ@F?i2r>I2K`;2CYDyDnchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.259550E= E=E9E9"E=m:*E=]t:VE9ZE9BE=R9Y= hGy  E >Q 54%?Q 94)ܞBY%'?Q E%:y%~>Q I%@GkDI :i:4y)ɮ5n@5:EPMB*** querying acoustic contact ***I IjYgO]FNOT Ignoring new targets: 407.60 m.Re9Ze9gOu ProNav: ac range: 407.601837 m, nav range: 404.433563 m, bearing: 27.968539 deg, approach rate: -0.657589 m/s, LOS rate: 0.022724 deg/s, cmd heading: 29.351580 deg, new cmd heading: 29.370972 deg. BuY&:gO}HeadingCmd: 0.512620 target range: 407.601837 and range: 410.00 m.};?y*y"y yyʎjZ @5yBɢ=)9 =wi9)=e];9AiEiM;?M0M=IM;?IIY@ @@0@BDAT read: Rx Time:00:35:37.0229 TRx dataTimestamp_ set to:1761698137.744253checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515657^A% 3) A5 >A5 >Au .AIy I O >.,JwVX@AB4>B?B><ٱBz JAHRS rotation from veh to nav: [[0.873870,-0.482125,-0.062511],[0.486021,0.863285,0.136097],[-0.011651,-0.149313,0.988721]]BH?`!޿@??k?V܇`ÿ ?iB4>IBr%`;BCYV=ByVk!IbD^VD^0yf=%fa=ٔj?Q-j>9j ?Yj ?=nhGyn,Fn?En>pQ 5v4r%?Q 9v4r)rBYxyz1~>Q Iz@rVkDIr:ir:r4y~Bɮ~@1Ej!gO-FNOT Ignoring new targets: 407.60 m.R-9Z-9gO= ProNav: ac range: 407.601837 m, nav range: 404.202667 m, bearing: 27.976546 deg, approach rate: -0.635793 m/s, LOS rate: 0.022058 deg/s, cmd heading: 29.370971 deg, new cmd heading: 29.386993 deg. B=y!:gOEHeadingCmd: 0.512900 target range: 407.601837 and range: 410.00 m.EfM?A*A"I IIIIQʎQQQjQZ]t @颵wBɢ#) i)jI;is|ifM?]GaлIfM?IYQiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.763866 9@  @ @ /@DM=DM=EU EUEU!EQ"EU:*EUg:VEUc3ZEQa]@a]@a]@a]@y^A#2 A I I O >Be 4>Ba Be !IBe RBBe + =Ba Ba Be `;Be $EBIBMԍCBIBM) =BM) =CM5 DAT read: 00:35:37.0229 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 397, 0.14,-2.905, 1.849,-2.627, 3.105, PHS= 0.375,-1.211, 0.508, RAW= 154.0, 4.0, CAL= 153.0, 3.7, ROT= 357.0, -3.7  Ygot valid direction response: 00:35:37.0229 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 397, 0.14,-2.905, 1.849,-2.627, 3.105, PHS= 0.375,-1.211, 0.508, RAW= 154.0, 4.0, CAL= 153.0, 3.7, ROT= 357.0, -3.7  PDAT read: Bearing 178.9, -4.3 (Local)  ~Local bearing/azimuth received: Bearing 178.9, -4.3 (Local) Y,(VX@ADAT read: Range 11 to 50 : 406.6 m (Round-trip 542.2 ms) speed 0.2 m/s *DAT read: user:449> BDAT read: Tx time:00:35:38.1265 $Ping request sent.r^direction in FSK: [0.996548,-0.052227,0.064532]r:publishing transmit ping timerFpublishing direction and range infoy6?j{P0?YLC )HI>i J ?,@5=*@ A=)b@I AFSw?}T 4?x? #?)#IQwVi A%:publishing transmit ping time%Fpublishing direction and range infoy6?j{P0?Y )Ii )IFSw?}T 4?x? )Iijv?jf3<ٱjD AHRS rotation from veh to nav: [[0.874503,-0.480913,-0.062990],[0.484897,0.863938,0.135962],[-0.010967,-0.149443,0.988710]]jH ?G޿ ? b?`6g?@u ÿ ?ij>Ij-_;jCY}CBys!IԩiMb@Mb@Mb@ 9333333?^I +ǿQ?Y?yX9\=  A)9 AY AbD=VD=:yV<%=ٔvQ->9Y=hGyE>Q 54%?Q 94)BY  ?Q E :y f>Q I @kkDIj;in;G4yBɮE~@E2EVX@AJCRCj> -y@ThhZ5.ţ6:@r6?j{P0?ZQwVb AD`bv@[@f@^ 8@z馏?S(?d]m?24C:cC"U?*BQB“QBC>gO addTargetRange:: Added new target pos. range: 406.600006 m, deltaT: 4.031929 s, deltaX: -3.399994 m, approachRate: -0.843267 m/s, rangeRepo size: 4 gO  Added new target pos. range: 404.212494 m, bearing: 26.596275 deg, lat: 36.779294 deg, lon: -121.858998 deg, deltaT: 4.031929 s, deltaX: -3.389343 m, approachRate: -0.840626 m/s, posRepo size: 4 j gO FNOT Ignoring new targets: 404.21 m.RZgO ProNav: ac range: 404.212494 m, nav range: 403.878662 m, bearing: 27.988951 deg, approach rate: 0.000000 m/s, LOS rate: 0.022058 deg/s, cmd heading: 29.386991 deg, new cmd heading: 29.411567 deg. BgOHeadingCmd: 0.513329 target range: 404.212494 and range: 406.60 m.i?*" $Bʎ   j iy@Z QI?E] E]E]%EY"E]>:*E][:VE] 4ZEYBE]2?28<ٱ2 :AHRS rotation from veh to nav: [[0.874417,-0.481172,-0.062197],[0.485083,0.864539,0.131401],[-0.009455,-0.145070,0.989376]]2H8? ޿Gد ?N?`? \@¿`?i2l>I2_;0YFAByFp!IHLN=bDRVDRJyZ;Z%^R=ٔ^m~Q-^>9^"?Yb"?=bhGyb-Fb :Eb>dQ 5j4fB&?Q 9n4f5)fBYlyne>Q In@f{kDIf ;if ;f4ypɮv@tjgOFNOT Ignoring new targets: 404.21 m.Rg9Zg9gO ProNav: ac range: 404.212494 m, nav range: 403.648315 m, bearing: 27.997791 deg, approach rate: -0.610193 m/s, LOS rate: 0.023431 deg/s, cmd heading: 29.411566 deg, new cmd heading: 29.429256 deg. B+:gOHeadingCmd: 0.513637 target range: 404.212494 and range: 406.60 m.}?*" ʎjZ`C?msBɢm$)i m6iq)ud;qqiu^i}}?}>}I}}?I9@ @@/@E EE&E"E:*E&p:VE4ZEa@a@a@a@^A  AU .AIy I O >,VX@Ar #>r4?r&Y;ٱrsx ~AHRS rotation from veh to nav: [[0.873968,-0.482026,-0.061892],[0.485922,0.864707,0.127131],[-0.007762,-0.141183,0.989953]]rH?`޿M W??E?@H¿ ?ir #>Ir_;pB<A<B3>BB!IBMBBBBB`;B$EYm=Byul!IiMb@Mb@Mb@ 9~jt?sh|?ſl?Y?y)=1A  A)Y A  @AbDVD!yk@%%=ٔ-WQ-->9- ?Y- ?=5hGy15:E5>9Q 54= &?Q 94=)=BY!?Q E:y؀>Q I@=kDI=xh3,oFVX@A2>2F?29;ٱ2v! >AHRS rotation from veh to nav: [[0.873273,-0.483146,-0.062968],[0.487192,0.864228,0.125514],[-0.006223,-0.140286,0.990092]]2H?޿&.?? ?`\}y@`Ԯ?i2>I2_;2C@@i@IDDD DDDHtv_AIt)tit)xIz_Axx x|||i||i^A) EI ) S{A   Y YCByr!IbD-VD-1y=:<%=l=ٔEQ-E?9E"?YE"?=MhGyM.FM};EM?QQ 5]4Uu2&?Q 9]4U)UBYaye>Q Ie@UkDIU:iU:U4ymBɮux@u3EPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 404.21 m.R9Z9gO ProNav: ac range: 404.212494 m, nav range: 403.121765 m, bearing: 28.015826 deg, approach rate: -0.632957 m/s, LOS rate: 0.021634 deg/s, cmd heading: 29.450919 deg, new cmd heading: 29.465352 deg. B^:gOHeadingCmd: 0.514267 target range: 404.212494 and range: 406.60 m.?*" !!!ʎ!)jZ`?oBɢ!) i)Ys;iP< i? e #ɻI ?I i>i>iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.@ @@0@@\A@ԑ^A8 A1 I9 IQ O] > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733644E%  E% E! E! "E% :*E% i:VE! ZE! a- @a- @a- @a- @s},,WX@A2K>29{?2;ٱ2x :AHRS rotation from veh to nav: [[0.872885,-0.483556,-0.065149],[0.487904,0.863787,0.125783],[-0.004548,-0.141581,0.989916]]2H?޿`9?%??rO¿e?i2K>I22`;2CLYNBy!I!!bD5 VD52yU=%E=ٔ.Q->9Y=hGy:E>Q 5 4EH&?Q 9 4)$BYy>Q I@kDI;i;n4yɮ%@!jAgOMFNOT Ignoring new targets: 404.21 m.RM59ZM59gO] ProNav: ac range: 404.212494 m, nav range: 402.861694 m, bearing: 28.024686 deg, approach rate: -0.612971 m/s, LOS rate: 0.020896 deg/s, cmd heading: 29.465351 deg, new cmd heading: 29.483082 deg. B]:gOeHeadingCmd: 0.514577 target range: 404.212494 and range: 406.60 m.eO?a*i"i iiiqqʎyyyjyZ}?颭mBɢ) i)jV;顱ikiO?2IO?I-9@) @1@50@9BBӍCB!IBRBB, =BBeDB`;B$E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987604^AM &t! Ay I I O >,WX@A63ܕ>6?6JM;ٱ6l BAHRS rotation from veh to nav: [[0.872350,-0.484447,-0.065709],[0.488873,0.863554,0.123602],[-0.003136,-0.139948,0.990154]]6HI?@-߿ IҰI?I65`;4|YyiMb@Mb@Mb@ 9On?n+?Y?yV=AA & A) AY A ;bDVDy:%C=ٔ\Q->9Y!=%hGy%/F%-;E%>)Q 554-l\&?Q 9=4-)-0BY=?Q E=:y=ӕ>Q I=@-kDI-2 ;i-i ;-4yEBɮE@I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237823jygOFNOT Ignoring new targets: 404.21 m.Rp9Zp9gO ProNav: ac range: 404.212494 m, nav range: 402.616791 m, bearing: 28.031625 deg, approach rate: -0.595336 m/s, LOS rate: 0.016878 deg/s, cmd heading: 29.483082 deg, new cmd heading: 29.496968 deg. B9gOHeadingCmd: 0.514819 target range: 404.212494 and range: 406.60 m.1?*" /BʎjZU=@bE=J4jE=m4rE= 0EU EUEQEQ"EU2:*EUM:VEQZEQBEU!*,5WX@A21>2o?2z;ٱ2ݚ :AHRS rotation from veh to nav: [[0.872034,-0.484955,-0.066156],[0.489442,0.863452,0.122052],[-0.002067,-0.138813,0.990316]]2H? ߿ ﰿS?g?@>?T` ?i21>I2+`;2CYZQByZ!IbDbVDbfyju<%jc=ٔnrBQ-n>9n ?Yn ?=rhGypr:Er>tQ 5z4v)n&?Q 9z4vR)v;BY|y~>Q I~@vkDIvQ;iv;v4yɮ@j)gO-FNOT Ignoring new targets: 404.21 m.R5*9Z5*9gOE ProNav: ac range: 404.212494 m, nav range: 402.401123 m, bearing: 28.037725 deg, approach rate: -0.603012 m/s, LOS rate: 0.017066 deg/s, cmd heading: 29.496968 deg, new cmd heading: 29.509175 deg. BE9gOMHeadingCmd: 0.515032 target range: 404.212494 and range: 406.60 m.M(?I*I"I QQQQYʎYYYjYZe@q颕hBɢ.#&)  i);顙iF)i(?idI(?I-9@) @)@-/@)ԙAqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.742119IIO=>E} E}E}!Ey"E} :*E}:VE}c3ZEya@a@a@a@ ,emOWX@AAA@AB";>B"ՍCB"!IB"\BB") =B B"gDB"`;B"$EJNg>JU ?J@:ٱJy RAHRS rotation from veh to nav: [[0.871834,-0.485273,-0.066452],[0.489800,0.863449,0.120633],[-0.001162,-0.137720,0.990470]]JH ? ߿`X?^??S`Ѡ ?iJNg>IJV`;HY^ZBy^!I ``nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.993848iMMb@Mb@Mb@IIII I9M333333?QˡE?YM?yMM'=M1AMt@ I)M AIYM AbDVD0yp=%8=ٔQ->9Y=hGy0FAr:E%>!Q 554%Ѓ&?Q 954% )%GBY5?Q E5:y5>Q I5@%kDI% ;i% ;%4yAɮE@E4EjagOmFNOT Ignoring new targets: 404.21 m.Ru9Zu9gO} ProNav: ac range: 404.212494 m, nav range: 402.133545 m, bearing: 28.044033 deg, approach rate: -0.602364 m/s, LOS rate: 0.014210 deg/s, cmd heading: 29.509177 deg, new cmd heading: 29.521801 deg. B 9gOHeadingCmd: 0.515253 target range: 404.212494 and range: 406.60 m.?*" 6BʎjZ@fBɢo)  i)S;i.i?>I?I9@ @@@A؟AIIO>)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245665E  E E %E "E D:*E $:VE 4ZE BE 164?6t9ٱ6) RAHRS rotation from veh to nav: [[0.871510,-0.485970,-0.065596],[0.490377,0.863561,0.117439],[-0.000425,-0.134516,0.990911]]6H i?#߿ʰWb?@K? ?; 7?i6>I6/8`;6CY^aBy^!IdfAAbDfVDffyn$=%r`=ٔr9Q-r>9v"?Yv"?=vhGytv:Ev>|Q 5~4~&?Q 94~*)~RBYyǦ>Q I@~kDI~:i~:~4y Bɮq@P-B*** querying acoustic contact ***) )j9gOEFNOT Ignoring new targets: 404.21 m.RE9ZM9gO] ProNav: ac range: 404.212494 m, nav range: 401.913544 m, bearing: 28.049215 deg, approach rate: -0.600878 m/s, LOS rate: 0.014159 deg/s, cmd heading: 29.521802 deg, new cmd heading: 29.532171 deg. B]N9gO]HeadingCmd: 0.515434 target range: 404.212494 and range: 406.60 m.eu?a*a"a aaaiiʎiiqjqZul @颥dBɢ) 0i)*F:顩i7iu?[ ӌIu?I)1@1 @1@1@9BDAT read: Rx Time:00:35:41.0706 TRx dataTimestamp_ set to:1761698141.774095checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500029YAyIIO<>ԉ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749724Ա ",WX@AE& E&E&(E$"E&:*E&g:VE&c44ZE$a*@a*@a*@a*@: >:[?:Fչٱ: FAHRS rotation from veh to nav: [[0.871220,-0.486456,-0.065857],[0.490894,0.863455,0.116060],[0.000407,-0.133442,0.991057]]:H?"߿ܰj?k??ި:?@?i: >I:u`;:CYnfByn!IbDzVDzy%:<%-F=ٔ-DQ-->91Y1=5hGy51F5H:E5>aQ 5e4e&?Q 9m4e})e^BYiym>Q Im@ekDIeB:ie:eI4yɮ'@jgOFNOT Ignoring new targets: 404.21 m.R}9Z }9gO ProNav: ac range: 404.212494 m, nav range: 401.662659 m, bearing: 28.055113 deg, approach rate: -0.588893 m/s, LOS rate: 0.013854 deg/s, cmd heading: 29.532170 deg, new cmd heading: 29.543975 deg. B9gO%HeadingCmd: 0.515640 target range: 404.212494 and range: 406.60 m.%?!*!"! !!)))ʎ)1ԙ1jZ4@EaBɢE )E MiI)M֙:iiimFiu?u%}~cI}?IyI)[A)@1 @1@9@ABe>>BaBe!IBelBBe' =BaBaBe`;Be$EMDAT read: 00:35:41.0706 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 421,-0.17, 0.071,-1.325, 0.365,-0.136, PHS= 0.309,-1.143, 0.458, RAW= 154.8, 5.0, CAL= 153.9, 4.8, ROT= 356.1, -4.8 UYgot valid direction response: 00:35:41.0706 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 421,-0.17, 0.071,-1.325, 0.365,-0.136, PHS= 0.309,-1.143, 0.458, RAW= 154.8, 5.0, CAL= 153.9, 4.8, ROT= 356.1, -4.8 ]PDAT read: Bearing 180.2, -4.4 (Local) ]~Local bearing/azimuth received: Bearing 180.2, -4.4 (Local) eDAT read: Range 11 to 50 : 404.9 m (Round-trip 539.9 ms) speed 0.7 m/s m*DAT read: user:450> uBDAT read: Tx time:00:35:42.1765 u$Ping request sent.uiM~>,@¸=o+@ =)>@I%+?S5?*!? N?)EI)gi:publishing transmit ping timeqFpublishing direction and range infoy N]?$LeYU]k?Y )Ii )I%+?S5?*!? )Ii^A 3A .AI! I1 O= >u,œWX@A2w0>2m?2ٱ2P ^AHRS rotation from veh to nav: [[0.871081,-0.486523,-0.067182],[0.491138,0.863227,0.116714],[0.001209,-0.134663,0.990891]]2H?0#߿ 2 n???S?<``?i2w0>I2M`;2Ci߉I߉Y5dBy5!II==)=9  ?Y ?=hGy2F:E>Q 5%4 &?Q 9-4:z)jBY-?Q E-:y->Q I-@lDI:i:4y1ɮ=>@=5EY]WX@AJ]DCR]DCj]#>]&y@WKH; Tp@@r] N]?$LeYU]k?Z])gb]]nyv@;ZMf@G*S`B@z]O({?Br!?H3\޷?2]0C:]γC"]о!?*]LB]uBYY“]B]C]M>gOe addTargetRange:: Added new target pos. range: 404.899994 m, deltaT: 4.035605 s, deltaX: -1.700012 m, approachRate: -0.421253 m/s, rangeRepo size: 4 gOu Added new target pos. range: 402.533234 m, bearing: 26.197387 deg, lat: 36.779294 deg, lon: -121.858998 deg, deltaT: 4.035605 s, deltaX: -1.679260 m, approachRate: -0.416111 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 402.53 m.RZgO ProNav: ac range: 402.533234 m, nav range: 401.360046 m, bearing: 28.060954 deg, approach rate: 0.000000 m/s, LOS rate: 0.013854 deg/s, cmd heading: 29.543976 deg, new cmd heading: 29.558193 deg. BgOHeadingCmd: 0.515888 target range: 402.533234 and range: 404.90 m.9?*" EBʎj`fNy@Zd8?ԁ颵^BɢJ) i)*:项igi9?b0I9?I9@ @@@ԡ ^A yb] AIIO >;_,GWX@A:܆>:?:ٱ: FAHRS rotation from veh to nav: [[0.870756,-0.486677,-0.070211],[0.491711,0.862428,0.120158],[0.002074,-0.139152,0.990269]]:H;?`%߿^ 2x??¾?`5`? H?i:܆>I:;`;8 H)HLLLNِCLiNILPIRُCiRq@ PP)PT TVTTXZ`AIZ#)XiX)^sCI^`A^+^SE \bCb`Ab`ibE`Y`YjXByj!IbDrVDrkxy~h|%~P=ٔ~CQ->9Y=hGy :E >Q 54R&?Q 94w)sBY!y%g>Q I%@ lDI:iX:4y-Bɮ-@)jQgOUFNOT Ignoring new targets: 402.53 m.R]k9Z]k9gOm ProNav: ac range: 402.533234 m, nav range: 401.118073 m, bearing: 28.065596 deg, approach rate: -0.671566 m/s, LOS rate: 0.012892 deg/s, cmd heading: 29.558193 deg, new cmd heading: 29.567484 deg. Bm9gOuHeadingCmd: 0.516050 target range: 402.533234 and range: 404.90 m.u?q*q"q qyyyyʎjZm?颵\Bɢ!) $i)$9项iiGi?X*jI?IIDzDAAE EE&E"E2:*Ee:VE4ZEa@a@a@a@9@ @@0@Q^A-B A <B 6>B ԍCB !IB {BB ) =B B fDB `;B $EBeԍCBaBaBaBaCe5AQ IY q Iy O >{?,WX@A2>2n?2 Rٱ2f >AHRS rotation from veh to nav: [[0.870376,-0.486960,-0.072916],[0.492378,0.861725,0.122451],[0.003205,-0.142480,0.989792]]2H?X*߿??? X?@sAj?<¿@a?i2>I2-_;2CYjBy!IYiMb@Mb@Mb@ 9x&1?(\µZd;O?YA ?yj<1AA O A)9 AY AbD-VD-:2yEh=%E8=ٔM&Q-M>9QYY=]hGy]3F]:E]>iQ 54mP&?Q 94m2u)m{BY!?Q E:y>Q I@m2lDIm;imR;m4yɮ@jgOFNOT Ignoring new targets: 402.53 m.R(9Z(9gO ProNav: ac range: 402.533234 m, nav range: 400.837830 m, bearing: 28.069757 deg, approach rate: -0.619845 m/s, LOS rate: 0.009210 deg/s, cmd heading: 29.567483 deg, new cmd heading: 29.575811 deg. B؆9gOHeadingCmd: 0.516195 target range: 402.533234 and range: 404.90 m.`%?*" oBʎ   j Z?YBɢJ) Di)ii`%? 6V-nII-`%?I1ԉ@ @@@@\A@[AE EE E"E:*EX:VE3ZEBE),VfWX@AyY}eBy!I bDVD0yļ%N=ٔQ->9"?Y"?=hGyE>Q 54&?Q 94r)BYyQ I@BlDIW:i:h4yɮ@6EP B*** querying acoustic contact ***  jgOFNOT Ignoring new targets: 402.53 m.R%9Z%9gO ProNav: ac range: 402.533234 m, nav range: 400.590881 m, bearing: 28.073429 deg, approach rate: -0.607950 m/s, LOS rate: 0.009044 deg/s, cmd heading: 29.575812 deg, new cmd heading: 29.583159 deg. Bj9gOHeadingCmd: 0.516324 target range: 402.533234 and range: 404.90 m.-?*" ʎjZ? WBɢ  ) i)`ii-?|CVI-?I!ԩ@ @@I1@iIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A "5D <D <E  E E #E "E *E ]t:VE 3ZE a @a @a @a @ A9 IA IQ Om >Yq,> XX@A2FS>2Q?2~ֻٱ2x :AHRS rotation from veh to nav: [[0.869011,-0.489439,-0.072593],[0.494760,0.861249,0.116027],[0.005732,-0.136745,0.990590]]2H? R߿p$?Z??`zw?ڀ@?i2FS>I2_;2CYFiByF!IbDNVDN yV<%V^=ٔVQ-Z>9XYX=ZhGyZ4F^Q;E^>`Q 5f4b'?Q 9f4bkp)bBYdyj >Q Ij@bPlDIb:ib:b4ynBɮU@QjygOFNOT Ignoring new targets: 402.53 m.Ru(9Zu(9gO ProNav: ac range: 402.533234 m, nav range: 400.359772 m, bearing: 28.076789 deg, approach rate: -0.632783 m/s, LOS rate: 0.009205 deg/s, cmd heading: 29.583158 deg, new cmd heading: 29.589882 deg. BĆ9gOHeadingCmd: 0.516441 target range: 402.533234 and range: 404.90 m.x5?*" ʎjZ?UBɢ) oi) [  i  ix5?`ܡOIx5?IBE;>BEՍCBE!IBEBBE* =BABABE`;BE$E@ @@4@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011341^A5 79A I I O >i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260475ϛ,q$XX@AE2 E2E2%E0"E2:*E21]:VE2 4ZE0BE2m%9Y=hGyE>!Q 5%4%&'?Q 9-4%m)%BY-!?Q E-:y-->Q I-@%clDI%:i%:1% 4y9ɮEF@E-EjagOmFNOT Ignoring new targets: 402.53 m.Rm,9Zm,9gO} ProNav: ac range: 402.533234 m, nav range: 400.077606 m, bearing: 28.080885 deg, approach rate: -0.650356 m/s, LOS rate: 0.009448 deg/s, cmd heading: 29.589882 deg, new cmd heading: 29.598081 deg. BU9gOHeadingCmd: 0.516584 target range: 402.533234 and range: 404.90 m.>?*" hBʎjZ+@SBɢ) i)蟺i$.i>?\DI>?I9@ @@i4@@=@=a]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512461ԑ^A- Β{A- ?A- ?AY Iq I O >Թ ,=XX@A2>28?2\Tٱ2N :AHRS rotation from veh to nav: [[0.866669,-0.493856,-0.070649],[0.498797,0.860425,0.104263],[0.009297,-0.125602,0.992037]]2H`?V߿`K? ??y ?ľ?i2>I2_;2CYFdByF!IIJ0>)J<bDNVDN1yz᛽%z^=ٔ~XQ-~>9Y=hGy5FRO<E > Q 54 9'?Q 94 =k) BYyP>Q I@ qlDI <;i ;  4y)ɮ-$@)jIgOUFNOT Ignoring new targets: 402.53 m.RU 9ZU 9gOm ProNav: ac range: 402.533234 m, nav range: 399.845551 m, bearing: 28.084118 deg, approach rate: -0.630389 m/s, LOS rate: 0.008788 deg/s, cmd heading: 29.598082 deg, new cmd heading: 29.604552 deg. Bm9gOmHeadingCmd: 0.516697 target range: 402.533234 and range: 404.90 m.u?F?q*q"q qqqyyʎyjZ`$@颭QBɢ>!) i)̺项iШi?F?ŻME;I?F?Iԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.76509659@1 @1@5/@1Eu EuEu'Eq"EuD:*EuAr:VEu'4ZEqa}@a@a@a@^AqA A AAB5 C>B5 ֍CB1 B1 B5 & =B1 B5 hDB5 `;B5 $EA I I O= >m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016523 ,WXX@A2X>2Z"?23ٱ2t :AHRS rotation from veh to nav: [[0.865792,-0.495573,-0.069366],[0.500284,0.860263,0.098299],[0.010959,-0.119809,0.992736]]2H ?@x߿`T? G?*?@q?̫@?i2X>I2_;0YFaByF!IiMb@Mb@Mb@ 9S㥛?RQ9Y=hGy~;E>Q 54$O'?Q 94}h)BY&?Q E:y>Q I@lDI#;iI;4y ɮR@jgOFNOT Ignoring new targets: 402.53 m.R49Z49gO ProNav: ac range: 402.533234 m, nav range: 399.565216 m, bearing: 28.088560 deg, approach rate: -0.623226 m/s, LOS rate: 0.009882 deg/s, cmd heading: 29.604550 deg, new cmd heading: 29.613440 deg. B9gOHeadingCmd: 0.516852 target range: 402.533234 and range: 404.90 m.jP?*"    QUWBʎQYYjYZ]w @%OBɢ%y)i mJii)m7iiim/ iujP?u}{;I}jP?Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.269087@ @@0@!bEƻ 4jEƔ4rE80E EE$E"E2:*Ex:VE4ZEBE!*, vqXX@AY_By!IbD)VD)=BDAT read: Rx Time:00:35:45.1185 ETRx dataTimestamp_ set to:1761698145.813243Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.521658yM%MV=ٔUQ->9Y=hGy6FE>Q 5 4c'?Q 9 4e)BYyQ I@lDI;iD;4yɮd@.EP=B*** querying acoustic contact ***9 9jAgOMFNOT Ignoring new targets: 402.53 m.RMC9ZUC9gO] ProNav: ac range: 402.533234 m, nav range: 399.305023 m, bearing: 28.092688 deg, approach rate: -0.672881 m/s, LOS rate: 0.010684 deg/s, cmd heading: 29.613439 deg, new cmd heading: 29.621702 deg. Bek9gOeHeadingCmd: 0.516996 target range: 402.533234 and range: 404.90 m.eY?a*i"i iiiqqʎqqyjyZ}` @颥NBɢ:) Pi)%\顱ixiY?0g;IY?II1)1i@ @@@@[A@\Aԑ^Ar;checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773739E  E E %E "E :*E |:VE 4ZE a @a @a @a @ A I! I1 OE >7",cBXX@A2>2?2Beٱ2 :AHRS rotation from veh to nav: [[0.864795,-0.496912,-0.072170],[0.501931,0.859488,0.096671],[0.013993,-0.119825,0.992696]]2He? i߿ y ??f?"?Ҭ`+?i2>I2n`;2CYFVByF!I HHPbDRVDRyZ_F%ZU=ٔ^Q-^>9 Y = hGy %;E>Q 5%4v'?Q 9%4c)BY!y%>Q I%@lDI;i;@%4y5Bɮ5@1jQgO]FNOT Ignoring new targets: 402.53 m.Re 99Ze 99gOm ProNav: ac range: 402.533234 m, nav range: 399.063934 m, bearing: 28.096452 deg, approach rate: -0.647314 m/s, LOS rate: 0.010111 deg/s, cmd heading: 29.621701 deg, new cmd heading: 29.629232 deg. Bu9gOuHeadingCmd: 0.517128 target range: 402.533234 and range: 404.90 m.uzb?y*y"y yyʎjZȑ@颽LBɢ) Gi)0iR޻izb?Uҫ;Izb?IBB>BB!IBBBBBgDB`;B$Ey@ @@#0@DAT read: 00:35:45.1185 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 416,-0.23, 1.699, 0.026, 1.979, 1.127, PHS= 0.674,-1.056, 0.808, RAW= 153.7, -4.8, CAL= 153.4, -6.2, ROT= 356.6, 6.2 EYgot valid direction response: 00:35:45.1185 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 416,-0.23, 1.699, 0.026, 1.979, 1.127, PHS= 0.674,-1.056, 0.808, RAW= 153.7, -4.8, CAL= 153.4, -6.2, ROT= 356.6, 6.2 MPDAT read: Bearing 169.6, -1.8 (Local) M~Local bearing/azimuth received: Bearing 169.6, -1.8 (Local) ]DAT read: Range 11 to 50 : 403.3 m (Round-trip 537.8 ms) speed 0.4 m/s *DAT read: user:451> BDAT read: Tx time:00:35:46.2265 $Ping request sent.+@]]uY+@ ]kݽ)])@I]k=YY] ] ?F ް?SWV ]?)]=I]si]k=YY:publishing transmit ping timeFpublishing direction and range infoyY]G0?Z;//NiإYYYYYY Y)YIYiYYYYY Y)YIYYY] ] ?F ް?SWV Y)YIYiYYY^Ad;I I O >! E(,l!XX@AE2 E2E2#E0"E2O:*E21]:VE23ZE0BE2 vېC Qe`]Ay9`]AY AYXBy!IiMb@Mb@Mb@ 9V-?v/{Gz?Y|?yx齙#<A  A)& AY( AbDVDNy;%,=ٔQ->9Y=hGy7FE>Q 54'?Q 94`)BY ("?Q E :y $>Q I @lDI:im ;g-4yɮ@5]XX@AJyCRyCj>}>gx@x7ErG0?Z;//NiإZsbk=e>bov@zze@JAz k? ?26/C:|C"A󷝊?*j`BAU?“QB+C+>gOe addTargetRange:: Added new target pos. range: 403.299988 m, deltaT: 4.038162 s, deltaX: -1.600006 m, approachRate: -0.396221 m/s, rangeRepo size: 4 gOu Added new target pos. range: 400.947083 m, bearing: 26.016897 deg, lat: 36.779331 deg, lon: -121.859098 deg, deltaT: 4.038162 s, deltaX: -1.586151 m, approachRate: -0.392790 m/s, posRepo size: 4 jqgO}FNOT Ignoring new targets: 400.95 m.R}ZygO ProNav: ac range: 400.947083 m, nav range: 398.341248 m, bearing: 26.690923 deg, approach rate: 0.000000 m/s, LOS rate: 0.010111 deg/s, cmd heading: 29.629231 deg, new cmd heading: 29.638743 deg. BgOHeadingCmd: 0.517294 target range: 400.947083 and range: 403.30 m.[m?*" CBʎj4y@Zz?JBɢW ) i)\Niۻi[m?C;I[m?I)e9@i @i@m%0@iY^A ϩ;A ?A >ԁ I I O >/,vXX@A:>:_?:H-ٱ:q FAHRS rotation from veh to nav: [[0.865246,-0.495123,-0.078758],[0.501048,0.859428,0.101657],[0.017355,-0.127420,0.991697]]:H?߿)? p?+?nő? JO?i:>I:v`;:CYNMByR!IbDXVDXybف%bu=ٔb %Q-b?9dYd=fhGydfBEj?hQ 5r4j'?Q 9r4j_)jBYpyrñ>Q Ir@jlDIj;ij;j:34yxɮz~@z/EjgOFNOT Ignoring new targets: 400.95 m.RG9Z%G9gO- ProNav: ac range: 400.947083 m, nav range: 398.131805 m, bearing: 26.694517 deg, approach rate: -0.635785 m/s, LOS rate: 0.010914 deg/s, cmd heading: 29.638742 deg, new cmd heading: 29.645933 deg. B-ʟ9gO5HeadingCmd: 0.517419 target range: 400.947083 and range: 403.30 m.5u?1*9"9 999AAʎAAIjIZM?Y颅IBɢN*) Di)[c顉iٻiu?\Nc{;Iu?Ii!>59@1 @1@54@1@==@==Eu EuEu$Eq"Eu:*Euk:VEu4ZEqa@a@a@a@ԉ^AYԱIIO>BG>BB!IBvBB% =BBhDB`;B$E )5,XX@AJƜ>J 9?J7ٱJ ZAHRS rotation from veh to nav: [[0.865517,-0.493896,-0.083347],[0.500525,0.859101,0.106863],[0.018824,-0.134209,0.990774]]JH Q?߿@=VM?}?e[?F?`-l?iJƜ>IJF`;HYnBBynr!IIrp=)r>ttiMb@Mb@Mb@Ա 9V-? rhMb?Y?yC <ArA 9 A)AYbDVD:y:%7=ٔXQ->9 Y = hGy 8FE>Q 5%4'?Q 9%4\)BY% ?Q E%:y-:>Q I-@lDI:i{:;4y5Bɮ5@50EjygOFNOT Ignoring new targets: 400.95 m.R4|9Z4|9gO ProNav: ac range: 400.947083 m, nav range: 397.855621 m, bearing: 26.700729 deg, approach rate: -0.612232 m/s, LOS rate: 0.013781 deg/s, cmd heading: 29.645934 deg, new cmd heading: 29.658367 deg. B9gOHeadingCmd: 0.517636 target range: 400.947083 and range: 403.30 m.΃?*" .BʎjZw?GBɢd) pi)iK׻i΃?wW;I΃?I9@ @@4@E} E}E}&Ey"E}m:*E}X:VE}4ZEyBE}S9 4<,XX@AY]?By]n!IbDmVDmyC%S=ٔQ->9Y=hGyE>Q 54'?Q 94Z)ʟBYyQ I@lDIW:i:A4yɮS@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 400.95 m.R9Z9gO ProNav: ac range: 400.947083 m, nav range: 397.616333 m, bearing: 26.706118 deg, approach rate: -0.626165 m/s, LOS rate: 0.014110 deg/s, cmd heading: 29.658368 deg, new cmd heading: 29.669153 deg. B9gOHeadingCmd: 0.517824 target range: 400.947083 and range: 403.30 m.$?*" ʎ   j Z X?eEBɢe!)i 8i)f͎irUջi$?gR;I$?IA9@ @@3@iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E  E E %E "E 2:*E g:VE 4ZE a @a @a @a @^A d;A zA II IY Oe >Թ BB, YX@A: 2>:n?:6ٱ: BAHRS rotation from veh to nav: [[0.867015,-0.490126,-0.089785],[0.497826,0.859748,0.114032],[0.021303,-0.143564,0.989412]]:H?7^߿`&@a? ?-1?ZЕ?@R`¿B?i: 2>I:`;:CYNGByRw!IbDZVDZyv=%vU=ٔv5ӻQ-v>9xYx=zhGyz9FzE~>Q 54'?Q 9 4X)ӟBY y >Q I @lDI:i:H4yɮ@j9gOEFNOT Ignoring new targets: 400.95 m.RE9ZE9gOU ProNav: ac range: 400.947083 m, nav range: 397.378510 m, bearing: 26.711573 deg, approach rate: -0.619140 m/s, LOS rate: 0.014210 deg/s, cmd heading: 29.669153 deg, new cmd heading: 29.680070 deg. BU 9gO]HeadingCmd: 0.518015 target range: 400.947083 and range: 403.30 m.]?a*a"a aaaiiʎiiqjqZu`?额DBɢ"+) fi)顩iuӻi?C@9I?IBI>B׍CB!IԑBqBB$ =BBB`;B$EBe֍CBe֍CBe”CBe& =Be& =Ce61@9 @9@E/@A@a@eZA]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976574^Ayb];II O> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2236479 B(I,h&YX@AE& E&E$E$"E&:*E&]t:VE$ZE$BE&>B?BٱBb  JAHRS rotation from veh to nav: [[0.867926,-0.488321,-0.090814],[0.496210,0.860532,0.115153],[0.021917,-0.145007,0.989188]]BH` ?@@߿??z?z?Lq? ¿`m?iB>>IB `;BCY%JBy-|!I ))5=1iEMb@Mb@Mb@AAAA A9EX9v?jtĿ~jt?YE?yE E9qYq=}hGyy}E}>Q 543'?Q 94V)BY#?Q E:y>Q I@mDI ;iL ;mP4yBɮ@1EjgOFNOT Ignoring new targets: 400.95 m.R 9Z 9gO ProNav: ac range: 400.947083 m, nav range: 397.095825 m, bearing: 26.719404 deg, approach rate: -0.622974 m/s, LOS rate: 0.017271 deg/s, cmd heading: 29.680071 deg, new cmd heading: 29.695745 deg. B9gOHeadingCmd: 0.518289 target range: 400.947083 and range: 403.30 m.?*" "BʎjZ9@BBɢ&) i)i+ѻi%?-$Y-DI-?I19@ @@@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475698i ^A 9A! A% ?ԙ AI IY Ii Ou >FP,nBYX@A2R>2WK?2D5ٱ2O :AHRS rotation from veh to nav: [[0.869198,-0.486084,-0.090654],[0.493954,0.861917,0.114490],[0.022484,-0.144294,0.989279]]2H`w?`߿5?Ԕ?>O?`)?7x¿@-?i2R>I2`;2C BC)B`ABHBE@DF7aAiFmIFFDIJsCiJ`A zzE)x~fC ~`A~~CF||I)i)CI`A  ` F   `A @i 1i5C5A)1 1I9Y9YE7ByEd!IbD]VD]ym%mH=ٔm}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727734Q->9Y=hGy:FλE>Q 54j(?Q 94T)BYy:>Q I@mDI\;i;W4yɮ@jgO%FNOT Ignoring new targets: 400.95 m.R%h9Z%h9E5 E1E5(E1"E5O:*E1VE5c44ZE1a=@a=@a=@a=@IgO] ProNav: ac range: 400.947083 m, nav range: 396.839172 m, bearing: 26.726626 deg, approach rate: -0.610975 m/s, LOS rate: 0.017202 deg/s, cmd heading: 29.695747 deg, new cmd heading: 29.710199 deg. B]9gOeHeadingCmd: 0.518541 target range: 400.947083 and range: 403.30 m.e?a*a"a ʎjZ@@BɢW .)! %;i))-))i-ϻi5?557sI5?I9@ @@0@yAIAM?ABaBaBe!IBelBBe# =BaBaBeH`;Beo$Eԩ^AE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982016I I) OE > V,ak\YX@A: >:?:[+ٱ:% FAHRS rotation from veh to nav: [[0.870326,-0.484262,-0.089573],[0.491952,0.863290,0.112757],[0.022724,-0.142201,0.989577]]:H?%޿@F#|? ?ݼ? D?3¿@?i: >I:`;:CY%9By%f!IiMb@Mb@Mb@ 9rh|?S㥛Ŀy&1?Y?y$`<GA )Y( AbDVDy,<%E=ٔQ->9Y=hGyﶻE>Q 54k(?Q 943S)BYk!?Q E:yu>>Q Iu@)mDI],EvYX@A2N>2P?2ٱ2Ջ NAHRS rotation from veh to nav: [[0.871061,-0.482829,-0.090155],[0.490618,0.864029,0.112912],[0.023379,-0.142585,0.989506]]2H?`޿`Gf?`?@?@?5@¿ ?i2N>I2`;0Y FByv!II%{>)%<)) 5p<5<bD5VD50yu2j=%}>=ٔ}uǺQ-}>9yY=hGy;FgE>Q 543(?Q 94VQ)BYyx>Q I@:mDId:i:kf4yBɮ@2EP-B*** querying acoustic contact ***) )j1gO=FNOT Ignoring new targets: 400.95 m.R=ܬ9Z=ܬ9gOm ProNav: ac range: 400.947083 m, nav range: 396.319153 m, bearing: 26.742109 deg, approach rate: -0.631286 m/s, LOS rate: 0.018891 deg/s, cmd heading: 29.725202 deg, new cmd heading: 29.741185 deg. BmJ :gOuHeadingCmd: 0.519082 target range: 400.947083 and range: 403.30 m.u?q*q"y yyyʎjZ = @;c,EcYX@AJ>J]?JżٱJ| VAHRS rotation from veh to nav: [[0.872864,-0.478614,-0.095059],[0.487364,0.864737,0.121270],[0.024159,-0.152180,0.988057]]JH`?޿U0?@?` ?6?zÿ*?iJ>IJ+`;JCBvA>Bv֍CBv!IBvgBBv% =BtBvgDBvP`;Bvn$EY}HBy}x!IbDVD:2Qy}><%};=ٔQ->DAT read: 00:35:49.1636 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 398,-0.03, 2.926, 1.387,-3.131, 2.472, PHS= 0.556,-1.040, 0.637, RAW= 152.4, -1.9, CAL= 151.6, -2.9, ROT= 358.4, 2.9 91Y1=5hGy1=EE>QQ 5e4UJ(?Q 9e4UgOuYgot valid direction response: 00:35:49.1636 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 398,-0.03, 2.926, 1.387,-3.131, 2.472, PHS= 0.556,-1.040, 0.637, RAW= 152.4, -1.9, CAL= 151.6, -2.9, ROT= 358.4, 2.9 PDAT read: Bearing 172.5, 0.4 (Local) )UBYy>Q I@ULmDIU@ MBDAT read: Tx time:00:35:50.2765 M$Ping request sent.Mrgj,MYX@AB`>B?B-ɼٱB< ZAHRS rotation from veh to nav: [[0.873502,-0.477156,-0.096522],[0.486201,0.865072,0.123529],[0.024556,-0.154832,0.987636]]BH ?`޿`??ࠟ?@%?ÿ൚?iB`>IB`;BCYfMByf!IiMb@Mb@Mb@ 9S?/$ƿL7A`?Y?y&1+=At@ )Y AbDVD:yg<%[=ٔbQ->9Y=hGy Q 54 \(?Q 94  N) %BY!?Q E:y u>Q I@ ZmDI :;i '; t4y)ɮ-_@5)EimpYX@AJmCRmCjm>m E@x@nq)&b4rm4Q?k !|rQ穿Zmbm4QO=m¼v@@PNޙf@em zmcۆ|?R?־Yy2m4C:m߰C"mΜ?*m\BmeBmΜ?i“mQBm Cm>j gOFNOT Ignoring new targets: 400.95 m.R%9Z%9!gOE ProNav: ac range: 400.947083 m, nav range: 395.825562 m, bearing: 26.757780 deg, approach rate: -0.619483 m/s, LOS rate: 0.020780 deg/s, cmd heading: 29.758233 deg, new cmd heading: 29.772548 deg. BE:gOMHeadingCmd: 0.519629 target range: 400.947083 and range: 399.70 m.Mh?I*Q"Q QQQY].BʎYyjZ`?7Bɢ.) ui)i Ȼih?wN%8>I%h?I!5p>i5>@ @@4@@\A@\AI^Ax/IIIO]v>y gHq,kaYX@A06G>6P?6ͼٱ6 >AHRS rotation from veh to nav: [[0.874185,-0.475895,-0.096567],[0.484945,0.865857,0.122962],[0.025096,-0.154321,0.987702]]6H@R?u޿T ?? wz?²?@ÿA?i6G>I6*`;6CYFJByF{!I HHN=N=bDV VDV2y^x%b`=ٔbeºQ-b>9`Yd=fhGydfۀEf>hQ 5n4jno(?Q 9r4jL)j2BYpyrs>Q Ir@jimDIjP;ij~ ;jz4ytɮv@xjgOFNOT Ignoring new targets: 400.95 m.R*9Z*9gO- ProNav: ac range: 400.947083 m, nav range: 395.604797 m, bearing: 26.765240 deg, approach rate: -0.653431 m/s, LOS rate: 0.022093 deg/s, cmd heading: 29.772549 deg, new cmd heading: 29.787477 deg. B-!:gO5HeadingCmd: 0.519890 target range: 400.947083 and range: 399.70 m.5{?1*1"9Ee EeEaEa"Eem:*EeV:VEaZEaam@am@am@am@ 9ʎjZ/u?56BɢU2,)Q ]iY)],YYi];ǻie{?eeTIe{?Iiԑ @  @ @ /@BE<>BEՍCBE!IBElBBE( =BABABE`;BE$EԹ^AU0II9 Oe > rw,=YX@A2G>2P?2fӼٱ2s :AHRS rotation from veh to nav: [[0.874295,-0.475694,-0.096562],[0.484709,0.866184,0.121585],[0.025803,-0.153106,0.987873]]2H9?q޿D y?Ʒ?3 ?@l?ÿ?i2G>I2H`;2C\YbQByb!IiMMb@Mb@Mb@IIII I9Mx&1?#~jĿl?YMA ?yM%M=II M A)MnAIYM AbDeVDeyu =%u?=ٔuٺQ->9Y=hGy=FE>Q 54(?Q 94J)DBY%?Q E:y >Q I @{mDI;i;4yɮ@j9gO=FNOT Ignoring new targets: 400.95 m.REW9ZEW9gOU ProNav: ac range: 400.947083 m, nav range: 395.326752 m, bearing: 26.773554 deg, approach rate: -0.629458 m/s, LOS rate: 0.018834 deg/s, cmd heading: 29.787476 deg, new cmd heading: 29.804115 deg. BU :gO]HeadingCmd: 0.520180 target range: 400.947083 and range: 399.70 m.]*?Y*Y"a aaaam-BʎiiijiZuy?额4Bɢ) i)M%顡iŻi*?YI*?IUGa@aEu EuEu#Eq"Eu2:*Euc:VEu3ZEqBEu!*},!YX@ARβ>R?RqؼٱR*] bAHRS rotation from veh to nav: [[0.874104,-0.476024,-0.096659],[0.485018,0.866187,0.120320],[0.026450,-0.152053,0.988018]]RH ? .w޿@ ?η?D;? ?zvÿ؝?iRβ>IR=`;PY YBy !IbD%VD%:y5)=%5N=ٔ=պQ-=>99Y9=EhGyAE|x:EE>IQ 5U4M(?Q 9U4MI)MSBYYy]#>Q I]@MmDIM;iM3;MC4yeBɮe@e*EjgOFNOT Ignoring new targets: 400.95 m.R9Z9gO ProNav: ac range: 400.947083 m, nav range: 395.085938 m, bearing: 26.780755 deg, approach rate: -0.630245 m/s, LOS rate: 0.018858 deg/s, cmd heading: 29.804114 deg, new cmd heading: 29.818525 deg. B :gOHeadingCmd: 0.520431 target range: 400.947083 and range: 399.70 m.:?*" ʎjZ?2BɢR&) Jپi)ti4Ļi:?sf5WI:?I @ @@@@=@=QqE} E}E}!Ey"E}V:*E} n:VE}c3ZEya@a@a@a@^AlXAY Ia Iy O >ԙ B= >>B9 B= !IB= vBB= ) =B9 B9 B= `;B= $E愄,bZX@A:F>:.?:;ܼٱ: FAHRS rotation from veh to nav: [[0.873147,-0.478074,-0.095180],[0.486715,0.865805,0.116146],[0.026881,-0.147738,0.988661]]:H ?Ę޿ ]V&???@?¿?i:F>I:!_;8Y^^By^!IIb!>)b>dfAbDjVDj02y<%N=ٔ LQ- >9 Y =hGy>FŠ;E>9Q 5E4=(?Q 9E4=8G)=cBYIyM>Q IM@=mDI=:i=p:=H4yUBɮU@QԁPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 400.95 m.R-9Z-9MT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.gO ProNav: ac range: 400.947083 m, nav range: 394.832977 m, bearing: 26.788271 deg, approach rate: -0.601644 m/s, LOS rate: 0.017887 deg/s, cmd heading: 29.818526 deg, new cmd heading: 29.833567 deg. B:gOHeadingCmd: 0.520694 target range: 400.947083 and range: 399.70 m.3L?*" ʎ j!Z%b@-0Bɢ5G)1 5vҾi1)5 99i=@ûiE3L?EE&>IE3L?ԡI @ @@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.191754E  E E $E "E :*E ]t:VE 4ZE BE &rU,/ZX@ADB>B?B!9޼ٱB VAHRS rotation from veh to nav: [[0.872166,-0.479977,-0.094599],[0.488458,0.865109,0.113995],[0.027124,-0.145631,0.988967]]BH ?@޿ 7 B?`?`.?Dƛ?`¿`?iB>IBd`;BCYgBy!Ii5Mb@Mb@Mb@1111 195x&1?nL7A`?Y5!?y5V5+=5GA1 1)5 A1Y5( AbDMVDMܲy] =%]=ٔeCQ-e>9aYa=ehGym?Fmz;Em>qQ 5}4u`(?Q 9}4uD)uvBY%?Q E:y>Q I@umDIu ;iuT ;uY4yɮ@jԹgOFNOT Ignoring new targets: 400.95 m.R9Z9gO ProNav: ac range: 400.947083 m, nav range: 394.503693 m, bearing: 26.796227 deg, approach rate: -0.658303 m/s, LOS rate: 0.015920 deg/s, cmd heading: 29.833566 deg, new cmd heading: 29.849493 deg. B9gOHeadingCmd: 0.520972 target range: 400.947083 and range: 399.70 m.k^?*" RBʎjZ`)@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.443585%.Bɢ%)) -Ǿi))-))i-t»i5k^?=1 =(I=k^?I9@ @@/@^A 09  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.696182EM  EM EM "EI "EM 2:*EM k:VEM (3ZEI aU @aU @aU @aU @Ae .AIi Iy O >bW,IZX@A21Ζ>2<?2iٱ2,v :AHRS rotation from veh to nav: [[0.871117,-0.481952,-0.094222],[0.490298,0.864375,0.111646],[0.027635,-0.143453,0.989271]]2H0?L޿  a??֔?@ML?\¿?i21Ζ>I2g_;2C>C@i@I@@@ B_ADDDDDIFD)HiH)HIJ_ALL LLLLiLPiPRj^A)R; REIP T)VX{ATTTYTY^qBy^!IhbDfVDfNyrq=%rx=ٔr˺Q-r?9v ?Yv ?=vhGytz;Ez?|Q 54~k(?Q 94~B)~BYy>Q I@~mDI~:i~:~4yBɮU@+EjgOFNOT Ignoring new targets: 400.95 m.R9Z9gO ProNav: ac range: 400.947083 m, nav range: 394.294495 m, bearing: 26.801229 deg, approach rate: -0.605432 m/s, LOS rate: 0.014482 deg/s, cmd heading: 29.849494 deg, new cmd heading: 29.859502 deg. B9gOHeadingCmd: 0.521147 target range: 400.947083 and range: 399.70 m.i?*" ʎjZ-@U-BɢUY)Q UjiY)]>YYi]iei?e eM Ii?II[A)!@! @!@%.0@!@)@)Be7>BeԍCBe!IBeBBaBaBefDBeea;Be$EB%ՍCB%ՍCB!B%( =B%' =C%26checking for new query: numPingsReceived=0, elapsed TxPingTime=2.9499111^AY A ؟AI I O >V,0cZX@A2֗>2?2cIٱ2h :AHRS rotation from veh to nav: [[0.870114,-0.483977,-0.093101],[0.492048,0.863831,0.108096],[0.028107,-0.139866,0.989771]]2H?`y޿yշ}??5?3Ȝ? %4?i2֗>I2K_;2C)Y)y) 11====iMb@Mb@Mb@ 9+?/$Mb?Yv?y1=  A)nAY AbDVD1-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.199615y-4z%57=ٔ5pQ-5>95"?Y="?==hGy=@F=;E=>AQ 5M4E (?Q 9U4E@)EBYUI"?Q EU:yUu>Q IU@EmDIE:iEE:E4yYɮeQ@ajgOFNOT Ignoring new targets: 400.95 m.RX9ZX9gO ProNav: ac range: 400.947083 m, nav range: 394.015778 m, bearing: 26.807617 deg, approach rate: -0.644848 m/s, LOS rate: 0.014791 deg/s, cmd heading: 29.859500 deg, new cmd heading: 29.872287 deg. B9gOHeadingCmd: 0.521370 target range: 400.947083 and range: 399.70 m.}x?*" HBʎE EE'E"E*EVE'4ZEBE!*˺,}ZX@A2D>2OX?2:ٱ2 :AHRS rotation from veh to nav: [[0.868959,-0.486138,-0.092630],[0.494045,0.863049,0.105190],[0.028808,-0.137169,0.990129]]2H?߿ p????@`"?i2D>I2V_;2CY5tBy5!IbDEVDEy]w<%]W=ٔ]Q-]>9e ?Ye ?=ehGyae`;Em>qqQ 5}4u@)?Q 9}4u>)uBYy>Q I@umDIu:iu:u4yɮ@jgOFNOT Ignoring new targets: 400.95 m.RM9ZM9gO ProNav: ac range: 400.947083 m, nav range: 393.779114 m, bearing: 26.812976 deg, approach rate: -0.623686 m/s, LOS rate: 0.014131 deg/s, cmd heading: 29.872287 deg, new cmd heading: 29.883011 deg. B9gOHeadingCmd: 0.521557 target range: 400.947083 and range: 399.70 m.?*" ʎjZ j @*Bɢa) 'i)Q iHi%?%E. %I%?I)@ @@4@ԙ%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.703512E EE(E"EO:*Ez:VEc44ZEa@a@a@a@^AXA ؟AI I O >BE 8>BA BE !IBE BBE * =BA BA BE a;BE %E a,ZX@ADAT read: 00:35:53.2107 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 416,-0.22, 1.879, 0.375, 2.144, 1.474, PHS= 0.508,-1.054, 0.626, RAW= 153.6, -1.0, CAL= 152.6, -2.0, ROT= 357.4, 2.0 -Ygot valid direction response: 00:35:53.2107 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 416,-0.22, 1.879, 0.375, 2.144, 1.474, PHS= 0.508,-1.054, 0.626, RAW= 153.6, -1.0, CAL= 152.6, -2.0, ROT= 357.4, 2.0 EPDAT read: Bearing 174.0, -0.5 (Local) u~Local bearing/azimuth received: Bearing 174.0, -0.5 (Local) w>?ٱȪ DAT read: Range 11 to 50 : 397.5 m (Round-trip 530.0 ms) speed 0.5 m/s *DAT read: user:453> BDAT read: Tx time:00:35:54.3265 $Ping request sent.Iv_;C`direction in FSK: [0.998362,-0.045335,-0.034899]:publishing transmit ping timeFpublishing direction and range infoyDFԃ?B_06XޡYFCDDDD D)FJIFJ ?iFy醿FA ?F+@F5Ft*@ F5)F@IF5=DDFD?&?[^Nԑ F(?)FK9"?Y"?=hGyAFt;E>Q 54{!)?Q 94;)BY'?Q E:y>Q I@mDIy;iF; 4yBɮ-@,EDFZX@AJFCRFCjF(X>FtJ]x@ G1bsT+rFԃ?B_06XޡZF9bF5=Fv@a}oXf@2&J?zFU3݉?> x?vJ:-L?2F2C:F6C"F#?*FDBF BFо!?D“F BFKCF>gO addTargetRange:: Added new target pos. range: 397.500000 m, deltaT: 4.035514 s, deltaX: -2.200012 m, approachRate: -0.545163 m/s, rangeRepo size: 4 gO Added new target pos. range: 395.170166 m, bearing: 26.895932 deg, lat: 36.779343 deg, lon: -121.859098 deg, deltaT: 8.067917 s, deltaX: -5.776917 m, approachRate: -0.716036 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 395.17 m.RZgO ProNav: ac range: 395.170166 m, nav range: 394.586090 m, bearing: 26.734800 deg, approach rate: 0.000000 m/s, LOS rate: 0.014131 deg/s, cmd heading: 29.883010 deg, new cmd heading: 29.898802 deg. BgOHeadingCmd: 0.521833 target range: 395.170166 and range: 397.50 m.і?*" :Bʎjx@Z?m)BɢFc) ji)P'顑i[Siі? 6Iі?Ie>i!>1E EE%E"E*EL_:VE 4ZEBE f6?fٱf zAHRS rotation from veh to nav: [[0.867242,-0.489126,-0.092990],[0.496974,0.861723,0.102223],[0.030131,-0.134866,0.990406]]fH r? M߿@.η`m?Ife_;fCY{By!II%=)%=))bD=VD=02yME=%M_=ٔM|Q-M>9U ?YU ?=UhGyQ])b;E]>aQ 5m4e4)?Q 9m4e9)eBYiym$>Q Iu@enDIe3;ier;ev4yyɮ}@yPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 395.17 m.Rhl9Zhl9gO ProNav: ac range: 395.170166 m, nav range: 394.348267 m, bearing: 26.739332 deg, approach rate: -0.677506 m/s, LOS rate: 0.012918 deg/s, cmd heading: 29.898801 deg, new cmd heading: 29.907870 deg. B 9gOHeadingCmd: 0.521991 target range: 395.170166 and range: 397.50 m.1?*" ʎjZ@?(Bɢ) ii ) ˺*  i ɿi1? XI1?Ii9@ @@4@ԑ^A񖻝T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.DzD@AE EEE"E :*E n:VEZEa@a@a@a@A I I O > E,}ZX@A6_>6t?6Qٱ6V BAHRS rotation from veh to nav: [[0.866621,-0.490167,-0.093295],[0.498000,0.861321,0.100613],[0.031040,-0.133654,0.990542]]6H\?^߿ -ⷿ:?@??ȟ? ?i6_>I6f_;6CYJoByJ!IbDVVDV1yZ%ZU=ٔ^ Q-^>B`Ab4=BdBdBf!IBfBBdBdBdBdBd9pYp=rhGyrBFrzJ;Ev>tQ 5z4vH)?Q 9~4v[7)vBY|y~>Q I~@vnDIv;ivu;v>4y ɮ c@ j)gO5FNOT Ignoring new targets: 395.17 m.R=`9Z=`9gOM ProNav: ac range: 395.170166 m, nav range: 394.096710 m, bearing: 26.744089 deg, approach rate: -0.648580 m/s, LOS rate: 0.012275 deg/s, cmd heading: 29.907872 deg, new cmd heading: 29.917394 deg. BM9gOUHeadingCmd: 0.522157 target range: 395.170166 and range: 397.50 m.U?Q*Q"Q QQYYYʎaaajaZe` ?颕'Bɢ) :i)ZN/顙iAi? "I?Ie9@a @ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.936845@m/@ ^A_1 A) I1 II OU >% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.185956bEE4jEE˶4rEE\00E  E E $E "E 2:*E ]t:VE 4ZE BE !*2?2 tٱ2N :AHRS rotation from veh to nav: [[0.865794,-0.491523,-0.093845],[0.499429,0.860464,0.100854],[0.031178,-0.134188,0.990465]]2H?@u߿=??ѹ?@.?`-@?i2+8>I20^;2CY^|By^!IiMb@Mb@Mb@ 9}?5^I?X9vQ?YM"?yu<tA  A)SAY= AbDVDNyj=%8=ٔ碹Q->9Y=hGy u;E >Q 5%4X_)?Q 9%44)̠BY-.%?Q E-:y->Q I-@(nDI%;iKG;4y=Bɮ=@E-EjqgO}FNOT Ignoring new targets: 395.17 m.RxS9ZxS9)gO ProNav: ac range: 395.170166 m, nav range: 393.814117 m, bearing: 26.749245 deg, approach rate: -0.632919 m/s, LOS rate: 0.011555 deg/s, cmd heading: 29.917393 deg, new cmd heading: 29.927712 deg. B--9gO5HeadingCmd: 0.522337 target range: 395.170166 and range: 397.50 m.5?9*9"9 999AE*BʎAAIjIZM?颵&Bɢ\)  i){y4项i~i? 'I?Iy@y @y@@@[A@WAachecking for new query: numPingsReceived=0, elapsed TxPingTime=1.438827ԉ ^A eA ?A >A ؟AI I O >aW,<[X@A8>>>?>Sٱ> JAHRS rotation from veh to nav: [[0.865430,-0.492116,-0.094085],[0.500034,0.860178,0.100303],[0.031569,-0.133851,0.990498]]>H ?`~߿F?@?@|?@)?@ ")?i>>I> ^;>CYR}ByR!I TTbD^VD^02yf;%f`=ٔfIQ-j>9j"?Yj"?=jhGyjCFn:En>pQ 5v4rq)?Q 9v4r2)rՠBYxyzy>Q Iz@r7nDIr:ir:rV4y|ɮ~q@~.Ej!gO%FNOT Ignoring new targets: 395.17 m.R-V9Z-V9gO= ProNav: ac range: 395.170166 m, nav range: 393.581879 m, bearing: 26.753464 deg, approach rate: -0.645316 m/s, LOS rate: 0.011731 deg/s, cmd heading: 29.927710 deg, new cmd heading: 29.936154 deg. B=9gOEHeadingCmd: 0.522484 target range: 395.170166 and range: 397.50 m.E?A*A"A AIIIIʎQQQjQZU ^?颅%Bɢm) i)S8顉i~i?܏ {pI?IiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.690195E EEE"Ea:*Exv:VEZEa@a@a@a@ԑM9@I @I@I@QԹB9>BB!IBBB) =BBBTa;B$E^Am?Bɺ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.945903 A I I O >X,~[X@A27>2q?2;ٱ2ݼ >AHRS rotation from veh to nav: [[0.864801,-0.493328,-0.093528],[0.501108,0.859754,0.098559],[0.031789,-0.132102,0.990726]]2Hr?`߿v ??@,;?F??i27>I2];2CYFByF!I`iMb@Mb@Mb@ 9V-?`" rh?Y?yC<At@ )XAY AbD5VD5yEBl<%EC=ٔE Q-M>9IYI=MhGyIUB;EU>Q 54)?Q 94m0)BY ?Q E:y>Q I@InDI:i:4yɮ?@j1gO=FNOT Ignoring new targets: 395.17 m.R=jX9Z=jX9gOM ProNav: ac range: 395.170166 m, nav range: 393.313110 m, bearing: 26.758658 deg, approach rate: -0.611547 m/s, LOS rate: 0.011825 deg/s, cmd heading: 29.936152 deg, new cmd heading: 29.946546 deg. BM!9gOuHeadingCmd: 0.522666 target range: 395.170166 and range: 397.50 m.un?y*y"y yyy$BʎjZ@Â@$Bɢg) i)<i%i%n?%3C -I-n?Ii eG}`]Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.1940099`]AYiA%9@! @!@%0@)E EE#E"EO:*Eą:VE3ZEBE ,qZ9[X@A*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.446942Y%By%!I -4<-<bD5VD5kye_;%eH=ٔmQ-m>9m ?Ym ?=uhGyuDFuEu>Q 54)?Q 94@.)BYyQ I@YnDI:ik:4yBɮ5@%EP B*** querying acoustic contact ***  jgOFNOT Ignoring new targets: 395.17 m.R%\9Z%\9gO- ProNav: ac range: 395.170166 m, nav range: 393.063660 m, bearing: 26.763484 deg, approach rate: -0.623337 m/s, LOS rate: 0.012068 deg/s, cmd heading: 29.946548 deg, new cmd heading: 29.956206 deg. B59gO=HeadingCmd: 0.522834 target range: 395.170166 and range: 397.50 m.=z?9*9"9 99AAAʎAIIjIZM@@}#Bɢ}µ )y }¡iy)J@顁iWiz? fIz?IIZA)59@1 @1@50@1@==@==Qqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.698486^AU9E EE(E"E:*E]t:VEc44ZEa@a@a@a@Aa Ii Iy O >ԡ ,/4S[X@AB62>B4B6!IB6BB4B4B4B6a;B6$EB8>B ?BdٱBq JAHRS rotation from veh to nav: [[0.863795,-0.494941,-0.094296],[0.502790,0.858853,0.097842],[0.032560,-0.131927,0.990725]]BH5?߿# ? {?0 ? ? ?iB8>IB];BCYrByv!IIzV>)z<bD~VD~Ny *<% P=ٔQ->9Y=hGy=ӡ;E=>AQ 5M4E)?Q 9M4E*,)EBYQyU>Q IU@EhnDIE:iE:E4yyɮ@jgOFNOT Ignoring new targets: 395.17 m.RSS9ZSS9gO ProNav: ac range: 395.170166 m, nav range: 392.825684 m, bearing: 26.768026 deg, approach rate: -0.604616 m/s, LOS rate: 0.011547 deg/s, cmd heading: 29.956206 deg, new cmd heading: 29.965296 deg. B9gOHeadingCmd: 0.522993 target range: 395.170166 and range: 397.50 m.?*!"! !!!))ʎ)))j1Z5`@]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.9506391ɢ==)A eii)uaTEyyi}cԩi?ق Q(:I?II]9@Y @Y@]/@Yi I A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.202788 ^A= Β{E  E E &E "E :*E k:VE 4ZE BE y,"p[X@A0Y=By=!IiMb@Mb@Mb@ 9Zd;?T㥛 rh?Y?yxA  A)AAY AbDVD0y;y<%)=ٔQ->9 "?Y "?= hGy EF E>Q 54)?Q 9%4))BY%F"?Q E%:y%ԩ>Q I%@{nDI:iZ:4y)ɮ5@1jQgO]FNOT Ignoring new targets: 395.17 m.R]Hh9Z]Hh9gOm ProNav: ac range: 395.170166 m, nav range: 392.525970 m, bearing: 26.773991 deg, approach rate: -0.637293 m/s, LOS rate: 0.012692 deg/s, cmd heading: 29.965297 deg, new cmd heading: 29.977235 deg. Bmӹ9gOuHeadingCmd: 0.523201 target range: 395.170166 and range: 397.50 m.}?y*y"y yyy3BʎjZ`B @"Bɢ) Ri)_Ii<^i?z Xs:I?Iԑ]9@Y @Y@]1@YBDAT read: Rx Time:00:35:57.2575 TRx dataTimestamp_ set to:1761698157.914266checking for new query: numPingsReceived=0, elapsed TxPingTime=3.456455Թ^Amrg: A .AI I O >A,6x[X@A2gC>2bw?2 ٱ2+ :AHRS rotation from veh to nav: [[0.862733,-0.495845,-0.099141],[0.504523,0.857221,0.103093],[0.033868,-0.138961,0.989718]]2H ?߿`Pa`%?Zn?Pd?@W? y ƫ?i2gC>I2f ];0Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.705977YJByJ!IPPbDVVDVNyZ\<%^g=ٔ^PrQ-^>9b ?Yb ?=bhGy`b3;Ef>dQ 5j4f~)?Q 9n4f')fBYlyn >Q In@fnDIf3;if;fI4ytɮv@v&E|jgOFNOT Ignoring new targets: 395.17 m.R_9Z_9gO- ProNav: ac range: 395.170166 m, nav range: 392.304565 m, bearing: 26.778325 deg, approach rate: -0.624683 m/s, LOS rate: 0.012236 deg/s, cmd heading: 29.977236 deg, new cmd heading: 29.985909 deg. B-$9gO5HeadingCmd: 0.523353 target range: 395.170166 and range: 397.50 m.5t?1*1"1 19EE EEEE'EA"EE;*EE:VEE'4ZEAaM@aM@aM@aM@QQQʎYYYjYZes@!ɢ%J )) -vi))-L))i5ci5t?= =7;I=t?I9M>iM>@ @@4@ @@\A1B-->B-ӍCB-!IB-BB-. =B)B-eDB-`;B-$EBԍCBԍCBēCB* =B* =CM5a^A=9 DAT read: 00:35:57.2575 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 415, 0.30, 1.032,-0.562, 1.305, 0.522, PHS= 0.612,-1.039, 0.739, RAW= 153.7, -3.7, CAL= 153.2, -4.9, ROT= 356.8, 4.9  Ygot valid direction response: 00:35:57.2575 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 415, 0.30, 1.032,-0.562, 1.305, 0.522, PHS= 0.612,-1.039, 0.739, RAW= 153.7, -3.7, CAL= 153.2, -4.9, ROT= 356.8, 4.9 = PDAT read: Bearing 171.6, -0.5 (Local) E ~Local bearing/azimuth received: Bearing 171.6, -0.5 (Local) u DAT read: Range 11 to 50 : 395.1 m (Round-trip 526.8 ms) speed 0.4 m/s  *DAT read: user:454>  BDAT read: Tx time:00:35:58.3765  $Ping request sent. U/=?U>+@U AUD +@ U%)USF@IU%=QQUi?,>Nq?4g Up?)UP=IUdiU%=QQ :publishing transmit ping time  Fpublishing direction and range infoyQU6~U?F}yb$ݵYQQQQQ Q)QIQiQQQQQ Q)QIQQQUi?,>Nq?4g Q)QIQiQQQm,W[X@A2>2?2ٱ2 :AHRS rotation from veh to nav: [[0.862078,-0.496955,-0.099283],[0.505574,0.856851,0.100998],[0.034879,-0.137263,0.989920]]2H$?߿j`-?Sk?@۹?`ۡ?ؑ`m?i2>I2];2CYVByV!I XXYU9"?Y"?=hGyFF.;E>Q 54$)?Q 94%)BQ A+:YQ E:y>Q I@nDI:i>4y Bɮ@v[X@AJcCRcCj-L>5Uykx@i_5{9V@r6~U?F}yb$ݵZdb%= fu@n$e@>?Qw0zh`A?. ?6`2o/C:C"L|?*߷BDB#?߷“eBCd>gO addTargetRange:: Added new target pos. range: 395.100006 m, deltaT: 4.033966 s, deltaX: -2.399994 m, approachRate: -0.594947 m/s, rangeRepo size: 4 gO  Added new target pos. range: 392.773804 m, bearing: 26.554978 deg, lat: 36.779343 deg, lon: -121.859112 deg, deltaT: 4.033966 s, deltaX: -2.396362 m, approachRate: -0.594046 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 392.77 m.RZEM EMEM%EI"EMa:*EM[:VEM 4ZEIBEM(6, [X@A(2Fe>2R?2ٱ2c >AHRS rotation from veh to nav: [[0.861547,-0.497943,-0.098938],[0.506390,0.856754,0.097684],[0.036125,-0.134260,0.990287]]2Hˑ?@L߿T Y4?j??~?r/ o?i2Fe>I21];2CYFByF!IaN@Powering downbDVDy =%0=ٔ 0Q->9 ?Y ?=hGyy ;E>)Q 5-4->*?Q 954-")-(BQ A5 :Y1Q E5[:y5>Q I5@-nDI-:i-n?-84y9ɮEj@AP]B*** querying acoustic contact ***Y YjqgOuFNOT Ignoring new targets: 392.77 m.Ru4a9Z}4a9ԁgO ProNav: ac range: 392.773804 m, nav range: 391.192108 m, bearing: 26.628285 deg, approach rate: -0.648914 m/s, LOS rate: 0.012306 deg/s, cmd heading: 29.997832 deg, new cmd heading: 30.008755 deg. B*9gOHeadingCmd: 0.523752 target range: 392.773804 and range: 395.10 m.?*" ʎjZ q?ɢZf) 1i):Uii?&;I?IET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.y@y @y@}4@yDzDE EE&E"E:*Ek:VE4ZEa@a@a@a@ԩ^A oM;B <A <B 0>B B "IB BB B B B `;B $E A- ؟AI9 IQ Oe >+<,&[X@ABchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.960299:>: ?:]ٱ:? JAHRS rotation from veh to nav: [[0.861400,-0.498303,-0.098408],[0.506564,0.856996,0.094613],[0.037189,-0.131349,0.990638]]:H?`2߿D15?l?@8?@ ?` @O?i:>LI:w)];:CYVByV!I ^p<^<bDbVDbyj/=%ju=ٔjsQQ-j?9n"?Yn"?=nhGynGFrj0:Er?tQ 5z4v*?Q 9z4v )v2BQ Az9YxQ E~2:y~>Q I~@vnDIvG ;iv?vQ4yɮ@'Ej)gO-FNOT Ignoring new targets: 392.77 m.R5 Z9Z5 Z9gOE ProNav: ac range: 392.773804 m, nav range: 390.983276 m, bearing: 26.632246 deg, approach rate: -0.627843 m/s, LOS rate: 0.011915 deg/s, cmd heading: 30.008754 deg, new cmd heading: 30.016680 deg. BEp9gOMHeadingCmd: 0.523890 target range: 392.773804 and range: 395.10 m.M?I*I"I IQQQQʎYYYjYZeч?颉ɢ ) i)X顑ibi?O'I?IM9@I @I@M/@I^Aur;AyzA}WA5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.212134E EE$E"Em:*EVE4ZEBER! Gd,[X@A2|>2?29ٱ2L :AHRS rotation from veh to nav: [[0.861911,-0.497132,-0.099846],[0.505642,0.857387,0.095989],[0.037888,-0.133220,0.990362]]2HƔ?@߿7.?o??f?[ ?i2|>I2yI];0YFByF!IbDNVDNyV;%VM=ٔVQ-Z>9Z ?YZ ?=ZhGyX^-E^>`Q 5f4b,*?Q 9f4b)b>BQ Af9YdQ Ej:yj>Q Ij@bnDIb:ib?bQ4ylɮn@p|j gO FNOT Ignoring new targets: 392.77 m.RZ9ZZ9gO% ProNav: ac range: 392.773804 m, nav range: 390.733765 m, bearing: 26.637020 deg, approach rate: -0.625023 m/s, LOS rate: 0.011966 deg/s, cmd heading: 30.016680 deg, new cmd heading: 30.026234 deg. B%29gO-HeadingCmd: 0.524057 target range: 392.773804 and range: 395.10 m.-(?)*)") )1111ʎ199j9ZE?iɢmr)i mii)u I\qqiui(? }ydB;I5(?Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.465075)m9@i @i@m0@iQ^Avт;ԁ A ؟AI & dClearing failed state for component RDI_Pathfinderq I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.716191E  E E &E "E 2:*E :VE 4ZE a @a @a @a @>L, \X@A2>2U?2ٱ2 :AHRS rotation from veh to nav: [[0.862867,-0.495007,-0.102120],[0.503995,0.857891,0.100063],[0.038076,-0.137809,0.989727]]2H?3߿$` ?s??@~?`@׫?i2>I2B];2CYFByF!IJ:Expecting PD13 message formatbDRVDRyZ<%ZJ=ٔ^lQ-^>9^"?Y^"?=bhGybHFbEb>dQ 5j4fb@*?Q 9j4fZ)fJBQ Aj9YlQ En9yn>Q In@fnDIf] ;ify@f 4ypɮry@tYjgOFNOT Ignoring new targets: 392.77 m.RGT9ZGT9gO ProNav: ac range: 392.773804 m, nav range: 390.480255 m, bearing: 26.641940 deg, approach rate: -0.597297 m/s, LOS rate: 0.011599 deg/s, cmd heading: 30.026236 deg, new cmd heading: 30.036082 deg. Bө9gOHeadingCmd: 0.524229 target range: 392.773804 and range: 395.10 m.3?!*!"! !!!))ʎ))1j1ZU?yɢ})  i)_顁i}i3?\ev:I3?IBe>>BeՍCBe"IBeƒBBe* =BaBegDBe`;Be$EM9@I @I@M/@Iԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.968225Թ^A_;A I I O >?v ,'\X@A2֝>2"?2ٱ2z :AHRS rotation from veh to nav: [[0.864004,-0.492592,-0.104169],[0.502047,0.858522,0.104349],[0.038030,-0.142456,0.989070]]2H@?߿˪ ?@y?@?x?`;¿w?i2֝>I29];2CYFByF!IHJ@AbDNVDNyV<=%VK=ٔVq8Q-Z>9XYX=ZhGyX^E^>`Q 5f4bT*?Q 9f4b-)bVBQ Afo9YdQ Ef9yj>Q Ij@bnDIb:ib<@b 4ylɮn@n(EjgOFNOT Ignoring new targets: 392.77 m.R m9Z m9gO ProNav: ac range: 392.773804 m, nav range: 390.228302 m, bearing: 26.646912 deg, approach rate: -0.658314 m/s, LOS rate: 0.012999 deg/s, cmd heading: 30.036081 deg, new cmd heading: 30.046032 deg. BR9gO%HeadingCmd: 0.524402 target range: 392.773804 and range: 395.10 m.%9??!*!"! !))))ʎ111j1Z5`@aɢeV)a e(uia)mbiiimpiu9??uvuKIu9??Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.220141IbE=-4jE=4rE=p/E EE%E"ED:*EAr:VE 4ZEBE1A ],3A\X@A2솜>2&?2jٱ2k :AHRS rotation from veh to nav: [[0.865283,-0.490070,-0.105436],[0.499828,0.859488,0.107012],[0.038178,-0.145296,0.988651]]2He?@O]߿.??"e? ? ¿`?i2솜>I2`];2CYFByF!IbDLVDLyV;%VJ=ٔVQ-Z>9XYX=ZhGyZIF^ϻE^>`Q 5f4bh*?Q 9f4b)bbBQ AfB9YdQ Ej9yjq>Q Ij@bnDIb#:ib8@bc4ylɮn@pjgOFNOT Ignoring new targets: 392.77 m.R ef9Z ef9gO ProNav: ac range: 392.773804 m, nav range: 389.975616 m, bearing: 26.651996 deg, approach rate: -0.625289 m/s, LOS rate: 0.012589 deg/s, cmd heading: 30.046033 deg, new cmd heading: 30.056208 deg. BQ9gO%HeadingCmd: 0.524580 target range: 392.773804 and range: 395.10 m.%J?!*!"! ))))1ʎ111j1Z= %@Qɢ]ob)Y ]VriY)]2fYaieY»ieJ?mmDImJ?Ii 9@  @ @ e4@  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724174AE EE'E"E:*Ek:VE'4ZEa@a@a@a@^AΒ{qAI AM @ABY B] ֍CB] "IB] ̃BB] # =BY BY B] `;B] O$EAE .AII IY Om >ԡ ,^e[\X@A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.9760676R{>6Y?6ٱ6< BAHRS rotation from veh to nav: [[0.866298,-0.488217,-0.105700],[0.498058,0.860410,0.107859],[0.038287,-0.146083,0.988531]]6H?>߿@-/?y? ?@a?ղ¿@ ?i6R{>I6Q];6CYJByJ!IbDVVDVyZM=%^J=ٔ^Q->9% ?Y% ?=%hGy!%E%>)Q 554-~*?Q 954-)-nBQ A=9Y9Q E=x9y=k>Q I=@-oDI-e ;i-R@-4yIɮM@IPeB*** querying acoustic contact ***i ijqgOuFNOT Ignoring new targets: 392.77 m.R}i9Z}i9gO ProNav: ac range: 392.773804 m, nav range: 389.714569 m, bearing: 26.657333 deg, approach rate: -0.624033 m/s, LOS rate: 0.012768 deg/s, cmd heading: 30.056206 deg, new cmd heading: 30.066889 deg. B9gOHeadingCmd: 0.524766 target range: 392.773804 and range: 395.10 m.W?*" ʎjZU@ɢ) VWi) h  i )VûiW?f+IW?Iq@ @@4@ԡMGe^Ay9^AY A^AU_checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228533E EE!E"EO:*E1]:VEc3ZEBE  ,8Nu\X@A2>2 &?2`ٱ2U :AHRS rotation from veh to nav: [[0.867123,-0.486297,-0.107762],[0.496610,0.860750,0.111749],[0.038413,-0.150416,0.987876]]2H y?|߿@M v?`C?? ᪣?@ÿ?i2>I2w];2CY^By^!I b49r"?Yr"?=rhGyrJFvEv>xQ 5~4z*?Q 9~4z)zzBQ A~8Y|Q EI9y>Q I@zoDIz2 ;iz@l@z4y ɮ @ )Ej9gOEFNOT Ignoring new targets: 392.77 m.RMl9ZMl9gO ProNav: ac range: 392.773804 m, nav range: 389.466431 m, bearing: 26.662467 deg, approach rate: -0.624293 m/s, LOS rate: 0.012925 deg/s, cmd heading: 30.066889 deg, new cmd heading: 30.077163 deg. B99gOHeadingCmd: 0.524945 target range: 392.773804 and range: 395.10 m.b?*" ʎjZ` @uBDAT read: Rx Time:00:36:01.3043 uTRx dataTimestamp_ set to:1761698161.945345}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481445Iɢd) 2^i)l顉iWnĻib?ʻIb?I9@ @@4@I ^A A zA ZA% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.732555E  E E #E "E :*E Ar:VE 3ZE a @a @a @a @I I O >q #,Gq\X@AF(>FD?F7ٱF RAHRS rotation from veh to nav: [[0.867817,-0.484505,-0.110226],[0.495412,0.860753,0.116925],[0.038227,-0.156077,0.987005]]FH '? ߿7մ?@I??@n?@Uÿ`?iF(>IFu^];FCYZByZ!IbDbVDbyj><%nH=ٔn9Q-n>9pYp=rhGyrKFr~^Ev>tQ 5z4v*?Q 9~4v)vBQ A~8Y|Q E~"9y~#>Q I~@v/oDIv ;iv.@v4y ɮ @ jQgO]FNOT Ignoring new targets: 392.77 m.R]yl9Z]yl9gOm ProNav: ac range: 392.773804 m, nav range: 389.211548 m, bearing: 26.667788 deg, approach rate: -0.618544 m/s, LOS rate: 0.012921 deg/s, cmd heading: 30.077161 deg, new cmd heading: 30.087810 deg. B-9gOHeadingCmd: 0.525131 target range: 392.773804 and range: 395.10 m.o?*" ʎjZ  @B+>BҍCB("IBփBB- =BBeDB_;B$E)"Bɢh!) .Zi)oi{Żio?shIo?Ia=9@9 @A@E3@Auchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.986427ԁԙ ^A [RӻI I O >*,Z\X@A6>6?6ٱ6/# ^AHRS rotation from veh to nav: [[0.868122,-0.483643,-0.111594],[0.494857,0.860782,0.119046],[0.038482,-0.158570,0.986598]]6H@?`޿@hຫ??y?䳣?@LĿ5?i6>I6];4YjÃByj"IbDrVDr0yz=%zA=ٔzQ-z>9|Y|=~hGy|FĺE> Q 54 *?Q 94 G) BQ A8YQ E9y>Q I@ @oDI `;i @ `4y%Bɮ%*@% EeDAT read: 00:36:01.3043 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 414,-0.01, 2.324, 0.777, 2.616, 1.890, PHS= 0.536,-1.069, 0.682, RAW= 154.3, -1.8, CAL= 153.5, -3.0, ROT= 356.5, 3.0 mYgot valid direction response: 00:36:01.3043 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 414,-0.01, 2.324, 0.777, 2.616, 1.890, PHS= 0.536,-1.069, 0.682, RAW= 154.3, -1.8, CAL= 153.5, -3.0, ROT= 356.5, 3.0 uPDAT read: Bearing 172.5, -0.7 (Local) u~Local bearing/azimuth received: Bearing 172.5, -0.7 (Local) DAT read: Range 11 to 50 : 392.7 m (Round-trip 523.7 ms) speed 0.4 m/s *DAT read: user:455> BDAT read: Tx time:00:36:02.4264 $Ping request sent.580Qx@?q47ĸgn4r5bX?_D6yoU˪Z55zb5PwV=5+56u@)ނ4e@=uVz5-; ?]w? &m25)C:5̯C"5Wjx?*5 koB5B5L|?1“15C5>1gO addTargetRange:: Added new target pos. range: 392.700012 m, deltaT: 4.280369 s, deltaX: -2.399994 m, approachRate: -0.560698 m/s, rangeRepo size: 4 gO Added new target pos. range: 390.386871 m, bearing: 25.756768 deg, lat: 36.779353 deg, lon: -121.859112 deg, deltaT: 4.280369 s, deltaX: -2.386932 m, approachRate: -0.557646 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 390.39 m.!RMZIgO ProNav: ac range: 390.386871 m, nav range: 389.888184 m, bearing: 26.603862 deg, approach rate: 0.000000 m/s, LOS rate: 0.012921 deg/s, cmd heading: 30.087810 deg, new cmd heading: 30.099923 deg. BgOHeadingCmd: 0.525343 target range: 390.386871 and range: 392.70 m.|?*" ʎj@3x@Z?)ɢ-߼)- -Z?i1)5q11i5ƻi}|?}D }GI}|?I9@ @@/@Qԁ ^A ΒIy I O >0,\X@A0YBy"IbDVDy%.=ٔQ->9Y=hGyLF E >Q 54*?Q 94 )BQ A8YQ E8yQ I@SoDI:i@4y)ɮ-@)jQgOUFNOT Ignoring new targets: 390.39 m.R]9Z]9gOm ProNav: ac range: 390.386871 m, nav range: 389.595093 m, bearing: 26.609952 deg, approach rate: -0.699464 m/s, LOS rate: 0.014545 deg/s, cmd heading: 30.099923 deg, new cmd heading: 30.112112 deg. Bm9gOuHeadingCmd: 0.525555 target range: 390.386871 and range: 392.70 m.uΊ?q*q"q qyyyyʎyjZr?ԉ颵#Bɢ}) Oi)tTt项i@ǻiΊ? kIΊ?IE  E E 'E "E :*E c:VE '4ZE a@a@a@a@9@ @@@ԹBU<AQBYBYB];"IB]BB]/ =BYBYB]_;B]$EB%ӍCB!B%ȔCB%- =B%+ =C%;6^A A ?A ? IQ Ia Ou >$7,w\X@A\ )`A  +aAi  I F Ii`A ) `AoAI!)!i!)!I%`A%) ))-`A-`i))i11)1 1I1Y1Y}By}"IbDVD:y =%a=ٔQ->9Y=hGyE>Q 54*?Q 94 )BQ A[8YQ E8yQ I@boDIL ;iZ@q4yɮA@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 390.39 m.Rm9Zm9gO ProNav: ac range: 390.386871 m, nav range: 389.368622 m, bearing: 26.614663 deg, approach rate: -0.624179 m/s, LOS rate: 0.012993 deg/s, cmd heading: 30.112112 deg, new cmd heading: 30.121540 deg. B;9gOHeadingCmd: 0.525720 target range: 390.386871 and range: 392.70 m.?*" ʎjZ?)ɢ-B)1 5TDi1)5v11i=Ȼi=?E E/IE?IA@ @@@iYI]A]T****** received valid address query ******]R****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.E EE"E"E:*EL_:VE(3ZEBE#A Q=,\X@Af7>f˘?f'ٱf ~AHRS rotation from veh to nav: [[0.866166,-0.488426,-0.105814],[0.498078,0.861023,0.102749],[0.040923,-0.141701,0.989063]]fH?`_B߿ @?`?@M? ? A#¿h?if7>Ifd];fCYBy "IbDVDy9%D=ٔ%Q-%>9!Y!=-hGy-MF-<E->1Q 5=45*?Q 9=45)5BQ AE18YAQ EE8yEQ>Q IE@5soDI5:i5@54yMBɮUQ@U!Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247378jgOFNOT Ignoring new targets: 390.39 m.Ra9Za9gO- ProNav: ac range: 390.386871 m, nav range: 389.107422 m, bearing: 26.619995 deg, approach rate: -0.602219 m/s, LOS rate: 0.012301 deg/s, cmd heading: 30.121541 deg, new cmd heading: 30.132211 deg. B-9gO5HeadingCmd: 0.525906 target range: 390.386871 and range: 392.70 m.5ˡ?1*1"1 99999ʎAAAjAZe}?Am$Bɢm64)i mGii)u]yqqiuʻi}ˡ?}KE }I}ˡ?Iq e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498823i @i  @i @i @i ԙ E%  E% E% $E! "E% :*E% n:VE% 4ZE! a- @a5 @a5 @a5 @ BM/>BMӍCBMG"IBMBBM- =BIBIBM_;BM+$E^AAI!I1OE?F, ]X@A2>2?2~**ٱ2"X :AHRS rotation from veh to nav: [[0.865610,-0.489622,-0.104836],[0.498994,0.860874,0.099501],[0.041532,-0.138441,0.989499]]2H? U߿ֺ@? H?x?C?q?i2>I2];2Cjchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.750872Y-̓By-"I =p<=<bD=VD=yUG4=%U=ٔ]2Q-]>9YYY=]hGyae3;Ee>Q 54+?Q 94)̡BQ A8YQ Ec8yŧ>Q I@oDI;i@<4y!ɮ%@%"EjagOmFNOT Ignoring new targets: 390.39 m.Rml9Zul9gO} ProNav: ac range: 390.386871 m, nav range: 388.759979 m, bearing: 26.627051 deg, approach rate: -0.634632 m/s, LOS rate: 0.012900 deg/s, cmd heading: 30.132209 deg, new cmd heading: 30.146334 deg. B}ݼ9gOHeadingCmd: 0.526153 target range: 390.386871 and range: 392.70 m.?*" ʎjZ`)?%Bɢ!ռ) 1i)|i_;̻i?dz I?I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002996@ @@@EE  EE EE 'EA "EE :*EE &p:VEE '4ZEA BEE ({MN,];]X@A2F>2?2:,ٱ28 :AHRS rotation from veh to nav: [[0.865159,-0.490626,-0.103858],[0.499733,0.860783,0.096537],[0.042036,-0.135421,0.989896]]2Ha?if߿t??@?? |U`:?i2F>I2h];2CYF؃ByF*"IhbDnVDn:yv9=%v(=~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255130ٔvQ-~>9Y=hGyNF :E >Q 54.+?Q 94*)ڡBQ A7YQ E88y!>Q I%@oDI:i@4y)ɮ-@)jQgOUFNOT Ignoring new targets: 390.39 m.R]k9Z]k9gOm ProNav: ac range: 390.386871 m, nav range: 388.465210 m, bearing: 26.633017 deg, approach rate: -0.635739 m/s, LOS rate: 0.012877 deg/s, cmd heading: 30.146334 deg, new cmd heading: 30.158275 deg. Bm9gOuHeadingCmd: 0.526361 target range: 390.386871 and range: 392.70 m.u?q*q"q qyyyyʎjZ`qJ@颵&Bɢ#Ѽ)  i)~项ia=λi?s I?I@ @@@@@@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506915Ee  Ee Ee %Ea "Ee :*Ee x:VEe 4ZEa am @au @au @au @9 Ai Am AABu 2>Bq Bu T"IBu BBu + =Bq Bu fDBu $`;Bu M$EA I I O >sU,V]X@AHn7Ԝ>n??ngi.ٱn ~AHRS rotation from veh to nav: [[0.864834,-0.491309,-0.103330],[0.500249,0.860722,0.094381],[0.042568,-0.133315,0.990159]]nH@?q߿s ?@ ?[)? }˥?u@b?in7Ԝ>In[];nCYE׃ByE)"IbDUVDUkye%e<=ٔmJQ-m>9Y=hGyy:E>Q 54D+?Q 94)BQ A7YQ E8yb>Q I@oDI;i@4yɮ@jgO%FNOT Ignoring new targets: 390.39 m.R%b9Z%b9gOU ProNav: ac range: 390.386871 m, nav range: 388.191437 m, bearing: 26.638546 deg, approach rate: -0.613720 m/s, LOS rate: 0.012402 deg/s, cmd heading: 30.158277 deg, new cmd heading: 30.169342 deg. BU9gO]HeadingCmd: 0.526554 target range: 390.386871 and range: 392.70 m.]D?Y*a"a aaaʎjZH@(BɢtvԼ) \ i)i=лiD?E uyID?It>i!>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759080@ @@0@A II)O5q> = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010897bE}J4jE}˔4rE}l0E  E E (E "E 2:*E ]t:VE c44ZE BE !*bM?b10ٱb jAHRS rotation from veh to nav: [[0.864712,-0.491496,-0.103460],[0.500423,0.860698,0.093682],[0.043003,-0.132782,0.990212]]bH ?t߿S|w?Պ? ? z?ѯ?ib>IbZ];bC|Y=ރBy=1"IE@AEAAbDMVDMyw=%G=ٔQ->9Y=hGyOF:E>Q 54Y+?Q 94)BQ A7YQ E7yy>Q I@oDI:i@4yɮ@#EPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 390.39 m.Rk9Zk9gO  ProNav: ac range: 390.386871 m, nav range: 387.937775 m, bearing: 26.643668 deg, approach rate: -0.637283 m/s, LOS rate: 0.012878 deg/s, cmd heading: 30.169342 deg, new cmd heading: 30.179593 deg. B 9gOHeadingCmd: 0.526733 target range: 390.386871 and range: 392.70 m.?*" !!ʎ!!)j)Z-= @U)BɢUXּ)Y ]6iY)]LYYi]ѻie?e| mzIm?Ii@ @@/0@)A9IAIQO]U>BDAT read: Rx Time:00:36:05.3513 TRx dataTimestamp_ set to:1761698165.977167checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264009Qԁ 3b,b]X@A2_=>2at?2eY2ٱ2 :AHRS rotation from veh to nav: [[0.864397,-0.492026,-0.103576],[0.500922,0.860516,0.092678],[0.043529,-0.131994,0.990294]]2H#?@\}߿򃺿@?X?@ù?_I? 0}?i2_=>I2];2CYchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.514951YuByu9"IbDVDky8<%;=ٔ2Q->9Y=hGyPF:E>D=D%=E EE#E"Ea:*Ec:VE3ZEa@a@a@a@Q 54o+?Q 94M)BQ Aw7YQ E7y>Q I@oDI>;iSA4yɮ!@jgO FNOT Ignoring new targets: 390.39 m.R BҍCBf"IB BB- =BBeDB2`;BP$EIYIiO}z>Ա checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771028 zh,[a]X@A2ќ>2{>?21ٱ2D :AHRS rotation from veh to nav: [[0.864816,-0.491216,-0.103924],[0.500216,0.860794,0.093904],[0.043329,-0.133194,0.990142]]2H?p߿ ?? ?H/?` ??i2ќ>I2];2CBCB r@iBD;I@@@ DFDDDDF _AIJ)HiH)HIHHH LLLLiPPiPR^A)Rq PIT T)VS{ATTTYTY^By^E"IbDfVDfkya=%h=ٔ :Q- >9 Y =hGyE>Q 5%4ƀ+?Q 9%4h) BQ A-H7Y)Q E-7y-\>Q I-@oDI:iA4y1ɮ=@9jYgOeFNOT Ignoring new targets: 390.39 m.ReCj9ZeCj9gOu ProNav: ac range: 390.386871 m, nav range: 387.444519 m, bearing: 26.653634 deg, approach rate: -0.630806 m/s, LOS rate: 0.012800 deg/s, cmd heading: 30.190580 deg, new cmd heading: 30.199539 deg. Bui9gO}HeadingCmd: 0.527081 target range: 390.386871 and range: 392.70 m.}?y*" ʎjZ`Y@ ѐC%G=`]AQ}9`]AYAy?A +Bɢ bȼ)) -i))5C11i5ֻi=?= =yI=?IAeDAT read: 00:36:05.3513 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 416, 0.31, 0.083,-1.429, 0.428,-0.310, PHS= 0.494,-1.074, 0.693, RAW= 155.9, -1.4, CAL= 155.0, -2.7, ROT= 355.0, 2.7 uYgot valid direction response: 00:36:05.3513 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 416, 0.31, 0.083,-1.429, 0.428,-0.310, PHS= 0.494,-1.074, 0.693, RAW= 155.9, -1.4, CAL= 155.0, -2.7, ROT= 355.0, 2.7 PDAT read: Bearing 173.1, -2.2 (Local) ~Local bearing/azimuth received: Bearing 173.1, -2.2 (Local) DAT read: Range 11 to 50 : 390.6 m (Round-trip 520.8 ms) speed 0.4 m/s E EEE"E:*E:VEZEBE< UBDAT read: Tx time:00:36:06.4764 ]$Ping request sent.]i%x%sh1?%X$.@%+ȼ%"-@y@y @y@}4@y %A)%D@I%A=!!% ?sF?=e %g ?)%1n,.˾]X@AFܡ>F&?F2ٱF ^AHRS rotation from veh to nav: [[0.864988,-0.490893,-0.104020],[0.499895,0.861010,0.093632],[0.043599,-0.132990,0.990158]]FH?j߿ F?d?`K?@R?_?iFܡ>IF];FCYuByuA"II}=)}<bDVD0y.t%<=ٔn!Q->9Y=hGyQF&VE>)Q 5E4-C+?Q 9E4-)-BQ AM"7YIQ EM7yM+>Q IM@-oDI-;i-A-74yeBɮe@m$E$]X@AJ&CR&Cj>c,J&x@D@:J2ry)?@|IP7VZbA=gOu addTargetRange:: Added new target pos. range: 390.600006 m, deltaT: 4.036169 s, deltaX: -2.100006 m, approachRate: -0.520297 m/s, rangeRepo size: 4 gO} Added new target pos. range: 388.300232 m, bearing: 24.713746 deg, lat: 36.779353 deg, lon: -121.859112 deg, deltaT: 4.036169 s, deltaX: -2.086639 m, approachRate: -0.516985 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 388.30 m.RZgO ProNav: ac range: 388.300232 m, nav range: 387.165253 m, bearing: 26.659321 deg, approach rate: 0.000000 m/s, LOS rate: 0.012800 deg/s, cmd heading: 30.199538 deg, new cmd heading: 30.211814 deg. BgOHeadingCmd: 0.527296 target range: 388.300232 and range: 390.60 m.?*"     ʎjix@Z 1?颅-BɢNɼ) i):顉iEIػi?4Z yI?Im9@i @q@u4@qIDzDE EE&E"E:*Ex:VE4ZEa@a@a@a@BY A] <Be />Be ӍCBe s"IBe BBa Ba Ba Be >`;Be W$E^A ԉ I I O- >u,1]X@AJx>J ?J 3ٱJk VAHRS rotation from veh to nav: [[0.865136,-0.490628,-0.104036],[0.499620,0.861205,0.093308],[0.043817,-0.132703,0.990187]]JH1?sf߿ @?? ?@*o?i`?iJx>IJR];JCY%By%L"IbD5VD5J2yEm:=%ER=ٔMQ-M>9IYI=UhGyQUXEU>YQ 5e4]A+?Q 9e4])]&BQ Am7YiQ EmO7ym>Q Im@]pDI]#:i]A]G4yqɮ}/@yjgOFNOT Ignoring new targets: 388.30 m.R9Z9gO ProNav: ac range: 388.300232 m, nav range: 386.929382 m, bearing: 26.664143 deg, approach rate: -0.684438 m/s, LOS rate: 0.014000 deg/s, cmd heading: 30.211815 deg, new cmd heading: 30.221465 deg. B9gOHeadingCmd: 0.527464 target range: 388.300232 and range: 390.60 m.?*" ʎjZ ɞ?QYɢ]h˼)a e ia)e~ׄaaimٻim? (SI?Ie9@a @i@m/@iԁ^AIԩIIO>E  E E (E "E :*E :VE c44ZE BE K"2^?2L[2ٱ2v :AHRS rotation from veh to nav: [[0.865770,-0.489470,-0.104224],[0.498546,0.861692,0.094548],[0.043530,-0.133817,0.990050]]2H`b?xS߿g.?`?J4?I? `|?i2Y՛>I2,];2CYBByB^"IbDJVDJN2yVk=%VU=ٔVC:Q-V>9XYX=ZhGyZRF^TE^>`Q 5b4b+?Q 9f4b)b2BQ Af6YdQ Ef(7yfd>Q If@bpDIb:ib@AbT4ylɮnQ@ljgOFNOT Ignoring new targets: 388.30 m.RMl9Z Ml9gO ProNav: ac range: 388.300232 m, nav range: 386.689240 m, bearing: 26.669101 deg, approach rate: -0.625024 m/s, LOS rate: 0.012912 deg/s, cmd heading: 30.221463 deg, new cmd heading: 30.231385 deg. B 9gOHeadingCmd: 0.527637 target range: 388.300232 and range: 390.60 m.;?*" ʎjZ/?.Bɢ) |i)+h!i%!ܻi%;?-67-ԻI-;?I1I9)=VA@ @@0@^AIQIaOm>! ,oH ^X@AY By Y"IbDVDky-Ն%-C=ٔ-Q-5>91Y1=5hGy1=E=>AQ 5M4E+?Q 9M4E)E@BQ AM6YIQ EU7yQQ IU@E pDIE:iE AE`4yYɮ]@]%EP}B*** querying acoustic contact ***y yjgOFNOT Ignoring new targets: 388.30 m.Rhl9Zhl9gO ProNav: ac range: 388.300232 m, nav range: 386.426819 m, bearing: 26.674527 deg, approach rate: -0.624380 m/s, LOS rate: 0.012918 deg/s, cmd heading: 30.231384 deg, new cmd heading: 30.242242 deg. B 9gOHeadingCmd: 0.527827 target range: 388.300232 and range: 390.60 m.?*" ʎT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.jZlBҍCB"IB#BBBBB2`;BM$EBBӍCBēCBB- =C_5y^A[RӻII)O5>u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724845ԩ Y,%&^X@A6#>6g?60ٱ6r >AHRS rotation from veh to nav: [[0.866461,-0.488412,-0.103441],[0.497383,0.862377,0.094428],[0.043086,-0.133268,0.990143]]@6H ?"B߿ {@?@? p,?P?`@?i6#>I6+];6CYJ ByJh"IbDVVDVJy^}~=%^R=ٔ^ٕ:Q-^>9`Y`=bhGybSFfcEf>hQ 5j4j^+?Q 9n4j)jLBQ An6YlQ En6yr>Q Ir@j0pDIj ;ij4'Aji4yvBɮv@vEjgOFNOT Ignoring new targets: 388.30 m.Rro9Zro9gO- ProNav: ac range: 388.300232 m, nav range: 386.183533 m, bearing: 26.679614 deg, approach rate: -0.625295 m/s, LOS rate: 0.013084 deg/s, cmd heading: 30.242244 deg, new cmd heading: 30.252425 deg. B-9gO5HeadingCmd: 0.528004 target range: 388.300232 and range: 390.60 m.5L+?1*1"1 11199ʎAAAjAZEJi?m0Bɢu#Y)q uHiq)uyyi}5yiL+?yCnIL+?I1@1 @1@5;0@1Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.977232E EE'E"E:*Ec:VE'4ZEBE# 8,@^X@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2288036fך>6eA?6w.ٱ6- BAHRS rotation from veh to nav: [[0.866769,-0.487995,-0.102821],[0.496888,0.862654,0.094502],[0.042582,-0.133002,0.990201]]6H?N;߿rR? ܚ?I1?Nͥ?3@?i6fך>I6C];4YJByJn"IbDRVDR yZ"<%ZK=ٔZܣ:Q-Z>9\Y\=bhGy`bzEb>dQ 5j4f+?Q 9j4f)fXBQ Ajb6YhQ En6ync>Q In@lf@pDIf0;if-Afq4yvBɮv@vEjgOFNOT Ignoring new targets: 388.30 m.R5p9Z5p9gO- ProNav: ac range: 388.300232 m, nav range: 385.931488 m, bearing: 26.684913 deg, approach rate: -0.623901 m/s, LOS rate: 0.013125 deg/s, cmd heading: 30.252424 deg, new cmd heading: 30.263029 deg. B-*9gO5HeadingCmd: 0.528189 target range: 388.300232 and range: 390.60 m.5m7?1*1"1 111ʎjZ@̐@ 1Bɢ p)   i)ii]m7?]W] I]m7?Iam>im>@ @@0@@[A@\A Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.481380^AE EEE"E:*E:VEZEa@a@a@a@Aa a Iq I O >A A B '>B B "IB -BB / =B B dDB )`;B G$Eh*,QY^X@A2Ո>2?2n+ٱ2!M :AHRS rotation from veh to nav: [[0.867094,-0.487605,-0.101925],[0.496384,0.862936,0.094573],[0.041841,-0.132598,0.990286]]2H@I2[];2CYvBytbD~VD~k1y 1% E=ٔ :Q->9Y=hGyTF=E>!Q 5-4%,?Q 9-4%O)%eBQ A-76Y)Q E56y5>Q I5@%QpDI%:i%M4A%w49yAɮE@AjigOmFNOT Ignoring new targets: 388.30 m.Rmq9Zuq9gO ProNav: ac range: 388.300232 m, nav range: 385.672028 m, bearing: 26.690399 deg, approach rate: -0.624772 m/s, LOS rate: 0.013220 deg/s, cmd heading: 30.263028 deg, new cmd heading: 30.274008 deg. B9gOHeadingCmd: 0.528381 target range: 388.300232 and range: 390.60 m.C?*" ʎjZ@2Bɢ5) ̉i)eiiC?53IC?IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.733695i@q @q@u4@qi^AԙA I I O > i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985580E  E E #E "E :*E k:VE 3ZE BE 5N*?N*(ٱN" ZAHRS rotation from veh to nav: [[0.866990,-0.488111,-0.100377],[0.496618,0.862969,0.093029],[0.041214,-0.130504,0.990591]]NHb?@7=߿Q?q?з?? ]`?iNI>IN7s];LYbByb~"IbDnVDnyrG=%vJ=ٔv:Q-v>9xYx=zhGyxz%:E~>Q 54#,?Q 9 4,)qBQ A 6Y Q E j6y (>Q I @apDI:i:A|4yɮ@jAgOEFNOT Ignoring new targets: 388.30 m.RERr9ZMRr9gO] ProNav: ac range: 388.300232 m, nav range: 385.419708 m, bearing: 26.695736 deg, approach rate: -0.625637 m/s, LOS rate: 0.013241 deg/s, cmd heading: 30.274008 deg, new cmd heading: 30.284688 deg. B]9gOeHeadingCmd: 0.528567 target range: 388.300232 and range: 390.60 m.e3P?a*a"a aaiqԁqʎjZP! @频ɢM) x0i)顙iui3P?'>I3P?IE9@I @I@M4@Iԡ%BDAT read: Rx Time:00:36:09.3999 %TRx dataTimestamp_ set to:1761698170.013160-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237842^A-AY Ii Iy O > [<,`^X@A6>6@(?6&ٱ6+ BAHRS rotation from veh to nav: [[0.867030,-0.488138,-0.099903],[0.496596,0.862949,0.093341],[0.040648,-0.130541,0.990609]]6H ?=߿@@8?@F?6?Ϥ?@@?i6>I629];6CYJ#ByJ"IbDRVDR0yZ =%ZP=ٔ^:Q-^>9\Y\=bhGybUFb&ҸEb>dQ 5j4f7,?Q 9j4f)f}BQ Aj5YhQ En>6yn%>Q In@fqpDIfF;ifAAf4yrBɮvj@vEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 388.30 m.Rr9Zr9gO- ProNav: ac range: 388.300232 m, nav range: 385.174194 m, bearing: 26.700936 deg, approach rate: -0.624066 m/s, LOS rate: 0.013227 deg/s, cmd heading: 30.284687 deg, new cmd heading: 30.295094 deg. B-9gO-HeadingCmd: 0.528749 target range: 388.300232 and range: 390.60 m.5\?1*1"1 11199ʎ9AAjAZE`" @m3Bɢm{)q uiq)uㇼqqi}ȏi}\?I\?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.491942DyDyE EE$E"Ea:*Eg:VE4ZEa@a@a@a@ԙ9@ @@/@@=@=B*>BB"IB f,m^X@A2C>21?2@&ٱ2 :AHRS rotation from veh to nav: [[0.866960,-0.488185,-0.100281],[0.496724,0.862791,0.094112],[0.040578,-0.131403,0.990498]]2H@"?@l>߿Q?`??Ƥ?@@)?i2C>I2"?];2CYz(Byz"I ||bDVDy<%D=ٔ09Q->9Y!=%hGy!%ӷ9E%>)Q 554-L,?Q 954-)-BQ A=5Y9Q E=6y=>>Q I=@-pDI-;i-GA-4yIɮM @IjigOuFNOT Ignoring new targets: 388.30 m.Rur9Zur9gO ProNav: ac range: 388.300232 m, nav range: 384.913940 m, bearing: 26.706448 deg, approach rate: -0.625579 m/s, LOS rate: 0.013259 deg/s, cmd heading: 30.295092 deg, new cmd heading: 30.306124 deg. B9gOHeadingCmd: 0.528942 target range: 388.300232 and range: 390.60 m.h?*" ʎjZ` v@ɢ) ໼i) iuih?dNsIh?I@ @@@DAT read: 00:36:09.3999 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 437,-0.03,-2.105, 2.853,-1.892,-2.385, PHS= 0.382,-1.000, 0.450, RAW= 152.4, 2.4, CAL= 151.2, 2.0, ROT= 358.8, -2.0 Ygot valid direction response: 00:36:09.3999 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 437,-0.03,-2.105, 2.853,-1.892,-2.385, PHS= 0.382,-1.000, 0.450, RAW= 152.4, 2.4, CAL= 151.2, 2.0, ROT= 358.8, -2.0 PDAT read: Bearing 178.3, 0.7 (Local) ~Local bearing/azimuth received: Bearing 178.3, 0.7 (Local) DAT read: Range 11 to 50 : 389.4 m (Round-trip 519.3 ms) speed 0.6 m/s *DAT read: user:457> BDAT read: Tx time:00:36:10.5264 %$Ping request sent.%iff>;*@+=[(@ 5=)Hd@I5.gA?ki?+aAp? ?)+Ii5u:publishing transmit ping time}Fpublishing direction and range infoy6?)W^nXޡ?YbE -4jE O4rE 0E EE&E"E:*EV:VE4ZEBE#uR,Y^X@A 2S>2?2q%ٱ2 >AHRS rotation from veh to nav: [[0.867163,-0.487798,-0.100412],[0.496384,0.862912,0.094800],[0.040403,-0.132050,0.990419]]2H˿?8߿??D???i2S>I2r];2CYf1Byj"IbDrVDrβyz0=%zL=ٔzv9Q-~>9~ ?Y~ ?=~hGy~VFE> Q 54 `,?Q 94 ) BQ A5YQ E5y>Q I@ pDI  ;i NA 4y!ɮ%@!5^X@AJCRCjA?pP,x@U/54 ,#+@r6?)W^nXޡ?Zb52 u@ Ig@\E(>@zl?[ݘP?˜?2H:C:C"]?*@BXB“ BTC۲>gOu addTargetRange:: Added new target pos. range: 389.399994 m, deltaT: 4.032287 s, deltaX: -1.200012 m, approachRate: -0.297601 m/s, rangeRepo size: 4 gO Added new target pos. range: 387.104919 m, bearing: 28.860557 deg, lat: 36.779353 deg, lon: -121.859112 deg, deltaT: 4.032287 s, deltaX: -1.195312 m, approachRate: -0.296435 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 387.10 m.RZgO ProNav: ac range: 387.104919 m, nav range: 384.663757 m, bearing: 26.711768 deg, approach rate: 0.000000 m/s, LOS rate: 0.013259 deg/s, cmd heading: 30.306123 deg, new cmd heading: 30.316841 deg. BgOHeadingCmd: 0.529129 target range: 387.104919 and range: 389.40 m.t?*" ʎj`fVx@Z ?4Bɢ) ѻi)irit?oIt?II@ @@@q^AE EE$E"E:*Ec:VE4ZEa@a@a@a@ԡ AA Ia Iy O >B A B />B ӍCB "IB PBB , =B B B _;B $E~x,#^X@A2 >262?2%ٱ2 :AHRS rotation from veh to nav: [[0.866963,-0.488233,-0.100020],[0.496732,0.862799,0.093995],[0.040405,-0.131173,0.990536]]2H(?@6?߿@ᚹu? ? ??E x?i2 >I2\;0@YDyF"IbDNVDN0yVX;%VO=ٔZkQ-Z>9XYX=^hGy\^:E^>`Q 5f4bt,?Q 9f4b)bBQ Aj5YhQ Ej5yj=>Q Ij@bpDIb:ibmTAb4ynBɮr@rEjgO FNOT Ignoring new targets: 387.10 m.R ru9Z ru9gO ProNav: ac range: 387.104919 m, nav range: 384.417328 m, bearing: 26.717002 deg, approach rate: -0.631124 m/s, LOS rate: 0.013412 deg/s, cmd heading: 30.316840 deg, new cmd heading: 30.327313 deg. B[9gOHeadingCmd: 0.529311 target range: 387.104919 and range: 389.40 m.?*" ʎjZ ,?AɢEdP)A EiI)MIIiM& i?.%I?II[A)[Aԩ1@1 @9@=0@A@]\A@YG\A 9\AYA^A A I I O >E  E E (E "E :*E 1]:VE c44ZE BE m%Byf"IIj4=)j>pbDzVDzJyhm=%D=ٔ%Q-%>9!Y)=-hGy-WF5E5>AQ 5M4E,?Q 9U4Eu)EBQ AUO5YYQ E]5yYQ I]@EpDIEv;iE-[AE4yqɮu@qjgOFNOT Ignoring new targets: 387.10 m.Ro9Zo9gO ProNav: ac range: 387.104919 m, nav range: 384.155121 m, bearing: 26.722578 deg, approach rate: -0.615430 m/s, LOS rate: 0.013097 deg/s, cmd heading: 30.327314 deg, new cmd heading: 30.338473 deg. B9gO HeadingCmd: 0.529506 target range: 387.104919 and range: 389.40 m. ? * "  ʎjZU?AɢE"|)I M@,<_X@A2>2 `?2)#ٱ2s :AHRS rotation from veh to nav: [[0.866636,-0.488841,-0.099887],[0.497350,0.862361,0.094743],[0.039824,-0.131787,0.990478]]2H`z?+I߿.?`v? A?`c?`a?i2>I2\;2CYFDByF"IbDLVDLyV =%VQ=ٔZ:Q-Z>9Z"?YZ"?=ZhGyX^:E^>`Q 5f4b,?Q 9f4bf)bBQ Af(5YhQ Ej5yj>Q Ij@bpDIb]:ibZaAb4ylɮnm@rEP~B*** querying acoustic contact ***9| |jgOFNOT Ignoring new targets: 387.10 m.Rk9Zk9gO ProNav: ac range: 387.104919 m, nav range: 383.912537 m, bearing: 26.727716 deg, approach rate: -0.607700 m/s, LOS rate: 0.012879 deg/s, cmd heading: 30.338474 deg, new cmd heading: 30.348756 deg. B9gO HeadingCmd: 0.529686 target range: 387.104919 and range: 389.40 m. |? * "  DQDUR=E] E]E]#EY"E]:*E]g:VE]3ZEYam@am@am@am@iiʎqjZ ?ɢOk)  =i)[ˇii5|?55I5|?I9iB]4>B]ԍCB]"IB]`BB]+ =BYB]fDB]^;B]#E9@ @@1@ԙE T****** received valid address query ******E R****** received valid ping request ******M Querying Benthos address 50 with one ping in standard two-way mode.^AQ A I I O >,c(_X@A2_>2B?2U"ٱ2RS :AHRS rotation from veh to nav: [[0.866360,-0.489170,-0.100663],[0.497846,0.861895,0.096364],[0.039622,-0.133600,0.990243]]2H@8?@N߿Ź?@? M?aI??i2_>I2];2CYBJByF"IbDZVDZ0yb<%bI=ٔf:Q-f>9dYd=jhGyjXFjĶ:Ej>lQ 5r4n,?Q 9r4n;)nŢBQ Av5YtQ EvV5yv>Q Iv@npDIn:ingAn4yzBɮz%@|jygO}FNOT Ignoring new targets: 387.10 m.Rt9Zt9gO ProNav: ac range: 387.104919 m, nav range: 383.657990 m, bearing: 26.733088 deg, approach rate: -0.633355 m/s, LOS rate: 0.013377 deg/s, cmd heading: 30.348757 deg, new cmd heading: 30.359510 deg. B9ԙgOHeadingCmd: 0.529873 target range: 387.104919 and range: 389.40 m.ɥ?*" ʎ!j!Z%7?IɢM^)Q U(=iq)u與qqi}w(i}ɥ?}ԭSIɥ?I@ @@4@@@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006287Em EmEm$Ei"Em:*Emc:VEm4ZEiBEm ] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257187m,CB_X@A2b>2b?2 !ٱ2 :AHRS rotation from veh to nav: [[0.866066,-0.489690,-0.100666],[0.498383,0.861532,0.096834],[0.039309,-0.134035,0.990197]]2H ϶?`W߿EŹ ?@?@ʸ?C ?(య?i2b>I2\;2CYFLByF"I HHbDNVDN:yVt<%VK=ٔF:Q->9Y=hGy:E>!Q 5-4%,?Q 9-4%)%ѢBQ A54Y1Q E5.5y5I>%pDI%;i%nA%4y9ɮE@AjagOmFNOT Ignoring new targets: 387.10 m.Rmw9Zuw9gO ProNav: ac range: 387.104919 m, nav range: 383.398987 m, bearing: 26.738538 deg, approach rate: -0.643285 m/s, LOS rate: 0.013544 deg/s, cmd heading: 30.359511 deg, new cmd heading: 30.370417 deg. BJ9gOHeadingCmd: 0.530064 target range: 387.104919 and range: 389.40 m.B?*" ʎjZ4@ɢEZ) 8=i)>iiB?{ IB?I@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509654^AIDazDaEu EuEqEq"Eu :*EuL_:VEqZEqa}@a}@a}@a}@A9 BQ BQ BU "IBU oBBU * =BQ BQ BU ^;BU #EB B B ʔCB , =B , =C ʮ(6I I O >q ,rk\_X@A2/>2?2 ٱ2G :AHRS rotation from veh to nav: [[0.865827,-0.490093,-0.100758],[0.498815,0.861227,0.097325],[0.039077,-0.134526,0.990139]]2Hڴ?]߿`C˹?@+?@B??`#88?i2/>I2R\;2CY^MByb"IfAfAbDjVDjyr;%rH=ٔv:Q-v>9tYt=vhGyvYFz :Ez>|Q 54~,?Q 94~)~ݢBQ A4Y Q E  5y >Q I @~pDI~:i~tA~4yɮ@ EjgOFNOT Ignoring new targets: 387.10 m.RVe9ZVe9gO  ProNav: ac range: 387.104919 m, nav range: 383.150696 m, bearing: 26.743748 deg, approach rate: -0.596757 m/s, LOS rate: 0.012531 deg/s, cmd heading: 30.370416 deg, new cmd heading: 30.380843 deg. B x9gO HeadingCmd: 0.530246 target range: 387.104919 and range: 389.40 m./?*"Q YYYaʎaaajaZm o@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761397QɢUX)Q UD=iQ)]h膼YYi]ie/?e_e/ Ie/?Ii @ @@/@ԁԱ^AM  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013699E  E E &E "E O:*E x:VE 4ZE BE ,Fv_X@AB>?wٱ 5AHRS rotation from veh to nav: [[0.865522,-0.490587,-0.100976],[0.499366,0.860822,0.098080],[0.038805,-0.135314,0.990043]]HZ?e߿ٹ@? ڋ??Gޣ?Qm?iB>I ];CYEQByE"Iaa aa aa aa aa iMb@Mb@Mb@ 9RQ?)\(~jt?Y"?yGὙ<AO@ A)XAYAbD VD :y<%2=ٔ:Q->9Y=hGy{:E>ԱQ 54V,?Q 940)BQ AT:Y %?Q E:y>Q I@qDI0;i:4yBɮ@jgOFNOT Ignoring new targets: 387.10 m.RyI9ZyI9gO ProNav: ac range: 387.104919 m, nav range: 382.856567 m, bearing: 26.748609 deg, approach rate: -0.665634 m/s, LOS rate: 0.011009 deg/s, cmd heading: 30.380842 deg, new cmd heading: 30.390571 deg. B.9gOHeadingCmd: 0.530416 target range: 387.104919 and range: 389.40 m.P?*" !%LBʎ!!)j)Z-`u @Yɢ]M)Y ]Ph=iY)e7aaieimP?m m@ImP?Iq9@ @ @ @ @[A@%BDAT read: Rx Time:00:36:13.4453 -TRx dataTimestamp_ set to:1761698174.049194-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266348 ^AI AI zAM [AA I I O >9 B,(_X@A2f|>2?2m0ٱ2;_ :AHRS rotation from veh to nav: [[0.865309,-0.490961,-0.100986],[0.499750,0.860566,0.098366],[0.038611,-0.135584,0.990013]]2H? k߿/ڹ?? .?ģ?Z 0?i2f|>I29W];0YFUByF"IIJ;>)Jp=bDNVDNk1yV<%Vo=ٔZh:Q-Z?9XYX=^hGy^ZF^¨:E^?`Q 5f4b-?Q 9f4b,)bBYhyj>Q Ij@bqDIb:ib:b#4yYɮey@aiyIychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.517620PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 387.10 m.R59Z59gO ProNav: ac range: 387.104919 m, nav range: 382.639038 m, bearing: 26.752194 deg, approach rate: -0.601664 m/s, LOS rate: 0.009920 deg/s, cmd heading: 30.390572 deg, new cmd heading: 30.397745 deg. B=9gOHeadingCmd: 0.530541 target range: 387.104919 and range: 389.40 m.?*" E= E=E='E9"E=2:*E= n:VE='4ZE9aE@aE@aE@aE@IIʎIIIjqZuρ @颹ɢQ@) ؄=i)i/i?<AI?IBBB"IByBBBBB^;B#E9@ @@0@9^AΒ5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769690i A I II O >h,_X@A 6= >6P\?6%ٱ6> >AHRS rotation from veh to nav: [[0.864764,-0.491787,-0.101628],[0.500711,0.859854,0.099696],[0.038356,-0.137100,0.989814]]6H &?`py߿L@??`?@e? ?i6= >I6];4YJPByJ"IN=N=i=Mb@Mb@Mb@9999 99=?v//$?Y= ?y=x齙=<=xA=f@ 9)=A9Y=AbD]VD]yez߼%m?=ٔmS:Q-m>9qYq=uhGyq>#;E>Q 54-?Q 94)BY "?Q E :y :>Q I @'qDIG:iq:Q+4yBɮ@Ej9gOEFNOT Ignoring new targets: 387.10 m.REsT9ZEsT9gOU ProNav: ac range: 387.104919 m, nav range: 382.360168 m, bearing: 26.757100 deg, approach rate: -0.659388 m/s, LOS rate: 0.011609 deg/s, cmd heading: 30.397743 deg, new cmd heading: 30.407562 deg. B]9gO]HeadingCmd: 0.530712 target range: 387.104919 and range: 389.40 m.e?a*a"a aaaim6BʎiiqjqZu`K@颩ɢN) X=i)项iOi?nI?Iqm9@i @i@m0@iDAT read: 00:36:13.4453 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 387,-0.02,-2.742, 2.190,-2.496, 3.131, PHS= 0.512,-0.896, 0.612, RAW= 153.4, -3.2, CAL= 152.8, -4.4, ROT= 357.2, 4.4 Ygot valid direction response: 00:36:13.4453 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 387,-0.02,-2.742, 2.190,-2.496, 3.131, PHS= 0.512,-0.896, 0.612, RAW= 153.4, -3.2, CAL= 152.8, -4.4, ROT= 357.2, 4.4 PDAT read: Bearing 171.6, -0.2 (Local) ~Local bearing/azimuth received: Bearing 171.6, -0.2 (Local) DAT read: Range 11 to 50 : 386.0 m (Round-trip 514.7 ms) speed 0.5 m/s *DAT read: user:458>  BDAT read: Tx time:00:36:14.5764 $Ping request sent.,_X@A2>>2t?2Jٱ2O; >AHRS rotation from veh to nav: [[0.864593,-0.492132,-0.101419],[0.501041,0.859611,0.100129],[0.037904,-0.137386,0.989792]]2H? ߿??@?-h?ܕ`?i2>>I2];0LYRSByR"IbDZVDZ yf(<%fU=ٔfm:Q-j>9j ?Yj ?=jhGyj[Fn:En>pQ 5v4r@,-?Q 9v4r)rBYtyvn>Q Iz@r6qDIr:ir:r14yɮ@$_X@AJ޿CR޿CjK>I?Haw@ߩ2g~ p=r=?憎.0ۣZ*HbnF='Bciu@%IŪe@XS,(znA?F?Jb 2u,C:KC"T?* BMXBT?“BCN>gO addTargetRange:: Added new target pos. range: 386.000000 m, deltaT: 4.037264 s, deltaX: -3.399994 m, approachRate: -0.842153 m/s, rangeRepo size: 4 gO Added new target pos. range: 383.736481 m, bearing: 26.720702 deg, lat: 36.779365 deg, lon: -121.859112 deg, deltaT: 4.037264 s, deltaX: -3.368439 m, approachRate: -0.834337 m/s, posRepo size: 4 jgO FNOT Ignoring new targets: 383.74 m.R Z gO ProNav: ac range: 383.736481 m, nav range: 383.369659 m, bearing: 26.667693 deg, approach rate: 0.000000 m/s, LOS rate: 0.011609 deg/s, cmd heading: 30.407562 deg, new cmd heading: 30.416692 deg. B!gO%HeadingCmd: 0.530871 target range: 383.736481 and range: 386.00 m.%1?)*)") )))11ʎ119j= x@Z=?e5BɢeG)i m0p=ii)m@`iiiui}1?}h}յI}1?I 9@  @@1@@=@=^A-rA5?A5?Ee EeEe%Ea"Ee:*EeAr:VEe 4ZEaau@au@au@au@B 0>B ӍCB "IB ~BB , =B B B ^;B #E) A I I O >',_X@AYrLByv"I  bDVDky%%-D=ٔ-Q-->91Y1=5hGy1=E=>AQ 5E4EA-?Q 9M4E))EBYIyIQ IM@EFqDIE:iE:E94yYɮ]4@]EjygOFNOT Ignoring new targets: 383.74 m.R T9Z T9gO- ProNav: ac range: 383.736481 m, nav range: 383.107971 m, bearing: 26.672214 deg, approach rate: -0.670241 m/s, LOS rate: 0.011586 deg/s, cmd heading: 30.416694 deg, new cmd heading: 30.425741 deg. B-9gO-HeadingCmd: 0.531029 target range: 383.736481 and range: 386.00 m.5?1*1"1 11999ʎ9AAjAZEn?qɢuV)q u8=iq)}yyi}1i?^I?I))@) @)@-4@1Y^A-`ԻA] ؟AIi Iy ԁ O >i I AbEjEʞ4rEʲd0Ee  Ee Ee )Ea "Ee :*Ee :VEe FA4ZEa BEe 3.?ٱ AHRS rotation from veh to nav: [[0.863168,-0.494646,-0.101316],[0.503497,0.858269,0.099321],[0.037828,-0.136744,0.989884]]H?I߿ﹿ?v? !m?`+^? р !?i]>I6];CY-QBy-"I9=AYiMb@Mb@Mb@ 9V-?HzGy&1?Y|?y= `e<A9@ =A)YAbDVDk2y<%?=ٔ ;9Q->9"?Y"?=ehGym\Fm;Em>qQ 5}4uW-?Q 9}4u)u(BY:#?Q E:yU>Q I@uXqDIu:iu:u@4yBɮ@jgOFNOT Ignoring new targets: 383.74 m.R~9Z~9gO ProNav: ac range: 383.736481 m, nav range: 382.829163 m, bearing: 26.678372 deg, approach rate: -0.627943 m/s, LOS rate: 0.013880 deg/s, cmd heading: 30.425740 deg, new cmd heading: 30.438066 deg. B89gOHeadingCmd: 0.531244 target range: 383.736481 and range: 386.00 m.?*" (BʎjZa?ɢRL) _=i)%䱄!!i%i-?-^-֘I-?I1ԉ@ @@y4@Ա^A A I! I1 OE >v',zl`X@AYFBy"IbD-VD-02y=b%EV=ٔEQ-E>9IYI=MhGyIMEM>QQ 5]4ULj-?Q 9e4U)U2BYayaQ Ie@UgqDIU;iU:U.G4yiɮm@qPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 383.74 m.R}9Z}9ԹgO ProNav: ac range: 383.736481 m, nav range: 382.598663 m, bearing: 26.683471 deg, approach rate: -0.626113 m/s, LOS rate: 0.013857 deg/s, cmd heading: 30.438065 deg, new cmd heading: 30.448268 deg. B9gOHeadingCmd: 0.531423 target range: 383.736481 and range: 386.00 m.O ?*" ʎjZl?ɢ4>a)  @=i ) y~  iE EE%E"E2:*E&p:VE 4ZEa%@a%@a%@a%@i-O ?-5Q-I5O ?I1B5>BԍCBBB+ =BBBE_;B#E@ @@/@@@^A35 T****** received valid address query ******5 R****** received valid ping request ******5 Querying Benthos address 50 with one ping in standard two-way mode.A I I O- > ! ) I G `]AA ~T ,S+`X@A2l1>2fn?2jٱ2=? J9N`]AYRA ^AHRS rotation from veh to nav: [[0.862684,-0.495526,-0.101140],[0.504336,0.857811,0.099024],[0.037690,-0.136435,0.989932]]2H?@߿@O乿#?/s?Y?@L?`v?i2l1>I2.];2CYfNByf"IIa>)>only read 0 of 1 data item for water mass range. Device response is::WD +0.00, 0, 4.06 a@a a@a a@a a@a bDVDy=%==ٔ%9Q-%>9)YI=MhGyU]FU;EU>aQ 54e-?Q 94e)e?BQ A+:YQ E:yң>Q I@eyqDIeP;ier>edM4yBɮ,@EjgOFNOT Ignoring new targets: 383.74 m.R%eu9Z%eu9gOU ProNav: ac range: 383.736481 m, nav range: 382.322784 m, bearing: 26.689540 deg, approach rate: -0.609098 m/s, LOS rate: 0.013409 deg/s, cmd heading: 30.448270 deg, new cmd heading: 30.460416 deg. BUQ9gO]HeadingCmd: 0.531635 target range: 383.736481 and range: 386.00 m.]4?Y*Y"Y YYaaʎjZ ?ɢT) F=i)%= !!i%F i-4?-u-I54?I1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003079E- E-E-'E)"E-:*E-:VE-'4ZE)ABE-+M,wE`X@Af@>f?f]ٱf rAHRS rotation from veh to nav: [[0.862009,-0.496673,-0.101278],[0.505503,0.857102,0.099216],[0.037528,-0.136721,0.989899]]fH?}߿`-?`m?0f?6???if@>IfP1];fCYxyx=a=bD VD ٔ[9Q->9!Y!=%hGy!-"o;E->1Q 5=45_-?Q 9=45)5IBQ A= :Y9Q E=Z:y=>Q IE@5qDI5:i5nO?5Q4yMBɮM9@IjqgOuFNOT Ignoring new targets: 383.74 m.R} 9Z} 9gO ProNav: ac range: 383.736481 m, nav range: 382.090454 m, bearing: 26.694610 deg, approach rate: -0.655861 m/s, LOS rate: 0.014321 deg/s, cmd heading: 30.460417 deg, new cmd heading: 30.470563 deg. B9gOHeadingCmd: 0.531812 target range: 383.736481 and range: 386.00 m.$?*" ʎjZ@IɢK) PF=i)ڃif i$?_I$?I 9@ @@@yuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506894ԡE  E E $E "E :*E ~:VE 4ZE a @a @a @a @^A Aa Ae @ABm 7>Bi Bi Bi Bm ) =Bi Bi Bm _;Bm $EAq Iy I O > Gs,?_`X@AF ן>F6?FHٱFݑ NAHRS rotation from veh to nav: [[0.862055,-0.496511,-0.101671],[0.505431,0.857036,0.100142],[0.037414,-0.137715,0.989765]]FH@?߿},?@l?ᢹ?'?`'?iF ן>IF/];FCԱYJBy"Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758984bDVD1y6%<ٔ29Q->9Y=hGy^FAE>Q 5 4ڪ-?Q 9 48)WBQ A9YQ E0:y>Q I@qDI ;i?U4yɮy@jAgOEFNOT Ignoring new targets: 383.74 m.RM{9ZM{9gO] ProNav: ac range: 383.736481 m, nav range: 381.799866 m, bearing: 26.700961 deg, approach rate: -0.628476 m/s, LOS rate: 0.013747 deg/s, cmd heading: 30.470563 deg, new cmd heading: 30.483276 deg. B]D9gOeHeadingCmd: 0.532034 target range: 383.736481 and range: 386.00 m.eY3?a*a"a aiiqqʎqqqjyZ}^]@颡ɢh[) '=i)i顩i iY3?Γ|IY3?I9@ @@@@ =@ =)I ^AE 7 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011308E5  E5 E5 &E1 "E5 :*E5 :VE5 4ZE1 BE5 <,y`X@A@Rq>R?RZٱR8 fAHRS rotation from veh to nav: [[0.862232,-0.496174,-0.101819],[0.505141,0.857130,0.100801],[0.037257,-0.138346,0.989683]]RHh?N߿@*?@m?ι?i? V`{?iRq>IRU];RC l)ln+llpr;aAirj9= ?Y= ?==hGy9EbEE>iQ 5u4m-?Q 9u4m)mdBQ AuT:Yu?Q Eu:yu>Q I}@mqDIm:imi:m\4yɮ@EjgOFNOT Ignoring new targets: 383.74 m.Rx9Zx9gO% ProNav: ac range: 383.736481 m, nav range: 381.559509 m, bearing: 26.708619 deg, approach rate: -0.591223 m/s, LOS rate: 0.018848 deg/s, cmd heading: 30.483274 deg, new cmd heading: 30.498599 deg. B- :gO-HeadingCmd: 0.532301 target range: 383.736481 and range: 386.00 m.-D?1*1"1 1119=Bʎ999jIZMK @颱ɢZ) "=i)Ei,iD?@;ID?I]9@Y @Y@]0@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264493A ^A} A ؟AI I O >v$,`X@A2@>2v?2bٱ2h >AHRS rotation from veh to nav: [[0.862650,-0.495400,-0.102050],[0.504451,0.857391,0.102031],[0.036951,-0.139496,0.989533]]2H@Ӛ?߿@`u$?o??@=?A?i2@>I27];2CrBDAT read: Rx Time:00:36:17.4918 vTRx dataTimestamp_ set to:1761698178.337112vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516005YPBy"I))E5 E5E5$E1"E5a:*E5&p:VE54ZE1a=@aE@aE@aE@bD]VD]Nye=%mH=ٔmbD:Q-m>9u"?Y"?=hGy_FE>Q 54z-?Q 94)rBYy0>Q I@qDI6:ip:d4BBB"IByBBBBB_;B2$EBԍCBԍCB“CB* =B* =C_5yBɮ,@PB*** querying acoustic contact *** j!gO-FNOT Ignoring new targets: 383.74 m.QRU9ZU9gOe ProNav: ac range: 383.736481 m, nav range: 381.312347 m, bearing: 26.716532 deg, approach rate: -0.603359 m/s, LOS rate: 0.019331 deg/s, cmd heading: 30.498598 deg, new cmd heading: 30.514436 deg. Be :gOmHeadingCmd: 0.532577 target range: 383.736481 and range: 386.00 m.mV?*" ʎjZ  @ 4Bɢ G)  _=i )炼iiV?.IV?I!9@ @@]0@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.766945Ա ^A 3A I! I9 OE >p*,p`X@A2DҞ>2>?2toٱ2p :AHRS rotation from veh to nav: [[0.863082,-0.494480,-0.102859],[0.503728,0.857564,0.104128],[0.036719,-0.141684,0.989231]]2H`]? ߿@T@?`)q?'?̢?"¿ǧ?i2DҞ>I26];0HYZBy"Ii%Mb@Mb@Mb@!!!! !9%zG?x&1ȿI +?Y% ?y%A%9<%9 A! !)!!Y%=AbD=VD=kyMC=%MM=ٔM:Q-U>9QYQ=UhGyQ] E]>aQ 5m4eo-?Q 9m4ew)eBYm?Q Eu:yubf>Q Iu@eqDIe:ie:ej4yyɮ}@yjgOFNOT Ignoring new targets: 383.74 m.R9Z9gO ProNav: ac range: 383.736481 m, nav range: 381.076447 m, bearing: 26.725261 deg, approach rate: -0.612932 m/s, LOS rate: 0.022693 deg/s, cmd heading: 30.514437 deg, new cmd heading: 30.531905 deg. B&:gOHeadingCmd: 0.532882 target range: 383.736481 and range: 386.00 m.j?*" BʎjZ@颁ɢf,) (=i)s顉i;ij? ̻Ij?IMDAT read: 00:36:17.4918 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 400,-0.41, 1.411,-0.120, 1.709, 0.949, PHS= 0.564,-1.024, 0.717, RAW= 154.5, -3.1, CAL= 154.0, -4.4, ROT= 356.0, 4.4 eYgot valid direction response: 00:36:17.4918 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 400,-0.41, 1.411,-0.120, 1.709, 0.949, PHS= 0.564,-1.024, 0.717, RAW= 154.5, -3.1, CAL= 154.0, -4.4, ROT= 356.0, 4.4 mPDAT read: Bearing 171.9, -1.3 (Local) u~Local bearing/azimuth received: Bearing 171.9, -1.3 (Local) DAT read: Range 11 to 50 : 383.4 m (Round-trip 511.3 ms) speed 0.6 m/s *DAT read: user:459> BDAT read: Tx time:00:36:18.5764 1@1 @9@=4@9E] E]E]'EY"E]:*E]ga:VE]'4ZEYBE]uW1,.`X@A2_h>2 ?2ٱ2g :AHRS rotation from veh to nav: [[0.863495,-0.493805,-0.102635],[0.503034,0.857942,0.104363],[0.036521,-0.141746,0.989229]]2H@?߿PF@?Ct??@Ѳ?$¿ħ?i2_h>I2I];2CYF[ByF"IbDNVDN2yVI;%Vj=ٔZ,:Q-Z>9Z ?YZ ?=^hGy^`F|}E>!Q 5-4%-?Q 9-4%*)%BY)y5e>Q I5@%qDI%:i%:%:q4yEBɮE@EE9=hʵ`X@AJ=CR=Cj=1>=꯱w@X!u:cZQ==r=:?mα.0ۣZ=)b9=K(wu@Wͮ d@HR&z=`ƒ?z(?XELl2=$C:=C"=Q?*=wB=k[B=Wjx?= ko“9= C=~>gO addTargetRange:: Added new target pos. range: 383.399994 m, deltaT: 4.034318 s, deltaX: -2.600006 m, approachRate: -0.644472 m/s, rangeRepo size: 4 gO Added new target pos. range: 381.154541 m, bearing: 25.648173 deg, lat: 36.779379 deg, lon: -121.859168 deg, deltaT: 4.034318 s, deltaX: -2.581940 m, approachRate: -0.639994 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 381.15 m.RZgO5 ProNav: ac range: 381.154541 m, nav range: 380.093689 m, bearing: 25.956245 deg, approach rate: 0.000000 m/s, LOS rate: 0.022693 deg/s, cmd heading: 30.531905 deg, new cmd heading: 30.548875 deg. B1gO=HeadingCmd: 0.533178 target range: 381.154541 and range: 383.40 m.=b~?A*A"A AAAIIʎIIIjU`fw@Zu?ɢz+)! %=i!)%1!!i%*ib~? 7,( `X@A:ݝ>:p?:Ayٱ: FAHRS rotation from veh to nav: [[0.864036,-0.492993,-0.101979],[0.502124,0.858510,0.104078],[0.036241,-0.141133,0.989327]]:H.? 3߿ Of?x?פ??¿@?i:ݝ>I: ];:CYY]YBy]"Ie=e=bDmVDmky %0=ٔ$:Q->9Y=hGytE>Q 54.?Q 94)BYyrd>Q I@qDI:i:"y4yBɮ@EjgOFNOT Ignoring new targets: 381.15 m.Re9Ze9gO ProNav: ac range: 381.154541 m, nav range: 379.822327 m, bearing: 25.965827 deg, approach rate: -0.616681 m/s, LOS rate: 0.021791 deg/s, cmd heading: 30.548875 deg, new cmd heading: 30.568052 deg. B:gOHeadingCmd: 0.533513 target range: 381.154541 and range: 383.40 m.Q?*"   ʎ  jZ ?=3Bɢ=1.)A EȘ=iA)EppAAiMiUQ?Uf!U#IUQ?IQԉI@I @I@M/@QԱ^A Β E%  E% E% #E! "E% V:*E% k:VE% 3ZE! BE% 9 >,]`X@A2|>2?28ٱ2d :AHRS rotation from veh to nav: [[0.864416,-0.492242,-0.102382],[0.501491,0.858694,0.105598],[0.035935,-0.142624,0.989124]]2HL?`߿5 6 ?lz?@t?f?A¿ ?i2|>I2\;0BC@iBI@@D DDDDDHIJD)HiH)HIJ_ALL LLPPiPPiPR^A)V VvEIT T)VX{ATTXYXYgBy"IԹiMb@Mb@Mb@ 9n?RQȿQ?Y?yB<K A @ )V@YAbD VD y*=%%Q=ٔ%L:Q-%>9)Y)=-hGy-aF-4E->1Q 5=45I$.?Q 9E45*)5BYE?Q EE:yEa>Q IE@5qDI50;i5:54yQɮU@jgOFNOT Ignoring new targets: 381.15 m.R9Z9gO ProNav: ac range: 381.154541 m, nav range: 379.589752 m, bearing: 25.974143 deg, approach rate: -0.577369 m/s, LOS rate: 0.020656 deg/s, cmd heading: 30.568051 deg, new cmd heading: 30.584692 deg. B6:gOHeadingCmd: 0.533804 target range: 381.154541 and range: 383.40 m.Z?*" Bʎ j Z  ?2Bɢq) |=i)úi iZ?MM"MTIMZ?II@ @@0@@ =@ =^A% zA- ?A- >I I O >9 D,½aX@A2>2I?2}ٱ2{ :AHRS rotation from veh to nav: [[0.864994,-0.491216,-0.102431],[0.500521,0.859114,0.106777],[0.035550,-0.143630,0.988993]]2H@?`p߿8D?`}?U?@3?wb¿ԥ?i2>I2];2CYoBy%"IbDEVDEy1=%X=ٔR:Q->9Y=hGyI=E>Q 547.?Q 94̴)BYy`>Q I@ rDI;iQ;ʆ4yBɮi@E EE'E"E:*E~:VE'4ZEa@a@a@a@j!gO-FNOT Ignoring new targets: 381.15 m.R-9Z-9gO= ProNav: ac range: 381.154541 m, nav range: 379.357178 m, bearing: 25.982506 deg, approach rate: -0.609745 m/s, LOS rate: 0.021941 deg/s, cmd heading: 30.584692 deg, new cmd heading: 30.601430 deg. BE :gOEHeadingCmd: 0.534096 target range: 381.154541 and range: 383.40 m.E?A*I"I IIIQQʎQQYjYZ]x?B}5>ByB}"IB}BB}* =ByByB}h`;B}o$E颡ɢ߻) =i)<顩iqki?b6#Ժ(I?II@I @I@M/@IA^AuXqIIO>ԡ K,.aX@ARVg>R] ?RٱR bAHRS rotation from veh to nav: [[0.865495,-0.490310,-0.102542],[0.499672,0.859487,0.107752],[0.035301,-0.144496,0.988876]]RH@"?`=a߿,@????~¿@ޤ?iRVg>IRb\;PYu|Byu"Iy}Ai5Mb@Mb@Mb@1111 195~jt?/$ƿQ?Y5?y5&115 A5@ 5A)5(@1Y5GAbDMVDMk1y]Xn=%];=ٔe:Q-e>9aYa=ehGymbFimEu>yQ 54}M.?Q 94})}ͣBY"?Q E:ys>Q I@}rDI}]:i}:}>4yɮ@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 381.15 m.R9Z9gO ProNav: ac range: 381.154541 m, nav range: 379.094513 m, bearing: 25.990501 deg, approach rate: -0.619278 m/s, LOS rate: 0.018861 deg/s, cmd heading: 30.601430 deg, new cmd heading: 30.617429 deg. B :gOHeadingCmd: 0.534375 target range: 381.154541 and range: 383.40 m.?*"  BʎjZ ?1BɢŲ)! %>i!)%}!!i-fi-?5f$5l9I5?I1T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.bEĻ 4jE4rEn/E EE#E"E :*E]t:VE3ZEBEK"2?2ٱ2 :AHRS rotation from veh to nav: [[0.865658,-0.490013,-0.102584],[0.499399,0.859591,0.108180],[0.035170,-0.144877,0.988824]]2Hx?a\߿B(?Ł???V¿ s?i2=>I2\;2CYRByR"IbDZ VDZ2yb:=%bi=ٔbO9Q-f>9dYd=fhGydjmEj>lQ 5r4n_.?Q 9r4n)nڣBYpyvN>Q Iv@n(rDIn;inN:n[4yzBɮz@zEjgOFNOT Ignoring new targets: 381.15 m.R^9Z^9gO ProNav: ac range: 381.154541 m, nav range: 378.878967 m, bearing: 25.997079 deg, approach rate: -0.616881 m/s, LOS rate: 0.018837 deg/s, cmd heading: 30.617429 deg, new cmd heading: 30.630593 deg. B :gOHeadingCmd: 0.534605 target range: 381.154541 and range: 383.40 m.?*" ʎjZ@0Bɢ4k) %>i)|iai ? l}% L?I ?I9@ @@4@@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465909E EE'E"E:*Eh:VE'4ZEa@a@a@a@^A:AzAZAI9IIOU>AqAuAAB}4>ByB}#IB}BByByByB}u`;B}u$E) Q O0X,XbaX@A2W>2]?2Vٱ2{t :AHRS rotation from veh to nav: [[0.865933,-0.489581,-0.102326],[0.498957,0.859759,0.108889],[0.034665,-0.145347,0.988773]]2H?@JU߿@2?$?.??¿?i2W>I2\;0Y^By^#IIb!>)b=bDfVDf02yn=%rH=ٔrJ:Q-r>9pYt=vhGyvcFvZEv>xQ 5~4zt.?Q 94z߯)zBYy>Q I@z9rDIz:izH:z}4y Bɮ U@Ej1gO=FNOT Ignoring new targets: 381.15 m.R=9Z=9gOM ProNav: ac range: 381.154541 m, nav range: 378.627686 m, bearing: 26.004775 deg, approach rate: -0.615671 m/s, LOS rate: 0.018869 deg/s, cmd heading: 30.630595 deg, new cmd heading: 30.645997 deg. BM :gOUHeadingCmd: 0.534874 target range: 381.154541 and range: 383.40 m.Uy?Q*Y"Y YYYaaʎaaajiZm@]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.716334e/Bɢep)e eP>ia)mWyiiim_1imy?}vGB&#JJIy?9YAIM9@Q @Q@Q@Ya^A ԉ i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969672E  E E %E "E :*E z:VE 4ZE BE +X^,)|aX@A06؛>6'?6N ٱ6N >AHRS rotation from veh to nav: [[0.866062,-0.489355,-0.102318],[0.498746,0.859830,0.109295],[0.034492,-0.145687,0.988729]]6H Ƕ?Q߿1s?? ??`ݥ¿?i6؛>I6i\;6CYFByF(#IN=N=iUMb@Mb@Mb@QQQQ Q9UOn?jtĿl?YU?yU U=QU @ UA)UV@QYUAbDmVDmy} =%}A=ٔY9Q->9"?Y"?=hGyE>Q 54.?Q 94)BY?Q E:y،>Q I@IrDI ;i ;4yɮe@jgOFNOT Ignoring new targets: 381.15 m.R9Z9gO ProNav: ac range: 381.154541 m, nav range: 378.372467 m, bearing: 26.011759 deg, approach rate: -0.602284 m/s, LOS rate: 0.016494 deg/s, cmd heading: 30.645997 deg, new cmd heading: 30.659975 deg. B|9gOHeadingCmd: 0.535118 target range: 381.154541 and range: 383.40 m.v?*" @Bʎj Z  |S @=.Bɢ=`:)9 =p>i9)E.4vAAiE5IiMv?M!(MtPIMv?IIԡ9@ @@ 4@ mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.220281Թ^A LM A I I O >Ae, aX@AR2>RK?Rm ٱR]fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.472728h rAHRS rotation from veh to nav: [[0.865801,-0.489843,-0.102190],[0.499196,0.859624,0.108858],[0.034522,-0.145262,0.988791]]RH ?Y߿)`? ?޻?Ϭ?¿,?iR2>IR\;RCYxyz'#IbDVD0yWE] E]E]#EY"E]:*E]~:VE]3ZEYae@ae@am@am@%uQ=ٔ}~Q-}>9yYy=hGydF/:E>Q 54.?Q 94?) BYy>Q I@YrDI;i;4yBɮ@j gO FNOT Ignoring new targets: 381.15 m.BBB.#IBBB+ =BBBs`;Bt$ER5ߓ9Z5ߓ9gOE ProNav: ac range: 381.154541 m, nav range: 378.129303 m, bearing: 26.018405 deg, approach rate: -0.590915 m/s, LOS rate: 0.016160 deg/s, cmd heading: 30.659975 deg, new cmd heading: 30.673275 deg. BE9gOMHeadingCmd: 0.535350 target range: 381.154541 and range: 383.40 m.M ?I*q"q qqqyyʎyyyjZ@~ @-Bɢ 0 :)  p>i)riyDi ?)pKI% ?I!9@ @@/@@@=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.724155^ANJNA?A?I A9 IY I O >ޏk,~aX@AhY-By5;#I 99iMb@Mb@Mb@ 9Gz?p= ף9Y=hGyeFE >Q 544.?Q 94)BY.!?Q E:y% >Q I%@jrDI:i:w4y-Bɮ-@-EPMB*** querying acoustic contact ***I IjQgO]FNOT Ignoring new targets: 381.15 m.R]d9Z]d9gOu ProNav: ac range: 381.154541 m, nav range: 377.862518 m, bearing: 26.023686 deg, approach rate: -0.630979 m/s, LOS rate: 0.012499 deg/s, cmd heading: 30.673273 deg, new cmd heading: 30.683842 deg. Bu9gOHeadingCmd: 0.535534 target range: 381.154541 and range: 383.40 m. ?*" FBʎjZ@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.976371颡ɢ0A_;) >i)|oiWp!i ?V*.OI ?IE% E%E%'E!"E%:*E%]t:VE%'4ZE!BE%&Zs,xaX@A2l>2?2 ٱ27 :AHRS rotation from veh to nav: [[0.864520,-0.492312,-0.101158],[0.501405,0.858676,0.106155],[0.034601,-0.142494,0.989191]]2H&? ߿广@ ?`Ez?,?8?@=¿@s?i2l>I2O\;2CYFByFH#IHHbDNVDNkyV9=%V3=ٔZ#6Q-Z>9^ ?Y^ ?=^hGy\^;Eb>`Q 5f4b.?Q 9f4b)b.BYhyj;>Q Ij@b}rDIb/;ib;bs4ylɮr@pjgO FNOT Ignoring new targets: 381.15 m.R B]9Z B]9gO ProNav: ac range: 381.154541 m, nav range: 377.579132 m, bearing: 26.029202 deg, approach rate: -0.620608 m/s, LOS rate: 0.012090 deg/s, cmd heading: 30.683843 deg, new cmd heading: 30.694884 deg. B9gO%HeadingCmd: 0.535727 target range: 381.154541 and range: 383.40 m.%d% ?!*!") )))qʎjZ @%,Bɢ%K;)! %ߔ>i!)%sjIIiM#iUd% ?U(,UP+IUd% ?IYe checking for new query: numPingsReceived=0, elapsed TxPingTime=4.480349EM EMEM$EI"EM:*EM1]:VEM4ZEIa]@a]@a]@a]@ԙB<A<B0>BӍCBT#IBʄBB, =BBBz`;Bu$EBBBBBCĚ\59@ @@/@@%@%@%@% A I I) O= >] checking for new query: numPingsReceived=0, elapsed TxPingTime=4.732283z,2y?2~ ٱ2 :AHRS rotation from veh to nav: [[0.863703,-0.494079,-0.099515],[0.502813,0.858253,0.102868],[0.034584,-0.138884,0.989705]]2Ht?߿y ?v?U?@?ਫ?i2A>I2\;2CYFʄByFS#IbDNVDNyV/=%VK=ٔV=.8Q-Z>9XYX=ZhGyZfF^Ä;E^>`Q 5f4b.?Q 9f4bt)b>BYdyj>Q Ij@brDIb:ib:b{4ynBɮni@ljgOFNOT Ignoring new targets: 381.15 m.R [9Z [9gO ProNav: ac range: 381.154541 m, nav range: 377.329681 m, bearing: 26.034015 deg, approach rate: -0.620100 m/s, LOS rate: 0.011970 deg/s, cmd heading: 30.694884 deg, new cmd heading: 30.704515 deg. BB9gO%HeadingCmd: 0.535895 target range: 381.154541 and range: 383.40 m.%h0 ?!*!"! !))))ʎ111j1Z5uo@+Bɢ;) =>i ) sfi=%iMh0 ?U-}GI}h0 ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.984677mE} E}E}'Ey"E}:*E}i:VE}'4ZEyBE}&Y (,;bX@A6h^>6?6 B ٱ6D BAHRS rotation from veh to nav: [[0.862611,-0.496354,-0.097646],[0.504691,0.857577,0.099241],[0.034480,-0.134887,0.990261]]6H?@B߿@N@m&?Eq?g?\?`C7?i6h^>I6\;6CYbՄByba#IiEMb@Mb@Mb@AAAA A9E#~j?Cl绿~jt?YE%?yE;߽E=ٔu9Q-u>9}"?Y}"?=}hGyy}ۥ;E>Q 54'.?Q 94ʢ)KBYT(?Q E:y¼>Q I@rDI-;i ;4yBɮ@EjgOFNOT Ignoring new targets: 381.15 m.R9Z9checking for new query: numPingsReceived=0, elapsed TxPingTime=5.2362431gO ProNav: ac range: 381.154541 m, nav range: 377.049744 m, bearing: 26.037670 deg, approach rate: -0.652052 m/s, LOS rate: 0.008521 deg/s, cmd heading: 30.704514 deg, new cmd heading: 30.711831 deg. By9gOHeadingCmd: 0.536023 target range: 381.154541 and range: 383.40 m.8 ?*" _BʎjZ C@9ɢEs<)A E>iA)EaIIiMz(iU8 ?Ur-UtIU8 ?IYaaaaa9@ @@0@ԙ checking for new query: numPingsReceived=0, elapsed TxPingTime=5.488674Em  Em Em #Ei "Em :*Em Ar:VEm 3ZEi au @au @au @au @I I O >B 3>B B s#IB BB + =B B B `;B $EԹ ^$,bX@A292>2?2 ٱ2 >AHRS rotation from veh to nav: [[0.861806,-0.497981,-0.096460],[0.506091,0.856946,0.097548],[0.034084,-0.132885,0.990545]]2H?@߿@ 1?l?`?ss? _?i292>I2\;0YR݄ByRk#IV>V=bDZVDZk1yb&=%fV=ٔfˇ:Q-f>9dYh=jhGyjgFj;Ej>lQ 5r4n/?Q 9v4nh)nWBYtyv>Q Iv@nrDIn:in:n4yxɮzE@|jgO%FNOT Ignoring new targets: 381.15 m.R%9Z%9gO5 ProNav: ac range: 381.154541 m, nav range: 376.800201 m, bearing: 26.040876 deg, approach rate: -0.652835 m/s, LOS rate: 0.008392 deg/s, cmd heading: 30.711829 deg, new cmd heading: 30.718245 deg. B5u9gO=HeadingCmd: 0.536135 target range: 381.154541 and range: 383.40 m.=@ ?9*A"A AAAIIʎIIIjQZUe@ԑ颙ɢCs?<) O>i)]顡i&*i@ ?Z.׻I@ ?I9@ @@0@-checking for new query: numPingsReceived=0, elapsed TxPingTime=5.740249IIOc> N,97bX@A29 >2[?2 ٱ2 >AHRS rotation from veh to nav: [[0.860971,-0.499627,-0.095407],[0.507528,0.856293,0.095795],[0.033835,-0.130898,0.990818]]2H@?߿`l=?f??R?Cȴ?i29 >I2\;0Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.992410YzۄBy~i#IE% E%E%&E!"E%:*E%e:VE%4ZE!BE%u9Y=hGyy;E>Q 54/?Q 94)eBY2#?Q E:y$>Q I@rDI ;im ;T4y Bɮ o@ PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 381.15 m.R8Z8gO ProNav: ac range: 381.154541 m, nav range: 376.522339 m, bearing: 26.043486 deg, approach rate: -0.615621 m/s, LOS rate: 0.005788 deg/s, cmd heading: 30.718246 deg, new cmd heading: 30.723471 deg. B{)9gOHeadingCmd: 0.536226 target range: 381.154541 and range: 383.40 m.F ?*" QBʎ j Z @u*Bɢ}@"<)y } >iy)}dXyi:-iF ?`.0IF ?IIQ9@ @@/0@=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.244178Q ^A *:I I O >h6,*QbX@A2ˡ>2u?2ûٱ2s >AHRS rotation from veh to nav: [[0.860242,-0.500933,-0.095130],[0.508792,0.855538,0.095844],[0.033376,-0.130850,0.990840]]2H?qZH?`?:?`?`?i2ˡ>I2,];2CYFByFz#INAAN@AbDRVDRkyZW=%Z^=ٔZ:Q-Z>9\Y\=^hGy^hFb;Eb>dQ 5j4f//?Q 9j4fA)fqBYhyj>Q Ij@frDIf:ifW:f4yYɮe@ajgOFNOT Ignoring new targets: 381.15 m.R8Z8gO ProNav: ac range: 381.154541 m, nav range: 376.290222 m, bearing: 26.045618 deg, approach rate: -0.627363 m/s, LOS rate: 0.005765 deg/s, cmd heading: 30.723472 deg, new cmd heading: 30.727737 deg. B(9gOHeadingCmd: 0.536300 target range: 381.154541 and range: 383.40 m.J ?*" ʎjZ@@!ɢ-*k<)) ->i))59T99i=:/iEJ ?E.EoIMJ ?IIQchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.497157 9@  @ @ 4@ E= E=E=#E9"E=:*E=ga:VE=3ZE9aE@aE@aE@aE@AAB2>BB#IBBBBBB`;B$E^A%IIO=>yԩ E checking for new query: numPingsReceived=0, elapsed TxPingTime=6.748190`,okbX@A@Y=By=}#IIMAbDUVDUJ2yeF<%e@=ٔeQ-e>9iYi=mhGyiuEu>yQ 54}D/?Q 94})}~BYyQ I@}rDI}:i}:}/4yBɮ~@EjQgOeFNOT Ignoring new targets: 381.15 m.Rm8Z}8gO ProNav: ac range: 381.154541 m, nav range: 376.020142 m, bearing: 26.048101 deg, approach rate: -0.658391 m/s, LOS rate: 0.006058 deg/s, cmd heading: 30.727737 deg, new cmd heading: 30.732707 deg. Bd19gO]HeadingCmd: 0.536387 target range: 381.154541 and range: 383.40 m.]P ?Y*a"a iʎj1Z= @颡ɢ:<) E~>iI)M<4NIQiU]2i]P ?D/ IP ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=7.000899bE-4jErEƝ/EE EEEE&EA"EEs:*EEą:VEE4ZEABEEf0L,rbX@A>>>R ?>Gٱ>= JAHRS rotation from veh to nav: [[0.859113,-0.502934,-0.094771],[0.510805,0.854095,0.097981],[0.031666,-0.132587,0.990665]]>H }?` BX?T?N?@w6??i>>I>{Q];>CYRByR~#Ihi5Mb@Mb@Mb@1111 195%C?bX9ȶMb?Y5Z$?y5E5<5 A1 5nA)5@1Y5AbDMVDMy];%]J=ٔ]Њ;Q-]>9aYa=ehGyeiFeC;Em>qQ 5}4uX/?Q 9}4uӕ)uBY}%?Q E}:y}D>Q I}@urDIu]:iuQ:u>4yBɮ}@EjgOFNOT Ignoring new targets: 381.15 m.R8Z8gO ProNav: ac range: 381.154541 m, nav range: 375.759308 m, bearing: 26.050162 deg, approach rate: -0.645157 m/s, LOS rate: 0.005102 deg/s, cmd heading: 30.732706 deg, new cmd heading: 30.736831 deg. Ba9checking for new query: numPingsReceived=0, elapsed TxPingTime=7.252310gOmHeadingCmd: 0.536459 target range: 381.154541 and range: 383.40 m.m_U ?i*i"q qqqy}SBʎyyyjZN@ ɢ 꽅<)  >i)IiȈ4i_U ?E/7YI_U ?I!Y@Y @Y@]/@Y)^A} 3 checking for new query: numPingsReceived=0, elapsed TxPingTime=7.505706Ee  Ee Ea Ea "Ee :*Ee ҆:VEa ZEa am @am @am @am @B B B #IB BB , =B B B `;B $Eԙ A .AI I O >5s,h?bX@A2x>2 ?2Bٱ2G :AHRS rotation from veh to nav: [[0.858653,-0.503793,-0.094379],[0.511649,0.853431,0.099353],[0.030493,-0.133599,0.990566]]2H`z? @)n_?NO?4o?9?ෲ?i2x>I2];2CYFByFz#IbDNVDN!yV%VV=ٔZI;Q-Z>9Z ?YZ ?=^hGy\^%%;E^>`Q 5f4bk/?Q 9f4bGQ =jtI)bBYhyj>Q Ij@bsDIb:ib:b4ylɮr@pjgO FNOT Ignoring new targets: 381.15 m.R o8Z o8YgO ProNav: ac range: 381.154541 m, nav range: 375.513092 m, bearing: 26.052072 deg, approach rate: -0.645705 m/s, LOS rate: 0.005012 deg/s, cmd heading: 30.736831 deg, new cmd heading: 30.740653 deg. B9gOHeadingCmd: 0.536526 target range: 381.154541 and range: 383.40 m.Y ?*" ʎjZ@ɢ7s<) >i ) JE  i  6iEY ?E0/EUqIEY ?IIE9@I @I@I@Iԁ k>ƐCchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.757419UGi-9YhAԹ^AU 7A I I O >,bX@A2checking for new query: numPingsReceived=0, elapsed TxPingTime=8.008177N >N ?N%EٱN VAHRS rotation from veh to nav: [[0.858106,-0.504639,-0.094831],[0.512620,0.852581,0.101620],[0.029570,-0.135813,0.990293]]NHu?@&F@ag? XH??`G?`Qb@{?iN >IN];LԹE EE'E"E:*Ez:VE'4ZEBEC-9!Y!=-hGy-jF-h ;E->1Q 5=45a/?Q 9=45)5BYE'?Q EE:yE>Q IE@5sDI5#:i5:54ymBɮm@uEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 381.15 m.RL8ZL8gO ProNav: ac range: 381.154541 m, nav range: 375.175934 m, bearing: 26.055625 deg, approach rate: -0.643088 m/s, LOS rate: 0.006784 deg/s, cmd heading: 30.740653 deg, new cmd heading: 30.747766 deg. BF9gOHeadingCmd: 0.536650 target range: 381.154541 and range: 383.40 m.a ?*" PBʎjZl @ɢ{%?<) >i)?!!i%9i-a ?- .-I-a ?I19@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=8.260518!^A eA ?A >9 AQ IY Iq O >&,tbX@AN`D>N ?N6ٱN ^AHRS rotation from veh to nav: [[0.857896,-0.505149,-0.094016],[0.513011,0.852364,0.101467],[0.028880,-0.135279,0.990386]]NHs?.*`jj? F? ?@?P??iN`D>INO];NChYnBynu#IbD~VD~1y ׼% c=ٔ:Q->9Y=hGyΨ:E?!Q 5-4%/?Q 9-4%)%BY1y5>Q I5@%%sDI%3;i%;%4y=Bɮ=@9jgOFNOT Ignoring new targets: 381.15 m.R8Z8gO ProNav: ac range: 381.154541 m, nav range: 374.950500 m, bearing: 26.057990 deg, approach rate: -0.632731 m/s, LOS rate: 0.006640 deg/s, cmd heading: 30.747767 deg, new cmd heading: 30.752498 deg. BqB9gOHeadingCmd: 0.536732 target range: 381.154541 and range: 383.40 m.Kg ?*" !!!5checking for new query: numPingsReceived=0, elapsed TxPingTime=8.512510ʎ199j9Z=`#!@iɢm<)i m>ii)u:qqiu;i}Kg ?}&.}d^I}Kg ?IyE EEE"E2:*EAr:VEZEa@a@a@a@B)A)B53>B1B5#IB5BB5+ =B1B1B57`;B5T$E9@ @@@ )^A?Bɺ checking for new query: numPingsReceived=0, elapsed TxPingTime=8.764136A5 ؟AIA IQ Y Oe >EL,cbX@AJ?Ԥ>J? ?JpٱJ ZAHRS rotation from veh to nav: [[0.857356,-0.506376,-0.092323],[0.513967,0.851930,0.100263],[0.027882,-0.133412,0.990668]]JHvo?:4kr?C?ڪ?? ?iJ?Ԥ>IJ];JCYfByfx#I llttbD VD2y--<%-I=ٔ5 ;Q-5>99="?Y="?==hGyEkFEe0;EE>IQ 5U4M٬/?Q 9U4M )MBYYy]I>Q I]@M7sDIM;iM;M4yaɮm@ijgOFNOT Ignoring new targets: 381.15 m.R58Z=8gO ProNav: ac range: 381.154541 m, nav range: 374.684113 m, bearing: 26.060745 deg, approach rate: -0.619866 m/s, LOS rate: 0.006416 deg/s, cmd heading: 30.752500 deg, new cmd heading: 30.758014 deg. B;9gOHeadingCmd: 0.536829 target range: 381.154541 and range: 383.40 m.m ?*" ʎjZ"@=+Bɢ=i9)E?5AAaiE>imm ?uX.uP7Ium ?IqMchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.017001DzD?AE EE%E"E:*E]t:VE 4ZEBE3 , cX@A<ԡ>Y ?!ټٱ AHRS rotation from veh to nav: [[0.857188,-0.506782,-0.091650],[0.514316,0.851569,0.101537],[0.026589,-0.134173,0.990601]]Hn?`7\vFu? @?M?1:?`, ?i>I@^;CY-By-s#I15AiEMb@Mb@Mb@AAAA A9ECl?Zd;:v?YEd?yEET9 ?Y ?=hGylFF-:E>Q 54h/?Q 94Ӈ)BY?Q E:yK>Q I@NsDI ;i ;G4yBɮ>@EjgOFNOT Ignoring new targets: 381.15 m.RI9ZI9gO ProNav: ac range: 381.154541 m, nav range: 374.325958 m, bearing: 26.066721 deg, approach rate: -0.660409 m/s, LOS rate: 0.011029 deg/s, cmd heading: 30.758015 deg, new cmd heading: 30.769978 deg. Bz9gOHeadingCmd: 0.537037 target range: 381.154541 and range: 383.40 m.I{ ?* "    6BʎjZ@#@AɢED?<)I Mh>iI)M@/IIiUM@iUI{ ?]=-]vX8I]I{ ?IYi=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.520702E EE'E"E:*Eg:VE'4ZEa@a@a@a@@ @@0@B2>BBBB* =BBBp_;B#EBӍCBӍCBB+ =B+ =CDz4 ^A 9A zA ZA) A!I)I9OM>h,u)cX@ANchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.772216Y%By%q#IbD=VD=fyMn,%My=ٔMQ-U?9QYQ=UhGyQ]E]?aQ 5m4e{/?Q 9m4e)eäBYiyqQ Iu@e[sDIei ;ie ;e4y}Bɮ}l@yjgOFNOT Ignoring new targets: 381.15 m.R;9Z;9gO ProNav: ac range: 381.154541 m, nav range: 374.124359 m, bearing: 26.070090 deg, approach rate: -0.614191 m/s, LOS rate: 0.010269 deg/s, cmd heading: 30.769978 deg, new cmd heading: 30.776720 deg. BX9gOHeadingCmd: 0.537155 target range: 381.154541 and range: 383.40 m. ?*" ʎjZ=#@ -,Bɢ-*<)1 59>i1)5x\+11i=mBi= ?=-Ej_IE ?IA9@ @@0@A^AMԑ ^,TCcX@A2Z>2 ?2:Ҽٱ2 :AHRS rotation from veh to nav: [[0.856879,-0.507430,-0.090959],[0.514876,0.851186,0.101910],[0.025711,-0.134157,0.990626]]2Hk?<I`y?I2_;2CY^܄Bybj#IiUMb@Mb@Mb@QQQQ Q9UX9v?p= ף9Y=hGy:E>Q 54/?Q 94ƃ)̤BYo!?Q E:ys>Q I@ksDI;i˹;,4yɮ@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 381.15 m.R gM9Z gM9qgO ProNav: ac range: 381.154541 m, nav range: 373.868469 m, bearing: 26.074747 deg, approach rate: -0.616255 m/s, LOS rate: 0.011224 deg/s, cmd heading: 30.776720 deg, new cmd heading: 30.786040 deg. BR9gOHeadingCmd: 0.537318 target range: 381.154541 and range: 383.40 m. ?*" BʎjZ$@9ɢE)Q<)A Eί>iA)E_o&AIiMuD2Acoustic response timeouti  ?  /- 9I ?I@ @@0@ԩ^Ai IA IQ ia Ia e 2Acoustic response timeoutOm > E  E E )E "E m+;*E :VE FA4ZE a @a @a @a @A A @AB% .>B! B% #IB% BB% , =B! B% eDB% ._;B% #E,0]cX@A2磥>2 ?2ʼٱ2 :AHRS rotation from veh to nav: [[0.856612,-0.508008,-0.090239],[0.515368,0.850823,0.102456],[0.024728,-0.134271,0.990636]]2H@^i?`A`}? 9?:?lR?/@J?i2磥>I2[_;2CYFՄByFa#IJ=J=bDRVDRfyV%ZY=ٔZ*;Q-Z>9\Y\=^hGy^mFb:Eb>dQ 5j4f0?Q 9j4f)fԤBYlyn>Q In@fzsDIfz ;if ;f%4yrBɮrS@vEj gOFNOT Ignoring new targets: 381.15 m.RR9ZR9gO ProNav: ac range: 381.154541 m, nav range: 373.632172 m, bearing: 26.079032 deg, approach rate: -0.634179 m/s, LOS rate: 0.011507 deg/s, cmd heading: 30.786039 deg, new cmd heading: 30.794615 deg. Bz9gOHeadingCmd: 0.537467 target range: 381.154541 and range: 383.40 m.w ?*" ʎjZ^%@aɢeOb<)a e1>ia)mc"iiimuFiw ?d, B:Iw ?II)M9@I @I@M4@I2Acoustic response timeout^AiIIO>A ),e5wcX@AjW>j^ ?jٱjM rAHRS rotation from veh to nav: [[0.856718,-0.507894,-0.089876],[0.515248,0.850683,0.104204],[0.023531,-0.135582,0.990487]]jH;j?@ |?8???`Z ?ijW>IjI_;jCY~̄By~V#IiMb@Mb@Mb@ 9ףp= ?w/Ŀy&1?Y?y&`e<A AA)@Y@bD VD:2 2Acoustic response timeouty%5=ٔ-;Q->9Y=%hGy!%E->)Q 554-90?Q 954-)-ߤBY='$?Q E=:y=>Q I=@-sDI-:i- ;--4yEBɮM@IjigOuFNOT Ignoring new targets: 381.15 m.Ru9Zu9gO ProNav: ac range: 381.154541 m, nav range: 373.347321 m, bearing: 26.086358 deg, approach rate: -0.630571 m/s, LOS rate: 0.016231 deg/s, cmd heading: 30.794615 deg, new cmd heading: 30.809279 deg. B9gOHeadingCmd: 0.537723 target range: 381.154541 and range: 383.40 m.= ?*" BDzD@AE EE%E"ED:*E|:VE 4ZEBE1i),iMHi= ?[,X 9I= ?Iy9@ @@/@ԩ^A9I9 II O] > 2Acoustic response timeout ,cX@A2y>2 ?2ٱ2t :AHRS rotation from veh to nav: [[0.856767,-0.507856,-0.089621],[0.515199,0.850588,0.105218],[0.022794,-0.136320,0.990403]]2H`j?[@``|?`8?`?nW?r`?i2y>I2 `;2CYFԄByF`#IbDNVDNP)yVZ3=%Vf=ٔV;Q-Z>9XYX=ZhGyZnF^GE^>|Q 5%4'+0?Q 9%4})BY)y->Q I-@sDI:it:44y1ɮ5o@1jgOFNOT Ignoring new targets: 381.15 m.R9Z9gO ProNav: ac range: 381.154541 m, nav range: 373.116241 m, bearing: 26.092311 deg, approach rate: -0.622127 m/s, LOS rate: 0.016036 deg/s, cmd heading: 30.809279 deg, new cmd heading: 30.821192 deg. B9gOHeadingCmd: 0.537931 target range: 381.154541 and range: 383.40 m.ݵ ?*" ʎjZ&@ɢxl<) >i)."iD\Jiݵ ?,*8I%ݵ ?I)@ @@0@)-2Acoustic response timeoutE EE!E"E:*EVEc3ZEa@a@a@a@BBB#IBBBBBBj_;B#EY^A9II)O=>ԡ 3,`ǪcX@A2D>2֢ ?2Kٱ20 :AHRS rotation from veh to nav: [[0.856712,-0.508108,-0.088720],[0.515342,0.850417,0.105898],[0.021641,-0.136445,0.990411]]2H@.j?lB`T}?6? '?`)? wr?i2D>I2c_;2CB2Acoustic response timeoutY^ЄBy^[#IdfAbDjVDjNyr~%rG=ٔr7;Q-r>9tYt=vhGytz9Ez>|Q 54~?0?Q 94~{)~BYy>Q I@~sDI~:i~=:~;4yBɮ@EjYgOeFNOT Ignoring new targets: 381.15 m.Re9Zm9ygO} ProNav: ac range: 381.154541 m, nav range: 372.864227 m, bearing: 26.098804 deg, approach rate: -0.631263 m/s, LOS rate: 0.016275 deg/s, cmd heading: 30.821191 deg, new cmd heading: 30.834186 deg. B}G9gOHeadingCmd: 0.538158 target range: 381.154541 and range: 383.40 m. ?*" ʎ19j9Z=,'@颡ɢJ<) բ>i)v顩iDLi ?+>İ8I ?Iԩ9@ @@@@%=@%=52Acoustic response timeoutbE]Ȟ4jE]4rE](90E EE$E"Ea:*Ei:VE4ZEBE( ,EcX@A2b>22 ?2ٱ2 :AHRS rotation from veh to nav: [[0.856952,-0.507843,-0.087913],[0.514994,0.850466,0.107180],[0.020337,-0.137123,0.990345]]2H 'l? ?@{z?7?p?5Ӕ?`;?i2b>I2_;2CYFԄByF`#IiMMb@Mb@Mb@IIII I9Ml?'1ZĿ/$?YM?yM"M9Y=hGyoF}E>Q 54cU0?Q 9 4y)BY ?Q E :y  >Q I @sDIs:i:B4yBɮ@P=B*** querying acoustic contact ***9 9jAgOEFNOT Ignoring new targets: 381.15 m.RM9ZM9gO] ProNav: ac range: 381.154541 m, nav range: 372.600983 m, bearing: 26.105764 deg, approach rate: -0.607233 m/s, LOS rate: 0.016067 deg/s, cmd heading: 30.834185 deg, new cmd heading: 30.848116 deg. B]:9gOeHeadingCmd: 0.538401 target range: 381.154541 and range: 383.40 m.e ?a*a"i iiiiuBʎqqyjyZ}(@颡ɢΚa<) >i)[顩i5Ni ?Z+I ?IBDAT read: Response Not Received *response not received*DAT read: user:460> BDAT read: Tx time:00:36:31.0263 $Ping request sent.E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248081Y B B B #IB BB - =B B B _;B $EE  E E E "E *E z:VE ZE BE 2E JE ;:E ;C,xcX@A67>6q ?6(ٱ6j >AHRS rotation from veh to nav: [[0.857145,-0.507722,-0.086726],[0.514725,0.850542,0.107871],[0.018996,-0.137101,0.990375]]6H m?A?3x?@7?s?`s?&?i67>I6hI`;6CYFʄByJS#IIN<)N<bDRVDRyZR%ZX=ٔ^p;Q-^>9\Y`=bhGy`b mEb>dQ 5j4fig0?Q 9j4f=x)f BYlyn>Q In@fsDIfF2iY)]} YYi]Oie ?e +msIm ?Ii@ @@0@iG 9YnAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.500051ԑ^A0:ĺI I O > q,bcX@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752141DzD?AE EE"E"E;*EM:VE(3ZEa@a@a@a@ԡȲByV#I==iMb@Mb@Mb@ 9Zd;O?sh|?ſ9Y=hGypFE>Q 540?Q 94u)BY&"?Q E:y>Q I@sDI:i:kR4yBɮ)@EjygOFNOT Ignoring new targets: 381.15 m.R9Z9gO ProNav: ac range: 381.154541 m, nav range: 372.049133 m, bearing: 26.120605 deg, approach rate: -0.614046 m/s, LOS rate: 0.016680 deg/s, cmd heading: 30.859771 deg, new cmd heading: 30.877820 deg. ԹB69gOHeadingCmd: 0.538920 target range: 381.154541 and range: 383.40 m. ?*" BʎjZ@x*@颡ɢl'<) 4>i)d顩iQi ?#*rԔI ?II@I @I@M/@I@U\A@U\A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004063 ^Am qAu ?Au ?IQIiO>Sp,dX@A2٤>2B ?2ٱ2Ӷ :AHRS rotation from veh to nav: [[0.857560,-0.507645,-0.082992],[0.514138,0.850919,0.107704],[0.015944,-0.135032,0.990713]]2H q?>>s?:??S?@H?i2٤>I2_/`;2C X)XXXX\`b?aAi`I``Idif`A fd)dd dhhhhhIh)lil)lIn`Ar`p ppr`Ariptitt)t tItYtY~τBy~Z#IbD VD {Uy<%c=ٔ%( 9!Y)=-hGy-qF-E->1Q 5=450?Q 9=45 t)5!BYAyE>Q IE@5sDI5;i5:5X4yMBɮM @UEjqgO}FNOT Ignoring new targets: 381.15 m.R}͢9Z}͢9gO ProNav: ac range: 381.154541 m, nav range: 371.825836 m, bearing: 26.126702 deg, approach rate: -0.651274 m/s, LOS rate: 0.017792 deg/s, cmd heading: 30.877820 deg, new cmd heading: 30.890020 deg. B=:gOHeadingCmd: 0.539133 target range: 381.154541 and range: 383.40 m. ?*" ʎjZ #+@,Bɢzʼn<) I>i)vi0Si ?*SI ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256823B=/>B9B=#IB=BB=, =B9B9B=_;B=4$EY@Y @Y@]4@YEu EuEu$Eq"Eu:*Eux:VEu4ZEqBEu(A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508085L ,T0dX@ABҫ>B+ ?BUtٱB JAHRS rotation from veh to nav: [[0.857753,-0.507431,-0.082307],[0.513845,0.850983,0.108584],[0.014943,-0.135432,0.990674]]BHr?@<kq?@A;?,̻??U?iBҫ>IB'_;BCYфBy\#I IiMb@Mb@Mb@ 9x?ˡEĿS㥛?YK?y'/<A (@)@Y@bD5VD50yE;%E=ٔE:Q-M>9IYI=MhGyIU)EU>YQ 5e4]ү0?Q 9e4]q)]1BYe*?Q Ee:ym>Q Im@]tDI] ;i]2 ;]b4yqɮu@qjchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.759913gOFNOT Ignoring new targets: 381.15 m.Rљ9Z%љ9gO- ProNav: ac range: 381.154541 m, nav range: 371.501282 m, bearing: 26.135768 deg, approach rate: -0.601252 m/s, LOS rate: 0.016810 deg/s, cmd heading: 30.890019 deg, new cmd heading: 30.908167 deg. B-9gO5HeadingCmd: 0.539449 target range: 381.154541 and range: 383.40 m.5Y ?1*Y"Y YYYaeBʎaaijiZmmB,@DyD}<E EE'E"Ea:*Ega:VE'4ZEa@a@a@a@Qɢ].6<)Y ]Ф>iY)]*Yaie$UieY ?m *m> ImY ?Iiq @  @ @ 0@ ԙ ^AM (AQ zAU XA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011963I I O >&B,MdX@A2>2. ?2~cٱ2q bAHRS rotation from veh to nav: [[0.857742,-0.507568,-0.081572],[0.513893,0.850852,0.109380],[0.013888,-0.135740,0.990647]]2Hr?`=@ᴿq?@.:? \?Sq?`_a?i2>I2_;2CfCdifD;Iddh j_AjThlln_AIn)lil)pIr_App ptttittixz^A)z) zYEIx |)~S{A|||Y|Y ܄By i#IbDVD0y5ʇ=%5=ٔ5GX;Q-5 ?99Y9==hGy=rF=29EE ?AQ 5U4E0?Q 9U4EYp)E:BYQyUʍ>Q IU@EtDIEj;iEv;Eg4yeBɮeR@aP}B*** querying acoustic contact ***y yjgOFNOT Ignoring new targets: 381.15 m.RǙ9ZǙ9gO ProNav: ac range: 381.154541 m, nav range: 371.308899 m, bearing: 26.141145 deg, approach rate: -0.600888 m/s, LOS rate: 0.016805 deg/s, cmd heading: 30.908167 deg, new cmd heading: 30.918928 deg. B 9gOHeadingCmd: 0.539637 target range: 381.154541 and range: 383.40 m.% ?*" ʎjZ,@ɢO<) >i)|iVtVi% ?~*[?%I% ?I!@ @ @ 4@ Quchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264088AAB->BBBB- =BBB`;BE$EBqBqBqBu, =Bu, =Cu>5^AE  E E $E "E :*E  n:VE 4ZE BE a2E aJE ;a:E ;aIIIO>y }f,mgdX@A2SҤ>2> ?2Pٱ27 :AHRS rotation from veh to nav: [[0.857628,-0.508007,-0.080018],[0.514113,0.850778,0.108929],[0.012741,-0.134559,0.990824]]2Hq?A|s?9?? ?99Ӵ?i2SҤ>I2_;09Y=hGyx:E>Q 540?Q 94~n)FBYy>Q I@"tDI:iB:o4yɮ^@ EjgOFNOT Ignoring new targets: 381.15 m.R%&9Z%&9gO5 ProNav: ac range: 381.154541 m, nav range: 371.055267 m, bearing: 26.148237 deg, approach rate: -0.602070 m/s, LOS rate: 0.016846 deg/s, cmd heading: 30.918928 deg, new cmd heading: 30.933121 deg. B59gO=HeadingCmd: 0.539885 target range: 381.154541 and range: 383.40 m.=5 ?9*9"9 AAAAAʎIIIjIZU -@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516121U+Bɢ]<)Y ]>iY)] Yaie Xie5 ?m]*mXk#ԑIm5 ?I9@ @@`4@Թ^A 0  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769282E-  E- E) E) "E- s:*E- i:VE) ZE) a= @a= @a= @a= @A ؟AI I O >N ,fIdX@A\YeByex#IiMb@Mb@Mb@ 9Cl?ףp= ÿ/$?Y;?y< An@ V@)Y(@bDVDky s=% F=ٔQ->9"?Y"?=hGysF%E%>)Q 5-4-0?Q 954-ll)-QBY50$?Q E5:y5>Q I=@-3tDI- ;i-" ;-Ov4yAɮE@AjagOmFNOT Ignoring new targets: 381.15 m.Rm9Zu9gO ProNav: ac range: 381.154541 m, nav range: 370.793884 m, bearing: 26.154523 deg, approach rate: -0.631720 m/s, LOS rate: 0.015203 deg/s, cmd heading: 30.933121 deg, new cmd heading: 30.945702 deg. B9gOHeadingCmd: 0.540104 target range: 381.154541 and range: 383.40 m.HD ?*" BʎjZ.@*Bɢ~<) P>i)fiYiHD ?*0IHD ?Ie>i>9@ @@/@@ZA@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020179^A A >A >A A5 .AIA IQ O] >x}&,8dX@A>)>>H ?> :ٱ> FAHRS rotation from veh to nav: [[0.856916,-0.509614,-0.077387],[0.515330,0.850316,0.106763],[0.011395,-0.131367,0.991268]]>H k?Nϳ}?5?T? @V?`x?i>)>I>B_;>CYNByN#IbDZVDZJyb/=%ba=ٔbAs;Q-f>9f ?Yf ?=fhGydj ;Ej>lQ 5r4n0?Q 9r4nj)nZBYpyrB>Q Iv@nAtDIn):ind:n|4yzBɮ~'@~ Ej!gO%FNOT Ignoring new targets: 381.15 m.R-ډ9Z-ډ9=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272165gOE ProNav: ac range: 381.154541 m, nav range: 370.564667 m, bearing: 26.159997 deg, approach rate: -0.630429 m/s, LOS rate: 0.015065 deg/s, cmd heading: 30.945702 deg, new cmd heading: 30.956657 deg. BM9B]2>BYB]#IB]BB], =BYB]fDB] `;B]=$EgOMHeadingCmd: 0.540296 target range: 381.154541 and range: 383.40 m.mP ?q*q"q qqqyyʎyyyjZD/@颩ɢd<) >i)ٻ项iuW[iP ?U*ǺIP ?IE EE%E"EO:*E[:VE 4ZEBE ۢ,,dX@ANi>N ?N+-ٱN  ^AHRS rotation from veh to nav: [[0.856746,-0.510139,-0.075793],[0.515631,0.850277,0.105610],[0.010569,-0.129562,0.991515]]NH vj?S .g ?x5?B ?`c?~}?iNi>INW_;LYfByj#IbDrVDr2yz=%zH=ٔza;Q-z>9e"?Ye"?=ehGyetFmCV:Em>qԁQ 54u61?Q 94uzh)udBYyb>Q I@uStDIufi)?!ͻi8]if_ ?%s*%κI%f_ ?Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.776248IQԡE EE$E"E:*Eg:VE4ZEa@a@a@a@9@ @@@^A Β{ A - DAT read: 00:36:33.9283 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 280,-0.46,-1.946, 3.075,-1.708,-2.030, PHS= 0.187,-1.133, 0.278, RAW= 153.3, 9.8, CAL= 153.1, 10.6, ROT= 356.9, -10.6 = Ygot valid direction response: 00:36:33.9283 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 280,-0.46,-1.946, 3.075,-1.708,-2.030, PHS= 0.187,-1.133, 0.278, RAW= 153.3, 9.8, CAL= 153.1, 10.6, ROT= 356.9, -10.6 E PDAT read: Bearing 188.1, -3.9 (Local) E ~Local bearing/azimuth received: Bearing 188.1, -3.9 (Local) M DAT read: Range 11 to 50 : 373.3 m (Round-trip 497.8 ms) speed 0.3 m/s U *DAT read: user:461> ] BDAT read: Tx time:00:36:35.0263 ] $Ping request sent.] .3,odX@A )GI|?>i%V><+@%/>+@ q=>)T@Iq=a Z?P_P?Ŷ? ?)/IQ]iq=&:publishing transmit ping timeA&Fpublishing direction and range infoyH/blh?bR?7 =η?Y )Ii )Ia Z?P_P?Ŷ? )IiԑY-By-#I9=AiMb@Mb@Mb@ 9Zd;O? rh:v?Yj?yC <jA ?@)Y3@bD VD :2y=%==ٔEQ-E>9AYI=MhGyIMEM>QQ 5]4U|+1?Q 9}4Ue)UqBYa ?Q E:yǨ>Q I@UgtDIU;iU:;U4yɮ3@Թ:!dX@AJCRCj&?X%sv@a3_zQ@rH/blh?bR?7 =η?ZQ]bq=E:s@Hf@]R@zT?WeW?rA,?2@2C:yC"[?*(B CT? “aByC}>gOe addTargetRange:: Added new target pos. range: 373.299988 m, deltaT: 16.380299 s, deltaX: -10.100006 m, approachRate: -0.616595 m/s, rangeRepo size: 4 gOm Added new target pos. range: 371.108429 m, bearing: 29.352990 deg, lat: 36.779365 deg, lon: -121.859108 deg, deltaT: 16.380299 s, deltaX: -10.046112 m, approachRate: -0.613305 m/s, posRepo size: 4 jqgOuFNOT Ignoring new targets: 371.11 m.RZgO ProNav: ac range: 371.108429 m, nav range: 370.947113 m, bearing: 27.023944 deg, approach rate: 0.000000 m/s, LOS rate: 0.014376 deg/s, cmd heading: 30.969410 deg, new cmd heading: 30.983841 deg. BgOHeadingCmd: 0.540770 target range: 371.108429 and range: 373.30 m.o ?*" BʎjTw@ZI?-(Bɢ5<) F>i) 顙i;_io ?IR*7`Io ?IBA<B%4>B%ԍCB%#IB%BB%* =B!B!B%(`;B%N$EE EE&E"EV:*E&p:VE4ZEBE9$;,odX@AJ;x>J ?J{ٱJ= ZAHRS rotation from veh to nav: [[0.856002,-0.511845,-0.072637],[0.516891,0.849880,0.102608],[0.009213,-0.125378,0.992066]]JH]d?aT^?62?D?]ނ?c ?iJ;x>IJ_^;JCYfByf#IbDvVDvy%S=ٔ g;Q- >9 ?Y ?=hGyuFy;E>!Q 554%>1?Q 9=4%c)%zBY9y=e>Q I=@%vtDI%;;i%;;%4yUBɮUc@U EPuB*** querying acoustic contact ***q qjgOFNOT Ignoring new targets: 371.11 m.Ry9Zy9gO ProNav: ac range: 371.108429 m, nav range: 370.709076 m, bearing: 27.029160 deg, approach rate: -0.640411 m/s, LOS rate: 0.014040 deg/s, cmd heading: 30.983842 deg, new cmd heading: 30.994279 deg. B9gOHeadingCmd: 0.540952 target range: 371.108429 and range: 373.30 m.{ ?*" ʎjZ?'Bɢxy<) />i)ƶio`i{ ?*I{ ?Iԁ]9@Y @Y@]0@YԹPExceeded connect timeout, disconnecting.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.bE4jEǶ4rE5/E- E-E-#E)"E- :*E-k:VE-3ZE)a5@a5@a=@a=@^A}?BɺA ؟AI I O > B,seX@AY~By~#IiMb@Mb@Mb@ 9?MbV-?Y ?y<A@ @)@Y@bDVD02y|>%@=ٔQ->9"?Y"?=hGyE>Q 54 T1?Q 94Ma)BY}#?Q E:yM>Q I@tDI:i]:4yBɮx@jgOFNOT Ignoring new targets: 371.11 m.R`9Z%`9gO- ProNav: ac range: 371.108429 m, nav range: 370.440918 m, bearing: 27.034309 deg, approach rate: -0.637062 m/s, LOS rate: 0.012241 deg/s, cmd heading: 30.994278 deg, new cmd heading: 31.004584 deg. B-99gO=HeadingCmd: 0.541132 target range: 371.108429 and range: 373.30 m.= ?9*9"9 999AEBʎAAIjIZM?}&Bɢ}<)y }">iy)>D顁i0bi ?+)VrI ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.995918 9@  @ @ 0@^A5"Q Ae .AIi Iy B 9>B B #IB BB ) =B B gDB `;B M$E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248530O >Ee  Ee Ee %Ea "Ee :*Ee z:VEe 4ZEa BEe m%2h^ ?28ٱ2 :AHRS rotation from veh to nav: [[0.855406,-0.512978,-0.071652],[0.517896,0.849219,0.103004],[0.008009,-0.125218,0.992097]]2H`|_?`QjW ? ,?{^?@g?(A?i2j>I2E^;2CYbByb#IbDjVDjfyrS=%rY=ٔvQ;Q-v>9v ?Yv ?=vhGyzvFzK;Ez>|Q 54~g1?Q 94~%_)~BY y >Q I @~tDI~:i~:~4yɮ@j9gO=FNOT Ignoring new targets: 371.11 m.RE\9ZE\9gOU ProNav: ac range: 371.108429 m, nav range: 370.203339 m, bearing: 27.038833 deg, approach rate: -0.632403 m/s, LOS rate: 0.012051 deg/s, cmd heading: 31.004585 deg, new cmd heading: 31.013640 deg. BUo9gO]HeadingCmd: 0.541290 target range: 371.108429 and range: 373.30 m.] ?Y*Y"Y aaaaaʎiiijiZu1?额%BɢdL<) ">i)I顡idi ?)T08I ?IIZA)VAQQ@Q @Q@]4@Y@e\A@eXA a}\Aɣ9\AY9Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499891ԩ^AΒ{ԩ A ؟AI I O > nManaging dock network, ignoring radio surface power off@\N,O;9"?Y"?=hGyE>!Q 5-4%x~1?Q 9-4%W\)%BY-!?Q E-:y-T>Q I5@%tDI% ;i% ;%4y=Bɮ=@=EjagOeFNOT Ignoring new targets: 371.11 m.Rmd<9Zmd<9gO} ProNav: ac range: 371.108429 m, nav range: 369.906738 m, bearing: 27.043724 deg, approach rate: -0.623805 m/s, LOS rate: 0.010294 deg/s, cmd heading: 31.013638 deg, new cmd heading: 31.023427 deg. B}9gOHeadingCmd: 0.541461 target range: 371.108429 and range: 373.30 m./ ?*" JBʎjZ'f?ԡE$BɢE<)I M>iQ)}qyyi}rfi/ ?w+)VzI/ ?I)@1 @1@52@1 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004344 ^AU 9) IQ Ia Om >U,MeXeX@A: >:9R ?:ٱ:l FAHRS rotation from veh to nav: [[0.855509,-0.512690,-0.072479],[0.517741,0.848880,0.106520],[0.006915,-0.128654,0.991665]]:HT`?`g@V?*?D?aR|?w ?i: >I:X^;:CYN%ByN#IbDVVDVy^F=%^_=ٔbD;Q-b>9`Y`=fhGyfwFfEf>hQ 5n4j1?Q 9r4j/Z)jBYpyrV>Q Ir@jtDIj]:ijU:jH4yvBɮv*@xjgOFNOT Ignoring new targets: 371.11 m.R<9Z<9gO- ProNav: ac range: 371.108429 m, nav range: 369.678955 m, bearing: 27.047484 deg, approach rate: -0.623778 m/s, LOS rate: 0.010305 deg/s, cmd heading: 31.023426 deg, new cmd heading: 31.030952 deg. B-9gO5HeadingCmd: 0.541592 target range: 371.108429 and range: 373.30 m.=˥ ?9*9"9 999AAʎAAIjIZM\@u#Bɢ} =)y }?iy)}wlyihi˥ ?(KI˥ ?IA A B8>BB#IB!BB( =BBB_;B)$E]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257401Y@a @a@e/@iE EE&E"E:*Ek:VE4ZEBE) checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508579i \,yreX@A2#>2F` ?2ʻٱ2 :AHRS rotation from veh to nav: [[0.855402,-0.512915,-0.072148],[0.517927,0.848668,0.107304],[0.006192,-0.129155,0.991605]]2Ht_?iKx@ܒ?I(?@>x?`\y?':?i2#>I2 H^;2CYB'ByF#IbDNVDN1yV+ <%VJ=ٔV:Q-V>9XYX=ZhGyX^ :E^>`Q 5n4b1?Q 9n4bW)bBYpyrw>Q Iv@btDIbW;ib;b^4yɮ@P-B*** querying acoustic contact ***) )jAgOMFNOT Ignoring new targets: 371.11 m.RU89Z]89gOu ProNav: ac range: 371.108429 m, nav range: 369.425842 m, bearing: 27.051659 deg, approach rate: -0.612010 m/s, LOS rate: 0.010100 deg/s, cmd heading: 31.030953 deg, new cmd heading: 31.039307 deg. B9gOHeadingCmd: 0.541738 target range: 371.108429 and range: 373.30 m.Y ?*" ʎ  j Z @颕"Bɢd<) ^?i)pi顙ijiY ?O(ӹIY ?I>i)>)i@i @i@i@iamchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.762469DzDE EE#E"E*E|:VE3ZEa@a@a@a@^AmqIIO>ԁ b,(eX@A2M>2| ?2ٱ2 :AHRS rotation from veh to nav: [[0.855182,-0.513354,-0.071637],[0.518299,0.848397,0.107647],[0.005516,-0.129187,0.991605]]2H]?@fmV?&?Ž?v?5 :?i2M>I2O^;09qYq=}hGy}xF}:E}>Q 54u1?Q 94U)BY"?Q E:y>Q I@tDchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011933I{:i<Ǿ4y=Bɮ=&@=EjgOFNOT Ignoring new targets: 371.11 m.R9Z9gO ProNav: ac range: 371.108429 m, nav range: 369.157806 m, bearing: 27.054970 deg, approach rate: -0.603597 m/s, LOS rate: 0.007461 deg/s, cmd heading: 31.039306 deg, new cmd heading: 31.045933 deg. BzZ9gOHeadingCmd: 0.541854 target range: 371.108429 and range: 373.30 m. ?*" 5BʎjZ@{@!Bɢ@=) ?i) M  i Uli ?P(JyI ?Iԩ9@ @@@^A"B B B #IB 0BB B B B p_;B #EBԍCBԍCBB) =B* =CȦ5I1 II OU >m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263975E-  E- E- (E) "E- :*E- n:VE- c44ZE) BE- <82ߐ ?2ٝٱ2 :AHRS rotation from veh to nav: [[0.855024,-0.513692,-0.071087],[0.518565,0.848190,0.107998],[0.004817,-0.129204,0.991606]]2H\\? +p2?`_$?`ǥ?2s?ĉ =?i2Uv>I2&"^;2CY^)Byb#IbDjVDj1|y%{<%%O=ٔ%K:Q-%>9)Y)=-hGy)5M:E5>1Q 5E451?Q 9E45R)5BYAyE>>Q IE@5tDI5T;i5:54yQɮU@QjqgO}FNOT Ignoring new targets: 371.11 m.R}9Z9gO ProNav: ac range: 371.108429 m, nav range: 368.908813 m, bearing: 27.058037 deg, approach rate: -0.681248 m/s, LOS rate: 0.008398 deg/s, cmd heading: 31.045932 deg, new cmd heading: 31.052071 deg. Bu9gOHeadingCmd: 0.541961 target range: 371.108429 and range: 373.30 m. ?*" ʎjZg @ Bɢ=) j?i)4ini ?(V8I ?I9@ @@@)BDAT read: Rx Time:00:36:37.9261 TRx dataTimestamp_ set to:1761698198.750080checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518264Y^AI9IIOU>ԙ 6o, ϿeX@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.770061ZЧ>Z ?ZWٱZA fAHRS rotation from veh to nav: [[0.854670,-0.514367,-0.070471],[0.519155,0.847843,0.107892],[0.004252,-0.128798,0.991662]]ZHtY?`ui ?`!?Ԟ?@jq?r|`?iZЧ>IZ];ZCDhDhEr ErEr%Ep"Er;*Er[:VEr 4ZEpav@av@av@av@Yz-Byz#IQiMb@Mb@Mb@ 9)\(?zGếQ?YG!?y ׽u<A @)Y@ U49Y=hGyyF/:E>Q 54\1?Q 94xO)BY#?Q E:y!>Q I@tDI;iW;<4y Bɮ@EjQgO]FNOT Ignoring new targets: 371.11 m.R]9Z]9gOu ProNav: ac range: 371.108429 m, nav range: 368.596863 m, bearing: 27.062279 deg, approach rate: -0.625236 m/s, LOS rate: 0.008508 deg/s, cmd heading: 31.052072 deg, new cmd heading: 31.060562 deg. Bu#y9gO}HeadingCmd: 0.542109 target range: 371.108429 and range: 373.30 m.ԁ} ?*" BBʎjZw@9ɢ=<)9 E?iA)EoAAiEpiM ?M'Mq:IM ?IQ1@1 @1@1@1Ա DAT read: 00:36:37.9261 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 415, 0.01, 1.942, 0.471, 2.278, 1.584, PHS= 0.459,-1.068, 0.650, RAW= 155.8, -0.5, CAL= 154.7, -1.8, ROT= 355.3, 1.8 Ygot valid direction response: 00:36:37.9261 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 415, 0.01, 1.942, 0.471, 2.278, 1.584, PHS= 0.459,-1.068, 0.650, RAW= 155.8, -0.5, CAL= 154.7, -1.8, ROT= 355.3, 1.8 PDAT read: Bearing 175.1, -4.3 (Local) ~Local bearing/azimuth received: Bearing 175.1, -4.3 (Local) -DAT read: Range 11 to 50 : 371.7 m (Round-trip 495.7 ms) speed 0.5 m/s 5*DAT read: user:462> =BDAT read: Tx time:00:36:39.0263 =$Ping request sent.=i9ff&?.@53,@ )o@I=ZNZ5?㱖:?&c3  ?)i9v,eX@A6>6 ?6{ٱ6Q >AHRS rotation from veh to nav: [[0.854460,-0.514801,-0.069844],[0.519503,0.847671,0.107565],[0.003830,-0.128194,0.991742]]6HW??y@I᱿ş?  ?@c?`o?h Y?i6>I6Z];6CYF*ByF#IbDRVDRyZ%ZW=ٔZГ:Q-^>9^ ?Y^ ?=^hGy^zFb–:Eb>dQ 5j4f1?Q 9j4f?M)fåBYhynT>Q In@f uDIf3;if;fd4yrBɮr@rE|,eX@AJøCRøCj@>d/mw@JrtC> 6'rKкl?GGIzZb=$BMt@K}d@/ z?7iSu?=2S$C:uC"_䞊?**kBqqB“qqB/C>B1A5<B=9>B9B=#IB=:BB=) =B9B9B=}_;B=#EgO addTargetRange:: Added new target pos. range: 371.700012 m, deltaT: 4.031937 s, deltaX: -1.599976 m, approachRate: -0.396826 m/s, rangeRepo size: 4 gO Added new target pos. range: 369.525787 m, bearing: 26.408134 deg, lat: 36.779365 deg, lon: -121.859108 deg, deltaT: 4.031937 s, deltaX: -1.582642 m, approachRate: -0.392526 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 369.53 m.RZgO= ProNav: ac range: 369.525787 m, nav range: 368.372955 m, bearing: 27.065314 deg, approach rate: 0.000000 m/s, LOS rate: 0.008508 deg/s, cmd heading: 31.060562 deg, new cmd heading: 31.066492 deg. B9gOEHeadingCmd: 0.542213 target range: 369.525787 and range: 371.70 m.Eq ?A*A"A IEu EuEu&Eq"Eu:*Eu:VEu4ZEqBEum%V},eX@A2>2 ?2 ^ٱ2 :AHRS rotation from veh to nav: [[0.854460,-0.514906,-0.069059],[0.519505,0.847727,0.107116],[0.003388,-0.127403,0.991845]]2HW? z`ҭɟ?` ? k??k?N`2?i2>I2 ];2CYB"ByB#IbDNPVDNyV%VK=ٔZ :Q-Z>9Z"?YZ"?=ZhGy\^E6E>!Q 5%4% 2?Q 9-4%J)%ʥBY)y-P>Q I-@%uDI% :i%9:%4y1ɮ=i@9PUB*** querying acoustic contact ***Q QjagOeFNOT Ignoring new targets: 369.53 m.Rm9Zm9gO} ProNav: ac range: 369.525787 m, nav range: 368.109772 m, bearing: 27.068887 deg, approach rate: -0.641980 m/s, LOS rate: 0.008723 deg/s, cmd heading: 31.066490 deg, new cmd heading: 31.073643 deg. B}l9gOHeadingCmd: 0.542337 target range: 369.525787 and range: 371.70 m. ?*" ʎjZ?ɢ*=) ?i)mdiSti ?x&Hn:I ?I@ @@4@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E EE'E"ET;*E:VE'4ZEa@a@a@a@^Ai! A I I O >\,epfX@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.9946036m5>6j ?6Hٱ6 BAHRS rotation from veh to nav: [[0.854273,-0.515295,-0.068470],[0.519815,0.847591,0.106682],[0.003062,-0.126728,0.991933]]6H@5V?K}?S? x?`O?`i?8?i6m5>I6^;6CYJ$ByJ#I LL|i%Mb@Mb@Mb@!!!! !9%S?)\(~jt?Y%/?y%GὙ%<%jA%@ %@)!!Y%3@bD=VD=yM<%M@=ٔMlI:Q-M>9QYQ=UhGyU{F]_:E]>aQ 5m4e2?Q 9m4e(H)eѥBYm?Q Em:ymÿ>Q Iu@e.uDIen;iea;e4y}Bɮ}Z@yjgOFNOT Ignoring new targets: 369.53 m.R9"9Z9"9gO ProNav: ac range: 369.525787 m, nav range: 367.853516 m, bearing: 27.072808 deg, approach rate: -0.578989 m/s, LOS rate: 0.008864 deg/s, cmd heading: 31.073642 deg, new cmd heading: 31.081488 deg. Bǁ9gOHeadingCmd: 0.542474 target range: 369.525787 and range: 371.70 m. ?*" >BʎjZ`á?mBɢm%=)i m?iq)uZqqiuvi} ?}-8&}"aW:I} ?II[A)ZA)!@! @!@!@!@-=@-=B9B9B=#IB=?BB=( =B9B9B=_;B=$EQchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.246407E EEE"EO:*Ega:VEZEBE W,W>*fX@A2G>2 ?2uٱ2 :AHRS rotation from veh to nav: [[0.854202,-0.515524,-0.067626],[0.519936,0.847505,0.106781],[0.002265,-0.126374,0.991980]]2H`U?+OP??U?b? -M?i2G>I2{-^;2CYBByF#IbDNVDN0yrǼ%rR=ٔr;Q-r>9tYt=vhGytvG9Ez>xQ 54z22?Q 94zE)zإBYyԿ>Q I@z>uDIzQ;izn;z4y Bɮ@Ej1gO=FNOT Ignoring new targets: 369.53 m.R=-<9ZE-<9gOM ProNav: ac range: 369.525787 m, nav range: 367.611969 m, bearing: 27.076504 deg, approach rate: -0.671541 m/s, LOS rate: 0.010282 deg/s, cmd heading: 31.081490 deg, new cmd heading: 31.088886 deg. BU9gOUHeadingCmd: 0.542603 target range: 369.525787 and range: 371.70 m.U ?YY*a"a aaaiiʎiiijqZuCD?颙ɢ=) ?i)&顡iUxi ?%I ?I=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499399U9@Q @Q@U/@Yԉ^Au0::ԱAi I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752648 D =D bE-˞4jE-˞4rE-˃/E  E E %E "E :*E e:VE 4ZE a @a @a @a @,DfX@A>'>> ?>/κٱ>* JAHRS rotation from veh to nav: [[0.854331,-0.515364,-0.067219],[0.519727,0.847543,0.107494],[0.001572,-0.126771,0.991931]]>HV?@}@D5??༄? Y?` :?i>'>I>j ^;>CYR"ByR#Ii-Mb@Mb@Mb@)))) )9-?`"~jt?Y- ?y--D<-A-@ ))-@)Y-@bDEVDE0yM(<%UC=ٔU;:Q-U>9QY=hGy|F,E>Q 54H2?Q 94BC)ޥBY"?Q E:y>Q I@OuDI;i};C4y!ɮ-@)jqgOFNOT Ignoring new targets: 369.53 m.RI9ZI9gO ProNav: ac range: 369.525787 m, nav range: 367.336639 m, bearing: 27.081397 deg, approach rate: -0.619742 m/s, LOS rate: 0.011022 deg/s, cmd heading: 31.088887 deg, new cmd heading: 31.098680 deg. B]9gOHeadingCmd: 0.542774 target range: 369.525787 and range: 371.70 m.C ?*" 1BʎjZ`1? ɢ =) ?i)!iziC ?]%)9I%C ?I! 9@ @@@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0029441^A 9Y A I I O >F$,V]fX@A2->2 ?2dwٱ2  >AHRS rotation from veh to nav: [[0.854307,-0.515481,-0.066625],[0.519768,0.847491,0.107705],[0.000944,-0.126643,0.991948]]2H`{V?~P??`?N?5 ?i2->I2^;2CYFByF#IbDNVDN:2yVp%VU=ٔZ:Q-Z>9XYX=^hGy\^@9E^>`Q 5f4bZ2?Q 9f4bA)bBYhyj>Q Ij@b^uDIb:ibB:b4ApArAABv;>BvՍCBv#IBv:BBtBtBtBv`;BvA$Ey}Bɮ}@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257621jgOFNOT Ignoring new targets: 369.53 m.RUD9ZUD9gO  ProNav: ac range: 369.525787 m, nav range: 367.105316 m, bearing: 27.085512 deg, approach rate: -0.602644 m/s, LOS rate: 0.010728 deg/s, cmd heading: 31.098681 deg, new cmd heading: 31.106917 deg. B91gO=HeadingCmd: 0.542918 target range: 369.525787 and range: 371.70 m.M ?I*I"Q QE] E]EYEY"E]a:*E]g:VEYZEYBE](N,wfX@A2K>2[ ?2ȩٱ2 :AHRS rotation from veh to nav: [[0.854587,-0.515061,-0.066278],[0.519308,0.847678,0.108450],[0.000324,-0.127099,0.991890]]2HX?b{,? - ?gû?@95?D?i2K>I2&];2CYBByB#IbDNVDNyV%VJ=ٔVF:Q-V>9XYX=ZhGyZ}F^߮E^>`Q 5f4bAo2?Q 9f4b>)bBYdyf>Q Ij@bouDIb>:ibW:b4ylɮnS@lPzB*** querying acoustic contact ***x xjgO FNOT Ignoring new targets: 369.53 m.R b]9Z b]9gO ProNav: ac range: 369.525787 m, nav range: 366.850189 m, bearing: 27.090077 deg, approach rate: -0.675582 m/s, LOS rate: 0.012097 deg/s, cmd heading: 31.106918 deg, new cmd heading: 31.116055 deg. B9gO%HeadingCmd: 0.543078 target range: 369.525787 and range: 371.70 m.%" ?!*!") ))))1ʎ111j1Z= SE@ɢ=)  >i)@:ir~i" ?%$%rI%" ?I!ԑ9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760844DizDmAAE EE(E"EO:*E~:VEc44ZEa@a@a@a@^A9A I I! O- > ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010436<,ÑfX@A6>6 ?6p8ٱ6 VAHRS rotation from veh to nav: [[0.854973,-0.514396,-0.066459],[0.518672,0.847901,0.109741],[-0.000100,-0.128296,0.991736]]6H [?u@o?"?`?AlL?i6>I6=];4Y^By^#IiMb@Mb@Mb@ 9S?@5^I ¿9QYQ=]hGyY]ԺE]>aQ 5m4eO2?Q 9u4eP<)eBYuW!?Q Eu:yu`>Q Iu@euDIe ;ie;e4y}Bɮ@ EjgOFNOT Ignoring new targets: 369.53 m.R9Z9gO ProNav: ac range: 369.525787 m, nav range: 366.564667 m, bearing: 27.096726 deg, approach rate: -0.622489 m/s, LOS rate: 0.014506 deg/s, cmd heading: 31.116054 deg, new cmd heading: 31.129361 deg. Bb9gOHeadingCmd: 0.543310 target range: 369.525787 and range: 371.70 m.[ ?*" (BʎjZ@ ɢ ~ =)  >i)k:i6i[ ?}$I[ ?I!9@ @@0@BBB#IB5BBBBBZ`;Bk$Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.262540Em EmEm&Ei"Em :*Em*:VEm4ZEiBEmK"`,+fX@A2cP>2} ?2v:ٱ2- >AHRS rotation from veh to nav: [[0.855184,-0.514076,-0.066224],[0.518324,0.848031,0.110383],[-0.000585,-0.128723,0.991680]]2H@]?Os@?`#? B?`.Cyػ?i2cP>I2];0YFByF#INANALLbDRVDRyZ_%Zi=ٔ^:Q-^>9 ?Y ?=hGy~F%FE%>)Q 5-4-2?Q 954-f:)-BYAyE.>Q IM@-uDI-;i-;- 4yeBɮe@ijgOFNOT Ignoring new targets: 369.53 m.R9Z9gO ProNav: ac range: 369.525787 m, nav range: 366.339264 m, bearing: 27.101995 deg, approach rate: -0.614486 m/s, LOS rate: 0.014373 deg/s, cmd heading: 31.129362 deg, new cmd heading: 31.139907 deg. Bp9gOHeadingCmd: 0.543494 target range: 369.525787 and range: 371.70 m.k" ?*" ʎjZv @ɢ G=)! %1>i!)%@b:!)i-Ji5k" ?5Z$=I=k" ?I9BDAT read: Rx Time:00:36:41.9239 TRx dataTimestamp_ set to:1761698202.781252%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515719QQ@Q @Q@UJ1@Yy^AmΒ{AuZAzAu\Aԩ A ؟A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769114I I) O] >E  E E %E "E *E ga:VE 4ZE a @a @a @a @K,*ofX@AuX> ?uP:ٱuy AHRS rotation from veh to nav: [[0.855686,-0.513336,-0.065487],[0.517494,0.848436,0.111163],[-0.001503,-0.129010,0.991642]]uHa?>mðN?b&?4u?` Xe`?iuEѦ>Iu/];uCYByi=Mb@Mb@Mb@9999 99=V-?ףp= ÿ~jt?Y=?y==<=A=@ =@)99Y=@bDUVDU2ye8;%e2=ٔe;Q-e>9m"?Ym"?=mhGyiu Eu>yQ 54}H2?Q 94}08)}BY!?Q E:y>Q I@}uDI} ;i} ;}4yɮ@jgOFNOT Ignoring new targets: 369.53 m.R9Z9gO ProNav: ac range: 369.525787 m, nav range: 366.060364 m, bearing: 27.109533 deg, approach rate: -0.628900 m/s, LOS rate: 0.017010 deg/s, cmd heading: 31.139908 deg, new cmd heading: 31.154995 deg. B 9gOHeadingCmd: 0.543757 target range: 369.525787 and range: 371.70 m.3 ?*" 7BʎjZ֕@ԡ颹ɢN=) >i)T:i i 3 ?U$$I3 ?IMDAT read: 00:36:41.9239 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 423, 0.24,-1.966, 3.034,-1.741,-2.179, PHS= 0.315,-1.025, 0.394, RAW= 152.8, 4.6, CAL= 152.0, 4.5, ROT= 358.0, -4.5 eYgot valid direction response: 00:36:41.9239 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 423, 0.24,-1.966, 3.034,-1.741,-2.179, PHS= 0.315,-1.025, 0.394, RAW= 152.8, 4.6, CAL= 152.0, 4.5, ROT= 358.0, -4.5 mPDAT read: Bearing 181.1, -2.7 (Local) m~Local bearing/azimuth received: Bearing 181.1, -2.7 (Local) }DAT read: Range 11 to 50 : 370.0 m (Round-trip 493.4 ms) speed 0.5 m/s *DAT read: user:463> BDAT read: Tx time:00:36:43.0263 $Ping request sent.i33^>*@l=)@ |٠=)@I|٠Yy?P\ OK?N4vPڣ? '?)Lu9@q @q@u?0@yIQi|٠:publishing transmit ping timeFpublishing direction and range infoyۥ?a#_BС5;?Y )Ii )IYy?P\ OK?N4vPڣ? )Ii ^A [RӺB A <B :>B B #IB +BB B B B `;B $EBՍCBՍCBB( =B( =C̋4) A .AI IO >@R,fX@AE> E>E>$E<"E>:*E>:VE>4ZE<BE>&&;aF:E>;aFJ{>J ?JL;ٱJ RAHRS rotation from veh to nav: [[0.856022,-0.512826,-0.065083],[0.516936,0.848711,0.111657],[-0.002024,-0.129225,0.991613]]JH d?`i@G`?(??`pK?iJ{>IJ3];HY^By^#IbDfVDf:2ynH=<%nG=ٔrb:Q-r>9r ?Yr ?=rhGyvFv'кEv>QQ 5]4U2?Q 9]4U6)U BYayeQ>Q Ie@UuDIU:iUF:UF4ymBɮm@ Ez5fX@AJCRCj?V$v@\Úx)Q4<@rۥ?a#_BС5;?ZQb|٠\hds@,Mչf@$D'=@z?]R?&B@?25C:3C"+y?*HB%B“C$Q>gO addTargetRange:: Added new target pos. range: 370.000000 m, deltaT: 4.031799 s, deltaX: -1.700012 m, approachRate: -0.421651 m/s, rangeRepo size: 4 gO- Added new target pos. range: 367.837189 m, bearing: 29.726522 deg, lat: 36.779365 deg, lon: -121.859108 deg, deltaT: 4.031799 s, deltaX: -1.688599 m, approachRate: -0.418820 m/s, posRepo size: 4 IjQgOUFNOT Ignoring new targets: 367.84 m.RUZYgOe ProNav: ac range: 367.837189 m, nav range: 365.797394 m, bearing: 27.116678 deg, approach rate: 0.000000 m/s, LOS rate: 0.017010 deg/s, cmd heading: 31.154996 deg, new cmd heading: 31.169919 deg. BgOHeadingCmd: 0.544018 target range: 367.837189 and range: 370.00 m.D ?*" ʎj w@Z2?Bɢ[- =) >i);iziD ?l$RI%D ?I!y9@ @@4@ԡ^A 7 A- ؟AI1 II Oe >,~fX@A>E=>>W ?>~;ٱ>5 FAHRS rotation from veh to nav: [[0.856268,-0.512423,-0.065023],[0.516526,0.848879,0.112272],[-0.002334,-0.129721,0.991548]]>Hf?e_ b?`*?ڽ?c@@º?i>E=>I>ٕ];>CYN ByR#IbDZVDZ1yb[%bK=ٔfbI:Q-f>9f"?Yf"?=jhGyhjcEj>lQ 5r4n2?Q 9r4n.4)nBYtyv>Q Iv@nuDIn;in;n#4yzBɮz^@z EPB*** querying acoustic contact *** jgO%FNOT Ignoring new targets: 367.84 m.R%9Z-9gO5 ProNav: ac range: 367.837189 m, nav range: 365.554474 m, bearing: 27.123305 deg, approach rate: -0.648132 m/s, LOS rate: 0.017694 deg/s, cmd heading: 31.169920 deg, new cmd heading: 31.183183 deg. B=:gO=HeadingCmd: 0.544249 target range: 367.837189 and range: 370.00 m.=S ?A*A"A AAAIIʎIIQjQZU`?yɢ!f=) ;>i)-(;ii S ? |$ wIS ?II%ZA)%[AԡT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.E EEE"E>:*Eg:VEZEa@a@a@a@@ @@/@@\A@^Ayb]AI IQ Ia u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983105O} >! n_,gX@ARyͥ>Rq ?R3@;ٱR{? ZAHRS rotation from veh to nav: [[0.856707,-0.511699,-0.064937],[0.515795,0.849161,0.113494],[-0.002933,-0.130726,0.991414]]RH$j?`_ d?S,?` ?@nh`?iRyͥ>IRk];PY~By~#IiMb@Mb@Mb@ 9Mb?S㥛Ŀ/$?Y ?y$<SA@ @)Y=@bDVDky\E%>=ٔv:Q->9Y=hGyFE>Q 54 2?Q 94 2)BY%?Q E:y>Q I@uDIE:iZ:*4yɮ@jgO FNOT Ignoring new targets: 367.84 m.R 79Z 79gO ProNav: ac range: 367.837189 m, nav range: 365.280426 m, bearing: 27.130976 deg, approach rate: -0.636767 m/s, LOS rate: 0.017837 deg/s, cmd heading: 31.183184 deg, new cmd heading: 31.198537 deg. B:gOHeadingCmd: 0.544517 target range: 367.837189 and range: 370.00 m.{e ?*" BʎjZ?AɢE=)A E8>iA)M,rC;IIiMiu{e ?u$uEIu{e ?IyB9>BԍCB#IB&BB) =BBB`;B$E@ @@/@iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2353659E EE&E"E:*Ek:VE4ZEBEm%.,ݔ0gX@Ap-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487220 A> 6v ? wo\;ٱ A7 MAHRS rotation from veh to nav: [[0.857258,-0.510839,-0.064433],[0.514876,0.849684,0.113757],[-0.003364,-0.130694,0.991417]] Hn?X~y?0?/?k ?i A>I ]; CY By#IbDVDy_<%8=ٔ~:Q->9Y=hGyE>Q 54&3?Q 94/)"BYyl>Q I@uDI:i-:_24yBɮ:@EjgOFNOT Ignoring new targets: 367.84 m.R9Z9gO ProNav: ac range: 367.837189 m, nav range: 364.998230 m, bearing: 27.138935 deg, approach rate: -0.614525 m/s, LOS rate: 0.017345 deg/s, cmd heading: 31.198539 deg, new cmd heading: 31.214469 deg. B9gOHeadingCmd: 0.544795 target range: 367.837189 and range: 370.00 m.w ?*" ʎjZ? Bɢ# =) >i)ad];i i w ?[L%ʭIw ?I9@ @@@9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741702E  E E %E "E 2:*E X:VE 4ZE a @a @a @a @^A 3i I I O >Sq,>JgX@A~c>~gY ?~.;ٱ~o AHRS rotation from veh to nav: [[0.857482,-0.510558,-0.063673],[0.514498,0.849895,0.113886],[-0.004030,-0.130415,0.991451]]~H~p?~VLv?W2?'?"po ?i~c>I~];~CYMByU#IYeAaiMb@Mb@Mb@ 9Q?~jtÿS㥛?Y(?y/<@ @)@Y@bDVD 3yZ<% Y=ٔ :Q- >9Y=hGyF՘E>!Q 5%4%$3?Q 9-4%-)%+BY-!?Q E-:y->Q I-@%uDI%:i%Z:%84yBɮ@jgOFNOT Ignoring new targets: 367.84 m.R9Z9gO5 ProNav: ac range: 367.837189 m, nav range: 364.765472 m, bearing: 27.145209 deg, approach rate: -0.611649 m/s, LOS rate: 0.016498 deg/s, cmd heading: 31.214470 deg, new cmd heading: 31.227026 deg. B59gO=HeadingCmd: 0.545014 target range: 367.837189 and range: 370.00 m.= ?9*9"A AAAIM BʎIiqjqZu@_?mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.991716ԉ颡ɢ=) >i)E`w;ifi% ?-K%-ͻI- ?I1@ @@@^A &tA A @AB B B #IB !BB B B B a;B $E  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243092E  E E &E "E >:*E 1]:VE 4ZE BE ,,9|fgX@A2Ф>2= ?2;ٱ2g6 :AHRS rotation from veh to nav: [[0.857696,-0.510233,-0.063406],[0.514138,0.850048,0.114366],[-0.004456,-0.130691,0.991413]]2H>r?SY;s?3?G?`?rx?i2Ф>I2 v];2CYFByF#IhbDrVDrk1yzb%zI=ٔzT:Q-~>9|Y|=~hGy|6E> Q 54 -3?Q 94 +) 4BYyP>Q I@ vDI U;i r;  @4y!ɮ%@!jIgOMFNOT Ignoring new targets: 367.84 m.RU79ZU79gOe ProNav: ac range: 367.837189 m, nav range: 364.514618 m, bearing: 27.151996 deg, approach rate: -0.650808 m/s, LOS rate: 0.017618 deg/s, cmd heading: 31.227027 deg, new cmd heading: 31.240609 deg. Be:gOmHeadingCmd: 0.545251 target range: 367.837189 and range: 370.00 m.m ?i*i"i iqqqqʎyyyjyZ}@5@颩ɢ=) ">i)Dž;顱io'i ?F&o߻I ?Ie9@a @a@m0@iEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.4961161^A[RӻIIO >9 ,RCgX@A2u>2p% ?2I;ٱ2c# :AHRS rotation from veh to nav: [[0.857887,-0.509968,-0.062955],[0.513816,0.850219,0.114550],[-0.004892,-0.130618,0.991421]]2Hs?Q-q?4? -S?8 t@?i2u>I2];2CYiߩIߩchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.750396bE-4jE-4rE[/Em EmEiEi"Em2:*Em n:VEiZEia@a@a@a@Ym Bym#Iu>u=ԉiMb@Mb@Mb@ 9S?@5^I ¿S㥛?Y/?ybA|@ @)@Y@ ; bDVD:yt<%=ٔ%S:Q-%>9)Y)=-hGy-F-5E5>1Q 5=45H3?Q 9E45)))5?BYEl!?Q EE:yE>Q IE@5vDI5 ;i5" ;5wI4yUBɮU>@UEPmB*** querying acoustic contact ***i ijygO}FNOT Ignoring new targets: 367.84 m.R9Z9gO ProNav: ac range: 367.837189 m, nav range: 364.179016 m, bearing: 27.160115 deg, approach rate: -0.621293 m/s, LOS rate: 0.015046 deg/s, cmd heading: 31.240609 deg, new cmd heading: 31.256864 deg. BH9gOHeadingCmd: 0.545535 target range: 367.837189 and range: 370.00 m.2 ?*" !BʎjZg>@ɢڕ=)y }3>iy);顁iv i2 ?$'=I2 ?IԱ59@1 @1@5/@1U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999864 ^Au I I O >[,%wgX@A2>2.# ?20;ٱ2 :AHRS rotation from veh to nav: [[0.857901,-0.510022,-0.062316],[0.513784,0.850207,0.114777],[-0.005557,-0.130484,0.991435]]2Hs?R篿p?@4?b?`>vչ?i2>I2?];0BCB_AiBuIBE@IDiFKUA DD)DFLC Jr@HHJPJJ&CNsAIL)NDrFiL)NCILPP PRfCRf^ARiVAFTiVCVA^A)Vz VIEITYXY^By^#IbDjVDjN2yr<%r=ٔr|;Q-v?9tYt=vhGytzEz?|Q 54~)W3?Q 94~')~EBYy>Q I @~(vDI~:i~y:~wN4yBɮ@j9gOEFNOT Ignoring new targets: 367.84 m.RE9ZE9gO ProNav: ac range: 367.837189 m, nav range: 364.000977 m, bearing: 27.164430 deg, approach rate: -0.621846 m/s, LOS rate: 0.015076 deg/s, cmd heading: 31.256865 deg, new cmd heading: 31.265498 deg. B9gOHeadingCmd: 0.545686 target range: 367.837189 and range: 370.00 m. ? * "  ʎjZ%` @颉ɢX?,=) o>i)7;顑i߈i ?'dI ?IB6>BBBBBBfDB6a;B$EBDAT read: Rx Time:00:36:45.9190 TRx dataTimestamp_ set to:1761698206.562113checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253415A9@ @@$1@E EE"E"E :*E|:VE(3ZEBEK"C] Gqq9YA^AaIIO>ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503976,AgX@AF!>F' ?F;ٱFh NAHRS rotation from veh to nav: [[0.857863,-0.510127,-0.061971],[0.513843,0.850150,0.114937],[-0.005948,-0.130444,0.991438]]FHs?Rgq?@m4?l? m\x@b۹?iF!>IF];FCyYBy#IbDVDk2y:%%+=ٔ%V:Q-%>9)Y)=-hGy-F539E5>9Q 5=4=!o3?Q 9E4=-%)=PBYAyE>Q IE@=;vDI=:i=d:=V4yQɮU @QjgOFNOT Ignoring new targets: 367.84 m.R9Z9gO ProNav: ac range: 367.837189 m, nav range: 363.704712 m, bearing: 27.171616 deg, approach rate: -0.607639 m/s, LOS rate: 0.014751 deg/s, cmd heading: 31.265498 deg, new cmd heading: 31.279882 deg. B9gOHeadingCmd: 0.545937 target range: 367.837189 and range: 370.00 m. ?*" ʎj Z  o @=!Bɢ=b=)9 =>i9)E;AAiE6ljiM ?M^(M`$IM ?IQԡ@ @@|2@Eu EqEu'Eq"Eu:*EqVEu'4ZEqa@a@a@a@) - DAT read: 00:36:45.9190 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 394,-0.29, 0.556,-0.606, 0.906, 0.419, PHS= 0.240,-0.980, 0.443, RAW= 157.6, 4.5, CAL= 156.6, 3.9, ROT= 353.4, -3.9 = Ygot valid direction response: 00:36:45.9190 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 394,-0.29, 0.556,-0.606, 0.906, 0.419, PHS= 0.240,-0.980, 0.443, RAW= 157.6, 4.5, CAL= 156.6, 3.9, ROT= 353.4, -3.9 = PDAT read: Bearing 179.5, -7.4 (Local) E ~Local bearing/azimuth received: Bearing 179.5, -7.4 (Local) U DAT read: Range 11 to 50 : 366.3 m (Round-trip 488.5 ms) speed 0.4 m/s U *DAT read: user:464> ] BDAT read: Tx time:00:36:47.0263 ] $Ping request sent.] iHz>x 0@|٠=.@ 'g=)4`@I'g9UH?Ó\t?:? !'?)Ii'g :publishing transmit ping timeY  Fpublishing direction and range infoy"pݶ?s[,::si?Y )Ii )I9UH?Ó\t?:? )Ii^A= a Ai Iy I O ><;,jgX@A2>2F ?2 H;ٱ2l :AHRS rotation from veh to nav: [[0.857625,-0.510527,-0.061987],[0.514238,0.849840,0.115457],[-0.006265,-0.130895,0.991376]]2H q?`I2]];2C l)lnrEpttivQ8IttIqiq uq)qy Ӆ`A҅Q8҅4FҁӉӍoAIӉ)әiә)ԡIԥ`Aӥӡ ԡԩԭ`AԭGaiԭEԱiձձ)ձ ձIձYYBy#IiMb@Mb@Mb@ 9 ףp= ?T㥛 ~jt?YQ?y<fA )@Y@AAbDVDfy+1%:=ٔ%=:Q->9Y=hGyF:E> Q 54 Z3?Q 94 ") XBY?Q E:y:>Q I@ LvDI ':i Q: x^4y%’Bɮ%C@%EvgX@AJCRCj>Sw wv@0D7/8@r"pݶ?s[,::si?Zb'g`۔t@~c@M7Eo;@z4=?GK?%=̓?2C:C"ꟊ?*UkBB_䞊?*k“BDC >gOu addTargetRange:: Added new target pos. range: 366.299988 m, deltaT: 3.832106 s, deltaX: -3.700012 m, approachRate: -0.965530 m/s, rangeRepo size: 4 gO Added new target pos. range: 364.155212 m, bearing: 24.915031 deg, lat: 36.779391 deg, lon: -121.859145 deg, deltaT: 3.832106 s, deltaX: -3.681976 m, approachRate: -0.960823 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 364.16 m.RZgO ProNav: ac range: 364.155212 m, nav range: 364.531281 m, bearing: 26.509894 deg, approach rate: 0.000000 m/s, LOS rate: 0.014751 deg/s, cmd heading: 31.279883 deg, new cmd heading: 31.292620 deg. BgOHeadingCmd: 0.546159 target range: 364.155212 and range: 366.30 m. ?*" Bʎjv@ZM?ɢ=) >i);ii ?2)(I ?I@ @@4@Bu5>BqBu#IBuBBqBqBqBua;Bu$EI^A E-  E- E- $E) "E- :*E- :VE- 4ZE) BE- +f,gX@A2(D>2w ?2@;ٱ2 JAHRS rotation from veh to nav: [[0.857233,-0.511229,-0.061614],[0.514889,0.849533,0.114818],[-0.006355,-0.130150,0.991474]]2H`tn?[΋y?_/?d?z'?i2(D>I2?];2CY-By5#IbDEVDEk1yU%Ui=ٔUf9Q-]>9YYY=]hGyYe ;Ee>iQ 5u4mJ3?Q 9u4m )m^BYqy}>Q I}@mYvDIm;im:md4yÒBɮ^@jgOFNOT Ignoring new targets: 364.16 m.RRZ9ZRZ9gO ProNav: ac range: 364.155212 m, nav range: 364.319794 m, bearing: 26.514028 deg, approach rate: -0.609901 m/s, LOS rate: 0.011930 deg/s, cmd heading: 31.292621 deg, new cmd heading: 31.300894 deg. B9gOHeadingCmd: 0.546304 target range: 364.155212 and range: 366.30 m. ?*" ʎjZ !?Iɢ=) >i)u;ipei  ? ;) ߻I  ?I@ @@B2@qԡ^ArAi Iy I O > ~H,ahX@AEz EzExEx"Ez :*Ez~:VExZExa@a%@a%@a%@%>>%V ?%?;ٱ% 5AHRS rotation from veh to nav: [[0.856576,-0.512344,-0.061485],[0.515982,0.848954,0.114194],[-0.006309,-0.129541,0.991554]]%Hi?`ez?@*?;?|y@ϔ`Ϻ?i%>>I%@];!ԱYBy#IiMb@Mb@Mb@ 9l?T㥛 ~jt?Y?y<A@ @)@Y3@bDVDky7=%)=ٔ8ɸQ->9Y=hGyF-;E>Q 543?Q 94o)fBY?Q E:y,>Q I@lvDIF;i; m4yɮ@PB*** querying acoustic contact *** j!gO%FNOT Ignoring new targets: 364.16 m.R-CX9Z-CX9gO= ProNav: ac range: 364.155212 m, nav range: 364.030029 m, bearing: 26.519737 deg, approach rate: -0.599287 m/s, LOS rate: 0.011817 deg/s, cmd heading: 31.300896 deg, new cmd heading: 31.312323 deg. B=9gOEHeadingCmd: 0.546503 target range: 364.155212 and range: 366.30 m.E ?A*A"A AIIIM-BʎQQQjQZ]?颁ɢ`=) >i)O;顉i(Ti ?*)ûI ?I9@ @@0@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ^A A AI IY Ii B} 7>By By By B} + =By By B} a;B} $EB=ԍCB=ԍCB9B=) =B=) =C=Dh5O >7,N!hX@A2]>2 ?2;ٱ2B :AHRS rotation from veh to nav: [[0.856124,-0.513127,-0.061260],[0.516731,0.848545,0.113844],[-0.006435,-0.129119,0.991608]]2H^e?kn]?H'? $?-[z@@A?i2]>I2Q];2CYBByB#IIJ>)Jf?bDNVDNNyV׏%Zm=ٔZ9Q-Z?9\Y\=^hGy\^E&;Eb?`Q 5f4b3?Q 9j4b)blBYhyj>Q Ij@byvDIb<;ib;bs4ynĒBɮr@rEjgO FNOT Ignoring new targets: 364.16 m.R W9ZW9gO ProNav: ac range: 364.155212 m, nav range: 363.823059 m, bearing: 26.523793 deg, approach rate: -0.601310 m/s, LOS rate: 0.011791 deg/s, cmd heading: 31.312323 deg, new cmd heading: 31.320439 deg. B%9gO%HeadingCmd: 0.546645 target range: 364.155212 and range: 366.30 m.% ?!*" ʎjZ@?E"BɢMP =)Q UH>iQ)U;QQiUZ!ie ?mt*mU.Im ?Ii}{>i}>E EE(E"E:*Ei:VEc44ZEBE# checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742137I 9,;hX@A2>2FR ?2O;ٱ2N :AHRS rotation from veh to nav: [[0.855512,-0.514222,-0.060615],[0.517744,0.848149,0.112178],[-0.006273,-0.127353,0.991838]]2H[`?t`\? $?@?yM`"?i2>I2 3];2CYBByF#IbDNVDNyV;%VK=ٔVҹQ-Z>9Z ?YZ ?=ZhGyZF^oA;E^>`Q 5f4b\3?Q 9f4bz)brBYdyf)>Q Ij@bvDIbl:ibB:bz4ynŒBɮn@pjgO FNOT Ignoring new targets: 364.16 m.R {U9Z {U9gO ProNav: ac range: 364.155212 m, nav range: 363.582153 m, bearing: 26.528478 deg, approach rate: -0.599471 m/s, LOS rate: 0.011665 deg/s, cmd heading: 31.320440 deg, new cmd heading: 31.329816 deg. Bɪ9gOHeadingCmd: 0.546808 target range: 364.155212 and range: 366.30 m. ?*" ʎjZ?!ɢ%p=)! %0>i!)-K;))i-i5 ?1u6*uIu ?Iy 9@  @ @ 0@ iE EE$E"E:*E&p:VE4ZEa@a@a @a @=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996786^ASԑAe ؟AIi Iy O >Թ ,(UhX@AY By#Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.246270iMb@Mb@Mb@ 9Q?V-Q?Y(?yu<SA@ @)@Y=@bDVDyB;%:=ٔQ->9"?Y"?=hGyE>Q 543?Q 94)xBY?Q E:yĸ>Q I@vDI;i;4yBɮ@ԑjgOFNOT Ignoring new targets: 364.16 m.R-9Z-9gO ProNav: ac range: 364.155212 m, nav range: 363.311279 m, bearing: 26.532857 deg, approach rate: -0.587328 m/s, LOS rate: 0.009502 deg/s, cmd heading: 31.329815 deg, new cmd heading: 31.338579 deg. B9gOHeadingCmd: 0.546961 target range: 364.155212 and range: 366.30 m. ?*" BʎjZ@I@!ɢ%=)) ->i))-3;))i5mi5 ?5 +=؝I= ?I9@ @@@B<>BՍCBBB( =BBgDB,a;B$EE EE%E"E*E:VE 4ZEBE. 9L,bohX@ABɧ>BB ?Bo;ٱB RAHRS rotation from veh to nav: [[0.854688,-0.515655,-0.060060],[0.519100,0.847426,0.111374],[-0.006534,-0.126368,0.991962]]BHY?? <x??`?`az`,'?iBɧ>IBN\;BCY^ By#I@AbD%VD%fy5;%5S=ٔ50:Q-=>99Y9==hGy=FEo;EE>IQ 5U4M3?Q 9U4M)M}BYQyU>Q I]@MvDIM;iM;M4yeBɮe@eEjgOFNOT Ignoring new targets: 364.16 m.R?9Z?9gO ProNav: ac range: 364.155212 m, nav range: 363.072479 m, bearing: 26.536664 deg, approach rate: -0.656120 m/s, LOS rate: 0.010467 deg/s, cmd heading: 31.338578 deg, new cmd heading: 31.346197 deg. B@9gOHeadingCmd: 0.547094 target range: 364.155212 and range: 366.30 m.` ?*" ʎjZr|@-#Bɢ5Ȳ&=)9 =>i9)=<99iEֵiM` ? )+ -bI ` ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.750320@ @@@0@^AmuAzAZAI I I O >D zD @AE  E E #E "E :*E k:VE 3ZE a @a% @a% @a% @e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007167y Z@",eqhX@A;> ?;ٱ AHRS rotation from veh to nav: [[0.854233,-0.516347,-0.060599],[0.519848,0.846860,0.112187],[-0.006609,-0.127336,0.991838]]H`U?` ?z?H?{L`"?i;>I\;Y By#Ii]Mb@Mb@Mb@YYYY Y9]^I +?X9vI +?Y]X?y]]94<]A]@ Y)]@YY]3@bDuVDuy@L<%5=ٔ%.9Q->9Y=hGy:E>Q 54w4?Q 943)BY]?Q E:yx>Q I@vDI:i:_4yɮ@PB*** querying acoustic contact *** 1jygO}FNOT Ignoring new targets: 364.16 m.RG79ZG79gO ProNav: ac range: 364.155212 m, nav range: 362.799164 m, bearing: 26.541376 deg, approach rate: -0.580511 m/s, LOS rate: 0.010015 deg/s, cmd heading: 31.346197 deg, new cmd heading: 31.355627 deg. B9gOHeadingCmd: 0.547259 target range: 364.155212 and range: 366.30 m.) ?*" 'Bʎj Z N @颁ɢe=) >i ) HY< ii%) ?%<+MCIM) ?IQa9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258970ԉ ^AE qZB =>B B #IB BB ' =B B B Qa;B $EԹ I! I1 O= >(,U4hX@A2Fg>2Z ?2t;ٱ2* NAHRS rotation from veh to nav: [[0.854059,-0.516551,-0.061297],[0.520130,0.846476,0.113767],[-0.006880,-0.129046,0.991615]]2H@tT?@Ob?T??`.| N?i2Fg>I2|\;0YVByV#IbD^VD^:2yf%fX=ٔj<:Q-j>9hYl=nhGynFne:En>pQ 5v4r 4?Q 9v4r)rBYxyz>Q Iz@rvDIr;ir;r4y~Bɮ~Q@Ej!gO%FNOT Ignoring new targets: 364.16 m.R-J9Z-J9gO= ProNav: ac range: 364.155212 m, nav range: 362.570038 m, bearing: 26.545317 deg, approach rate: -0.641538 m/s, LOS rate: 0.011042 deg/s, cmd heading: 31.355626 deg, new cmd heading: 31.363513 deg. B=9gOEHeadingCmd: 0.547397 target range: 364.155212 and range: 366.30 m.E/" ?A*A"A AIIIQʎQQQjYZ]D @颁ɢr-=)ټ a>i): <顉E EE'E"E:*Eg:VE'4ZEBE  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762176) /,hX@A2 >2> ?2;ٱ2z >AHRS rotation from veh to nav: [[0.853930,-0.516810,-0.060912],[0.520335,0.846323,0.113963],[-0.007346,-0.129011,0.991616]]2HeS?/??,?~o`Q?i2 >I2M*];0YFByF#IN=N= Rp9\Y`=bhGy`b:Eb>dQ 5j4f34?Q 9j4f)fBYlyn͵>Q In@fvDIf>:if{;f4yrBɮr@vEj gO FNOT Ignoring new targets: 364.16 m.R>9Z>9gO% ProNav: ac range: 364.155212 m, nav range: 362.327515 m, bearing: 26.549484 deg, approach rate: -0.606950 m/s, LOS rate: 0.010435 deg/s, cmd heading: 31.363515 deg, new cmd heading: 31.371854 deg. B%Ƙ9gO-HeadingCmd: 0.547542 target range: 364.155212 and range: 366.30 m.-+ ?)*)") 11111ʎ9jZid@ $Bɢ +=)  >i )!<iQi+ ?L+X>9I+ ?I!1@1 @1@=3@9D=DR=bEE4jEE( 4rEE0E EE$E"E:Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.017065*Ei:VE4ZEa]@a]@a]@a]@9^AIQ q I O >5,hX@A Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.266192YBy#IiMb@Mb@Mb@ 9/$? rh9Y=hGyFMEM>QQ 5]4UJ4?Q 9]4Uj )UBY] ?Q E]:y] >Q Ie@UvDIU ;iU;U4yiɮm,@ijgOFNOT Ignoring new targets: 364.16 m.R$j9Z$j9gO ProNav: ac range: 364.155212 m, nav range: 362.045715 m, bearing: 26.555284 deg, approach rate: -0.621114 m/s, LOS rate: 0.012794 deg/s, cmd heading: 31.371855 deg, new cmd heading: 31.383464 deg. BP9gOHeadingCmd: 0.547745 target range: 364.155212 and range: 366.30 m.9 ?*" $BʎjZ@r@ɢP<=) >i)a<i7i9 ? [+ ^JFI 9 ?I Աy@y @y@}/@yB<A4=B<>BBBBBBBIa;B$EE EE#E"E :*E]t:VE3ZEBEK" ~<,hX@AVjA>Vl ?VI<ٱV/8t AHRS rotation from veh to nav: [[0.854200,-0.516483,-0.059896],[0.519878,0.846562,0.114281],[-0.008318,-0.128758,0.991641]]VHU?ྪ֢? ?A? @!{`?iVjA>IVV];VCYBy#IbD%VD%1y5p%5T=ٔ=%;Q-=>99Y9=EhGyAE}EE>IQ 5U4M]4?Q 9U4Mi )MBYYy]Ī>Q I]@MvDIM;iM;M_4yeBɮe@ajgOFNOT Ignoring new targets: 364.16 m.Rrk9Zrk9gO ProNav: ac range: 364.155212 m, nav range: 361.815063 m, bearing: 26.560058 deg, approach rate: -0.621174 m/s, LOS rate: 0.012865 deg/s, cmd heading: 31.383462 deg, new cmd heading: 31.393017 deg. B[9gOHeadingCmd: 0.547912 target range: 364.155212 and range: 366.30 m.C ?*" ʎjZ@%Bɢ '=) >i)%<iiC ?x+oIC ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.770288U+w99@ @@/@a E  E E %E "E :*E VE 4ZE a @a% @a% @a% @] checking for new query: numPingsReceived=0, elapsed TxPingTime=5.025218^AQ ԑ AIIO>|;D,viX@AY5By5#I AAIMAiMb@Mb@Mb@ 9x?(\¿/$?YK?yz<A|@ @)@Y=@)-AAbD5VD5k1yE <%E=ٔEQ-E>9IYI=MhGyMFMEU>QQ 5]4Uev4?Q 9e4U)UBYe?Q Ee:ye>Q Ie@UwDIU:iU.:Up4yiɮup@uEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 364.16 m.R9Z9gO ProNav: ac range: 364.155212 m, nav range: 361.503204 m, bearing: 26.567582 deg, approach rate: -0.600811 m/s, LOS rate: 0.014508 deg/s, cmd heading: 31.393018 deg, new cmd heading: 31.408079 deg. Bi9gOHeadingCmd: 0.548174 target range: 364.155212 and range: 366.30 m.(U ?*"  BʎjZ @ɢ|G=) ;>i)%<ii(U ?Ϫ+yI(U ?I &ּ-checking for new query: numPingsReceived=0, elapsed TxPingTime=5.274314!9@ @@/@B ;>B B #IB BB ( =B B B a;B $EA^A _E}  E} E} #Ey "E} :*E} c:VE} 3ZEy BE} _J,+iX@AR>R? ?REv<ٱR< ZAHRS rotation from veh to nav: [[0.854712,-0.515685,-0.059461],[0.519025,0.846988,0.114996],[-0.008939,-0.129151,0.991585]]RH`Y?~qڛ??fp?N@?iR>IR];RCYr Byv#IbD~VD~y-E=%-_=ٔ-:Q-5>95 ?Y5 ?=5hGy1]1E]>aQ 5m4e4?Q 9m4e )eBYiyu>Q Iu@ewDIe:ie:e4yɮ@jgOFNOT Ignoring new targets: 364.16 m.R 9Z 9gOM ProNav: ac range: 364.155212 m, nav range: 361.280060 m, bearing: 26.573009 deg, approach rate: -0.582129 m/s, LOS rate: 0.014167 deg/s, cmd heading: 31.408078 deg, new cmd heading: 31.418939 deg. BMj9gOUHeadingCmd: 0.548364 target range: 364.155212 and range: 366.30 m.Yua ?y*y"y yyʎjZo@ ɢ *=)  u$>iq)u+Ni ?N<ٱN^ VAHRS rotation from veh to nav: [[0.855305,-0.514831,-0.058329],[0.518040,0.847692,0.114247],[-0.009373,-0.127933,0.991738]]NH^?~yEݭ`ȓ?K ?Q??C2``R?iNU(>IN];NCYv Byv#I = =iMb@Mb@Mb@ 9V-?M¿:v?Y?yn<A@ @)Y(@ 4<bDVDy̻%=ٔM:Q->9"?Y"?=hGyFE>Q 54-4?Q 94')BYG!?Q E:y >Q I@4wDI:i:4yBɮ@jgOFNOT Ignoring new targets: 364.16 m.Rh9Zh9gO- ProNav: ac range: 364.155212 m, nav range: 360.937256 m, bearing: 26.580748 deg, approach rate: -0.635458 m/s, LOS rate: 0.014360 deg/s, cmd heading: 31.418938 deg, new cmd heading: 31.434432 deg. B-@9gO=HeadingCmd: 0.548634 target range: 364.155212 and range: 366.30 m.=Ms ?A*A"A A3Bʎ  jZ @m&BɢmeI=)i u>iq)u[3Q vY,giX@A2q>2pK ?2 "<ٱ2 :AHRS rotation from veh to nav: [[0.855541,-0.514511,-0.057680],[0.517640,0.847932,0.114281],[-0.009891,-0.127630,0.991773]]2H``?v3?`B"?A?`zA+V?i2q>I24];2CYB ByB#IbDNVDNyVC@<%V^=ٔV:Q-Z>9Z ?YZ ?=ZhGyZF^+E^>`Q 5f4b4?Q 9f4b9)bBYdyf>Q Ij@bBwDIb6:ib-:b4ylɮn@nEjgOFNOT Ignoring new targets: 364.16 m.EE EEEE'EA"EE:*EEga:VEE'4ZEABEE+i)e9<顁i_i; ?,yԻI; ?IM9@I @I@Q@Qa^Am*ԙU checking for new query: numPingsReceived=0, elapsed TxPingTime=6.786194A I I O >Թ tb`,iX@A2x>2 ?2<:<ٱ24 :AHRS rotation from veh to nav: [[0.855981,-0.513977,-0.055898],[0.516883,0.848380,0.114382],[-0.011367,-0.126801,0.991863]]2H1d?r `M?%?@H?}G@;W?i2x>I2{];0YBByB#IbDLVDLyR0<%VJ=ٔV o;Q-V>9XYX=ZhGyX^ E^>`Q 5f4b4?Q 9f4b)bBYdyfj>Q If@bSwDIb:ibv:b4ylɮn@lj gOFNOT Ignoring new targets: 364.16 m.Rx9Zx9gO- ProNav: ac range: 364.155212 m, nav range: 360.455627 m, bearing: 26.591723 deg, approach rate: -0.623016 m/s, LOS rate: 0.014258 deg/s, cmd heading: 31.444862 deg, new cmd heading: 31.456396 deg. B-9gO5HeadingCmd: 0.549018 target range: 364.155212 and range: 366.30 m.5l ?9*9"9 999AAʎAAAjIZM@(@qɢuU6=)y }>iy)}> U checking for new query: numPingsReceived=0, elapsed TxPingTime=7.290070ōf,}iX@A2b>2* ?2NH<ٱ2t :AHRS rotation from veh to nav: [[0.856058,-0.513969,-0.054775],[0.516735,0.848493,0.114212],[-0.012225,-0.126076,0.991945]]2Hd?`orh ? &?@I2];2CYBByB#IhjAiMb@Mb@Mb@ 9A`"?㥛 ¿ rh?Y?yC =A@ )(@Y@@A@AbDVD1y<%:=ٔn;Q->9"?Y"?=hGyFǹE>Q 544?Q 94)˦BY?Q E:y>Q I@dwDI1;i;4yBɮ@PB*** querying acoustic contact *** j gOFNOT Ignoring new targets: 364.16 m.R9Z9gO% ProNav: ac range: 364.155212 m, nav range: 360.189484 m, bearing: 26.598193 deg, approach rate: -0.608845 m/s, LOS rate: 0.014813 deg/s, cmd heading: 31.456395 deg, new cmd heading: 31.469346 deg. B%9gOHeadingCmd: 0.549244 target range: 364.155212 and range: 366.30 m.< ?*" 6BʎjZ@@-'Bɢ-'-=)) ->i1)5E<11i5ci=< ?=)J.=3I=< ?IaB<>BBBBBBB `;BD$E9@ @@-0@EU EUEQEQ"EU:*EUh:VEQZEQBEU)l,_iX@AY~By~#IbDVD:y=(ڻ%=R=ٔEQ-E>9E ?YE ?=EhGyAMEU>QQ 5]4U4?Q 9e4U)UԦBYayaQ Ie@UswDIU:iU:U4yuBɮu@uEjgOFNOT Ignoring new targets: 364.16 m.R9Z9gO ProNav: ac range: 364.155212 m, nav range: 359.952301 m, bearing: 26.603969 deg, approach rate: -0.590631 m/s, LOS rate: 0.014392 deg/s, cmd heading: 31.469345 deg, new cmd heading: 31.480904 deg. B9gOHeadingCmd: 0.549445 target range: 364.155212 and range: 366.30 m.u ?*" !!ʎ!))j)Z-2'@Qɢ]C8=)Y ]>iY)]}K checking for new query: numPingsReceived=0, elapsed TxPingTime=8.048311 s,Q0iX@A$&@8Bg$>B ?Bgk<ٱB{ ^AHRS rotation from veh to nav: [[0.856280,-0.513846,-0.052412],[0.516312,0.848708,0.114529],[-0.014367,-0.125130,0.992036]]BH@f?lqժ?`(?`Q?@lBþ?iBg$>IB_;@YfByf#IieMb@Mb@Mb@aaaa a9eV-?7A`¿V-?Ye|?yee9"?Y"?=hGyF8E>Q 54k 5?Q 94)ܦBY $?Q E:y>Q I@wDIn;im;4yɮ 6@ jgOFNOT Ignoring new targets: 364.16 m.R9Z9gO ProNav: ac range: 364.155212 m, nav range: 359.686340 m, bearing: 26.610196 deg, approach rate: -0.620432 m/s, LOS rate: 0.014538 deg/s, cmd heading: 31.480905 deg, new cmd heading: 31.493369 deg. B9gOHeadingCmd: 0.549663 target range: 364.155212 and range: 366.30 m. ?*"   ABʎ jZ=q @ԡ颭(Bɢ7v/=) >i)R<顱ifi ?/ I ?I%checking for new query: numPingsReceived=0, elapsed TxPingTime=8.298917u9@q @q@u4@q@y@}[AB <A <B B B #IB BB B B B _;B $E ^AY A I I O >y, iX@A2>2 ?2T<ٱ28 >AHRS rotation from veh to nav: [[0.856645,-0.513405,-0.050747],[0.515642,0.848904,0.116085],[-0.016519,-0.125611,0.991942]]2H@i?m@$?7*?࿷?`dꐿ@?i2>I2`;2CYFByF#IbDVE^ E^E^#E\"E^:*E^g:VE^3ZE\BE^&9tYt=vhGytvEv>checking for new query: numPingsReceived=0, elapsed TxPingTime=8.550287qQ 5}4u5?Q 9}4u)uBYy>Q I@uwDIu9:iu:u4yɮx@EjgOFNOT Ignoring new targets: 364.16 m.R9Z9gO- ProNav: ac range: 364.155212 m, nav range: 359.431335 m, bearing: 26.616205 deg, approach rate: -0.653052 m/s, LOS rate: 0.015399 deg/s, cmd heading: 31.493370 deg, new cmd heading: 31.505397 deg. B-u9gO5HeadingCmd: 0.549873 target range: 364.155212 and range: 366.30 m.5y ?1*1"9 999AAʎAAAjIZm;!@颽)BɢLB=) >i)M*X<iӛiy ?0kIy ?Iԡ@ @@B3@checking for new query: numPingsReceived=0, elapsed TxPingTime=8.802741^Az A1 I9 II O] >9,ٴjX@A2l>2 ?2A<ٱ2^ :AHRS rotation from veh to nav: [[0.856951,-0.513033,-0.049327],[0.515079,0.849118,0.117012],[-0.018147,-0.125681,0.991905]]2H#l?jfA{?+??@@Q஽?i2l>I2l`;2CYDyDbDVVDVy^T;%^L=ٔ^f;Q-b>9`Y`=bhGybFfѺEf>hlQ 5r4n15?Q 9r4n)nBYpyrW>Q Iv@nwDIn:iny:n4yzBɮzw@xjgOFNOT Ignoring new targets: 364.16 m.R%S9Z%S9gO5 ProNav: ac range: 364.155212 m, nav range: 359.187805 m, bearing: 26.621976 deg, approach rate: -0.646650 m/s, LOS rate: 0.015335 deg/s, cmd heading: 31.505398 deg, new cmd heading: 31.516949 deg. B59gO=HeadingCmd: 0.550075 target range: 364.155212 and range: 366.30 m.= ?9*9"9 9AAAAʎIIQjQZU@!@}*Bɢ}A=) >i)]<顁iՅi ?1n"I ?IbEUÞ4jEUO4rEUÒ0E EE'E"E*E:VE'4ZEa@a@a@a@=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.056703@ @@/@)^A Y AI IY Ii Ou > checking for new query: numPingsReceived=0, elapsed TxPingTime=9.3062072,qjX@A2+>2^ ?2N`<ٱ2_ :AHRS rotation from veh to nav: [[0.857276,-0.512672,-0.047375],[0.514470,0.849435,0.117393],[-0.019942,-0.125011,0.991955]]2Hn?g@A`v?.?w ?k@_ ?i2+>I2`;0YBy#I9iMb@Mb@Mb@ 9Zd;O?S㥛y&1?Yj?y$`<A@ )Y@bDVDydC%<=ٔe;Q->9Y=hGyϺE>Q 54LG5?Q 94J)BY! ?Q E:y]>Q I@wDI;i;84yɮ@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 364.16 m.Rh9Zh9gO ProNav: ac range: 364.155212 m, nav range: 358.919342 m, bearing: 26.627492 deg, approach rate: -0.618710 m/s, LOS rate: 0.012722 deg/s, cmd heading: 31.516948 deg, new cmd heading: 31.527989 deg. BC9gOHeadingCmd: 0.550267 target range: 364.155212 and range: 366.30 m.P ?*" 6BʎjZ`)"@BBB#IBBBBBB^;B#Eu+Bɢu1=)q u>iq)} dpS,7jX@A6>625 ?6g<ٱ6l BAHRS rotation from veh to nav: [[0.857572,-0.512269,-0.046370],[0.513908,0.849528,0.119169],[-0.021654,-0.126026,0.991791]]6H`;q?`d@q?`U/?@ہ?,!?i6>I6"a;6CYNByN#IPRAVAATbDXVDXy^ =%bV=ٔb;Q-b>9dYd=fhGyfFf/ںEf>lQ 5r4nEZ5?Q 9r4n9)nBYpyr>Q Ir@nwDIns:in:n4yxɮz@@zEQjgOFNOT Ignoring new targets: 364.16 m.R _9Z _9gO ProNav: ac range: 364.155212 m, nav range: 358.682831 m, bearing: 26.632380 deg, approach rate: -0.589413 m/s, LOS rate: 0.012187 deg/s, cmd heading: 31.527989 deg, new cmd heading: 31.537770 deg. Bo9gOHeadingCmd: 0.550438 target range: 364.155212 and range: 366.30 m. ?*" ʎjZ?#@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.810329],BɢeC=)a e>ia)e>j<i ᝼i  ?e39I ?Iԁ9@ @@@ԩ^A+D D =E  E E E "E a:*E k:VE ZE a @a @a @a @ E7,ɮQjX@AMFz>M ?MX<ٱMh0 ]AHRS rotation from veh to nav: [[0.857821,-0.511952,-0.045261],[0.513446,0.849753,0.119553],[-0.022745,-0.125794,0.991796]]MH Ds? ae,%n?-1? ?Jʼ?iMFz>IMIa;MCYmByu#IԹiMb@Mb@Mb@ 9S㥛? rh?Y$?yC<fA@ @)V@Yz@bDVD y-l%-6=ٔ-;Q-5>9Y=hGyE>Q 547r5?Q 94y)BY'?Q E:yy>Q I@wDI;i>; 4yBɮ2@Ej!gO%FNOT Ignoring new targets: 364.16 m.R-]9Z-]9gO] ProNav: ac range: 364.155212 m, nav range: 358.381989 m, bearing: 26.637806 deg, approach rate: -0.669103 m/s, LOS rate: 0.012080 deg/s, cmd heading: 31.537770 deg, new cmd heading: 31.548633 deg. B]۰9gOeHeadingCmd: 0.550628 target range: 364.155212 and range: 366.30 m.e ?a*a"a aaiDBʎjZ`$@]-Bɢ]M,4=)a e>ia)iOq<顉i扞i ?5:WBI ?Im2Acoustic response timeout]9@Y @Y@]0@YA@AABBBBBBBB^;B#E^A *:9 E  E E #E "E :*E :VE 3ZE BE >,mjX@A2Acoustic response timeout6>6 ?6<<ٱ6 = >AHRS rotation from veh to nav: [[0.857763,-0.512188,-0.043661],[0.513481,0.849748,0.119439],[-0.024075,-0.124870,0.991881]]6Hr?@cZon?"1??@t@}?i6>I6SXb;6CYJ ByJ#IbDVVDVN2yZ:%^W=ٔ^e;Q-^>9\Y`=bhGybFb*9Ef>dQ 5j4fE5?Q 9n4fI)fBYlyn|>Q In@fwDIf:if6:f_4ytɮv@tajgOFNOT Ignoring new targets: 364.16 m.R9T9Z9T9gO ProNav: ac range: 364.155212 m, nav range: 358.142578 m, bearing: 26.642130 deg, approach rate: -0.641617 m/s, LOS rate: 0.011596 deg/s, cmd heading: 31.548634 deg, new cmd heading: 31.557287 deg. Bǩ9gOHeadingCmd: 0.550779 target range: 364.155212 and range: 366.30 m. ?*" !!ʎ!))j)Z5P%@.BɢR?=) >i)v<ii ?q"6tBI ?I!ԑ9@ @@/0@@@Թ2Acoustic response timeout^A2DA .A I I O >,jX@A>\>>f- ?>q<ٱ> JAHRS rotation from veh to nav: [[0.857557,-0.512662,-0.042121],[0.513760,0.849581,0.119429],[-0.025442,-0.124058,0.991949]]>Hq?gߐ p? /?쒾?g ;¿` ?i>\>I>{Yc;>CYRByR#IbDZVDZ2yf;%fK=ٔfY^;Q-f>9j ?Yj ?=jhGyhn`:En>pQ 5v4r.5?Q 9v4r)rBYtyv>Q Iv@rwDIr6:ir:rj4y~Bɮ~@|j!gO-FNOT Ignoring new targets: 364.16 m.R-^9Z-^9gO= ProNav: ac range: 364.155212 m, nav range: 357.879791 m, bearing: 26.646870 deg, approach rate: -0.674842 m/s, LOS rate: 0.012180 deg/s, cmd heading: 31.557287 deg, new cmd heading: 31.566773 deg. B=S9gOEHeadingCmd: 0.550944 target range: 364.155212 and range: 366.30 m.E ?A*A"I IIIIQʎQQQjQZ]&@颅/Bɢ;B=) i>i){<顉ii ?J-7%!@I ?IE EE(E"E:*E1]:VEc44ZEa@a@a@a@U2Acoustic response timeout]9@a @a@e4@a ^A0:D1A ؟AI I O >i I A 2Acoustic response timeoutY ,#jX@A2 >2b ?2<ٱ2* >AHRS rotation from veh to nav: [[0.857102,-0.513571,-0.040264],[0.514436,0.849195,0.119264],[-0.027059,-0.122934,0.992046]]2H`m?@-osBv?@,??@@@x׾?i2 >I2`c;2CYFByF#IiMb@Mb@Mb@ 9K7A?Mb~jt?Y "?yD<A@ (@)AYf@bDmVDm0y}%}?=ٔ%x;Q->9"?Y"?=hGyF:E>Q 54 5?Q 94n)BY[%?Q E:y>Q I@ xDI;ih;!4yɮ"@EB;>BBBB' =BBBi_;B#EBBBBBC14PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 364.16 m.Ro`9Zo`9gO ProNav: ac range: 364.155212 m, nav range: 357.606079 m, bearing: 26.652165 deg, approach rate: -0.633389 m/s, LOS rate: 0.012264 deg/s, cmd heading: 31.566775 deg, new cmd heading: 31.577374 deg. B9gOHeadingCmd: 0.551129 target range: 364.155212 and range: 366.30 m.% ?!*!"! !!!)-UBʎ))11j9Z= &@e1Bɢe9X4=)i mR>ii)mԹ ],]jX@A~ >~ ?~<ٱ~ AHRS rotation from veh to nav: [[0.856115,-0.515392,-0.037914],[0.515992,0.848434,0.117952],[-0.028624,-0.120544,0.992295]]~HKe? ~`gi?^&?`2?O۾?i~ >I~c;|2Acoustic response timeoutԑYuBy}#IbDVDNy#%-=ٔY;Q->9Y=hGy>;E>Q 54D5?Q 94)BYy~>Q I@xDI:iW:%*4yɮ@jIgOUFNOT Ignoring new targets: 364.16 m.RUH]9Z]H]9gOm ProNav: ac range: 364.155212 m, nav range: 357.302582 m, bearing: 26.657961 deg, approach rate: -0.632675 m/s, LOS rate: 0.012091 deg/s, cmd heading: 31.577375 deg, new cmd heading: 31.588975 deg. Bm9gOuHeadingCmd: 0.551332 target range: 364.155212 and range: 366.30 m.u$ ?q*q"q qqqyyʎyyjZ'@颭2Bɢ< +=) 1>i)<项iti$ ?~9q I$ ?It>i%>E9@A @A@E4@A@I@M=E EE&E"E ;*E:VE4ZEa @a @a @a @ 2Acoustic response timeout^A A zA  Ay I I O >G,jX@AF֋>F ?Fbw<ٱFP NAHRS rotation from veh to nav: [[0.855579,-0.516388,-0.036428],[0.516811,0.847984,0.117601],[-0.029838,-0.119443,0.992393]]FH@`?@ඉ?"? ?Íԓ ?iF֋>IFOc;FCVCV_AiV`eITTIXiX XX)X\ ^ r@\\^J`bsAI`)`i`)bCIddd dAE^AEniAIiim^A)m7 m,EIqYqY}By}#I i-Mb@Mb@Mb@)))) )9-}?5^I?HzG~jt?Y-M"?y-= )-A-@ -@)-=A)Y-@bDEVDE02yU9%U[=ٔ]|U;Q-]>9YYY=ehGyeFԡ((;E>Q 545?Q 94) BY%?Q E:y>Q I@.xDI[;i!;04yBɮ@j1gO5FNOT Ignoring new targets: 364.16 m.R=u9Z=u9gO ProNav: ac range: 364.155212 m, nav range: 357.057465 m, bearing: 26.663019 deg, approach rate: -0.649723 m/s, LOS rate: 0.013416 deg/s, cmd heading: 31.588976 deg, new cmd heading: 31.599099 deg. Bm9gOHeadingCmd: 0.551508 target range: 364.155212 and range: 366.30 m./ ?*" i)v<iܠi/ ?eP:JAI/ ?I2Acoustic response timeout]9@Y @Y@]/@YBm8>BmԍCBm#IBm BBm* =BiBiBm `;BmA$E ^A E  E E $E "E D:*E &p:VE 4ZE BE 15 BDAT read: Response Not Received 5 *response not received5 *DAT read: user:465> = BDAT read: Tx time:00:36:59.4762 = $Ping request sent.= wc ?<ٱt  AHRS rotation from veh to nav: [[0.854977,-0.517504,-0.034689],[0.517727,0.847498,0.117072],[-0.031187,-0.118053,0.992517]]H`[?d ¡ 8?`?i?b8?i~>I@_c;CYBy~#IbDVD2y5[v%5>=ٔ=/M;Q-=>99YA=EhGyAE*;EE>IiQ 5u4m5?Q 9}4m")m BYyF>Q I@m@xDIm;im;mB84yɮ@EjgOFNOT Ignoring new targets: 364.16 m.Rt9Zt9gO ProNav: ac range: 364.155212 m, nav range: 356.783173 m, bearing: 26.668640 deg, approach rate: -0.652224 m/s, LOS rate: 0.013378 deg/s, cmd heading: 31.599098 deg, new cmd heading: 31.610350 deg. B9gOHeadingCmd: 0.551705 target range: 364.155212 and range: 366.30 m.< ?*" !)))ʎ111j1Z5)@额5Bɢҋ'=) D>i)<  i "i < ?f&; I< ?Iԁ9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250049ԡ ^A A .A I I O >?Z, kX@A2>2 ?2l=ٱ2_ NAHRS rotation from veh to nav: [[0.854532,-0.518370,-0.032685],[0.518377,0.847214,0.116248],[-0.032569,-0.116281,0.992682]]2H SX?|`?`?`p½?`׬Ľ ?i2>I2c;0YMԄByM`#IbD]VD]:2ym{%m_=ٔuv;Q-u>9u ?Yu ?=uhGy}F}y ;E}>Q 546?Q 94) BYy>Q I@OxDIQ;i;>4yɮs@jE EE'E"E:*E:VE'4ZEa@a@a@a@gOFNOT Ignoring new targets: 364.16 m.Rq9Zq9gO ProNav: ac range: 364.155212 m, nav range: 356.549805 m, bearing: 26.673403 deg, approach rate: -0.647114 m/s, LOS rate: 0.013217 deg/s, cmd heading: 31.610351 deg, new cmd heading: 31.619884 deg. B9gOHeadingCmd: 0.551871 target range: 364.155212 and range: 366.30 m.lG ?*" Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502147ʎjZ`?*@ m6Bɢ=)1 5Ý>i9)EB B #IB BB B B B `;B $EA} ؟AI I O >,,{&kX@A2ᘧ>2) ?2 =ٱ2Ķ :AHRS rotation from veh to nav: [[0.854398,-0.518660,-0.031561],[0.518494,0.846977,0.117449],[-0.034185,-0.116712,0.992577]]2H :W? ݘ@(@?`o?'?ཿ`1?i2ᘧ>I2:d;2CYF܄ByFi#IiMMb@Mb@Mb@IIII I9Mx&1?SÿI +?YMA ?yMM949"?Y"?=hGy9E>Q 546?Q 94)BY$?Q E:y>Q I@axDI:i:rF4yBɮ@EPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 364.16 m.Rv9Zv9gO ProNav: ac range: 364.155212 m, nav range: 356.264008 m, bearing: 26.680495 deg, approach rate: -0.635769 m/s, LOS rate: 0.015788 deg/s, cmd heading: 31.619883 deg, new cmd heading: 31.634077 deg. B$9gOHeadingCmd: 0.552119 target range: 364.155212 and range: 366.30 m.W ?*" (BʎjZ +@ =7Bɢ= O"=)9 =+>i9)E[ԑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258171,C@kX@AY=ЄBy=[#IbDMVDM1ye\f%eL=ٔeQ-e>9m ?Ym ?=mhGymFmEu>qQ 5}4uh06?Q 94u)uBYyQ I@urxDIu:iu:ulM4yɮ@jgOFNOT Ignoring new targets: 364.16 m.R9Z9gO ProNav: ac range: 364.155212 m, nav range: 356.009827 m, bearing: 26.686812 deg, approach rate: -0.637064 m/s, LOS rate: 0.015844 deg/s, cmd heading: 31.634076 deg, new cmd heading: 31.646719 deg. B9gO=HeadingCmd: 0.552339 target range: 364.155212 and range: 366.30 m.q=f ?*" ʎjZ+@8BɢE[=) >i)V*<i%yi%f ?-I=-" I-f ?Iq9@ @@ 0@ԡDD<bE-ƻ 4jE-ƙ4rE-Ͱ/E EE&E"E:*Eg:VE4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510140^A A] ؟AIa Iq O > :,ZkX@A2b>2 ?2B"=ٱ2 :AHRS rotation from veh to nav: [[0.854525,-0.518544,-0.029991],[0.518082,0.846788,0.120587],[-0.037134,-0.118583,0.992250]]2H@DX??`?@޾?)t[ ?i2b>I2Kd;2C}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762506YɄByR#Ii-Mb@Mb@Mb@)))) )9-~jt?(\¿Q?Y-?y-z-u<-A-@ ))-SA)Y)bDEVDEyU%U/=ٔU;Q-]>9]"?Y]"?=]hGyYejEe>iQ 5u4mG6?Q 9u4mE)mBYu ?Q Eu:y}>Q I}@mxDIm ;im ;mU4yɮ9@jgOFNOT Ignoring new targets: 364.16 m.R9Z9gO ProNav: ac range: 364.155212 m, nav range: 355.720703 m, bearing: 26.693860 deg, approach rate: -0.618192 m/s, LOS rate: 0.015083 deg/s, cmd heading: 31.646718 deg, new cmd heading: 31.660827 deg. B9gOHeadingCmd: 0.552586 target range: 364.155212 and range: 366.30 m.Av ?*" BʎjZ,@颕:Bɢ=) 5>i)=<顙iiAv ?/>1IAv ?IA!A%AAB->>B-ՍCB-s#IB-BB-( =B)B)B-`;B-$E]9@Y @a@e>0@a]Gq-9YhA) E  E E 'E "E :*E n:VE '4ZE BE ),ݴukX@A2|>2_ ?2q=ٱ2 :AHRS rotation from veh to nav: [[0.854781,-0.518170,-0.029140],[0.517546,0.846876,0.122260],[-0.038673,-0.119587,0.992070]]2H^Z? ٔ֝??hL?@̣; ?i2|>I2i0d;2C @)@@@@DDiDIDDIHiJ`A JH)HH J`ANLLLLIL)LiP)PIR`AR`T TTV`AVtiTTiXX)X XIXYXYb„BybJ#IbDjVDjkyr%vh=ٔvy;Q-v>9xYx=zhGyzFzYܺEz>|Q 54~uY6?Q 9 4~z)~BY y K>Q I @~xDI~f;i~r;~[4yBɮ@Ej9gOEFNOT Ignoring new targets: 364.16 m.RE9ZE9gOU ProNav: ac range: 364.155212 m, nav range: 355.503204 m, bearing: 26.699190 deg, approach rate: -0.618224 m/s, LOS rate: 0.015157 deg/s, cmd heading: 31.660826 deg, new cmd heading: 31.671491 deg. BU9gO]HeadingCmd: 0.552772 target range: 364.155212 and range: 366.30 m.]t ?Y*a"a aaaiiʎiiijqZu-@ɢ=)9 =>iA)E{’M{IMt ?IQY@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266509ԉ^AԱA) I1 II OU > D zD AAE  E E #E "E O:*E i:VE 3ZE a @a @a @a @֩,]kX@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5181566B>6w ?6#=ٱ693 BAHRS rotation from veh to nav: [[0.854553,-0.518627,-0.027662],[0.517820,0.846698,0.122329],[-0.040022,-0.118861,0.992104]]6HX?sS?@'?P?} mP?i6B>I67d;6CY By 8#IbDmVDmyh%@=ٔO;Q->9Y=hGyU:E>QQ 5u4Uo6?Q 94U5)UBYyu>Q I@UxDIU-<iU\)i)<顑i_Bi ??Q}I ?I 9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770166) ^Aa Bu :>Bq Bu T#IBu ʄBBu ' =Bq Bq Bu $a;Bu $EY A .AI I O >",rRkX@A2r>2 ?24+=ٱ2ϛ NAHRS rotation from veh to nav: [[0.854302,-0.519071,-0.027072],[0.518094,0.846194,0.124636],[-0.041786,-0.120503,0.991833]]2HqV?:ḛ9??`&?e`Hپ?i2r>I2d;2CY5By59#IiMb@Mb@Mb@ 9v?'1ZĿ{Gz?Y?y"ף<A@ @)AY@bDVDNyy;%?=ٔ!;Q->9 ?Y ?=hGyFOc:E>Q 54%6?Q 94M)BY>?Q E:y>Q I@xDI:i:j4E5 E5E5'E1"E5:*E5g:VE5'4ZE1BE5i):<顩i6i& ?@8I& ?I @ @@4@ } BDAT read: Rx Time:00:37:02.3568 } TRx dataTimestamp_ set to:1761698223.004067 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278099^A A ?A ?9 AE ؟AIQ Ia Om >͋,|kX@A2zD>2w ?21=ٱ2. :AHRS rotation from veh to nav: [[0.854427,-0.518940,-0.025595],[0.517759,0.846305,0.125273],[-0.043348,-0.120289,0.991792]]2H@xW?'5{???1 A˾¼?i2zD>I2cd;0YBByB3#IbDN VDN2yVӼ%VL=ٔV;Q-V>9Z"?YZ"?=ZhGyZF^ fE^>`Q 5f4b!6?Q 9f4bo)bBYdyfÔ>Q If@bxDIb:ib;bq4ynBɮn@nEjgOFNOT Ignoring new targets: 364.16 m.R +9Z +9gO ProNav: ac range: 364.155212 m, nav range: 354.735596 m, bearing: 26.720022 deg, approach rate: -0.674839 m/s, LOS rate: 0.019362 deg/s, cmd heading: 31.699202 deg, new cmd heading: 31.713186 deg. B :gO%HeadingCmd: 0.553500 target range: 364.155212 and range: 366.30 m.%% ?!*!"! !!)))ʎjZ`L 0@ɢ}=) Fe>i )-Ȋ<))i5gܠi5% ?5A=#I=% ?I99@ @@/@E% E%E%(E!"E%;*E%:VE%c44ZE!a5@a5@a5@a5@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526466^A)QAq I I O >q m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780939, kX@A]ϧ>] ?]1L==ٱ] uAHRS rotation from veh to nav: [[0.853767,-0.520180,-0.022239],[0.518602,0.845833,0.124975],[-0.046199,-0.118232,0.991911]]]HR?Q@Ŗ c?@?T? ^xD`?i]ϧ>I]d;]CYBy%#I!BM9>BMԍCBM;#IBMBBM* =BIBIBM4a;BM$EB ԍCB ԍCB B * =B ) =C ½5imMb@Mb@Mb@iiii i9m-?7A`¿{Gz?Ym5?ymim Am@ m@)mjAiYm(AbDVDky;%-=ٔC;Q->9Y=hGy;E>Q 546?Q 94)BY"?Q E:yǢ>Q I@xDI{:i:y4yBɮO@EjgOFNOT Ignoring new targets: 364.16 m.R!9Z!9gO ProNav: ac range: 364.155212 m, nav range: 354.439178 m, bearing: 26.727187 deg, approach rate: -0.628466 m/s, LOS rate: 0.015205 deg/s, cmd heading: 31.713186 deg, new cmd heading: 31.727529 deg. B9gO HeadingCmd: 0.553750 target range: 364.155212 and range: 366.30 m.  ? * "  BʎjZ%~0@M=BɢM=)I MN>iI)UB  BDAT read: Tx time:00:37:03.4762  $Ping request sent. ?ߟhW7) ߑYC )LIl>i?5??-@d;o+@ 5)>@I5<i\0?`jc?h~ph? ?)GI)gi5< :publishing transmit ping time  Fpublishing direction and range infoy>?ߟhW7) ߑY )Ii )Ii\0?`jc?h~ph? )IiU 9@Q  @Q @U 4@Q ԩ ^AuAyzAyA.AIIO ?j,-lX@A>9>>B ?>xTC=ٱ>2 FAHRS rotation from veh to nav: [[0.853292,-0.521028,-0.020576],[0.519250,0.845449,0.124880],[-0.047670,-0.117243,0.991959]]>H@*N?B ? ?`?0h?i>9>I>d;>CYNByR#IbDZVDZβybؼ%b&=ٔbfD;Q-b>9f ?Yf ?=fhGyfFj:Ej>lQ 5r4n6?Q 9r4nf)nBYpyr)>Q Ir@nxDIn:in :n~4yxɮz@x9=UkkX@AJ=CR=Cj=->=WQ%v@lM'8r=>?ߟhW7) ߑZ=)gb=5<=s@_WKYd@/+Q54z=34b?WT?67 2="C:=C"=Ÿ~?*=HB=f8B=Ÿ~?=H“9=PC=+>1gOE addTargetRange:: Added new target pos. range: 357.299988 m, deltaT: 16.639931 s, deltaX: -9.000000 m, approachRate: -0.540868 m/s, rangeRepo size: 4 gOU Added new target pos. range: 355.208832 m, bearing: 27.325075 deg, lat: 36.779380 deg, lon: -121.859106 deg, deltaT: 16.639931 s, deltaX: -8.946381 m, approachRate: -0.537645 m/s, posRepo size: 4 jYgO]FNOT Ignoring new targets: 355.21 m.R]ZagOu ProNav: ac range: 355.208832 m, nav range: 354.632141 m, bearing: 27.324095 deg, approach rate: 0.000000 m/s, LOS rate: 0.015205 deg/s, cmd heading: 31.727530 deg, new cmd heading: 31.742611 deg. BqgO}HeadingCmd: 0.554013 target range: 355.208832 and range: 357.30 m.} ?y*y"y yyʎjTv@Z?颽>Bɢ<) ?>i)u<i5៼i ?CMIM ?IIYE EE,E"E:*EV:VEg4ZEa@a@a@a@Uԑ@ @@4@Թ ^A i I A A9IIIYOe>*#,l!"lX@A2T>2 ?2I=ٱ2Km :AHRS rotation from veh to nav: [[0.853118,-0.521376,-0.018895],[0.519391,0.845337,0.125055],[-0.049228,-0.116500,0.991970]]2H@L?4Yٞ? ??e4ҽ7?i2T>I2+d;0YBByF#Ii Mb@Mb@Mb@     9 l?M¿:v?Y ?y n < | A  @) "A Y AbDmVDmy}%}%=ٔN;Q->9Y=hGy9BB>B֍CB#IBBB' =BBhDBMa;B$EE>Q 546?Q 94)"BY ?Q E:y1>Q I@yDI;i;j4y%Bɮ%!@!jAgOMFNOT Ignoring new targets: 355.21 m.RU29ZU29gO] ProNav: ac range: 355.208832 m, nav range: 354.324951 m, bearing: 27.332118 deg, approach rate: -0.607011 m/s, LOS rate: 0.015868 deg/s, cmd heading: 31.742611 deg, new cmd heading: 31.758671 deg. BeQ9gOeHeadingCmd: 0.554293 target range: 355.208832 and range: 357.30 m.e, ?i*i"i iiqquBʎqyyjyZ}r?!ɢ%7C<)) -&>i))-U<))i--i5, ?5ΙD=vI=, ?I9aaaaE EE E"E:*EL_:VE3ZEBE6z& ?65M=ٱ6 >AHRS rotation from veh to nav: [[0.852771,-0.521987,-0.017663],[0.519865,0.845081,0.124811],[-0.050223,-0.115618,0.992023]]6HI?`/? ??`ᶩ ?i6>I64d;6CYJByJ#IbDRVDRyZ<%Z)=ٔ^N;Q-^>9^"?Y^"?=^hGybFb:Eb>dQ 5j4f6?Q 9j4f)f%BYlynw>Q In@fyDIf;if;f4ypɮr@rEPB*** querying acoustic contact *** j gOFNOT Ignoring new targets: 355.21 m.R9Z9gO% ProNav: ac range: 355.208832 m, nav range: 354.043396 m, bearing: 27.339458 deg, approach rate: -0.601290 m/s, LOS rate: 0.015688 deg/s, cmd heading: 31.758672 deg, new cmd heading: 31.773364 deg. B%9gO-HeadingCmd: 0.554550 target range: 355.208832 and range: 357.30 m.- ?1*1"1 11199ʎ999jAZE 6?IɢM<)I M>iI)MX,k\lX@A2>2:% ?2iQ=ٱ2D :AHRS rotation from veh to nav: [[0.852737,-0.522052,-0.017355],[0.519822,0.844897,0.126230],[-0.051235,-0.116662,0.991849]]2HI?`őa?e ?`K(? |;ݽ:?i2>I2ac;2C@YFByF#IiMb@Mb@Mb@ 9V-?/$S㥛?Y?y1/< AG@ @)YAbD-VD-02yE[%EB=ٔE;Q-E>9M ?YM ?=MhGyIM`>EU>QQ 54U 7?Q 94U0)U'BY ?Q E:y`>Q I@U#yDIUi)<iu❼iL?JFIL?Iԩm9@i @i@i@iBP>B؍CB #IBBB# =BBiDB6a;B$EIaIyOZ>E  E E %E "E :*E c:VE 4ZE BE &6E ?6IU=ٱ6l >AHRS rotation from veh to nav: [[0.852971,-0.521650,-0.017929],[0.519341,0.844758,0.129111],[-0.052205,-0.119439,0.991468]]6HK?[\q? A??``?i6Y>I6b;6CYJByJ #I Rp9\Y`=bhGybFbEb>dQ 5j4f!7?Q 9j4f)f*BYlyn3>Q In@lf2yDIf(;if*;f4yvBɮv@vEjgOFNOT Ignoring new targets: 355.21 m.Rn9Zn9gO- ProNav: ac range: 355.208832 m, nav range: 353.541779 m, bearing: 27.350646 deg, approach rate: -0.661825 m/s, LOS rate: 0.014800 deg/s, cmd heading: 31.785009 deg, new cmd heading: 31.795757 deg. B-9gO5HeadingCmd: 0.554941 target range: 355.208832 and range: 357.30 m.5?1*1"1 11999ʎAAAjAZE@iɢuN<)q uv$>iq)}ci? GcI?I9@ @@@AQzAQ I)I9OM0>mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2190211a #,!lX@AbEu'4jEu4rEu0E& E&E$E$"E&:*E&:VE$ZE$a*@a*@a*@a*@F:>F ?F Y=ٱF ZAHRS rotation from veh to nav: [[0.853048,-0.521531,-0.017727],[0.519115,0.844655,0.130678],[-0.053179,-0.120677,0.991266]]FH+L?a '?`j??`W:@便@t?iF:>IF b;FCfchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.471549YrByr#IbD VD 1y%1%%D=ٔ-;Q-->91Y1=5hGy1AEEEM>QQ 5 4U67?Q 94U)U,BYy!>Q I@UCyDIUi)|<iڮi? H!I?I]i>i])>q9@ @@@I!I1O=r>ԑuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.722970B G>B ׍CB "IB BB ! =B B hDB Ra;B $E *,lX@A DDzGY By%"I1]B9YY]AԙyT?Ai5Mb@Mb@Mb@1111 195V-?p= ף~jt?Y1y55<55 A1 5@)11Y5AbDMVDM02y]%]8=ٔ]Q-e>9aYa=ehGyeFmEm>qQ 5}4uL7?Q 9}4uJ)u-BY} ?Q E:y0>Q I@uUyDIuu:iu ;u4E] E]E]$EY"E]:*E]:VE]4ZEYBEYau2EYa}JE]SDiY)]}A] >I I O > .1,4lX@ARwG>Rt ?R-a=ٱR<\ jAHRS rotation from veh to nav: [[0.852911,-0.521771,-0.017255],[0.519147,0.844212,0.133386],[-0.055030,-0.122725,0.990914]]RH K? Xiڜ? ??`, j ?iRwG>IRa;RCY~By"I!%AAbD-VD-:yUH%US=ٔUМ;Q-U>9YYY=]hGy]Fef9Ee>aqQ 5u4eD_7?Q 9u4e")e.BYyy}O>Q I}@edyDIeu*;ie`+;e4yBɮ@EPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 355.21 m.Ri9Zi9gO ProNav: ac range: 355.208832 m, nav range: 352.765350 m, bearing: 27.367716 deg, approach rate: -0.729555 m/s, LOS rate: 0.015891 deg/s, cmd heading: 31.819444 deg, new cmd heading: 31.829923 deg. B9gOHeadingCmd: 0.555537 target range: 355.208832 and range: 357.30 m.7?*" ʎjZ @9ɢ=8-<)9 =>i9)E']checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479792E EEE"E:*Exv:VEZEa@a@a@a@ _7, lX@AU2>U ?Uqd=ٱUi uAHRS rotation from veh to nav: [[0.852957,-0.521715,-0.016637],[0.518990,0.844233,0.133868],[-0.055796,-0.122818,0.990859]]UH`mK?@D ? ?"?`Aq?iU2>IU#a;QYBy"II=) BDAT read: Tx time:00:37:07.4762 $Ping request sent.i %>^-@ A>,@  >)a@I TWх?J2/b[?|U1c{? ?)9Ii %:publishing transmit ping time-Fpublishing direction and range infoy?S%c w:L`u&?Y )IiBD>B֍CB"IByBB& =BBBNa;B$E )ITWх?J2/b[?|U1c{? )IiimMb@Mb@Mb@iiii i9mMbX9?`"?Ym!?ymm9Y=%hGy!%PE%>IQ 5U4MRz7?Q 9U4M)M0BY]$?Q E]:y]Q>Q I]@MzyDIM:iM:M4yeBɮ@YlX@AJCRCj4>|u@dH=+EG@r?S%c w:L`u&?Zb O~s@ѠSd@VL?@z4cVHD?: w?m*)}?2"C:C"?(?*#mBB“6C>gO addTargetRange:: Added new target pos. range: 355.200012 m, deltaT: 3.780180 s, deltaX: -2.099976 m, approachRate: -0.555523 m/s, rangeRepo size: 4 gOE Added new target pos. range: 353.130646 m, bearing: 27.530669 deg, lat: 36.779380 deg, lon: -121.859106 deg, deltaT: 3.780180 s, deltaX: -2.078186 m, approachRate: -0.549758 m/s, posRepo size: 4 jAgOMFNOT Ignoring new targets: 353.13 m.RMZIgO] ProNav: ac range: 353.130646 m, nav range: 352.423981 m, bearing: 27.374057 deg, approach rate: 0.000000 m/s, LOS rate: 0.015891 deg/s, cmd heading: 31.829921 deg, new cmd heading: 31.847357 deg. BYgOHeadingCmd: 0.555841 target range: 353.130646 and range: 355.20 m.K?*" ?Bʎj@33v@ZH?!ɢ%_<)) ->i))-L<))i-Ki5K?5BK=i,I=K?IY99@ @@0@E  E E E "E :*E g:VE ZE BE uL>,lX@ABs>BH ?Bg=ٱB NAHRS rotation from veh to nav: [[0.852206,-0.522972,-0.015635],[0.520136,0.843596,0.133435],[-0.056593,-0.121846,0.990934]]BH`FE?0`?`?b?Q1?iBs>IB_;B CYVuByV"IbD^VD^1yf匽%fd=ٔj4;Q-j>9hYl=nhGynFn{;En>pQ 5v4r@7?Q 9v4rdz)pYxyz>Q Iz@ryDIr; ;irX ;r4y|ɮ~@j!gO-FNOT Ignoring new targets: 353.13 m.R-a9Z-a9gO= ProNav: ac range: 353.130646 m, nav range: 352.197662 m, bearing: 27.378220 deg, approach rate: -0.670408 m/s, LOS rate: 0.012338 deg/s, cmd heading: 31.847359 deg, new cmd heading: 31.855689 deg. B=9gOEHeadingCmd: 0.555987 target range: 353.130646 and range: 355.20 m.E$U?A*I"I IIIQQʎQQYjYZ]@VE?颁ɢeu<) =i)y<顉i洙i$U?vKI$U?ImnManaging dock network, ignoring radio surface power offԉ 9@  @ @ 4@ Ա^A50D zD @AA I I E  E E #E "E :*E &p:VE 3ZE a @a @a @a @O > rE,SmX@A-m>- ?-Sh=ٱ- AHRS rotation from veh to nav: [[0.851664,-0.523861,-0.015428],[0.521013,0.843116,0.133046],[-0.056690,-0.121349,0.990990]]-H @?w@#??@?@|@ 0?i-m>I-l^;-CYrBy"IiMb@Mb@Mb@ 9+?:v~jt?Y?yԽ< ?@)9AY A 4<bDVDNyPT%/=ٔ [9Q->9Y=hGyU ;EU>YQ 5]4]7?Q 9e4])]1BYe"?Q Ee:ye>Q Ie@]yDI]:i]E:]u4yqɮu@uEjgOFNOT Ignoring new targets: 353.13 m.R%9Z%9gO ProNav: ac range: 353.130646 m, nav range: 351.893036 m, bearing: 27.382594 deg, approach rate: -0.630592 m/s, LOS rate: 0.009062 deg/s, cmd heading: 31.855688 deg, new cmd heading: 31.864444 deg. B9gOHeadingCmd: 0.556139 target range: 353.130646 and range: 355.20 m.(_?*" 9BʎjZ ?ɢfD<) =i)\G<ii (_? 1L "I (_?I9@ @@@BF>BB"IBoBB% =BBB,a;B$EB֍CB֍CBƔCB% =B$ =CƧ6Q ^A A1 II y I O >-L,3mX@AE EE%E"E>:*Ek:VE 4ZEBEeҩ>> ?>Y2h=ٱ>- FAHRS rotation from veh to nav: [[0.851266,-0.524507,-0.015465],[0.521667,0.842739,0.132869],[-0.056658,-0.121174,0.991013]]>H@=?@嫏??@?P@I`?i>eҩ>I>^;>CYNfByR"IbDZ VDZ2yb%bj=ٔfQ-f?9dYd=jhGyjFj(;Ej?lQ 5r4n7?Q 9r4n)lYpyv>Q Iv@nyDIn;in;nE4yzBɮz @~EjgOFNOT Ignoring new targets: 353.13 m.R%$9Z%$9gO5 ProNav: ac range: 353.130646 m, nav range: 351.683228 m, bearing: 27.385585 deg, approach rate: -0.630782 m/s, LOS rate: 0.008998 deg/s, cmd heading: 31.864444 deg, new cmd heading: 31.870430 deg. B59gO=HeadingCmd: 0.556244 target range: 353.130646 and range: 355.20 m.=f?9*9"9 AAAAʎjZ@?=Bɢ<) =i)A->a Au ؟AIy I O > S,SLmX@A 6JU>6] ?6h=ٱ6\ >AHRS rotation from veh to nav: [[0.850740,-0.525374,-0.014911],[0.522515,0.842366,0.131899],[-0.056736,-0.120003,0.991151]]6HD9? q? ??~ `?i6JU>I6>];6CYF^ByF"IbDRVDRk1yZ%ZL=ٔZL9Q-^>9^"?Y^"?=^hGy`b#;Eb>dQ 5j4f57?Q 9j4f)dYhyn}>Q In@fyDIf:ifH checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980035:Y,FfmX@ABBB"IBeBB$ =BBBa;B$EB>BO ?Bg=ٱBـ JAHRS rotation from veh to nav: [[0.850119,-0.526402,-0.014090],[0.523539,0.842016,0.130061],[-0.056600,-0.117944,0.991406]]BH`-4? HYی? ?ԥ?1?iB>LIB];BCYVYByV"Ii5Mb@Mb@Mb@1111 195~jt?)\(:v?Y5$?y5GὙ5T<5bA5@ 5d@)5fA1Y5(AE@AE@AbDMVDMy]n%]@=ٔenQ-e>9aYa=mhGymFm8;Em>qQ 5}4u7?Q 9}4uP)u/BY'?Q E:y>Q I@uyDIu]:iu:u4yɮ@jQgOUFNOT Ignoring new targets: 353.13 m.R]09Z]09gOm ProNav: ac range: 353.130646 m, nav range: 351.154022 m, bearing: 27.393312 deg, approach rate: -0.642322 m/s, LOS rate: 0.009666 deg/s, cmd heading: 31.877555 deg, new cmd heading: 31.885895 deg. Bm9gOHeadingCmd: 0.556514 target range: 353.130646 and range: 355.20 m.w?*" EBʎjZB@)ɢ5<)1 5`=i1)5<19i=Di=w?E$NElٻIEw?II9@ @@ @ E EE+E"E:*Ec:VE [4ZEBEu`,DŽmX@A2~>2. ?2vh=ٱ2t >AHRS rotation from veh to nav: [[0.849552,-0.527329,-0.013597],[0.524446,0.841574,0.129268],[-0.056723,-0.116951,0.991517]]2H/? ؋`B?`,?֋?@ y?i2~>I2];2 CYFSByF"IbDRVDRJyV%ZW=ٔZ"9Q-Z>9^ ?Y^ ?=^hGy\b7;Eb>dQ 5f4fU7?Q 9j4fئ)f-BYhyj<>Q Ij@fyDIf:ifB:f^4yrBɮr\@rE|j gOFNOT Ignoring new targets: 353.13 m.R:9Z:9gO% ProNav: ac range: 353.130646 m, nav range: 350.906403 m, bearing: 27.396998 deg, approach rate: -0.684745 m/s, LOS rate: 0.010202 deg/s, cmd heading: 31.885895 deg, new cmd heading: 31.893273 deg. B%^9gO-HeadingCmd: 0.556643 target range: 353.130646 and range: 355.20 m.-"?)*)"1 11119ʎ99AjAZE@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484284 ɢ Xҿ<)  3=i )ϥ<i5Csi="?=+N=cI="?IA9@ @@@@=@=)Y^A=[RӻAEYAzAEZAE EE(E"E~ ;*EVEc44ZEa@a@a@a@M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739815Aa ԉ I I O >If,_mX@A5>5 ?5g=ٱ5Za AHRS rotation from veh to nav: [[0.849145,-0.527988,-0.013453],[0.525122,0.841260,0.128566],[-0.056563,-0.116236,0.991610]]5H2,?@Gk?`?t?``D?i5>I5sW];5CYJBy"IiMb@Mb@Mb@ 9K?y&1Zd;O?Y^?y`彙j<A@ A)AYAbDVDk1y%+=ٔQ->9Y=hGyF:E> Q 54 P8?Q 94 ) Y?Q E:y>Q I@ yDI  ;i  ; 4y!ɮ%@!jIgOMFNOT Ignoring new targets: 353.13 m.RU;9ZU;9gOe ProNav: ac range: 353.130646 m, nav range: 350.614716 m, bearing: 27.401885 deg, approach rate: -0.611190 m/s, LOS rate: 0.010247 deg/s, cmd heading: 31.893275 deg, new cmd heading: 31.903055 deg. Be9gOmHeadingCmd: 0.556813 target range: 353.130646 and range: 355.20 m.mR?i*i"i qqqq}JBʎyyyjyZ@@颩ɢ<) B!B%"IB%UBB%% =B!B!B%`;B%$EԱ^A &t E  E E &E "E =;*E ~:VE 4ZE BE yI= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240138tl,;mX@A2>2?2 f=ٱ2 :AHRS rotation from veh to nav: [[0.848508,-0.529016,-0.013303],[0.526179,0.840750,0.127573],[-0.056304,-0.115247,0.991740]]2H&?`>u?l?ST?ӬЀ`U?i2>I2M];0YF8ByF"I NQ Ij@byDIbN:ibg:b|4yrBɮr@rEjgOFNOT Ignoring new targets: 353.13 m.R09Z09gO ProNav: ac range: 353.130646 m, nav range: 350.413116 m, bearing: 27.405228 deg, approach rate: -0.582402 m/s, LOS rate: 0.009664 deg/s, cmd heading: 31.903055 deg, new cmd heading: 31.909746 deg. B{9gOHeadingCmd: 0.556930 target range: 353.130646 and range: 355.20 m.?*" ʎԹjZ @!ɢ%B <)%  -i))-{<))i-&iU?U/fOUk|I]?IY9@ @@4@BDAT read: Rx Time:00:37:10.3500 TRx dataTimestamp_ set to:1761698231.068664checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496710^AMuA I I O >9 b\s,mX@A2bǬ>2k9?2Hf=ٱ2U :AHRS rotation from veh to nav: [[0.848261,-0.529415,-0.013155],[0.526589,0.840576,0.127027],[-0.056192,-0.114679,0.991812]]2H $???jB? 6Ŭ@[?i2bǬ>I2];0YF/ByF"IbDRVDRkyV*%ZJ=ٔZ)Q-Z>9XY\=^hGy^F^h:Eb>`Q 5f4b+8?Q 9j4b)b.BYhyj[>Q Ij@b zDIb:ib:b4ypɮr@pP~B*** querying acoustic contact ***| |j gO FNOT Ignoring new targets: 353.13 m.RC@9ZC@9gO% ProNav: ac range: 353.130646 m, nav range: 350.166351 m, bearing: 27.409306 deg, approach rate: -0.635177 m/s, LOS rate: 0.010506 deg/s, cmd heading: 31.909746 deg, new cmd heading: 31.917908 deg. B%ϙ9gO-HeadingCmd: 0.557073 target range: 353.130646 and range: 355.20 m.-O?)*)") 1199AʎAIIjQZU @)ɢUd|<)Q UۼiQ)]ťAE>q DAT read: 00:37:10.3500 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 406, 0.13, 1.778, 0.464, 2.111, 1.706, PHS= 0.174,-1.198, 0.361, RAW= 156.3, 9.0, CAL= 156.0, 9.6, ROT= 354.0, -9.6  Ygot valid direction response: 00:37:10.3500 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 406, 0.13, 1.778, 0.464, 2.111, 1.706, PHS= 0.174,-1.198, 0.361, RAW= 156.3, 9.0, CAL= 156.0, 9.6, ROT= 354.0, -9.6  PDAT read: Bearing 185.3, -10.5 (Local)  ~Local bearing/azimuth received: Bearing 185.3, -10.5 (Local)  DAT read: Range 11 to 50 : 352.2 m (Round-trip 469.7 ms) speed 1.0 m/s  *DAT read: user:468>  BDAT read: Tx time:00:37:11.4762  $Ping request sent. i X Ը> .@ | > @.@ +>) @I + svw?=*L?@? o7"?) 3r!I iwֽi + m :publishing transmit ping time m Fpublishing direction and range infoy  ѬGa?2tb8_X?Y ) I i ) I svw?=*L?@? ) I i Ae .AI I ԡ O >B% G>B! B% "IB% ABB! B! B! B% 2`;B% `$Ey,mX@A2>2M?2/e=ٱ2o :AHRS rotation from veh to nav: [[0.848111,-0.529643,-0.013596],[0.526858,0.840387,0.127161],[-0.055924,-0.115010,0.991789]]2H#? ؋`?s?`F?`Gq ?i2>I2];0Yf(Byf"I1ev¿9aYe)AqiMb@Mb@Mb@ 9jt?"~j:v?Y ?yS㽙T<@ =A) AYAbDVD:2y-2%-(=ٔ-Q-5>95 ?Y5 ?=5hGy1=a&:E=>AQ 5M4EC8?Q 94E)E+BYK#?Q E:y>Q I@EzDIE1juu@mH BX {q2M@rѬGa?2tb8_X?Ziwֽb+J`Xs@y[@c@ /|nE@zimI?t7?7V?2C:ÚC"&?*aBB?(?“%ByC>gO- addTargetRange:: Added new target pos. range: 352.200012 m, deltaT: 4.031644 s, deltaX: -3.000000 m, approachRate: -0.744113 m/s, rangeRepo size: 4 gO= Added new target pos. range: 350.150055 m, bearing: 27.042135 deg, lat: 36.779371 deg, lon: -121.859106 deg, deltaT: 4.031644 s, deltaX: -2.980591 m, approachRate: -0.739299 m/s, posRepo size: 4 jagOeFNOT Ignoring new targets: 350.15 m.RmZigO} ProNav: ac range: 350.150055 m, nav range: 348.947296 m, bearing: 27.491668 deg, approach rate: 0.000000 m/s, LOS rate: 0.010506 deg/s, cmd heading: 31.917908 deg, new cmd heading: 31.929226 deg. ByE EE)E"E:*Ega:VEFA4ZEBE6֋,B|nX@A2F*>2j?2NJc=ٱ2 :AHRS rotation from veh to nav: [[0.847895,-0.529992,-0.013513],[0.527249,0.840289,0.126188],[-0.055524,-0.114119,0.991914]]2H!?@֬@8??&?@m@6ý?i2F*>I2\;2 CHYUByUz"I]=]=eAAeAAbDmVDmky}Q%}4=ٔ}{gQ->9"?Y"?=hGyF:E>Q 54qZ8?Q 94))BYy>Q I@2zDI6:iN:4y ɮ @ Ej)gO5FNOT Ignoring new targets: 350.15 m.R5H9Z5H9gOM ProNav: ac range: 350.150055 m, nav range: 348.658569 m, bearing: 27.496185 deg, approach rate: -0.699711 m/s, LOS rate: 0.010957 deg/s, cmd heading: 31.929225 deg, new cmd heading: 31.938268 deg. BMj9gOMHeadingCmd: 0.557428 target range: 350.150055 and range: 352.20 m.U?Q*Q"Q QQQYYʎYYajaZe^?频ɢBy<) hi)<顙i-i?OI?IDQzDU?AE] E]E](EY"E]>:*E]V:VE]c44ZEYae@ae@ae@ae@;E 9@A  @A @E 0@A ) ^AM 3I AU ZAzAU YAA.AIIO?ok,I'nX@ABI>B׍CB"IB(BB$ =BBBX`;Bu$EB>B?Bb=ٱB! JAHRS rotation from veh to nav: [[0.847464,-0.530674,-0.013789],[0.527980,0.839895,0.125751],[-0.055152,-0.113849,0.991966]]BHm?`G==6?k?@?<:%/?iB>IB3\;BCPPiPIPPIPiT TT)TT Vq@TXXX\\I\)\i\)`I``` `df^Afif3Fdihj^A)j\ hIhYhYrByrc"Ii%Mb@Mb@Mb@!!!! !9%ʡE?K7AQ?Y%?y% %u<%bA%@ %A)!!Y%AbD] VD]2yp%=ٔc9 ?Y ?=hGyF:E>Q 54ct8?Q 94)(BY!?Q E:yN>Q I@GzDI:i:4yBɮ`@j!gO-FNOT Ignoring new targets: 350.15 m.R-i9Z-i9gO= ProNav: ac range: 350.150055 m, nav range: 348.332306 m, bearing: 27.502759 deg, approach rate: -0.633664 m/s, LOS rate: 0.012780 deg/s, cmd heading: 31.938269 deg, new cmd heading: 31.951429 deg. B=9gOeHeadingCmd: 0.557658 target range: 350.150055 and range: 352.20 m.e?i*i"i iiiqu BʎqqyjyZ}?ɢ%2]<)1 5ڽi1)= <99i=$im?ugOueIu?IE EE+E"E:*Ec:VE [4ZEBEu6?6^=ٱ6 >AHRS rotation from veh to nav: [[0.846912,-0.531555,-0.013716],[0.528946,0.839558,0.123930],[-0.054360,-0.112213,0.992196]]6H ?!?? ṿ?@ ի ?i6+>I6 ];6CYeByeU"IquA up9"?Y"?=hGyO;E>Q 548?Q 94)'BYyַ>Q I@\zDI;i ;b"4yɮ @jgOFNOT Ignoring new targets: 350.15 m.Rf9Zf9gO ProNav: ac range: 350.150055 m, nav range: 348.000549 m, bearing: 27.509399 deg, approach rate: -0.629488 m/s, LOS rate: 0.012611 deg/s, cmd heading: 31.951430 deg, new cmd heading: 31.964723 deg. B9gOHeadingCmd: 0.557890 target range: 350.150055 and range: 352.20 m.?*"   ʎjZ?iuBi Bm f"IBm BBm # =Bi Bm iDBm `;Bm $EB1B5׍CB5͓CB5$ =B1C5.O5AIIO>U,%YknX@A2W>2?2 ]=ٱ2 >AHRS rotation from veh to nav: [[0.846746,-0.531819,-0.013774],[0.529237,0.839437,0.123502],[-0.054118,-0.111865,0.992249]]2H`?5?? ۝?i.@?i2W>I2T ];0YUByU?"IiMb@Mb@Mb@ 9 r? rh:v?Y#?yC T<tA@ =A)YAbDVD:yy% =ٔuQ->9!Y!=%hGy%F-A,:E5>9Q 5E4=&8?Q 9E4=)=%BYG'?Q E:y>Q I@=rzDI=ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512367A I I O >E,EnX@A2;>2X$?2.E[=ٱ2 :AHRS rotation from veh to nav: [[0.846493,-0.532214,-0.014059],[0.529705,0.839259,0.122706],[-0.053507,-0.111317,0.992343]]2H x?ʌV?6?i?KeGG?i2;>I20];2CYBكByF+"IhbDnVDny %S=ٔcͺQ->9Y=hGy:E%>!Q 5M4%A8?Q 9U4%D)%$BYQyUŴ>Q IU@%zDI%;i%;%24y]Bɮe@eEjgOFNOT Ignoring new targets: 350.15 m.Rr9Zr9gO ProNav: ac range: 350.150055 m, nav range: 347.417297 m, bearing: 27.521717 deg, approach rate: -0.696107 m/s, LOS rate: 0.014693 deg/s, cmd heading: 31.978734 deg, new cmd heading: 31.989379 deg. B9gOHeadingCmd: 0.558320 target range: 350.150055 and range: 352.20 m.?*"    ʎjZ<@%;Bɢ%T;)) -Ei))-P<))i-i5?5O5,RnX@A1Em>EX?EH'X=ٱE6 UAHRS rotation from veh to nav: [[0.846102,-0.532824,-0.014519],[0.530405,0.838941,0.121856],[-0.052747,-0.110804,0.992442]]EHC?` 1`??1?@]?iEm>IEQ];E CYm̓Bym"IIu>)up<}=}p=iMb@Mb@Mb@ 9rh|?Dl rh?Y?yO C<A(@ A)YAbD VD yBT%9=ٔ%Q-%>9!Y!=%hGy-F-`:E->1Q 5=458?Q 9=45ڋ)1YE?Q EE:yE>Q IE@5zDI5s:i5:594yMBɮM@QjqgO}FNOT Ignoring new targets: 350.15 m.R}9Z}9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016373gO  ProNav: ac range: 350.150055 m, nav range: 347.146393 m, bearing: 27.527957 deg, approach rate: -0.630170 m/s, LOS rate: 0.014527 deg/s, cmd heading: 31.989379 deg, new cmd heading: 32.001869 deg. B 9gOHeadingCmd: 0.558538 target range: 350.150055 and range: 352.20 m.X?*" Bʎ!!!j!ZEW@BT>B؍CBA"IBBB! =BBjDB_;BI$Eɢ;) \i)DǞ<id(iX?O&I%X?I!a9@ @@4@ԑA II1OM>E  E E (E "E :*E ]t:VE c44ZE BE #2qO?2S=ٱ2S\ :AHRS rotation from veh to nav: [[0.846228,-0.532593,-0.015606],[0.530313,0.839045,0.121538],[-0.051637,-0.111125,0.992464]]2H L? S?t? ?prD?i2j>I2];2 CYDyDbDRVDRܲyV+%Ze=ٔZLQ-Z>9XY\=^hGy\^?չEb>`Q 5f4b8?Q 9j4b)`Yhyj>Q Ij@bzDIb-:ib:b?4ypɮr@pj!gO%FNOT Ignoring new targets: 350.15 m.R-v9Z-v9gO= ProNav: ac range: 350.150055 m, nav range: 346.925964 m, bearing: 27.533047 deg, approach rate: -0.612364 m/s, LOS rate: 0.014148 deg/s, cmd heading: 32.001868 deg, new cmd heading: 32.012053 deg. B=#9gOEHeadingCmd: 0.558716 target range: 350.150055 and range: 352.20 m.E?A*A"A AIIIIʎQQQjQԙZU @:Bɢ@ I;) ^[i)<  i i ?zO]I?IY@ @@/@BDAT read: Rx Time:00:37:14.3473 TRx dataTimestamp_ set to:1761698235.101077checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521411AI!I9OEQ>! ô,nX@A2]=>2jt?2O=ٱ2k >AHRS rotation from veh to nav: [[0.845976,-0.532959,-0.016693],[0.530821,0.838790,0.121083],[-0.050530,-0.111294,0.992502]]2H =?@ {?]?D?ߩ}?i2]=>I2];2CER ERER)EP"ER>:*ER:VERFA4ZEPaZ@aZ@aZ@aZ@YBy "IbDVD0y%%%C=ٔ-8-Q-->9)Y)=5hGy5F5}:E5>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.772544IQ 5U4M8?Q 9U4M)IYQyU,>Q IU@MzDIM";iM/;MWG4yeBɮe@eEjgOFNOT Ignoring new targets: 350.15 m.R9Z9gO ProNav: ac range: 350.150055 m, nav range: 346.665680 m, bearing: 27.539040 deg, approach rate: -0.624189 m/s, LOS rate: 0.014384 deg/s, cmd heading: 32.012052 deg, new cmd heading: 32.024047 deg. B9gOHeadingCmd: 0.558925 target range: 350.150055 and range: 352.20 m.?*" ʎjZog@ɢX0 ;)  xi)s<iɆi?SO)I?I @  @ @ @ IAIQO{> DAT read: 00:37:14.3473 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 410, 0.08,-0.774,-2.220,-0.430,-1.097, PHS= 0.425,-1.078, 0.623, RAW= 156.1, 0.4, CAL= 154.9, -0.9, ROT= 355.1, 0.9 - Ygot valid direction response: 00:37:14.3473 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 410, 0.08,-0.774,-2.220,-0.430,-1.097, PHS= 0.425,-1.078, 0.623, RAW= 156.1, 0.4, CAL= 154.9, -0.9, ROT= 355.1, 0.9 5 PDAT read: Bearing 175.7, -7.8 (Local) 5 ~Local bearing/azimuth received: Bearing 175.7, -7.8 (Local) = DAT read: Range 11 to 50 : 350.1 m (Round-trip 466.9 ms) speed 0.7 m/s E *DAT read: user:469> M BDAT read: Tx time:00:37:15.4762 M $Ping request sent.M i|?].@;c-@ )DS@I<)7?Bn?a'Bz? V!?)x׻I%i<u :publishing transmit ping timeI } Fpublishing direction and range infoyu ?d /ݵy&Y )Ii )I)7?Bn?a'Bz? )IiB a>B ڍCB ""IB уBB  =B B kDB _;B 7$E ,nX@A2>2Da?2K=ٱ2 :AHRS rotation from veh to nav: [[0.846166,-0.532635,-0.017438],[0.530595,0.838969,0.120829],[-0.049728,-0.111494,0.992520]]2H?X Iۑ@?? ?@u݊?i2>I2 ];2 C`E EE$E"E:*Ega:VE4ZEBEv9Y=hGyFE> Q 54 9?Q 94 ) %BY&?Q E:y>Q I@ zDI :i : P4y%Bɮ%@-E6nX@AJ CR CjdH> ]Qu@m=6ru ?d /ݵy&Z%b< AUs@dSMc@R>)[3z6ۀp?k+p]?sox2dC:C"*c|鞊?*>B:BŸ~?>“B5C >gOu addTargetRange:: Added new target pos. range: 350.100006 m, deltaT: 4.035947 s, deltaX: -2.100006 m, approachRate: -0.520325 m/s, rangeRepo size: 4 gO Added new target pos. range: 348.084808 m, bearing: 27.112852 deg, lat: 36.779380 deg, lon: -121.859126 deg, deltaT: 4.035947 s, deltaX: -2.065247 m, approachRate: -0.511713 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 348.08 m.RZgO ProNav: ac range: 348.084808 m, nav range: 346.417969 m, bearing: 27.207372 deg, approach rate: 0.000000 m/s, LOS rate: 0.014384 deg/s, cmd heading: 32.024049 deg, new cmd heading: 32.039334 deg. BgO%HeadingCmd: 0.559192 target range: 348.084808 and range: 350.10 m.%3'?!*!"! !)))-Bʎ111j5u@Z5)?颥8Bɢ];) (~i)0<顩i$i3'?1O$I3'?I9@ @@/@A ^AU +y I1IAOU>V, oX@A6R>6*?6 G=ٱ6 FAHRS rotation from veh to nav: [[0.845966,-0.532930,-0.018088],[0.531008,0.838845,0.119877],[-0.048713,-0.111017,0.992624]]6H&? @Ʌ??>? k`?i6R>I67^;4 NC)N`AN+LPPR;aAiR@IRFPITiV`A VT)TX Z`AZXX\\I\)\i\)`Ib`AbPbQ F `b CdfiddidfA)d hIhYhYnByn!IbDzVDzβyՄ%q=ٔDQ-?9 Y = hGy ':E?Q 5%4j&9?Q 9%4)Y!y%>Q I-@zDI:i:}V4y1ɮ5@1PMB*** querying acoustic contact ***I IjYgOeFNOT Ignoring new targets: 348.08 m.Re 9Ze 9gOu ProNav: ac range: 348.084808 m, nav range: 346.199158 m, bearing: 27.212512 deg, approach rate: -0.651117 m/s, LOS rate: 0.015305 deg/s, cmd heading: 32.039335 deg, new cmd heading: 32.049621 deg. Bu9gO}HeadingCmd: 0.559371 target range: 348.084808 and range: 350.10 m.}2?y*y" ʎjZ!8?颹ɢ.;) i)X<ii2?QUOUIU2?IY!@! @!@%/@!DzD@AbEE-4jEE(4rEEW0E EE&E"E:*EX:VE4ZEa@a@a@a@eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.y^A  &IiIO>ԡ %,%oX@A2m>2}?2!RC=ٱ2 :AHRS rotation from veh to nav: [[0.845900,-0.533003,-0.018971],[0.531206,0.838803,0.119288],[-0.047668,-0.110983,0.992678]]2H?\1m`?y??g`fi?i2m>I2^;2Cbchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.996339YBy!IBf>BۍCB "IBBB =BDDBlDB `;Bc$Ei-Mb@Mb@Mb@)))) )9-+?9YYY=]hGy]Fe9Ee>iQ 5u4m<9?Q 9u4m>)m(BYu"?Q E}:y},>Q I}@mzDIm ;im; ;mG^4yBɮ]@jgOFNOT Ignoring new targets: 348.08 m.ԱR9Z9gO ProNav: ac range: 348.084808 m, nav range: 345.918304 m, bearing: 27.218913 deg, approach rate: -0.630367 m/s, LOS rate: 0.014377 deg/s, cmd heading: 32.049621 deg, new cmd heading: 32.062432 deg. B~9 !gOHeadingCmd: 0.559595 target range: 348.084808 and range: 350.10 m.}gGuA?\A*" ſ9\AY`ABʎ j Z  ?U7Bɢ]9)Y ]őiY)]9 V#,V~?oX@A2]>2?2>=ٱ2 x :AHRS rotation from veh to nav: [[0.846007,-0.532798,-0.019966],[0.531131,0.838904,0.118912],[-0.046606,-0.111205,0.992704]]2H}? r?M?`q?ܧw@;?i2]>I2J_;2CYBy!IbD-VD-NyM<%M\=ٔU;Q-U>9aYa=ehGyamEu>yQ 54}O9?Q 94}+~)}*BYy>Q I@}zDI}i ;i} ;}d4yɮ@jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500454gOFNOT Ignoring new targets: 348.08 m.R_9Z_9gO ProNav: ac range: 348.084808 m, nav range: 345.682861 m, bearing: 27.224291 deg, approach rate: -0.534576 m/s, LOS rate: 0.012220 deg/s, cmd heading: 32.062431 deg, new cmd heading: 32.073195 deg. B9gOHeadingCmd: 0.559783 target range: 348.084808 and range: 350.10 m.M?*" ʎjZ P?55Bɢ5`)1 5Ii9)=F<99i=~NiEM?E NEӻ%IMM?II@ @@0@Aq ^A Ii Iy O >E  E E %E "E :*E ;J:VE 4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7523676 ,yYYoX@A 2k\>2?2-:=ٱ2cu >AHRS rotation from veh to nav: [[0.846053,-0.532691,-0.020845],[0.531148,0.838972,0.118354],[-0.045558,-0.111205,0.992753]]2H? @]X*??mL?`TSw@?i2k\>I2=/_;2 CYFByF!IbDRVDR1yVa8%ZU=ٔZO3Q-Z>9XY\=^hGy^F^۷Eb>`Q 5f4bc9?Q 9j4b|)b-BYhyj>Q Ij@b{DIb:ib:bvk4ynBɮrI@rEjgOFNOT Ignoring new targets: 348.08 m.R@9Z@9gO ProNav: ac range: 348.084808 m, nav range: 345.443085 m, bearing: 27.229776 deg, approach rate: -0.726801 m/s, LOS rate: 0.016639 deg/s, cmd heading: 32.073195 deg, new cmd heading: 32.084174 deg. B9gOHeadingCmd: 0.559974 target range: 348.084808 and range: 350.10 m.}Z?*" ʎjZ@ݫ?4BɢS) i!)%V’B}܍CB}!IB}BB} =ByByB}`;B}$E^A(IYIiOu> ;5,+4soX@A2\8>2q?26=ٱ2s> :AHRS rotation from veh to nav: [[0.846243,-0.532345,-0.021972],[0.530943,0.839140,0.118082],[-0.044423,-0.111592,0.992761]]2H@k?{?I2r_;2 CYBByB!IPiMb@Mb@Mb@ 9V-?S㥛S㥛?Y?y$/<d@ A) AYAbD-VD-k1y=k%=B=ٔ=0Q-E>9AYA=EhGyAM +EM>QE EE&E"E:*EF:VE4ZEBE1Q I@U{DIU2,oX@A27P>2}?2؜1=ٱ2W :AHRS rotation from veh to nav: [[0.846186,-0.532379,-0.023277],[0.531122,0.839023,0.118109],[-0.043349,-0.112305,0.992728]]2H@?@@ ՗ ?G?aI2Ń_;2 CYBByF!IbDNVDNyV<%VT=ٔV6Q-V>9XYX=ZhGyZF^v9E^>`Q 5f4b9?Q 9f4biw)b3BYdyf{>Q Ij@b({DIbF:ib:by4ynBɮnv@YPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 348.08 m.R4]9Z4]9gO- ProNav: ac range: 348.084808 m, nav range: 344.940247 m, bearing: 27.239760 deg, approach rate: -0.608526 m/s, LOS rate: 0.012087 deg/s, cmd heading: 32.094612 deg, new cmd heading: 32.104157 deg. B59gO]HeadingCmd: 0.560323 target range: 348.084808 and range: 350.10 m.]Xq?Y*a"a aaaiiʎiiijqZ`R@2Bɢp) i)1<iyy{i Xq?MNU6DIUXq?IQYIE EE(E"E2:*EV:VEc44ZEa@a@a@a@@ @ @ 3@ Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760473q^AM yԩ A} .AI I O >G,oX@A21T>2?2,=ٱ2( :AHRS rotation from veh to nav: [[0.846211,-0.532261,-0.024994],[0.531173,0.838907,0.118699],[-0.042211,-0.113721,0.992616]]2H )?@I`_?T?c?`?i21T>I2w_;0YBByF!IRchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012402B!B!B%!IB%BB% =B!B%mDB%0a;B%$EBۍCBۍCBCB =B =Cm6iEMb@Mb@Mb@AAAA A9EMb?"~j?YE ?yES㽙E9  ?Y ?=hGyMNj8EM>QQ 5]4U9?Q 9]4Ut)U5BY]"#?Q Ee:ye@>Q Ie@U:{DIU:iUH:U4yiɮm@mEjgOFNOT Ignoring new targets: 348.08 m.R.9Z.9gO ProNav: ac range: 348.084808 m, nav range: 344.651184 m, bearing: 27.243822 deg, approach rate: -0.678546 m/s, LOS rate: 0.009543 deg/s, cmd heading: 32.104157 deg, new cmd heading: 32.112287 deg. B9gOHeadingCmd: 0.560465 target range: 348.084808 and range: 350.10 m.z?*" BʎjZ` @50Bɢ5`.)1 5둾i1)=<99i=yiEz?E`NEKIEz?IIA@A @A@M/@IE EE'E"E,:*Ega:VE'4ZEBE"/,oX@A2Z`>2?2®(=ٱ2 :AHRS rotation from veh to nav: [[0.846198,-0.532181,-0.027052],[0.531275,0.838659,0.119994],[-0.041171,-0.115911,0.992406]]2H?@4?J?@귾?QU@?i2Z`>I21_;2CYBByF!IbDNVDNyVV%Vd=ٔV>Q-V>9Z"?YZ"?=ZhGyZFZ9E^>`Q 5b4b,9?Q 9f4b@r)b7BYdyf]>Q If@bI{DIb:ib:b4yjBɮn@lj|gOFNOT Ignoring new targets: 348.08 m.R(#9Z(#9gO ProNav: ac range: 348.084808 m, nav range: 344.427429 m, bearing: 27.246962 deg, approach rate: -0.634827 m/s, LOS rate: 0.008915 deg/s, cmd heading: 32.112288 deg, new cmd heading: 32.118573 deg. B9gOHeadingCmd: 0.560575 target range: 348.084808 and range: 350.10 m.Ձ?*" ʎjZ @额/Bɢ @s) }i)65<顡iviՁ?NIՁ?IBDAT read: Rx Time:00:37:18.3434 TRx dataTimestamp_ set to:1761698239.134176checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518806I@I @I@I@I!Q^A"5A[AzAZAE  E E %E "E :*E X:VE 4ZE a @a @a @a @A I I O% >e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768276ԙ =Y,oX@A2>2?2 $=ٱ2q :AHRS rotation from veh to nav: [[0.845955,-0.532479,-0.028752],[0.531749,0.838292,0.120455],[-0.040037,-0.117188,0.992302]]2H@?` @'q?I?־? ?i2>I2s^;2 CYfByf!IbDrVDrJyzo%zF=ٔz3Q-z>9|Y|=~hGy|v:E> Q 54 9?Q 94 o) :BYy>Q I@ Z{DI :i : 4y%Bɮ%@%EjIgOMFNOT Ignoring new targets: 348.08 m.RM8"9ZU8"9gOe ProNav: ac range: 348.084808 m, nav range: 344.165039 m, bearing: 27.250623 deg, approach rate: -0.634725 m/s, LOS rate: 0.008864 deg/s, cmd heading: 32.118572 deg, new cmd heading: 32.125900 deg. BeƁ9gOmHeadingCmd: 0.560703 target range: 348.084808 and range: 350.10 m.m7?i*i"i iiiqyʎjZ@9@q.Bɢ w)  i)-J<19i=tiu7?u|Nu3Iu7?IqIZA)\A9@ @@@ԩi߹I߹DAT read: 00:37:18.3434 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 403,-0.01,-1.825, 3.033,-1.461,-2.132, PHS= 0.409,-1.073, 0.627, RAW= 156.8, 0.5, CAL= 155.5, -0.9, ROT= 354.5, 0.9 Ygot valid direction response: 00:37:18.3434 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 403,-0.01,-1.825, 3.033,-1.461,-2.132, PHS= 0.409,-1.073, 0.627, RAW= 156.8, 0.5, CAL= 155.5, -0.9, ROT= 354.5, 0.9 PDAT read: Bearing 176.2, -7.8 (Local) ~Local bearing/azimuth received: Bearing 176.2, -7.8 (Local) DAT read: Range 11 to 50 : 347.3 m (Round-trip 463.1 ms) speed 0.4 m/s B%f>B%ۍCB!B!B% =B!B%lDB%a;B%<%E5*DAT read: user:470> =BDAT read: Tx time:00:37:19.4761 E$Ping request sent.EiX ?%/@5<-@ )z@IG,?S_5J'?R,? G$?)CI)Ľie:publishing transmit ping time9mFpublishing direction and range infoy8G?(py&Y )Ii )IG,?S_5J'?R,? )Ii^AM 7A} .AI I O > ,~oX@AYnByn!IE EE'E"EsH;*EVL:VE'4ZEBE9 ?Y ?=hGyFE>Q 549?Q 94ml)Q I@l{DI;i;4yɮ@voX@AJCRCj>pzu@e}Nj@lr8G?(py&Z)Ľba'J#Hs@ ]QKc@禧.zEd ?›?8Sء2ZC:AC"!k?*٫B:JB“:JBCX>gOm addTargetRange:: Added new target pos. range: 347.299988 m, deltaT: 4.032608 s, deltaX: -2.800018 m, approachRate: -0.694344 m/s, rangeRepo size: 4 gO Added new target pos. range: 345.305115 m, bearing: 26.579817 deg, lat: 36.779380 deg, lon: -121.859126 deg, deltaT: 4.032608 s, deltaX: -2.779694 m, approachRate: -0.689304 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 345.31 m.RZgO ProNav: ac range: 345.305115 m, nav range: 343.876862 m, bearing: 27.252714 deg, approach rate: 0.000000 m/s, LOS rate: 0.008864 deg/s, cmd heading: 32.125901 deg, new cmd heading: 32.134285 deg. BgOHeadingCmd: 0.560849 target range: 345.305115 and range: 347.30 m.Γ?*" 8Bʎj̴u@Z?,Bɢ8) i)+ <iqiΓ?N>IΓ?I9@ @@@) ^A Y A ؟AI I O>O,bpX@A2%>2?2?=ٱ2h :AHRS rotation from veh to nav: [[0.845107,-0.533705,-0.030858],[0.533235,0.837431,0.119876],[-0.038137,-0.117763,0.992309]]2H ? DB? I2zf_;2 CYBByB!IbDjVDjβyrq %rF=ٔv얻Q-v>9z"?Yz"?=zhGyxz;Ez>|Q 54~9?Q 94~i)~?BY y !>Q I @~}{DI~@;i~;~4yBɮ@EP5B*** querying acoustic contact ***1 1j9gOEFNOT Ignoring new targets: 345.31 m.RM%8ZM%8gO] ProNav: ac range: 345.305115 m, nav range: 343.618805 m, bearing: 27.254515 deg, approach rate: -0.657885 m/s, LOS rate: 0.004594 deg/s, cmd heading: 32.134285 deg, new cmd heading: 32.137889 deg. B]9gOeHeadingCmd: 0.560912 target range: 345.305115 and range: 347.30 m.e?a*a"ai aiiqqʎqqyjyZ}0?颥+BɢB) ڣi)N<顩ioi?JNcI?IE EE%E"E[:*EVE 4ZEa@a@a@a@eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.y@ @@0@@\A@\Aԑ^AA>A?A .AI I! Ou >  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991658BU x>BU ݍCBU !IBU BBU  =BQ BU nDBU b;BU s%E;p ,&+pX@A2>2?K?2'=ٱ2 :AHRS rotation from veh to nav: [[0.844733,-0.534236,-0.031905],[0.533908,0.837091,0.119252],[-0.037002,-0.117770,0.992351]]2H ? wU?@s?O?`1&`W?i2>I2_;2 CYBByB!Ii Mb@Mb@Mb@     9 }?5^I?#~jQ?Y M"?y 㥽 u< ZA A A)  Y  AbDuVDuy<%B=ٔZ0Q->9 ?Y ?=hGyF:E>Q 54:?Q 94f)Y#?Q E:ym>Q I@{DIT ;i@;e4yɮ@jgO%FNOT Ignoring new targets: 345.31 m.R%ʇ8Z-ʇ8gOe ProNav: ac range: 345.305115 m, nav range: 343.349030 m, bearing: 27.256110 deg, approach rate: -0.627048 m/s, LOS rate: 0.003710 deg/s, cmd heading: 32.137888 deg, new cmd heading: 32.141080 deg. BeC8gOuHeadingCmd: 0.560968 target range: 345.305115 and range: 347.30 m.}?y*y"y 4BʎjZI ?颕)Bɢ Ɔ) i)9<顙iXmi?+N6pI?I>i> E9@A @A@E0@AE  E E E "E غ:*E C:VE ZE BE W,IEpX@AYBy!IbDVDy%F<%%Q=ٔ-Q-->9-"?Y5"?=5hGy15E5>9Q 5E4=.:?Q 9M4=c)9YIyIQ IM@={DI=:i=:=>4yQɮU@]EjygOFNOT Ignoring new targets: 345.31 m.R8Z8gO ProNav: ac range: 345.305115 m, nav range: 343.098663 m, bearing: 27.257592 deg, approach rate: -0.652992 m/s, LOS rate: 0.003869 deg/s, cmd heading: 32.141081 deg, new cmd heading: 32.144047 deg. B8gOHeadingCmd: 0.561019 target range: 345.305115 and range: 347.30 m.?*" ʎjZ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495667(Bɢۻ) =i)=<iSki?M0I?IA9@ @@p4@a^AΒ{ԉbEu!4jEuY"4rEu0E  E E 'E "E :*E ;J:VE '4ZE a- @a- @a- @a- @ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747991A I I O >Թ Z,~_pX@A27>2?2k=ٱ2 :AHRS rotation from veh to nav: [[0.843435,-0.536179,-0.033608],[0.536090,0.835917,0.117687],[-0.035007,-0.117279,0.992482]]2Hj?a( 5'? տ? ?졿@i?i27>I2_;2 CYBByB!IbDNVDNyRh%VS=ٔVQ-V>9XYX=ZhGyZFZ;E^>`Q 5f4b,:?Q 9f4b`)b@BYdyf>Q If@b{DIb/:ib:b4ylɮn^@lj|gOFNOT Ignoring new targets: 345.31 m.R܀8Z ܀8gO ProNav: ac range: 345.305115 m, nav range: 342.850861 m, bearing: 27.258957 deg, approach rate: -0.638802 m/s, LOS rate: 0.003521 deg/s, cmd heading: 32.144048 deg, new cmd heading: 32.146780 deg. B-8gO%HeadingCmd: 0.561067 target range: 345.305115 and range: 347.30 m.%?!*!"! !!)))ʎ)11j1Z5`N?'BɢLj) ܦi)%W~<))i5q(iim?ԡu^M=[:I=?Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.000430A A @AB>BߍCB!IBBB =BBoDBb;B%Ea@a @a@e4@a@m=@m=G`]A9`]AYA^A qA ZAzA A I I O > E%  E! E% %E! "E% [:*E! VE% 4ZE! BE% ~6U?6 =ٱ6 BAHRS rotation from veh to nav: [[0.842645,-0.537351,-0.034687],[0.537399,0.835162,0.117078],[-0.033942,-0.117296,0.992517]]6H? 1@¡^2???@``?i6V>I6|_;4YJ|ByJ!IIN,>)N;iMb@Mb@Mb@ 9MbX9?DlMb?Y!?yO<Ad@ OA)Y AbD VD2y%8=ٔzQ->9Y=hGyoa;E>Q 5%4A:?Q 9%4])?BY%"?Q E-:y-$>Q I-@{DI:iX:ں4y1ɮ5@1jYgO]FNOT Ignoring new targets: 345.31 m.Re7Ze7gOu ProNav: ac range: 345.305115 m, nav range: 342.565826 m, bearing: 27.259651 deg, approach rate: -0.635617 m/s, LOS rate: 0.001549 deg/s, cmd heading: 32.146781 deg, new cmd heading: 32.148170 deg. Bux58gO}HeadingCmd: 0.561091 target range: 345.305115 and range: 347.30 m.}?y*y"y ʎjZ- @]&Bɢ]H˻)Y ]iY)]@y($,a4pX@A>~>>?> =ٱ> JAHRS rotation from veh to nav: [[0.842162,-0.538021,-0.036015],[0.538232,0.834680,0.116691],[-0.032721,-0.117657,0.992515]]>H?`x7p19?౵?t߽??i>~>I>`;> CYRrByR!IbD^VD^yfW%f^=ٔf0YQ-f>9hYh=jhGyjFn+;En>pQ 5v4rS:?Q 9v4rZ)r>BYtyv>Q Iv@r{DIr:ir:r64y~Bɮ~G@~EPB*** querying acoustic contact *** j!gO%FNOT Ignoring new targets: 345.31 m.R-7Z-7gO= ProNav: ac range: 345.305115 m, nav range: 342.334473 m, bearing: 27.260178 deg, approach rate: -0.635299 m/s, LOS rate: 0.001447 deg/s, cmd heading: 32.148170 deg, new cmd heading: 32.149225 deg. B=)8gOEHeadingCmd: 0.561110 target range: 345.305115 and range: 347.30 m.E?A*I"I IIIQQʎQQQjYZ]@4@颅%Bɢa:) òi)Pu<顉idi?:KZI;I?IDzDAAE EE&E"E:*EX:VE4ZEa@a@a@a@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.755774Y@Y @Y@]0@Yyԙ^A}?B:A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009680B% >B! B% !IB% BB! B! B! B% 3c;B% &E&*,pX@ABZ̳>B?B6 =ٱB5 JAHRS rotation from veh to nav: [[0.841868,-0.538392,-0.037310],[0.538749,0.834333,0.116781],[-0.031745,-0.118415,0.992457]]BH?`:Vm=?۲?X?@pP4?iBZ̳>IB`;BCPYVdByV!Ii]Mb@Mb@Mb@YYYY Y9]+?I +Mb?Y]?y]9YY]A ]A)YYY] AbDVDy%H%%6=ٔ-Q-->91Y1=UhGyQ]:E]>aQ 5m4eh:?Q 9m4eW)e=BYmV!?Q Em:ym>Q Iu@e{DIe:ie;e!4yɮ-@jgOFNOT Ignoring new targets: 345.31 m.R8Z8gO ProNav: ac range: 345.305115 m, nav range: 342.049225 m, bearing: 27.262286 deg, approach rate: -0.618953 m/s, LOS rate: 0.004579 deg/s, cmd heading: 32.149226 deg, new cmd heading: 32.153447 deg. B9gO%HeadingCmd: 0.561184 target range: 345.305115 and range: 347.30 m.%?!*!") )))15+Bʎ199j9Z=a @颥$Bɢ) i)}o<i|#bi?rJa;I?IE EE$E"E:*EVL:VE4ZEBE 1,%>pX@A:>:?:Խ<ٱ: FAHRS rotation from veh to nav: [[0.841565,-0.538778,-0.038560],[0.539275,0.833971,0.116942],[-0.030847,-0.119209,0.992390]]:H?=/`A?`??r s?i:>I:UZa;: CYNeByR!I TTbDZVDZkyb;%ba=ٔf!Q-f>9dYd=fhGyfFlj:En>pQ 5v4r>z:?Q 9v4r?U)pYtyzY>Q Iz@r{DIr~ ;ir;rl4y|ɮ~ @j!gO%FNOT Ignoring new targets: 345.31 m.R-8Z-8gO= ProNav: ac range: 345.305115 m, nav range: 341.822418 m, bearing: 27.263942 deg, approach rate: -0.643821 m/s, LOS rate: 0.004701 deg/s, cmd heading: 32.153447 deg, new cmd heading: 32.156759 deg. B= 9gOEHeadingCmd: 0.561241 target range: 345.305115 and range: 347.30 m.E?A*A"I IIIIQʎQQQjYZ]&) @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513106颽#Bɢa_) Ti)fGk<i`i?#JO;I?IIIY)][A 9@ @@=0@)^AEyb];E EE%E"E,:*EA:VE 4ZEa@a@a@a@M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763621IA IQ a Oe >7,1pX@A2>2)?2<ٱ2 :AHRS rotation from veh to nav: [[0.841014,-0.539564,-0.039574],[0.540179,0.833409,0.116776],[-0.030026,-0.119587,0.992369]]2H?D@C%I?H??4@F}?i2>I2`;2 CY^QByb!IbDjVDjfyr%rI=ٔrRQ-v>9tYt=vhGytz*;Ez>9|Q 5m4~ˍ:?Q 9u4~mR)|Yy>Q I@~|DI~BCB!IB{BB =BBpDBc;BT&EBeߍCBeލCBeĕCBe =Be =CeIJ6ԙ^Ar;IqIO> E  E E $E "E :*E ;J:VE 4ZE BE ,pX@AR/>Rm?Rj<ٱR( fAHRS rotation from veh to nav: [[0.840467,-0.540334,-0.040674],[0.541068,0.832801,0.116996],[-0.029343,-0.120338,0.992299]]RH?jJ@ӤmP?`N?m?% ξ@?iR/>IR1`;PYrKByr}!IԉiMb@Mb@Mb@ 9-?J +Mb?Y5?yȽZA=A fA) AYf AbDVDk2yܼ%==ٔκQ->9Y=hGyF;E>Q 54:?Q 94O)>BY2 ?Q E:y>Q I@|DI:i:4ymBɮmW@mEjgOFNOT Ignoring new targets: 345.31 m.R8Z8gO ProNav: ac range: 345.305115 m, nav range: 341.296234 m, bearing: 27.268422 deg, approach rate: -0.619936 m/s, LOS rate: 0.006095 deg/s, cmd heading: 32.160403 deg, new cmd heading: 32.165728 deg. Bw29gOHeadingCmd: 0.561398 target range: 345.305115 and range: 347.30 m.ŷ?*" Bʎ!!)j)Z- ?@颕!Bɢe) Y־i){_<i&[iŷ?G5;Iŷ?IԹ@ @@4@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.519599^A ϩ;A [AzA II Ia Ou > D,׽qX@A2>2?2 '<ٱ2 :AHRS rotation from veh to nav: [[0.840082,-0.540870,-0.041509],[0.541700,0.832397,0.116947],[-0.028701,-0.120731,0.992270]]2H?N@@U? ?A?c`5辿?i2>I29_;2 CYFLByF~!IbDNVDN1yV\;%V^=ٔVQ-V>9XYX=ZhGyX^ ;E^>`Q 5f4bg:?Q 9f4bM)`Ydyf>Q Ij@b |DIbW:ib :b4ylɮnN@nEPzB*** querying acoustic contact ***x xjgO FNOT Ignoring new targets: 345.31 m.R 8Z 8gO ProNav: ac range: 345.305115 m, nav range: 341.066559 m, bearing: 27.270653 deg, approach rate: -0.659926 m/s, LOS rate: 0.006413 deg/s, cmd heading: 32.165727 deg, new cmd heading: 32.170192 deg. B%;9gOEHeadingCmd: 0.561476 target range: 345.305115 and range: 347.30 m.E?I*Q"Q QQQYYʎYaajaZe@ ɢq)1 5Ծi1)=Z<99i=&YiE?EFEk;IE?IIUi>iU!>E EE&E"Ea:*EC:VE4ZEa@a@a@a@%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.772406@ @@/@!^A-;QIIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=5.025985B >B B !IB gBB B B qDB c;B q&Ey K,t.qX@A>K͵>>b?>~<ٱ> RAHRS rotation from veh to nav: [[0.839847,-0.541168,-0.042357],[0.542100,0.832144,0.116892],[-0.028011,-0.121133,0.992241]]>H@??Q ϯ`X?@??@讜 @p?i>K͵>I>c_;> CYf7Byfd!IiMb@Mb@Mb@ 9/$?Cl绿Mb?Y?y;߽AA A)5 AY3 AbDVDky%6=ٔɺQ- >9 Y = hGy F[:E>Q 5%4:?Q 9%49J)?BY%&?Q E-:y->Q I-@2|DI:i:W4y1ɮ5@1QjagOeFNOT Ignoring new targets: 345.31 m.Re9Zm9gO} ProNav: ac range: 345.305115 m, nav range: 340.788849 m, bearing: 27.274215 deg, approach rate: -0.619601 m/s, LOS rate: 0.007954 deg/s, cmd heading: 32.170191 deg, new cmd heading: 32.177321 deg. B}h9gOHeadingCmd: 0.561600 target range: 345.305115 and range: 347.30 m.?*" BʎjZ@ Bɢ) vi)}VT<i3rVi?xE]3;I?I%9@! @!@)@)ԁE EEE"E:*E H:VEZEBE.R,sHqX@AB>B?B<ٱBA% JAHRS rotation from veh to nav: [[0.839774,-0.541252,-0.042727],[0.542228,0.832065,0.116863],[-0.027701,-0.121307,0.992229]]BHn?Q@Wॿ@Y?E?? ]@ V?iB>IB^;B CYR6ByVc!IbD^VD^fyf%fa=ٔf_Q-f>9hYh=jhGyhn9En>pQ 5v4r:?Q 9z4rG)r@BYy >Q I @r@|DIrM;ir;r4y!ɮ%@!jIgOMFNOT Ignoring new targets: 345.31 m.RU9ZU9gOe ProNav: ac range: 345.305115 m, nav range: 340.563202 m, bearing: 27.277107 deg, approach rate: -0.612668 m/s, LOS rate: 0.007858 deg/s, cmd heading: 32.177322 deg, new cmd heading: 32.183110 deg. Bef9gOmHeadingCmd: 0.561701 target range: 345.305115 and range: 347.30 m.m?i*i"i iiqqqʎqchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.527794jZL.@颵Bɢ˧) i)N<项iDTi?^D;I?IԱ@ @@0@@\A@^A[R;E EEE"Ey:*ET:VEZEa@a@a@a@ = checking for new query: numPingsReceived=0, elapsed TxPingTime=5.780408A I I O- >9 (.X,ObqX@A2޵>27?2]<ٱ2 :AHRS rotation from veh to nav: [[0.839786,-0.541166,-0.043583],[0.542220,0.831933,0.117830],[-0.027507,-0.122583,0.992077]]2H?`:Q@PY?2?*?* a@?i2޵>I2U^;2 CY1By]!I A <bDVD0y%/=ٔٹQ->9Y=hGyFE>1Q 5M45:?Q 9U45D)5ABYYye>Q Ie@5T|DI5Q;i5%<54yBɮ@EBE>BECBE!IBEMBBE =BABErDBEdd;BE&Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.033944jgOFNOT Ignoring new targets: 345.31 m.R%9Z%9gO5 ProNav: ac range: 345.305115 m, nav range: 340.265869 m, bearing: 27.280923 deg, approach rate: -0.566152 m/s, LOS rate: 0.007272 deg/s, cmd heading: 32.183110 deg, new cmd heading: 32.190749 deg. B5T9gO=HeadingCmd: 0.561835 target range: 345.305115 and range: 347.30 m.=d?9*9"9 9aaaaʎiiijiZuN@颽Bɢǀ) i)%F<iMQid?BN;Id?IAI@ @@/@i E  E E $E "E :*E F:VE 4ZE BE `,qX@A6>6 #?6 ;<ٱ6O >AHRS rotation from veh to nav: [[0.841131,-0.538862,-0.046115],[0.540144,0.832708,0.121825],[-0.027247,-0.127380,0.991480]]6H?Z>fH?@?`/?替M3?i6>I6;^;6CDDiDIDDIHiH HH)HL LLLLPRsAIP)PiP)PIV^ATT TTTZiZ$FXiX^^A)^h ^EI\Y\Yb+ByfU!Ii]Mb@Mb@Mb@YYYY Y9]Gz?L7A`y&1?Y]p?y]+]`e<]A]=A ]fA)YԑYY]f AbDVDky%/%%6=ٔ%Q-M>9IYI=MhGyMFUHEU>YQ 5e4]l;?Q 9e4]EB)]DBY!?Q E:yg>Q I@]e|DI];i];]4yɮn@jgOFNOT Ignoring new targets: 345.31 m.Rcp9Zcp9gO ProNav: ac range: 345.305115 m, nav range: 339.992126 m, bearing: 27.286115 deg, approach rate: -0.691942 m/s, LOS rate: 0.013135 deg/s, cmd heading: 32.190750 deg, new cmd heading: 32.201143 deg. BO9gOHeadingCmd: 0.562016 target range: 345.305115 and range: 347.30 m.G?*" !AAEރBʎIIIjIZU @额Bɢ') ]&iY)]ۢ@w*f,ܙqX@A:>::?:m{<ٱ:3  FAHRS rotation from veh to nav: [[0.842034,-0.537323,-0.047564],[0.538734,0.833223,0.124522],[-0.027277,-0.130476,0.991076]]:H?1OZN=?©?@?r@?i:>I:t^;: CbE- 4jE-4rE-.ER ERER%EP"ER:*ERL_:VER 4ZEPaZ@aZ@aZ@aZ@%checking for new query: numPingsReceived=0, elapsed TxPingTime=6.787564Y-By-F!IbD=VD=βyM~%MZ=ٔM8Q-U>9QYQ=UhGyQ]E]>aQ 5m4e;?Q 9m4e@)eGBYiym>Q Iu@et|DIe):ie:e6 4yyɮ}4@}EPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 345.31 m.R`9Z`9gO ProNav: ac range: 345.305115 m, nav range: 339.760376 m, bearing: 27.290578 deg, approach rate: -0.637474 m/s, LOS rate: 0.012284 deg/s, cmd heading: 32.201142 deg, new cmd heading: 32.210074 deg. Bٳ9gOHeadingCmd: 0.562172 target range: 345.305115 and range: 347.30 m.~?*" ʎqqyjyZ}pd@BɢNż)#9 i):<ihLi~?!!A;I~?Iu9@q @q@u0@q@}=@}=!Bu>BqBuf!IBu9BBqBqBqBu/e;Bu'Echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.041800 k> C^AM vт;} G  -9 Y nAI I O > Sl,ᴳqX@A2&ٲ>2PB?2C<ٱ2 :AHRS rotation from veh to nav: [[0.842983,-0.535745,-0.048553],[0.537260,0.833942,0.126067],[-0.027049,-0.132358,0.990833]]2H@?@$ۨ;1??"?˲?i2&ٲ>I22v^;0Y By =!II%=)===a}@a} a}@a} a}@a} a@a bDVD:2y& %F=ٔ;Q->9Y=hGyFE>Q 54X/;?Q 94=)JBQ A+:YQ E:yƸ>Q I@|DI& ;i.>4yɮ@jgOFNOT Ignoring new targets: 345.31 m.R_`9Z_`9gO  ProNav: ac range: 345.305115 m, nav range: 339.501556 m, bearing: 27.295643 deg, approach rate: -0.626038 m/s, LOS rate: 0.012260 deg/s, cmd heading: 32.210072 deg, new cmd heading: 32.220210 deg. B 9gOHeadingCmd: 0.562349 target range: 345.305115 and range: 347.30 m.?*" !!ʎ!!)j)Z-H@ԱBɢEļ) i)3<iMIi? @ %g:I ?I IU[A)QE EE#E"E:*E?:VE3ZEBEc checking for new query: numPingsReceived=0, elapsed TxPingTime=7.5435939 Ls,=qX@AYBy6!IbDVDNy%G=ٔQ->9Y=hGyE>Q 54C;?Q 94F;)MBQ A :YQ E]:yQ I@|DI ;iS?4yBɮ@j gO FNOT Ignoring new targets: 345.31 m.R0`9Z0`9gO% ProNav: ac range: 345.305115 m, nav range: 339.244873 m, bearing: 27.300674 deg, approach rate: -0.624532 m/s, LOS rate: 0.012250 deg/s, cmd heading: 32.220208 deg, new cmd heading: 32.230278 deg. B%Z9gO-HeadingCmd: 0.562524 target range: 345.305115 and range: 347.30 m.-?)*)") ))111ʎ999j9Z=`@eBɢmѼ)i m^ii)mB-I .vy,\qX@A2>2|?2)<ٱ2| >AHRS rotation from veh to nav: [[0.844311,-0.533436,-0.050835],[0.535179,0.834693,0.129889],[-0.026856,-0.136873,0.990225]]2H@?0 ?@͵?5?` `?i2>I2ϓ^;2 CYn Byn1!IBAB>BCBM!IB%BB =BBsDBe;Bs'Echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.050301bDVDky5%54=ٔ5߹Q-=>99Y9==hGy=FEEE>IIQ 54M6Z;?Q 94M8)MPBQ A9YQ E3:y>Q I@M|DIMKi > 9@  @ @ /@ @ @ ^AA?A? checking for new query: numPingsReceived=0, elapsed TxPingTime=8.551670AII)O=?CQ, rX@A20>2m?2<ٱ2_ x AHRS rotation from veh to nav: [[0.844731,-0.532707,-0.051496],[0.534530,0.834997,0.130604],[-0.026575,-0.137852,0.990096]]2H@ ? ]@?K? ?^6@!ޮ?i20>I2dX^;0YEByE:!I qqy}Aaa aa aa aa iMb@Mb@Mb@ 9-?S㥛?Y5?y$<?Ad@ A)K AY AbD-VD-k2y=-<%==ٔ=IQ-E>9AYA=EhGyAMEM>QQ 5]4Uav;?Q 9]4UN5)UXBQ AeT:Ye!?Q Ee:yeʹ>Q Ie@U|DIUi:iU:U!4yiɮu@qjgOFNOT Ignoring new targets: 345.31 m.Rp9Zp9gO ProNav: ac range: 345.305115 m, nav range: 338.606506 m, bearing: 27.313206 deg, approach rate: -0.677881 m/s, LOS rate: 0.013115 deg/s, cmd heading: 32.241621 deg, new cmd heading: 32.255368 deg. B9gOHeadingCmd: 0.562962 target range: 345.305115 and range: 347.30 m.M?*" BʎjZW!@Bɢ) Gi)M<i@iM? ? I M?I "9)}9@y @y@}O0@yE EE)E"E:*ET:VEFA4ZEa@a@a@a@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.803535Q^Ae ?Bɺԁ A I I O >v,'rX@A:>:/?:I:E^;: CYNByN4!IbDZVDZybۼ%bg=ٔbQ-b>9dYd=fhGyfFjn/Ej>lQ 5r4n;?Q 9r4n93)n]BYpyrW>Q Iv@n|DIn;in;n(4yxɮz=@xP B*** querying acoustic contact ***  jgOFNOT Ignoring new targets: 345.31 m.R%`9Z%`9gO5 ProNav: ac range: 345.305115 m, nav range: 338.384460 m, bearing: 27.317539 deg, approach rate: -0.627084 m/s, LOS rate: 0.012244 deg/s, cmd heading: 32.255367 deg, new cmd heading: 32.264038 deg. B5D9gO=HeadingCmd: 0.563114 target range: 345.305115 and range: 347.30 m.=8(?9*9"9 AAAAAʎIIIjIZU "@Y颅Bɢ d) Li)n<顡i=i8(?"?CI8(?IB B B A!IB BB  =B B rDB f;B 'EBCBCBCB =B =C#6checking for new query: numPingsReceived=0, elapsed TxPingTime=9.057701ԑ9@ @@0@ԱE  E E $E "E غ:*E E7:VE 4ZE BE n,BrX@A2I>2?2<ٱ2i :AHRS rotation from veh to nav: [[0.845686,-0.530959,-0.053829],[0.533055,0.835503,0.133367],[-0.025838,-0.141481,0.989604]]2H?v?q? /? bu ¿ժ?i2I>I2P^;2 CYB ByF.!IiMMb@Mb@Mb@IIII I9MZd;?rh|y&1?YM?yMM`9yYy=hGyE>Q 54=;?Q 94}0)cBY9"?Q E:y>Q I@|DI;ij:/4yBɮ@EjgOFNOT Ignoring new targets: 345.31 m.RBG9ZBG9gO ProNav: ac range: 345.305115 m, nav range: 338.102234 m, bearing: 27.322413 deg, approach rate: -0.629963 m/s, LOS rate: 0.010888 deg/s, cmd heading: 32.264038 deg, new cmd heading: 32.273793 deg. Bh9gOHeadingCmd: 0.563284 target range: 345.305115 and range: 347.30 m.a3?*" BʎjZ"@-Bɢ5̼)1 5yi1)5 <99i=,:i=a3?E?EWtIEa3?IA9@ @@K3@@ =@ =A%checking for new query: numPingsReceived=0, elapsed TxPingTime=9.559635q^AE*:AIzAM\AI! I1 OE >ԙ Ֆ,Ҫ\rX@AE EE)E"E;*EL_:VEFA4ZEa@a@a@a@Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.811695V>V?V&$<ٱVt" bAHRS rotation from veh to nav: [[0.846077,-0.530270,-0.054470],[0.532455,0.835822,0.133767],[-0.025405,-0.142180,0.989515]]VH?㫿` ? ?C?@2¿?iV>IV>];V CYjByj4!IIr=)r;bDvVDvy~@<%~S=ٔQ->9 Y = hGy F E>Q 5%4};?Q 9%4 .)iBY!y%ƿ>Q I%@|DI;i;64y5Bɮ5@5ݧEjQgO]FNOT Ignoring new targets: 345.31 m.R]H9ZeH9gOm ProNav: ac range: 345.305115 m, nav range: 337.858063 m, bearing: 27.326664 deg, approach rate: -0.630074 m/s, LOS rate: 0.010980 deg/s, cmd heading: 32.273795 deg, new cmd heading: 32.282305 deg. Bu9gOuHeadingCmd: 0.563433 target range: 345.305115 and range: 347.30 m.u=?yy*" ʎjZ`S#@颽BɢtYݼ) i)<i[7i=??I=?I@ @@/@ԩB}>ByB};!IB}BB} =ByB}sDB}Bg;B}(EM ],+vrX@A2Ѵ>2$?2<ٱ2  :AHRS rotation from veh to nav: [[0.846319,-0.529761,-0.055642],[0.532112,0.835993,0.134063],[-0.024505,-0.143068,0.989409]]2H ? *}?@t?(?`P¿=?i2Ѵ>I2'^;2 CYf Byf+!IiUMb@Mb@Mb@QQQQ Q9UV-?q= ףp?YU|?yU뽙U9Y=hGyE>Q 54A;?Q 94}+)oBYO"?Q E:y>Q I@}DI;iy;>4yɮT@jgOFNOT Ignoring new targets: 345.31 m.R29Z29gO ProNav: ac range: 345.305115 m, nav range: 337.593109 m, bearing: 27.330749 deg, approach rate: -0.630687 m/s, LOS rate: 0.009729 deg/s, cmd heading: 32.282305 deg, new cmd heading: 32.290480 deg. Bq9gOHeadingCmd: 0.563575 target range: 345.305115 and range: 347.30 m.wF?*" Bʎ   j Z e$@颵 Bɢۼ) )i)<项i5iwF?#'@aIwF?IE= E=E9E9"E=O:*E=z:VE9ZE9BE= E 2Acoustic response timeoutY Y,'lrX@A: >:A?:V<ٱ:k& NAHRS rotation from veh to nav: [[0.846447,-0.529401,-0.057121],[0.531959,0.836038,0.134383],[-0.023387,-0.144134,0.989282]]:H?>??w3? r¿@2?i: >I:p^;81YBy2!IbDVD0yk<%6=ٔy#Q->9Y=hGyF E>Q 54j;?Q 94()uBYy>Q I@}DI;i ;E4yBɮ@ާEj!gO-FNOT Ignoring new targets: 345.31 m.R-29Z529gO= ProNav: ac range: 345.305115 m, nav range: 337.310425 m, bearing: 27.335120 deg, approach rate: -0.631088 m/s, LOS rate: 0.009768 deg/s, cmd heading: 32.290481 deg, new cmd heading: 32.299232 deg. BE9gOEHeadingCmd: 0.563728 target range: 345.305115 and range: 347.30 m.EyP?I*I"I IIQQQʎQYYjYZ]@iu%@颍 BɢVɼ) i)>;顑i%,2iyP?}y@WȦIyP?II)a=9@9 @9@9@9@A@AEe EeEe'Ea"Ee :*EeC:VEe'4ZEaam@am@au@au@2Acoustic response timeoutԉ^A} ;I I O >Ա ],p>rX@A2>2?2V<ٱ2] :AHRS rotation from veh to nav: [[0.846401,-0.529379,-0.057990],[0.532071,0.836016,0.134084],[-0.022500,-0.144343,0.989272]]2H?@尭??@)?P y¿`?i2>I2Q^;2 C BC)@@@@DDiDIDDIJfCiJ`A JH)HH J`ANLLLLIP)PiP)PIR`ART TTTTiTTiXX)X XIXYXB>BBBB =BBrDBh;B(EYM ByU1!I  p<4<bDVD02y_%]=ٔQ->92Acoustic response timeoutY1==hGy9Mc9Eu>ԙQ 54;?Q 942&){BY!y%>Q I-@"}DIr'B,4GrX@AY}By}8!IiMb@Mb@Mb@ 9'1Z?/$Zd;O?Y"?yj<VA 5 A) AYp AbDVDy-<%-<=ٔ-Q-5>91Y1=5hGy5F=E=>AQ 5M4EQ IU@E3}DIE;iE;ES4yYɮ]@YajgOFNOT Ignoring new targets: 345.31 m.Rl8Zl8gO ProNav: ac range: 345.305115 m, nav range: 336.798553 m, bearing: 27.340795 deg, approach rate: -0.699803 m/s, LOS rate: 0.004847 deg/s, cmd heading: 32.306952 deg, new cmd heading: 32.310587 deg. B 9gOHeadingCmd: 0.563926 target range: 345.305115 and range: 347.30 m.w]?*" (BʎjZ'@颍Bɢ) i)q;i,iw]?V Aj*Iw]?I2Acoustic response timeoutԑ 9@  @ @ 0@ Թ^AU bEUJ4jEU4rEUˆ0E  E E $E "E I:*E E7:VE 4ZE a @a @a @a @ - 2Acoustic response timeoutA I I O >ᖷ,rX@AV8]>VW?V&<ٱV_ bAHRS rotation from veh to nav: [[0.845728,-0.530263,-0.059716],[0.533257,0.835751,0.130984],[-0.019548,-0.142621,0.989584]]VH@3?@p?y?? `gA¿?iV8]>IV_;V CYu Byu/!IbDVDky;%O=ٔQ->9Y=hGya;E>Q 54^Q I@C}DIQ;i];Z4yBɮ;@ߧEjigOFNOT Ignoring new targets: 345.31 m.RuI8ZuI8gO ProNav: ac range: 345.305115 m, nav range: 336.545258 m, bearing: 27.342497 deg, approach rate: -0.643201 m/s, LOS rate: 0.004324 deg/s, cmd heading: 32.310589 deg, new cmd heading: 32.313995 deg. BA8gOHeadingCmd: 0.563986 target range: 345.305115 and range: 347.30 m.\a?*" ʎjZS'@mBɢmjY)i m(ii)u;qqiuk*i}\a?}0A}eI}\a?I]9@Y @Y@]0@Y@e=@e=ԑB>BBA!IBBB =BBsDBh;B(EG52Acoustic response timeoutU9YYe,kA^A9 A9 zA= ZA A I I O ,XsrX@A2=۰>2YC?2<ٱ2? :AHRS rotation from veh to nav: [[0.845238,-0.531023,-0.059888],[0.534085,0.835649,0.128238],[-0.018052,-0.140377,0.989933]]2H 1 ?$8? ?j?8|`?i2=۰>I2_;2 CYDyD^only read 0 of 1 data item for BIT error. Device response is::TS,00050504255202,35.0, +10.6, 0.0,1492.0,A, 0.02768,-32768,V a^@a^ a^@a^ a^@a^ a^@a^ bD`VD`yjn:%jQ=ٔnDzQ-r>9tYx=~hGy~F  ;E >Q 54+Q I@T}DI ;i>`4yɮ8@ 5BDAT read: Response Not Received 5*response not received=*DAT read: user:471> =, sX@A>Q>>~?>n<ٱ> FAHRS rotation from veh to nav: [[0.844774,-0.531643,-0.060924],[0.534860,0.835300,0.127275],[-0.016775,-0.140105,0.989995]]>Hd?9@o1`?ƺ?J? - ?i>Q>I>`;>CYRByR !IbDZVDZ0yby%bM=ٔf[RQ-f>9dYd=fhGyjFjT;Ej>lQ 5r4n>Q Iv@nc}DIn#:inJ?nd4yzBɮz@|jgO%FNOT Ignoring new targets: 345.31 m.R%8Z%8gO5 ProNav: ac range: 345.305115 m, nav range: 336.038818 m, bearing: 27.345799 deg, approach rate: -0.660348 m/s, LOS rate: 0.004259 deg/s, cmd heading: 32.317535 deg, new cmd heading: 32.320604 deg. B5p8gO=HeadingCmd: 0.564101 target range: 345.305115 and range: 347.30 m.=h?9*9"A AAAAIʎIIIjQZUDp)@}Bɢ}^ )y i)Q;顁i%ih?7A[(Ih?IE9@I @I@M/@IE EE#E"E[:*EVE3ZE]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250489^AiA A .AI I O >B >B B B B B CDB B Ti;B ()E7,_-sX@ARɱ>R?R7z<ٱRRfchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503129 rAHRS rotation from veh to nav: [[0.844305,-0.532301,-0.061686],[0.535646,0.835073,0.125447],[-0.015263,-0.138957,0.990181]]RH ?@E`$?@??`wBX?iRɱ>IRoV`;R CYBy!IbD=VD=y%1=ٔSQ->9 ?Y ?=hGy:E>Q 54LUQ I%@w}DI*:iH?ji4y1ɮ5@5EQPmB*** querying acoustic contact ***q qjygO}FNOT Ignoring new targets: 345.31 m.RҒ8ZҒ8gO ProNav: ac range: 345.305115 m, nav range: 335.733765 m, bearing: 27.347724 deg, approach rate: -0.634924 m/s, LOS rate: 0.004011 deg/s, cmd heading: 32.320605 deg, new cmd heading: 32.324460 deg. B8gOHeadingCmd: 0.564168 target range: 345.305115 and range: 347.30 m.Um?*" ʎjZ@aj*@=Bɢ=_)9 =i9)E;AAiE"iUm?AھIUm?I]9@Y @Y@e/@a@i@iԁE EE!E"E:*Ei:VEc3ZEBE2_4,%?IsX@AY5By5$!I99aa aa aa aa iMb@Mb@Mb@ 9MbX9?x&Q?Y!?y7u<?AjA )YbDVDJyR=%I=ٔQ->9Y=hGyFE>Q 54hQ I @}DI+;i:Dp4yɮ@j9gOEFNOT Ignoring new targets: 345.31 m.REr7ZEr7gOU ProNav: ac range: 345.305115 m, nav range: 335.484619 m, bearing: 27.348289 deg, approach rate: -0.642857 m/s, LOS rate: 0.001458 deg/s, cmd heading: 32.324461 deg, new cmd heading: 32.325591 deg. BU*8gO]HeadingCmd: 0.564188 target range: 345.305115 and range: 347.30 m.]n?Y*Y"a aaaiuBʎqyyjZ@-+@%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007936颕Bɢ}2) 3i);顙iQ in?S@[In?I]9@Y @Y@]/@aI ^A NJκDi Dm =Eu  Eu Eu (Eq "Eu :*Eu a9:VEu c44ZEq a} @a} @a} @a} @ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258485A I I O >Wd,2csX@A2~>2N?2pO<ٱ2 >AHRS rotation from veh to nav: [[0.843120,-0.534064,-0.062645],[0.537576,0.834404,0.121581],[-0.012661,-0.136184,0.990603]]2H?  `3?`o??퉿@|n@?i2~>I2`;2 CYFByF!IbDRVDR1yj%j\=ٔnQ-n>9lYl=rhGypr7;Er>tQ 5z4vyQ I~@v}DIv-:iv[:vv4yBɮ@j)gO5FNOT Ignoring new targets: 345.31 m.R5A7Z5A7gOE ProNav: ac range: 345.305115 m, nav range: 335.248962 m, bearing: 27.348737 deg, approach rate: -0.636181 m/s, LOS rate: 0.001211 deg/s, cmd heading: 32.325591 deg, new cmd heading: 32.326488 deg. BE 8gOMHeadingCmd: 0.564204 target range: 345.305115 and range: 347.30 m.Mo?I*I"Q QQQQYʎYYYjYZe@N+@ ɢ I )  2i )/~;ikio?@d&8Io?IA@ @@@AA?AB>BBBBBBBi;Bo)EBCBCBēCB =B =CİX55checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513810q^A ԙ A5 ؟AI9 II O] >,|sX@A2>2?2f:<ٱ25; :AHRS rotation from veh to nav: [[0.842544,-0.534936,-0.062953],[0.538507,0.834106,0.119487],[-0.011408,-0.134573,0.990838]]2H@? 3@s;?`?ખ?K]9?i2>I2`;2 C@YFByF!IE% E%E%%E!"E%:*E%ga:VE% 4ZE!BE% Q->9"?Y"?=hGyF&;E>Q 54Q I@}DIs:i{:K~4yBɮ@קEjgOFNOT Ignoring new targets: 345.31 m.R9I5Z9I5gO- ProNav: ac range: 345.305115 m, nav range: 334.979126 m, bearing: 27.348756 deg, approach rate: -0.624614 m/s, LOS rate: 0.000043 deg/s, cmd heading: 32.326490 deg, new cmd heading: 32.326527 deg. B-5gO5HeadingCmd: 0.564204 target range: 345.305115 and range: 347.30 m.5o?9*9"9 999AEBʎAAIjIZM@,@Bɢ) Ji)}y;iio?@IP:Io?I Ա9@ @@@@=@^A- 9E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016656AE ZAzAA  AA II Ia Om >n,uɖsX@A2%>2F?2A#<ٱ2' :AHRS rotation from veh to nav: [[0.841886,-0.535825,-0.064186],[0.539564,0.833571,0.118448],[-0.009964,-0.134352,0.990884]]2H?`z%vnD??R?$hr2Q?i2%>I2i`;2 ClYrByr!IbDzVDzNy@<% W=ٔ xQ- >9Y=hGyXV;E>!Q 5%4%͟Q I-@%}DI%l:i%d:%4y1ɮ=@9jYgOeFNOT Ignoring new targets: 345.31 m.ReѵZeѵgOu ProNav: ac range: 345.305115 m, nav range: 334.741364 m, bearing: 27.348722 deg, approach rate: -0.624555 m/s, LOS rate: -0.000089 deg/s, cmd heading: 32.326527 deg, new cmd heading: 32.326459 deg. BuA'gO}HeadingCmd: 0.564203 target range: 345.305115 and range: 347.30 m.}o?*" ʎjZ`U-@颽Bɢ) ci)F_;i1io??:Io?I=9@9 @9@=,2@9 E5 E5E1E1"E5:*E5E7:VE1ZE1a=@a=@a=@a=@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2665279^AQA I I O >a B >B B ;!IB BB  =B DDB B Nj;B )Ei9 I9 M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519288m,tsX@A96>1? ;ٱaD =AHRS rotation from veh to nav: [[0.841298,-0.536390,-0.067105],[0.540520,0.833009,0.118042],[-0.007417,-0.135580,0.990739]]H?* -K??`8?a~Z@!?i6>I`;YuBy}!Ii5Mb@Mb@Mb@1111 195S?X9v9aYa=ehGyeFm;Em>qQ 5}4uQ I}@u}DIu:iu:uY4yɮ@اEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 345.31 m.Rg6Zg6gO ProNav: ac range: 345.305115 m, nav range: 334.444519 m, bearing: 27.348925 deg, approach rate: -0.616318 m/s, LOS rate: 0.000422 deg/s, cmd heading: 32.326459 deg, new cmd heading: 32.326866 deg. BE7gOHeadingCmd: 0.564210 target range: 345.305115 and range: 347.30 m.p?*" BʎjZ .@Bɢ-_) i i)$=;Yi~`ip?>0;Ip?I59@1 @9@=0@9E5 E5E5&E1"E5غ:*E5a9:VE54ZE1BE5,usX@A:д>:(>?:lN;ٱ:A` BAHRS rotation from veh to nav: [[0.841203,-0.536344,-0.068643],[0.540682,0.832863,0.118331],[-0.006296,-0.136654,0.990599]]:H"?) `EM?Ϧ? J?`y} ?i:д>I:[`;: CYNByN!IbDV VDV2y^%^s=ٔbZQ-b?9`Y`=bhGydf:Ef?hQ 5n4jQ Ir@j}DIj:ij :j74ytɮv@x jgOFNOT Ignoring new targets: 345.31 m.R%6Z%6gO= ProNav: ac range: 345.305115 m, nav range: 334.237335 m, bearing: 27.349059 deg, approach rate: -0.616753 m/s, LOS rate: 0.000400 deg/s, cmd heading: 32.326865 deg, new cmd heading: 32.327134 deg. BE;7gOUHeadingCmd: 0.564215 target range: 345.305115 and range: 347.30 m.Udp?Q*Y"Y YYaiiʎqqqjyZ}`//@9ɢ=mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022546)9 m ii)m#;qqiuJiudp?}>}-5;I}dp?Ii>i%>9=9@9 @A@E4@Aa^AYAe?Ae?E  E E 'E "E g:*E C:VE '4ZE a @a @a @a @ BDAT read: Rx Time:00:37:34.7818 % TRx dataTimestamp_ set to:1761698255.513677% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276096ԑ A I I O >,asX@A2>2`?2xʪ;ٱ2 :AHRS rotation from veh to nav: [[0.840924,-0.536629,-0.069830],[0.541128,0.832612,0.118058],[-0.005212,-0.137065,0.990548]]2H`?`,d౿P??9?HYuZ`?i2>I2`;2 CY^Byb I ``bDjVDjyr%rI=ٔv.Q-v>9tYt=vhGyvFz:Ez>|Q 54~fQ I @~}DI~:i~:~Q4yɮN@٧EyjgOFNOT Ignoring new targets: 345.31 m.RY6ZY6gO ProNav: ac range: 345.305115 m, nav range: 333.986633 m, bearing: 27.349199 deg, approach rate: -0.591345 m/s, LOS rate: 0.000330 deg/s, cmd heading: 32.327135 deg, new cmd heading: 32.327415 deg. B7gOHeadingCmd: 0.564220 target range: 345.305115 and range: 347.30 m.p?*" ʎjZ0@-Bɢ-@)) -Ti))5w;11i5i=p?=>==S;I=p?IA@ @@/@B>BCB.!IB BB =BCDBBj;B)Eԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.528017^A] ;A! II Iq O > ,{IsX@A2J>24{?2͞;ٱ2B5 :AHRS rotation from veh to nav: [[0.840709,-0.536794,-0.071138],[0.541472,0.832440,0.117688],[-0.003956,-0.137461,0.990499]]2H ?i-6S?@Z? ?3pP+?i2J>EB EBEB$E@"EBغ:*EBV:VEB4ZE@BE@aF2E@aFJEB;aJ:EB;aJI2`;2 CYRтByR I DAT read: 00:37:34.7818 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 284,-0.47,-0.616,-1.928,-0.275,-0.877, PHS= 0.363,-1.006, 0.559, RAW= 156.6, 1.2, CAL= 155.2, -0.1, ROT= 354.8, 0.1 Ygot valid direction response: 00:37:34.7818 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 284,-0.47,-0.616,-1.928,-0.275,-0.877, PHS= 0.363,-1.006, 0.559, RAW= 156.6, 1.2, CAL= 155.2, -0.1, ROT= 354.8, 0.1 PDAT read: Bearing 177.7, -5.5 (Local) %~Local bearing/azimuth received: Bearing 177.7, -5.5 (Local) -DAT read: Range 11 to 50 : 338.6 m (Round-trip 451.5 ms) speed 0.7 m/s 5*DAT read: user:472> 5BDAT read: Tx time:00:37:35.8761 =$Ping request sent.=inĀn?n.@n9)Y)=-hGy)5<^:E5>9Q 5E4=Q I@=}DI=&n &t@HVF>~w,)rndE?K3n p\Zn޹bn:nfc6Lr@ c@}[kJ@znMZ?,v_{?#څe{?2nC:n*C"nmn"?*n)=SBndBn*c|鞊?l“ndBnhCn>gOU addTargetRange:: Added new target pos. range: 338.600006 m, deltaT: 16.379473 s, deltaX: -8.699982 m, approachRate: -0.531151 m/s, rangeRepo size: 4 gO Added new target pos. range: 336.708069 m, bearing: 27.619791 deg, lat: 36.779391 deg, lon: -121.859126 deg, deltaT: 16.379473 s, deltaX: -8.597046 m, approachRate: -0.524867 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 336.71 m.RZgO  ProNav: ac range: 336.708069 m, nav range: 334.814911 m, bearing: 27.249801 deg, approach rate: 0.000000 m/s, LOS rate: 0.000330 deg/s, cmd heading: 32.327415 deg, new cmd heading: 32.327735 deg. B gOHeadingCmd: 0.564225 target range: 336.708069 and range: 338.60 m.q?*" 9=BʎAAAjE)u@ZE`?频ɢ ) i):项iviq?'<oIh;Iq?IQ@Q @Q@U3@Q)Y ^Au jb;A I I O >,>tX@A>F>>x?>f@(;ٱ>" FAHRS rotation from veh to nav: [[0.840733,-0.536556,-0.072632],[0.541444,0.832489,0.117476],[-0.002567,-0.138092,0.990416]]>H`I?w+`S??`?@ e }?i>F>I>Ra;> CYNςByN IXbDVVDVfyb&%bU=ٔfmQ-f>9dYd=fhGyf®FjиEj>lQ 5r4n&=?Q 9r4n)nBYtyv>Q Iv@n ~DIn[:in:n;4yzBɮzP@|jgOFNOT Ignoring new targets: 336.71 m.R%x6Z%x6gO= ProNav: ac range: 336.708069 m, nav range: 334.582062 m, bearing: 27.249876 deg, approach rate: -0.664274 m/s, LOS rate: 0.000212 deg/s, cmd heading: 32.327736 deg, new cmd heading: 32.327885 deg. B=6gO=HeadingCmd: 0.564228 target range: 336.708069 and range: 338.60 m.E@q?A*A"A AAAIIʎIQQjQZU`?}Bɢ38) i)ܚ:顉iwi@q?=;_c;I@q?ID zD ?AE EE'E"Ey:*EVL:VE'4ZEa%@a%@a%@a%@9@ @@/@ ^A-yb]; CBBB"!IBBB =BBBj;B)EG% \AE fAAM .A} !ſ9} \AY} ~AI I O >I ,6tX@Azis>zo?z4:ٱz, AHRS rotation from veh to nav: [[0.840548,-0.536665,-0.073959],[0.541736,0.832368,0.116984],[-0.001220,-0.138397,0.990376]]zH?[,U?â?? fS@)?izis>Iz^a;xYBy% II-%=)-=iMb@Mb@Mb@ 9jt?MbX9~jtx?Y ?yʡ;lA )Y AbDVDy ʽ% 7=ٔFQ->9 ?Y ?=iGyK:E>!Q 5-4%=?Q 9-4%)%BY5 "?Q E5:y5T>Q I5@%~DI% ;i%C ;%4y9ɮ=@=ڧEP]B*** querying acoustic contact ***Y YjagOmFNOT Ignoring new targets: 336.71 m.Rm`L8Zu`L8gO} ProNav: ac range: 336.708069 m, nav range: 334.300293 m, bearing: 27.251120 deg, approach rate: -0.631800 m/s, LOS rate: 0.002792 deg/s, cmd heading: 32.327886 deg, new cmd heading: 32.330377 deg. B8gOHeadingCmd: 0.564272 target range: 336.708069 and range: 338.60 m.t?*" ؃BʎjZ`Q&,KOtX@A2[>2=?2θٱ2 >AHRS rotation from veh to nav: [[0.840649,-0.536308,-0.075382],[0.541580,0.832492,0.116830],[0.000099,-0.139038,0.990287]]2H?n)ALT?`ţ??V?`n?i2[>I2a;2CYFByF IbDRVDRyZ =%Zc=ٔZpQ-Z>rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2482989"?Y"?=iGyîFXE%>!Q 5-4%_'=?Q 954%.)%BY1y5=>Q IU@q%*~DI%WLE= E=E=&E9"E=I:*E=;J:VE=4ZE9aE@aE@aE@aE@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500242A I I O- > ,ZitX@AY~By~ IbD VD Jy36%%D=ٔ%Q-%>9!Y)=-iGy)-E->1Q 5u45:=?Q 9u45?)5BYqyqQ Iu@5:~DI5:B)B- !IB-BB- =B)B)B-2k;B-*EeBɢe25)i mi"iq)uyyi}ciy?8Iy?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.753192 @  @@0@ ^A5yb];1A I I O >EE  EE EE #EA "EE :*EE P:VEE 3ZEA BEE >>P?>0y5ٱ> fAHRS rotation from veh to nav: [[0.841065,-0.535147,-0.078912],[0.540927,0.832803,0.117629],[0.002769,-0.141620,0.989917]]>H ?3FO? S?`? $f? ¿ g?i>>I>a;> CYBy I !!!%AiMb@Mb@Mb@ 9?|?5^{Gzt?Y ?yҽף;ASA )Y AbDVDy 3<% <=ٔ ɻQ- >9Y=iGyĮFBE>!Q 5-4%P=?Q 9-4%[)%BY5)"?1Q E5:y=c>Q I=@%L~DI%p3;i%c2;%.4yAɮE@EۧEjigOmFNOT Ignoring new targets: 336.71 m.Ru9Zu9gO ProNav: ac range: 336.708069 m, nav range: 333.534332 m, bearing: 27.256368 deg, approach rate: -0.640626 m/s, LOS rate: 0.007143 deg/s, cmd heading: 32.334758 deg, new cmd heading: 32.340883 deg. B%Q9gOHeadingCmd: 0.564455 target range: 336.708069 and range: 338.60 m.?*" ƒBʎjZ@Bɢ24)  i)B4i!i?84;I?IPExceeded connect timeout, disconnecting.9@ @@4@achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256157^A}r;ԙA I I O >Թ $',qtX@A2´>27?2̭zٱ2* :AHRS rotation from veh to nav: [[0.841273,-0.534646,-0.080088],[0.540597,0.833017,0.117629],[0.003825,-0.142253,0.989823]]2H?L???Uo?`[5¿?i2´>I2b;0YFByF IbDRVDRβyZ %Zc=ٔZM@Q-Z>9\Y\=iGy sE >Q 54#b=?Q 94)BY!y%2>Q I%@[~DI;i;4y-~Bɮ-@-ѧEjQgOUFNOT Ignoring new targets: 336.71 m.R]9Z]9gOm ProNav: ac range: 336.708069 m, nav range: 333.301361 m, bearing: 27.258983 deg, approach rate: -0.632929 m/s, LOS rate: 0.007108 deg/s, cmd heading: 32.340884 deg, new cmd heading: 32.346117 deg. BmP9gOuHeadingCmd: 0.564546 target range: 336.708069 and range: 338.60 m.u?q*q"q qyyyyʎjZ2@颵BɢкD) G#i)项ii?v7I;I?IDzDE EE%E"Ey:*EC:VE 4ZEa @a @a @a @ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518104U9@Q @Q@U/@Q^Au] ;AyzA}[ABBCB IB݂BB =BDDBBXk;B(*EBCBBBBC@5A I I O >M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768310! 3-,t_tX@A53>5?5Qٱ5 EAHRS rotation from veh to nav: [[0.841484,-0.534104,-0.081473],[0.540259,0.833225,0.117713],[0.005015,-0.143070,0.989700]]5Hp?`@k۴I?ȩ?l"? .t?P¿?i53>I5 b;1YyiMb@Mb@Mb@ 9Zd;O?`"9Y=iGyŮFRE>Q 5M4Lz=?Q 9M4)ʧBYM?Q EM:yM.>Q IM@n~DIn4,tX@ANJ>N?NR8ɻٱN/m VAHRS rotation from veh to nav: [[0.841757,-0.533424,-0.083089],[0.539822,0.833424,0.118306],[0.006141,-0.144438,0.989495]]NH`? KE 8F?i?NI?&y?|¿?iNJ>INb;N C\\i\I\\I`i` ``)`d fq@dddhhIh)hih)hIn^All llnz^Anwippiprb^A)v vEItYtYzByz II~t>)~<bD VD :y%=%-f=ٔ5NQ-=>9AYA=EiGyAMfEM>QQ 5]4U=?Q 9]4U)UѧBYYy]>Q I]@U}~DIU{;iU;U4yiɮm`@ijgOFNOT Ignoring new targets: 336.71 m.RSA9ZSA9gO ProNav: ac range: 336.708069 m, nav range: 332.772003 m, bearing: 27.267645 deg, approach rate: -0.642745 m/s, LOS rate: 0.010564 deg/s, cmd heading: 32.356163 deg, new cmd heading: 32.363456 deg. B9gOHeadingCmd: 0.564849 target range: 336.708069 and range: 338.60 m.?*" ʎYYYjaZeT @颭BɢjC) i)(L)顱ii?{!6:I?I9@ @@/@QE EE'E"Ey:*E3:VE'4ZEa@a@a@a@BDAT read: Rx Time:00:37:38.7274 TRx dataTimestamp_ set to:1761698259.553158checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525344y^A?B:A I I O >ԡ :,"QtX@AJwѳ>Jx?BV>BVCBV IBV΂BBTBVCDBTBVk;BVD*EJ; ٱJH 5AHRS rotation from veh to nav: [[0.842251,-0.532554,-0.083664],[0.539040,0.834005,0.117781],[0.007051,-0.144300,0.989509]]JH? j`??*?@&?W|?hx¿?iJwѳ>IJb;J CYBy IbD VD y3%<=ٔ%D Q-%>9!Y)=-iGy-ƮF- E->1Q 5=45=?Q 9=45)5ڧBYAyEw>Q IE@5~DI5:i5:54yIɮM@MӧEԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.776311j!gO%FNOT Ignoring new targets: 336.71 m.R-39Z-39gO= ProNav: ac range: 336.708069 m, nav range: 332.505646 m, bearing: 27.272069 deg, approach rate: -0.588410 m/s, LOS rate: 0.009782 deg/s, cmd heading: 32.363455 deg, new cmd heading: 32.372310 deg. B=69gOEHeadingCmd: 0.565003 target range: 336.708069 and range: 338.60 m.E?A*A"A IIIQQʎQQQjYZ] h@颭Bɢ;<) "i)tM顱i~i?P56:I?I=9@9 @9@A@A) E  E E E "E [:*E H:VE ZE BE ~ Y I I O >!A,uX@A>BDAT read: Tx time:00:37:39.8261 >$Ping request sent.>R#Rx 1: Read range and direction messages.B`direction in FSK: [0.994919,-0.087044,-0.050593]B:publishing transmit ping time<FFpublishing direction and range infoyy}]hoA`?H|rQ穿Y}Cyyyy y)yI}>i}|V>V?ViٱV>}&?}X$.@}Pwּ}"-@ }4QO)}D@I}4QO=yy}Q+e?Qi9'?Xd  }L ?)}c7IVb;Ty y)yIyyy}Q+e?Qi9'?Xd  y)yIyiyyyY By  IieMb@Mb@Mb@aaaa a9e+?M¿I +?Ye?yene99!Y!=%iGy%ǮF-RE->1Q 5=45 =?Q 9=45P)5BY=#?Q E]:y]i>Q Ie@5~DI5;i5;54yiɮmR@iy}%uX@AJ}CR}Cj}J>}̴t@:?=ᔱCv0r}]hoA`?H|rQ穿Z}b}4QO=}<٪r@ b(c@w#z}p.q?E"OD?N2}yC:}-C"}2F?*}8B}]B}mn"?y“}]B}fC}I>gO addTargetRange:: Added new target pos. range: 335.299988 m, deltaT: 4.041223 s, deltaX: -3.300018 m, approachRate: -0.816589 m/s, rangeRepo size: 4 gO Added new target pos. range: 333.425781 m, bearing: 27.225738 deg, lat: 36.779398 deg, lon: -121.859126 deg, deltaT: 4.041223 s, deltaX: -3.282288 m, approachRate: -0.812202 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 333.43 m.RUZYgOe ProNav: ac range: 333.425781 m, nav range: 332.800934 m, bearing: 27.225397 deg, approach rate: 0.000000 m/s, LOS rate: 0.009782 deg/s, cmd heading: 32.372310 deg, new cmd heading: 32.381547 deg. BigOmHeadingCmd: 0.565165 target range: 333.425781 and range: 335.30 m.m?q*q"q qqBʎjt@Z D2?Bɢ^5) $i)%v!!i%i-?--5-8I-?I1@ @@@! ^A Q E  E E E "E :*E R:VE ZE a @a @a @a @I)I9OM> I,r%uX@A>L>>2|?>8ٱ> JAHRS rotation from veh to nav: [[0.842783,-0.531617,-0.084261],[0.538180,0.834869,0.115568],[0.008909,-0.142746,0.989719]]>H?@@!8???ߕ? >?E¿ǫ?i>L>I>b;9hYh=niGyln,En>pQ 5v4r?=?Q 9v4r>)rBYtyz'>Q Iz@r~DIr;ir;r4y|ɮ~D@|j!gO%FNOT Ignoring new targets: 333.43 m.R-m9Z-m91gOE ProNav: ac range: 333.425781 m, nav range: 332.572815 m, bearing: 27.230346 deg, approach rate: -0.656518 m/s, LOS rate: 0.014254 deg/s, cmd heading: 32.381548 deg, new cmd heading: 32.391453 deg. BE9gOMHeadingCmd: 0.565337 target range: 333.425781 and range: 335.30 m.M?I*I"I IʎjZ@?EBɢEU) #i)顩i0i?4.I?IA@A @A@M0@IaB>BB IBɂBB =BBBl;B*Eԉ^A"IA Ia O >Ա 3O, ?uX@A6>68]?6F#ٱ6  BAHRS rotation from veh to nav: [[0.843029,-0.531141,-0.084802],[0.537776,0.835263,0.114596],[0.009965,-0.142212,0.989786]]6H?v5? z?)V?@h?4¿S?i6>I6(b;4YJByN Ii%Mb@Mb@Mb@!!!! !9%V-?@5^I ¿S㥛?Y%|?y%b%/<%VA%A %bA)% A!Y% AbD5VD51yEu=%MC=ٔMc%Q-M>9QYQ=UiGyUȮFUEU>YQ 5e4]U=?Q 9m4])]BYm#?Q Em:ymд>Q Im@]~DI]:i]:]4E EE&E"E:*Ea9:VE4ZEBE)! %i!)-))i-iM?M'4MD I?I%9@! @!@)@)@1@5=^A A [AzA \AIq I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.176305 V,YuX@A2ڲ>2B?2 2ٱ2 :AHRS rotation from veh to nav: [[0.843238,-0.530639,-0.085861],[0.537430,0.835472,0.114697],[0.010872,-0.142861,0.989683]]2H@? @2?/?\?D?DI¿{?i2ڲ>I2a;2 CYFByF IbDRVDRyV.=%ZU=ٔZQ-Z>9XY\=^iGy\^Eb>`Q 5f4b=?Q 9j4b)bBYhyj>Q Ij@b~DIb:ib:b4y9ɮ=A@9jgOFNOT Ignoring new targets: 333.43 m.Rdo9Zdo9gO ProNav: ac range: 333.425781 m, nav range: 332.065002 m, bearing: 27.241116 deg, approach rate: -0.614826 m/s, LOS rate: 0.013081 deg/s, cmd heading: 32.402663 deg, new cmd heading: 32.413006 deg. B9gOHeadingCmd: 0.565714 target range: 333.425781 and range: 335.30 m.?*" ʎjZa?Bɢ]I) i)թi9Q G `]A5 Am 9u `]AYu Ay B >B B IB ؂BB B B B @l;B *ED\,XusuX@A>>>?Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.680800>(:ٱ>d  AHRS rotation from veh to nav: [[0.843603,-0.530069,-0.085801],[0.536848,0.835957,0.113887],[0.011358,-0.142137,0.989782]]>H?R `-? )?@'?@B? 1¿K?i>>I>Va;)M>QU=bDVD:y=;%<=ٔQ->9Y=iGyɮFDϺE>Q 5E4 >?Q 9M4Y)BYy=>Q I@~DIc,uX@A27>2?2YYEٱ2F :AHRS rotation from veh to nav: [[0.843892,-0.529506,-0.086428],[0.536378,0.836277,0.113752],[0.012045,-0.142352,0.989743]]2H`)?@` *????8¿?i27>I2`;2 CYBЂByF IiUMb@Mb@Mb@QQQQ Q9UK7A?T㥛 X9v?YU "?yUU9Y=iGyE>Q 54s >?Q 94@)BYj%?Q E:y>Q I@~DI:i:X4yɮ@էEjgOFNOT Ignoring new targets: 333.43 m.Rg9Zg9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.184569gO ProNav: ac range: 333.425781 m, nav range: 331.499939 m, bearing: 27.251933 deg, approach rate: -0.747320 m/s, LOS rate: 0.012628 deg/s, cmd heading: 32.425066 deg, new cmd heading: 32.434659 deg. B9gOHeadingCmd: 0.566092 target range: 333.425781 and range: 335.30 m.a?*"   BʎjZ(-@EBɢE;>)A 2 i)ڿʻiia?^44Ia?IA@ @@4@i^AeE  E E %E "E y:*E ;J:VE 4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.436346ԙ A I I O >\#j,uX@AY~قBy~ I  bD VD y 5=%%Q=ٔ%Q-%>9)Y)=-iGy-ʮF-E->1Q 5=45$4>?Q 9E45)5(BYAyAQ IE@5DI5:i5:5+4yIɮMk@Qyj!gO-FNOT Ignoring new targets: 333.43 m.R]q;9Z]q;9gO ProNav: ac range: 333.425781 m, nav range: 331.249695 m, bearing: 27.256165 deg, approach rate: -0.605150 m/s, LOS rate: 0.010242 deg/s, cmd heading: 32.434659 deg, new cmd heading: 32.443130 deg. B9gOHeadingCmd: 0.566239 target range: 333.425781 and range: 335.30 m.?*" ʎjZ[@eBɢeł,B>BCB !IBBBBBBbl;B*E)a i ) %ڻ  i Nݻi?`4D8I?Iԡ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.6890219@ @@4@^A 7 A E%  E% E! E! "E% :*E% a9:VE! ZE! BE%  q,#kuX@A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.940275R±>R ?RF[ٱRS ZAHRS rotation from veh to nav: [[0.844356,-0.528634,-0.087228],[0.535615,0.836898,0.112777],[0.013383,-0.141944,0.989784]]RH?`T#??޼?h?;+¿O?iR±>IRf_;R CY߂By% IiMb@Mb@Mb@ 9X9v?Q rh?Y?yC =AA  A)YG AbDVD0y<%?=ٔMQ->9Y=iGyE>Q 5M4I>?Q 9U4-)5BYU%!?Q EU:yU>Q IU@DIdQ 4w,6uX@A2>2?2dfٱ2 :AHRS rotation from veh to nav: [[0.844522,-0.528298,-0.087656],[0.535336,0.837143,0.112284],[0.014062,-0.141752,0.989802]]2HS?px!??@?Ř? $¿v?i2>I2(_;2CY^Byb !IbDj VDj2yr=%r[=ٔrQ-v>9tYt=viGyvˮFzdEz>|Q 54~V[>?Q 94~)~@BY y >Q I @~&DI~$;i~:~%$4yyBɮ@̧Ej9gOEFNOT Ignoring new targets: 333.43 m.RE @9ZE @9gOU ProNav: ac range: 333.425781 m, nav range: 330.750610 m, bearing: 27.264268 deg, approach rate: -0.644060 m/s, LOS rate: 0.010494 deg/s, cmd heading: 32.451779 deg, new cmd heading: 32.459345 deg. BU9gO]HeadingCmd: 0.566522 target range: 333.425781 and range: 335.30 m.]?Y*a"a aaaiiʎiiijqZu @9]Bɢ]aT,)Y ]iY)ewaaieu׻im?me4mIm?IE EE#E"E:*E?:VE3ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.446095I@I @I@I@IaAIIOb>ԑB B B "!IB BB  =B DDB B l;B *EBiBmCBiBiBm =Cmt4  DAT read: 00:37:42.6745 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 417, 0.24,-0.888,-2.348,-0.547,-1.388, PHS= 0.602,-0.915, 0.797, RAW= 156.0, -6.0, CAL= 156.0, -7.6, ROT= 354.0, 7.6  Ygot valid direction response: 00:37:42.6745 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 417, 0.24,-0.888,-2.348,-0.547,-1.388, PHS= 0.602,-0.915, 0.797, RAW= 156.0, -6.0, CAL= 156.0, -7.6, ROT= 354.0, 7.6  PDAT read: Bearing 170.2, -3.7 (Local)  ~Local bearing/azimuth received: Bearing 170.2, -3.7 (Local)  DAT read: Range 11 to 50 : 333.2 m (Round-trip 444.3 ms) speed 0.5 m/s  *DAT read: user:474>  BDAT read: Tx time:00:37:43.7760  $Ping request sent. ) ) - xRUW?u;O?oN\ֺ - ?)- =I- iwֽi- >) ) - :publishing transmit ping time - Fpublishing direction and range infoy) -  ?ߙRf6) Y) ) ) ) ) ) )) I) i) ) ) ) ) ) )) I) ) ) - xRUW?u;O?oN\ֺ ) )) I) i) ) ) ^},uX@A>K~>>?>{wٱ>ӧ JAHRS rotation from veh to nav: [[0.844614,-0.528009,-0.088505],[0.535162,0.837326,0.111746],[0.015104,-0.141746,0.989788]]>H?r = ?_?`_?? $¿`W?i>K~>I>g_;> CYfByj!IbD-VD-0ԙyu%1=ٔQ->9Y=iGyڹE>Q 54br>?Q 94)OBY y >Q I @8DI;i;^,4yzBɮ@ͧEY]uX@AJ]CR]Cj]ߒ>] *jt@Ϥz:*Auw$"#Er] ?ߙRf6) Z]iwֽb]>]_\r@ba@@z]\+?V,C?.׼2]' C:]C"]?*]n[LB]A]2F?Y“]:JB]jC]`>gO addTargetRange:: Added new target pos. range: 333.200012 m, deltaT: 3.780021 s, deltaX: -2.099976 m, approachRate: -0.555546 m/s, rangeRepo size: 4 gOE Added new target pos. range: 331.336609 m, bearing: 25.354916 deg, lat: 36.779401 deg, lon: -121.859126 deg, deltaT: 3.780021 s, deltaX: -2.089172 m, approachRate: -0.552688 m/s, posRepo size: 4 jAgOMFNOT Ignoring new targets: 331.34 m.RMZIgO] ProNav: ac range: 331.336609 m, nav range: 330.834473 m, bearing: 27.235384 deg, approach rate: 0.000000 m/s, LOS rate: 0.010494 deg/s, cmd heading: 32.459344 deg, new cmd heading: 32.470191 deg. BigOuHeadingCmd: 0.566712 target range: 331.336609 and range: 333.20 m.u?q*q"q qqqyyԹʎj@3t@Z@$?E EE&E"Eغ:*E=:VE4ZEBEA>AU .AIy I O > (F,9vX@A2>2?2ٱ2S :AHRS rotation from veh to nav: [[0.844330,-0.528345,-0.089205],[0.535582,0.837168,0.110914],[0.016078,-0.141424,0.989819]]2H?4ֶ |#??d?v?`1¿?i2>I2&&_;2 CYBByF!IiEMb@Mb@Mb@AAAA A9Ex&1? ףp= S㥛?YE!?yEQE/9 ?Y ?=iGy̮F:E>Q 54>?Q 94A)YBYQ#?Q E:y>Q I@HDI ;iX ;;34yɮ@jgOFNOT Ignoring new targets: 331.34 m.R\8Z\8gO ProNav: ac range: 331.336609 m, nav range: 330.584900 m, bearing: 27.237313 deg, approach rate: -0.721836 m/s, LOS rate: 0.005583 deg/s, cmd heading: 32.470190 deg, new cmd heading: 32.474051 deg. B}#9gO HeadingCmd: 0.566779 target range: 331.336609 and range: 333.20 m. p? *" )5Bʎ9AIjIZM(?uBɢu^4)y }oiy)}yyiһip?5jIp?I%9@! @!@-0@)!AqIIO>E EE$E"E/;*Ec:VE4ZEa@a@a@a@I p,+vX@AB>BCB;!IBBB =BCDBBl;B*EIYBy !IbDVD1y.(%9=ٔQ->9Y=iGyE>Q 54 >?Q 94+Q =tI)dBYyQ I@ZDI:i::4yɮ@ΧEjgOFNOT Ignoring new targets: 331.34 m.R;8Z;8gO- ProNav: ac range: 331.336609 m, nav range: 330.304016 m, bearing: 27.239487 deg, approach rate: -0.635527 m/s, LOS rate: 0.004924 deg/s, cmd heading: 32.474052 deg, new cmd heading: 32.478405 deg. B-/9gO5HeadingCmd: 0.566855 target range: 331.336609 and range: 333.20 m.5k?1*1"1 11999ʎ9AAjAZE`(?5Bɢ5##)1 5ai1)= 99i=4ϻik?856Ik?Iy59@9 @9@=0@9ԩ ^A} NJκE  E E /E "E :*E F:VE J4ZE BE \ ],HvX@A>ñ>>?> _ٱ>s JAHRS rotation from veh to nav: [[0.844298,-0.528077,-0.091082],[0.535588,0.837120,0.111245],[0.017500,-0.142706,0.989610]]>H }?` Q #??z?`?@0D¿`?i>ñ>I>_;> C L)N`ANLPPPR/aAiRIPTITiV`A VVlE)TX Z`AZ9X\\\I\)\i\)`I``` `df`Afiddihh)h hIhYhYrByr!IiMb@Mb@Mb@ 9%C?9]"?Y]"?=]iGyeͮFk8E>Q 54(>?Q 94)mBYx%?Q E:y$>Q I@kDIGS,:bvX@A2>2?2ٱ2k >AHRS rotation from veh to nav: [[0.844049,-0.528333,-0.091904],[0.535953,0.836931,0.110910],[0.018320,-0.142870,0.989572]]2Hr?&?"?d?]’?I¿?i2>I2J;_;2 CE EE%E"E:*E H:VE 4ZEa%@a%@a-@a-@Y By/!Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.736045 bDVDk1y=%N=ٔTQ->9Y=iGy<:E> Q 54 4>?Q 94 ) vBYy^>Q I@ |DI f:i : I4y)ɮ-@)jIgOUFNOT Ignoring new targets: 331.34 m.RU8ZU8igOm ProNav: ac range: 331.336609 m, nav range: 329.785553 m, bearing: 27.240925 deg, approach rate: -0.672497 m/s, LOS rate: 0.001841 deg/s, cmd heading: 32.479903 deg, new cmd heading: 32.481283 deg. BmW8gOuHeadingCmd: 0.566905 target range: 331.336609 and range: 333.20 m.u ?q*q"q yyyyyʎjZ`|?颵߃Bɢ1") Ӿi)项iʻi ?T5mnI ?I=9@9 @9@=4@9@I@I@Q@QԙAqAuAABM>BIBMM!IBM%BBIBIBMtDBMl;BM*Em checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988287A1 II Ia Om > ,}vX@A]Բ>] @?]wٱ] mAHRS rotation from veh to nav: [[0.843146,-0.529648,-0.092619],[0.537323,0.836305,0.108985],[0.019734,-0.141657,0.989719]]]H ?㵷@1??p?85?!¿ǫ?i]Բ>I]^;] CY-By-2!IԩiMb@Mb@Mb@ 9)\(?x&/$?YG!?y7lASA A) AY AbDVDy2<%;=ٔ TQ->9Y=iGyήFu;E>Q 54>?Q 94ؽ)BYG"?Q E:y!>Q I@DIg ) o,̖vX@A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500080Y= By=0!IIIbDMVDMNy] %]g=ٔeQ-e>9aYi=miGyimEm>qQ 5}4u>?Q 9}4u2)uBYyQ I@uDIuf;iu;uV4yBɮu@jgOFNOT Ignoring new targets: 331.34 m.R7Z7gO ProNav: ac range: 331.336609 m, nav range: 329.285431 m, bearing: 27.241657 deg, approach rate: -0.664674 m/s, LOS rate: 0.000974 deg/s, cmd heading: 32.482092 deg, new cmd heading: 32.482747 deg. B$7gOHeadingCmd: 0.566931 target range: 331.336609 and range: 333.20 m.b"?*" ʎjZ@݃Bɢ-#)1 5Rоi1)5d#11i5ƻi=b"?=g5ESIEb"?IA9@ @@/@IE EEE"E[:*Ea9:VEZEa%@a%@a%@a-@AU.AIYIiO}z>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751889i m G 9 Y Ai,*ȰvX@AJ)>Jj?JfٱJ~ RAHRS rotation from veh to nav: [[0.842784,-0.529912,-0.094384],[0.537863,0.835785,0.110304],[0.020433,-0.143729,0.989406]]JH? )`-6?@?BZ>BXBZ`!IBZ4BBZ =BXBXBZl;BZ*EIJF^;J CY= By=,!IIE?>)E%=bDUVDUy]/%eI=ٔeQ-e>9m ?Ym ?=miGymϮFu:Eu>yQ 5}4},>?Q 94}&)}BYy>Q I@}DI};i};}]4yɮ@jgOFNOT Ignoring new targets: 331.34 m.Rw7Zw7gO ProNav: ac range: 331.336609 m, nav range: 329.028351 m, bearing: 27.242000 deg, approach rate: -0.632213 m/s, LOS rate: 0.000846 deg/s, cmd heading: 32.482747 deg, new cmd heading: 32.483435 deg. B7gOHeadingCmd: 0.566943 target range: 331.336609 and range: 333.20 m.+#?*" ʎjZ`@ɢ#) VӾi)C(!i%Ļi-+#?-L5-I-+#?I)iAIEAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.005014a9@ @@@A ؟AIQIyԙOa>Ա bEɻ 4jEɞ4rE0E  E E 'E "E 2:*E 3:VE '4ZE BE #*2?2Żٱ2QZ :AHRS rotation from veh to nav: [[0.842395,-0.530361,-0.095332],[0.538448,0.835395,0.110407],[0.021084,-0.144337,0.989304]]2H?g:??C?? y¿`?i2ㅳ>I2^;2 CTYr Byr/!IiMb@Mb@Mb@ 9S㥛?v/~jt?Y$?yxiD<A bA)Yp AbDVDyZ<%B=ٔNʺQ->9"?Y "?= iGy :Eu>Q 548??Q 94)BY%?Q E:y>Q I@DIJ;i;e4yɮ@ЧEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 331.34 m.RKZKgO ProNav: ac range: 331.336609 m, nav range: 328.746185 m, bearing: 27.241583 deg, approach rate: -0.642259 m/s, LOS rate: -0.000951 deg/s, cmd heading: 32.483434 deg, new cmd heading: 32.482598 deg. B޷gOHeadingCmd: 0.566928 target range: 331.336609 and range: 333.20 m.6"?*" !Bʎ   jZi @=܃Bɢ=)A EϾiA)E.AAiEHûiM6"?Uq5UㅡIU6"?IQ9@ @@0@eBDAT read: Rx Time:00:37:46.6215 eTRx dataTimestamp_ set to:1761698267.373204mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.509064^A"5! A I! I9 OE >,[vX@A2j>2?2gٱ2b :AHRS rotation from veh to nav: [[0.842163,-0.530555,-0.096299],[0.538775,0.835216,0.110164],[0.021983,-0.144659,0.989237]]2H?M@ =??@3??@3¿է?i2j>I26*_;2CYV ByZ0!IbDbVDbyjg;%j_=ٔj Q-j>9lEr ErEr&Ep"Er:*Erc:VEr4ZEpav@av@av@av@Yl=ziGyzЮFzΎ:E~>|Q 5 4E!??Q 9 4)BYy>Q I@DI:i:k4yɮx@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760005jgO FNOT Ignoring new targets: 331.34 m.R 9Z 9gO% ProNav: ac range: 331.336609 m, nav range: 328.517548 m, bearing: 27.241228 deg, approach rate: -0.607355 m/s, LOS rate: -0.000944 deg/s, cmd heading: 32.482597 deg, new cmd heading: 32.481886 deg. B%)ݷgO-HeadingCmd: 0.566916 target range: 331.336609 and range: 333.20 m.-f!?)*1"1 1qqyyʎyyyjZN@UۃBɢU>^!)Y ]lξiY)]3YYi]B8iuf!?u4urIuf!?IyIZA))9@  @ @ 0@ B<AB>BBBBBBBl;B*EY^A vт DAT read: 00:37:46.6215 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 404, 0.28,-0.143,-1.482, 0.158,-0.579, PHS= 0.538,-0.857, 0.693, RAW= 155.2, -5.1, CAL= 155.0, -6.6, ROT= 355.0, 6.6  Ygot valid direction response: 00:37:46.6215 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 404, 0.28,-0.143,-1.482, 0.158,-0.579, PHS= 0.538,-0.857, 0.693, RAW= 155.2, -5.1, CAL= 155.0, -6.6, ROT= 355.0, 6.6  PDAT read: Bearing 171.8, -2.7 (Local) ԁ  ~Local bearing/azimuth received: Bearing 171.8, -2.7 (Local)  DAT read: Range 11 to 50 : 331.0 m (Round-trip 441.4 ms) speed 0.6 m/s  *DAT read: user:475>  BDAT read: Tx time:00:37:47.7260  $Ping request sent.  :publishing transmit ping time  Fpublishing direction and range infoyi m N?)NZlYm Ci i i i i )m HIm ^ ?im Zd[m sh1?m -\-@m Km "-@ m )m D@Im =i i m u) ?1yc``?1wͶ m gP?)m =Im im =i i  :publishing transmit ping time  Fpublishing direction and range infoyi m N?)NZlYi i i i پ,FvX@A )Ii )Iu) ?1yc``?1wͶY )IiYEByM'!I QQE EEE"El;*ErN:VEZEBEXF9Y=iGyѮFE>Q 54;??Q 94)BY U#?Q E :y >Q I @DI:i#:u4yBɮ@ǧEvX@AJCRCjT>?m@[t@JjZ<uBrN?)NZlZb=NCQr@Ҍpb@0M_$:zp2*~?7?8U2C:C"(?*ByB!k?“CO]>gO addTargetRange:: Added new target pos. range: 331.000000 m, deltaT: 4.039159 s, deltaX: -2.200012 m, approachRate: -0.544671 m/s, rangeRepo size: 4 gO Added new target pos. range: 329.153931 m, bearing: 26.718969 deg, lat: 36.779405 deg, lon: -121.859156 deg, deltaT: 4.039159 s, deltaX: -2.182678 m, approachRate: -0.540379 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 329.15 m.RZgO ProNav: ac range: 329.153931 m, nav range: 327.339172 m, bearing: 26.786279 deg, approach rate: 0.000000 m/s, LOS rate: -0.000944 deg/s, cmd heading: 32.481887 deg, new cmd heading: 32.480909 deg. BgO HeadingCmd: 0.566899 target range: 329.153931 and range: 331.00 m. H ? * "  Bʎ!j%t@Z%y?iɢm\)q Iվi) :顑i,iH ?4t|IH ?IԱI@I @I@M0@I ^A Β{A ?A ? IIO>,OwX@A2I>2?2Ƽٱ2 :AHRS rotation from veh to nav: [[0.841528,-0.531152,-0.098530],[0.539668,0.834772,0.109152],[0.024274,-0.145028,0.989130]]2H?@3E9`D?s?@b??ۘ?@G¿?i2I>I2^;2 CYFByF!IbDNVDN:yVOɽ%Zf=ٔZջQ-^>9\Y\=^iGy\b/L;Eb>dQ 5j4fK??Q 9j4fQ)fBYlynq>Q In@fDIf ;ifz ;f*{4ypɮr@pj gO FNOT Ignoring new targets: 329.15 m.R=?7Z=?7gO% ProNav: ac range: 329.153931 m, nav range: 327.117950 m, bearing: 26.786501 deg, approach rate: -0.651128 m/s, LOS rate: 0.000653 deg/s, cmd heading: 32.480910 deg, new cmd heading: 32.481354 deg. B%7gO-HeadingCmd: 0.566907 target range: 329.153931 and range: 331.00 m.- ?)*)") )1111ʎ999j9Z= ?mڃBɢdR@)  i )?iDi ?B4~8I ?Ii@ @@4@@@@@E} E}E}'Ey"E}I:*E}P:VE}'4ZEya@a@a@a@ԑԹI I O- >B >B B Z!IB /BB  =B DDB sDB l;B *EBBBBB =C*$5 , 7wX@A2>2?2˼ٱ2< :AHRS rotation from veh to nav: [[0.841210,-0.531533,-0.099186],[0.540135,0.834503,0.108894],[0.024890,-0.145177,0.989093]]2H1?`R@9dH?@??|?&¿?i2>I2i^;2CYZByZ!If@Af@AbDjVDjk2yr%rH=ٔvźQ-v>9tYt=viGytzE:Ez>|Q 54~P_??Q 94~C)~BY y >Q I @~DI~1:i~:~L4yɮ@ȧEj9gO=FNOT Ignoring new targets: 329.15 m.RE(7ZE(7gOU ProNav: ac range: 329.153931 m, nav range: 326.857788 m, bearing: 26.786736 deg, approach rate: -0.637247 m/s, LOS rate: 0.000577 deg/s, cmd heading: 32.481354 deg, new cmd heading: 32.481825 deg. BU$7gO]HeadingCmd: 0.566915 target range: 329.153931 and range: 331.00 m.]T!?Y*Y"Y YaaaaʎiiijiZmz?颙ɢr 2) i)E顡iGiT!?39IT!?Ip>i>Q@Q @Q@U4@QIIO]>E EE$E"E:*EV:VE4ZEBE+2{+?26мٱ2d :AHRS rotation from veh to nav: [[0.841102,-0.531595,-0.099764],[0.540279,0.834420,0.108819],[0.025398,-0.145429,0.989043]]2HO?@'`I??ۻ??i¿I2^;0PYRByR !IieMb@Mb@Mb@aaaa a9e}?5^I?kt{Gzt?Yaye eף;eAa etA)aaYabD}VD}yt%@=ٔQ->9Y=iGyҮF9E>Q 54t??Q 949)BY#?Q E:y>Q I@ DI:i#:4yɮ@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 329.15 m.Rm8Zm8gO ProNav: ac range: 329.153931 m, nav range: 326.585876 m, bearing: 26.788119 deg, approach rate: -0.637860 m/s, LOS rate: 0.003246 deg/s, cmd heading: 32.481825 deg, new cmd heading: 32.484592 deg. B8gO HeadingCmd: 0.566963 target range: 329.153931 and range: 331.00 m. ~$? * "   BʎjZ`lL?IɢM$3)I M)iI)U8LQQiU@;i]~$?] k3]I9I]~$?IaT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.@ @@/@AzA\AIqIO>! D %=D R=E  E E E "E غ:*E P:VE ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7225662,7jwX@A:>:D)?:9>Լٱ:ڻ VAHRS rotation from veh to nav: [[0.841110,-0.531482,-0.100306],[0.540244,0.834453,0.108743],[0.025906,-0.145655,0.988996]]:H_?@I?ֳ?ֻ??Ҥ¿`ۥ?i:>I:G^;: CYnByr!IbDVD2y5u<%5P=ٔ=WQ-E>9AYA=EiGyMӮFMڳEU>aQ 5m4eY??Q 9m4eg)e¨BYqy}>Q I}@eDIebU;ieV;e4yɮ@jgOFNOT Ignoring new targets: 329.15 m.Rgk8Zgk8gO ProNav: ac range: 329.153931 m, nav range: 326.333282 m, bearing: 26.789406 deg, approach rate: -0.630339 m/s, LOS rate: 0.003216 deg/s, cmd heading: 32.484591 deg, new cmd heading: 32.487169 deg. BR8gO}HeadingCmd: 0.567008 target range: 329.153931 and range: 331.00 m.}q'?y*y" ʎjZS?A1A5@AuكBɢu1)q uniq)}`Ryyi}(Giq'?`2Cu9Iq'?IB>BBM!IB%BBBCDBtDBl;B*E) 9@  @ @ @ IIO=>iIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.975012Qԉ ,wX@A6F>6_4?6ؼٱ6 BAHRS rotation from veh to nav: [[0.841006,-0.531753,-0.099739],[0.540378,0.834617,0.106796],[0.026455,-0.143713,0.989266]]6H?}J?/?V?`? /e¿?i6F>I6>^;4YJByJ IiMb@Mb@Mb@ 9x&1?v/:v?YA ?yx齙T<=A bA)AYQ AbD5VD5kyE%EI=ٔEQ-M>9IYI=MiGyIU9EU>Ee EeEe&Ea"Ee,:*EeX:VEe4ZEaBEeQ I@}DI}:i}:}ė4yɮ@ɧEjgOFNOT Ignoring new targets: 329.15 m.R[9Z[9gO ProNav: ac range: 329.153931 m, nav range: 326.075409 m, bearing: 26.792681 deg, approach rate: -0.642133 m/s, LOS rate: 0.008161 deg/s, cmd heading: 32.487170 deg, new cmd heading: 32.493725 deg. Bn9=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226714gOuHeadingCmd: 0.567122 target range: 329.153931 and range: 331.00 m.}.?y*y"y yyyփBʎjZ9@ɢ}?) i)Xi3,i.? t2 9I .?IIYԉ 9@  @ @ @ Ա^A- "A5 ?A5 > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478980 A} .AI I O >C,wwX@A>v{>>x?>ܼٱ> FAHRS rotation from veh to nav: [[0.841266,-0.531242,-0.100271],[0.539949,0.834893,0.106817],[0.026970,-0.144003,0.989210]]>H ?`@d`BG?p?[X??n¿ ?i>v{>I>g^;> CYPyPTTbD^VD^ٔf-Q-f>9f ?Yj ?=jiGyjԮFjEj>lQ 5r4nh??Q 9r4nQ)nըBYtyv4>Q Iv@n!DIn6:in:ny4yxɮx|jgO%FNOT Ignoring new targets: 329.15 m.R%9Z%9gO5 ProNav: ac range: 329.153931 m, nav range: 325.832367 m, bearing: 26.795794 deg, approach rate: -0.633352 m/s, LOS rate: 0.008117 deg/s, cmd heading: 32.493723 deg, new cmd heading: 32.499953 deg. B5m9gO=HeadingCmd: 0.567231 target range: 329.153931 and range: 331.00 m.=6?9*A"A AAAIIʎIIIjQZU"@yɢ}'qG) i)Y^顁i i6?=2fj˸I6?I1@1 @1@5 0@1Eu EuEu$Eq"Eu:*EuA:VEu4ZEqa}@a}@a}@a}@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.730739^A9B5 >B1 B5 A!IB5 BB5  =B5 DDB5 sDB5 m;B5 +EAe ؟AIq I O >9 m,RwX@ARchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.982685YzByz!IbD VD 1y{0<%<ٔQ->9%"?Y%"?=%iGy!-E->1Q 5545??Q 9=45)5ߨBY9y9Q IE@5*DI5i ;i5 ;54yIɮMI@IjigOuFNOT Ignoring new targets: 329.15 m.Ru9Z}9gO ProNav: ac range: 329.153931 m, nav range: 325.570007 m, bearing: 26.799159 deg, approach rate: -0.632811 m/s, LOS rate: 0.008124 deg/s, cmd heading: 32.499953 deg, new cmd heading: 32.506689 deg. Bm9gOHeadingCmd: 0.567349 target range: 329.153931 and range: 331.00 m.=?*" ʎjZ`Et@؃Bɢn<) i)di0i=? 1II=?I@ @@R0@@[A@\AIE EEE"Em:*E?:VEZEBETԙ U,.wX@A2Gd>2?2&ٱ2 :AHRS rotation from veh to nav: [[0.842391,-0.529234,-0.101438],[0.538141,0.835986,0.107385],[0.027969,-0.145047,0.989029]]2H?@{ s8?@f?}?壜?`¿ ?i2Gd>I21^;0YRByR!Ii%Mb@Mb@Mb@!!!! !9%ףp= ?MbQ?Y%?y%%u<%A%d@ %K A)%fA!Y%3 AbD=VD=:2yM;%MG=ٔUgQ-U>9QYQ=]iGy]ծF]ҩEe>aQ 5m4e@??Q 9m4e0)eBYu"?Q Eu:yuo>Q Iu@e2DIe:ie ,mwX@AuG%9!Y%Au>u ?uٱu\ AHRS rotation from veh to nav: [[0.843247,-0.528039,-0.100549],[0.536807,0.836929,0.106711],[0.027805,-0.143959,0.989193]]uH ?-??dQ?y?@m¿w?iu>Iu%^;u CB<AB>BCB;!IBBB =BBBm;B+EYBy II>)<bDVDNyN̼%=ٔ9Q->9Y=iGyGE>Q 54 ??Q 94)BYy>Q I@ EBDAT read: Tx time:00:37:51.6760 e$Ping request sent.mӥa3-?9i?n̿ !?)f>I iw>:publishing transmit ping timeAy#?TU!!п )Ii )Iӥa3-?9i?n̿ )IiI ^A} "5i bE4jEr 4rEb/E  E E E "E :*E T:VE ZE BE 8,N xX@AF>F?FdٱF? ^AHRS rotation from veh to nav: [[0.843830,-0.527235,-0.099871],[0.535869,0.837723,0.105189],[0.028205,-0.142280,0.989425]]FH ? $@%??@??76¿]?iF>IF,3^;D`didIddIdid hx)xx ~q@|||||I)i)I   ^A ti F1i5sC5^A)5C 1I1Y9YEByE!IԱiMb@Mb@Mb@ 9"~j?n~jt?YS#?yV<A=A  A)Y AbDVD1y"=%Q=ٔⅺQ->9 ?Y ?=iGy֮FN9E>9Q 5E4=@?Q 9M4=)=BYM:'?Q EM:yM˶>Q IM@=EDI=2;i=h;=4yYɮ] @YjygOFNOT Ignoring new targets: 329.15 m.Rh9Zh9gO ProNav: ac range: 329.153931 m, nav range: 324.725403 m, bearing: 26.814471 deg, approach rate: -0.646563 m/s, LOS rate: 0.012715 deg/s, cmd heading: 32.527113 deg, new cmd heading: 32.537337 deg. B'9gOHeadingCmd: 0.567884 target range: 329.153931 and range: 331.00 m.`?*" ΃BʎjZ͎@փBɢC) i)xi檻i`?X2AVI`?IY@Y @a@e4@a ^A vт1 A I I O >\, #xX@A>Pn>>?>?ٱ> FAHRS rotation from veh to nav: [[0.844434,-0.526221,-0.100115],[0.534904,0.838310,0.105427],[0.028449,-0.142578,0.989375]]>H?`? o?H?@!??¿?i>Pn>I>];> CY=By=!I IM4<bDUVDUy][%ef=ٔe^4Q-e>9iYi=miGyim#REu>qQ 5}4ud@?Q 94u)u BYy7>Q I@uLDIu;iu[:u4yɮJ@jgOFNOT Ignoring new targets: 329.15 m.Rk9Zk9gO ProNav: ac range: 329.153931 m, nav range: 324.502747 m, bearing: 26.818897 deg, approach rate: -0.647055 m/s, LOS rate: 0.012872 deg/s, cmd heading: 32.537338 deg, new cmd heading: 32.546196 deg. Bt9gOHeadingCmd: 0.568038 target range: 329.153931 and range: 331.00 m.j?*" ʎjZ<@E EE&E"E:*EE7:VE4ZEa@a@a@a@1ɢ5^H)1 5i9)=y~99i=稻iEj?Em2EIEj?IIA@A @I@M3@IiBE>BECBABABE =BABErDBEl;BE*Eq^A mA ?A >ԙ A I I O ,-2:?2ٱ2 :AHRS rotation from veh to nav: [[0.845099,-0.525213,-0.099795],[0.533842,0.839054,0.104889],[0.028644,-0.141917,0.989464]]2H ?`.<?? ں?T?@T*¿?i2ʰ>I2n];0YMByM!I QQbD]VD]:2ym-=%mI=ٔuKQ-u>9qYq=}iGy}׮F}BJE}>Q 54E,@?Q 946)BYy>Q I@TDI:i :4yBɮz@§EjgOFNOT Ignoring new targets: 329.15 m.Rln9Zln9gO ProNav: ac range: 329.153931 m, nav range: 324.240234 m, bearing: 26.824185 deg, approach rate: -0.646252 m/s, LOS rate: 0.013028 deg/s, cmd heading: 32.546196 deg, new cmd heading: 32.556780 deg. B9gOHeadingCmd: 0.568223 target range: 329.153931 and range: 331.00 m.w?*" ʎjZ @%ՃBɢ%LD)) -i))-))i-i5w?=2=ݻI=w?I9y@ @@/@@@WAԡE EE(E"EI:*EVL:VEc44ZEBE n,*VxX@A2v>2?2\*ٱ2k :AHRS rotation from veh to nav: [[0.845431,-0.524687,-0.099749],[0.533300,0.839457,0.104421],[0.028947,-0.141476,0.989518]]2H ?`<$ ??`M? I2];0YBByB!Ii Mb@Mb@Mb@     9 MbX9?T㥛 /$?Y !?y  < A V@ K A) A Y  AbD%VD%y5<%5N=ٔ=GQ-=>99YA=EiGyAEAҺEE>IQ 5U4ME@@?Q 9U4MƋ)M$BY]%?Q E]:y]z>Q I]@M]DIMX ;iM ;M 4yaɮe8@iP B*** querying acoustic contact ***  jgOFNOT Ignoring new targets: 329.15 m.RZ?9ZZ?9gO- ProNav: ac range: 329.153931 m, nav range: 323.986633 m, bearing: 26.828510 deg, approach rate: -0.612507 m/s, LOS rate: 0.010456 deg/s, cmd heading: 32.556780 deg, new cmd heading: 32.565438 deg. B-9gOUHeadingCmd: 0.568374 target range: 329.153931 and range: 331.00 m.U?Y*Y"Y YYYaeBʎaaijiZm Z;@ԃBɢ;) s޾i)i i?3I?IE9@A @A@A@AE EE"E"E:*E H:VE(3ZEa@a@a@a@) ^A r绝 T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA ؟AI I O >Y ,pxX@ANc>Nn?NfٱN VAHRS rotation from veh to nav: [[0.846273,-0.523320,-0.099793],[0.531961,0.840251,0.104862],[0.028975,-0.141828,0.989467]]NH?` ?`U?@6غ??`i'¿ ?iNc>IN{x];LY^By^!IAnAAAnAABn>BnCBnG!IBn BBn =BlBlBngk;Bn%*EBCBCBCB =B =C6bDfVDf0y=% M=ٔ _Q- >9"?Y"?=iGyخFE>!Q 5%4%mT@?Q 9-4%U)%0BY)y->Q I-@%eDI%:i%:%4y9ɮ=@=çEjYgOeFNOT Ignoring new targets: 329.15 m.ReT9ZeT9gOu ProNav: ac range: 329.153931 m, nav range: 323.731293 m, bearing: 26.832944 deg, approach rate: -0.668490 m/s, LOS rate: 0.011617 deg/s, cmd heading: 32.565437 deg, new cmd heading: 32.574311 deg. B}9gO}HeadingCmd: 0.568529 target range: 329.153931 and range: 331.00 m.}?*" ʎjZl@颽ӃBɢ?) վi)`ibiM?UsD4U-IU?IQ)9@ @@@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseQ^A!A)zA-YAԉ A I I O >E  E E 'E "E >:*E R:VE '4ZE BE :j?:vٱ:? BAHRS rotation from veh to nav: [[0.846574,-0.522999,-0.098915],[0.531484,0.840700,0.103676],[0.028935,-0.140341,0.989680]]:H`"?ixR? ??? v?i:[]>I:];8YJByJ(!IIR>)Rp;ieMb@Mb@Mb@aaaa a9erh|?ʡE󽿸Q?Ye?yeye9Y=iGyE>Q 54j@?Q 94)?BY ?Q E:y>Q I@nDIl;iK;4yɮ0@jagOeFNOT Ignoring new targets: 329.15 m.Rm/9Zm/9gO ProNav: ac range: 329.153931 m, nav range: 323.448029 m, bearing: 26.837446 deg, approach rate: -0.604272 m/s, LOS rate: 0.009612 deg/s, cmd heading: 32.574313 deg, new cmd heading: 32.583324 deg. B9gOHeadingCmd: 0.568686 target range: 329.153931 and range: 331.00 m.m?ԉ*") ))115΃Bʎ199j9Z=@u҃BɢuE,)q u˾iy)}ъyyi}im?F5|eIm?I@ @@0@@=@=iIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse ^A A I I O >A(,ixX@A2>2"R?2ٱ2H >AHRS rotation from veh to nav: [[0.846985,-0.522507,-0.097993],[0.530836,0.841234,0.102658],[0.028795,-0.138968,0.989878]]2H@?a?b?G?|??i2>I2 f];0YFByF7!IbDNVDNyV=%Zb=ٔZS9Q-Z>9XY\=^iGy^ٮF^@E^>`Q 5f4b{@?Q 9j4br)bJBYhyj>Q Ij@buDIb :ib :b?4ylɮnv@pjgO FNOT Ignoring new targets: 329.15 m.R c99Z c99gO ProNav: ac range: 329.153931 m, nav range: 323.230621 m, bearing: 26.840940 deg, approach rate: -0.629947 m/s, LOS rate: 0.010130 deg/s, cmd heading: 32.583325 deg, new cmd heading: 32.590317 deg. BO9gO%HeadingCmd: 0.568808 target range: 329.153931 and range: 331.00 m.%l?!*)") )))11ʎ111j9Z=@eуBɢex=)i mii)m$ʌiiim7iul?u6}%I}l?IyDzDAAE  E E "E "E :*E 1]:VE (3ZE a@a@a@a@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseY@ @@91@Bm>BmCBmZ!IBm/BBm =BiBmqDBmk;Bm-*Eԁ^AԱ  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA I I O >/,25?2ٱ2} :AHRS rotation from veh to nav: [[0.847215,-0.522257,-0.097335],[0.530468,0.841582,0.101700],[0.028802,-0.137795,0.990042]]2H`c?S긿?=? ?$~?A`l?i2ݿ>I2OI];0LYRByR8!I Z9 Y = iGyE>Q 5%4@?Q 9%4)WBY)y-D>Q I-@}DI:i:u4y1ɮ5g@1jYgOeFNOT Ignoring new targets: 329.15 m.ReH69ZeH69gOu ProNav: ac range: 329.153931 m, nav range: 322.976929 m, bearing: 26.845046 deg, approach rate: -0.614792 m/s, LOS rate: 0.009960 deg/s, cmd heading: 32.590316 deg, new cmd heading: 32.598536 deg. Buӑ9gO}HeadingCmd: 0.568952 target range: 329.153931 and range: 331.00 m.}Ӧ?y*y" ʎjZ @颽ЃBɢ0) Di)sIiiӦ?7+IӦ?Iq@y @y@}4@E- E-E-#E)"E-:*E-F:VE-3ZE)BE- A 5,~xX@A2Jy>2a?2ٱ2@ :AHRS rotation from veh to nav: [[0.847499,-0.521947,-0.096528],[0.530011,0.842029,0.100381],[0.028886,-0.136234,0.990256]]2H?@ɳ ? ??0?p`,?i2Jy>I2 _];2CYF ByFG!Ii Mb@Mb@Mb@     9 jt?~jtS㥛?Y  ?y Ľ /< A  K A)  Y  AbD- VD-2y=Ry=%=G=ٔESVQ-E>9AYA=MiGyMڮFMpEM>]T****** received valid address query ******]R****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseQQ 5m4Uף@?Q 9m4U8)UdBYm"?Q Em:ym>Q Im@UDIUi;iU8:U4y}Bɮ}@}ħEPB*** querying acoustic contact *** j!gO%FNOT Ignoring new targets: 329.15 m.R-8Z-8gO] ProNav: ac range: 329.153931 m, nav range: 322.716827 m, bearing: 26.847569 deg, approach rate: -0.605567 m/s, LOS rate: 0.005877 deg/s, cmd heading: 32.598536 deg, new cmd heading: 32.603585 deg. B],9gOeHeadingCmd: 0.569040 target range: 329.153931 and range: 331.00 m.e?a*a"a aaiimBʎjZ@tf@σBɢ&) i) ˑ  i-Ri5?5B85y4I5?I9A@ @@54@@@[AyD5=D5<EQ EUEU(EQ"EQ*EU:VEUc44ZEQau@au@au@au@^Am - DAT read: 00:37:54.5148 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 399, 0.16,-2.516, 2.450,-2.224,-2.882, PHS= 0.468,-0.906, 0.614, RAW= 155.0, -2.4, CAL= 154.3, -3.7, ROT= 355.7, 3.7  Ygot valid direction response: 00:37:54.5148 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 399, 0.16,-2.516, 2.450,-2.224,-2.882, PHS= 0.468,-0.906, 0.614, RAW= 155.0, -2.4, CAL= 154.3, -3.7, ROT= 355.7, 3.7  PDAT read: Bearing 174.0, -2.1 (Local)  ~Local bearing/azimuth received: Bearing 174.0, -2.1 (Local)  DAT read: Range 11 to 50 : 325.9 m (Round-trip 434.6 ms) speed 0.4 m/s  *DAT read: user:477> E BDAT read: Tx time:00:37:55.6276 E $Ping request sent.E i g /? "-@ + Z,@  A) @I A=   ^j0?8U?饿  Z?) V]/=I )i A=   :publishing transmit ping timeA  Fpublishing direction and range infoy  aw?r'P0Y    ԩ   ) I i      ) I    ^j0?8U?饿  ) I i   A I I O >B] <A] p<Be >Ba Be s!IBe CBBa Ba Be pDBe k;Be g*E56<,C8xX@Ab>bD'?bٱbr jAHRS rotation from veh to nav: [[0.847320,-0.522483,-0.095186],[0.530275,0.842213,0.097398],[0.029278,-0.133002,0.990683]]bH ??-@ ^?h???7@?ib>Ib1];`Yr*ByvU!IbDVD02y-mQ=%-I=ٔ-}Q-5>91Y1=5iGYyYesK:Ee>iQ 5u4m@?Q 9u4mx|)mpBYy>Q I@mDIms-Hq't@8r|0?8@4r-aw?r'P0Z-)b- A=-!b^q@gYb@h2. z-x0Z4m?h.V?n7p2-C:-C"-y|?*-49B-!fB-y|?-49“-]B-C-b>gO addTargetRange:: Added new target pos. range: 325.899994 m, deltaT: 7.813039 s, deltaX: -5.100006 m, approachRate: -0.652756 m/s, rangeRepo size: 4 gO Added new target pos. range: 324.059998 m, bearing: 27.291655 deg, lat: 36.779407 deg, lon: -121.859123 deg, deltaT: 7.813039 s, deltaX: -5.093933 m, approachRate: -0.651978 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 324.06 m.RZgO ProNav: ac range: 324.059998 m, nav range: 323.958801 m, bearing: 27.290761 deg, approach rate: 0.000000 m/s, LOS rate: 0.005877 deg/s, cmd heading: 32.603584 deg, new cmd heading: 32.608491 deg. BgOHeadingCmd: 0.569126 target range: 324.059998 and range: 325.90 m.6?*" ))11ʎ119j=`f^t@Z=P?颁ɢv`#) si)顩i^$i6?^9r0I6?IԁA@I @I@M/@IԱ^A : E%  E% E% 'E! "E% :*E% V:VE% '4ZE! BE% u C,\ yX@AV?߮>V[E?V'$ٱVI nAHRS rotation from veh to nav: [[0.847070,-0.522966,-0.094762],[0.530659,0.842122,0.096080],[0.029554,-0.131673,0.990853]]VH1?"JB)?`?@?dC?`?iV?߮>IVQZ];V CYv+ByzV!IiMb@Mb@Mb@Ա 9+?~jtI +?Y?y9<Ad@ 5 A)Yf AbDVDk1y$;%?=ٔ)Q->9 ?Y ?=iGyۮFr:E>Q 54@?Q 94yy){BY!?Q E:yA>Q I@DI:i:54yiɮm@qjgOFNOT Ignoring new targets: 324.06 m.RՆ8ZՆ8gO ProNav: ac range: 324.059998 m, nav range: 323.693939 m, bearing: 27.292284 deg, approach rate: -0.640135 m/s, LOS rate: 0.003684 deg/s, cmd heading: 32.608491 deg, new cmd heading: 32.611539 deg. B8gOHeadingCmd: 0.569179 target range: 324.059998 and range: 325.90 m.? * "    ރBʎjZ?E΃BɢM5&)I MiI)MQQiUiU?]X:],*I]?IY9@ @@@ ^A 0A zA ZAA5 ؟A9 IA IQ Oe >>GI,}&yX@A2}>2zR?29ٱ2- :AHRS rotation from veh to nav: [[0.846954,-0.523248,-0.094237],[0.530823,0.842200,0.094480],[0.029930,-0.130043,0.991057]]2H@??`r?M?/??@>@?i2}>I2N];2 CYB6ByFc!IIJ=)J=bDNVDN:yVcn=%Va=ٔZ}Q-Z>9Z"?YZ"?=ZiGyX^::E^>`Q 5f4bo@?Q 9f4bv)bBYhyjP>Q Ij@bDIb):ib:b 4ylɮnD@nŧEjgOFNOT Ignoring new targets: 324.06 m.R Ӊ8Z Ӊ8gO ProNav: ac range: 324.059998 m, nav range: 323.465912 m, bearing: 27.293593 deg, approach rate: -0.655739 m/s, LOS rate: 0.003766 deg/s, cmd heading: 32.611541 deg, new cmd heading: 32.614160 deg. B8gOHeadingCmd: 0.569224 target range: 324.059998 and range: 325.90 m.?*" ʎjE EE#E"E:*EC:VE3ZEa@a@a@a@Z&l?颉ɢl#) җi)ii-?-R; }7l>ypQ)I?G\A1Iau 9u\AYu7AAB>BCB!IBRBB =BBB`l;B*E 9@  @ @0@@=@q^A% &ԡ AU .AIa Iq O} >CP,AyX@A2z>2{?24ٱ2\ :AHRS rotation from veh to nav: [[0.846379,-0.524412,-0.092919],[0.531723,0.841954,0.091563],[0.030217,-0.126905,0.991455]]2H?@ɷ?J?p?1?i>?i2z>I2UK];0YJ/ByJ[!IbDzVDzy%C=ٔ63Q->9  ?Y  ?= iGy ܮF &;E>Q 5%4x@?Q 9%4s)BY!y%>Q I%@DIl:i:4y5Bɮ5@5ƧEjYgO]FNOT Ignoring new targets: 324.06 m.R]88Ze88gOu ProNav: ac range: 324.059998 m, nav range: 323.202698 m, bearing: 27.295063 deg, approach rate: -0.626582 m/s, LOS rate: 0.003503 deg/s, cmd heading: 32.614160 deg, new cmd heading: 32.617103 deg. Bu&8gO}HeadingCmd: 0.569276 target range: 324.059998 and range: 325.90 m.}?y*y"y yʎjZ ?颹ɢ8^')  i)i옻i?<1I?IQU9@Y @Y@e?0@abEM!4jEMw4rEMě0E EE*E"E:*EX:VE(N4ZEBEv hV,ZyX@A6>6F?6{Lٱ6 BAHRS rotation from veh to nav: [[0.845910,-0.525228,-0.092589],[0.532451,0.841641,0.090204],[0.030549,-0.125603,0.991610]]6H?곷 ?? ?`PH?E?i6>I6j];6CYJEByJv!Ii%Mb@Mb@Mb@!!!! !9%rh|?L7A`尿 rh?Y%?y%+%C<%A%V@ !)%fA!Y! 5<5p<bD=VD=kyM;=%MF=ٔU-SQ-U>9U"?Y]"?=]iGyYer ;Ee>iQ 5u4mA?Q 9u4mp)mBYu?Q Eu:yu{>Q I}@mDIm;im;m4yɮT@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 324.06 m.R48Z48gOe ProNav: ac range: 324.059998 m, nav range: 322.950317 m, bearing: 27.295888 deg, approach rate: -0.610248 m/s, LOS rate: 0.001997 deg/s, cmd heading: 32.617104 deg, new cmd heading: 32.618756 deg. Bei8gOmHeadingCmd: 0.569305 target range: 324.059998 and range: 325.90 m.m?i*i"i iiqBʎjZ ?Ա̓BɢY) iI)UP̛QQiU6i]?] =]I]?IaE9@A @A@EU0@AE EE$E"E:*E;J:VE4ZEa@a@a@a@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. ^A uA ?A ?A @AA @AB >B B !IB \BB  =B B B l;B *EA I I O >\,tyX@ABr>B3?BٱB JAHRS rotation from veh to nav: [[0.845394,-0.526067,-0.092530],[0.533243,0.841262,0.089054],[0.030994,-0.124626,0.991720]]BHx ?@` R?? :̶?ʼ? 翿*?iBr>IB`];B CYV9ByVf!IbD^VD^0yf%fS=ٔjrQ-j>9hYh=jiGynݮFn ;En>pQ 5v4rkA?Q 9v4r9n)rBYxyz>Q Iz@rDIr/:ir:r4y~Bɮ~@Ej!gO-FNOT Ignoring new targets: 324.06 m.R- 8Z- 8gO= ProNav: ac range: 324.059998 m, nav range: 322.713776 m, bearing: 27.296625 deg, approach rate: -0.611984 m/s, LOS rate: 0.001908 deg/s, cmd heading: 32.618757 deg, new cmd heading: 32.620232 deg. BEu_8gOEHeadingCmd: 0.569330 target range: 324.059998 and range: 325.90 m.E?I*I"I IIIQQʎQQQjYZ]l@ɢh$) *i )   i Pi?\=5I5?I9Q9@ @@4@@@ZAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.228298y^Azԩ AE .AIi I O >E  E E &E "E >:*E P:VE 4ZE BE 2B?2s}ٱ2, :AHRS rotation from veh to nav: [[0.844971,-0.526790,-0.092288],[0.533892,0.840982,0.087793],[0.031364,-0.123454,0.991854]]2H ?`v2@?T?y??E?i2ذ>I2];2C@Yf?Byfm!Ii]Mb@Mb@Mb@YYYY Y9]x&1?x&~jtx?Y]A ?y]7];]AY Y)]AYY]p AbDuVDu:y<%?=ٔcQ->9 ?Y ?=iGy:E>Q 54*A?Q 94k)BY-!?Q E:y>Q I@DIi:[&4yɮq@jgOFNOT Ignoring new targets: 324.06 m.R8Z8gO ProNav: ac range: 324.059998 m, nav range: 322.445038 m, bearing: 27.297470 deg, approach rate: -0.628521 m/s, LOS rate: 0.001978 deg/s, cmd heading: 32.620232 deg, new cmd heading: 32.621923 deg. Bg8gOHeadingCmd: 0.569360 target range: 324.059998 and range: 325.90 m.?*" ӃBʎ   j Z@@颹ɢo) i) si1i?CL>I?I Ա9@ @@(4@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732183^A A ؟AI I O >i,tyX@A2B/>2_m?2\2ٱ2 :AHRS rotation from veh to nav: [[0.844606,-0.527376,-0.092272],[0.534444,0.840732,0.086836],[0.031781,-0.122657,0.991940]]2H?@D@*`)?E?`:?E?pf@?i2B/>I2g];0YDyFn!IHHbDNVDNfyV;%VY=ٔZQ-Z>9Z"?Y^"?=^iGy^ޮF^:Eb>`Q 5f4bQ Ij@bƀDIb:ib:b,4lypɮri@pj gO FNOT Ignoring new targets: 324.06 m.R 8Z 8gO% ProNav: ac range: 324.059998 m, nav range: 322.208191 m, bearing: 27.298189 deg, approach rate: -0.627878 m/s, LOS rate: 0.001907 deg/s, cmd heading: 32.621923 deg, new cmd heading: 32.623361 deg. B%X_8gO-HeadingCmd: 0.569385 target range: 324.059998 and range: 325.90 m.-8?)*)"1 11119ʎ999jAZE5@DzD!ɢ%r )! %i!)-6=))i5x•i]8?]>eOcIe8?Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.985799E EE!E"E:*E;J:VEc3ZEa@a@a@a@)I@I @I@U/@QBm>BmߍCBm!IBmgBBiBiBmoDBmbl;Bm*EB5CB5CB1B5 =B5 =C5ű6Q^AmAqzAq- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236237ԁ A .AI I O >.p,'PyX@AB c>BN?ByٱBc NAHRS rotation from veh to nav: [[0.844386,-0.527727,-0.092278],[0.534772,0.840591,0.086172],[0.032093,-0.122110,0.991998]]BH6?$??@^?yn?Bq?iB c>IB1];BCYV=ByVk!IbDbVDbyjZ>%jH=ٔjKHQ-j>9n ?Yn ?=niGylr}:Er>tQ 5z4vPA?Q 9z4vVe)vBYxyzf>Q Iz@v΀DIv):iv:v44yɮ@Ej!gO-FNOT Ignoring new targets: 324.06 m.R- 8Z5 8gOE ProNav: ac range: 324.059998 m, nav range: 321.951477 m, bearing: 27.298952 deg, approach rate: -0.629497 m/s, LOS rate: 0.001872 deg/s, cmd heading: 32.623360 deg, new cmd heading: 32.624887 deg. BEI[8gOMHeadingCmd: 0.569412 target range: 324.059998 and range: 325.90 m.M?I*I"I IIQQQYʎQaajaZe! @颉ɢ #) !i)4 顙ii?pP??ݻI?IE9@A @I@I@I@m=@m=ԉE EE'E"E:*E[:VE'4ZEBEn% v, *yX@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.744004ԹYEByu!IiuMb@Mb@Mb@qqqq q9uGz?333333{Gzt?Yup?yuuף;uCAq u A)u9AqYuAbD VD:2y=%%=ٔQ->9"?Y"?=iGy߮FE>Q 54RgA?Q 94a)BY?Q E:y>Q I@؀DI]:i:<4yɮ@PB*** querying acoustic contact *** jgO FNOT Ignoring new targets: 324.06 m.R?}8Z?}8gO ProNav: ac range: 324.059998 m, nav range: 321.645142 m, bearing: 27.300673 deg, approach rate: -0.615143 m/s, LOS rate: 0.003459 deg/s, cmd heading: 32.624887 deg, new cmd heading: 32.628332 deg. B%8gO%HeadingCmd: 0.569472 target range: 324.059998 and range: 325.90 m.-?)*)") ))115ŃBʎ199j9Z=`@yɢ;) i)Si^i ?@mI?IID<D<9@ @@@E EE#E"E:*EVL:VE3ZEa@a@a@a@DAT read: 00:37:58.4640 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 423, 0.00,-1.529,-2.925,-1.226,-2.137, PHS= 0.710,-0.743, 0.867, RAW= 155.1, -10.9, CAL= 156.1, -12.6, ROT= 353.9, 12.6 Ygot valid direction response: 00:37:58.4640 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 423, 0.00,-1.529,-2.925,-1.226,-2.137, PHS= 0.710,-0.743, 0.867, RAW= 155.1, -10.9, CAL= 156.1, -12.6, ROT= 353.9, 12.6 PDAT read: Bearing 165.0, -2.4 (Local)  ~Local bearing/azimuth received: Bearing 165.0, -2.4 (Local)  DAT read: Range 11 to 50 : 324.2 m (Round-trip 432.3 ms) speed 0.7 m/s  *DAT read: user:478>  BDAT read: Tx time:00:37:59.5776  $Ping request sent. ]??-@B].@ z0a)@Iz0a>WH*7z? ?Hȿ ?)mB>Ii ڽiz0a> :publishing transmit ping time  Fpublishing direction and range infoyi|q ?Xhh'$˿Y )Ii )IWH*7z? ?Hȿ )Ii9 Be ~>Be ލCBa Ba Be  =Ba Be nDBe 8l;Be x*E^A `ԻiAIIO>.~,{yX@ABֱ>B?BtٱBTT ZAHRS rotation from veh to nav: [[0.843901,-0.528532,-0.092112],[0.535509,0.840261,0.084804],[0.032576,-0.120893,0.992131]]BH =?`"?`k?`?ݭ??iBֱ>IB];@ \)b`Ab```b7aAifj9Y=iGyF>:E>Q 54~A?Q 94y^)ǩBYy?>Q I@DI:i:.E4yBɮZ@IMiyX@AJM-CRM-CjM>Mk[s@=us@]uvoQrMi|q ?Xhh'$˿ZMi ڽbMz0a>MX+r@0n`@lcKzM#*?4?/ ƿ2MuC:MC"MWU?*MMEBM!AM(?M“MyBMOCMa>gO] addTargetRange:: Added new target pos. range: 324.200012 m, deltaT: 4.035365 s, deltaX: -1.699982 m, approachRate: -0.421271 m/s, rangeRepo size: 4 gOm Added new target pos. range: 322.353912 m, bearing: 24.853411 deg, lat: 36.779413 deg, lon: -121.859156 deg, deltaT: 4.035365 s, deltaX: -1.706085 m, approachRate: -0.422783 m/s, posRepo size: 4 jigOuFNOT Ignoring new targets: 322.35 m.RuZqgO ProNav: ac range: 322.353912 m, nav range: 320.617371 m, bearing: 26.788120 deg, approach rate: 0.000000 m/s, LOS rate: 0.003459 deg/s, cmd heading: 32.628333 deg, new cmd heading: 32.631786 deg. BgOHeadingCmd: 0.569532 target range: 322.353912 and range: 324.20 m.?*" ʎj@3Ct@ZZH?)ɢ-)) 5i1)5x11i鵓i?c@mzȻI?I9@ @@@E EE(E"E:*E:VEc44ZEBE ,zX@AJs;>Jx?J?ٱJ(D VAHRS rotation from veh to nav: [[0.843477,-0.529045,-0.093044],[0.536149,0.839803,0.085295],[0.033014,-0.121830,0.992002]]JH@?ѷ`"(??յ?@1??0z?iJs;>IJ_\;JCY]9QYQ=UiGyQ]n:E]>aQ 5m4eA?Q 9m4e[)eϩBYmu ?Q Em:ym#>Q Im@eDIe:ie:eL4iyIyyɮ@EjgOFNOT Ignoring new targets: 322.35 m.R8Z8gO ProNav: ac range: 322.353912 m, nav range: 320.346954 m, bearing: 26.790412 deg, approach rate: -0.649655 m/s, LOS rate: 0.005513 deg/s, cmd heading: 32.631785 deg, new cmd heading: 32.636375 deg. Bk!9gOHeadingCmd: 0.569612 target range: 322.353912 and range: 324.20 m.?*" BʎjZ@? ɢ %) i)#\ii?%@%3I%?I!19@ @@0@@\A@\AY^A[RӻD1 zD5 ?AE  E E &E "E y:*E X:VE 4ZE a @a @a @a @ԉ I I O >9,G3zX@ABB>BBߍCBB!IBBlBBB =B@BBoDBBk;BBR*EJ>J?JHfٱJ RAHRS rotation from veh to nav: [[0.843742,-0.528595,-0.093201],[0.535730,0.840040,0.085590],[0.033051,-0.122146,0.991962]]JH ?@ ܷ@$??@6??D`&?iJ>IJJ\;JCY5;By5h!IbDEVDEβy]%e\=ٔeθQ-e>9iYi=miGymFqu®Eu>yQ 54}֤A?Q 94}Y)}թBYy>Q I@}DI}:i}:}@S4yɮ@jgOFNOT Ignoring new targets: 322.35 m.R08Z08gO ProNav: ac range: 322.353912 m, nav range: 320.114075 m, bearing: 26.792410 deg, approach rate: -0.627505 m/s, LOS rate: 0.005387 deg/s, cmd heading: 32.636375 deg, new cmd heading: 32.640374 deg. B9gOHeadingCmd: 0.569682 target range: 322.353912 and range: 324.20 m.?*" ʎjZ 6 f ,MzX@AE& E&E&%E$"E&:*E&|:VE& 4ZE$BE&[ :E&xY:ByieMb@Mb@Mb@aaaa a9e-?Mb?Ye5?ye̽e9Y=iGyE>Q 54.A?Q 941V)ީBYG ?Q E:y>Q I@DIX;i ;Z4yɮ@EjgOFNOT Ignoring new targets: 322.35 m.R}8Z}8gO ProNav: ac range: 322.353912 m, nav range: 319.838684 m, bearing: 26.795367 deg, approach rate: -0.624149 m/s, LOS rate: 0.006707 deg/s, cmd heading: 32.640374 deg, new cmd heading: 32.646293 deg. BdD9gOHeadingCmd: 0.569785 target range: 322.353912 and range: 324.20 m.s?*" BʎjZઝ?ɢ")  i ) S?  i Kis?A*˻Is?I59@1 @9@=0@9)^A] *I I O >Q WG,fzX@A2⦱>20?2 ٱ2N >AHRS rotation from veh to nav: [[0.844076,-0.528028,-0.093392],[0.535187,0.840391,0.085540],[0.033318,-0.122185,0.991948]]2H?@跿`A ?{???@G ?i2⦱>I2\;0YZFByZw!IIb>)b>bDfVDffyn=%nk=ٔrIQ-r?9pYp=viGyvFvEv?xQ 5~4zA?Q 9~4zS)zBYys>Q I@zDIz<;izj;z a4y ɮ @ P-B*** querying acoustic contact ***) )j1gO=FNOT Ignoring new targets: 322.35 m.R=8Z=8gOM ProNav: ac range: 322.353912 m, nav range: 319.621887 m, bearing: 26.797723 deg, approach rate: -0.623116 m/s, LOS rate: 0.006776 deg/s, cmd heading: 32.646293 deg, new cmd heading: 32.651008 deg. BMiF9gOUHeadingCmd: 0.569868 target range: 322.353912 and range: 324.20 m.U?Q*Q"Y YYYaaʎaaajiZm??频ɢP)) Di)顙ii?)BI?I9E= E=E='E9"E=I:*E=T:VE='4ZE9aE@aE@aE@aE@A@A @I@M4@I@U=@U=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.1U`]Aq9`]AYAaB>BCBBB =BBpDBek;B*E^Au&tIIO>ԉi߹ I߹  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2545521 /,zǀzX@AN>N?Nw ٱN fAHRS rotation from veh to nav: [[0.844228,-0.527657,-0.094114],[0.534929,0.840492,0.086171],[0.033633,-0.123092,0.991825]]NH?`"?N?K?Z8?􂿿 ?iN>IN\;NCYrOByr!IbDzVDzy%/=%%F=ٔ%GQ-->9)Y)=-iGy)5g>E5>YQ 5e4]*A?Q 9e4]7Q)]BYayeO>Q Im@] DI]:i]B:]Uh4yuBɮu@qj1gO=FNOT Ignoring new targets: 322.35 m.R=8Z=8gOM ProNav: ac range: 322.353912 m, nav range: 319.361664 m, bearing: 26.800568 deg, approach rate: -0.595522 m/s, LOS rate: 0.006517 deg/s, cmd heading: 32.651009 deg, new cmd heading: 32.656704 deg. BM>9ԑgOHeadingCmd: 0.569967 target range: 322.353912 and range: 324.20 m.\?*" ʎjZM q(@˃BɢSH)  wi)팰i_.i\?-gB-I-\?I)9@ @@4@bE%-4jE%4rE%30EU EUEU$EQ"EU:*EUC:VEU4ZEQBEU A  Au .AIy I O >",CzX@A2]>2?2) ٱ2) :AHRS rotation from veh to nav: [[0.844361,-0.527499,-0.093809],[0.534707,0.840712,0.085391],[0.033822,-0.122261,0.991922]]2H?E  Q??-ܵ?,Q?{L@ҽ?i2]>I2L\;2CYFIByF{!IiMMb@Mb@Mb@IIII I9M~jt?T㥛 ~jt?YM?yMM9 ?Y ?=iGyFE>Q 54A?Q 94N)BY?Q E:yκ>Q I@DI]:iE:o4yBɮ@EjgOFNOT Ignoring new targets: 322.35 m.R[9Z[9gO ProNav: ac range: 322.353912 m, nav range: 319.102722 m, bearing: 26.805370 deg, approach rate: -0.645091 m/s, LOS rate: 0.011973 deg/s, cmd heading: 32.656705 deg, new cmd heading: 32.666317 deg. BJ9gOHeadingCmd: 0.570135 target range: 322.353912 and range: 324.20 m.Z?*" Bʎ   j Z$@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.766356ԡʃBɢ#) ‾i)Ai•iZ?kkC~IZ?IU9@Q @Y@]2@YE  E E E "E غ:*E F:VE ZE a @a @a @a @ ^Ay E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023269A ؟AI I O >) B5 >B1 B5 !IB5 qBB5  =B1 ,ezX@ABqBuk;Bu)E6JD>6w?6 ٱ6 >AHRS rotation from veh to nav: [[0.844457,-0.527320,-0.093948],[0.534539,0.840838,0.085204],[0.034066,-0.122170,0.991924]]6H?@` ?@%?ϵ?q?F@ؽ?i6JD>I6T\;6CYJOByJ!I LLbDRVDR02yZ<%ZY=ٔ^=)Q-^>9b"?Yb"?=biGy`b_Ef>dQ 5j4f B?Q 9n4fL)fBYlyn>Q In@fDIfL;ifY;fGv4ytɮvD@tjgOFNOT Ignoring new targets: 322.35 m.RI9ZI9gO ProNav: ac range: 322.353912 m, nav range: 318.870392 m, bearing: 26.809693 deg, approach rate: -0.591525 m/s, LOS rate: 0.011015 deg/s, cmd heading: 32.666315 deg, new cmd heading: 32.674968 deg. BC9gOHeadingCmd: 0.570286 target range: 322.353912 and range: 324.20 m.@?*" ʎjZ@!P @IɢM7# )I MtiQ)511i=i=@?EDEIE@?IA9@ @@/@@[A@BDAT read: Rx Time:00:38:02.4108 TRx dataTimestamp_ set to:1761698283.009563checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2718509^Ai A I1 IY E5  E5 E5 #E1 "E5 [:*E5 1]:VE5 3ZE1 BE5 ~,_`zX@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.523999Y}WBy!IiMb@Mb@Mb@ 9 r?S㥛?Y#?y/<A(@ )YAbDVD1y-<%-,=ٔ5Q-5>99Y9==iGy=F=EE>AQ 5M4E8B?Q 9M4EI)EBYU&?Q EU:yU >Q IU@E#DIE ;iE~ ;E~4yeBɮe@eEjgOFNOT Ignoring new targets: 322.35 m.RH9ZH9gO ProNav: ac range: 322.353912 m, nav range: 318.563141 m, bearing: 26.814731 deg, approach rate: -0.667973 m/s, LOS rate: 0.010962 deg/s, cmd heading: 32.674969 deg, new cmd heading: 32.685054 deg. B9gO%HeadingCmd: 0.570462 target range: 322.353912 and range: 324.20 m.% ?!*!") )))QUBʎYYYjYZ]@% @颭ɃBɢa) ci)UiɎi ?ܽDI ?I9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774368A ^A yA1 IA IQ Y Oe >,]zX@AN m>ND?N ٱN) ^AHRS rotation from veh to nav: [[0.844275,-0.527632,-0.093836],[0.534791,0.840808,0.083909],[0.034625,-0.121025,0.992045]]NH@L?\@??{? S?@|־?iN m>IN\;NCYnbByn!IzAAzAAbD~VD~yhx=%]=ٔ%źQ-%>9)Y)=-iGy)=Z:E=>AQ 5U4E01B?Q 9]4E?G)E BYaye(>Q Ie@E+DIEg;iE i;E4yiɮm @qPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 322.35 m.R@9Z@9E  E E (E "E I:*E |:VE c44ZE a@a@a@a@gOU ProNav: ac range: 322.353912 m, nav range: 318.321991 m, bearing: 26.818681 deg, approach rate: -0.641785 m/s, LOS rate: 0.010521 deg/s, cmd heading: 32.685054 deg, new cmd heading: 32.692960 deg. BU9gO]HeadingCmd: 0.570600 target range: 322.353912 and range: 324.20 m.]?Y*Y"a aʎjZ &@mDAT read: 00:38:02.4107 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 406, 0.16, 1.181,-0.383, 1.524, 0.652, PHS= 0.631,-0.990, 0.829, RAW= 155.7, -5.5, CAL= 155.6, -7.0, ROT= 354.4, 7.0 }Ygot valid direction response: 00:38:02.4107 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 406, 0.16, 1.181,-0.383, 1.524, 0.652, PHS= 0.631,-0.990, 0.829, RAW= 155.7, -5.5, CAL= 155.6, -7.0, ROT= 354.4, 7.0 PDAT read: Bearing 170.9, -2.3 (Local) ~Local bearing/azimuth received: Bearing 170.9, -2.3 (Local) DAT read: Range 11 to 50 : 321.8 m (Round-trip 429.1 ms) speed 0.4 m/s *DAT read: user:479> BDAT read: Tx time:00:38:03.5259 $Ping request sent.B%CB%!IB%BB% =B!B%qDB%j;B%)EBBBB =B =CD6@ @@@ ^A X9 A .AI I! O5 >C,{X@A2Mw>2d?2vٱ2 :AHRS rotation from veh to nav: [[0.844228,-0.527661,-0.094086],[0.534854,0.840758,0.084010],[0.034774,-0.121245,0.992013]]2H@? ?`|? ?͡? ?i2Mw>I2W];0YFfByF!IbDN VDN:2yVۑ<%VS=ٔVʹQ-Z>9Z ?YZ ?=ZiGyZF^jT9E^>`Q 5f4bDB?Q 9f4bD)b-BYdyj3>Q Ij@b3DIb:ib:bً4ylɮn@laekzX@AJeCReCje>eWfQs@A >lqCre3x!?˲S˸UM7P2Ze)+Ƚbe5=eY_;q@uiW3wa@ܩ>y7zeCU4?I#L?Q<<&2e C:eoC"eۇ?*eBe'BeWU?e“ae Ce>gO- addTargetRange:: Added new target pos. range: 321.799988 m, deltaT: 4.039647 s, deltaX: -2.400024 m, approachRate: -0.594117 m/s, rangeRepo size: 4 gO Added new target pos. range: 319.983154 m, bearing: 25.969361 deg, lat: 36.779430 deg, lon: -121.859199 deg, deltaT: 4.039647 s, deltaX: -2.370758 m, approachRate: -0.586873 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 319.98 m.RZgO ProNav: ac range: 319.983154 m, nav range: 318.097321 m, bearing: 26.055253 deg, approach rate: 0.000000 m/s, LOS rate: 0.010521 deg/s, cmd heading: 32.692960 deg, new cmd heading: 32.701108 deg. BgOHeadingCmd: 0.570742 target range: 319.983154 and range: 321.80 m.&?*"     ʎ j5t@Z=?颅ǃBɢ) BBi)ɷ顉i{i&?EI&?I-9@1 @1@=/0@9QEE EEEE$EA"EE:*EE[:VEE4ZEABEE.!),{X@A2h>2?2ɮٱ2c >AHRS rotation from veh to nav: [[0.844280,-0.527521,-0.094406],[0.534754,0.840823,0.083992],[0.035072,-0.121397,0.991984]]2H`W?t+??|??U?i2h>I2,\;2CYFoByF!IiUMb@Mb@Mb@QQQQ Q9U'1Z?Qy&1?YU"?yUU`9"?Y"?=iGyXE>Q 54ZB?Q 94B);BY%?Q E:y>Q I@ B >B B !IB BB B B pDB Sj;B )EN,7{X@AB[+>Blk?B)ٱBM NAHRS rotation from veh to nav: [[0.844535,-0.527152,-0.094192],[0.534363,0.841061,0.084096],[0.034890,-0.121355,0.991996]]BHm?`m@`?@?P?ݡ?n?iB[+>IBb\;BCYeuBye!I u;ubD}VD}ky<%;=ٔ 9Q->9Y=iGyF:E>Q 54pB?Q 94N?)JBYyn>Q I@EDI;i; 4yɮ@EjgOFNOT Ignoring new targets: 319.98 m.R9Z9gO ProNav: ac range: 319.983154 m, nav range: 317.538269 m, bearing: 26.062415 deg, approach rate: -0.643813 m/s, LOS rate: 0.008290 deg/s, cmd heading: 32.708225 deg, new cmd heading: 32.715445 deg. Br9gOHeadingCmd: 0.570992 target range: 319.983154 and range: 321.80 m.,?*"   ʎjZ@oU?EŃBɢE)A M(iI)MIIiMiU,?Um_G]$ I],?IY!)@) @)@)@)Y^A I1 E]  E] E] #EY "E] :*E] R:VE] 3ZEY BE] M,t R{X@Af'>fi?f*uٱf nAHRS rotation from veh to nav: [[0.844553,-0.527204,-0.093739],[0.534343,0.841124,0.083598],[0.034773,-0.120691,0.992081]]fH? `?U?|?f?͡?@徿` ?if'>If\;fCttiIIi )!! %q@!!!))I)))i1)1I111 199=hi=F9iECE^A)E7 EEIAYAYUByU!IiMb@Mb@Mb@ 9MbX9?y&1Mb?Y!?y`彙= | A)AY AbDVDJyf=%P=ٔ 9Q- >9 Y = iGyUE>Q 5%4!B?Q 9-4<)WBY-$?Q E-:y-q>Q I5@MDI 2;i$1;4y9ɮ=@9jagOeFNOT Ignoring new targets: 319.98 m.Rm8Zm8gO} ProNav: ac range: 319.983154 m, nav range: 317.287903 m, bearing: 26.065107 deg, approach rate: -0.636706 m/s, LOS rate: 0.006853 deg/s, cmd heading: 32.715445 deg, new cmd heading: 32.720835 deg. B}H9gOHeadingCmd: 0.571086 target range: 319.983154 and range: 321.80 m.2?*"   ΃Bʎ  jZH?}ÃBɢ}d) $i)κ顁i(i2?"H I2?IQ]9@Y @Y@]N4@Y@a@eZAԁ^A I I O >ԩ r,k{X@ANP>NT?N ٱN* VAHRS rotation from veh to nav: [[0.844728,-0.526975,-0.093447],[0.534079,0.841291,0.083598],[0.034562,-0.120526,0.992108]]NH?@췿,??f??ھ Z?iNP>IN \;NCYeBye!IbDuVDuNy=%O=ٔ+ :Q->E EE%E"E:*E[:VE 4ZEa@a@a@a@9Y=iGyFOE> Q 54 B?Q 9%4 ,:) eBY!y%G>Q I%@ UDI Mu;i v; 4y1ɮ=y@9PeB*** querying acoustic contact ***a ajqgO}FNOT Ignoring new targets: 319.98 m.R8Z8ԑgO ProNav: ac range: 319.983154 m, nav range: 317.032379 m, bearing: 26.067875 deg, approach rate: -0.630201 m/s, LOS rate: 0.006831 deg/s, cmd heading: 32.720834 deg, new cmd heading: 32.726373 deg. BH9gOHeadingCmd: 0.571183 target range: 319.983154 and range: 321.80 m. 9?*" ʎT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ijiZm@@颵ƒBɢ) ҽi)项i맏i 9?HWI 9?II[A)ZAB>BߍCB!IBBB =BBoDB.j;B{)E9@ @@/@^A zIA IY Oe > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252313 X,종{X@A2ܰ>2D?2 ٱ2c :AHRS rotation from veh to nav: [[0.844869,-0.526792,-0.093205],[0.533864,0.841438,0.083495],[0.034442,-0.120301,0.992140]]2H* ?zLܷi?`?@_?^?̾?i2ܰ>I2P];2CY9y9IIbDMVDMy];%eQ=ٔe,9Q-e>9iYi=miGyim.Eu>qQ 5}4uB?Q 94u7)urBYy#>Q I@u]DIu;iu4:u4yɮr@jgOFNOT Ignoring new targets: 319.98 m.RF9ZF9gO ProNav: ac range: 319.983154 m, nav range: 316.787140 m, bearing: 26.070547 deg, approach rate: -0.647693 m/s, LOS rate: 0.007064 deg/s, cmd heading: 32.726373 deg, new cmd heading: 32.731722 deg. BN9gOHeadingCmd: 0.571276 target range: 319.983154 and range: 321.80 m.*??*" ʎjZ`@ɢ) ͽi)8!i%i%*??-ãI-՘I-*??I)9@ @@@E EE'E"E,:*EF:VE'4ZEBEI R,~{X@A2>2*?2 ٱ2K >AHRS rotation from veh to nav: [[0.845081,-0.526467,-0.093112],[0.533530,0.841648,0.083510],[0.034402,-0.120250,0.992147]]2H ?+ַ??`?.?Ⱦ?i2>I2\;2CYFByF!IiMb@Mb@Mb@ 9E?1Zd:v?Y&?y"۽<@  A) AY\AbD-VD-y==%=M=ٔ=8Q-E>9AYA=EiGyEFMEM>Qechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.756421Q 54UfB?Q 94U4)UBY)?Q E:y>Q I@UeDIU/ECE EEE"E:*Ega:VEZEa @a @a @a @E¿9AYMdAy?(A^A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008352Iq I Ա O >B u>B ݍCB "IB BB  =B B mDB &j;B l)E6,X{X@A6㔰>61 ?6 ٱ6T >AHRS rotation from veh to nav: [[0.845162,-0.526349,-0.093046],[0.533402,0.841734,0.083458],[0.034392,-0.120167,0.992158]]@6H ?ѷ?|?@]?ӛ?Dþ?i6㔰>I6\;4YJByJ!IbD VD yE%;%E;=ٔE.7Q-M>9IYI=MiGyIUִEU>YQ 5e4]B?Q 9e4]1)]BYaye>Q Im@]oDI]:i]:]>4yqɮ}@yjgOFNOT Ignoring new targets: 319.98 m.RX8ZX8gO ProNav: ac range: 319.983154 m, nav range: 316.237396 m, bearing: 26.075476 deg, approach rate: -0.687589 m/s, LOS rate: 0.006184 deg/s, cmd heading: 32.736414 deg, new cmd heading: 32.741587 deg. B59gOHeadingCmd: 0.571449 target range: 319.983154 and range: 321.80 m.sJ?*" ʎjZ > @BɢS ) i)V i$vi sJ?wK/"IsJ?I%x>i%>ԩu"DAT read: .3563 }@unknown deviceResponse_: .3563 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2621679@ @@0@^A I bEʻ 4jE 4rE 0E  E E %E "E m:*E R:VE 4ZE BE S5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514432Ř,G{X@Ah5>5L?5] ٱ5? EAHRS rotation from veh to nav: [[0.845179,-0.526311,-0.093107],[0.533379,0.841730,0.083653],[0.034343,-0.120363,0.992136]]5H ?շp?s?Hj?i? о?i5>I5\;5CYUBy]!IiMb@Mb@Mb@ 9?+η~jt?Yf&?yv<A | A)YA bDVDyoy<%N=ٔ E9Q- >9Y=iGyFtE>Q 5%4B?Q 9%4'/)BY-*(?Q E-:y->Q I-@wDIG ;i ;04y5Bɮ=@=EjYgOeFNOT Ignoring new targets: 319.98 m.Re8Ze8gO ProNav: ac range: 319.983154 m, nav range: 315.977295 m, bearing: 26.076895 deg, approach rate: -0.655134 m/s, LOS rate: 0.003579 deg/s, cmd heading: 32.741588 deg, new cmd heading: 32.744429 deg. B8gOHeadingCmd: 0.571498 target range: 319.983154 and range: 321.80 m.M?*" !!AMBʎIIIjIZU' @额Bɢyh߼) yi) 3x  i +@iM?=sL*%#IM?I9@ @@`0@)DAT read: 00:38:06.3563 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 407, 0.40,-0.042,-1.279, 0.346,-0.296, PHS= 0.356,-0.938, 0.598, RAW= 158.4, -0.2, CAL= 157.3, -1.7, ROT= 352.7, 1.7 Ygot valid direction response: 00:38:06.3563 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 407, 0.40,-0.042,-1.279, 0.346,-0.296, PHS= 0.356,-0.938, 0.598, RAW= 158.4, -0.2, CAL= 157.3, -1.7, ROT= 352.7, 1.7 PDAT read: Bearing 175.2, -4.9 (Local) ~Local bearing/azimuth received: Bearing 175.2, -4.9 (Local) DAT read: Range 11 to 50 : 319.6 m (Round-trip 426.2 ms) speed 0.3 m/s  *DAT read: user:480>  BDAT read: Tx time:00:38:07.4759 $Ping request sent.iu pu?u;0@udu/@ u)u@Iu,{X@A2>21?2o ٱ2q :AHRS rotation from veh to nav: [[0.845013,-0.526477,-0.093680],[0.533625,0.841539,0.084006],[0.034608,-0.120976,0.992052]]2H X ?`i u?@?@m?&?M?i2>I2:\;2CYrByr!I ttbDVDk1y5=%5Y=9ٔ]6Q-]>9aYa=miGyimqL:Eu>yQ 54}B?Q 94}p,)}BYy>Q I@}DI}5;i}6;}4yɮ@E EEE"E,:*Ec:VEZEa@a@a@a@{X@AJCRCj>Ls@no.D}<"r)?4%A `Ztwb<x"r@(2Z`@c@zГ ?-+gO} addTargetRange:: Added new target pos. range: 319.600006 m, deltaT: 3.780589 s, deltaX: -2.199982 m, approachRate: -0.581915 m/s, rangeRepo size: 4 gO Added new target pos. range: 317.774353 m, bearing: 24.820591 deg, lat: 36.779430 deg, lon: -121.859199 deg, deltaT: 3.780589 s, deltaX: -2.208801 m, approachRate: -0.584248 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 317.77 m.RZgO ProNav: ac range: 317.774353 m, nav range: 315.727264 m, bearing: 26.078248 deg, approach rate: 0.000000 m/s, LOS rate: 0.003579 deg/s, cmd heading: 32.744429 deg, new cmd heading: 32.747336 deg. BgOHeadingCmd: 0.571549 target range: 317.774353 and range: 319.60 m.Q?*" ʎjs@Z |?qɢuխؼ)q u>iy)}Žyyi}iQ?+IMpIQ?IBM<AMp<B]s>B]܍CB]"IB]̃BB] =BYBYB]2j;B]p)EqE9@A @A@E4@A@M\A@M[Aԑ^Am &I I O >i߁ I߁ 1,|X@A2^>2n_?2dٱ2 :AHRS rotation from veh to nav: [[0.844633,-0.527102,-0.093586],[0.534209,0.841245,0.083229],[0.034859,-0.120293,0.992126]]2H<? `A=?@{?~N?ء?`}˾?i2^>I20\;2CYBByF!IbDNVDN0yVW<%VS=ٔV&,Q-Z>9XYX=ZiGyZF^:E^>`Q 5f4bC?Q 9f4b))bBYdyf>Q Ij@bDIbp:ib:b4ylɮUh@QPuB*** querying acoustic contact ***q qjygOFNOT Ignoring new targets: 317.77 m.R8Z8gO ProNav: ac range: 317.774353 m, nav range: 315.478302 m, bearing: 26.079566 deg, approach rate: -0.668679 m/s, LOS rate: 0.003545 deg/s, cmd heading: 32.747335 deg, new cmd heading: 32.749975 deg. ԙB8gOHeadingCmd: 0.571595 target range: 317.774353 and range: 319.60 m. T?*" ʎjZ`?Bɢ Ӽ) Hi)ifi% T?-#N-;;I- T?I1@ @@/@E EE$E"EO;*E;J:VE4ZEBE&Yy M, |X@A2_>2?2ٱ2 :AHRS rotation from veh to nav: [[0.844323,-0.527656,-0.093269],[0.534699,0.840999,0.082569],[0.034871,-0.119586,0.992211]]2H?r෿B?@v?`?#?`ڡ? )2?i2_>I2h\;2CYBByF!Ii Mb@Mb@Mb@     9 %C?zGếy&1?Y Z$?y  ׽ `e<  @ ) jA Y fA!%@AbD%VD%02y5<%5B=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.987641ٔE Q-M>9IYI=MiGyIUг:EU>Q 5 4S&C?Q 9 4&)BY &?Q E :y >Q I @DI3:i:H4yBɮ2@EjAgOEFNOT Ignoring new targets: 317.77 m.RMQ8ZMQ8QgO] ProNav: ac range: 317.774353 m, nav range: 315.190155 m, bearing: 26.082156 deg, approach rate: -0.672168 m/s, LOS rate: 0.006047 deg/s, cmd heading: 32.749975 deg, new cmd heading: 32.755159 deg. B]19gOeHeadingCmd: 0.571685 target range: 317.774353 and range: 319.60 m.eY?a*i"i iiiqqʎqqyjyZ}`?颡ɢͼ) i)-顩iaiY?NqIY?Im9@i @i@i@iԁE EE#E"Eg:*Ega:VE3ZEa@a@a@a@ԩ^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.239746I1 IA O >BM y>BM ݍCBM ("IBM փBBI BI BM nDBM Oj;BM )EB ݍCB ލCB ʕCB  =B  =C ʍ6 ,:|X@A6ȱ>6?6xٱ6r BAHRS rotation from veh to nav: [[0.843890,-0.528459,-0.092634],[0.535373,0.840713,0.081101],[0.035020,-0.118034,0.992392]]6H$?#⶷!?`?@ ô?+?7`?i6ȱ>I6\;6CYJByHbDVVDV1yZI[%^S=ٔ^=˹Q-^>9`Y`=biGybFf;Ef>dQ 5j4f8C?Q 9n4fF$)fBYlyn$>Q In@fDIf;if<;f4ytɮvB@vEj gOFNOT Ignoring new targets: 317.77 m.R8Z8gO% ProNav: ac range: 317.774353 m, nav range: 314.953705 m, bearing: 26.084253 deg, approach rate: -0.648295 m/s, LOS rate: 0.005753 deg/s, cmd heading: 32.755159 deg, new cmd heading: 32.759356 deg. B-u(9gO-HeadingCmd: 0.571759 target range: 317.774353 and range: 319.60 m.-^?1*1"1 11199ʎ9AAjAZE?iɢuwϼ)q upiq)uYqyi}i^?hOVyI^?IԹ9@ @@@@@=Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.491783^A5K'IIO> E  E E &E "E ,:*E ;J:VE 4ZE BE }f?}ٱ}w AHRS rotation from veh to nav: [[0.843134,-0.529827,-0.091701],[0.536544,0.840188,0.078775],[0.035309,-0.115620,0.992666]]}H ?Xy]+?@?*??`A ?i}K>I}\;}CYBy!Ii%Mb@Mb@Mb@!!!! !9%MbX9?)\(Mb?Y%!?y%GὙ%<%A! %fA)%A!Y%=AbD=VD=1yM(<%U2=ٔUp%Q-U>9YYY=]iGyY]G;Ee>aQ 5u4e_OC?Q 9u4eK!)e̪BYuF$?Q Eu:yu>Q Iu@eDIeX;ie ;e4yɮ@ j)gO-FNOT Ignoring new targets: 317.77 m.R5l8Z5l8gOE ProNav: ac range: 317.774353 m, nav range: 314.661652 m, bearing: 26.087300 deg, approach rate: -0.615769 m/s, LOS rate: 0.006432 deg/s, cmd heading: 32.759356 deg, new cmd heading: 32.765457 deg. BEV<9gOmHeadingCmd: 0.571865 target range: 317.774353 and range: 319.60 m.me?i*i"i iiqqqʎqyyjyZ} Q ,Vn|X@A 2>2?24ٱ2 >AHRS rotation from veh to nav: [[0.843054,-0.530015,-0.091348],[0.536678,0.840133,0.078440],[0.035170,-0.115154,0.992725]]2HL? bv,?_?@? ?zg?i2>I2\;2CYJByJ!I p< <bDVD:y-%-`=ٔ59Q-5>99Y9==iGyEFE9EE>QQ 5]4UaC?Q 9e4U)UժBYaye>Q Ie@UDIUC;iUD;U4yqɮu@yE EE%E"EI:*Ex:VE 4ZEa@a@a@a@jgOFNOT Ignoring new targets: 317.77 m.RK8ZK8gO ProNav: ac range: 317.774353 m, nav range: 314.427094 m, bearing: 26.089747 deg, approach rate: -0.657866 m/s, LOS rate: 0.006866 deg/s, cmd heading: 32.765459 deg, new cmd heading: 32.770355 deg. B I9gOHeadingCmd: 0.571951 target range: 317.774353 and range: 319.60 m.[k?*" ʎjZ@ɢ%@.ʼ)! %i!)%!)i-Mi-[k?5RP5_컝checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247632I5[k?IqAAAAB~>BލCB."IB܃BB =BBB0@ԙ^Ar m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500159A I) I9 OE >D!,D2|X@A6r>6?6iٱ6 FAHRS rotation from veh to nav: [[0.843126,-0.529903,-0.091327],[0.536568,0.840196,0.078527],[0.035121,-0.115211,0.992720]]6H?5a+??Z?Z?~~\?i6r>I6\;6CPY^By^!IbDVD2yIڻ%4=ٔ8Q->9Y=iGyFNE>Q 54xC?Q 94)BYy>Q I@DIo;i;4yBɮ@EPUB*** querying acoustic contact ***Y YjagOeFNOT Ignoring new targets: 317.77 m.RmJ8ZmJ8gO} ProNav: ac range: 317.774353 m, nav range: 314.137939 m, bearing: 26.092774 deg, approach rate: -0.631735 m/s, LOS rate: 0.006620 deg/s, cmd heading: 32.770356 deg, new cmd heading: 32.776416 deg. B}A9gOHeadingCmd: 0.572056 target range: 317.774353 and range: 319.60 m.Ir?*" ʎjZ@@ɢSjʼ) 0i)PiэiIr?(Q([IIr?IE EE(E"E:*EF:VEc44ZEBE#(,"|X@A2>2 ?2yٱ2 :AHRS rotation from veh to nav: [[0.843048,-0.529882,-0.092164],[0.536692,0.839987,0.079893],[0.035083,-0.116817,0.992534]]2H@? @,?,?s?]?@罿?i2>I2=\;0YRByR"Ixchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.003685iEMb@Mb@Mb@AAAA A9EMbX9?`"Mb?YAyEAEAE@ EA)AAYEAbD]VD]ܲym<%ma=ٔmW8Q-m>9qYq=uiGyq}9E}>Q 54SC?Q 94)BY$?Q E:yM>Q I@DI` ;i ;P4yɮ@jgOFNOT Ignoring new targets: 317.77 m.R#9Z#9gO ProNav: ac range: 317.774353 m, nav range: 313.905823 m, bearing: 26.095913 deg, approach rate: -0.660028 m/s, LOS rate: 0.008934 deg/s, cmd heading: 32.776415 deg, new cmd heading: 32.782699 deg. B΂9gOHeadingCmd: 0.572166 target range: 317.774353 and range: 319.60 m.yy?*" փBʎjZ)j@颙ɢż) Ai)Ӿ顩iiyy?QIyy?IR>i>!a@i @i@m4@iIDzD?AE EE%E"E:*E:VE 4ZEa@a@a@a@^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.256717B }>B B B B B B B j;B c)Ey A I1 II OU >~H.,q|X@A6{p>6 ?6Wٱ6$2 >AHRS rotation from veh to nav: [[0.843197,-0.529527,-0.092851],[0.536450,0.840059,0.080765],[0.035233,-0.117911,0.992399]]6H@w?ŷ*?? ? ?@j/?i6{p>I6e\;6CYJByJ"IPRAAbDRVDRNyZKr<%ZW=ٔ^XϹQ-^>9\Y`=biGy`bADEb>dQ 5j4f`C?Q 9j4fH)fBYlyn.>Q In@fDIf;if/;f4ypɮr@tj gO FNOT Ignoring new targets: 317.77 m.RK9ZK9gO% ProNav: ac range: 317.774353 m, nav range: 313.662933 m, bearing: 26.099215 deg, approach rate: -0.639905 m/s, LOS rate: 0.008704 deg/s, cmd heading: 32.782698 deg, new cmd heading: 32.789306 deg. B%~9gO-HeadingCmd: 0.572281 target range: 317.774353 and range: 319.60 m.-?)*)") 11119ʎ999jAZEws @Yqɢu¼)q uлiq)}Mݾyyi}i?k4RIDI?I59@1 @1@5/@15BDAT read: Rx Time:00:38:10.3033 5TRx dataTimestamp_ set to:1761698291.073238=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508727ԉ^AUΒԱA I I O >E  E E "E "E ,:*E g:VE (3ZE BE ?rSٱ"C AHRS rotation from veh to nav: [[0.843477,-0.529040,-0.093081],[0.536009,0.840293,0.081254],[0.035229,-0.118428,0.992338]]H?"Է&?? ʹ?y ?`GQ:?i+>IT\;CY=By="IE=E=i=Mb@Mb@Mb@9999 99=jt?x&/$?Y= ?y=7 =<9=@ =A)=A9Y=AbDVD2y(%=ٔ 7Q->9Y=iGyFE>Q 54aC?Q 94)BYy$?Q E:y>Q I@́DIn:i3:M 4yɮ@Ej gOFNOT Ignoring new targets: 317.77 m.RJ9ZJ9gO- ProNav: ac range: 317.774353 m, nav range: 313.321991 m, bearing: 26.105153 deg, approach rate: -0.635977 m/s, LOS rate: 0.011089 deg/s, cmd heading: 32.789307 deg, new cmd heading: 32.801196 deg. B-Y9gO5HeadingCmd: 0.572489 target range: 317.774353 and range: 319.60 m.5?1*1"1 1119=BʎAAAjAZE@Ƚ@qɢugƼ)q uuiq)}yyi}@i?<S I?IeDAT read: 00:38:10.3033 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.44,-2.243, 2.874,-1.946,-2.551, PHS= 0.410,-0.813, 0.561, RAW= 155.8, -2.5, CAL= 155.1, -3.8, ROT= 354.9, 3.8 uYgot valid direction response: 00:38:10.3033 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.44,-2.243, 2.874,-1.946,-2.551, PHS= 0.410,-0.813, 0.561, RAW= 155.8, -2.5, CAL= 155.1, -3.8, ROT= 354.9, 3.8 }PDAT read: Bearing 173.1, -2.4 (Local) }~Local bearing/azimuth received: Bearing 173.1, -2.4 (Local) DAT read: Range 11 to 50 : 317.4 m (Round-trip 423.2 ms) speed 0.4 m/s *DAT read: user:481> BDAT read: Tx time:00:38:11.4259 $Ping request sent.i5 P5?5.@5¸25?-@ 5ԇ)56@I5ԇ=115o}kD??_3奿 5j?)5M7/=I5Ki5ԇ=11:publishing transmit ping timeFpublishing direction and range infoy15~*?x{SY11111 1)1I1i11111 1)1I1115o}kD??_3奿 1)1I1i1119@ @@t3@@@=1Y ^A] z gG  19 Y xAD =D =E  E E &E "E :*E H:VE 4ZE a @a @a @a @ԁA.AIIO><,|X@AF>F?FuٱF ^AHRS rotation from veh to nav: [[0.843694,-0.528569,-0.093779],[0.535665,0.840401,0.082394],[0.035261,-0.119750,0.992178]]FH?` *$??`? ?@觾?iF>IF\;FCYfByj!IbDVDkB>BBBB =BBoDBi;B;)Ey5%5[=ٔ=Q-=>9= ?Y= ?=EiGyEFE+EE>IQ 5u4M C?Q 9u4M)MBYyy}p>Q I}@MԁDIM%;iM;M4yɮ@|X@AJ̝CR̝Cj e>wb{s@7;UXH1o4r~*?x{SZKbԇ=CE0q@5~|}a@pwW\zA?wЗ?~O7[2C:C":{j?*6fB nB:{j?“!fBC">gO5 addTargetRange:: Added new target pos. range: 317.399994 m, deltaT: 4.031035 s, deltaX: -2.200012 m, approachRate: -0.545769 m/s, rangeRepo size: 4 gOE Added new target pos. range: 315.595703 m, bearing: 26.901563 deg, lat: 36.779433 deg, lon: -121.859199 deg, deltaT: 4.031035 s, deltaX: -2.178650 m, approachRate: -0.540469 m/s, posRepo size: 4 jAgOEFNOT Ignoring new targets: 315.60 m.RmZigO} ProNav: ac range: 315.595703 m, nav range: 313.310883 m, bearing: 26.089159 deg, approach rate: 0.000000 m/s, LOS rate: 0.011089 deg/s, cmd heading: 32.801195 deg, new cmd heading: 32.809741 deg. BygOHeadingCmd: 0.572638 target range: 315.595703 and range: 317.40 m.g?*" ʎj`fs@Z@W?ɢ-6}ɼ)) - i))-)1i5Ebi5g?=S=^<I=g?I99@ @@/@^AI A ؟AI! I9 OM >zC,|}X@A6|>6~?6ٱ6j >AHRS rotation from veh to nav: [[0.843646,-0.528568,-0.094216],[0.535715,0.840373,0.082358],[0.035645,-0.119954,0.992139]]6H&?@$?U? q?@?@T?i6|>I6Q\;4YFByF!IbDRVDRyV %ZT=ٔZ[Q-Z>9^"?Y^"?=^iGy\b89Eb>dQ 5f4fC?Q 9j4f)fBYhyjz>Q Ij@f܁DIf:if :f4y]Bɮ]@]EP}B*** querying acoustic contact ***y yjgOFNOT Ignoring new targets: 315.60 m.RK9ZK9gO ProNav: ac range: 315.595703 m, nav range: 313.064972 m, bearing: 26.093449 deg, approach rate: -0.636790 m/s, LOS rate: 0.011120 deg/s, cmd heading: 32.809739 deg, new cmd heading: 32.818328 deg. B΢9gOHeadingCmd: 0.572788 target range: 315.595703 and range: 317.40 m.:?*" ʎjZ̧?ɢܼ) Hi)ii'8i:?ƒTI:?IbEjE 4rE/E= E=E9E9"E=I:*E=:VE9ZE9BE= checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995926BI,t(}X@A2'ܱ>2?2ٱ2O :AHRS rotation from veh to nav: [[0.843790,-0.528361,-0.094091],[0.535487,0.840534,0.082193],[0.035659,-0.119738,0.992165]]2H`T?TR"? ? ?A?"п?i2'ܱ>I2\;2C@YFByF"I HHLNAiUMb@Mb@Mb@QQQQ Q9US?x&~jt?YU/?yQU9% ?Y% ?=%iGy%F-E->1Q 5=45C?Q 9=45 )5*BYE!?Q EE:yED>Q IE@5DI5%;i5:5b"4yIɮM@UEjqgO}FNOT Ignoring new targets: 315.60 m.R}W9Z}W9gO ProNav: ac range: 315.595703 m, nav range: 312.784576 m, bearing: 26.098573 deg, approach rate: -0.644859 m/s, LOS rate: 0.011795 deg/s, cmd heading: 32.818328 deg, new cmd heading: 32.828585 deg. B9gOHeadingCmd: 0.572967 target range: 315.595703 and range: 317.40 m.?*" ʎjZ@H?ɢ+Ƽ) Fi)3i冠i?^Ul2I?Iiԩ9@ @@ @ @\A@ZAE= E=E=(E9"E=:*E=rN:VE=c44ZE9aE@aE@aE@aE@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.248089B>BCB5"IBBB =BBpDBsi;B")E^AI AQ zAU WA A ؟AI I O >όP,NB}X@A26>2?2ٱ2I :AHRS rotation from veh to nav: [[0.843763,-0.528421,-0.094002],[0.535524,0.840544,0.081855],[0.035759,-0.119407,0.992201]]2H@?#??s?N?m?i26>I2\;0Y\y^"IbDjVDj0lyrg%r`=ٔvQ-v>9v"?Yv"?=ziGyxz9Ez>|Q 54~D?Q 94~ )~6BY y H>Q I @~DI~:i~:~(4yɮ@j9gOEFNOT Ignoring new targets: 315.60 m.RE1Q9ZE1Q9gOU ProNav: ac range: 315.595703 m, nav range: 312.557526 m, bearing: 26.102729 deg, approach rate: -0.624131 m/s, LOS rate: 0.011431 deg/s, cmd heading: 32.828584 deg, new cmd heading: 32.836900 deg. BUZ9gO]HeadingCmd: 0.573112 target range: 315.595703 and range: 317.40 m.]x?Y*Y"a aaaaiʎiiijiZu`~?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500021颥BɢFǼ) Qi)顱iix?VIx?I59@1 @1@50@9 9^AUE= E=E=%E9"E=:*E=L_:VE= 4ZE9BE=vԉ V,)\}X@A2>2?2ٱ2 :AHRS rotation from veh to nav: [[0.843631,-0.528698,-0.093620],[0.535727,0.840489,0.081080],[0.035820,-0.118557,0.992301]]2H?`} $? J?@?V?Y?i2>I2t\;0Y^ǃByb"IYiMb@Mb@Mb@ 9S?MbS㥛?Yy/<K A@ A)YbD VD2yp=%>=ٔ)Q->9Y=iGyFP:E>Q 54D?Q 94j)DBY ?Q E:ym>Q I@DI& ;iT ;D04yɮ@j gO FNOT Ignoring new targets: 315.60 m.R;9Z;9gO% ProNav: ac range: 315.595703 m, nav range: 312.290070 m, bearing: 26.107133 deg, approach rate: -0.621762 m/s, LOS rate: 0.010248 deg/s, cmd heading: 32.836899 deg, new cmd heading: 32.845716 deg. B% 9gO-HeadingCmd: 0.573266 target range: 315.595703 and range: 317.40 m.-?)*)") )111=ǃBʎ999j9ZEZ?iɢmҳ)i m EU  EU EQ EQ "EU ,:*EU V:VEQ ZEQ ae @ae @ae @ae @] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255866\,Kv}X@A21>2X?2mٱ2`B^>B\B\B\B^ =B\B^oDB^Gi;B^ )EB}ލCB}ߍCB}CB} =B} =C}06 AHRS rotation from veh to nav: [[0.843662,-0.528633,-0.093713],[0.535668,0.840541,0.080933],[0.035985,-0.118479,0.992304]]2HF?0$?? ? l?`T?i21>I2\;2CYMByU "IbDeVDe:2yu %uN=ٔuڹQ-}>9yYy=}iGyy6/E>Q 54v/D?Q 94)QBYyc>Q I@DI;i:674yɮ@ԩjgOFNOT Ignoring new targets: 315.60 m.R;9Z;9gO ProNav: ac range: 315.595703 m, nav range: 312.042908 m, bearing: 26.111214 deg, approach rate: -0.620910 m/s, LOS rate: 0.010259 deg/s, cmd heading: 32.845717 deg, new cmd heading: 32.853885 deg. B39gOHeadingCmd: 0.573408 target range: 315.595703 and range: 317.40 m.?*" ʎjZ @qɢuۺ)q uFI?I9@A @A@E4@A@M=@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.509067^AuXA}?A}>A I I O >1 c,}X@A2T>2j?2jmٱ2, :AHRS rotation from veh to nav: [[0.843620,-0.528684,-0.093798],[0.535733,0.840488,0.081051],[0.035985,-0.118627,0.992287]]2H?$?G?ɿ?l?X^?i2T>I2\;2CE EE&E"E:*E;J:VE4ZEBE19Y=iGyFz9E>Q 5%4HD?Q 9-4 )bBY)y5n>Q I5@DI(;iH;9@4y9ɮ=@=EAP]B*** querying acoustic contact ***Y YjigOmFNOT Ignoring new targets: 315.60 m.Ru:9Zu:9gO ProNav: ac range: 315.595703 m, nav range: 311.722046 m, bearing: 26.116516 deg, approach rate: -0.616157 m/s, LOS rate: 0.010192 deg/s, cmd heading: 32.853886 deg, new cmd heading: 32.864501 deg. B99gOHeadingCmd: 0.573594 target range: 315.595703 and range: 317.40 m. ?*" ʎjZ@ɢٵ) `ʖj,i}X@A2E>2?2Lbٱ2 :AHRS rotation from veh to nav: [[0.843690,-0.528614,-0.093571],[0.535641,0.840534,0.081191],[0.035731,-0.118620,0.992297]]2H ?`g`>#??ȴ?@JK?]?i2E>I2!\;0 BLC)B`AB`eB F@FYCF`AiF+IFEDIhij&aA jQ8jAF)hl n`AnnyElln`AIr)rEip)pIr`ArvF t C  i i CA) IY)YσBy"IimMb@Mb@Mb@iiii i9mGz?~jt?Ymp?ymm9Y=iGyʠE>Q 54[D?Q 94)mBY ?Q E:y>Q I@DI;i;F4yBɮ-@jgOFNOT Ignoring new targets: 315.60 m.RW69ZW69gO  ProNav: ac range: 315.595703 m, nav range: 311.491119 m, bearing: 26.120152 deg, approach rate: -0.632336 m/s, LOS rate: 0.009963 deg/s, cmd heading: 32.864500 deg, new cmd heading: 32.871777 deg. B ߑ9gOHeadingCmd: 0.573721 target range: 315.595703 and range: 317.40 m.]?*" !%Bʎ!!)j)Z- e @QɢU)]`y ]=iY)]laaieu䧻im]?m%Yml Im]?IiE- E-E-%E)"E-:*E-:VE- 4ZE)a5@a5@a5@a5@YBDAT read: Rx Time:00:38:14.2498 TRx dataTimestamp_ set to:1761698294.853681checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2655659@ @@/@B>BߍCBA"IBBB =BBBi;B(EA!I1ԁIO}>Ա wq,'}X@A&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5160736>6?6ٱ6 BAHRS rotation from veh to nav: [[0.843721,-0.528583,-0.093460],[0.535622,0.840479,0.081874],[0.035274,-0.119138,0.992251]]6H?'@췿#? 5?`?g??i6>I6\;4Y̓By"I  AbD VD2ym~%ma=ٔm:Q-m>9qYq=uiGyuF}"E}>Q 54lD?Q 94)yBYy>Q I@DI`:i: M4ԙyɮC@jgOFNOT Ignoring new targets: 315.60 m.R39Z39gO ProNav: ac range: 315.595703 m, nav range: 311.265045 m, bearing: 26.123717 deg, approach rate: -0.622091 m/s, LOS rate: 0.009817 deg/s, cmd heading: 32.871778 deg, new cmd heading: 32.878913 deg. B9gO HeadingCmd: 0.573845 target range: 315.595703 and range: 317.40 m. ? *" ʎ!!)j)Z5`5 @Bɢug)  =i ) ľ顑i;ai-?-u~Z-~"I5?I19@ @@/@E] E]E]'EY"E]:*E]V:VE]'4ZEYBE][  w,}X@A2Ǵ>2#?2@ٱ2 :AHRS rotation from veh to nav: [[0.843979,-0.528162,-0.093510],[0.535251,0.840597,0.083083],[0.034723,-0.120172,0.992146]]2H?F` ?+?D?,ǡ? þ ?i2Ǵ>I2|\;2CYӃBy$"IiMb@Mb@Mb@ 9T㥛 ?Zd;O?Y!?yj< A A)=AYAbD-VD-:y=<%===ٔE:Q-E>9AYA=MiGyIM@EM>QQ 5]4UuD?Q 9]4U)UBYeG$?Q Ee:ye>Q Ie@UDIU:iU:UT4yiɮm@uEjgOFNOT Ignoring new targets: 315.60 m.RP09ZP09gO ProNav: ac range: 315.595703 m, nav range: 310.990356 m, bearing: 26.127867 deg, approach rate: -0.637162 m/s, LOS rate: 0.009634 deg/s, cmd heading: 32.878912 deg, new cmd heading: 32.887219 deg. B 9gOHeadingCmd: 0.573990 target range: 315.595703 and range: 317.40 m.?*" BʎjZ e@ɢE) <=i)vi2i ? W[ d+iIIIDAT read: 00:38:14.2498 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 406, 0.01, 2.287, 1.067, 2.617, 1.896, PHS= 0.493,-0.784, 0.677, RAW= 156.6, -5.7, CAL= 156.6, -7.2, ROT= 353.4, 7.2 Ygot valid direction response: 00:38:14.2498 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 406, 0.01, 2.287, 1.067, 2.617, 1.896, PHS= 0.493,-0.784, 0.677, RAW= 156.6, -5.7, CAL= 156.6, -7.2, ROT= 353.4, 7.2 PDAT read: Bearing 169.0, -3.3 (Local) ~Local bearing/azimuth received: Bearing 169.0, -3.3 (Local) DAT read: Range 11 to 50 : 314.7 m (Round-trip 419.7 ms) speed 0.6 m/s *DAT read: user:482> BDAT read: Tx time:00:38:15.3759 $Ping request sent.iU9HUO-?U.@U%˽U.@ U)U4`@IU>QQUdEfX??9 U#?)U!=IUiU>QQ:publishing transmit ping timeFpublishing direction and range infoyQUTq?hM~ 1cK YQQQQQ Q)QIQiQQQQQ Q)QIQQQUdEfX??9 Q)QIQiQQQI ?II)9@ @@0@QAU.AIaIyO>EM  EI EM %EI "EM :*EI VEM 4ZEI aU @aU @aU @aU @By A} <B }>B ލCB N"IB BB  =B B nDB B (Eԙ },}X@A2壱>2?2 ٱ2 :AHRS rotation from veh to nav: [[0.844057,-0.527989,-0.093787],[0.535148,0.840558,0.084131],[0.034413,-0.121201,0.992031]]2H?Hg?`??`? `?i2壱>I2:\;2 CY^݃Byb0"IdfBAbDj VDj:2y`=%a=ٔ_:Q->9  ?Y  ?= iGy F ¹E>Q 5%4D?Q 9%4)BY!y%>Q I%@&DI;i:Z4y1ɮ5O@5E}X@AJtCRtCj2>z'Fs@Jv6ARCrTq?hM~ 1cK Zb>Pq@Km-w`@Ib$7zM ?o(?2C:gC"&[?*pB'Bۇ?p“'BCC>gO} addTargetRange:: Added new target pos. range: 314.700012 m, deltaT: 4.032037 s, deltaX: -2.699982 m, approachRate: -0.669632 m/s, rangeRepo size: 4 gO Added new target pos. range: 312.909454 m, bearing: 24.977137 deg, lat: 36.779440 deg, lon: -121.859256 deg, deltaT: 4.032037 s, deltaX: -2.686249 m, approachRate: -0.666226 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 312.91 m.RZgO ProNav: ac range: 312.909454 m, nav range: 309.301666 m, bearing: 25.208459 deg, approach rate: 0.000000 m/s, LOS rate: 0.009634 deg/s, cmd heading: 32.887217 deg, new cmd heading: 32.894281 deg. BgOHeadingCmd: 0.574113 target range: 312.909454 and range: 314.70 m.?*" ʎj@3s@Z9?ɢM) =i)\i5}i? 8\XL.I?I qԡe9@ @@@^A} + E]  E] E] #EY "E] [:*E] k:VE] 3ZEY BE] } ,z~X@AY}׃By})"II=);iMb@Mb@Mb@ 9ʡE?S㥻?Y?y/ݽ< 9A)AYbD5VD5yE%E=ٔEQ-E>9M"?YM"?=MiGyIUEU>YQ 5e4]D?Q 9e4]f)]BYe: ?Q Ee:yeO>Q Im@]0DI]3:i]#:]Nd4yqɮu@qPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 312.91 m.R8Z8gO ProNav: ac range: 312.909454 m, nav range: 308.967529 m, bearing: 25.211119 deg, approach rate: -0.625843 m/s, LOS rate: 0.004987 deg/s, cmd heading: 32.894280 deg, new cmd heading: 32.899605 deg. B9gOHeadingCmd: 0.574206 target range: 312.909454 and range: 314.70 m.1?*" BʎjZ`8I?Bɢ) hb=i ) J  i i1?}]+j/I1?I9iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.I%ZA)%\A 9@  @ @ /@ ԉ Q U C G \A E 9E \AYE A^Am 0 E EE'E"E:*E:VE'4ZEa@a@a@a@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.243655AiIqIO?Jc,'8~X@ABx>BݍCBZ"IBBB =BBB i;B(EB>B?BwW ٱB JAHRS rotation from veh to nav: [[0.844206,-0.527647,-0.094366],[0.534924,0.840573,0.085408],[0.034256,-0.122581,0.991867]]BH?|@e(?`?Oݵ??ua `?iB>IB\;BCYRByV6"IbD^VD^:yfE=%f>=ٔf%9Q-j>9hYh=jiGyjFnz$En>pQ 5v4rtD?Q 9v4r)rBYtyv6>Q I5@r9DIr $瓕,eW~X@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.747806V+a>VV?V' ٱV zAHRS rotation from veh to nav: [[0.844335,-0.527400,-0.094590],[0.534723,0.840647,0.085933],[0.034196,-0.123136,0.991800]]VH?u`7r?`?? %?ԅ`Լ?iV+a>IV\;VCYByA"I ))bDVDy'=%=ٔ8Q->9)Y1=5iGy=FQmEu>Q 54D?Q 948)BYy>Q I@DDI 1<,q~X@A2>2?2K ٱ2 :AHRS rotation from veh to nav: [[0.844075,-0.527808,-0.094639],[0.535131,0.840400,0.085807],[0.034245,-0.123072,0.991807]]2H?:: ? ? s???i2>I2\;2CDADE%=EM EMEM'EI"EM:*EMrN:VEM'4ZEIaU@aU@aU@aU@YmBymF"Iԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.251739i5Mb@Mb@Mb@1BEn>BE܍CBEm"IBEBBE =BABEmDBEhi;BE)E111 195T㥛 ?S㥻Q?Y5!?y15<5bA1 5A)5SA1Y5(AbDmVDmy}f<%}.=ٔ۸Q->9Y=iGyˋ:E>Q 54D?Q 94S)ͫBY#?Q E:y>Q I@MDI;i ;}4yBɮ@EjgOFNOT Ignoring new targets: 312.91 m.R8Z8gO ProNav: ac range: 312.909454 m, nav range: 308.078674 m, bearing: 25.218024 deg, approach rate: -0.660009 m/s, LOS rate: 0.004746 deg/s, cmd heading: 32.909381 deg, new cmd heading: 32.913429 deg. B 9gOHeadingCmd: 0.574448 target range: 312.909454 and range: 314.70 m.?*" ڃBʎj Z `i@1ɢ6) =i)cvi'䴻i?a2I?IԱm9@i @i@i@i^A : checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504831 A .AI I O >,'~X@AddihIhhIhih hl)ll llllppIp)pip)tIv^Att txz9^Azixxi~sC~M^A)~ ~EI|Y|YEByEC"IbD]VD]yQ%\=ٔQ->9 ?Y ?=iGyFE>Q 54E?Q 94)ګBY y Q I @TDI/;i;4yɮ.@j9AgO=FNOT Ignoring new targets: 312.91 m.RM8ZM8gOU ProNav: ac range: 312.909454 m, nav range: 307.842285 m, bearing: 25.219725 deg, approach rate: -0.635636 m/s, LOS rate: 0.004578 deg/s, cmd heading: 32.913428 deg, new cmd heading: 32.916833 deg. B]9gOeHeadingCmd: 0.574507 target range: 312.909454 and range: 314.70 m.e?a*a"a aaiiiʎiqqjqZud@颡ɢ值) =i)ݺ顩ii?as4I?I%9@! @!@%o0@!E EEE"E:*Ega:VEZEBEn% &7,~X@A:^>:?:!8ٱ:F BAHRS rotation from veh to nav: [[0.844323,-0.527043,-0.096665],[0.534693,0.840471,0.087821],[0.034959,-0.125835,0.991435]]:H?@3?#? m{? ? ]ֹ?i:^>I:+\;:CipIrArchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.007866Y=By=T"IIE]>)AiMb@Mb@Mb@ 9)\(?1Zd:v?YG!?y"۽<K At@ 9A)AYAԱbDVDNyI{=%>=ٔٺQ->9"?Y"?=iGyE>Q 54SE?Q 94)BY#?Q E:y>Q I@]DI:i:4yɮW@PB*** querying acoustic contact *** j!gO%FNOT Ignoring new targets: 312.91 m.R-8Z-8gO= ProNav: ac range: 312.909454 m, nav range: 307.568695 m, bearing: 25.221661 deg, approach rate: -0.635188 m/s, LOS rate: 0.004498 deg/s, cmd heading: 32.916833 deg, new cmd heading: 32.920708 deg. B=9gOEHeadingCmd: 0.574575 target range: 312.909454 and range: 314.70 m.EU?A*A"A AAIIMуBʎQQQjQZU@ɢb7m) =i)ii U?E(cv=IU?I9@ @@$1@E EEE"E>:*E҆:VEZEa@a@a@a@BDAT read: Rx Time:00:38:18.1977 TRx dataTimestamp_ set to:1761698298.885236checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260852Bd>BڍCBy"IBBB =BEDBkDBi;B)EB}ݍCB}ݍCB}ȕCB} =B} =C}b6 ^A% *:9 AQ Ia Iq O >]>,~X@A2*>2j?2sٱ2  :AHRS rotation from veh to nav: [[0.844533,-0.526605,-0.097220],[0.534350,0.840622,0.088462],[0.035141,-0.126658,0.991324]]2H i?@g㸿@e?@_?j??`U6?i2*>I2\;2CYybD5VD51yE;%Ea=ٔEQ-E>9IYI=MiGyMFUVEU>YQ 5e4]5-E?Q 9e4])]BYaye>Q Ie@]eDI]-:i]N:]r4yqɮuP@qjgO%FNOT Ignoring new targets: 312.91 m.R%8Z%8gO5 ProNav: ac range: 312.909454 m, nav range: 307.338257 m, bearing: 25.223309 deg, approach rate: -0.610243 m/s, LOS rate: 0.004368 deg/s, cmd heading: 32.920709 deg, new cmd heading: 32.924008 deg. B58gO=HeadingCmd: 0.574632 target range: 312.909454 and range: 314.70 m.=?9*A"A AAAIIʎIIIjQZU @}Bɢ}]) =i)t:顁i#&i?'dCI?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5125711@1 @9@=4@9^AU:) A E  E E $E "E m:*E g:VE 4ZE BE S  BDAT read: Tx time:00:38:19.3259  $Ping request sent. ĿYe Ca a a a a )e DIe !?ie yFe p=?e .@e e ].@ e ")e @Ie ">a a e PѸ?!?6e' e 8?)e >Ie i ڽie ">a a  :publishing transmit ping time  Fpublishing direction and range infoya e vuk?zՍyܺ@\~>ĿYa a a a a a )a Ia ia a a a a a )a Ia a a e PѸ?!?6e' a )a Ia ia a a O% >l,~X@Aٽ>4?ٱ AHRS rotation from veh to nav: [[0.844968,-0.525740,-0.098113],[0.533649,0.840928,0.089770],[0.035311,-0.128211,0.991118]]H ? ?`?,?<?`8i =?iٽ>I\;CYByV"Iii]Mb@Mb@Mb@YYYY Y9]K?A`"X9v?Y]^?y]ٽ]<] A]@ ]A)YYY]AbDVDy;%=ٔQ- >9 Y = iGy ̺E>Q 5%4=FE?Q 9%4n)BY-?Q E-:y- >Q I-@oDI;i;4y1ɮ5<@5E~X@AJCRCjw2>|s@A EV@=Hrvuk?zՍyܺ@\~>ĿZi ڽb"> dXq@ _Kh`@@z$B.?J2?XG(Jϻ2BC:,C"{B?**fBB{B?*f“ƚC0>gO= addTargetRange:: Added new target pos. range: 313.200012 m, deltaT: 3.779820 s, deltaX: -1.500000 m, approachRate: -0.396844 m/s, rangeRepo size: 4 gOM Added new target pos. range: 311.398193 m, bearing: 25.088963 deg, lat: 36.779464 deg, lon: -121.859252 deg, deltaT: 3.779820 s, deltaX: -1.511261 m, approachRate: -0.399824 m/s, posRepo size: 4 jIgOUFNOT Ignoring new targets: 311.40 m.R]ZYgOm ProNav: ac range: 311.398193 m, nav range: 309.554443 m, bearing: 25.088159 deg, approach rate: 0.000000 m/s, LOS rate: 0.004368 deg/s, cmd heading: 32.924008 deg, new cmd heading: 32.928673 deg. BigOuHeadingCmd: 0.574714 target range: 311.398193 and range: 313.20 m.uq ?q*q"q qyyy}݃Bʎj@3s@ZӀ?ԑQɢU•u)Y ]>ia)eLaiim(iq ?ejPIq ?I @  @ @ W1@ ^A /CA [AzA \AE  E E &E "E :*E e:VE 4ZE a@a@a@a@BuU>Bu؍CBu"IBu#BBu" =BqBujDBui;Bu)EA.AIIO5?,~X@AY~By~a"I   AbDVDfy%1/=%%J=ٔ-Q-->9- ?Y- ?=-iGy-F5E5>9Q 5E4=cYE?Q 9E4=)=BYAyIQ IM@=wDI=y:i=:=4yQɮU@UEjgOFNOT Ignoring new targets: 311.40 m.R?8Z?8gO  ProNav: ac range: 311.398193 m, nav range: 309.308319 m, bearing: 25.090044 deg, approach rate: -0.621369 m/s, LOS rate: 0.004761 deg/s, cmd heading: 32.928673 deg, new cmd heading: 32.932445 deg. Be 9gO-HeadingCmd: 0.574780 target range: 311.398193 and range: 313.20 m.-$?)*)"1 11199ʎ99AjAZEe?mBɢmH)q uX>iq)u64qyi}@hi}$?fI$?Iԑ9@ @@V4@^AlX AA II IY Om >n,X@A6Oe>6g?6Pٱ6J >AHRS rotation from veh to nav: [[0.845319,-0.525179,-0.098093],[0.533073,0.841343,0.089306],[0.035628,-0.127783,0.991162]]6H ? E ?@H?`ܶ?=?0[?i6Oe>I6];6CYJByHbDVVDVNy^X;%^Q=`ٔbTQ-b>9`Yd=fiGydfgEf>hEr ErEr$Ep"Er:*ErT:VEr4ZEpBErQ I@j~DIjs;ij;j4y ɮ @ j1gO5FNOT Ignoring new targets: 311.40 m.R=k8ZEk8gOU ProNav: ac range: 311.398193 m, nav range: 309.070312 m, bearing: 25.091900 deg, approach rate: -0.624556 m/s, LOS rate: 0.004875 deg/s, cmd heading: 32.932444 deg, new cmd heading: 32.936159 deg. BU9gO]HeadingCmd: 0.574844 target range: 311.398193 and range: 313.20 m.])?Y*Y"Y aaaaiʎiiijiZu:?颙ɢDD) >i)SS顡i"»i)?)h[I)?II[A)[AU9@Y @Y@e/@a@=@=!^AONA! I) I9 Q O] >Q,i0X@AY-By-e"IiMb@Mb@Mb@ 9%C?B`"۹~jt?YZ$?yν<At@ "A)d@Y\A@AbDVDy#n<%7=ٔQ->9 Y = iGy F E >Q 544E?Q 9%4y)+BY%q&?Q E%:y%>Q I%@DI3:i:[4y)ɮ5p@1PMB*** querying acoustic contact ***I IjYgO]FNOT Ignoring new targets: 311.40 m.Retm8Zetm8gOu ProNav: ac range: 311.398193 m, nav range: 308.781769 m, bearing: 25.093333 deg, approach rate: -0.652346 m/s, LOS rate: 0.003244 deg/s, cmd heading: 32.936159 deg, new cmd heading: 32.939029 deg. Bu8gO}HeadingCmd: 0.574894 target range: 311.398193 and range: 313.20 m.}I,?y*y"y yڃBʎjZ`'J?]Bɢe?M) >i)5顩iŻiI,?iH[II,?IDzD@AE EE%E"E:*Ec:VE 4ZEa@a@a@a@B5M>B5׍CB5"IB52BB5( =B1B5iDB5i;B5)EMT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.Y1@1 @1@1@9qԩ ^A] jbAe ?Ae > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750329A ؟AI I O >3,mMX@AJe>J?JgٱJC VAHRS rotation from veh to nav: [[0.845314,-0.525387,-0.097020],[0.533073,0.841544,0.087385],[0.035736,-0.125587,0.991439]]JH` ?`Uָ@??`^? K?<ݹ?iJe>IJ\;JCY^ By^k"IbDfVDfyn<%nF=ٔrQ-r>9r"?Yr"?=viGytv7Ev>xQ 5~4zؖE?Q 9~4z)z7BYyy>Q I@zDIz:izK:z4y ɮ #@Ej1gO5FNOT Ignoring new targets: 311.40 m.R=[m8Z=[m8gO ProNav: ac range: 311.398193 m, nav range: 308.514679 m, bearing: 25.094667 deg, approach rate: -0.648508 m/s, LOS rate: 0.003242 deg/s, cmd heading: 32.939028 deg, new cmd heading: 32.941699 deg. B8gOHeadingCmd: 0.574941 target range: 311.398193 and range: 313.20 m.W/?*" ʎjZ j3?5Bɢ5/z8)1 5$>i9)=)99i=L.ȻiEW/?Eje-\IeW/?IiA9@ @@@E EEE"EO:*EX:VEZEBE V,+gX@A@Fh>F, ?FٱFS RAHRS rotation from veh to nav: [[0.845298,-0.525414,-0.097013],[0.533091,0.841555,0.087170],[0.035842,-0.125401,0.991458]]FH ?0ո`? ?P?@Y?' ?iFh>IF`\;FCYZ ByZj"IiaIeAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.254491iMb@Mb@Mb@ 9-?A`"~jt?Y5?yٽK AG@ A)YAbD  VD :2y.%8=ٔCzQ-%>9% ?Y% ?=%iGy%F-a8E->1Q 5=45UE?Q 9=45)5CBY= ?Q E=:yE~>Q IE@5DI5 ;i5:5K4yIɮM1@IjqgOFNOT Ignoring new targets: 311.40 m.R~8Z~8gO% ProNav: ac range: 311.398193 m, nav range: 308.238312 m, bearing: 25.096751 deg, approach rate: -0.624353 m/s, LOS rate: 0.004713 deg/s, cmd heading: 32.941698 deg, new cmd heading: 32.945870 deg. B% 9gO-HeadingCmd: 0.575014 target range: 311.398193 and range: 313.20 m.m4?q*q"q qqqy}σBʎyyjZմ@ԩ}G`]Aʲ9`]AYA]Bɢ]K)Y ]R>i)貼顁i%J˻i4?l7]I4?It>i%>59@9 @9@9@9D=D<BK>B֍CB"IB7BBBBhDBi;B )EE EE&E"E:*Ex:VE4ZEBE&<2E&<JE;:E; checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505483 ^A= o=Z1 Aq I I O >&,X@A2<>2?2ٱ2 :AHRS rotation from veh to nav: [[0.845171,-0.525605,-0.097082],[0.533276,0.841481,0.086760],[0.036091,-0.125099,0.991488]]2H` ?^ڸ?h?@5? z?@;`D?i2<>I2\;2CYBByBq"I Jp9XYX=ZiGy^F^6:E^>`Q 5f4bE?Q 9f4bO)bNBYhyj>Q Ij@bDIb;ib;bE4ylɮn@ljgOFNOT Ignoring new targets: 311.40 m.R 8Z 8gO ProNav: ac range: 311.398193 m, nav range: 307.989044 m, bearing: 25.098625 deg, approach rate: -0.624498 m/s, LOS rate: 0.004698 deg/s, cmd heading: 32.945872 deg, new cmd heading: 32.949622 deg. B 9gO%HeadingCmd: 0.575079 target range: 311.398193 and range: 313.20 m.%g8?!*!"! !!)))ʎ111j1Z=k@aɢe)a p%>i)iͻig8?Ym[Ig8?I-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757916@ @@ 0@^A! A ؟AI I) OM >bE-4jE4rE١/E}  E} E} #Ey "E} :*E} g:VE} 3ZEy BE} <2E} <JE} -;:E} -; checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009369,pX@A4 Һ> (3? FZٱ a AHRS rotation from veh to nav: [[0.844961,-0.526027,-0.096627],[0.533617,0.841325,0.086170],[0.035967,-0.124372,0.991584]] H ?6`d?!?5?`Dj?ֿ ?i Һ>I \; CYByt"I iMb@Mb@Mb@ 9?)\(~jt?Y ?yGὙ A^@ )Y AbD VD2y%<%%)=ٔ%9Q-%>9-"?Y-"?=-iGy)5Y:E5>9Q 5E4=zE?Q 9E4=;)=\BYE"?Q EE:yE>Q IM@=DI=:i=:=4yU|BɮU@UEjygO}FNOT Ignoring new targets: 311.40 m.R8Z8ԉgO ProNav: ac range: 311.398193 m, nav range: 307.684052 m, bearing: 25.101150 deg, approach rate: -0.631714 m/s, LOS rate: 0.005235 deg/s, cmd heading: 32.949621 deg, new cmd heading: 32.954676 deg. BF9gOHeadingCmd: 0.575168 target range: 311.398193 and range: 313.20 m./>?*" ܃BʎjZ @Bɢ`6) '>i)4ưiлi/>?"oWI/>?Ia@i @i@m0@iUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.262911Թ^AM mY Ay I I O >/,DLX@A2>2,?2~ٱ2 :AHRS rotation from veh to nav: [[0.845006,-0.525943,-0.096689],[0.533527,0.841422,0.085771],[0.036246,-0.124063,0.991612]]2HI ?`@@???`ӎ?`¿@I?i2>I2\;0YBByBx"IbDNlVDNܲyv<%vw=ٔz\Q-z?9xYx=ziGyzF~FE~?Q 5 4E?Q 9 4)eBY y|>Q I@DI:i:4yɮS@P=B*** querying acoustic contact ***BEI>BABE"IBEi)I֯ii#ӻi ,B? B6p =\ZI ,B?I@ @@4@^AlXe checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767045AQ a Iy I O >,36X@AAe>eQ?eٱeM AHRS rotation from veh to nav: [[0.844696,-0.526447,-0.096653],[0.533998,0.841197,0.085048],[0.036531,-0.123452,0.991678]]eH? 9??ŵ?`,?@ӻ?ie>Ie\;eCYBy|"IbDVDNy<%<=ٔ,Q->9Y=iGy:E>Q 54,E?Q 94W)rBYy>Q I@DI#;i$;4yɮ@ Ej)gO5FNOT Ignoring new targets: 311.40 m.R58Z58gOE ProNav: ac range: 311.398193 m, nav range: 307.200134 m, bearing: 25.105149 deg, approach rate: -0.643038 m/s, LOS rate: 0.005295 deg/s, cmd heading: 32.958163 deg, new cmd heading: 32.962682 deg. BE9gOUHeadingCmd: 0.575307 target range: 311.398193 and range: 313.20 m.UWG?Q*Y"Y YaiqqʎyyyjyZ@%@ ÃBɢ5{)1 50>i1)519i=M'ֻEM EMEM&EI"EM:*EMz:VEM4ZEIaU@aU@aU@aU@i=WG?]q] SI]WG?aIaDAT read: 00:38:22.1441 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 412,-0.49,-2.182, 2.774,-1.822,-2.632, PHS= 0.552,-0.832, 0.766, RAW= 157.1, -6.5, CAL= 157.3, -8.1, ROT= 352.7, 8.1 Ygot valid direction response: 00:38:22.1441 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 412,-0.49,-2.182, 2.774,-1.822,-2.632, PHS= 0.552,-0.832, 0.766, RAW= 157.1, -6.5, CAL= 157.3, -8.1, ROT= 352.7, 8.1 PDAT read: Bearing 166.9, -3.5 (Local) ~Local bearing/azimuth received: Bearing 166.9, -3.5 (Local) DAT read: Range 11 to 50 : 310.5 m (Round-trip 414.0 ms) speed 0.4 m/s  *DAT read: user:484> BDAT read: Tx time:00:38:23.2759 $Ping request sent.9\?+?ɐ V  %?)3=Itwi>:publishing transmit ping timeFpublishing direction and range infoy%l?ְ:N ¿Y )Ii )I@ @@4@9\?+?ɐ V )Iiԑ^A9 Am .AIy I O >d,X@AB>B H?BٱBS JAHRS rotation from veh to nav: [[0.844774,-0.526345,-0.096527],[0.533877,0.841284,0.084951],[0.036493,-0.123298,0.991699]]BHc?@@??@S?E?r?iB>IBf\;BCYbBybp"IIf=)fp9 ?Y ?=iGyF}E>Q 54GF?Q 94)|BY"?Q E:yV>Q I@‚DI;iE;.4yɮ@EtX@AJXCRXCj5>f+r@sڎjCwV`Er%l?ְ:N ¿Ztwb>-q@6H^_@BMyH;zJ?{z ?T^2B:\C"دx?*BB&[?p“C>gO] addTargetRange:: Added new target pos. range: 310.500000 m, deltaT: 4.032222 s, deltaX: -2.700012 m, approachRate: -0.669609 m/s, rangeRepo size: 4 gOu Added new target pos. range: 308.692291 m, bearing: 24.083259 deg, lat: 36.779467 deg, lon: -121.859256 deg, deltaT: 4.032222 s, deltaX: -2.705902 m, approachRate: -0.671070 m/s, posRepo size: 4 jqgO}FNOT Ignoring new targets: 308.69 m.R}ZygO- ProNav: ac range: 308.692291 m, nav range: 307.093689 m, bearing: 25.011274 deg, approach rate: 0.000000 m/s, LOS rate: 0.005295 deg/s, cmd heading: 32.962681 deg, new cmd heading: 32.967085 deg. B1gO5HeadingCmd: 0.575384 target range: 308.692291 and range: 310.50 m.5aL?9*9"9 999AEσBʎAIIjMhs@ZMސ?颕ăBɢq6) h>i)'顙i ٻiaL?CrxWIaL?Iԁ]9@Y @Y@]4@YBG>BB"IBABB) =BBBh;B(EB֍CB׍CD=Da=E EE(E"E:*E[:VEc44ZEBEm%2X?2Xٱ2$ :AHRS rotation from veh to nav: [[0.844625,-0.526567,-0.096620],[0.534082,0.841229,0.084202],[0.036941,-0.122723,0.991753]]2H@+?``3?Y?K??`j@q?i2>I2\;2CY^By^v"IbDdVDdyn <%rX=ٔrPQ-r>9r"?Yv"?=viGytv#/:Ev>xQ 5~4z$F?Q 94z)zBYys>Q I@zʂDIz;iz;z4y ɮ m@j1gO5FNOT Ignoring new targets: 308.69 m.R=?9Z=?9gOM ProNav: ac range: 308.692291 m, nav range: 306.855621 m, bearing: 25.014148 deg, approach rate: -0.647919 m/s, LOS rate: 0.007827 deg/s, cmd heading: 32.967086 deg, new cmd heading: 32.972838 deg. BM2e9gOUHeadingCmd: 0.575485 target range: 308.692291 and range: 310.50 m.UR?Q*Q"Q QYYaaʎaaajiZm@۱?颕ŃBɢ) !>i)ݪ顙iHۻiR?Js! UIR?IԹU9@Q @Q@U/@Q^AulXA}ZAzA}ZAA .AI I O >E-  E- E- "E) "E- :*E- Ar:VE- (3ZE) a5 @a5 @a5 @a5 @A r ,=X@AfӰ>f??fSٱfσ  AHRS rotation from veh to nav: [[0.844820,-0.526105,-0.097433],[0.533754,0.841350,0.085064],[0.037222,-0.123869,0.991600]]fH?` Y?W?@Ƶ??浿`0?ifӰ>Ifq\;fCYMByUr"IiMb@Mb@Mb@ 9Gz?S㥛I +?Yp?y$9<1@ A)(@YAbDVDy`%-=ٔQ->9 ?Y ?=iGyFSE>Q 5e4S;F?Q 9e4)BYe!?Q Ee:ym>Q Im@ԂDIZQi)}i޻i\?quD]I\?I!I9@ @@@iIq^A QOԙ A ؟AI! I1 O= >ӑ ,F8X@A>>>.?>ٱ> FAHRS rotation from veh to nav: [[0.844949,-0.525673,-0.098635],[0.533527,0.841354,0.086442],[0.037547,-0.125664,0.991362]]>H` ?P%@ ?^?!? R9? =?i>>I>\;>CYLyP PPTTB\B\B\B\B^( =B\B\B^h;B^<(EbDjVDj02yr:%ru=ٔv~Q-v?9v"?Yv"?=viGytE~ E~E|E|"E~a:*E~|:VE|ZE|BE~(Q I%@ڂDI:i:4y1ɮ5@1PUB*** querying acoustic contact ***Q QjYgO]FNOT Ignoring new targets: 308.69 m.ReY,9ZeY,9uT****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.gO ProNav: ac range: 308.692291 m, nav range: 306.350006 m, bearing: 25.021524 deg, approach rate: -0.643736 m/s, LOS rate: 0.009418 deg/s, cmd heading: 32.981430 deg, new cmd heading: 32.987601 deg. B9gOHeadingCmd: 0.575742 target range: 308.692291 and range: 310.50 m.c?*" ʎjZ ^?ǃBɢy) $>i)i=ic?vbIc?Iiԑ9@ @@@Ա^Ajb5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755068A I! II Oe > u ,ͱRX@A2ց>2?2M6ٱ2U :AHRS rotation from veh to nav: [[0.845133,-0.525250,-0.099311],[0.533212,0.841498,0.086979],[0.037885,-0.126462,0.991248]]2H T ?`ql??9D?`e? / M?i2ց>I2\;2CYBByF{"IbDN VDN2yV=%VO=ٔV`Q-Z>9XYX=ZiGyZF^NtE^>Q 54_F?Q 9%4)BY!y%x>Q I%@DI;i;4y)ɮ-*@5EjQgOUFNOT Ignoring new targets: 308.69 m.R]Z(9Z]Z(9gOm ProNav: ac range: 308.692291 m, nav range: 306.098846 m, bearing: 25.025216 deg, approach rate: -0.625240 m/s, LOS rate: 0.009199 deg/s, cmd heading: 32.987601 deg, new cmd heading: 32.994991 deg. Bm9gOuHeadingCmd: 0.575871 target range: 308.692291 and range: 310.50 m.uLl?q*q"y yyyʎjZ@?颵ȃBɢ) ">i)-项i2iLl?wiILl?Iu9@q @q@u1@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.005865E EE'E"E:*E?:VE'4ZEa@a@a@a@^A_AA ?I A I I1 OM >= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258048\ ,ҍlX@A270>2?2ٱ2n >AHRS rotation from veh to nav: [[0.845458,-0.524526,-0.100367],[0.532681,0.841684,0.088421],[0.038098,-0.128220,0.991014]]2H ?@ ??ྡྷ? ?ib?i270>I2];2CYF ByF"IiMb@Mb@Mb@ 9+?n/$?Y?yV<5 A )YpAbD-VD-:2y|<%B=ٔQ->9Y=iGyķE>Q 5 4uF?Q 9 4 )BY#?Q E5:y5Q>Q I5@DI ;i;4yAɮE@IjgOFNOT Ignoring new targets: 308.69 m.R<9Z<9gO ProNav: ac range: 308.692291 m, nav range: 305.823547 m, bearing: 25.029793 deg, approach rate: -0.619245 m/s, LOS rate: 0.010304 deg/s, cmd heading: 32.994991 deg, new cmd heading: 33.004153 deg. Bݖ9gOHeadingCmd: 0.576031 target range: 308.692291 and range: 310.50 m.v?*" BʎjZ @IuʃBɢu)q u->iq)}eyyi}¡iv? ytIv?IE9@A @A@E~1@AyAA@ABD>BB"IBFBB) =BBBg;B'Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.509974E EE%E"E:*E n:VE 4ZEBEÆ! ,fX@A2!>2?2W(ٱ2w :AHRS rotation from veh to nav: [[0.845509,-0.524235,-0.101451],[0.532581,0.841612,0.089699],[0.038359,-0.129873,0.990788]]2H@i?@ ?|?`?ϣ??i2!>I2\;2C@YDyDIJ>)Jp;bDrVDr0yz%zO=ٔ~6Q-~>9Y=iGyFE > Q 54 F?Q 94 ) ƬBYyO>Q I@ DI ;i ;  4y)ɮ5@1jgOFNOT Ignoring new targets: 308.69 m.R9<9Z9<9gO ProNav: ac range: 308.692291 m, nav range: 305.587158 m, bearing: 25.033730 deg, approach rate: -0.616995 m/s, LOS rate: 0.010285 deg/s, cmd heading: 33.004154 deg, new cmd heading: 33.012034 deg. B9gO-HeadingCmd: 0.576169 target range: 308.692291 and range: 310.50 m.-?)*)") )11ʎjZ@&@iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.762415yɢ}:)y }(+>iy)O顁i̷i? {ԩvwI?IA@A @A@E4@A^Am +w  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014524E  E E 'E "E :*E :VE '4ZE a @a @a @a @I I O >' ,BX@AB>B)?BzٱB JAHRS rotation from veh to nav: [[0.845680,-0.523731,-0.102620],[0.532304,0.841593,0.091510],[0.038438,-0.132013,0.990502]]BH?hPE?S?/m??@2?iB>IB\;BCYZ!ByXpbD VD :yYB;%<=ٔu=Q->9)Y)=5iGyA]>Ee>Q 54F?Q 94e)լBYy4>Q I@DI;ih;4yɮ@Ej)gO-FNOT Ignoring new targets: 308.69 m.REG9ZEG9gO] ProNav: ac range: 308.692291 m, nav range: 305.298523 m, bearing: 25.038557 deg, approach rate: -0.649579 m/s, LOS rate: 0.010874 deg/s, cmd heading: 33.012036 deg, new cmd heading: 33.021699 deg. B]39gOeHeadingCmd: 0.576337 target range: 308.692291 and range: 310.50 m.eي?a*a"a aiiqqʎqqqjyZ} 1 @颥˃Bɢ) *>i)'顩iiي?"|~Iي?Iԩ)@) @)@-)3@)BDAT read: Rx Time:00:38:26.0913  TRx dataTimestamp_ set to:1761698306.701375 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267320Q mGl>iG U뫿9QYUA^A= rAA zAA ԉ IA IQ Oe > - ,6X@AB.C>B.ՍCB."IB.KBB,B,B.gDB.qf;B.s'EBq>B?B>ٱB| JAHRS rotation from veh to nav: [[0.845621,-0.523688,-0.103319],[0.532354,0.841562,0.091504],[0.039030,-0.132380,0.990430]]BHT? s ?? l???iBq>IB\;BCYR&ByR"Ii-Mb@Mb@Mb@)))) )9-$C?S㥛y&1?Y-?y-$-`<- A-@ - A)-@)Y-A E49 Y = iGy FrB9E>Q 54[F?Q 9%49)BY%?Q E%:y%>Q I%@DI;i;4yU}BɮUf@UEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 308.69 m.R-9Z-9gO ProNav: ac range: 308.692291 m, nav range: 305.061310 m, bearing: 25.042238 deg, approach rate: -0.611489 m/s, LOS rate: 0.009497 deg/s, cmd heading: 33.021700 deg, new cmd heading: 33.029068 deg. B 9gOHeadingCmd: 0.576466 target range: 308.692291 and range: 310.50 m.F?*" BʎjZ. @=̃Bɢe )i m4>ii)mJiiim6iuF?ux!~qIuF?Iyԙu9@y @y@}/@y% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774100^A oMIq I O >4 ,ӀX@A2=>2^?2S ٱ2jT :AHRS rotation from veh to nav: [[0.845661,-0.523569,-0.103600],[0.532278,0.841595,0.091639],[0.039210,-0.132639,0.990388]]2H?l?X?u?Y?T C?i2=>I2Z\;2CYF+ByF"I HHbDRVDRNyV<%VZ=ٔZQ-Z>9XY\=^iGy\^yEb>`Q 5f4bF?Q 9j4b6)bBYhyj>Q Ij@b DIb:ib:b"4yYɮ]@YjgOFNOT Ignoring new targets: 308.69 m.R *9Z *9gO ProNav: ac range: 308.692291 m, nav range: 304.841827 m, bearing: 25.045653 deg, approach rate: -0.596849 m/s, LOS rate: 0.009291 deg/s, cmd heading: 33.029067 deg, new cmd heading: 33.035900 deg. B9gOHeadingCmd: 0.576585 target range: 308.692291 and range: 310.50 m.?*" ʎjZh@ɢ>iл) =>i)qiQi ? I ?I ?I 9@ @@0@bEÞ4jErEî10Eu EuEu&Eq"Eu:*EuAr:VEu4ZEqa@a@a@a@DAT read: 00:38:26.0913 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 415,-0.11, 1.266,-0.100, 1.523, 0.712, PHS= 0.656,-0.767, 0.767, RAW= 153.7, -8.9, CAL= 154.2, -10.6, ROT= 355.8, 10.6 Ygot valid direction response: 00:38:26.0913 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 415,-0.11, 1.266,-0.100, 1.523, 0.712, PHS= 0.656,-0.767, 0.767, RAW= 153.7, -8.9, CAL= 154.2, -10.6, ROT= 355.8, 10.6 PDAT read: Bearing 164.7, -0.1 (Local) ~Local bearing/azimuth received: Bearing 164.7, -0.1 (Local) DAT read: Range 11 to 50 : 308.4 m (Round-trip 411.2 ms) speed 0.4 m/s *DAT read: user:485> BDAT read: Tx time:00:38:27.1759 $Ping request sent.+@9>,@ q=)Y@Iq=>BK?@?ÿ ?)R>Ii iq=>=:publishing transmit ping time=Fpublishing direction and range infoyP^?\m =ηǿY )Ii )IBK?@?ÿ )Ii^A9IIO >Y : ,X@A6RY>6i?6+"ٱ6q >AHRS rotation from veh to nav: [[0.845242,-0.524259,-0.103529],[0.532916,0.841300,0.090636],[0.039582,-0.131782,0.990488]]6H8 ?@߀ ??3?D?8@?i6RY>I6 ];6CY\y`i}Mb@Mb@Mb@yyyy y9}S?K7y&1?Y}/?y}I y} A}@ y)}(@yY}AbDVD0ٔ^Q->9Y=iGyF9:E>Q 54F?Q 94)BY5!?Q E:y>Q I@DI:i/:)4y1ɮ@qux݀X@AJLCRLCj>54Ir@؂^6p.&3LrP^?\m =ηǿZi bq=>}Jp@a@$dDz1+8T?B}?e; $2}C:C"4?*B8A{B?*f“B5C>gO addTargetRange:: Added new target pos. range: 308.399994 m, deltaT: 4.039917 s, deltaX: -2.100006 m, approachRate: -0.519814 m/s, rangeRepo size: 4 gO- Added new target pos. range: 306.600769 m, bearing: 26.693942 deg, lat: 36.779464 deg, lon: -121.859252 deg, deltaT: 4.039917 s, deltaX: -2.091522 m, approachRate: -0.517714 m/s, posRepo size: 4 j1gO5FNOT Ignoring new targets: 306.60 m.R5Z9gOE ProNav: ac range: 306.600769 m, nav range: 304.419220 m, bearing: 25.148035 deg, approach rate: 0.000000 m/s, LOS rate: 0.009291 deg/s, cmd heading: 33.035900 deg, new cmd heading: 33.044262 deg. BIgOHeadingCmd: 0.576731 target range: 306.600769 and range: 308.40 m.?*" Bʎj`fFs@Z]?̓Bɢ) @<>i)yniXei?(m4yI?IaBaAe<BiBiBm"IBmPBBiBiBiBme;Bm3'E@ @@/@@@=E} E}E}#Ey"E}:*E}i:VE}3ZEyBE}+Թ A ,SX@A:>:`?:$%#ٱ:B RAHRS rotation from veh to nav: [[0.844466,-0.525595,-0.103085],[0.534127,0.840694,0.089124],[0.039820,-0.130323,0.990672]]:H ?@c? ?ж? Cc?n?i:>I:I\;8Yb Byb"IbDvVDvy%<ٔ #Q- >9 Y =iGyKw;E%>)Q 554-gF?Q 9=4-)- BYAyE˳>Q IE@-DI-Zr;i-;};-m04yUyBɮ]@]EjgOFNOT Ignoring new targets: 306.60 m.RI9ZI9gO ProNav: ac range: 306.600769 m, nav range: 304.181580 m, bearing: 25.151974 deg, approach rate: -0.664684 m/s, LOS rate: 0.011025 deg/s, cmd heading: 33.044261 deg, new cmd heading: 33.052144 deg. Bk9gOHeadingCmd: 0.576869 target range: 306.600769 and range: 308.40 m.?*" 19ʎ999j9ZEs?颉ɢ) |$>iԑ)i5i?bD%tfI%?I!9@ @@/0@^A oMI I O >E  E E (E "E :*E L_:VE c44ZE a @a @a @a @ 1G ,!X@A2j>2?2mc$ٱ2 :AHRS rotation from veh to nav: [[0.844111,-0.526130,-0.103267],[0.534666,0.840397,0.088690],[0.040123,-0.130078,0.990692]]2H? o??`? ?`a?i2j>I2\;2CY-By"II%=)>==iMMb@Mb@Mb@IIII I9MMbX9?Pn~jt?YM!?yMM=%=ٔ}Q->9Y=iGyF:E>Q 54G?Q 941)BY3%?Q E:yy>Q I@'DI ;i ;':4yɮ@jgO%FNOT Ignoring new targets: 306.60 m.R-19Z-19gO= ProNav: ac range: 306.600769 m, nav range: 303.824860 m, bearing: 25.156750 deg, approach rate: -0.644820 m/s, LOS rate: 0.008644 deg/s, cmd heading: 33.052143 deg, new cmd heading: 33.061706 deg. B=}9gOEHeadingCmd: 0.577036 target range: 306.600769 and range: 308.40 m.E?A*A"A AAIIMBʎIQQjQZUT?颅΃BɢF) >>i)j顉iSi?cI?I59@1 @1@50@1Q ^AU lXBe G>Be ֍CBe "IBe [BBe ( =Ba Be hDBe :e;Be &EB!B%֍CB%̓CB%) =B%) =C%C5ԁ D zD AAE  E E "E "E :*E T:VE (3ZE BE K"/4P ,@X@A>k,>>?> $ٱ>r? FAHRS rotation from veh to nav: [[0.843315,-0.527602,-0.102254],[0.535910,0.839836,0.086466],[0.040257,-0.127717,0.990993]]>H o?X- -&??"?? Y7?i>k,>I>];>C L)N`ANHNC FLLR`AiRIPPIPiRaA VT)TT V`AV 0XXX\\I\)\i\)`Ib`Ab` `dddiddifCh)h hIhYhYnQ I-@.DI:i:@4y5zBɮ5@5EPUB*** querying acoustic contact ***Q QjYgOeFNOT Ignoring new targets: 306.60 m.Re9Ze9gO ProNav: ac range: 306.600769 m, nav range: 303.610260 m, bearing: 25.159573 deg, approach rate: -0.642383 m/s, LOS rate: 0.008458 deg/s, cmd heading: 33.061705 deg, new cmd heading: 33.067356 deg. Bw9gOmHeadingCmd: 0.577134 target range: 306.600769 and range: 308.40 m.m?q*q"q qqqyyʎyyjZ'?ɢq) Z>i)9ii?CNI?I @ @@3@uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode. ^AzlA A .AI I O >}YV ,ˡZX@A2 ʲ>2:?2&ٱ2| :AHRS rotation from veh to nav: [[0.842660,-0.528858,-0.101157],[0.536918,0.839448,0.083938],[0.040525,-0.125044,0.991323]]2H ?@gh广n.??|??`p?i2 ʲ>I2/\;2CYr=Byr"IbDzVDzk2y  <% K=ٔ -Q- >9 ?Y ?=iGyFoC;E>!Q 5-4%-G?Q 9-4%)%5BY1y5>Q I5@%6DI%:i%:%G4y9ɮ=@AjagOeFNOT Ignoring new targets: 306.60 m.Rm9Zm9E EE&E"E:*EAr:VE4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003512gO ProNav: ac range: 306.600769 m, nav range: 303.351288 m, bearing: 25.162935 deg, approach rate: -0.641554 m/s, LOS rate: 0.008334 deg/s, cmd heading: 33.067357 deg, new cmd heading: 33.074085 deg. B t9gO%HeadingCmd: 0.577252 target range: 306.600769 and range: 308.40 m.%?!*!"! !!)))ʎ)1jZY@!ɢ-)) -]>i))m-iqiu͏i?$2AI?IIM9@I @Q@U4@Yy checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255331^A jZXԡ A ؟AI I O >L\ ,{tX@A:I>:z?:$%ٱ: FAHRS rotation from veh to nav: [[0.842139,-0.529781,-0.100670],[0.537740,0.839012,0.083033],[0.040474,-0.124060,0.991449]]:H?`{Ź)5?`0?A??_¿ ?i:I>I: ];:CY=LBy="IAEAyiMb@Mb@Mb@ 9'1Z?PnMb?Y"?y< A A)(@YQAbDVDy-T=%-9=ٔ5u8Q-5>9="?Y="?==iGy9=x;E=>AQ 5M4E1DG?Q 9M4E)EBBYU.&?Q EU:yU>Q IU@E?DIE2;iE;EN4yaɮe@ajgOFNOT Ignoring new targets: 306.60 m.R9Z9gO ProNav: ac range: 306.600769 m, nav range: 303.066864 m, bearing: 25.166546 deg, approach rate: -0.644782 m/s, LOS rate: 0.008194 deg/s, cmd heading: 33.074085 deg, new cmd heading: 33.081314 deg. Bo9gOHeadingCmd: 0.577378 target range: 306.600769 and range: 308.40 m. ?*" BʎjZ7@σBɢC)! `{>i)`ii ?7I ?IAqAqB}I>ByB}"IB}jBB}& =ByByB}Ld;B}h&E9@ @@/@ԱE EEE"E:*Ec:VEZEBEBkc ,WX@A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7596386>6?6&ٱ6\ BAHRS rotation from veh to nav: [[0.841899,-0.530161,-0.100669],[0.538110,0.838797,0.082812],[0.040537,-0.123890,0.991468]]6H?@oŹ 28? l?*3?@D? F ?i6>I6 \;6CYJHByJ"IbDVVDVP)y^%^e=ٔ^:Q-b>9`Y`=biGybFfi:Ef>hQ 5n4jFVG?Q 9n4j)jLBYlyn>Q Ir@jFDIj;ij ;jT4ytɮv@vEjgOFNOT Ignoring new targets: 306.60 m.RP 9ZP 9gO- ProNav: ac range: 306.600769 m, nav range: 302.837006 m, bearing: 25.169451 deg, approach rate: -0.597617 m/s, LOS rate: 0.007558 deg/s, cmd heading: 33.081314 deg, new cmd heading: 33.087128 deg. B-N]9gO5HeadingCmd: 0.577479 target range: 306.600769 and range: 308.40 m.u?q*q"q qyyyyʎjZ d@ɢu) s>i)Wii?N+4I?I 9@ @ @ /@  E EE)E"Ea:*EVEFA4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0116021^A- 9AY i I I O- >(i ,=X@A%(>%?% 8&ٱ% 5AHRS rotation from veh to nav: [[0.841493,-0.530838,-0.100498],[0.538742,0.838440,0.082308],[0.040570,-0.123404,0.991527]]%H ?C`=??$?Ť?n?i%(>I%\;%C1UBDAT read: Rx Time:00:38:29.9884 UTRx dataTimestamp_ set to:1761698310.737151]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264499YNBy"Ii Mb@Mb@Mb@     9 Zd;?S㥛~jt?Y ?y $ <  A @ A) @ Y \@bD%VD%:y5r<%5=ٔ=xQ-=>99Y9=EiGyEFE̲:EE>IQ 5U4MqG?Q 9U4Mv)M]BY]"?Q E]:Yy]t>Q Ie@MQDIM1;iM0;M^4yiɮm@mEjgOFNOT Ignoring new targets: 306.60 m.R&%9Z&%9gOe ProNav: ac range: 306.600769 m, nav range: 302.489288 m, bearing: 25.174279 deg, approach rate: -0.649145 m/s, LOS rate: 0.009024 deg/s, cmd heading: 33.087127 deg, new cmd heading: 33.096794 deg. Be9gOeHeadingCmd: 0.577648 target range: 306.600769 and range: 308.40 m.m?i*i"i iiiqBʎjZ @M΃BɢMWo)I M>iQ)UŗQQiUB i]?]δ],I]?IaIZA)\AԉE 9@A  @A @M 3@I Bu G>Bq Bu "IBu tBBu ' =Bq Bq Bu tc;Bu %ED zD E  E E %E "E m:*E L_:VE 4ZE BE SB?B'ٱBi JAHRS rotation from veh to nav: [[0.841206,-0.531263,-0.100661],[0.539176,0.838184,0.082078],[0.040767,-0.123319,0.991529]]BH (? Ĺ`@?f??@wߤ?Ց?iBi*>IB\;BCPPiPIPPITiT TT)TX Zq@XXXX\I\)\i\)`Ib^A`` ``f^Af)if Fdidf^A)f! hIhYhYn\Byn"IbDzVDz0yX=%T=ٔWQ->9 Y = iGy ڰ:E>Q 5%4G?Q 9%4()iBY!y->Q I-@YDI:i:be4y1ɮ5@1PMB*** querying acoustic contact ***Q QjgOFNOT Ignoring new targets: 306.60 m.R9Z9gO ProNav: ac range: 306.600769 m, nav range: 302.245758 m, bearing: 25.177644 deg, approach rate: -0.624369 m/s, LOS rate: 0.008634 deg/s, cmd heading: 33.096795 deg, new cmd heading: 33.103530 deg. B|9gOHeadingCmd: 0.577766 target range: 306.600769 and range: 308.40 m.r?!*!"! !!!))ʎ)))jYZe:(@DAT read: Range 11 to 50 : 306.3 m (Round-trip 408.4 ms) speed 0.0 m/s *DAT read: user:486> BDAT read: Tx time:00:38:31.0758 $Ping request sent.i)ViV ir?] 'I r?IIAuF˻i @  @ @ 4@ EI  EM EM (EI "EI *EM X:VEM c44ZEI aU @aU @aU @aU @ԙ ^A- 0Ae.AIIO%?gz ,+X@AYMZByM"IY]AiMb@Mb@Mb@ 9333333?Pn/$?Y?y< A@ jAG)Y  p< =99Y=iAbD=VD=:yMһ%M=ٔUQ-U>9U ?YU ?=]iGy]F]Ee>aQ 5m4eG?Q 9u4e)e|BYu3?Q Eu:yu>Q Iu@eeDIeo;ie:eo4yɮ@gO addTargetRange:: Added new target pos. range: 306.299988 m, deltaT: 3.779916 s, deltaX: -2.100006 m, approachRate: -0.555570 m/s, rangeRepo size: 4 jgOFNOT Ignoring new targets: 306.60 m.R*&9Z*&9gO ProNav: ac range: 306.600769 m, nav range: 301.877380 m, bearing: 25.182981 deg, approach rate: -0.625881 m/s, LOS rate: 0.009080 deg/s, cmd heading: 33.103530 deg, new cmd heading: 33.114217 deg. B9gOHeadingCmd: 0.577952 target range: 306.600769 and range: 306.30 m.?*" Bʎj$s@Z 5?ɢ)  >i)顙iAi?ⳅt+I?IBBB"IBBBBBBub;B}%E!= (Dy D} 4=E  E E &E "E :*E x:VE 4ZE BE )B[?B'ٱBD JAHRS rotation from veh to nav: [[0.840275,-0.532569,-0.101532],[0.540626,0.837155,0.083039],[0.040774,-0.124667,0.991361]]BH? L?`?@B?V?&꿿9?iBb >IB\;BCY5bBy5"IbDEVDE02y+=%=ٔYQ->9Y=iGy@\;E>Q 54G?Q 94Õ)BYy>Q I@oDI:i<x4yAɮE{@EEjagOmFNOT Ignoring new targets: 306.60 m.Rm69Zu69gO} ProNav: ac range: 306.600769 m, nav range: 301.564972 m, bearing: 25.187410 deg, approach rate: -0.593721 m/s, LOS rate: 0.008426 deg/s, cmd heading: 33.114219 deg, new cmd heading: 33.123086 deg. Bv9gOHeadingCmd: 0.578107 target range: 306.600769 and range: 306.30 m.?*" ʎjZ@b?̓Bɢ8) >i)ii?!UI?IԁԹbEjE24rEb0E EE)E"E :*E1]:VEFA4ZEa@a@a@a@E9@A @I@Mo0@I ^A - A؟AII!O5>gj ,r/X@AJyj>J?Ja1$ٱJP6 ZAHRS rotation from veh to nav: [[0.839910,-0.533390,-0.100232],[0.541244,0.836846,0.082122],[0.040075,-0.123225,0.991569]]JH@?@ȨQ?q?@?Ä? `?iJyj>IJ\;HYfpByf"IiMb@Mb@Mb@ 9Zd;?T㥛 y&1?Y?y`e<fA@ SA)@Y@bDVDN2y4S=%"=ٔJ:Q->9"?Y"?=iGy F?:E>Q 54G?Q 94)BYA"?Q E:yu>Q I@yDI:i:4yɮ@jgOFNOT Ignoring new targets: 306.60 m.R%9Z%9gO5 ProNav: ac range: 306.600769 m, nav range: 301.248138 m, bearing: 25.191255 deg, approach rate: -0.647874 m/s, LOS rate: 0.007870 deg/s, cmd heading: 33.123088 deg, new cmd heading: 33.130785 deg. B5sf9gO=HeadingCmd: 0.578241 target range: 306.600769 and range: 306.30 m.=?9*9"9 9AAAEBʎIIIjIZM S?ɢX4;) ֢>i)uii? c YnI ?I)19@ @@4@BI>BB #IBBB& =BBBa;B*%EQE EE"E"E:*Eg:VE(3ZEBE.NR ,IX@AFĵ>F6?FZ ٱFF NAHRS rotation from veh to nav: [[0.839570,-0.534189,-0.098813],[0.541845,0.836506,0.081622],[0.039056,-0.122068,0.991753]]FH? KV?`?@,???p?iFĵ>IF];FCYVsByV"IIZp>)Z>^=^=bDbVDb:2yjw<%j[=ٔn2;Q-n>9n ?Yr ?=riGyr Fr:Er>tQ 5z4v G?Q 9z4vj)vBY|y~>Q I~@vDIv ;iv. ;v84yɮ w@ j)gO5FNOT Ignoring new targets: 306.60 m.R5 9Z5 9gOE ProNav: ac range: 306.600769 m, nav range: 301.012604 m, bearing: 25.194089 deg, approach rate: -0.630271 m/s, LOS rate: 0.007590 deg/s, cmd heading: 33.130785 deg, new cmd heading: 33.136458 deg. BE>^9gOMHeadingCmd: 0.578340 target range: 306.600769 and range: 306.30 m.M?I*I"Q QQQYYYʎaaajaZmQ?颕̃Bɢt;) u>i)xv顙i i?+†1yI?I1@1 @1@50@1ԁ^AUԹA ؟AI I O >E  E E $E "E :*E &p:VE 4ZE a @a @a @a @ { ,cX@A6>6?6ٱ6~ >AHRS rotation from veh to nav: [[0.839270,-0.534832,-0.097881],[0.542369,0.836172,0.081556],[0.038227,-0.121536,0.991851]]6HL?W@@[? ??z?=?i6>I6u+];6CYFByF"IbDRVDR0yZɖ=%ZM=ٔZ/;Q-Z>9^"?Y^"?=^iGy\bN:Eb>dQ 5j4fG?Q 9j4f)fBYhyj>Q Ij@fDIf:ifg:f24yrwBɮrT@rEP~B*** querying acoustic contact ***| |j gO FNOT Ignoring new targets: 306.60 m.R 9Z 9gO ProNav: ac range: 306.600769 m, nav range: 300.761017 m, bearing: 25.197093 deg, approach rate: -0.629843 m/s, LOS rate: 0.007526 deg/s, cmd heading: 33.136458 deg, new cmd heading: 33.142470 deg. Ba\9gOHeadingCmd: 0.578445 target range: 306.600769 and range: 306.30 m.?*" Թʎj!Z%+@颽˃Bɢ\;) R>i)ti i?^NI?IeT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.@ @@3@^A A B B B #IB BB B B B a;B .%EBBBB& =B' =C5A I I O > ,~X@AY^By^#IE~ E~E~&E|"E~O:*E~:VE~4ZE|BE~ 9Y=iGy FE>Q 54H?Q 94G)BY"?Q E:y>Q I@DI;iq ;,4yɮ@jgOFNOT Ignoring new targets: 306.60 m.R-%9Z-%9gO ProNav: ac range: 306.600769 m, nav range: 300.472687 m, bearing: 25.201352 deg, approach rate: -0.610395 m/s, LOS rate: 0.009026 deg/s, cmd heading: 33.142472 deg, new cmd heading: 33.150999 deg. B$9gOHeadingCmd: 0.578594 target range: 306.600769 and range: 306.30 m.?*" ƒBʎjZ@颉ɢT!<) <>i)w/顑iZi?PI?I9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024905^A  AI IQ Ii Ou >< ,iX@A2{n>2 ?2ٱ2 :AHRS rotation from veh to nav: [[0.838961,-0.535796,-0.095217],[0.542991,0.835810,0.081128],[0.036115,-0.119765,0.992145]]2H?=%`!`.`?`? Ĵ?}?騾@?i2{n>I2];0YBByB"IHJAbDNVDN1yVż%VY=ٔV˷;Q-Z>9XYX=ZiGy\^:E^>`Q 5f4b'#H?Q 9f4b)bȭBYdyf>Q Ij@bDIbf;ib;b4ylɮn @ljgOFNOT Ignoring new targets: 306.60 m.R i19Z i19gO ProNav: ac range: 306.600769 m, nav range: 300.237732 m, bearing: 25.204801 deg, approach rate: -0.659956 m/s, LOS rate: 0.009694 deg/s, cmd heading: 33.150999 deg, new cmd heading: 33.157902 deg. B9gO%HeadingCmd: 0.578715 target range: 306.600769 and range: 306.30 m.%&?!*!"! !))))ʎ111j1Z=y @ʃBɢX/<) V>i) i i-&?55I5&?I1@ @@@@=@=E EE$E"E:*E:VE4ZEa@a@a@a@-BDAT read: Rx Time:00:38:33.8857 5TRx dataTimestamp_ set to:1761698314.521930=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279155^At01I I O5 >Q  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529262o ,oX@A2>2?26ٱ2m :AHRS rotation from veh to nav: [[0.838839,-0.536130,-0.094417],[0.543241,0.835612,0.081500],[0.035201,-0.119657,0.992191]]2H@?'+`:b?@U?@4ݴ??ҡ?i2>I2'];2CY By #IiMb@Mb@Mb@ 9+?Pn:v?Y?yT< )@YbDVDy8=%9=ٔ;Q->9Y=iGy F$:E>Q 54(9H?Q 94a)ӭBY'#?Q E:y>Q I@DI ;i:d4y xBɮ @ Ej11gO=FNOT Ignoring new targets: 306.60 m.R=9ZE9gOM ProNav: ac range: 306.600769 m, nav range: 299.957794 m, bearing: 25.208319 deg, approach rate: -0.634095 m/s, LOS rate: 0.007976 deg/s, cmd heading: 33.157901 deg, new cmd heading: 33.164944 deg. BUi9gOHeadingCmd: 0.578837 target range: 306.600769 and range: 306.30 m..?*" уBʎjZ+$ @ɃBɢ63<) ,>i)i%F!i.?ćI.?IBL>B׍CB.#IBBB% =BBiDBb;BV%Ea9@ @@@E EKE#E"E :*E;VE3ZEUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.783314BEK"Թ ,ôX@A2$>2?2 ٱ2` :AHRS rotation from veh to nav: [[0.839334,-0.535481,-0.093691],[0.542557,0.835917,0.082916],[0.033918,-0.120427,0.992143]]2H@?"%\?Կ?9?]?NԾ?i2$>I26^;0YVByV!#I\^AAbDbVDbyj4=%j\=ٔj"b;Q-j>9lYl=niGylnEr>pQ 5z4rKH?Q 9z4r)rݭBYxyz2>Q Iz@rDIr];ir:r4yɮm@j!gO5FNOT Ignoring new targets: 306.60 m.RM9ZM9gOe ProNav: ac range: 306.600769 m, nav range: 299.721924 m, bearing: 25.211324 deg, approach rate: -0.633895 m/s, LOS rate: 0.008082 deg/s, cmd heading: 33.164943 deg, new cmd heading: 33.170958 deg. Bel9gOmHeadingCmd: 0.578942 target range: 306.600769 and range: 306.30 m.m5?i*q"q qqqyyʎyyyjZ@iɢm'y<)q u->iq)uqqiuF#i}5?DAT read: 00:38:33.8857 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 407, 0.36,-1.960, 3.101,-1.670,-2.363, PHS= 0.505,-0.774, 0.650, RAW= 155.3, -5.7, CAL= 155.2, -7.2, ROT= 354.8, 7.2 Ygot valid direction response: 00:38:33.8857 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 407, 0.36,-1.960, 3.101,-1.670,-2.363, PHS= 0.505,-0.774, 0.650, RAW= 155.3, -5.7, CAL= 155.2, -7.2, ROT= 354.8, 7.2 PDAT read: Bearing 168.7, -2.3 (Local) ~Local bearing/azimuth received: Bearing 168.7, -2.3 (Local) DAT read: Range 11 to 50 : 304.2 m (Round-trip 405.7 ms) speed 0.4 m/s *DAT read: user:487> BDAT read: Tx time:00:38:34.9758 $Ping request sent.͹&m?g?#(H ^?)ʕ=I޹i> :publishing transmit ping time Fpublishing direction and range infoyƠU?[cK Y )Ii )I͹&m?g?#(H )Ii)WPI5?I59@1 @1@560@1I^AU `Իy I I O >E  E E E "E :*E i:VE ZE a @a @a @a @] ,%X@A062>64?6Dٱ6j >AHRS rotation from veh to nav: [[0.839322,-0.535631,-0.092942],[0.542683,0.835630,0.084953],[0.032161,-0.121741,0.992041]]6H@?@#˷]?|??`nw?m* ̾?i62>I6M^;4YFByJ"#IbDRVDRP)yZ;%ZM=ٔZؐ;Q-Z>9\Y\=^iGy^ Fb9Eb>dQ 5n4f_H?Q 9r4f)fBYtyvL>Q Iv@fDIf;if:;fڲ4yɮd@ тX@AJ7CR7CjN>q:r@}1;lCoBrƠU?[cK Z޹b>JgOE addTargetRange:: Added new target pos. range: 304.200012 m, deltaT: 4.036008 s, deltaX: -2.099976 m, approachRate: -0.520310 m/s, rangeRepo size: 4 gOu Added new target pos. range: 302.433136 m, bearing: 26.866273 deg, lat: 36.779464 deg, lon: -121.859252 deg, deltaT: 7.815924 s, deltaX: -4.167633 m, approachRate: -0.533223 m/s, posRepo size: 4 jygOFNOT Ignoring new targets: 302.43 m.RZgO5 ProNav: ac range: 302.433136 m, nav range: 299.469421 m, bearing: 25.214537 deg, approach rate: 0.000000 m/s, LOS rate: 0.008082 deg/s, cmd heading: 33.170957 deg, new cmd heading: 33.178023 deg. B1gOMHeadingCmd: 0.579066 target range: 302.433136 and range: 304.20 m.u=?q*q"y yyԑʎj@3s@Z&?颵ȃBɢ,B<) >i)Cxir&i=?hTI=?I9@ @@0@@\A@\A ^A A [AzA \AB <A <B O>B B H#IB BB $ =B B B `b;B x%EI! I9 OE >< ,X@A2Y>2n?2Nqٱ2 :AHRS rotation from veh to nav: [[0.839432,-0.535495,-0.092734],[0.542577,0.835520,0.086698],[0.031055,-0.123092,0.991909]]2H?`"g\??1?̟?󂿿?i2Y>I2l_;0Eb EbE`E`"Eb2:*Ebc:VE`ZE`BEb!*9 Y = iGy E>Q 5%4WuH?Q 9%4~)BY% ?Q E%:y%>Q I-@DI<:i:4y1ɮu@uEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 302.43 m.R8Z8gO ProNav: ac range: 302.433136 m, nav range: 299.190460 m, bearing: 25.217290 deg, approach rate: -0.663714 m/s, LOS rate: 0.006557 deg/s, cmd heading: 33.178023 deg, new cmd heading: 33.183535 deg. B?9gOHeadingCmd: 0.579162 target range: 302.433136 and range: 304.20 m.C?*" Bʎ   j ZM`?额ǃBɢ@<) >i)r顡i\(iC?㕈> IC?I@ @@4@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A I9 II I O] >`* ,/X@A2ƙ>2"?2Cٱ2R :AHRS rotation from veh to nav: [[0.838960,-0.536395,-0.091801],[0.543383,0.834908,0.087537],[0.029691,-0.123324,0.991922]]2H?@%*Hec??h?Ng?"ӽ?i2ƙ>I2w_;0YFByF'#I Jp9XYX=^iGy^F^);E^>`Q 5f4bH?Q 9f4b|)bBYhyju>Q Ij@bÃDIb):ib:b4!yYɮ]"@YjgOFNOT Ignoring new targets: 302.43 m.R8Z8gO ProNav: ac range: 302.433136 m, nav range: 298.965332 m, bearing: 25.219474 deg, approach rate: -0.618455 m/s, LOS rate: 0.006004 deg/s, cmd heading: 33.183535 deg, new cmd heading: 33.187906 deg. B/9gOHeadingCmd: 0.579238 target range: 302.433136 and range: 304.20 m.H?*" ʎjZ?aɢe)/<)i ma>ii)mmiiim{ +iH?ΈbIH?IE EE(E"E:*E҆:VEc44ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248752IM9@Q @Q@U/@Qy^AIIO> l> C  G1 a 9 Y ZA checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500290T ,k3X@A2r>2P?2?ٱ2‘ :AHRS rotation from veh to nav: [[0.838615,-0.537054,-0.091098],[0.544002,0.834322,0.089266],[0.028064,-0.124417,0.991833]]2H`? /1R`vh?IJ?@ ڶ?? ٿ?i2r>I2mD`;0YBy:#I  yiMb@Mb@Mb@ 9Gz?Zd;Zd;O?Yp?yj<A|@ d@)Y@bDVDJ2y=%9=ٔq;Q->9Y=iGy#:E>Q 54kH?Q 94y) BY ?Q E:y8>Q I@˃DIP;iT ;4yyBɮ3@EjagOeFNOT Ignoring new targets: 302.43 m.Rm8Zm8gO ProNav: ac range: 302.433136 m, nav range: 298.690369 m, bearing: 25.222377 deg, approach rate: -0.635438 m/s, LOS rate: 0.006714 deg/s, cmd heading: 33.187906 deg, new cmd heading: 33.193717 deg. BD9gOHeadingCmd: 0.579340 target range: 302.433136 and range: 304.20 m.O?*" ŃBʎjZB?mƃBɢmތ<) P>i)g顱ip-iO?#IO?IԩBQ>B؍CBZ#IBτBB# =BBBb;B%E9@ @@@@=@=DzD?AE EE%E"E>:*EL_:VE 4ZEBEE< ,MX@A: >:C[?:}ۼٱ:A FAHRS rotation from veh to nav: [[0.838559,-0.537276,-0.090299],[0.544152,0.834110,0.090325],[0.026790,-0.124879,0.991810]]:Hx?]1 i?? ?`n??i: >I:`;:CYNByN@#IbDbVDbyr<%vZ=ٔv^;Q-v>9xYx=ziGyzFz9E~>Q 5 4H?Q 9 4w)BY y S>Q I @ӃDIy:i-:54yɮ@j9gOEFNOT Ignoring new targets: 302.43 m.RE-8ZM-8gOU ProNav: ac range: 302.433136 m, nav range: 298.456421 m, bearing: 25.224842 deg, approach rate: -0.637891 m/s, LOS rate: 0.006726 deg/s, cmd heading: 33.193719 deg, new cmd heading: 33.198652 deg. B]D9gOeHeadingCmd: 0.579426 target range: 302.433136 and range: 304.20 m.e@U?a*a"a aaiiiʎiqqjqZuҹ?颥ŃBɢL<) >i)a顩i/i@U?=2I@U?I1}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0044499@ @@0@!^AQI I bEu3jEu#4rEu5/E  E E #E "E :*E P:VE 3ZE a @a @a @a @- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256310OE >y f ,mgX@Aj$̷>jԻ?jn ƼٱjD AHRS rotation from veh to nav: [[0.837812,-0.538738,-0.088502],[0.545424,0.833099,0.091970],[0.024183,-0.125324,0.991821]]jH@Z?X=` t? ? S?oØ? ?ij$̷>IjO`c;hY-By-=#IbD=VD=JyMK%MD=ٔU;Q-U>9QYQ=]iGyY]mg;E]>aQ 5m4eH?Q 9m4eu)e BYqyu>Q Iu@eۃDIaiep:e~4yyɮ}@jgOFNOT Ignoring new targets: 302.43 m.R8Z8gO ProNav: ac range: 302.433136 m, nav range: 298.196136 m, bearing: 25.227511 deg, approach rate: -0.624315 m/s, LOS rate: 0.006408 deg/s, cmd heading: 33.198654 deg, new cmd heading: 33.203997 deg. B;9gOHeadingCmd: 0.579519 target range: 302.433136 and range: 304.20 m.][?*" ʎjZ3@ɢb<)  x>i ) l'[  i 72i][?ITkûI][?IY@ @@#0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508621ԉ^AI9IIOU>ԩA AAA ?AB V>B B g#IB ڄBB " =B B jDB b;B %E iN ,HX@AEV EVEV"ET"EV';*EVX:VEV(3ZETBEV9Y=iGyF E >Q 54H?Q 94Rr)+BY(?Q E:y%>Q I%@DIP ;i ;4y)ɮ-@-EPEB*** querying acoustic contact ***A AjQgO]FNOT Ignoring new targets: 302.43 m.R]8Z]8gOm ProNav: ac range: 302.433136 m, nav range: 297.932404 m, bearing: 25.229582 deg, approach rate: -0.618299 m/s, LOS rate: 0.004860 deg/s, cmd heading: 33.203998 deg, new cmd heading: 33.208144 deg. BmP9gOuHeadingCmd: 0.579591 target range: 302.433136 and range: 304.20 m.u`?q*y"y yyyÃBʎjZC@Ա颽ăBɢa<) >i)r[Ti4i`?9xBu˻I`?III)ZA@ @@00@@ZA@iߑIߑchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012482 ^A [RӻI9 II OU >9 x ,O$X@ANk5>Nzp?N@ٱN VAHRS rotation from veh to nav: [[0.836363,-0.541469,-0.085492],[0.547769,0.831530,0.092234],[0.021147,-0.123971,0.992061]]NH`{? S⵿R?@?@? ?`?iNk5>INd;NCYbBybI#IbDnVDnyv<%v^=ٔv9xYx=ziGyxz;E~>Q 5 4QH?Q 9 4o)4BYy>Q I@DIK:i :e4yvBɮD@EjAgOEFNOT Ignoring new targets: 302.43 m.RM8ZM8gO] ProNav: ac range: 302.433136 m, nav range: 297.703430 m, bearing: 25.231264 deg, approach rate: -0.620489 m/s, LOS rate: 0.004559 deg/s, cmd heading: 33.208144 deg, new cmd heading: 33.211509 deg. B]9gOeHeadingCmd: 0.579650 target range: 302.433136 and range: 304.20 m.ec?a*a"a iiiiiʎqqqjqZ}} @颡ɢls<) >i)]N顩i~6ic?u5pI5c?I99@ @@4@BDAT read: Rx Time:00:38:37.7822 TRx dataTimestamp_ set to:1761698318.554776checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2670289^ASIqIO>i  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516289 ,X@A$F޹>F(?FٱFŘ NAHRS rotation from veh to nav: [[0.835678,-0.542727,-0.084207],[0.548864,0.830782,0.092461],[0.019777,-0.123486,0.992149]]FH޽? ^K?ĕ? ?f@?ʜ?iF޹>IFse;DYVByZF#IiMb@Mb@Mb@ 9T㥛 ?rh|:v?Y!?yT<@ (@)@Y <bDVD:y}4%>=ٔP;Q->9Y=iGyFD;E>Q 54H?Q 942m)=BY$?Q E:y>Q I@DI& ;i~ ;4yɮs@EjgOFNOT Ignoring new targets: 302.43 m.R8Z8gOE ProNav: ac range: 302.433136 m, nav range: 297.428558 m, bearing: 25.233842 deg, approach rate: -0.638790 m/s, LOS rate: 0.005997 deg/s, cmd heading: 33.211508 deg, new cmd heading: 33.216669 deg. BM/9gOHeadingCmd: 0.579740 target range: 302.433136 and range: 304.20 m.i?*" ăBʎjZ@, @UÃBɢUvä<)Y ]>iY)]GYYi]99iei?e``q@Ii?IB]X>B]ٍCBYBYB]! =BYBYB]b;B]%EB%؍CB%؍CB!B%# =B%# =C%l5E9@A @A@E4@AԙE EE(E"E:*EV:VEc44ZEBE&<2E'<JE;:E;DAT read: Range 11 to 50 : 301.6 m (Round-trip 402.2 ms) speed 0.6 m/s  *DAT read: user:488> BDAT read: Tx time:00:38:38.8758 $Ping request sent. ,I΃X@AB^>B?B'ٱB- NAHRS rotation from veh to nav: [[0.835164,-0.543724,-0.082852],[0.549695,0.830196,0.092795],[0.018328,-0.123042,0.992232]]BHહ? 0f5??@b?Ē?]?PiB^>IBe;BCYZByZB#IbDbVDbyj%jZ=ٔnb};Q-n>9pYp=riGypr*;Ev>tQ 5z4vnI?Q 9z4vj)vEBY|y~>Q I~@vDIvI;iv;vv4ywBɮ @ gO addTargetRange:: Added new target pos. range: 301.600006 m, deltaT: 3.779962 s, deltaX: -2.600006 m, approachRate: -0.687839 m/s, rangeRepo size: 4 jgOFNOT Ignoring new targets: 302.43 m.R%8Z%8gO ProNav: ac range: 302.433136 m, nav range: 297.188873 m, bearing: 25.236049 deg, approach rate: -0.611169 m/s, LOS rate: 0.005632 deg/s, cmd heading: 33.216668 deg, new cmd heading: 33.221086 deg. B$9gOHeadingCmd: 0.579817 target range: 302.433136 and range: 301.60 m.n?*" ʎjr@Z૫?!ɢ%#4<)! %h>i!)-2+A))i-v@;i5n?5XD5ŇI5n?I9Ex>iE>@ @@/@@=@=^AE  E E %E "E :*E n:VE 4ZE a @a @a @a @I I O >Q w ,aX@AN>NF?N8ϊٱN ZAHRS rotation from veh to nav: [[0.834636,-0.544760,-0.081360],[0.550541,0.829633,0.092804],[0.016944,-0.122250,0.992355]]NH@V?n` Դ ?`[?`?Y?`K^?iN>INe;NCYbByb;#IbDnVDnyrǼ%vI=ٔv^;Q-v>9xYx=ziGyzF~ ;E~>Q 5 4%I?Q 9 4'h)MBY y >Q I @DI):i:4yɮ% @!jAgOMFNOT Ignoring new targets: 302.43 m.RM8ZM8gOe ProNav: ac range: 302.433136 m, nav range: 296.928497 m, bearing: 25.238401 deg, approach rate: -0.666438 m/s, LOS rate: 0.006027 deg/s, cmd heading: 33.221087 deg, new cmd heading: 33.225796 deg. Bex09gOmHeadingCmd: 0.579900 target range: 302.433136 and range: 301.60 m.mLt?i*i"i iiqqqʎyyyjyZ}r"?颭ƒBɢR<) >i);顱iB=iLt?_T^źILt?IIY@Y @Y@e/@ai^ANJκI I O- >B= <A= 4=BE [>BA BA BA BE =BA BE kDBE b;BE %Eԙ !,X@AE> E>E<E<"E>m:*E>:VE<ZE<BE>ST;aF:E>;aF:`>:?:íٱ:c RAHRS rotation from veh to nav: [[0.834118,-0.545729,-0.080165],[0.551362,0.829066,0.093004],[0.015707,-0.121776,0.992433]]:H?v?`?Ϸ??,?i:`>I:n@e;8Y^By^<#IiEMb@Mb@Mb@AAAA A9EMb?K7{Gz?YE ?yEI E#9yY=iGy;E>Q 54:I?Q 94e)UBYQ$?Q E:y>Q I@ DI:i:4yɮ @EPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 302.43 m.R9Z9gO ProNav: ac range: 302.433136 m, nav range: 296.658447 m, bearing: 25.241969 deg, approach rate: -0.598457 m/s, LOS rate: 0.007914 deg/s, cmd heading: 33.225797 deg, new cmd heading: 33.232939 deg. Bg9gO-HeadingCmd: 0.580024 target range: 302.433136 and range: 301.60 m.-w|?)*)") )119EBʎaaijiZm`)?颱ɢ쓢<) >i)ֵ3项ԙift?iw|?aֈYIw|?I1@1 @1@50@1mT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.^A ?Bɺ I I) O= >!,lX@A2PExceeded connect timeout, disconnecting.6h>6-?6)kٱ6۝ >AHRS rotation from veh to nav: [[0.834101,-0.545897,-0.079198],[0.551425,0.828915,0.093972],[0.014349,-0.122054,0.992420]]6H?wQF`F? x??Cc?> ?i6h>I6Gd;6CYFByJ5#IbD~VD~yR% R=ٔ e;Q- >9Y=iGyF(9E>!Q 5-4%NI?Q 9-4%-c)%\BY1y5>Q I5@%DI%:i%:%4y9ɮ=j@AjagOeFNOT Ignoring new targets: 302.43 m.Rms'9Zms'9gO} ProNav: ac range: 302.433136 m, nav range: 296.409576 m, bearing: 25.245259 deg, approach rate: -0.691671 m/s, LOS rate: 0.009150 deg/s, cmd heading: 33.232938 deg, new cmd heading: 33.239522 deg. B}9gOHeadingCmd: 0.580139 target range: 302.433136 and range: 301.60 m.?*" ʎjZ ?Bɢ$a<) )>i).i 3Ai?I?IQ@Q @Q@UD0@Q@]\A@YE EE&E"EO:*EL_:VE4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509958^AII O>1Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761194 !,4H6X@A2>2Y?2/Zٱ2- :AHRS rotation from veh to nav: [[0.834519,-0.545250,-0.079249],[0.550817,0.829085,0.096018],[0.013350,-0.123781,0.992220]]2Ha? r IJ?`܇? ?PW?C?i2>I2 >c;2CYFByF7#IiMb@Mb@Mb@ 9rh|?V-¿:v?Y?yhT< @)@Y@bD-VD-fy=a<%=G=ٔ=;Q-E>9AYA=EiGyAMEM>QQ 54UbI?Q 94U`)UdBY ?Q E:y|>Q I@UDIUni)d'in1CiN? B~ I N?IIBZ>BBZ#IBτBB =BBBb;B%E@ @@0@aE EE#E"E:*E1]:VE3ZEBEԹ !,"PX@A2nߺ>2zE?2lEٱ2 :AHRS rotation from veh to nav: [[0.834704,-0.545097,-0.078348],[0.550567,0.829131,0.097046],[0.012061,-0.124141,0.992191]]2H?pq>? =?ظ?@?ǿ?i2nߺ>I2xb;0YFByF3#I J;JbDNVDNNyVRn%VT=ٔZZ;Q-Z>9Z ?YZ ?=^iGy^F^RE^>`Q 5f4buI?Q 9f4b^)blBYhyjX>Q Ij@b$DIb:ib :b4ylɮn@pjgOFNOT Ignoring new targets: 302.43 m.R >9Z >9gO ProNav: ac range: 302.433136 m, nav range: 295.914490 m, bearing: 25.253175 deg, approach rate: -0.650022 m/s, LOS rate: 0.010429 deg/s, cmd heading: 33.247660 deg, new cmd heading: 33.255368 deg. B9gOHeadingCmd: 0.580416 target range: 302.433136 and range: 301.60 m.?*" ʎjZ@@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265387ԑBɢ7<) >i):!i Ei?KZ'I?I@ @@4@]nManaging dock network, ignoring radio surface power off^AE  E E E "E :*E x:VE ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517339A= ؟AII Ia O} > P !, jX@AY y 4#IbDVD1y-φ:%5A=ٔ5Q-5>95"?Y="?==iGy9=E=>AQ 5M4EI?Q 9U4E*\)EtBYQyQQ IU@E-DIE@;iE:E 4yYɮ]@ajgOFNOT Ignoring new targets: 302.43 m.R79Z79gO ProNav: ac range: 302.433136 m, nav range: 295.651550 m, bearing: 25.257396 deg, approach rate: -0.622327 m/s, LOS rate: 0.010001 deg/s, cmd heading: 33.255368 deg, new cmd heading: 33.263819 deg. Bk9gO HeadingCmd: 0.580563 target range: 302.433136 and range: 301.60 m. ʟ? * "  ʎjZ]@MBɢM94<)I M>iQ)UnQQiUFi]ʟ?]n9]% I]ʟ?Ia=9@9 @A@E/@AmG9YA@=@=Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771839 ^A9 9 A @AA B Y>B B T#IB ʄBB =B B jDB b;B %EIq I O > !,؃X@A E6 E6E6&E4"E6:*E6]t:VE64ZE4BE6<Bq>B?BY$ٱB JAHRS rotation from veh to nav: [[0.836255,-0.542900,-0.077048],[0.548249,0.830391,0.099371],[0.010031,-0.125341,0.992063]]BH ?p_c@??bp?`?* ?iBq>IB,a;BCRchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021165YBy1#IiuMb@Mb@Mb@qqqq q9u1Zd?~jtÿ~jt?Yu"?yuu9Y=iGyFʻE>Q 54I?Q 94Y)~BY ?Q E:y>Q I@6DI2 ;i ;$4yyBɮ@EPB*** querying acoustic contact *** j gO FNOT Ignoring new targets: 302.43 m.R^9Z^9gO% ProNav: ac range: 302.433136 m, nav range: 295.372131 m, bearing: 25.262883 deg, approach rate: -0.618730 m/s, LOS rate: 0.012160 deg/s, cmd heading: 33.263820 deg, new cmd heading: 33.274804 deg. B% 9gO-HeadingCmd: 0.580755 target range: 302.433136 and range: 301.60 m.-Z?)*)") 1111=Bʎ999j9ZE@imBɢu <)q un>iq)}yyi}HiZ?@DIZ?IE9@A @A@E/@IԙUBDAT read: Rx Time:00:38:41.6586 ]TRx dataTimestamp_ set to:1761698322.333122]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274180^A NJκ IA IQ Oe >'!,ٝX@ADY By 4#IbDVDy-F<%-d=ٔ5Q-5>91Y1==iGy9=E=>AQ 5M4EI?Q 9M4EW)EBYQyQQ IU@E=DIE;iE;E,+4y]zBɮ]@YjgOFNOT Ignoring new targets: 302.43 m.R*`9Z*`9gO ProNav: ac range: 302.433136 m, nav range: 295.150330 m, bearing: 25.267245 deg, approach rate: -0.622296 m/s, LOS rate: 0.012249 deg/s, cmd heading: 33.274803 deg, new cmd heading: 33.283535 deg. BU9gO HeadingCmd: 0.580907 target range: 302.433136 and range: 301.60 m. W? *" ʎj!Z% T @UBɢU&<)Q U>iQ)]YYi][tJieW?eGe?ԘIeW?IiEm EmEm$Ei"Em:*Em|:VEm4ZEiau@a}@a}@a}@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525667Թ9@ @@@^ASIqIO:>  DAT read: 00:38:41.6586 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 194, 0.07, 1.559, 0.124, 1.895, 1.041, PHS= 0.619,-0.872, 0.810, RAW= 155.9, -7.0, CAL= 156.2, -8.7, ROT= 353.8, 8.7  Ygot valid direction response: 00:38:41.6586 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 194, 0.07, 1.559, 0.124, 1.895, 1.041, PHS= 0.619,-0.872, 0.810, RAW= 155.9, -7.0, CAL= 156.2, -8.7, ROT= 353.8, 8.7  PDAT read: Bearing 167.0, -4.7 (Local)  ~Local bearing/azimuth received: Bearing 167.0, -4.7 (Local)  DAT read: Range 11 to 50 : 284.0 m (Round-trip 378.7 ms) speed 0.6 m/s  *DAT read: user:489>  BDAT read: Tx time:00:38:42.7758  $Ping request sent. Y Y ] ?^?: ^ ] ڢ ?)] =I] iݽi] |>Y Y  :publishing transmit ping time  Fpublishing direction and range infoyY ] Y}`r?(cgTni\ÿYY Y Y Y Y Y )Y IY iY Y Y Y Y Y )Y IY Y Y ] ?^?: ^ Y )Y IY iY Y Y f?-!,X@A2,>2?2@ٱ2L :AHRS rotation from veh to nav: [[0.837213,-0.541718,-0.074939],[0.546819,0.831220,0.100312],[0.007950,-0.124960,0.992130]]2Hs?`U1/?Z? ?H?g ?i2,>I2*[`;2CԹBS>B؍CBN#IBńBB! =BBB$c;B%EYeBye2#IIm=)m9Y = iGy F v>E >1Q 5=45_I?Q 9=45T)5BYE ?Q EE:yEg>Q IE@5IDI5:i5:554yIɮM@UEX@AJ-CR-Cjy> E֙Wq@|ݷ$>~ZErY}`r?(cgTni\ÿZiݽb|>}zo@vӳܘ^@=5I3Bzw?UL?V@^2B:{C" ?*yBAPU⠊?“BwCb>gOu addTargetRange:: Added new target pos. range: 284.000000 m, deltaT: 3.781807 s, deltaX: -17.600006 m, approachRate: -4.653862 m/s, rangeRepo size: 4 gO Added new target pos. range: 282.356384 m, bearing: 25.919081 deg, lat: 36.779445 deg, lon: -121.859252 deg, deltaT: 7.561769 s, deltaX: -20.076752 m, approachRate: -2.655034 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 282.36 m.RZgO ProNav: ac range: 282.356384 m, nav range: 292.930328 m, bearing: 25.445749 deg, approach rate: 0.000000 m/s, LOS rate: 0.012249 deg/s, cmd heading: 33.283536 deg, new cmd heading: 33.298822 deg. BgOHeadingCmd: 0.581174 target range: 282.356384 and range: 284.00 m.?*" Bʎjq@Z@c?E BɢE IF<)A m >ii )m Ji i im |Liu ?u ~} ѻI} ?Iy A 9@  @ @ 4@ @ [A@ q^A3I!I9OE?A6!,لX@A2N >2?2ٱ2u :AHRS rotation from veh to nav: [[0.837686,-0.541078,-0.074280],[0.546108,0.831571,0.101269],[0.006975,-0.125396,0.992082]]2H`R?P@y?@;? ?|?` #?i2N >I2_;2C @)B`ABQ8@@DF`AiFtIDDIHiJ"aA J@J3F)HL N`ANGaLLPR`AIR)PiP)PIV`AVT TTTTiXXiXX)X \I\Y\YbByb9#IbDnVDnyv,=%vu=ٔv?;Q-v?Q9Y=iGyFE>Q 54I?Q 94R)BYy>Q I@PDI;iX;;4yɮ\@j!gO%FNOT Ignoring new targets: 282.36 m.R-9Z-9gO} ProNav: ac range: 282.356384 m, nav range: 292.712250 m, bearing: 25.450470 deg, approach rate: -0.658679 m/s, LOS rate: 0.014271 deg/s, cmd heading: 33.298822 deg, new cmd heading: 33.308272 deg. B9gOHeadingCmd: 0.581339 target range: 282.356384 and range: 284.00 m.?*" !ʎ)))j)Z5 X?颍Bɢ<) >i)顑i=Ni?QI?Iԁ=9@9 @9@=/@9E EE(E"E:*E n:VEc44ZEa@a@a@a@ԩ^A `ԻI! I1 OE > G-̔?-[ٱ-ԃԹ AHRS rotation from veh to nav: [[0.838367,-0.540235,-0.072713],[0.545075,0.832263,0.101153],[0.005870,-0.124438,0.992210]]-H ?@IW @q? ?@+?Z x?`$ۿ`/?i-~>I-|_;-CYuByu=#Ii-Mb@Mb@Mb@)))) )9-S?Onÿy&1?Y-?y--`<-A-O@ -@)-@)Y-\@bDE VDE2yU+M<%U)=ٔU;Q-U>9YYY=]iGyY]{/Ee>iQ 5u4mI?Q 9u4mP)mBYuk?Q Eu:yu>Q I}@mYDImv:im':mC4y{Bɮ5@EjgOFNOT Ignoring new targets: 282.36 m.Rh9Zh9gO ProNav: ac range: 282.356384 m, nav range: 292.426727 m, bearing: 25.456221 deg, approach rate: -0.629141 m/s, LOS rate: 0.012683 deg/s, cmd heading: 33.308271 deg, new cmd heading: 33.319783 deg. B9gOHeadingCmd: 0.581540 target range: 282.356384 and range: 284.00 m.?*" BʎjZ@{|? Bɢ }9<)  H>i)iPi?8FA I?I!BA<BBBT#IBʄBB" =BBBRc;B%EBeٍCBeٍCBaBe =Be! =Ce#5@ @@@ E EE%E"Em:*Ei:VE 4ZEBES5AC!, X@A2oض>2A?2ٱ2D :AHRS rotation from veh to nav: [[0.839059,-0.539249,-0.072044],[0.544017,0.832860,0.101927],[0.005039,-0.124716,0.992180]]2H ?A ~qh?ʦ??t?_?i2oض>I2;_;2CYByE#I bDVDy =% L=ٔO;Q->9 ?Y ?=iGyF8OE>!Q 5-4%S J?Q 9-4%M)%BY1y5]>Q I5@%aDI%[:i%:%J4y=xBɮ=@=EP]B*** querying acoustic contact ***Y YjagOmFNOT Ignoring new targets: 282.36 m.Rmf9Zmf9gO} ProNav: ac range: 282.356384 m, nav range: 292.180115 m, bearing: 25.461256 deg, approach rate: -0.616665 m/s, LOS rate: 0.012602 deg/s, cmd heading: 33.319784 deg, new cmd heading: 33.329863 deg. B}9gOHeadingCmd: 0.581716 target range: 282.356384 and range: 284.00 m.T?*" ʎjZG?%T****** received valid address query ******%R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.Bɢ<) (?i)xiQiT?HMIT?IY9@ @!@!@!I^A5 A= >A= >q E  E E &E "E :*E |:VE 4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743298Ae ؟AIq I O >J!,*X@A2ꈶ>28?2ٱ2= :AHRS rotation from veh to nav: [[0.839393,-0.538987,-0.070089],[0.543510,0.833324,0.100830],[0.004061,-0.122730,0.992432]]2HM?b?bod? ?`Ϲ?pp?Bk@?i2ꈶ>I25_;2C@@i@I@@I@iD DD)DD Fq@DHHHHIL)LiL)LILLP PPR^ARI iR FPiTVn^A)Vt VEITYTY^ƄBy^O#IbDfVDf:ynO&=%n[=ٔr+;Q-r>9r"?Yv"?=viGytvnպEv>xQ 5~4zJ?Q 9~4zK)zBYy>Q I@zhDIz:izW:zHQ4y wBɮ @Ej9gO=FNOT Ignoring new targets: 282.36 m.REh9ZEh9gO ProNav: ac range: 282.356384 m, nav range: 291.949890 m, bearing: 25.465998 deg, approach rate: -0.617330 m/s, LOS rate: 0.012725 deg/s, cmd heading: 33.329861 deg, new cmd heading: 33.339353 deg. BN9gOHeadingCmd: 0.581881 target range: 282.356384 and range: 284.00 m./?*" ʎj Z ,?UBɢUe=)Y ]?iY)]vֻYYieSie/?+6%I/?IIY@y @@{0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998553i^A &BE N>BE ׍CBE Z#IBE τBBE $ =BA BE iDBE c;BE &Eԙ A I I1 O] >P!,CX@A2,$>2?2Iٱ2E/ :AHRS rotation from veh to nav: [[0.839813,-0.538510,-0.068709],[0.542867,0.833761,0.100685],[0.003067,-0.121856,0.992543]]2H?y;@떱*_?`,?@zƹ?n i?@1?i2,$>I2_;2CE% E%E%$E!"E%:*E%e:VE%4ZE!BE%u9Y=iGyF׺E>Q 545J?Q 94:I)ŮBY ?Q E:y>Q I@rDI ;i& ;mY4yxBɮ@j!gO-FNOT Ignoring new targets: 282.36 m.R56C9Z56C9gO= ProNav: ac range: 282.356384 m, nav range: 291.662262 m, bearing: 25.470959 deg, approach rate: -0.617855 m/s, LOS rate: 0.010667 deg/s, cmd heading: 33.339352 deg, new cmd heading: 33.349283 deg. BE+9gOEHeadingCmd: 0.582055 target range: 282.356384 and range: 284.00 m.E?I*I"I IIQQUBʎQYYjYZ]@颅Bɢ<) N?i)Aǻ顑iUi?E2I?Iԩ@ @@)1@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499112^A ܪ& A I! I1 O= > W!,@]X@A22>2?2Îٱ2T :AHRS rotation from veh to nav: [[0.840039,-0.538279,-0.067751],[0.542522,0.833929,0.101149],[0.002053,-0.121726,0.992562]]2H?9'X X\???`?p)?i22>I2^;2CYMԄByM`#IbD]VD]ym=%mf=ٔu:;Q-u>9qYq=}iGyy}E}>Q 54FJ?Q 944G)ήBYy>Q I@yDI;i;_4yɮ4@jgOFNOT Ignoring new targets: 282.36 m.R.D9Z.D9gO ProNav: ac range: 282.356384 m, nav range: 291.442657 m, bearing: 25.474771 deg, approach rate: -0.617120 m/s, LOS rate: 0.010720 deg/s, cmd heading: 33.349283 deg, new cmd heading: 33.356912 deg. B9gOHeadingCmd: 0.582188 target range: 282.356384 and range: 284.00 m.E ?*" ʎjZ@%Bɢ-t=)) - ?i))511i5^GWi=E ?=u=39I=E ?IAII)M[A@ @@3@@@EM EMEM'EI"EM:*EMV:VEM'4ZEIaU@aU@aU@aU@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7532799^A0aA I I O% >ԙ iA IE A2]!,ZwX@A"checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015217- >-ʩ?->vٱ-x EAHRS rotation from veh to nav: [[0.840330,-0.537961,-0.066652],[0.542074,0.834166,0.101605],[0.000939,-0.121512,0.992590]]-H?6 X?`|?? N?@d@K?i- >I-*&_;-CYUфByU]#IiMb@Mb@Mb@ 9~jt?X9vS㥛?Y?y/< Af@ @)Y@bD VD2yRj%A=ٔ,;Q- >9 iY =iGyF[E>Q 54)\J?Q 94D)خBY?Q E:y>Q I@DI:i:Kg4yɮk@EjgOFNOT Ignoring new targets: 282.36 m.R9Z9gO ProNav: ac range: 282.356384 m, nav range: 291.172058 m, bearing: 25.478306 deg, approach rate: -0.618186 m/s, LOS rate: 0.008083 deg/s, cmd heading: 33.356912 deg, new cmd heading: 33.363989 deg. Bl9gOHeadingCmd: 0.582311 target range: 282.356384 and range: 284.00 m.]?*" BʎjZ@@-Bɢ-7=)1 5:?i1)511i=o.Yi=]?EeEBIE]?IABK>BBg#IBڄBB% =BBBc;BC&E9@ @@/@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.257037E EE(E"E:*EAr:VEc44ZEBEn% d!,^KX@A2>2?2.Pٱ2 :AHRS rotation from veh to nav: [[0.840439,-0.537929,-0.065536],[0.541907,0.834314,0.101274],[0.000199,-0.120629,0.992698]]2H`?6 ưMW?? ?*? ᾿-?i2>I2.C_;0YBۄByBi#I J49XYX=ZiGy\^hE^?`Q 5f4blJ?Q 9f4b|B)b߮BYhyj>Q Ij@bDIb{;ib;bYm4ylɮn@ljgOFNOT Ignoring new targets: 282.36 m.R 9Z 9gO ProNav: ac range: 282.356384 m, nav range: 290.957794 m, bearing: 25.481119 deg, approach rate: -0.618538 m/s, LOS rate: 0.008129 deg/s, cmd heading: 33.363989 deg, new cmd heading: 33.369620 deg. Bn9gO%HeadingCmd: 0.582410 target range: 282.356384 and range: 284.00 m.%?!*!"! !)))1ʎ111j1Z=@ @eBɢem=)a m?ii)m㜻iiimvZiu?uIunEIu?IyBDAT read: Rx Time:00:38:45.5554 TRx dataTimestamp_ set to:1761698326.366396checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5097949@ @@@^A0:D I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759534Em  Em Em $Ei "Em :*Em n:VEm 4ZEi au @au @au @au @@j!,X@A(t>?^rO:ٱ AHRS rotation from veh to nav: [[0.840543,-0.537900,-0.064430],[0.541744,0.834403,0.101417],[-0.000791,-0.120150,0.992755]]H? y6|~`U?m?q?KI!¾ ?it>IR_;YׄByd#IbDu VDu2y%0=ٔ ;Q->9Y=iGyFqڹE> Gl>C9YYq9Y˥AQ 54˃J?Q 94?)BYyy>Q I@DI BDAT read: Tx time:00:38:46.6757 $Ping request sent.i  ;? {4@  A> ,4@ w>) 6@I w   ZKͩ?!E&?.-%[b? W:?) )oI Ii w  :publishing transmit ping timeFpublishing direction and range infoy  ب ?Aȿi%!>ԩ @  @ @ A0@ @ =@ =B I>B B s#IB BB & =B B hDB 6d;B \&E Dq zDu AA^A /CE- E-E-&E)"E->:*E-V:VE-4ZE)BE-:z?::ٱ:ð RAHRS rotation from veh to nav: [[0.840448,-0.538074,-0.064209],[0.541890,0.834218,0.102153],[-0.001402,-0.120648,0.992694]]:H?7o)W?`? &? ^V⾿'?i:m>I:_;:CYZքByZb#Ii=Mb@Mb@Mb@9999 99=)\(?MbZd;O?Y=G!?y==j<="A=O@ 9)=@9Y=@AAbDVD!yŻ% #=ٔ :Q- >9Y=iGy9E>Q 5%4ܛJ?Q 9-46<)BY-+#?Q E-:y-#>Q I-@DI ;ie ;0~4y=yBɮ=-@=EX@AJCRCj>cVq@BL4K0FdA@rب ?Aȿ?/? ?2B:C"cԞ?*a]BB4?y“BCR>gO addTargetRange:: Added new target pos. range: 281.600006 m, deltaT: 4.031708 s, deltaX: -2.399994 m, approachRate: -0.595280 m/s, rangeRepo size: 4 gO Added new target pos. range: 279.962830 m, bearing: 22.466448 deg, lat: 36.779427 deg, lon: -121.859291 deg, deltaT: 4.031708 s, deltaX: -2.393555 m, approachRate: -0.593683 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 279.96 m.RZgO ProNav: ac range: 279.962830 m, nav range: 287.004913 m, bearing: 25.036881 deg, approach rate: 0.000000 m/s, LOS rate: 0.007609 deg/s, cmd heading: 33.377301 deg, new cmd heading: 33.384351 deg. BgOHeadingCmd: 0.582667 target range: 279.962830 and range: 281.60 m.)?*" Bʎjq@Z Q?a}Bɢ}^=) ?i);n顡i_i)?Ќa8II)?I]9@Y @Y@]/@Yԑ^A} NJN I I O >y!,XX@A:Ɠ>:?:;ٱ:P nAHRS rotation from veh to nav: [[0.840413,-0.538191,-0.063690],[0.541943,0.834141,0.102505],[-0.002041,-0.120663,0.992691]]:H`?8 NW?G? =? ``㾿 ?i:Ɠ>I:^;8YzلByzf#IbD5VD5yM<%MX=ٔU:Q-U>9YYa=eiGyeFe09Ee>iQ 5u4mcJ?Q 9u4E} E}E}$Ey"E} :*E}:VE}4ZEya@a@a@a@m9)mBYy,>Q I@mDIm;im;mԄ4yɮ@jgOFNOT Ignoring new targets: 279.96 m.Rz7Zz7gO ProNav: ac range: 279.962830 m, nav range: 286.763031 m, bearing: 25.037217 deg, approach rate: -0.626935 m/s, LOS rate: 0.000872 deg/s, cmd heading: 33.384349 deg, new cmd heading: 33.385023 deg. Bb7gOHeadingCmd: 0.582679 target range: 279.962830 and range: 281.60 m.l*?*" !!!!ʎ)))j)Z-@b?Bɢ1=) 4?i)#Qi7`il*? O OHI l*?I@ @@@^AI I O >! 2!,X@AB"<A B&J>B$B&z#IB&BB&% =B$B&iDB&od;B&y&EFE>F?Fw6;ٱF NAHRS rotation from veh to nav: [[0.840409,-0.538272,-0.063050],[0.541945,0.834094,0.102875],[-0.002785,-0.120627,0.992694]]FH?9 $`W? ?V?fb᾿@&?iFE>IFF _;FCYV܄ByVi#IIZp=)Z>|i=Mb@Mb@Mb@9999 99=RQ?I +Q?Y="?y=9=u<=A=f@ =@)99Y=\@bDUVDUN2yeP<%eI=ٔm:Q-m>9iYi=uiGyqu>7Eu>Q 5e4IJ?Q 9e46)BYm($?Q Em:ym>Q Im@DI*ԁ !,ÚX@A2-9>2Z?2vlW;ٱ2 :AHRS rotation from veh to nav: [[0.839725,-0.539423,-0.062324],[0.543001,0.833466,0.102390],[-0.003287,-0.119822,0.992790]]2H?B诿 D`?@?C6?j ?i2-9>I2 _;2CYB؄ByBe#I Jp9XYX=ZiGyZF^X;E^>Q 5%4^J?Q 9%43)BY)y-R>Q I-@DI:i:Ē4y5zBɮ5@1YjagOmFNOT Ignoring new targets: 279.96 m.R}gZggO ProNav: ac range: 279.962830 m, nav range: 286.251892 m, bearing: 25.036966 deg, approach rate: -0.688847 m/s, LOS rate: -0.000426 deg/s, cmd heading: 33.384827 deg, new cmd heading: 33.384518 deg. BGgOHeadingCmd: 0.582670 target range: 279.962830 and range: 281.60 m.)?*" ʎjZ Hs?Bɢ?%=)  ?i ) Z  i Kdi)?B 5I)?I@ @@4@ԉE= E=E9E9"E=O:*E=:VE9ZE9aE@aE@aE@aE@Ա^A0:DI9IIOU> D!,u3X@AY~ЄBy~[#IbDVD0yE%EA=ٔEQ-E>9QY =iGyF%E%>AQ 5]4EJ?Q 9e4E0)EBYiyiQ Im@EDIE =) s?i) U顱ifiq)?Aю8Iq)?I BMI>BIBIBIBIBIBMhDBM{d;BM&EB ׍CB ׍CB B % =B % =C "c59@ @@C2@1D zD @A- T****** received valid address query ******- R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.Em  Em Em %Ei "Em :*Em z:VEm 4ZEi BEi a 2Ei a JEm ;a :Em ;a ^A 0a A1 I9 II O] >.!,sOX@AZ>Z?Z(;ٱZ bAHRS rotation from veh to nav: [[0.837937,-0.542289,-0.061512],[0.545747,0.831609,0.102893],[-0.004643,-0.119788,0.992789]]ZH b? nZ~v??*W? s`e?iZ>IZ^;ZCYnքBynb#IprA1ieMb@Mb@Mb@aaaa a9eS㥛?I +?Ye$?ye̽e949Y=iGy;E>Q 5-4J?Q 9-4-) BY5&?Q E5:y5J>Q I5@ńDI&E  E E $E "E %;*E :VE 4ZE a @a @a @a @5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7420848ԙ!,9iX@ABd>B3?B.;ٱBH NAHRS rotation from veh to nav: [[0.837409,-0.543199,-0.060677],[0.546552,0.831129,0.102496],[-0.005246,-0.118994,0.992881]]BH ?@a `Z}??,=?@_|ubv?iBd>IB^;@YȄByQ#IbD5VD5NyE%EP=ٔE:Q-E>9IYI=MiGyMFU ;EU>YQ 5e4]qK?Q 9e4]*)]BYaye>Q Im@]΄DI]:i] :]4yuvBɮu@uEԙjgOFNOT Ignoring new targets: 279.96 m.R7Z7gO ProNav: ac range: 279.962830 m, nav range: 285.440948 m, bearing: 25.037870 deg, approach rate: -0.685602 m/s, LOS rate: 0.001337 deg/s, cmd heading: 33.385326 deg, new cmd heading: 33.386325 deg. B8gOHeadingCmd: 0.582701 target range: 279.962830 and range: 281.60 m.+?*" ʎjZ೪@Bɢ%=) ?i) [iTji +? M I+?I}9@y @y@}/@y^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.998699A I I O- > AA AE @ABE K>BA BE m#IBE ߄BBA BA BE iDBE [d;BE p&E!,X@AF!>Ff?F4;ٱFP RAHRS rotation from veh to nav: [[0.836619,-0.544469,-0.060179],[0.547755,0.830364,0.102271],[-0.005713,-0.118525,0.992935]]FH?KlϮ5? X?o.?fwW?iF!>IF<^;FCYZByZF#IiMMb@Mb@Mb@IIII I9M r?ʡE~jt?YM#?yMyMD9iYq=uiGyqu5U;E}>Q 54)K?Q 94')BYT&?Q E:y>Q I@ׄDI>/;i:d4yɮn@D=D<E EE/E"E:*Ei:VEJ4ZEBE#!,rSX@A>>> ?>H;ٱ>6G FAHRS rotation from veh to nav: [[0.836127,-0.545239,-0.060049],[0.548500,0.829792,0.102921],[-0.006288,-0.118991,0.992875]]>H?r P?@?Y?y9v?i>>I>^;>CYNByN>#IbDbVDbyj%jc=ٔj1:Q-n>9lYl=niGyn Fr#;Er>tQ 5z4v;K?Q 9z4v%)vBYxyzO>Q I~@vބDIv:iv :v4yɮ@Ej1gO5FNOT Ignoring new targets: 279.96 m.R=8Z=8gOM ProNav: ac range: 279.962830 m, nav range: 284.922089 m, bearing: 25.041478 deg, approach rate: -0.660469 m/s, LOS rate: 0.004533 deg/s, cmd heading: 33.390374 deg, new cmd heading: 33.393545 deg. BM9gOUHeadingCmd: 0.582827 target range: 279.962830 and range: 281.60 m.U,4?Q*Q"Q QQYYYʎYaajaZe @颕Bɢ*=)  ?i)8顙iCrmi,4?kƻI,4?I!e9@a @a@e0@aYE EE%E"E:*Ega:VE 45DAT read: 00:38:49.4739 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 117,-0.31,-2.568, 2.534,-2.298,-2.934, PHS= 0.468,-0.770, 0.592, RAW= 154.7, -4.5, CAL= 154.4, -5.9, ROT= 355.6, 5.9 =Ygot valid direction response: 00:38:49.4739 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 117,-0.31,-2.568, 2.534,-2.298,-2.934, PHS= 0.468,-0.770, 0.592, RAW= 154.7, -4.5, CAL= 154.4, -5.9, ROT= 355.6, 5.9 EPDAT read: Bearing 169.5, -4.5 (Local) E~Local bearing/azimuth received: Bearing 169.5, -4.5 (Local) UDAT read: Range 11 to 50 : 295.5 m (Round-trip 394.0 ms) speed 0.5 m/s U*DAT read: user:491> ]BDAT read: Tx time:00:38:50.5757 ]$Ping request sent.]iEP?3,@|٠iw,@ Bҽ)@IB=C3}8?X[ԩ  !,E X@ABw>B?BZ;ٱB# JAHRS rotation from veh to nav: [[0.836254,-0.545065,-0.059866],[0.548301,0.829847,0.103537],[-0.006755,-0.119408,0.992822]]BH?,q@@??e? E{}`3?iBw>IB^;BCYrByr6#IbD%VD%k2y%;=ٔŋ:Q->9% ?Y- ?=-iGy)]0 Ee>ԙQ 54SK?Q 94w")BYy3>Q I@DI:;i;4ywBɮV@pX@AJCRCj>,Vˣ5r@Qe[k6(?2>r얼?#n8zBPZiFbB==5p@@a@q=E=z5"`?.?#2 C:׀C"%?*W(BLB%?“LBC!>gO addTargetRange:: Added new target pos. range: 295.500000 m, deltaT: 3.780051 s, deltaX: 13.899994 m, approachRate: 3.677197 m/s, rangeRepo size: 4 gO Added new target pos. range: 293.783356 m, bearing: 28.175163 deg, lat: 36.779425 deg, lon: -121.859172 deg, deltaT: 3.780051 s, deltaX: 13.820526 m, approachRate: 3.656174 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 293.78 m.RZgO ProNav: ac range: 293.783356 m, nav range: 289.107300 m, bearing: 26.961490 deg, approach rate: 0.000000 m/s, LOS rate: 0.004533 deg/s, cmd heading: 33.393546 deg, new cmd heading: 33.397811 deg. BgOHeadingCmd: 0.582902 target range: 293.783356 and range: 295.50 m. 9?*"    ʎjxr@Z`?颽Bɢq=BI>BBT#IBʄBB$ =BBhDB;d;B_&E) ?i)7:iT5oi 9?,ÏӻI 9?I9@ @@@DzDE EE(E"E:*E1]:VEc44ZEBED-9 A I) I9 OE >T!,7҆X@A2턹>2:?2~&;ٱ2o JAHRS rotation from veh to nav: [[0.836195,-0.545189,-0.059558],[0.548384,0.829738,0.103974],[-0.007268,-0.119603,0.992795]]2H@?`/ra~\?5? ?}`I?i2턹>I2eg^;2CYVByV##Ii-Mb@Mb@Mb@)))) )9-?PnQ?Y- ?y--u<-"A-O@ -@)))Y-@bDEVDEk1yU#%UD=ٔ]:Q-]>9YYY=eiGye!Fes9Ee>iQ 5u4mfK?Q 9u4m )m"BY}j#?Q E}:y}%>Q I}@mDIm':im:m4yɮG@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 293.78 m.RNR9ZNR9gO ProNav: ac range: 293.783356 m, nav range: 288.859894 m, bearing: 26.965891 deg, approach rate: -0.645514 m/s, LOS rate: 0.011491 deg/s, cmd heading: 33.397812 deg, new cmd heading: 33.406620 deg. B>9gOHeadingCmd: 0.583055 target range: 293.783356 and range: 295.50 m. C?*" BʎjZ"?9频ɢ=) >i)2>s:项iWpi C?㏻ԻI C?I]T****** received valid address query ******]R****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.@ @@00@iԙ^A#2E  E E *E "E a:*E :VE (N4ZE a @a @a @a @A  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990704I I) O= > !,X@A^s>^?^;ٱ^0 fAHRS rotation from veh to nav: [[0.836265,-0.545014,-0.060174],[0.548272,0.829596,0.105684],[-0.007679,-0.121372,0.992577]]^H?p+Ϯq? ?? s71?i^s>I^d^;^CYpyr$#I ttttbDzVDzNyő:% Q=ٔ Ӊ:Q- >9Y=iGy E>Q 5%4zK?Q 9-4)'BY)y->Q I-@DI:i:]4y5xBɮ=P@=EjagOmFNOT Ignoring new targets: 293.78 m.RunO9ZunO9gO ProNav: ac range: 293.783356 m, nav range: 288.611511 m, bearing: 26.970319 deg, approach rate: -0.635225 m/s, LOS rate: 0.011334 deg/s, cmd heading: 33.406619 deg, new cmd heading: 33.415483 deg. B9gOHeadingCmd: 0.583210 target range: 293.783356 and range: 295.50 m.CM?*" ʎygG\AԱ9\AYB ֍CB A#IB BB & =B B B 'd;B S&EAu ؟AI I O >!,pX@Aԁj>>j@u?jx<ٱj2 vAHRS rotation from veh to nav: [[0.836481,-0.544683,-0.060168],[0.547933,0.829670,0.106846],[-0.008277,-0.122343,0.992453]]jHs?@ ngή`??>IjA-^;jCY~By~#IiMb@Mb@Mb@ 9V-?ˡEĿ9"?Y"?=iGy"F+sE>Q 54BK?Q 94?)-BY $?Q E :y >Q I @DI:i:4yyBɮ@jgOFNOT Ignoring new targets: 293.78 m.RF9ZF9gO ProNav: ac range: 293.783356 m, nav range: 288.335724 m, bearing: 26.978301 deg, approach rate: -0.615920 m/s, LOS rate: 0.017843 deg/s, cmd heading: 33.415481 deg, new cmd heading: 33.431460 deg. B:gOHeadingCmd: 0.583489 target range: 293.783356 and range: 295.50 m._?*" |Bʎ  )j1Z5@?}Bɢ}=)y m>i)H:顁isi_?=I_?I]9@a @a@e4@a9a  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746940^A A YAzA YAA I I O >!,@ X@A 6,˸>6Z;?6nY<ٱ6V BAHRS rotation from veh to nav: [[0.836960,-0.543963,-0.060020],[0.547191,0.830011,0.108002],[-0.008932,-0.123236,0.992337]]6H`?$h㺮?`r? ?K b:?i6,˸>I6e:^;6CYJByJ'#IbDRVDRyZi=%Z`=ٔZ:Q-^>9\Y\=biGy`bEb>dQ 5j4fK?Q 9j4fF)f1BYhyn>Q In@fDIf:if6:fL4ytɮv0@tj gOFNOT Ignoring new targets: 293.78 m.Rʱ9Zʱ9gO% ProNav: ac range: 293.783356 m, nav range: 288.103546 m, bearing: 26.985071 deg, approach rate: -0.665760 m/s, LOS rate: 0.019430 deg/s, cmd heading: 33.431461 deg, new cmd heading: 33.445012 deg. B-;:gO-HeadingCmd: 0.583726 target range: 293.783356 and range: 295.50 m.- o?1*1"1 1119ʎjZ?-Bɢ5"=)9 =y?i9)= ;99i=uiE o?EuMKIM o?IIq9@ @@/@E EE%E"E&:*Ega:VE 4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998382ԙ^AΒ A I I) O5 >d!,:X@A.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252600PY>p?<ٱ 5AHRS rotation from veh to nav: [[0.837249,-0.543477,-0.060384],[0.546743,0.830142,0.109252],[-0.009248,-0.124486,0.992178]]H?*dꮿ ~??? N޿?iY>I ^;CYMByU#II]>)]>]=]=iMb@Mb@Mb@ 9X9v?I +ƿ/$?Y?y94<AO@ @)@Y@bD-VD-N2y=6D%=(=ٔ=*:Q-E>9AYA=EiGyE#FMtEM>QQ 5]4UK?Q 9]4U)U:BY]W$?Q Ee:ye>Q Ie@UDIU:iU:U4ymzBɮm@mEBBB.#IBBB' =BBBd;B@&EjgOFNOT Ignoring new targets: 293.78 m.R9Z9gO ProNav: ac range: 293.783356 m, nav range: 287.795654 m, bearing: 26.995230 deg, approach rate: -0.627604 m/s, LOS rate: 0.020729 deg/s, cmd heading: 33.445012 deg, new cmd heading: 33.465350 deg. B:gOHeadingCmd: 0.584081 target range: 293.783356 and range: 295.50 m.N?*" BʎjZ/@颵BɢW =) Y>i)-*;项iިviN?АIN?II)ZA@ @@@bEEǻ 4jEE4rEE1E EE&E"E:*Ex:VE4ZEBE&%!,UX@A2>2?2<ٱ2d BAHRS rotation from veh to nav: [[0.837696,-0.542652,-0.061595],[0.546056,0.830303,0.111440],[-0.009331,-0.126988,0.991860]]2Hh?f]@d@Ky? ؑ?\?`!A R?i2>I2l];2CYJByJ#I R4Q Ir@fDIf*;if+;f4ytɮvN@tP B*** querying acoustic contact ***  jgOFNOT Ignoring new targets: 293.78 m.R9Z9gO ProNav: ac range: 293.783356 m, nav range: 287.576447 m, bearing: 27.002505 deg, approach rate: -0.608777 m/s, LOS rate: 0.020220 deg/s, cmd heading: 33.465352 deg, new cmd heading: 33.479913 deg. B:gOHeadingCmd: 0.584335 target range: 293.783356 and range: 295.50 m.?*" ʎjZ@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754458额Bɢ =) H>i)@;i [xi ?1$P"I?Ia9@ @@/@ԑ^A E%  E% E! E! "E% :*E% e:VE! ZE! a- @a- @a- @a5 @E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006796A I I) O= >L!,doX@AFݷ>F?F)<ٱFP jAHRS rotation from veh to nav: [[0.838102,-0.542028,-0.061573],[0.545428,0.830605,0.112264],[-0.009708,-0.127672,0.991769]]FH@?KXo %t?Q?`V?ჿW ?iFݷ>IF];FCY~By~##IbDVDky%=%%D=ٔ-l:Q-->9)Y1=5iGy5$F5E=>9Q 5E4=mK?Q 9M4=)=IBYIyM^>Q IM@="DI=:i=):=)4yU{Bɮ]~@]EjygOFNOT Ignoring new targets: 293.78 m.R9Z9gO ProNav: ac range: 293.783356 m, nav range: 287.312561 m, bearing: 27.011315 deg, approach rate: -0.659387 m/s, LOS rate: 0.022036 deg/s, cmd heading: 33.479914 deg, new cmd heading: 33.497551 deg. BO!:gOHeadingCmd: 0.584643 target range: 293.783356 and range: 295.50 m.#?*" ʎjZ* @Bɢy!=) ?i)TZ;iyi#?J0I#?I@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258309^Aܪ&AAAABBB(#IBBB& =BBBc;B,&EB֍CB֍CBB& =B& =C"5A! ! I) IA OM >2!,28X@A2>2?2 <ٱ2 :AHRS rotation from veh to nav: [[0.838235,-0.541919,-0.060711],[0.545221,0.830882,0.111216],[-0.009826,-0.126326,0.991940]]2H?fWrr?`?@x?u+?i2>I2];2CYFByF#I HHEb EbEb$E`"Eb>:*Eb~:VEb4ZE`BEb99YA=EiGyAEBEE>IQ 5u4MmK?Q 9}4M)MTBY}?Q E}:y}>Q I}@M+DIMd;iM;M4y|Bɮ4@jgOFNOT Ignoring new targets: 293.78 m.RF9ZF9gO ProNav: ac range: 293.783356 m, nav range: 287.044220 m, bearing: 27.020981 deg, approach rate: -0.600996 m/s, LOS rate: 0.021668 deg/s, cmd heading: 33.497553 deg, new cmd heading: 33.516902 deg. B:gO HeadingCmd: 0.584980 target range: 293.783356 and range: 295.50 m.-E?1*1"1 1119=Bʎ99AjAZE @颭Bɢh=) >i)ax;项i{iE?6IE?I>iA9@ @@@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.762399^A 0ԁ A .AI! II O} >bu!,FzX@Az>z>?z%<ٱz AHRS rotation from veh to nav: [[0.838285,-0.541850,-0.060642],[0.545138,0.830875,0.111675],[-0.010125,-0.126674,0.991893]]zH:?V{ q???@b`6?iz>Iz];zCYBy"#I)UAAQbD]VD]k2y9=%Q=ٔH:Q->9 ?Y ?=iGy%F~E>YQ 54]L?Q 94])]_BYy>Q I@]3DI];i]C;]4ywBɮT@EjgOFNOT Ignoring new targets: 293.78 m.R9Z9gO  ProNav: ac range: 293.783356 m, nav range: 286.791992 m, bearing: 27.030086 deg, approach rate: -0.613052 m/s, LOS rate: 0.022148 deg/s, cmd heading: 33.516903 deg, new cmd heading: 33.535128 deg. B "":gOHeadingCmd: 0.585298 target range: 293.783356 and range: 295.50 m.?*" 9AAʎAAAjIZM @E EE'E"E:*EV:VE'4ZEa@a@a@a@ DAT read: 00:38:53.3700 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 406, 0.17, 1.348,-0.076, 1.692, 0.853, PHS= 0.597,-0.884, 0.795, RAW= 156.2, -6.5, CAL= 156.3, -8.0, ROT= 353.7, 8.0 Ygot valid direction response: 00:38:53.3700 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 406, 0.17, 1.348,-0.076, 1.692, 0.853, PHS= 0.597,-0.884, 0.795, RAW= 156.2, -6.5, CAL= 156.3, -8.0, ROT= 353.7, 8.0 PDAT read: Bearing 166.8, -6.3 (Local) %~Local bearing/azimuth received: Bearing 166.8, -6.3 (Local) -DAT read: Range 11 to 50 : 292.5 m (Round-trip 390.1 ms) speed 0.4 m/s 5*DAT read: user:492> =BDAT read: Tx time:00:38:54.4757 =$Ping request sent.=m:publishing transmit ping time9mFpublishing direction and range infoy?&I?BAѻH@lY )Ii )IC!,~X@ABBG>B@BB.#IBBBB@B@B@BBc;BB"&EYBy.#IiMb@Mb@Mb@ 9V-?/$ſ9Y=iGyE>Q 54$L?Q 94 )jBY"?Q E:y>Q I@E."q@y[?Aq8VOE_5]G8p@sP_@$CzEqڠҎ?nJ?u.2EB:EC"E?򲑡?*E* .BE`AAE* .“AE#CEٜ>gO5 addTargetRange:: Added new target pos. range: 292.500000 m, deltaT: 4.030416 s, deltaX: -3.000000 m, approachRate: -0.744340 m/s, rangeRepo size: 4 gOU Added new target pos. range: 290.797363 m, bearing: 25.764780 deg, lat: 36.779425 deg, lon: -121.859228 deg, deltaT: 4.030416 s, deltaX: -2.985992 m, approachRate: -0.740865 m/s, posRepo size: 4 jYgOeFNOT Ignoring new targets: 290.80 m.RZgO- ProNav: ac range: 290.797363 m, nav range: 284.278625 m, bearing: 26.142618 deg, approach rate: 0.000000 m/s, LOS rate: 0.022148 deg/s, cmd heading: 33.535129 deg, new cmd heading: 33.554676 deg. B1gO=HeadingCmd: 0.585640 target range: 290.797363 and range: 292.50 m.Ez?A*A"A IIQQUBʎQYYj]Hr@Z]?Bɢ +=) @ ?i)C;i~iz?  @Iz?IYE EE$E"E :*Ee:VE4ZEBEK"!,ۇX@A6=>6?6p*<ٱ6J >AHRS rotation from veh to nav: [[0.838136,-0.542303,-0.058622],[0.545363,0.831078,0.109035],[-0.010410,-0.123356,0.992308]]6H?Z s?1??QC?i6=>I6%];6CYFByJ)#IIN<)Na=N=N=bDRVDR:yZ%^U=ٔ^B:Q-^>9b"?Yb"?=biGyb&Fb7:Ef>dQ 5n4f18L?Q 9n4f )ftBYlyn>Q In@fDDIf ;if ;f} 4yvyBɮv@vEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 290.80 m.R$9Z$9gO ProNav: ac range: 290.797363 m, nav range: 284.037415 m, bearing: 26.149376 deg, approach rate: -0.608590 m/s, LOS rate: 0.017064 deg/s, cmd heading: 33.554677 deg, new cmd heading: 33.568203 deg. B9gOHeadingCmd: 0.585876 target range: 290.797363 and range: 292.50 m.?*" ʎjZ?uBɢu΢2=)y }?iy)}G>;yyi}>i?xy?I?II9@ @@4@E EEE"E:*Ex:VEZEa@a@a@a@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A0:DQ A I! I9 OE >!,X@A>>>?>T0<ٱ> JAHRS rotation from veh to nav: [[0.838156,-0.542336,-0.058020],[0.545325,0.831143,0.108732],[-0.010746,-0.122774,0.992376]]>H,?Z˴Ls??ջ?. n@?i>>I>f>];>CYRByR1#I Zp9hYh=jiGyhn޸En>pQ 5v4rLL?Q 9v4rt)rBYxyz>Q Iz@rLDIr:ir:r4y|ɮ~@j!gO%FNOT Ignoring new targets: 290.80 m.R-9Z-9gO= ProNav: ac range: 290.797363 m, nav range: 283.782501 m, bearing: 26.156534 deg, approach rate: -0.656156 m/s, LOS rate: 0.018441 deg/s, cmd heading: 33.568204 deg, new cmd heading: 33.582533 deg. B=:gOEHeadingCmd: 0.586126 target range: 290.797363 and range: 292.50 m.EW ?A*I"I IIIQQʎQQQjYZ]1?颅Bɢ8=)  ?i)?;顉i怼iW ?퓻DIW ?I59@1 @1@5/@1Qechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.253684B)A)BMJ>BM׍CBM5#IBMBBM% =BIBMiDBMc;BM&Ey^Au:A ԩ I I O >E  E E %E "E :*E [:VE 4ZE BE #:/?:8<ٱ:LU@ FAHRS rotation from veh to nav: [[0.838076,-0.542522,-0.057431],[0.545438,0.831075,0.108678],[-0.011230,-0.122406,0.992417]]:H`?W\g:t?+?Sһ?`U?i:Ӻ>I:H];:CYRByR9#Ii-Mb@Mb@Mb@)))) )9-Cl?SÿMb?Y-d?y--=-A-|@ ))-@)Y-@bDEVDE:yU=%UB=ٔU:Q->9Y=iGy'F9E>Q 54WbL?Q 94)BYV ?Q E:y>Q I@UDI%;i;*4yzBɮ[@jgOFNOT Ignoring new targets: 290.80 m.R9Z9gO- ProNav: ac range: 290.797363 m, nav range: 283.512909 m, bearing: 26.162846 deg, approach rate: -0.620407 m/s, LOS rate: 0.014541 deg/s, cmd heading: 33.582534 deg, new cmd heading: 33.595171 deg. B-9gO5HeadingCmd: 0.586346 target range: 290.797363 and range: 292.50 m.5?1*1"9 9999EBʎAAAjAZMD%?uBɢu|2=)y }?iy)};yyi}IӁi?vށEI?IԱ)@) @)@-0@)echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.756027^AM0:D A I I O > ",;8)X@A6s>6?6V?<ٱ6E >AHRS rotation from veh to nav: [[0.838144,-0.542489,-0.056752],[0.545324,0.831173,0.108504],[-0.011691,-0.121890,0.992475]]6H?@\Ks??ƻ?@*4Z?i6s>I6~];6CYJByJF#I LLPRAbDVVDV1y^]=%^U=ٔb :Q-b>9`Y`=fiGydfEf>hlQ 5n4jtL?Q 9r4j)jBYpyr>Q Iv@j\DIj +;ij.;j"4yz{Bɮz@zEjgOFNOT Ignoring new targets: 290.80 m.R%]9Z%]9gO5 ProNav: ac range: 290.797363 m, nav range: 283.282318 m, bearing: 26.168262 deg, approach rate: -0.620009 m/s, LOS rate: 0.014574 deg/s, cmd heading: 33.595170 deg, new cmd heading: 33.606011 deg. B5a9gO5HeadingCmd: 0.586536 target range: 290.797363 and range: 292.50 m.=1'?9*9"9 9AAAAʎIIIjIZM`W @Ee EeEe#Ea"EeO:*Ee&p:VEe3ZEaam@am@am@am@颕BɢBG=) x?i);顙iƻi1'?𔻉JI1'?II)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008199q@q @q@}/@y ]Gu`]A9`]AYA9^Au checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260116A! IQ i I O B- I>B) B- A#IB- BB) B) B- hDB- c;B- &E",bCX@ABڷ>B,?BH<ٱBy JAHRS rotation from veh to nav: [[0.837933,-0.542893,-0.056003],[0.545636,0.830999,0.108266],[-0.012238,-0.121276,0.992543]]BHX?@`_ d u??K?l @?iBڷ>IBk];BCYVByVI#IAiMMb@Mb@Mb@IIII I9MZd;?S㥛 rh?YM?yM$MC =IM@ M@)IIYM@qu@AbDVDy<%==ٔݥ:Q->9Y=iGy(Fc:E>Q 54`L?Q 94Z)BY"?Q E:y1>Q I@eDI$o;iq;A*4yɮ@jgOFNOT Ignoring new targets: 290.80 m.Rw19Zw19gO ProNav: ac range: 290.797363 m, nav range: 283.007507 m, bearing: 26.172690 deg, approach rate: -0.601343 m/s, LOS rate: 0.009697 deg/s, cmd heading: 33.606009 deg, new cmd heading: 33.614873 deg. B9gOHeadingCmd: 0.586690 target range: 290.797363 and range: 292.50 m.T1?*" ЃBʎj Z @uBɢuk9=)y }?iy)};yyiѼiT1?lFIT1?IiDqzDqE} E}EyEy"E}>:*E}c:VEyZEyBE}",\X@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7641476b>6w?67SO<ٱ6: BAHRS rotation from veh to nav: [[0.837884,-0.542972,-0.055959],[0.545701,0.830869,0.108934],[-0.012654,-0.121811,0.992473]]6H?@`@bv? {? ?9ꉿ`/V?i6b>I6d];6CԙYɄByR#IbDVDky<% =ٔnU:Q->9Y=iGy)F%9E>Q 54L?Q 947)BYyB>Q I@oDIwX;i@Y;-34y-}Bɮ-9@-EPEB*** querying acoustic contact ***A AjQgOUFNOT Ignoring new targets: 290.80 m.R]B9Z]B9gOm ProNav: ac range: 290.797363 m, nav range: 282.684692 m, bearing: 26.177892 deg, approach rate: -0.659267 m/s, LOS rate: 0.010637 deg/s, cmd heading: 33.614872 deg, new cmd heading: 33.625289 deg. Bm9gOuHeadingCmd: 0.586872 target range: 290.797363 and range: 292.50 m.u>=?q*q"q qyyyyʎ!!!j!Z-`@]Bɢ]7=)Y ]?iY)eˌ;aaieքim>=?mt0m1IIm>=?IqE} E}E}!Ey"E} :*E}xv:VE}c3ZEya@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016160i>i> 9@  @ @ @  ^Au 2DIi߁I߁BDAT read: Rx Time:00:38:57.2671 TRx dataTimestamp_ set to:1761698337.961324checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269316AIIO?",N~X@Ab(>b$?b2;W<ٱb jAHRS rotation from veh to nav: [[0.837599,-0.543436,-0.055734],[0.546128,0.830534,0.109351],[-0.013136,-0.122031,0.992439]]bH?c1y??s?3犿e=@?ib(>Ib~];`lr_AipIppIpirOUA tt)tt t119AIIq)qiy)ʁIʁɁԑɉ ʱʹV^A7ii)Q EA1A5@ABMG>BM֍CBMN#IBMńBBM& =BIBIBMlc;BM%EI˩ ֹ)`Ai\I!!I)i-aA ))))1 5`A5+1115`AI=/])9i9)9I=`A=}A aaaaiiiiqq)q qIqYyYBy?#IԹiMb@Mb@Mb@ 9V-?y&1~jt?Y|?y`彙<@ @)@Y@ -4<)bD-VD-y$\%=ٔ`:Q->9Y!=%iGy!%.p:E%>)Q 5U4-&L?Q 9]4-)-BY])"?Q E]:y]>Q I]@-{DI-;i-H:-<4ye~BɮmF@ijgOFNOT Ignoring new targets: 290.80 m.R}8Z}8gO ProNav: ac range: 290.797363 m, nav range: 282.331146 m, bearing: 26.181555 deg, approach rate: -0.620209 m/s, LOS rate: 0.006434 deg/s, cmd heading: 33.625288 deg, new cmd heading: 33.632623 deg. Bd<9bEu4jEu3rEu5/E EE"E"E:*Ei:VE(3ZEBE. eBDAT read: Tx time:00:38:58.3757 e$Ping request sent.ei33?$+3@4Q=aF2@ q=)E@Iq貇p>??%6)? 4?)JνI+iq:publishing transmit ping timeaFpublishing direction and range infoyϝj?ܕjRAſ{]U?Y )Ii )I貇p>??%6)? )IiA)I9IIO]?E(",X@A>Q?h]<ٱk= UAHRS rotation from veh to nav: [[0.836732,-0.544683,-0.056571],[0.547446,0.829452,0.110957],[-0.013513,-0.123811,0.992214]]H? n?ߊ?`g?@ଋ@@7?i>I$f];9YEByED#I IIbD] VD]2yU<%$=ٔF:Q->9Y=iGy*F P;E>Q 5%4L?Q 9-4;)BY)y->Q I-@DI:i3:E4y]Bɮ]%@]E)-˺X@AJ-ZCR-ZCj-~l>-C4q@aGd:@r-ϝj?ܕjRAſ{]U?Z-+b-q-9Il\p@Mf]@sT<@z-Dy?;n3=?z`T?2-B:-C"-f;?*-SB-߽B)-y“)-ˋC->gO addTargetRange:: Added new target pos. range: 290.399994 m, deltaT: 3.784181 s, deltaX: -2.100006 m, approachRate: -0.554943 m/s, rangeRepo size: 4 gO Added new target pos. range: 288.710541 m, bearing: 24.330989 deg, lat: 36.779425 deg, lon: -121.859291 deg, deltaT: 3.784181 s, deltaX: -2.086823 m, approachRate: -0.551459 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 288.71 m.E EE%E"E:*Eg:VE 4ZEa@a@a@a@RZgO- ProNav: ac range: 288.710541 m, nav range: 279.586121 m, bearing: 25.153874 deg, approach rate: 0.000000 m/s, LOS rate: 0.006434 deg/s, cmd heading: 33.632623 deg, new cmd heading: 33.639103 deg. B)gO]HeadingCmd: 0.587113 target range: 288.710541 and range: 290.40 m.] M?a*a"a aaaiiʎiij`f&r@Z?BɢZo==) [?i)<ii M?[.I M?Ii9@ @@/@ԡ ^A 2D A I I O>0",FEX@A=w>=?=_<ٱ=$B}F>ByByByByByByB}Cc;B}%EB)B)B)B)B)C-25 5AHRS rotation from veh to nav: [[0.836194,-0.545304,-0.058500],[0.548263,0.828511,0.113914],[-0.013650,-0.127328,0.991767]]=H?`"s_?)?@y)? DL?i=w>I=tQ];=CYBy7#Ii%Mb@Mb@Mb@!!!! !9%MbX9?Mb~jt?Y%!?y%%D<%9A%@ %@)%(@!Y%3@bD=VD=fyM.%M,=ٔU9Q-U>9QYY=]iGy]+F];E]>aQ 5m4eL?Q 9m4e)eBYu#?Q Eu:yuc>Q Iu@eDIe:iaeM4yyɮ}@jgOFNOT Ignoring new targets: 288.71 m.R6Z6gO ProNav: ac range: 288.710541 m, nav range: 279.285126 m, bearing: 25.154042 deg, approach rate: -0.659491 m/s, LOS rate: 0.000369 deg/s, cmd heading: 33.639102 deg, new cmd heading: 33.639438 deg. B,7gO%HeadingCmd: 0.587119 target range: 288.710541 and range: 290.40 m.%nM?!*!"! ))))5̃Bʎ111j1Z=E?Bɢ?=) v?i)L<iinM?×"InM?IEE EAEE#EA"EEa:*EAVEE3ZEABEE(\6",D݈X@A200>2?2_<ٱ2U >AHRS rotation from veh to nav: [[0.835422,-0.546489,-0.058470],[0.549440,0.827792,0.113475],[-0.013611,-0.126925,0.991819]]2Hǻ? |@ﭿ?`E}?` ?E??i200>I2%];2CYFByF/#IN@ALbDRVDR0\yZ%^t=ٔbjQ-b?9`Y`=fiGydf;Ef?hQ 5n4jL?Q 9n4j})jBYpyr>Q Ir@jDIj:ij:jS4yvBɮva@vEjgOFNOT Ignoring new targets: 288.71 m.ReM6ZeM6gO- ProNav: ac range: 288.710541 m, nav range: 279.070251 m, bearing: 25.154101 deg, approach rate: -0.639242 m/s, LOS rate: 0.000175 deg/s, cmd heading: 33.639440 deg, new cmd heading: 33.639558 deg. B-Q6gOHeadingCmd: 0.587121 target range: 288.710541 and range: 290.40 m.M?*" ʎjZ?ɢS=) W?i)~<i͈iM?IM?IA9@ @@@ E EE%E"E:*E n:VE 4ZEa@a@a@a@^A A [AzA ZA9 A .AI I O >=", X@A:W>:qH?:]<ٱ:: FAHRS rotation from veh to nav: [[0.834663,-0.547614,-0.058790],[0.550594,0.827020,0.113506],[-0.013536,-0.127109,0.991796]]:H?@x?v??`E˼?i:W>I:p7];:CYNByN-#IbDVVDVy^g%bJ=ٔbBQ-b>9f ?Yf ?=fiGydf`;Ef>hQ 5n4jM?Q 9r4j)jBYpyr>Q Ir@jDIj^;ij{;jZ4yvBɮvK@zEP B*** querying acoustic contact ***  jgO%FNOT Ignoring new targets: 288.71 m.R%Z%gO5 ProNav: ac range: 288.710541 m, nav range: 278.812958 m, bearing: 25.154098 deg, approach rate: -0.638212 m/s, LOS rate: -0.000007 deg/s, cmd heading: 33.639559 deg, new cmd heading: 33.639554 deg. B5gNgO=HeadingCmd: 0.587121 target range: 288.710541 and range: 290.40 m.=M?A*A"A AAAIIʎIIQjQZU?yɢbL=)  ?i)Ew&<顉iiM?3GIM?IU9@Q @Q@U/0@QT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.IBAB E>B B A#IB BB B B B 7c;B %Ey^AA% ؟AI) IA OM >ԡ E  E E $E "E :*E g:VE 4ZE BE 9"?Y"?=iGy,FE>Q 54'M?Q 94)¯BY"?Q E:y>Q I@DI:i/:b4yɮ\@jgO%FNOT Ignoring new targets: 288.71 m.R%W7Z%W7gO5 ProNav: ac range: 288.710541 m, nav range: 278.534698 m, bearing: 25.154312 deg, approach rate: -0.635667 m/s, LOS rate: 0.000490 deg/s, cmd heading: 33.639553 deg, new cmd heading: 33.639981 deg. B=Ye7gO=HeadingCmd: 0.587128 target range: 288.710541 and range: 290.40 m.= N?A*A"A AAAIM҃BʎIIIjQZU@7?}Bɢ}hC=) \ ?i)_.<顁ii N? n͌I N?II[A)M9@I @I@M0@Iԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003871^A-Aa Iq I O > 1J",*X@A6>6?6fj[<ٱ6r BAHRS rotation from veh to nav: [[0.833578,-0.549174,-0.059629],[0.552239,0.825847,0.114055],[-0.013392,-0.128004,0.991683]]6H૬? Ւ?`Vm?@2?m lb޻?i6>I65];6CYJByJ#I Rp9\Y`=biGyb-Fb;Eb>dQ 5j4f9M?Q 9j4f)fůBYlyn>Q In@fDIf{;if;fh4yrBɮr@tj gO FNOT Ignoring new targets: 288.71 m.R@6Z@6gO% ProNav: ac range: 288.710541 m, nav range: 278.300323 m, bearing: 25.154396 deg, approach rate: -0.635357 m/s, LOS rate: 0.000228 deg/s, cmd heading: 33.639979 deg, new cmd heading: 33.640147 deg. B%46gO-HeadingCmd: 0.587131 target range: 288.710541 and range: 290.40 m.-=N?)*1"1 11199ʎ99AjAZE@iɢm4H=)q u?iq)uŦ4A%>YA I I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507535O >ԁ B I>B ׍CB 5#IB BB % =B B B Ac;CQ",HDX@ABE%E]>]T ?]Z<ٱ] mAHRS rotation from veh to nav: [[0.832847,-0.550351,-0.058988],[0.553342,0.825291,0.112722],[-0.013354,-0.126521,0.991874]]]H? z`3?h?Vۼ?MY`1n?i]>I]!];YYBy #IiMb@Mb@Mb@ 9Gz?!rh99YA=EiGyAE*?;EE>QQQ 5]4UOM?Q 9]4U)UȯBY] ?Q E]:ye>Q Ie@UDIU:iUf:Up4yiɮm@ijgOFNOT Ignoring new targets: 288.71 m.R#8Z#8gO ProNav: ac range: 288.710541 m, nav range: 278.016815 m, bearing: 25.156210 deg, approach rate: -0.623539 m/s, LOS rate: 0.003993 deg/s, cmd heading: 33.640147 deg, new cmd heading: 33.643777 deg. B-8gO5HeadingCmd: 0.587195 target range: 288.710541 and range: 290.40 m.5dR?1*1"1 1119=Bʎ99AjAZE@颩ɢ3=) C?i)p<<顱i|idR?` IdR?IE EE$E"ED:*EVE4ZEBE1}HW",;^X@A.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011374YUByU"IbDeVDe:yu_%uW=ٔ}Q-}>9} ?Y} ?=}iGy.FE>Q 54'bM?Q 94z)˯BYyQ I@DI;ir;w4yBɮ@EjgOFNOT Ignoring new targets: 288.71 m.R8Z8gO ProNav: ac range: 288.710541 m, nav range: 277.779541 m, bearing: 25.157730 deg, approach rate: -0.626587 m/s, LOS rate: 0.004019 deg/s, cmd heading: 33.643777 deg, new cmd heading: 33.646821 deg. B\8gOHeadingCmd: 0.587248 target range: 288.710541 and range: 290.40 m.U?*" ʎjZ @1ɢ5A=)1 5>i9)=/B<99i=IiEU?E!EFIEU?IIUe>iU!>ԩ @  @ @ /@ E EEE"Em:*Ei:VEZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264070^A%K) u G 9 Y oAA ؟AI I O >) m]",PSxX@A:阽>:9?:Q]<ٱ: FAHRS rotation from veh to nav: [[0.831747,-0.552061,-0.058527],[0.554991,0.824302,0.111857],[-0.013508,-0.125518,0.991999]]:H`?|< |?`??``u?i:阽>I:O];:CYNqByN"IbDVVDVy^˽%^X=ٔb9Q-b>9b"?Yf"?=fiGydf(;Ef>hQ 5n4j}tM?Q 9n4jQ =rtI)jίBYpyr>Q Ir@jƅDIj;ij~ ;j'~4yvBɮv'@xP B*** querying acoustic contact ***  jgOFNOT Ignoring new targets: 288.71 m.R%8Z%8gO5 ProNav: ac range: 288.710541 m, nav range: 277.542419 m, bearing: 25.159157 deg, approach rate: -0.623702 m/s, LOS rate: 0.003757 deg/s, cmd heading: 33.646820 deg, new cmd heading: 33.649676 deg. B58gO5HeadingCmd: 0.587298 target range: 288.710541 and range: 290.40 m.=#Y?9*9"9 99AAAʎAIIjIZM~ @qɢ}j=4=)y }>iy)JG<顁i i#Y?󎘻eI#Y?I9@ @@@@!@%\AuBDAT read: Rx Time:00:39:01.1432 }TRx dataTimestamp_ set to:1761698341.993415}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516790AABN>BB#IBBB# =BBiDB;c;BA^A=#2AMZAzAIi A I I O >E  E E 'E "E :*E ]t:VE '4ZE BE h?c _<ٱ AHRS rotation from veh to nav: [[0.831363,-0.552635,-0.058571],[0.555563,0.823903,0.111955],[-0.013614,-0.125615,0.991986]]H?/,?h]?`?sዿ)X?iI>I^];CYuBy"IiMMb@Mb@Mb@IIII I9M-?X9vMb?YM5?yMM9Y=iGy/F:E>Q 54M?Q 94 )үBY_!?Q E:y>Q I@υDIQ:i:74yɮ@jgOFNOT Ignoring new targets: 288.71 m.RF8ZF8gO ProNav: ac range: 288.710541 m, nav range: 277.251862 m, bearing: 25.161853 deg, approach rate: -0.630331 m/s, LOS rate: 0.005854 deg/s, cmd heading: 33.649675 deg, new cmd heading: 33.655072 deg. Bk+9igOuHeadingCmd: 0.587392 target range: 288.710541 and range: 290.40 m.uO_?q*q"q qyyy}BʎjZ@ɢ (=) >i)N<i'i%O_?rRIO_?I9@ @@@ԙDAT read: 00:39:01.1432 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 197, 0.21,-1.353,-2.747,-1.040,-2.000, PHS= 0.749,-0.702, 0.917, RAW= 155.4, -12.5, CAL= 156.7, -14.2, ROT= 353.3, 14.2 Ygot valid direction response: 00:39:01.1432 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 197, 0.21,-1.353,-2.747,-1.040,-2.000, PHS= 0.749,-0.702, 0.917, RAW= 155.4, -12.5, CAL= 156.7, -14.2, ROT= 353.3, 14.2 PDAT read: Bearing 161.8, -6.2 (Local) ~Local bearing/azimuth received: Bearing 161.8, -6.2 (Local) DAT read: Range 11 to 50 : 272.4 m (Round-trip 363.3 ms) speed 0.5 m/s  *DAT read: user:494>  BDAT read: Tx time:00:39:02.2757 $Ping request sent.yy}D0v?_fE?}F~˿ };?)}^>I}|i}}>yy=:publishing transmit ping time=Fpublishing direction and range infoyy}fu?/;fϿYyyyyy y)yIyiyyyyy y)yIyyy}D0v?_fE?}F~˿ y)yIyiyyy ^AE _Au .AIy I O >Zj",¢X@A(BA>B?BA^<ٱB] ZAHRS rotation from veh to nav: [[0.831031,-0.553104,-0.058851],[0.556060,0.823531,0.112226],[-0.013607,-0.125988,0.991938]]BH@Η? !=?@]Z? к?݋] ?iBA>IB@];BCYbgByb"IbDnVDnP)yv-%vb=ٔv$Q-v>9z ?Yz ?=ziGyx~E:E~>Q 5 4לM?Q 9 4)կBY y ,>Q I@ׅDI;i;4yBɮ@EE= E=E=&E9"E=>:*E=k:VE=4ZE9aE@aE@aE@aE@aeğX@AJehCRehCje >eUZLp@+󗣡>zǛPrefu?/;fϿZe|be}>e;om@\@'ePzeTz,y? ɢ?󤙵ο2eB:emC"eAΛ?*efQBeb?aeS“aeiCe>gO addTargetRange:: Added new target pos. range: 272.399994 m, deltaT: 4.031845 s, deltaX: -18.000000 m, approachRate: -4.464458 m/s, rangeRepo size: 4 gO Added new target pos. range: 270.819611 m, bearing: 25.304948 deg, lat: 36.779425 deg, lon: -121.859296 deg, deltaT: 4.031845 s, deltaX: -17.890930 m, approachRate: -4.437405 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 270.82 m.RZgO ProNav: ac range: 270.819611 m, nav range: 276.822723 m, bearing: 25.075024 deg, approach rate: 0.000000 m/s, LOS rate: 0.005854 deg/s, cmd heading: 33.655071 deg, new cmd heading: 33.659449 deg. BgOHeadingCmd: 0.587468 target range: 270.819611 and range: 272.40 m.Qd?*"   ʎj`fq@Z @?ɢh[3=) ->i)nS<iɩiQd?V6IQd?Iԁ9@ @@0@Ա^Ayb] A ؟AI! BU Q>BU ؍CBU "IBU BBU " =BQ BQ BU c;BU %EI O >q",sƉX@A\Ez>E8?EY`<ٱE5 ]AHRS rotation from veh to nav: [[0.830786,-0.553428,-0.059263],[0.556422,0.823188,0.112941],[-0.013720,-0.126805,0.991833]]EH͕?୵`W6?@W?@?`1 ";@?iEz>IEI^;ECYmbBym"IiMb@Mb@Mb@ 9-?7A`¿ rh?YyC<f@ @)?@Y@ 54<1bD=VD=1yE%M6=ٔM~9Q-M>9U"?YU"?=UiGyU0F]:E]>aQ 5e4eEM?Q 9m4e)eۯBYm"?Q Em:ymI>Q Iu@eDIe ;ie ;e^4y}Bɮ}E@}EjgOFNOT Ignoring new targets: 270.82 m.R[;9Z[;9gO ProNav: ac range: 270.819611 m, nav range: 276.538971 m, bearing: 25.079487 deg, approach rate: -0.650279 m/s, LOS rate: 0.010237 deg/s, cmd heading: 33.659449 deg, new cmd heading: 33.668383 deg. B9gOHeadingCmd: 0.587624 target range: 270.819611 and range: 272.40 m.n?*" BʎjZP?ɢ1+=) >i)Y<顉iqlin?3*In?IbEû 4jEr 4rEb/EM EMEIEI"EM :*EM~:VEIZEIBEMK"9 I I O >w",SX@A2>2?/?2Rd<ٱ2 :AHRS rotation from veh to nav: [[0.830546,-0.553769,-0.059442],[0.556776,0.822877,0.113466],[-0.013920,-0.127335,0.991762]]2Hԓ?y7o`? U? ?-`L?i2>I20^;2CYBYByF"IbDNVDNkyVwI%Vi=ٔVm:Q-V>9XYX=ZiGyX^:E^>`Q 5f4bM?Q 9f4b)bBYdyf>Q Ij@bDIb6:ib :b4yYɮ]@YjgOFNOT Ignoring new targets: 270.82 m.R-9Z-9gO ProNav: ac range: 270.819611 m, nav range: 276.316528 m, bearing: 25.082970 deg, approach rate: -0.605311 m/s, LOS rate: 0.009487 deg/s, cmd heading: 33.668383 deg, new cmd heading: 33.675355 deg. B9gOHeadingCmd: 0.587746 target range: 270.819611 and range: 272.40 m.v?*" ʎjZ*?Bɢ,=) >i)%^}",qX@A:#0>:m?:@g<ٱ:i BAHRS rotation from veh to nav: [[0.830011,-0.554686,-0.058346],[0.557568,0.822546,0.111967],[-0.014114,-0.125466,0.991997]]:H@t?߭ ?KR?`⩼?`猿`Fq?i:#0>I:"^;8YNWByN"IbDVVDVJy^.%^J=ٔb9Q-b>9`Y`=fiGyf1Ffv;Ef>hQ 5n4jM?Q 9n4j)jBYpyr>Q Ir@jDIj;ij#;j4yvBɮv@tP B*** querying acoustic contact ***  jgOFNOT Ignoring new targets: 270.82 m.Ro;9Z%o;9gO- ProNav: ac range: 270.819611 m, nav range: 276.059967 m, bearing: 25.086949 deg, approach rate: -0.659746 m/s, LOS rate: 0.010242 deg/s, cmd heading: 33.675356 deg, new cmd heading: 33.683322 deg. B59gO5HeadingCmd: 0.587885 target range: 270.819611 and range: 272.40 m.5?1*9"9 999AAʎAAIjIZM B?qɢu-=y)y %>i)BB"IBjBB =BBjDB c;B%EB׍CB׍CBĔCB# =B# =C6^AIIO>De =De <Em  Em Em &Ei "Em :*Em V:VEm 4ZEi BEm 2?2ߋl<ٱ2a :AHRS rotation from veh to nav: [[0.829789,-0.555067,-0.057881],[0.557890,0.822355,0.111764],[-0.014437,-0.125032,0.992048]]2H`?@ I2SN^;2CYBKByF"Ii Mb@Mb@Mb@     9 )\(?l¿~jt?Y G!?y  < OA |@ @)  Y %AA!bD%VD%y5i_%5C=ٔ^C:Q->9Y=iGyl:E>Q 540M?Q 94)BY%?Q E:y>Q I@DI:i:+4yɮ@jgOFNOT Ignoring new targets: 270.82 m.R .9Z .9gO ProNav: ac range: 270.819611 m, nav range: 275.780060 m, bearing: 25.091097 deg, approach rate: -0.644707 m/s, LOS rate: 0.009562 deg/s, cmd heading: 33.683320 deg, new cmd heading: 33.691623 deg. B9gO%HeadingCmd: 0.588030 target range: 270.819611 and range: 272.40 m.%?!*!"! !!))-jBʎ)11j1Z54?eBɢe =)a e>ia)mӸhY ",-X@A6띿>6?6o<ٱ6t BAHRS rotation from veh to nav: [[0.829538,-0.555536,-0.056977],[0.558259,0.822254,0.110660],[-0.014626,-0.123604,0.992224]]6H?@@,A?O?5T?@V L?i6띿>I6 *^;6CYHyJ"IbDVVDVN2y^Y%^S=ٔbY:Q-b>9dYd=fiGyf2Fjۛ:Ej>lQ 5v4nJN?Q 9v4n)nBYxyz>Q Iz@nDIn;in;n4yBɮ@~EE- E-E)E)"E-:*E-xv:VE)ZE)a5@a5@a5@a=@jYgOeFNOT Ignoring new targets: 270.82 m.Rm+9Zm+9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249441gO ProNav: ac range: 270.819611 m, nav range: 275.537781 m, bearing: 25.094675 deg, approach rate: -0.632427 m/s, LOS rate: 0.009348 deg/s, cmd heading: 33.691622 deg, new cmd heading: 33.698785 deg. B܈9gOHeadingCmd: 0.588155 target range: 270.819611 and range: 272.40 m.O?*" ʎjZ6@9颉ɢU %=) ۾>i)m<项ib8iO?pEIO?I5t>i5)>9@ @@@ԁԑ^A5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500738IQ Iq O >B V>B ٍCB "IB [BB B B B Fc;B %E ב",GX@AM_ۿ>Mt?M-q<ٱM" AHRS rotation from veh to nav: [[0.829275,-0.555862,-0.057616],[0.558647,0.821854,0.111668],[-0.014720,-0.124790,0.992074]]MHl?n? L? ??[%A?iM_ۿ>IM];MCYJBy"IiMMb@Mb@Mb@IIII I9M{Gz?w/ĿZd;O?YM#?yM&Mj9yYy=}iGyy}:E>Q 5 4HN?Q 9 4)BY,)?Q E:y>Q I@ DIei)b?s<iQi  ? ( %I ?I9@ @@@! ^A NJκE checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005491Q I I O= >v",_cX@A2>2N?2Nt<ٱ2 >AHRS rotation from veh to nav: [[0.829410,-0.555630,-0.057908],[0.558441,0.821882,0.112492],[-0.014911,-0.125640,0.991964]]2H?@@?L?G̼?+?i2>I2L];2CYFEByF"I Rp9pYp=riGyv3Fz(Ez>|Q 5 4~O.N?Q 94~)~BYy>Q I@~DI~6c;i~ud;~s4y)ɮ-/@)jgOFNOT Ignoring new targets: 270.82 m.R ^9Z ^9gO ProNav: ac range: 270.819611 m, nav range: 274.983948 m, bearing: 25.104896 deg, approach rate: -0.655322 m/s, LOS rate: 0.012133 deg/s, cmd heading: 33.709917 deg, new cmd heading: 33.719248 deg. B9gO%HeadingCmd: 0.588512 target range: 270.819611 and range: 272.40 m.%?!*)") )))11ʎ111j9Z= @ABɢ^"'=)9 =>i9)=w<9AiE垔iE?MWMYIM?Im9@i @q@q@qqE] E]E]#EY"E]:*E]]t:VE]3ZEYae@am@am@am@BDAT read: Rx Time:00:39:05.0614 TRx dataTimestamp_ set to:1761698345.773975checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258940ԙ^A A >A ?I I O > ",0}X@A2>2.?2u<ٱ2 :AHRS rotation from veh to nav: [[0.829249,-0.555838,-0.058228],[0.558679,0.821653,0.112977],[-0.014954,-0.126216,0.991890]]2H@5? lЭ ?J?` ?@ @' ?i2>I2K^;2CYBCByB"I DDbDNVDNܲyV %VN=ٔVk8Q-Z>9XYX=ZiGyX^l?:E^>`Q 5f4bBN?Q 9f4bR)bBYdyf">Q Ij@bDIb9:ib1:bV4ynBɮ]l@]EPuB*** querying acoustic contact ***q qjgOFNOT Ignoring new targets: 270.82 m.Roa9Zoa9gO ProNav: ac range: 270.819611 m, nav range: 274.724915 m, bearing: 25.109678 deg, approach rate: -0.666577 m/s, LOS rate: 0.012318 deg/s, cmd heading: 33.719247 deg, new cmd heading: 33.728821 deg. BY9gOHeadingCmd: 0.588679 target range: 270.819611 and range: 272.40 m.?*" ʎchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.508820j!Z% ; @Աɢk'=) c>i)|<icKi?*I?I AA?ABBB"IBPBBBBBSc;B%E)@) @)@50@1 Eu  Eu Eu &Eq "Eu >:*Eu ~:VEu 4ZEq BEu  I) I9 OM >U BDAT read: Tx time:00:39:06.1757 ] $Ping request sent.] bw ?S!?^fUƿ C&?) É6>I Vi ȭT>  :publishing transmit ping timeQ  Fpublishing direction and range infoy  u52?2u<ٱ21 :AHRS rotation from veh to nav: [[0.829088,-0.556045,-0.058540],[0.558916,0.821426,0.113458],[-0.015001,-0.126785,0.991817]]2H`??@I? ?@ϸ :`?i2Z>I2];2CY=By"Ii=Mb@Mb@Mb@9999 99=jt?l¿S㥛?Y= ?y==/<=fA=@ =@)=?@9Y=z@bD]VD]yeǼ%m1=ٔm8Q-m>9iY=iGy4F!:E>Q 54qZN?Q 94{)BYQ%?Q E:y>Q I@$DIs:i#:t4yBɮ@X@AJ9CR9Cj_>c8&6q@kD7SMru5>gO addTargetRange:: Added new target pos. range: 286.100006 m, deltaT: 3.780031 s, deltaX: 13.700012 m, approachRate: 3.624312 m/s, rangeRepo size: 4 gO Added new target pos. range: 284.446045 m, bearing: 24.213195 deg, lat: 36.779464 deg, lon: -121.859296 deg, deltaT: 3.780031 s, deltaX: 13.626434 m, approachRate: 3.604847 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 284.45 m.RZgO5 ProNav: ac range: 284.446045 m, nav range: 278.345001 m, bearing: 24.736457 deg, approach rate: 0.000000 m/s, LOS rate: 0.012318 deg/s, cmd heading: 33.728820 deg, new cmd heading: 33.740489 deg. B1gO=HeadingCmd: 0.588883 target range: 284.446045 and range: 286.10 m.=?9*9"9 9AAamkBʎiiijmq@Zu@K?Bɢr=) >i)<ii?|{ژI?IA@ @@J0@i ^A IA IQ Oe >",N찊X@AE EE(E"E:*Ec:VEc44ZEa@a@a@a@0 44jGt-ܿ9)Y-Ay??A,.>?Sv<ٱ AHRS rotation from veh to nav: [[0.828918,-0.556271,-0.058797],[0.559168,0.821207,0.113799],[-0.015018,-0.127208,0.991762]]H?@?SG?@!?`WH?i,.>I];CYEEByE"IIMAAbD]VD]ye"=%eJ=ٔm58Q-m>9qYq=uiGyquF:E}>yQ 54}nN?Q 94})}BYy >Q I@},DI}:i}';}t4yɮc@jgOFNOT Ignoring new targets: 284.45 m.RZ"9ZZ"9gO ProNav: ac range: 284.446045 m, nav range: 278.087280 m, bearing: 24.739781 deg, approach rate: -0.687245 m/s, LOS rate: 0.008871 deg/s, cmd heading: 33.740489 deg, new cmd heading: 33.747143 deg. B9gOHeadingCmd: 0.588999 target range: 284.446045 and range: 286.10 m.?*" ʎjZI?AɢEN2=)I Mƽ>iI)M8|",wʊX@AhYJBy"IiMb@Mb@Mb@ 9+?nMb?Y?yV=A@ @)YbD-VD-y=<%=L=ٔEQ-E>9AYA=iGy5FE>Q 541N?Q 94v)BY#?Q E:y>Q I@4DI* ;i;4yBɮ0@EjgOFNOT Ignoring new targets: 284.45 m.R 8Z8E-A E-E-!E)"E-s;*E-:VE-c3ZE)BE-AG=a=2E-AG=a=JE-;a=:E-;a=gO% ProNav: ac range: 284.446045 m, nav range: 277.825928 m, bearing: 24.742442 deg, approach rate: -0.638116 m/s, LOS rate: 0.006505 deg/s, cmd heading: 33.747142 deg, new cmd heading: 33.752470 deg. BE{>9gOMHeadingCmd: 0.589092 target range: 284.446045 and range: 286.10 m.M?I*I"I IIQQUxBʎQYYjYZ] ?颕Bɢ.=) >i)eЅ<顙i`oi? ʏI?II[A)[A9@9 @9@=/@9)^A I I O >Y 8",X@AY%DBy%"I1bD=VD=y%X=ٔQ->9Y=iGyE>Q 54N?Q 94%)&BYyQ I@9gOHeadingCmd: 0.589176 target range: 284.446045 and range: 286.10 m.8?*" ʎ j Z  ?5Bɢ=4=)9 =>i9)=Թ ",wX@A6>6?65v<ٱ6q >AHRS rotation from veh to nav: [[0.827386,-0.558726,-0.057073],[0.561433,0.820089,0.110665],[-0.015027,-0.123606,0.992218]]6H@y? 8A? ,>?T?@nƎ`??i6>I6]];6CYFKByJ"IbDRVDRyZ=%ZY=ٔZ[7Q-Z>9\Y\=^iGy^6Fb;Eb>dQ 5j4fqN?Q 9j4fĻ)f.BYhyj>Q Ij@fDDIf`:if:f4ypɮr?@pPB*** querying acoustic contact *** j gO FNOT Ignoring new targets: 284.45 m.R8Z8gO% ProNav: ac range: 284.446045 m, nav range: 277.349792 m, bearing: 24.747182 deg, approach rate: -0.637361 m/s, LOS rate: 0.006195 deg/s, cmd heading: 33.757281 deg, new cmd heading: 33.761957 deg. B-h59gO-HeadingCmd: 0.589257 target range: 284.446045 and range: 286.10 m.-?)*1"1 11199ʎ99AjAZE?mBɢm7=)q u >iq)uk@=BYAYBaBaBaBaBaBaBaBec;Be&E^AA?A>A) I1 IA bEjE4rE@o0EU  EQ EU %EQ "EU a:*EQ VEU 4ZEQ BEU ( checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998193 ",SX@A2c>2O?2s<ٱ2 :AHRS rotation from veh to nav: [[0.826503,-0.560084,-0.056560],[0.562737,0.819380,0.109285],[-0.014865,-0.122153,0.992400]]2Hr?6` ?`]8?!?qiE?i2c>I2E];2CYvXByv"IiuMb@Mb@Mb@qqqq q9uRQ?V-?Yu"?yuu9Y=iGym;E>Q 54N?Q 94)4BY_%?Q E:y>Q I@MDI;i;:4yBɮ@EjgOFNOT Ignoring new targets: 284.45 m.RŪ7ZŪ7gO ProNav: ac range: 284.446045 m, nav range: 277.069916 m, bearing: 24.747688 deg, approach rate: -0.645605 m/s, LOS rate: 0.001166 deg/s, cmd heading: 33.761956 deg, new cmd heading: 33.762968 deg. B8gOHeadingCmd: 0.589275 target range: 284.446045 and range: 286.10 m.?*" !!!%Bʎ)))j)Z5@f@BɢX9=) R>i)b<i칙i?P;I?I!i%>9@ @@@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250317)Q^Ar:A I I! O5 >y E]  E] EY EY "E] :*E] &p:VEY ZEY ae @ae @am @am @",K[2X@A*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502370:F >:e?:t<ٱ:q BAHRS rotation from veh to nav: [[0.825689,-0.561311,-0.056287],[0.563928,0.818640,0.108687],[-0.014929,-0.121483,0.992481]]:H l?B@Ѭ ?M2?һ?򒎿h?i:F >I:B];:CYjYByhbDvVDvܲyz+:%~T=ٔ~,9Q-~>9Y=iGy7F-r;E->1Q 5=45HN?Q 9=45)5:BY9y=f>Q I=@5UDI5:i5 :5 4ymBɮm@mEjgOFNOT Ignoring new targets: 284.45 m.R7Z7gO ProNav: ac range: 284.446045 m, nav range: 276.818115 m, bearing: 24.748070 deg, approach rate: -0.632525 m/s, LOS rate: 0.000961 deg/s, cmd heading: 33.762967 deg, new cmd heading: 33.763732 deg. B7gOHeadingCmd: 0.589288 target range: 284.446045 and range: 286.10 m.?*" ʎ!!j!Z%@@A颥Bɢ>=)]ۼ >i)2<顩ii?xGSk;I?Iu9@q @q@uy0@qychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757474^A5 yb:BA BA BE "IBE [BBE ! =BA BA BE c;BE #&EBٍCBٍCBɓCB =B =C5Ա A .AI) I Ia O >t",LX@A@>g?t<ٱ> AHRS rotation from veh to nav: [[0.824918,-0.562463,-0.056094],[0.565055,0.817935,0.108139],[-0.014943,-0.120902,0.992552]]He?K?,??`p`?i@>I"];Y-UBy-"IiMb@Mb@Mb@ 9-?|?5^?Y5?yҽA@ (@)d@Yf@bDVD1yb%9=ٔ 8Q->9 ?Y ?=iGyL;E>Q 54"N?Q 94)ABY ?Q E:y >Q I@]DI ;i ;4y ɮ @jYgO]FNOT Ignoring new targets: 284.45 m.Re"Ze"gOu ProNav: ac range: 284.446045 m, nav range: 276.544464 m, bearing: 24.747528 deg, approach rate: -0.631039 m/s, LOS rate: -0.001251 deg/s, cmd heading: 33.763732 deg, new cmd heading: 33.762647 deg. BugO}HeadingCmd: 0.589269 target range: 284.446045 and range: 286.10 m.}[?yE EE*E"E:*EP:VE(N4ZEBEn%i);<顉ixi[?ѓ!ʙ;I[?I@ @@1@@ZA@[A 1 ^A _;A zA ZA BDAT read: Rx Time:00:39:08.9587  TRx dataTimestamp_ set to:1761698349.553662 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259841AE ؟AII a Ia Om >?",fX@A>2>>`3?>lr<ٱ>" FAHRS rotation from veh to nav: [[0.823918,-0.563906,-0.056291],[0.566515,0.816971,0.107790],[-0.014796,-0.120700,0.992579]]>H]? Ҭ ?@$?%?JM/澿4?i>2>I>];9f"?Yf"?=jiGyj8Fj;Ej>lQ 5r4nN?Q 9r4nP)nFBYpyv>Q Iv@neDIn;inD;n,4yzBɮz@xjgOFNOT Ignoring new targets: 284.45 m.R%aڷZ%aڷgO5 ProNav: ac range: 284.446045 m, nav range: 276.311737 m, bearing: 24.746981 deg, approach rate: -0.634691 m/s, LOS rate: -0.001492 deg/s, cmd heading: 33.762646 deg, new cmd heading: 33.761552 deg. B5.gO=HeadingCmd: 0.589250 target range: 284.446045 and range: 286.10 m.=?9*9"9 9AAAAʎIIIjIZU @}Bɢ}_M=)y U>i)U<顁iHBi?;*;I?I!!@! @)@-L0@)E EE'E"E:*E1]:VE'4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510220I^Aeϩ;y A I I O >{", X@A02@>2(v?2om<ٱ2} >AHRS rotation from veh to nav: [[0.823344,-0.564635,-0.057381],[0.567357,0.816271,0.108661],[-0.014515,-0.122020,0.992421]]2H@X?|a'??.ѻ?)<?i2@>I2\;2CYF`ByF"IbDRVDR:yV $=%ZM=ٔZB8Q-Z>9XY\=^iGy\^B';Eb>`Q 5f4b O?Q 9j4b|)bLBYhyj>Q Ij@bmDIb:ib:b& 4yrBɮr%@rzEP~B*** querying acoustic contact ***| |j gO FNOT Ignoring new targets: 284.45 m.RZgO% ProNav: ac range: 284.446045 m, nav range: 276.061646 m, bearing: 24.746336 deg, approach rate: -0.625637 m/s, LOS rate: -0.001615 deg/s, cmd heading: 33.761553 deg, new cmd heading: 33.760262 deg. B%3=gO-HeadingCmd: 0.589228 target range: 284.446045 and range: 286.10 m.-?)*)") )1111ʎ1iyI}Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.762413jZ N@B]>BڍCB"IB`BB =BBkDBc;B6&EEBɢM`E=)Q Ua>iY)e<ԑii5i?[;I?IwD=D%=E EE%E"ED:*E]t:VE 4ZEBE1  BDAT read: Tx time:00:39:10.0756  $Ping request sent. 1 1 5 <()2 ?XԈ?LR 5 ،?)5 gT>I5 Ki5 6&>1 1  :publishing transmit ping time  Fpublishing direction and range infoy1 5 ^l Qt?B9h6uoĿY1 1 1 1 1 1 )1 I1 i1 1 1 1 1 1 )1 I1 1 1 5 <()2 ?XԈ?LR 1 )1 @  @ @ 1@ I1 i1 1 1  ^A[R;AAyIIO ?q",#jX@AJ\!>Jt?JnPe<ٱJǸ vAHRS rotation from veh to nav: [[0.822377,-0.565861,-0.059144],[0.568771,0.815116,0.109930],[-0.013996,-0.124043,0.992178]]JHP? "H_3?n?^$?`Щ@M`?iJ\!>IJ];HY YBy"IiMb@Mb@Mb@ 9+?ktMb?Y?y <@ @)Y 4<p;bDVDy|% =ٔhQ->9Y=iGy9F@;E>Q 54&O?Q 94)QBYN!?Q E :y >Q I @yDIz ;i ;^4yBɮ@X@AJGCRGCj>;2[q@-89ZϞFr^l Qt?B9h6uoĿZKb6&>Abn@/`@i6$Gzid?e%78?S;Ŀ2C:#uC"ן?*"BtA“tA؉C>gO addTargetRange:: Added new target pos. range: 284.200012 m, deltaT: 4.032286 s, deltaX: -1.899994 m, approachRate: -0.471195 m/s, rangeRepo size: 4 gO5 Added new target pos. range: 282.561462 m, bearing: 28.436625 deg, lat: 36.779464 deg, lon: -121.859296 deg, deltaT: 4.032286 s, deltaX: -1.884583 m, approachRate: -0.467373 m/s, posRepo size: 4 j1gO=FNOT Ignoring new targets: 282.56 m.R=Z9gOm ProNav: ac range: 282.561462 m, nav range: 275.693634 m, bearing: 24.743242 deg, approach rate: 0.000000 m/s, LOS rate: -0.001615 deg/s, cmd heading: 33.760262 deg, new cmd heading: 33.758296 deg. BigOuHeadingCmd: 0.589193 target range: 282.561462 and range: 284.20 m.ua?q*q"q yyyyBʎj@3q@Z~P?5~Bɢ5:)2=)1 =>i9)=FBٍCB"IBeBBBBjDBc;BI&EIIO ?D",ƋX@A2je>2{?2 b<ٱ2 :AHRS rotation from veh to nav: [[0.822083,-0.566169,-0.060272],[0.569199,0.814646,0.111194],[-0.013854,-0.125717,0.991969]]2HN?ܮ6??.w? F_6?i2je>I2,];2CYFPByF"IbDNVDN0yV%V=ٔZQQ-Z>9XYX=^iGy^:F^:E^>`Q 5f4b>O?Q 94b5)bVBYy%>Q I@bDIbM9iq)YB2?2{h<ٱ2 :AHRS rotation from veh to nav: [[0.822156,-0.565998,-0.060869],[0.569085,0.814524,0.112665],[-0.014189,-0.127268,0.991767]]2HO? -*@5?`?׼?8NJ?i2S>I2)j];2CYFWByF"IiMb@Mb@Mb@ 9+?ktQ?Yv?yu< ?@)=AY @bD5VD5k1y]<%e=ԡٔJ:Q->9Y=iGyV}E>Q 54+YO?Q 94)[BY ?Q E:yw>Q I@DI ;i ;+)4y Bɮ @ |Ej1gO5FNOT Ignoring new targets: 282.56 m.R=øZ=øgOM ProNav: ac range: 282.561462 m, nav range: 275.019257 m, bearing: 24.737565 deg, approach rate: -0.644428 m/s, LOS rate: -0.005353 deg/s, cmd heading: 33.752770 deg, new cmd heading: 33.746927 deg. BMgOUHeadingCmd: 0.588995 target range: 282.561462 and range: 284.20 m.U`?Q*Q"Q QQYY]BʎaaajaZmh?颕}Bɢ#d<=) >i)<顙iȀi`?T) }#,EX@A2>2#?2+p<ٱ2 :AHRS rotation from veh to nav: [[0.822389,-0.565581,-0.061606],[0.568737,0.814487,0.114675],[-0.014680,-0.129345,0.991491]]2HQ?< ܊@3?F?`T[?`@K?i2>I2D];2CB<AB%\>B!B%"IB%`BB% =B!B!B%#d;B%`&E1YELByE"IbD]VD]2ym@%m.=ٔu:Q-u>9qYq=uiGy};F}ArE}>Q 54inO?Q 94)_BYyL>Q I@DI;i;14yɮ@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 282.56 m.RZgO ProNav: ac range: 282.561462 m, nav range: 274.736511 m, bearing: 24.735234 deg, approach rate: -0.624081 m/s, LOS rate: -0.005151 deg/s, cmd heading: 33.746927 deg, new cmd heading: 33.742259 deg. BgOHeadingCmd: 0.588914 target range: 282.561462 and range: 284.20 m. ?*" ʎjZ`?)ɢ-q@=)1 5=>i1)5<11i5vi= ?=5= iM>A9@ @@U1@iE EE'E"E:*EX:VE'4ZEBE1ԩ R#,>X@A2>2?2"Wy<ٱ2 :AHRS rotation from veh to nav: [[0.822663,-0.565097,-0.062374],[0.568325,0.814468,0.116829],[-0.015218,-0.131560,0.991191]]2H BS?E}ﯿ/?? ~?`* ׷?i2>I27];2C @)B`ABĽ@@@F`AiFTIFcEDIDiD JDH)HH J`AJC N\ELLN`AIN\)REiP)PIR`ARC RF TTTTiTTiXX)X XIXYXYbPByb"IiMb@Mb@Mb@ 9+?MbQ?Y?y A )d@YAbD=VD=1yM<%M^=qٔu:Q-}>9yYy=}iGy}Q 54%O?Q 94)bBY!?Q E:yA>Q I@DI;i;74yBɮ@j gO FNOT Ignoring new targets: 282.56 m.R51Z51gOE ProNav: ac range: 282.561462 m, nav range: 274.501801 m, bearing: 24.733873 deg, approach rate: -0.617909 m/s, LOS rate: -0.003584 deg/s, cmd heading: 33.742258 deg, new cmd heading: 33.739535 deg. BEѸgOMHeadingCmd: 0.588866 target range: 282.561462 and range: 284.20 m.M?I*I"I iiqquBʎyyyjyZ}@;@|Bɢ5L=)1 =>i9)=@<9AiE[]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254521i?-Am >I I O >E  E E "E "E *E H:VE (3ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505420 #,5X@A2}>2Ĕ?2鯃<ٱ2q, :AHRS rotation from veh to nav: [[0.823059,-0.564543,-0.062170],[0.567728,0.814688,0.118190],[-0.016074,-0.132573,0.991043]]2H@V?ԯ*?? A?u`)`?i2}>I2(S];2CYeGBye"IquAbD}VD}kyL7%T=ٔO;Q->9Y=iGyE>Q 54WO?Q 94)eBYy>Q I@DI:i-:A>4yBɮM@}EjgOFNOT Ignoring new targets: 282.56 m.R%…Z%…gO5 ProNav: ac range: 282.561462 m, nav range: 274.261078 m, bearing: 24.732509 deg, approach rate: -0.644360 m/s, LOS rate: -0.003654 deg/s, cmd heading: 33.739536 deg, new cmd heading: 33.736806 deg. B5ָgO=HeadingCmd: 0.588818 target range: 282.561462 and range: 284.20 m.=̼?9*9"9 9AAAAʎIIIjIZM@yɢ}|M=)y }J>iy)<顁i)i̼?"_=;I̼?Ie9@a @a@e/@aechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757911B]>BڍCB"IB[BB =BBkDB d;B) ^A I I O- >Y #,hOX@A->-,?-<ٱ-? =AHRS rotation from veh to nav: [[0.823929,-0.563185,-0.062955],[0.566397,0.814815,0.123579],[-0.018301,-0.137478,0.990336]]-H`]?`?`?ߢ? ݘ԰?i->I-|];)YDBy"Ii5Mb@Mb@Mb@1111 195+?J +Q?Y1DAzDAbE-4jEw4rEuf0EM EMEM&EI"EMm:*EMR:VEM4ZEIBEMS=ٔ~;Q->9Y=iGy=FrE>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009625Q 54O?Q 94)iBY!?Q E:y >Q I@DI$k;i|j;E4yɮ{@jgOFNOT Ignoring new targets: 282.56 m.R<Z<gO ProNav: ac range: 282.561462 m, nav range: 273.989319 m, bearing: 24.731397 deg, approach rate: -0.628835 m/s, LOS rate: -0.002576 deg/s, cmd heading: 33.736804 deg, new cmd heading: 33.734577 deg. BgOHeadingCmd: 0.588779 target range: 282.561462 and range: 284.20 m.@?*" BʎjZ^x@ɢ%@=)! %>i!)%#,pwiX@A0Y=By"IbD-VD-y= '%Ec=ٔEQ-E>9IYI=MiGyIMEM>QQ 5]4U6O?Q 9e4UZ)UlBYayaQ Ie@UDIU;iU;UL4ymBɮm@qjgOFNOT Ignoring new targets: 282.56 m.R>Z>gO ProNav: ac range: 282.561462 m, nav range: 273.761780 m, bearing: 24.730464 deg, approach rate: -0.634806 m/s, LOS rate: -0.002605 deg/s, cmd heading: 33.734578 deg, new cmd heading: 33.732710 deg. BgOHeadingCmd: 0.588747 target range: 282.561462 and range: 284.20 m.?*" ʎjZ-. @ɢ,I=) >i ) .'< QiUNĤi]?ee;Ie?Iiԑ@ @@ 0@ @[A@Em EmEm'Ei"Em:*EmL_:VEm'4ZEiau@au@au@a}@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513867Թ^AM r;AQ zAU [A Ay I I O >Z #,TX@AF>F?Fo<ٱFF` jAHRS rotation from veh to nav: [[0.824540,-0.562230,-0.063486],[0.565467,0.814975,0.126742],[-0.019518,-0.140403,0.989902]]FHb?@M?F?9? G?iF>IFg];FCYz BDAT read: Tx time:00:39:13.9756 $Ping request sent.?%/@%PwV% /@ %|٠)%Q@I%|٠=!!%m?.cK`Z?ϛિ %&?)%W=I%|i%|٠=!AAAAB\>BٍCB"IBPBB =BBBd;BW&EBBBB =B =CF5!:publishing transmit ping timeFpublishing direction and range infoy!%A ?&c͖ƽ5;Y!!!!! !)!I!i!!!!! !)!I!!!%m?.cK`Z?ϛિ !)!I!i!!!bDVDyb%'=ٔP#;Q->9Y=iGy>FFE>aQ 5m4eO?Q 9u4eҎ)epBYqyu>Q Iu@eDIe|:ieg:eT4y}Bɮ@tE!%ԵX@AJ%VCR%VCj%M>%[$U^q@lVR@agO addTargetRange:: Added new target pos. range: 282.299988 m, deltaT: 3.780535 s, deltaX: -1.900024 m, approachRate: -0.502581 m/s, rangeRepo size: 4 gO% Added new target pos. range: 280.671906 m, bearing: 27.169641 deg, lat: 36.779469 deg, lon: -121.859296 deg, deltaT: 3.780535 s, deltaX: -1.889557 m, approachRate: -0.499812 m/s, posRepo size: 4 jAgOEFNOT Ignoring new targets: 280.67 m.RMZIgO] ProNav: ac range: 280.671906 m, nav range: 273.919434 m, bearing: 24.684363 deg, approach rate: 0.000000 m/s, LOS rate: -0.002605 deg/s, cmd heading: 33.732709 deg, new cmd heading: 33.730014 deg. BYgOHeadingCmd: 0.588700 target range: 280.671906 and range: 282.30 m.?*" ʎj̤q@ZV?ɢ 9=) >i!)-G<)1i]bim?%;I?II)E} E}E}%Ey"E}:*E}c:VE} 4ZEyBE}[ ^?^7<ٱ^v fAHRS rotation from veh to nav: [[0.825337,-0.561433,-0.060092],[0.564188,0.815735,0.127552],[-0.022593,-0.139176,0.990010]]^H *i?B@RĮ@ ?@? S?"@)?i^MV>I^^];\Yr4Byr"IimMb@Mb@Mb@iiii i9m-?y&1Mb?Ym5?ym`彙m9 ?Y ?=iGyXE>Q 54O?Q 94)tBY ?Q E:y>Q I@ɆDI;i;\4yBɮ@P]B*** querying acoustic contact ***Y YjgOFNOT Ignoring new targets: 280.67 m.RI7ZI7gO ProNav: ac range: 280.671906 m, nav range: 273.633179 m, bearing: 24.684671 deg, approach rate: -0.639269 m/s, LOS rate: 0.000689 deg/s, cmd heading: 33.730015 deg, new cmd heading: 33.730632 deg. Bd7gOHeadingCmd: 0.588711 target range: 280.671906 and range: 282.30 m.?*" BʎjZ?ԡɢ2>=) :>i)ٶ<iNi?9;I?I!9@ @@0@E EE$E"E:*ER:VE4ZEa@a@a@a@ T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.^A ; A I I O >/#,*X@A2P>2V?2^<ٱ2' :AHRS rotation from veh to nav: [[0.825660,-0.561188,-0.057914],[0.563632,0.816046,0.128013],[-0.024579,-0.138337,0.990080]]2Hk??ۦ`F ? ? b?5+`?i2P>I2J];2CYB/ByB"IbDJVDJyR%V[=ٔV;Q-V>9TYX=ZiGyZ?FZnEZ>\Q 5b4^O?Q 9f4^,)^wBYdyf>Q If@^цDI^:i^:^c4yjBɮj@nuEljgO FNOT Ignoring new targets: 280.67 m.R 7m7Z 7m7gO ProNav: ac range: 280.671906 m, nav range: 273.399048 m, bearing: 24.684957 deg, approach rate: -0.663537 m/s, LOS rate: 0.000810 deg/s, cmd heading: 33.730633 deg, new cmd heading: 33.731205 deg. Bƽ7gO%HeadingCmd: 0.588721 target range: 280.671906 and range: 282.30 m.%d?!*)") )))11ʎ111j9Z= ?aɢeȑH=)i mK>ii)ma˸BB"IBFBB! = BBjDBd;B\&E9^Avт;A?A>A% ؟AI1 IA OM >a E  E E #E "E *E n:VE 3ZE BE 2V?2I<ٱ2 :AHRS rotation from veh to nav: [[0.825620,-0.561543,-0.054960],[0.563598,0.816187,0.127260],[-0.026604,-0.136044,0.990346]]2H{k?(#?5? J?>i@?i2>I2n];2CYB4ByB"I DD9iUMb@Mb@Mb@QQQQ Q9Uףp= ?Q{Gz?YU?yUUף=ٔ};Q-}>9"?Y"?=iGyZE>Q 54 P?Q 94K)|BY!?Q E:y>Q I@چDI ;i;j4yɮ@jgOFNOT Ignoring new targets: 280.67 m.R $8Z $8gO ProNav: ac range: 280.671906 m, nav range: 273.127075 m, bearing: 24.685919 deg, approach rate: -0.632756 m/s, LOS rate: 0.002241 deg/s, cmd heading: 33.731203 deg, new cmd heading: 33.733130 deg. B;8gOHeadingCmd: 0.588754 target range: 280.671906 and range: 282.30 m.?*" BʎjZ`?-}Bɢ5o@=)1 5 >i1)=P<99i=ymiE?E^E5K;IE?IIUl>iU%>9@ @@4@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498183ԑ^AA I I O- > <#,X@A6o>6|8?6t<ٱ6 >AHRS rotation from veh to nav: [[0.825836,-0.561543,-0.051614],[0.563190,0.816694,0.125809],[-0.028494,-0.132966,0.990711]]6H?m?),m ?["??-`?i6o>I6K];6CYF+ByJ"IbDRVDRyZ86%ZX=ٔZ;Q-^>9\Y\=^iGyb@FbٞEb>dQ 5j4fP?Q 9j4fă)fBYhyn>Q In@fDIf>:if;f:q4yrBɮrm@rvEj gO FNOT Ignoring new targets: 280.67 m.R*8Z*8gO% ProNav: ac range: 280.671906 m, nav range: 272.887939 m, bearing: 24.686798 deg, approach rate: -0.631615 m/s, LOS rate: 0.002324 deg/s, cmd heading: 33.733130 deg, new cmd heading: 33.734889 deg. B%8gO-HeadingCmd: 0.588785 target range: 280.671906 and range: 282.30 m.-?)*)") )1111ʎ99AjAZE?iɢmBB=)q u>iq)ul checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002190B <A B g>B ۍCB "IB 7BB  =B B lDB d;B X&E B#, X@AYr)Byv"IbD~VD~Ny%4:%-C=ٔ-Q-->91Y1=5iGy15E5>9Q 5E4=k3P?Q 9M4=)=BYIyIQ IM@=DI=:i=:=x4yUBɮU@YjgOFNOT Ignoring new targets: 280.67 m.R7*8Z7*8gO ProNav: ac range: 280.671906 m, nav range: 272.623444 m, bearing: 24.687772 deg, approach rate: -0.630805 m/s, LOS rate: 0.002325 deg/s, cmd heading: 33.734888 deg, new cmd heading: 33.736838 deg. B,8gOHeadingCmd: 0.588819 target range: 280.671906 and range: 282.30 m.ּ?*" ʎjZ`.M@ɢl==) %>i)< i ciּ?x5m;Iּ?I9@ @@/@E EE&E"E:*Ek:VE4ZEBEQy <(I#,nh&X@A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506260:!>:?:=ٱ:` BAHRS rotation from veh to nav: [[0.826447,-0.561104,-0.046332],[0.562094,0.817597,0.124842],[-0.032168,-0.129218,0.991094]]:HAr?׸ ?)??Wx6` ?i:!>I:Q];:CYR0ByR"IIVt>)V;i-Mb@Mb@Mb@)))) )9--?/$?Y-5?y--<- A-@ -?@)-jA)Y-AbDEVDEkyM=%MH=ٔU;9U ?Y] ?=]iGy]AF]5HEe>aQ 5m4eiGP?Q 9u4eN~)eBYu!?Q Eu:yu>Q Iu@eDIes:ie!gi1)56<19i=`Шi=3?E> E1;IE3?IAq9@ @@/@ԁ ېCgG1Y9YAAU؟AIYIqO}z>E EEE"E:*Ei:VEZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762137ԩ P#,B@X@A6[>6r?6um =ٱ6Q BAHRS rotation from veh to nav: [[0.826832,-0.560649,-0.044951],[0.561432,0.817898,0.125845],[-0.033789,-0.129290,0.991031]]6H`iu?`A?7,??L?i6[>I6}>];4YJ%ByJ"IbDRVDRNyZ!f%ZU=ٔ^C;Q-^>9b"?Yb"?=biGy`bMEf>dQ 5j4f3ZP?Q 9j4f{)fBYlyn^>Q Ir@fDIfA;if\C;fi4yvBɮz@zwEj!gO%FNOT Ignoring new targets: 280.67 m.R-8Z-8gO= ProNav: ac range: 280.671906 m, nav range: 272.123230 m, bearing: 24.690663 deg, approach rate: -0.654153 m/s, LOS rate: 0.003841 deg/s, cmd heading: 33.739779 deg, new cmd heading: 33.742624 deg. B=8gOEHeadingCmd: 0.588920 target range: 280.671906 and range: 282.30 m.Et?A*A"A AIIIIʎIQQjQZU@9@颅BɢZD=) o>i)<顉i%it?Px:It?IԱ}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014524}9@y @y@}/@yBm>B܍CB"IB-BB =BDDBmDBxc;B&EAIIOF> D ?AzD E  E E $E "E O:*E k:VE 4ZE BE 9Y=iGyBFE>Q 5 4oP?Q 9 4y)BY ?Q E :y >Q I@DIa:i:)4yɮ@jIgOMFNOT Ignoring new targets: 280.67 m.RU8ZU8gOe ProNav: ac range: 280.671906 m, nav range: 271.846466 m, bearing: 24.693239 deg, approach rate: -0.626317 m/s, LOS rate: 0.005836 deg/s, cmd heading: 33.742623 deg, new cmd heading: 33.747781 deg. Be*9gOmHeadingCmd: 0.589010 target range: 280.671906 and range: 282.30 m.mZ?i*i"i iqqq}BʎyyyjyZ@3 @颩ɢ4;=) 3>i)t<顱i}iZ?AAe:IZ?I@ @@@9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519072^A- ;A- ?A- ?i AY Ia Iy O >d\#,sX@A Y~ By~"IbD VD k1ye׼%%X=ٔ!Q-%>9)Y)=-iGy))E5>1Q 5=45=P?Q 9=45v)5BYAyAQ IE@5 DI5:i5:5Ô4yMBɮM@MxEEe EeEaEa"Ee:*Ee:VEaZEaam@am@am@am@jgOFNOT Ignoring new targets: 280.67 m.R<8Z<8gO ProNav: ac range: 280.671906 m, nav range: 271.610687 m, bearing: 24.695438 deg, approach rate: -0.621300 m/s, LOS rate: 0.005798 deg/s, cmd heading: 33.747780 deg, new cmd heading: 33.752181 deg. B)9gOHeadingCmd: 0.589087 target range: 280.671906 and range: 282.30 m.c?*" ʎjZ=@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770937BɢX==) M>i)%<))iEѩi]c?eׅqmB":Ic?II)\A9@ @@0@ԙA A @AB t>B ݍCB "IB #BB  =B B nDB 6c;B %E DAT read: 00:39:16.7524 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 404,-0.05,-1.494,-2.765,-1.150,-1.874, PHS= 0.482,-0.846, 0.680, RAW= 156.9, -4.4, CAL= 156.6, -6.0, ROT= 353.4, 6.0  Ygot valid direction response: 00:39:16.7524 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 404,-0.05,-1.494,-2.765,-1.150,-1.874, PHS= 0.482,-0.846, 0.680, RAW= 156.9, -4.4, CAL= 156.6, -6.0, ROT= 353.4, 6.0  PDAT read: Bearing 175.8, -8.2 (Local)  ~Local bearing/azimuth received: Bearing 175.8, -8.2 (Local)  DAT read: Range 11 to 50 : 279.4 m (Round-trip 372.6 ms) speed 0.6 m/s ^A ; e *DAT read: user:498> u BDAT read: Tx time:00:39:17.8756 u $Ping request sent.u i uX {.? LB/@ nF .@ Pwֽ) 4`@I Pw= `k?cJZ"`"?ֳ $?) =I i Pw=  :publishing transmit ping timeq  Fpublishing direction and range infoy  td!?mXBC4ޮ`ºY ) I i ) I `k?cJZ"`"?ֳ ) I i I I O% >Mc#,0؍X@Al>?,=ٱ AHRS rotation from veh to nav: [[0.829003,-0.557606,-0.042767],[0.557960,0.819502,0.130752],[-0.037861,-0.132256,0.990492]]H@2?`奿?]9?z?ub`?i>I?];YAyAbD}VD}0ٔ9Y=iGyCF E>Q 54֖P?Q 94 t)BYy>Q I@DI:i:"4yBɮ@X@AJCRCjW>*<'q@(V?* =rtd!?mXBC4ޮ`ºZbPw=<{n@~ ^@G{zAzƲmd?dh?-2B:xvC"Nj?*FBANj?F“̉C>gO= addTargetRange:: Added new target pos. range: 279.399994 m, deltaT: 4.035401 s, deltaX: -2.899994 m, approachRate: -0.718638 m/s, rangeRepo size: 4 gO Added new target pos. range: 277.805237 m, bearing: 26.579529 deg, lat: 36.779468 deg, lon: -121.859185 deg, deltaT: 4.035401 s, deltaX: -2.866669 m, approachRate: -0.710380 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 277.81 m.RZDm=Dm<bEJ4jE 4rEd/E EE&E"E*ET:VE4ZEBEi)M<iiU?⢅<IU?I9@ @@0@a ^A j:ԉ I I O >~Ej#,X@A2о>2>?29 =ٱ29 :AHRS rotation from veh to nav: [[0.829865,-0.556371,-0.042142],[0.556592,0.820166,0.132414],[-0.039107,-0.133342,0.990298]]2H@?@?>??Y?i2о>I2X];2CYBByB"IiMMb@Mb@Mb@IIII I9M'1Z?x&I +?YM"?yIIM5 AI M(@)MAIYMAbDeVDe1yuӻ%u<ٔ}3;Q-}>9yYy=iGy%iE>Q 54P?Q 943q)BY|&?Q E:y>Q I@DI* ;i ;4yɮ@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 277.81 m.RD9ZD9gO ProNav: ac range: 277.805237 m, nav range: 275.304810 m, bearing: 26.583299 deg, approach rate: -0.691747 m/s, LOS rate: 0.010714 deg/s, cmd heading: 33.757380 deg, new cmd heading: 33.766422 deg. Bݜ9gOHeadingCmd: 0.589335 target range: 277.805237 and range: 279.40 m.?*" Bʎj Z Q?Bɢp@=) d>i)<i6iM?MMKIM?II9@ @@4@@p=@=^AeE EE%E"Em:*EVL:VE 4ZEa@a@a@a@IIO%M>eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.! *q#,čX@A >y>>?>"=ٱ>=X JAHRS rotation from veh to nav: [[0.830714,-0.555106,-0.042093],[0.555278,0.820819,0.133875],[-0.039764,-0.134585,0.990104]]>H4?n1?&D?"?[:`?i>y>I>CS];>CYRByR"IV=V=XXbD^VD^yf%'<%fV=ٔf:Q-f>9hYh=jiGyjDFnlEn>pQ 5v4rP?Q 9v4rn)rBYtyv>Q Iv@r$DIr:ir:r4yYɮ]@]oEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.978932Bw>BލCB"IBBB =BBB[c;B&EB܍CB܍CBCB =B =C6jgOFNOT Ignoring new targets: 277.81 m.R^39Z^39gO ProNav: ac range: 277.805237 m, nav range: 275.057373 m, bearing: 26.587212 deg, approach rate: -0.619268 m/s, LOS rate: 0.009801 deg/s, cmd heading: 33.766423 deg, new cmd heading: 33.774255 deg. B~9gO HeadingCmd: 0.589472 target range: 277.805237 and range: 279.40 m. ? * "  ʎjZ%`vV?MBɢMO@=)I U_>iQ)U Vw#,ލX@A2~>29?2x6(=ٱ2 :AHRS rotation from veh to nav: [[0.831231,-0.554323,-0.042200],[0.554409,0.820964,0.136565],[-0.041056,-0.136913,0.989732]]2H`r?E ?`UE?`z?K`] ?i2~>I2u];2CLYNByNz"Ii%Mb@Mb@Mb@!!!! !9%ʡE?MbZd;O?Y%?y%%j<%K A%@ %V@)%A!Y%AbDE VDEf2yU%UB=ٔUH;Q-]>9YYY=]iGyYe+Ee>iQ 5u4mP?Q 9u4ml)mBYu,!?Q Eu:y}>Q I}@m,DIm ;im* ;m 4yBɮ:@pEj)gOUFNOT Ignoring new targets: 277.81 m.R]19Z]19gO ProNav: ac range: 277.805237 m, nav range: 274.792694 m, bearing: 26.591279 deg, approach rate: -0.630816 m/s, LOS rate: 0.009703 deg/s, cmd heading: 33.774254 deg, new cmd heading: 33.782396 deg. B 9gOHeadingCmd: 0.589614 target range: 277.805237 and range: 279.40 m.?*" ƒBʎ  j ZoL?-Bɢ-r7=)) ->i))5<11i5i=?=򩅻=DȮI=?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.482920@! @)@-4@)! ^A= I I O >E  E E %E "E :*E ;J:VE 4ZE a @a @a @a @m}}#,X@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.734889VԼ>V'@?VS-=ٱVmD bAHRS rotation from veh to nav: [[0.831907,-0.553378,-0.041268],[0.553300,0.821520,0.137710],[-0.042303,-0.137396,0.989612]]VH@?F!ࢴ?I?@?Ȩ1?iVԼ>IVT];VCYj"Byj"IbDrVDrNyzf9=%zQ=ٔ~)Q;|Q->9Y=iGyEF YE >Q 54P?Q 94i)BYy%H>Q I%@4DI;i;4y)ɮ-@)jQgOUFNOT Ignoring new targets: 277.81 m.R]<9Z]<9gOm ProNav: ac range: 277.805237 m, nav range: 274.546631 m, bearing: 26.595132 deg, approach rate: -0.655468 m/s, LOS rate: 0.010273 deg/s, cmd heading: 33.782396 deg, new cmd heading: 33.790108 deg. Bmf9gOuHeadingCmd: 0.589749 target range: 277.805237 and range: 279.40 m.u?q*q"y yyyʎjZ=?颵BɢG=) %>i)<项ii?ȅ##ֻI?IU9@Q @Q@U/@Q@][A@][A)Y^Au&tA}?A}?BABq>BݍCBy"IBBB =BBmDBc;B4&Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.987269IIO>ԁ Ae#,oX@A2&>2?2m0=ٱ2h :AHRS rotation from veh to nav: [[0.832610,-0.552382,-0.040432],[0.552173,0.822168,0.138364],[-0.043188,-0.137529,0.989556]]2H? s`g?3O?`? p?i2&>I2P];2CYBByBv"I DDHHbDNVDN:2yV r%VO=ٔZ;Q-Z>9XYX=ZiGyX^,]E^>`Q 5f4bFP?Q 9f4b$g)bBYhyj>Q Ij@bi) <iAi? I?Iԩ9@ @@@^A [Rӻi I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491051 A I I! O- >V#,J,X@A2ջ>2?23:6=ٱ2 :AHRS rotation from veh to nav: [[0.832904,-0.552081,-0.038447],[0.551628,0.822621,0.137846],[-0.044474,-0.136021,0.989707]]2H%? c?R??ZŦ#i`?i2ջ>I2,r];2CYBByBo"Ii Mb@Mb@Mb@     9 \(\?`"Zd;O?Y ?y   tA 1@ ?@)  A Y AbDVDy ۼ%;=ٔ6A;Q->9Y=iGyFF븺E>Q 54JQ?Q 94id)BY?Q E:y>Q I@EDI!;i/;k4yBɮ @qEP-B*** querying acoustic contact ***) )j9gOEFNOT Ignoring new targets: 277.81 m.RE#9ZM#9gOe ProNav: ac range: 277.805237 m, nav range: 274.029816 m, bearing: 26.603005 deg, approach rate: -0.613196 m/s, LOS rate: 0.008941 deg/s, cmd heading: 33.798009 deg, new cmd heading: 33.805868 deg. Be9gOmHeadingCmd: 0.590024 target range: 277.805237 and range: 279.40 m.m ?i*i"q qqyyȃBʎjZ4@Bɢ9=) c>i)%FZ4w#,%FX@A2`>2?2>d;=ٱ2 :AHRS rotation from veh to nav: [[0.832954,-0.552149,-0.036312],[0.551449,0.822891,0.136947],[-0.045734,-0.134095,0.989913]]2H?4@w?U? z?@pj@* ]?i2`>I2j];2CYbBybm"IbDjVDj1yr%rX=ٔrdZ;Q-v>9tYt=viGytzEz>|Q 54~e#Q?Q 94~b)~BYy>Q I @~LDI~;i~,:~4yɮ&@j1gO=FNOT Ignoring new targets: 277.81 m.RE(9ZE(9gOU ProNav: ac range: 277.805237 m, nav range: 273.797638 m, bearing: 26.606407 deg, approach rate: -0.626301 m/s, LOS rate: 0.009185 deg/s, cmd heading: 33.805868 deg, new cmd heading: 33.812678 deg. BUz9gOUHeadingCmd: 0.590143 target range: 277.805237 and range: 279.40 m.Beu>BaBem"IBeBBe =BaBaBec;BeY&EU?y*y"y yyʎjZ i,@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994933Bɢ8=) @>i)N<iqi?! I?I1U9@Q @Q@U2@Q@]=@]=a^A}ԑE  E E (E "E m:*E e:VE c44ZE BE SԹ j#,6`X@A2>2?2+@=ٱ2w :AHRS rotation from veh to nav: [[0.832701,-0.552673,-0.034102],[0.551734,0.822917,0.135636],[-0.046900,-0.131760,0.990172]]2H{?@~`uͧ? VU?\?8`|?i2>I2 ];0YR ByRj"IIV>)TieMb@Mb@Mb@aaaa a9e/$?Zd;I +?Ye?yee9=ٔ1;Q->9Y=iGyGFe:E>Q 54c8Q?Q 94S_)BY?Q E:y;>Q I@UDIo;io;4y Bɮ b@ rEjIgOUFNOT Ignoring new targets: 277.81 m.R]#9Z]#9ԑgO ProNav: ac range: 277.805237 m, nav range: 273.528442 m, bearing: 26.610327 deg, approach rate: -0.613246 m/s, LOS rate: 0.008939 deg/s, cmd heading: 33.812677 deg, new cmd heading: 33.820525 deg. Bނ9gOHeadingCmd: 0.590280 target range: 277.805237 and range: 279.40 m.?*" !!!%ʃBʎ)))jIZU@a @5Bɢ=n.=)9 =>i9)= <9AiEGim?mᆻmIu?IqIy)}[Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.499117@ @@%.1@! G - 9) Y- A^A E  E E 'E "E [:*E rN:VE '4ZE a @a @a @a @!  DAT read: 00:39:20.6499 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410, 0.10,-1.859,-3.071,-1.574,-2.279, PHS= 0.522,-0.747, 0.661, RAW= 155.1, -6.5, CAL= 155.3, -8.1, ROT= 354.7, 8.1  Ygot valid direction response: 00:39:20.6499 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410, 0.10,-1.859,-3.071,-1.574,-2.279, PHS= 0.522,-0.747, 0.661, RAW= 155.1, -6.5, CAL= 155.3, -8.1, ROT= 354.7, 8.1  PDAT read: Bearing 174.1, -7.4 (Local)  ~Local bearing/azimuth received: Bearing 174.1, -7.4 (Local)  DAT read: Range 11 t77.5 m (Round-trip 370.1 ms) speed 0.4 m/s  unknown deviceResponse_: Range 11 t77.5 m (Round-trip 370.1 ms) speed 0.4 m/s  *DAT read: user:499>  BDAT read: Tx time:00:39:21.7756  $Ping request sent. Y ] O?n?eήKL?F}1, ] ?)] =I] qi] > :publishing transmit ping time yY ] b򕙋?s:4i:N ¿Y Y Y Y Y )Y IY iY Y Y Y Y Y )Y IY Y ] O?n?eήKL?F}1, Y )Y IY iY AQ IY Iq O} >^#,(F|X@A]!>]?]BE=ٱ]C AHRS rotation from veh to nav: [[0.832479,-0.553138,-0.031876],[0.551955,0.822943,0.134574],[-0.048206,-0.129624,0.990391]]]Hૣ? OQ`?@U?9? uH?i]!>I]];]CYBy`"IbDVDyL%-4=ٔ-z;;Q-->91Y1=5iGy5HF5V0:E5>9Q 54=}NQ?Q 94=s\)=BYyR>Q I@=^DI=Li)<项iZi&? -~ I&?IA1A1BEy>BEލCBE`"IBEBBE =BABEnDBE#,)!X@AE- E-E-&E)"E-O:*E-ga:VE-4ZE)BE- Eo?EJJ=ٱE1H AHRS rotation from veh to nav: [[0.832051,-0.553896,-0.029832],[0.552486,0.822735,0.133664],[-0.049492,-0.127697,0.990578]]EH *?_? S??WdXϲ?iEMq>IEއ];AYByZ"Ii-Mb@Mb@Mb@)))) )9-Zd;?y&1 rh?Y-?y-`彙-C<-tA-^@ -(@)-9A)Y-3AbDEVDEkyU%U1=ٔU>8;Q-]>9] ?Y] ?=]iGyYe:Ee>iQ 5u4mdQ?Q 9u4mfY)iYu!?Q E}:y}U>Q I}@mgDIm*:im:m4yBɮS@jgOFNOT Ignoring new targets: 277.81 m.R]9Z]9gOm ProNav: ac range: 277.805237 m, nav range: 272.956116 m, bearing: 26.617594 deg, approach rate: -0.650813 m/s, LOS rate: 0.007085 deg/s, cmd heading: 33.828786 deg, new cmd heading: 33.835075 deg. BmuO9gOuHeadingCmd: 0.590533 target range: 277.805237 and range: 279.40 m.u3-?q*q"y ỹBʎjZ`~@BɢJV*=)Y ]|_>iY)]q3I#,X@A||=>=4?=O=ٱ= MAHRS rotation from veh to nav: [[0.831686,-0.554538,-0.028046],[0.552933,0.822555,0.132924],[-0.050642,-0.126059,0.990729]]=H@+?ƾ5?^R??`" ?i=>I=];=CYByB"IbDVDyOȽ%P=ٔ?;Q->9"?Y"?=iGyIF:E>Q 54(xQ?Q 94V)Y y >Q I@oDIoiq)uki>9@ @@p4@i^A B v>B ݍCB T"IB BB  =B B B d;B &Eԩ  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA] .AI I O >#,nΎX@A\r>rF?rT=ٱrb zAHRS rotation from veh to nav: [[0.831481,-0.554938,-0.026137],[0.553138,0.822566,0.131997],[-0.051751,-0.124211,0.990905]]rH}?Ú@N?vR?H? @F̿`?ir>Ir~];rCYBybDVDky- %-I=ٔ-2;Q-->95 ?Y5 ?=5iGy1=E9:E=>AQ 5M4EʋQ?Q 9M4ET)AYIyM>Q IM@EwDIE:iE:E4yYɮ]@YjgOFNOT Ignoring new targets: 277.81 m.R9Z9gO ProNav: ac range: 277.805237 m, nav range: 272.451721 m, bearing: 26.623032 deg, approach rate: -0.669430 m/s, LOS rate: 0.007218 deg/s, cmd heading: 33.840483 deg, new cmd heading: 33.845962 deg. BZS9gOHeadingCmd: 0.590723 target range: 277.805237 and range: 279.40 m.9?*" ʎjZ@ Bɢ $=)  0>i )f<iɊi9?:χuAI9?I!9@ @@/@DE?AzDE?AbEĞ4jE24rEg/Ee EeEaEa"Ee:*EerN:VEaZEaT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseBEeA ٴ#,5X@A2e>2?2V=ٱ2+ :AHRS rotation from veh to nav: [[0.830903,-0.555833,-0.025491],[0.553959,0.822064,0.131681],[-0.052237,-0.123535,0.990964]]2H–?@aT?`YN??پ?i2e>I2];0YRByRC"IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseiMb@Mb@Mb@ 9L7A`?:v/$?Y+'?yԽ<A@ )AYAbDVDJy%:;%%;=ٔ-:Q-->9-"?Y-"?=5iGy5JF5;E=>9Q 5E4=֡Q?Q 9E4=P)9YM\)?Q EM:yM>Q IM@=DI=:i=:=4yUBɮ]@]tEjgOFNOT Ignoring new targets: 277.81 m.R-8Z-8gO ProNav: ac range: 277.805237 m, nav range: 272.163300 m, bearing: 26.624812 deg, approach rate: -0.650791 m/s, LOS rate: 0.004021 deg/s, cmd heading: 33.845961 deg, new cmd heading: 33.849525 deg. B{8gOHeadingCmd: 0.590786 target range: 277.805237 and range: 279.40 m.=?*"! !!!)-ÃBʎIQQjYZ]{@Bɢ=) ->i) +< izi=?̻I%=?II!9@ @@@@=@=qEU EUEU%EQ"EUP;*EUX:VEU 4ZEQae@ae@ae@ae@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A ԡ A1 IA IQ O] >q#,"X@AqYu؃Byu*"II},>)}>=bDVD:yϽ%S=ٔQ->9Y=iGyE>Q 54oQ?Q 94N)YyQ I@DI:i:4yBɮ @kEjgOFNOT Ignoring new targets: 277.81 m.R8Z8gO  ProNav: ac range: 277.805237 m, nav range: 271.906921 m, bearing: 26.626398 deg, approach rate: -0.682739 m/s, LOS rate: 0.004227 deg/s, cmd heading: 33.849526 deg, new cmd heading: 33.852701 deg. B 8gOHeadingCmd: 0.590841 target range: 277.805237 and range: 279.40 m.]A?*" !ʎ!!!j!Z-@BiBiBm;"IBmBBm =BiBiBmAe;Bm'EB5ݍCB5ݍCB5ÓCB5 =B5 =C55额Bɢ=) 4>iT****** received valid address query ******R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse)5<  i Եi]A? ?һI]A?IԙeF˼i 9@  @ @ @ D] =D] a=E}  E} E} $Ey "E} T;*E} T:VE} 4ZEy BE} G6?6Ł]=ٱ6 >AHRS rotation from veh to nav: [[0.829795,-0.557588,-0.023165],[0.555445,0.821161,0.131055],[-0.054052,-0.121615,0.991104]]6H? ~@4?F?e?@Ĭ," ?i6X>I6O[^;6CYJكByJ+"I!i]Mb@Mb@Mb@YYYY Y9]ףp= ? ףp= ~jt?Y]?y]Q]D9Y=iGyKFhc;E>Q 54Q?Q 942J)BYi ?Q E:y>Q I@DI ;i;: 4yɮ@jgOFNOT Ignoring new targets: 277.81 m.R8Z8gO ProNav: ac range: 277.805237 m, nav range: 271.572418 m, bearing: 26.627497 deg, approach rate: -0.625359 m/s, LOS rate: 0.002057 deg/s, cmd heading: 33.852702 deg, new cmd heading: 33.854902 deg. Bp8gOHeadingCmd: 0.590879 target range: 277.805237 and range: 279.40 m.C?*"     BʎjZ@EBɢE=)I M(=iI)M#,G>DX@ANϦ>N.)?NQ^a=ٱN@5 VAHRS rotation from veh to nav: [[0.829421,-0.558171,-0.022509],[0.555911,0.820755,0.131623],[-0.054994,-0.121684,0.991044]]NH? `?C??&(&?iNϦ>IN'^;NCY^By^ "IbDvVDvy~%~.=ٔ~v;Q->9Y=iGyLF ':E >Q 54/Q?Q 94F)BYy%G>Q I%@DI:i=:q4y-Bɮ-@)PMB*** querying acoustic contact ***I IjQgO]FNOT Ignoring new targets: 277.81 m.R]|8Z]|8gOm ProNav: ac range: 277.805237 m, nav range: 271.277863 m, bearing: 26.628430 deg, approach rate: -0.626944 m/s, LOS rate: 0.001987 deg/s, cmd heading: 33.854902 deg, new cmd heading: 33.856769 deg. Buh8gOuHeadingCmd: 0.590912 target range: 277.805237 and range: 279.40 m.uF?y*y"y yyyʎjZ@颵Bɢ=) =i)8<项iciF?8WʑIF?IiBx>BB""IBуBB =BBBe;B)'EBDAT read: Rx Time:00:39:24.5014 TRx dataTimestamp_ set to:1761698365.193386T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԑ@ @@@@[A@ԹE  E E %E "E :*E h:VE 4ZE BE .[#,`X@A2;>2<?2Wnd=ٱ2= :AHRS rotation from veh to nav: [[0.829222,-0.558489,-0.021941],[0.556134,0.820537,0.132042],[-0.055740,-0.121695,0.991001]]2H?$w?A?@?`' H?i2;>I2h^;2CYBByF"I HHHJAiEMb@Mb@Mb@AAAA Aԑ9Ex&1?Mb:v?YEA ?yEET9AYA=MiGyIM):EU>QQ 5]4UQ?Q 9]4USC)UBYe"?Q Ee:ye >Q Ie@UDIU:iU;U4yuBɮu8@ulEjgOFNOT Ignoring new targets: 277.81 m.RA>8ZA>8gO ProNav: ac range: 277.805237 m, nav range: 270.968719 m, bearing: 26.629697 deg, approach rate: -0.633315 m/s, LOS rate: 0.002599 deg/s, cmd heading: 33.856770 deg, new cmd heading: 33.859307 deg. B48gOHeadingCmd: 0.590956 target range: 277.805237 and range: 279.40 m.H?*" BʎjZ@@颥Bɢe<)i mJ=iq)}b<顁i:iH?|;GKI]H?IYDAT read: 00:39:24.5014 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 458,-0.15, 0.803,-0.694, 1.316, 0.796, PHS= 0.109,-1.445, 0.476, RAW= 160.4, 9.8, CAL= 160.3, 10.5, ROT= 349.7, -10.5 Ygot valid direction response: 00:39:24.5014 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 458,-0.15, 0.803,-0.694, 1.316, 0.796, PHS= 0.109,-1.445, 0.476, RAW= 160.4, 9.8, CAL= 160.3, 10.5, ROT= 349.7, -10.5 PDAT read: Bearing 192.7, -14.6 (Local) ~Local bearing/azimuth received: Bearing 192.7, -14.6 (Local) DAT read: Range 11 to 50 : 241.2 m (Round-trip 321.6 ms) speed 0.7 m/s R#Rx 2: Read range and direction messages.^direction in FSK: [0.967410,-0.175808,0.182236]Fpublishing direction and range infoyle?{iMƿm~S?Y3qC )GId;=iF>$+3@%/>3@ f;>)0O@If;䴲.?0!l?Hx? [4?){.IT8if;-T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.@ @@@^A ! E  E E E "E :*E g:VE ZE a @a @a @a @A% .AI1 IA M *DAT read: user:500> U BDAT read: Tx time:00:39:25.7256 U $Ping request sent.U F#,Y|X@A2>2L?2@f=ٱ2 :AHRS rotation from veh to nav: [[0.829066,-0.558760,-0.020897],[0.556313,0.820523,0.131370],[-0.056258,-0.120540,0.991113]]2H`?]@eQ?A??ͬ۾2?i2>I2W^;2CYFByF!IbDNVDNβyV蚼%VS=ٔZ+:Q-Z>9Z ?Y^ ?=^iGy^MF^:Eb>`Q 5f4bdR?Q 9f4b@)bBYhyj">Q Ij@lbDIbAq^TFm@ХET/E@rle?{iMƿm~S?ZT8bf;e_j@ߩe Y@į]LA@zu&?ְ6]?xr?2nB:VC"Ԙ?*BfB“A\Cd>kOaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 241.199997 m, deltaT: 7.571716 s, deltaX: -38.199997 m, approachRate: -5.045091 m/s, rangeRepo size: 4jgOFNOT Ignoring new targets: 277.81 m.R;18Z;18gO  ProNav: ac range: 277.805237 m, nav range: 270.722931 m, bearing: 26.630697 deg, approach rate: -0.594636 m/s, LOS rate: 0.002421 deg/s, cmd heading: 33.859307 deg, new cmd heading: 33.861308 deg. B-ȍ8gO5HeadingCmd: 0.590991 target range: 277.805237 and range: 279.40 m.55K?9*9"9 999AAʎAAAjM`f&n@ZM0?Bɢ_<) =i )R<igܥi5K?%N;%I%5K?II 9@ @@@AYA]AABew>BaBe"IBeBBaBaBaBee;BeF'E1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251813^Ayb]Y A I I O >v#,疏X@A2P>2?~?2g=ٱ2 :AHRS rotation from veh to nav: [[0.828625,-0.559430,-0.020475],[0.556937,0.820131,0.131172],[-0.056590,-0.120096,0.991148]]2H? @Fm?`>?A?\@|?i2P>I28|^;2C)EE EEEAEA"EE :*EE[:VEAZEABEEL"9Y=iGy ]:E >Q 5%4+R?Q 9-4J<)BY-!?Q E-:y-G>Q I5@DIl;ii;,4yEBɮE@Aj gO FNOT Ignoring new targets: 277.81 m.RA7ZA7gO% ProNav: ac range: 277.805237 m, nav range: 270.357422 m, bearing: 26.631257 deg, approach rate: -0.633267 m/s, LOS rate: 0.000972 deg/s, cmd heading: 33.861308 deg, new cmd heading: 33.862430 deg. B%7gOmHeadingCmd: 0.591011 target range: 277.805237 and range: 279.40 m.m}L?i*i"i iqqquBʎyyyjyZ}/?ԉ-Bɢ-.<)) - i))5f<11i5äi=}L?=,=RdI=}L?Ia 9@  @ @ @ @ =@ = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755184Ա U 7l>U ѐC G \A S9\AYbA^A}yAyzAyIIO ?#,X@A2>2?2S h=8ٱ2< >AHRS rotation from veh to nav: [[0.827794,-0.560653,-0.020643],[0.558168,0.819296,0.131159],[-0.056622,-0.120094,0.991146]]2H@I}?@P#?`7??@x?i2>I2];2C D)F`AFQ8F4 FDHJ`AiJ94IHHILiN`A NҽL)LP R`ARuPPPR`AIV94)TiT)TIV`AZ#X XXZlAXiX\i^&C^A)\ \I\Y\YfByf!IbDnVDnβEz EzEz$Ex"Ez:*EzV:VEz4ZExa~@a~@a~@a~@yX%U=ٔ 8Q- >9Y=iGyNF;E>Q 5%45=R?Q 9%4|9)BY)y- >Q I-@‡DID;ir;34y5Bɮ=@=mEjYgOeFNOT Ignoring new targets: 277.81 m.ReXp7ZeXp7checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006883gO ProNav: ac range: 277.805237 m, nav range: 270.116699 m, bearing: 26.631550 deg, approach rate: -0.672044 m/s, LOS rate: 0.000821 deg/s, cmd heading: 33.862428 deg, new cmd heading: 33.863016 deg. BG7gOHeadingCmd: 0.591021 target range: 277.805237 and range: 279.40 m.)M?*" !!ʎ)))j)Z-/n?}Bɢ}*<)y }iy)}T<顡i i)M?-9I)M?Iԡ9@A @A@E0@AB }>B ލCB !IB BB B B B e;B Z'E^AjZXe checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259098 I I O5 >#,2uӏX@A2P>2,?2Wg=ٱ2c >AHRS rotation from veh to nav: [[0.827542,-0.561010,-0.021019],[0.558558,0.819006,0.131308],[-0.056450,-0.120404,0.991119]]2H :{? ?L5??` 笿Ҿ>?i2P>I2`];0pY-By-!IbD=VD=1yM%MG=ٔU~۹Q-U>9QYQ=]iGyY]:Ee>aQ 5m4ePR?Q 9m4eu6)eBYqyuI>Q Iu@eˇDIe:ied:e:4y}’Bɮ@nEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 277.81 m.R/O7Z/O7gO ProNav: ac range: 277.805237 m, nav range: 269.857208 m, bearing: 26.631841 deg, approach rate: -0.630631 m/s, LOS rate: 0.000708 deg/s, cmd heading: 33.863016 deg, new cmd heading: 33.863598 deg. B7gOHeadingCmd: 0.591031 target range: 277.805237 and range: 279.40 m.M?*" ʎjZ`4? Bɢ <)  Di )<i"iM?ZIM?I!@ @@@0@E- E-E-%E)"E-:*E-rN:VE- 4ZE)BE-[ #,QX@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762833N>N 8?N 7f=ٱN= VAHRS rotation from veh to nav: [[0.827062,-0.561704,-0.021387],[0.559297,0.818523,0.131174],[-0.056175,-0.120451,0.991129]]NHJw?{@y敿 ?@W1?P?@ì`վ`S?iN>IN<_];NCY]yBy]!I iiiiԙieMb@Mb@Mb@aaaa a9eMb?(\µMb?Ye ?yee9Y=iGyOF ;E>Q 54 fR?Q 94'3)BY!?Q E:y>Q I@ԇDI ;i" ;B4yɮ@jgOFNOT Ignoring new targets: 277.81 m.R;6Z;6gO ProNav: ac range: 277.805237 m, nav range: 269.575745 m, bearing: 26.631989 deg, approach rate: -0.632862 m/s, LOS rate: 0.000333 deg/s, cmd heading: 33.863600 deg, new cmd heading: 33.863896 deg. B/7gOHeadingCmd: 0.591036 target range: 277.805237 and range: 279.40 m.+N? * "   BʎjZ @EBɢMWѭ<)I M4Ži)-<ii+N?`I+N?I@ @@O0@E EE&E"Ey:*EP:VE4ZEa%@a-@a-@a-@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014766^A NJκI I O > $,,X@A2;P>2}?2e=ٱ2 :AHRS rotation from veh to nav: [[0.826478,-0.562535,-0.022106],[0.560187,0.817859,0.131519],[-0.055905,-0.121081,0.991067]]2H@r?J󢖿 ?+??@.`Ҷ?i2;P>I2A];2CYBgByB!IbDNVDN1yV ̽%Vo=ٔZOQ-Z?9XYX=^iGy\~VG;E~>Q 5 4vR?Q 9 40)BYyG>Q I@ۇDI:i :H4y=ÒBɮ=@9jgOFNOT Ignoring new targets: 277.81 m.RV6ZV6BAB{>BB!IBBB =BBB f;Bl'EgO ProNav: ac range: 277.805237 m, nav range: 269.353943 m, bearing: 26.632055 deg, approach rate: -0.618501 m/s, LOS rate: 0.000183 deg/s, cmd heading: 33.863897 deg, new cmd heading: 33.864028 deg. Bҫ6gOHeadingCmd: 0.591039 target range: 277.805237 and range: 279.40 m.RN?*" ʎjZJ@eBɢeN<)a eii)m2\bEɻ 4jEr 4rE?/E=  E= E= 'E9 "E= :*E= rN:VE= '4ZE9 BE= 99YA=EiGyEPFEEE>QQQ 5]4UR?Q 9]4U@-)UBY]$?Q Ee:yeN>Q Ie@UDIUU:iU:UtP4ym’Bɮm@meEjgO%FNOT Ignoring new targets: 277.81 m.R%8Z%8gO5 ProNav: ac range: 277.805237 m, nav range: 269.065887 m, bearing: 26.632976 deg, approach rate: -0.629972 m/s, LOS rate: 0.002017 deg/s, cmd heading: 33.864030 deg, new cmd heading: 33.865874 deg. B=4l8gO=HeadingCmd: 0.591071 target range: 277.805237 and range: 279.40 m.=nP?A*A"A AAAIMtBʎIQQjQZUn@}Bɢȍ<) i)D<顉iinP?;zGInP?IY@Y @Y@eP4@aԁEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771186Ա^AE 9Aq I I O >  $,:X@A2q>2?28b=ٱ2 :AHRS rotation from veh to nav: [[0.825847,-0.563359,-0.024554],[0.561169,0.816802,0.133880],[-0.055367,-0.124343,0.990693]]2HVm? $`?=#?"?YԿ³?i2q>I2\;0YBWByB!IJ=Ja=HJ@AbDNVDN:yVR%Vh=ٔZȺQ-Z>9XYX=ZiGy\^Y;E^>`Q 5f4bѝR?Q 9f4b*)bBYhyj>Q Ij@bDIb:ib:bV4Er ErEr-Ep"Er,:*ErV:VErt4ZEpav@av@av@az@yzÒBɮz@|jgO%FNOT Ignoring new targets: 277.81 m.R%\8Z%\8gO5 ProNav: ac range: 277.805237 m, nav range: 268.839111 m, bearing: 26.633642 deg, approach rate: -0.671563 m/s, LOS rate: 0.001972 deg/s, cmd heading: 33.865874 deg, new cmd heading: 33.867206 deg. B5f8gO=HeadingCmd: 0.591094 target range: 277.805237 and range: 279.40 m.=Q?9*A"A AAAIIʎIIIjQZU ! @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022711=Bɢ=On<)9 =/i9)E3CBB!IBbBB =BBBe;BW'EB}ލCB}ލCByB} =B} =C}ʿ5^AΒ{AzA\A ] BDAT read: Rx Time:00:39:28.4936 ] TRx dataTimestamp_ set to:1761698369.226194e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277267IA IQ O >9 Y$,rTX@A22>27?2b=ٱ2f :AHRS rotation from veh to nav: [[0.825542,-0.563777,-0.025211],[0.561639,0.816403,0.134342],[-0.055156,-0.125065,0.990614]]2Hj?v љ`?? 2?p=@?i22>I2\;2CYNKByR}!IbDZVDZyb,b%bI=ٔbQ-f>9dYd=fiGyfQFjx:Ej>lQ 5=4nR?Q 9=4n')nBY9y=@>Q IE@nDInY DAT read: 00:39:28.4936 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 362, 0.33, 2.286, 0.995, 2.614, 1.903, PHS= 0.485,-0.863, 0.666, RAW= 156.2, -4.0, CAL= 155.9, -5.5, ROT= 354.1, 5.5  Ygot valid direction response: 00:39:28.4936 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 362, 0.33, 2.286, 0.995, 2.614, 1.903, PHS= 0.485,-0.863, 0.666, RAW= 156.2, -4.0, CAL= 155.9, -5.5, ROT= 354.1, 5.5  PDAT read: Bearing 176.8, -8.7 (Local)  ~Local bearing/azimuth received: Bearing 176.8, -8.7 (Local)  DAT read: Range 11 to 50 : 272.8 m (Round-trip 363.8 ms) speed 0.3 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [0.990123,-0.102319,-0.095846] Fpublishing direction and range infoyY ] IaP?21aVXY] fCY Y Y Y Y )] JI] Q>i] \] ~*?] !z.@] 5] X$.@ ] Ľ)] J@ I] =Y Y ] .?UAz?@ ] !?)] Q=I] )ҽi] =Y Y  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.n$,oX@A@>?b=ٱd AHRS rotation from veh to nav: [[0.825476,-0.563881,-0.025063],[0.561720,0.816340,0.134386],[-0.055317,-0.125011,0.990612]]H`Lj?`O 3?u?3? RX ?i@>I\;CY%EBy%v!I iUMb@Mb@Mb@QQQQ Q9UK7A?Mb~jtx?YU "?yUQUAU@ UjA)U AQYUAbDVDܲyı%=ٔ.9Q->9Y=iGyR9E>Q 54R?Q 94#)BY#?Q E:y>Q I@DI;i;f4y ɮ @ nX@AJCRCj">_*p@ge;Og9rIaP?21aVXZ)ҽb =-(߿m@V`^-_@1Bzq@'?Ԝl?˺2Ɇ2jB:mC"k"?*"SBAk"?n“C:^>gO addTargetRange:: Added new target pos. range: 272.799988 m, deltaT: 11.603680 s, deltaX: -6.600006 m, approachRate: -0.568786 m/s, rangeRepo size: 4 gO Added new target pos. range: 271.244934 m, bearing: 27.654347 deg, lat: 36.779452 deg, lon: -121.859146 deg, deltaT: 11.603680 s, deltaX: -6.560303 m, approachRate: -0.565364 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 271.24 m.RZgO ProNav: ac range: 271.244934 m, nav range: 268.211395 m, bearing: 27.458115 deg, approach rate: 0.000000 m/s, LOS rate: 0.001778 deg/s, cmd heading: 33.868681 deg, new cmd heading: 33.870555 deg. BgO HeadingCmd: 0.591153 target range: 271.244934 and range: 272.80 m. U? * "  Bʎ999j= q@ZE U?颍Bɢ0h<) Xi)@<顑iiU?A/IU?Ii>i1Ee EeEe*Ea"Ee:*Eec:VEe(N4ZEaau@au@au@au@*DAT read: user:501> %BDAT read: Tx time:00:39:29.7256 %$Ping request sent.-%R"$,X@A 2p>2?2&b=ٱ2t >AHRS rotation from veh to nav: [[0.825276,-0.564168,-0.025171],[0.562027,0.816155,0.134229],[-0.055185,-0.124923,0.990631]]2H`h? qƙ`?`?n.?`%A`>?i2p>I2:\;0YF2ByF^!I HHHHbDRVDR1yZ%Z=ٔ^Q-^?A`A`Bf>BfߍCBfs!IBfCBBf =BdBfoDBfe;BfA'E9lYl=riGyrRFrۛ:Er?tQ 5z4vR?Q 9z4v!)vBYxy~>Q I~@vDIv;iv;v9l4yǒBɮK@gEj)gO-FNOT Ignoring new targets: 271.24 m.R58Z58gOE ProNav: ac range: 271.244934 m, nav range: 268.014374 m, bearing: 27.459231 deg, approach rate: -0.675145 m/s, LOS rate: 0.003827 deg/s, cmd heading: 33.870553 deg, new cmd heading: 33.872787 deg. BE%8gOMHeadingCmd: 0.591192 target range: 271.244934 and range: 272.80 m.MVX?I*I"I IQQQQʎYYYjaZe?MBɢM;)I UŀiQ}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249877)Q<顁iwiVX?z녻1:IVX?IqI@I @I@M0@Iԙ^Amrg:II O >Di Dm %=Eu  Eq Eu $Eq "Eu :*Eq VEu 4ZEq BEu 1Rp1?R1a=ٱR~ ZAHRS rotation from veh to nav: [[0.824977,-0.564597,-0.025345],[0.562475,0.815852,0.134196],[-0.055089,-0.124964,0.990631]]RH6f? .?t?`T-?4??iRS>IRN\;RCYfByfE!IiMb@Mb@Mb@ 9Zd;O?&1{Gz?Yj?yн#<@ ) AYbDVDky%=ٔ8Q->9Y=iGySF:E> Q 54 sR?Q 94 ) BY?Q E:yi>Q I@ DI :i : u4y%ȒBɮ%@!jIgOMFNOT Ignoring new targets: 271.24 m.RUj8ZUj8gOe ProNav: ac range: 271.244934 m, nav range: 267.680511 m, bearing: 27.462300 deg, approach rate: -0.618723 m/s, LOS rate: 0.005694 deg/s, cmd heading: 33.872786 deg, new cmd heading: 33.878931 deg. Be&9gOmHeadingCmd: 0.591299 target range: 271.244934 and range: 272.80 m.m]_?i*i"i iqqqu[Bʎychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753771jZ {(?MBɢM2 <)Q U0iq)}K2o5?2Pnb=ٱ2 :AHRS rotation from veh to nav: [[0.824936,-0.564660,-0.025302],[0.562520,0.815786,0.134407],[-0.055253,-0.125110,0.990603]]2H@e? 虿`)?? =4?`J `?i2P>I2\;2CYFByFG!IIJ=)Jp<bDNVDNyV;%Z<=ٔZO9Q-Z>9XY\=^iGy\^l9E^>`Q 5f4bS?Q 9f4b)b}BYhyjr>Q Ij@bDIb;ib;b:}4ylɮn@pjgOFNOT Ignoring new targets: 271.24 m.R 8Z 8gO ProNav: ac range: 271.244934 m, nav range: 267.412140 m, bearing: 27.464769 deg, approach rate: -0.619058 m/s, LOS rate: 0.005700 deg/s, cmd heading: 33.878930 deg, new cmd heading: 33.883872 deg. B&9gO%HeadingCmd: 0.591385 target range: 271.244934 and range: 272.80 m.%e?!*!") )))11ʎ111j9Z=@#?eBɢe;B>BBT!IB*BB =BBBe;B<'E) (i) fO<  i Bie?:Ie?I! &iaIeAechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2580339@ @@@Qy^A] ;Eu  Eu Eu %Eq "Eu [:*Eu e:VEu 4ZEq BEu ~!8$,zX@AYBy;!Ii}Mb@Mb@Mb@yyyy y9}+?1Zd~jt?Y}v?y}"۽}D<}CA}@ }A)yyY}AbDVDy=%/=ٔQ->9"?Y"?=iGyTFE>Q 54S?Q 94){BY ?Q E:y>Q I@!DI;i;4y%ʒBɮ%<@%hEP=B*** querying acoustic contact ***9 9jIgOMFNOT Ignoring new targets: 271.24 m.RU8ZU8gOe ProNav: ac range: 271.244934 m, nav range: 267.113037 m, bearing: 27.467867 deg, approach rate: -0.626294 m/s, LOS rate: 0.006495 deg/s, cmd heading: 33.883872 deg, new cmd heading: 33.890075 deg. Be,>9gOmHeadingCmd: 0.591493 target range: 271.244934 and range: 272.80 m.ml?i*i"q qqqq}wBʎyyyjyZ?颭Bɢ;) i)<顱iil?ھ:Il?I}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761912gG`]A9`]AYDAA e 9@a  @a @a @i q ^AM vт:E}  E} E} 'Ey "E} :*E} ;J:VE} '4ZEy a @a @a @a @-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013628AyIԡIO?@$,8X@Abk>b ?b+e=ٱb jAHRS rotation from veh to nav: [[0.825263,-0.564181,-0.025327],[0.561974,0.815940,0.135746],[-0.055920,-0.126260,0.990420]]bHh? [?.?#`? F)?ibk>Ib\;bCYr Byr-!I xzbD~VD~1y I% /=ٔ,:Q->9Y=iGyE>!Q 5m4%4S?Q 9m4%g)%yBYiyml>Q Iu@%+DI%$B%CB%;!IB%BB% =B!B!B%{e;B%*'Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265615)9@ @@@Y ԁ ^A ?B:E  E E $E "E [:*E A:VE 4ZE BE a 2E a% JE k;a- :E k;a-  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519893AIIIO?Թ@H$,O$X@A 1> a? f=ٱ  AHRS rotation from veh to nav: [[0.825700,-0.563540,-0.025327],[0.561288,0.816259,0.136662],[-0.056341,-0.127057,0.990294]] H#l?`R ?`? ~?`ج`iC}?i 1>I \; CY-By-)!I 11iMb@Mb@Mb@ 9ʡE?V-~jt?Y?yA(@ A)5 AYQAbDVDyE1%E=ٔMXF:Q-M>9IYI=MiGyMUFUEU>YQ 5e4]OS?Q 9e4])]wBYm ?Q Em:ymo>Q Im@]6DI]:i]:]@4yqɮu@@yjgOFNOT Ignoring new targets: 271.24 m.R0%9Z0%9gO ProNav: ac range: 271.244934 m, nav range: 266.478699 m, bearing: 27.475715 deg, approach rate: -0.648614 m/s, LOS rate: 0.009026 deg/s, cmd heading: 33.896084 deg, new cmd heading: 33.905787 deg. B&9gOHeadingCmd: 0.591768 target range: 271.244934 and range: 272.80 m.~?*" xBʎjZir@Bɢt!;) bi)N-<ii ~? ׃ [S8I~?I9@ @@@i߱I߱checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771050A^A q:q AA II IY Ou >pN$,=X@AE2 E2E2%E0"E2I:*E21]:VE2 4ZE0a:@a:@a:@a:@8>>>?>]e=ٱ>B FAHRS rotation from veh to nav: [[0.825794,-0.563406,-0.025267],[0.561173,0.816413,0.136216],[-0.056117,-0.126666,0.990357]]>Hl? kߙ@!? ?o?N6?i>>I>˭\;>CYRByR#!IbDZVDZ:2%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021710y5|˼%5`=ٔ5-!Q-5>99Y9==iGy9EԹEE>IQ 5U4MhaS?Q 9U4ME)MuBYQyUZ>Q IU@M=DIM;iM;M4yaɮe@e`EjgOFNOT Ignoring new targets: 271.24 m.R 9Z 9gO ProNav: ac range: 271.244934 m, nav range: 266.250061 m, bearing: 27.478908 deg, approach rate: -0.625697 m/s, LOS rate: 0.008746 deg/s, cmd heading: 33.905786 deg, new cmd heading: 33.912178 deg. B 9gOHeadingCmd: 0.591879 target range: 271.244934 and range: 272.80 m.e?*" ʎjZ _ @Bɢ )  i )o <iB>i-e?--#mI-e?I1ԑ9@ @@o0@ԹB>BߍCB"!IBBB =BBBte;B"'E^AΒ{BDAT read: Rx Time:00:39:32.4909 TRx dataTimestamp_ set to:1761698373.257413checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274957 Aa Ii Iy O >ήU$,WX@A2>2п?22e=ٱ2% :AHRS rotation from veh to nav: [[0.825913,-0.563230,-0.025291],[0.561017,0.816562,0.135964],[-0.055927,-0.126483,0.990391]]2Hm?噿@?F!?`Bg?`0`H?i2>I2E\;2CYBByB"!IbDJVDJ:yR%VS=ٔVqQ-V>9TYX=ZiGyZVFZEZ>\`Q 5f4b!tS?Q 9f4b )btBYdyj?>Q Ij@bEDIb:ib:bg4yn̒Bɮn@ljgOFNOT Ignoring new targets: 271.24 m.R  9Z  9gO ProNav: ac range: 271.244934 m, nav range: 266.007812 m, bearing: 27.482308 deg, approach rate: -0.625587 m/s, LOS rate: 0.008787 deg/s, cmd heading: 33.912180 deg, new cmd heading: 33.918985 deg. B9gO%HeadingCmd: 0.591998 target range: 271.244934 and range: 272.80 m.%.?!*!"! !))))ʎ111j1Z=x @eBɢe`q)a eia)mQ % DAT read: 00:39:32.4909 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 420,-0.09,-2.664, 2.367,-2.311,-2.955, PHS= 0.393,-0.916, 0.600, RAW= 157.3, -1.1, CAL= 156.3, -2.5, ROT= 353.7, 2.5 - Ygot valid direction response: 00:39:32.4909 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 420,-0.09,-2.664, 2.367,-2.311,-2.955, PHS= 0.393,-0.916, 0.600, RAW= 157.3, -1.1, CAL= 156.3, -2.5, ROT= 353.7, 2.5 = PDAT read: Bearing 179.3, -9.4 (Local) = ~Local bearing/azimuth received: Bearing 179.3, -9.4 (Local) M DAT read: Range 11 to 50 : 270.9 m (Round-trip 361.2 ms) speed 0.7 m/s [$,qX@AR#Rx 1: Read range and direction messages.`direction in FSK: [0.993015,-0.109630,-0.043619]Fpublishing direction and range infoy  aD?бGUY sC ) FI L7>i ~j ? /@ nF .@ ¸2) @I ¸2= B y?º[?1E [&?) ?c=ٱ2H AHRS rotation from veh to nav: [[0.826401,-0.562499,-0.025592],[0.560333,0.817034,0.135950],[-0.055562,-0.126690,0.990385]]Hq?@4 @?$%? f?`r]7I\;YuByu!II}=)}R=i}Mb@Mb@Mb@yyyy y9} ףp= ?)\(/$?Y}Q?y}GὙ}<}CAy } A)} AyYybDVD1yы%!=ٔ 9Y=iGyWF$غE>Q 54S?Q 9-4f)Y-?Q E-:y->Q I-@ODIS;i;O4y9ɮ=@9I  pX@AJ CR Cj 7>  +p@Ul=ԭ'r aD?бGUZ i0b ¸2= 3-nm@ _@O}6z j;?D?^?*w̠2 NB: mC" Qߡ?* FB *B Nj? “ *B C >gO addTargetRange:: Added new target pos. range: 270.899994 m, deltaT: 4.032381 s, deltaX: -1.899994 m, approachRate: -0.471184 m/s, rangeRepo size: 4 gO% Added new target pos. range: 269.359314 m, bearing: 27.553193 deg, lat: 36.779468 deg, lon: -121.859146 deg, deltaT: 4.032381 s, deltaX: -1.885620 m, approachRate: -0.467620 m/s, posRepo size: 4 j!gO-FNOT Ignoring new targets: 269.36 m.R-Z)gO= ProNav: ac range: 269.359314 m, nav range: 267.280182 m, bearing: 27.310224 deg, approach rate: 0.000000 m/s, LOS rate: 0.008787 deg/s, cmd heading: 33.918986 deg, new cmd heading: 33.928329 deg. B9gOeHeadingCmd: 0.592161 target range: 269.359314 and range: 270.90 m.eޗ?a*a"a iiiiunBʎqqqju`fp@Z}?!ɢ%x;)! %&i))-l<))i-Lߎi5ޗ?55^חI5ޗ?E EE&E"E>:*E[:VE4ZEa@a@a@a@IE*DAT read: user:502> MBDAT read: Tx time:00:39:33.7755 M$Ping request sent.MB B !IB BB  =B B B e;B X'EBߍCBߍCBB =B =C#5 AIIO>c$,~X@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2497286D>6@x?6H`=ٱ6[ BAHRS rotation from veh to nav: [[0.826577,-0.562243,-0.025557],[0.560151,0.817384,0.134591],[-0.054783,-0.125566,0.990572]]6H`Rs? +?`(?J:?@  ò?i6D>I6>1];6CYHyJ!IbDR VDR2yZ6%ZV=ٔ^Q-^>9\Y\=biGy`b$.Eb>dQ 5j4fqS?Q 9j4f)dYlynj>Q In@fVDIf#;if;f4yr͒Bɮr@raEP}B*** querying acoustic contact ***y yjgOFNOT Ignoring new targets: 269.36 m.R 9Z 9gO ProNav: ac range: 269.359314 m, nav range: 267.052429 m, bearing: 27.313055 deg, approach rate: -0.613766 m/s, LOS rate: 0.007637 deg/s, cmd heading: 33.928329 deg, new cmd heading: 33.933998 deg. B_9gO HeadingCmd: 0.592260 target range: 269.359314 and range: 270.90 m. Z? * "  ʎjZ`G?I颕BɢVL) i)|/<顙ieyiZ?MMr>IMZ?II@ @@4@qEU EUEQEQ"EUm:*EUV:VEQZEQBEUT Oj$,6>X@A>)>>j?>]=ٱ>? FAHRS rotation from veh to nav: [[0.826724,-0.561975,-0.026696],[0.559999,0.817398,0.135132],[-0.054119,-0.126667,0.990468]]>H@t? MV? (?@L?@6?i>)>I> 0];>CYRByR!Ii%Mb@Mb@Mb@!!!! !9%Q?+ηZd;O?Y%(?y%v%j<%A%?@ !)%5 A!Y! Ep9YYa=eiGyeXFeEe>iQ 5u4mBS?Q 9u4m)muBY}?Q E}:y}>Q I}@m^DIm ;im; ;mH4yΒBɮC@jgOFNOT Ignoring new targets: 269.36 m.R8Z8gO ProNav: ac range: 269.359314 m, nav range: 266.791321 m, bearing: 27.314543 deg, approach rate: -0.641992 m/s, LOS rate: 0.003661 deg/s, cmd heading: 33.933999 deg, new cmd heading: 33.936976 deg. B_8gOHeadingCmd: 0.592312 target range: 269.359314 and range: 270.90 m.¡?*" [BʎjZ7?Աɢ) оi)v<i狼i¡?ł}ͺI¡?Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754996@ @@/@^A" EM  EM EI EI "EM غ:*EM :VEI ZEI a] @a] @a] @a] @ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005642A .AI) IA O] >9 ip$,LđX@A2>2Ed?2Z=ٱ2 >AHRS rotation from veh to nav: [[0.826809,-0.561799,-0.027728],[0.559940,0.817388,0.135442],[-0.053427,-0.127511,0.990397]]2H 8u?A@d? (?`-V?`Z GR`U?i2>I2$];2CYFByF !IbDNVDNyV<%VV=ٔZQ-Z>9Z ?YZ ?=ZiGy\^nE~>Q 5 4S?Q 9 45)Y yy>Q I@fDI:iW:4y9ɮ=@9jgOFNOT Ignoring new targets: 269.36 m.Ru}8Zu}8gO ProNav: ac range: 269.359314 m, nav range: 266.550262 m, bearing: 27.315921 deg, approach rate: -0.604937 m/s, LOS rate: 0.003462 deg/s, cmd heading: 33.936977 deg, new cmd heading: 33.939736 deg. B8gOHeadingCmd: 0.592360 target range: 269.359314 and range: 270.90 m.?*" ʎjZ?ɢ) ˾i)C<!i%ki%?--ںI-?I)@ @@/@@=@4=B>BCB !IBBBBBpDB9f;B'E9echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257796^A?BɺAzAXAi A% ؟AI) I9 O] >b$w$,ݑX@A 6$>6h?6Y=ٱ6$ BAHRS rotation from veh to nav: [[0.826796,-0.561803,-0.028039],[0.560002,0.817403,0.135096],[-0.052978,-0.127399,0.990436]]6Hu?I0?)(?J?N@?i6$>I6Zc];6CY^Byb!IbDjVDjyr =%rG=ٔrZQ-r>9v"?Yv"?=viGyvYFz9Ez>E EE(E"Es:*ErN:VEc44ZEBEg0Q I@~nDI~O}$,=X@A2c>2?2%wV=ٱ2 :AHRS rotation from veh to nav: [[0.826554,-0.562139,-0.028412],[0.560419,0.817231,0.134406],[-0.052336,-0.127017,0.990519]]2H"s? ?&?:4?˪@BT?i2c>I2y];2CYBByB!IiMMb@Mb@Mb@IIII I9M+?sh|??YMv?yMM9} ?Y ?=iGy:E>Q 54ZS?Q 94)Y ?Q E:y >Q I@wDI:i:4yɮ@jgOFNOT Ignoring new targets: 269.36 m.R+7Z+7gO ProNav: ac range: 269.359314 m, nav range: 266.023285 m, bearing: 27.317818 deg, approach rate: -0.670987 m/s, LOS rate: 0.001149 deg/s, cmd heading: 33.942581 deg, new cmd heading: 33.943534 deg. B8gOHeadingCmd: 0.592426 target range: 269.359314 and range: 270.90 m.B?*" BʎjZ`@)ɢ5ٻ)1 5Ⱦi1)5<99i=CWi=B?ERIEIEB?IIEm EmEm)Ei"Emy:*Emi:VEmFA4ZEiau@au@au@au@9@ @@/@-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015201I^ANJκB] <A] <Be >Be CBe !IBe BBe =Ba Be qDBe f;Be 'Eԉ AU ؟AIY Ii O} > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265608S$,X@A06}>6?6( R=ٱ6wE >AHRS rotation from veh to nav: [[0.826490,-0.562167,-0.029694],[0.560612,0.817109,0.134338],[-0.051258,-0.127676,0.990491]]6Hr?Fg?%?1?s> W@?i6}>I6];6CY By !IbDVDy-^%-P=ٔ5Z4Q-5>95"?Y5"?==iGy=ZF=V:EE>AQ 5M4ES?Q 9M4E#)EwBYQyU+>Q IU@EDIEK:iE :E4y]ВBɮe@ecEP}B*** querying acoustic contact ***y yjgOFNOT Ignoring new targets: 269.36 m.R)7Z)7gO ProNav: ac range: 269.359314 m, nav range: 265.778107 m, bearing: 27.318226 deg, approach rate: -0.624327 m/s, LOS rate: 0.001039 deg/s, cmd heading: 33.943533 deg, new cmd heading: 33.944350 deg. Bu7gOHeadingCmd: 0.592441 target range: 269.359314 and range: 270.90 m.1?*" ʎjZ@ɢ`㵻) 0ʾi)y<ii1?4fI1?Iԑ9@ @@p0@@@E EE#E"E[:*E;J:VE3ZEBE~A? II Ii O >$,,X@A6>6J?6N=ٱ6f >AHRS rotation from veh to nav: [[0.826252,-0.562466,-0.030643],[0.561036,0.816839,0.134212],[-0.050459,-0.128085,0.990479]]6Hp?@`?#?@-?թ e`?i6>I6\];6C\Y`y`iMb@Mb@Mb@ 9x&1?{Gz?YA ?yףA=A )K AY= AbDVD0ٔQ->9Y=iGy::E>Q 54T?Q 94)xBY!?Q E:y>Q I@DIM;iL;F4y-ђBɮ-@1jagOeFNOT Ignoring new targets: 269.36 m.Rm56Zm56gO} ProNav: ac range: 269.359314 m, nav range: 265.507324 m, bearing: 27.318292 deg, approach rate: -0.626967 m/s, LOS rate: 0.000155 deg/s, cmd heading: 33.944350 deg, new cmd heading: 33.944484 deg. B}B6gOHeadingCmd: 0.592443 target range: 269.359314 and range: 270.90 m.X?*" Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769792ʎjZ4@ɢ!) ʾi)P<iPiX?#߁2-IX?I !uXG쮿9YCAe9@a @a@e0@i^A NJκE  E E &E "E y:*E VL:VE 4ZE a @a @a @a @U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022503Y I I O >q$,FX@A:>:,?:!J=ٱ:9m FAHRS rotation from veh to nav: [[0.826095,-0.562589,-0.032575],[0.561368,0.816488,0.134956],[-0.049328,-0.129773,0.990316]]:H]o?@? ? =F?@Af ?i:>I: ];:CYNByN!I TV<bDZVDZybD;%b<ٔbrJQ-f>9dYd=fiGyf[Fj:Ej>lQ 5r4nX#T?Q 9r4n)nyBYpyr>Q Iv@nDIn;in;n4yxɮz@xjgO%FNOT Ignoring new targets: 269.36 m.R%5Z-5gO5 ProNav: ac range: 269.359314 m, nav range: 265.276642 m, bearing: 27.318327 deg, approach rate: -0.638085 m/s, LOS rate: 0.000095 deg/s, cmd heading: 33.944483 deg, new cmd heading: 33.944551 deg. B=16gOUHeadingCmd: 0.592444 target range: 269.359314 and range: 270.90 m.Ul?Y*Y"a aaaiiʎiiijqZu @颙ɢ) ɾi)n<顩iil? ¹Il?I1B%>B%CB!B!B% =B!B!B%f;B%'E@ @@4@IBDAT read: Rx Time:00:39:36.5378 TRx dataTimestamp_ set to:1761698377.289050checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274617y^AII O>ԡ $,`X@AE& E&E$E$"E&:*E&ga:VE$ZE$BE&[ J?JXEE=ٱJN bAHRS rotation from veh to nav: [[0.825820,-0.562867,-0.034657],[0.561875,0.816004,0.135776],[-0.048143,-0.131599,0.990133]]JHm?``??a?`:`>,?iJ7>IJ];JCYrByr!I xxxxMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.534405ybDVDy %;=ٔ2Q->9Y=iGy!:E>Q 5428T?Q 9 4)zBY9y=>Q IE@DI )a e!оia)eAH?!z.@.@ 6&)n@I6&>`@?-?"M !?)>IVi6&> T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. ^A 9IY Iq O} >$,1zX@A:M>:!?:=\A=ٱ: BAHRS rotation from veh to nav: [[0.825445,-0.563318,-0.036252],[0.562507,0.815489,0.136251],[-0.047190,-0.132859,0.990011]]:H j?@?`{?p?`;)@+?i:M>I:\];:CYNByN!Ii%Mb@Mb@Mb@!!!! !9%K7A?y&1/$?Y% "?y%`e%<%A%d@ %A)%bA!Y% AbD=VD=yM%MO=ٔUQ-U>9QYQ=]iGy]\F][:E]>aQ 5m4eaJT?Q 9m4e)eyBYu"?Q Eu:yu?Q Iu@eDIe;ieF;e-4yyɮ@;9sX@AJCRCj>'s^p@"_k=xǗEr}Z`?%r`oĿZVb6&>ȥNQm@Z@%0F]@VE Iz?X="?"Zȿ21B:jC"o~?*QBgOm addTargetRange:: Added new target pos. range: 268.600006 m, deltaT: 4.039683 s, deltaX: -2.299988 m, approachRate: -0.569349 m/s, rangeRepo size: 4 gO} Added new target pos. range: 267.085663 m, bearing: 26.531095 deg, lat: 36.779462 deg, lon: -121.859185 deg, deltaT: 4.039683 s, deltaX: -2.273651 m, approachRate: -0.562829 m/s, posRepo size: 4 jygOFNOT Ignoring new targets: 267.09 m.RZgO ProNav: ac range: 267.085663 m, nav range: 262.587494 m, bearing: 26.722607 deg, approach rate: 0.000000 m/s, LOS rate: 0.000002 deg/s, cmd heading: 33.944551 deg, new cmd heading: 33.944552 deg. BgOHeadingCmd: 0.592444 target range: 267.085663 and range: 268.60 m.*" Bʎjp@Z>?BɢY,5*DAT read: user:503> =BDAT read: Tx time:00:39:37.8255 =$Ping request sent.=BB IBBBBBBQg;B(E^Ay I I O >1  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249559Y$,W|X@A2>28J?2k==ٱ2% :AHRS rotation from veh to nav: [[0.825136,-0.563619,-0.038522],[0.563040,0.814874,0.137716],[-0.046229,-0.135324,0.989722]]2H@g?+ `7l?s??H ORΫ?i2>I2];0YB߂ByF IbDNVDNkyVj%VV=ٔV$Q-V>9XYX=ZiGyX^:E^>`Q 5f4b5\T?Q 9f4b])`Yhyj?Q Ij@bDIb:ibd:b4yuђBɮu@}[EPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 267.09 m.RZgO ProNav: ac range: 267.085663 m, nav range: 262.344574 m, bearing: 26.719979 deg, approach rate: -0.635515 m/s, LOS rate: -0.006882 deg/s, cmd heading: 33.944551 deg, new cmd heading: 33.939290 deg. BIgOHeadingCmd: 0.592352 target range: 267.085663 and range: 268.60 m.h?*" ʎjZ`֋?ɢT@) ھi) <  i }ih?SÀY:Ih?I9@ @@/@AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502682bEŞ4jEw4rEŮ10E EE"E"E:*ET:VE(3ZE^AqIyIO>BE 2?28=ٱ2A :AHRS rotation from veh to nav: [[0.824627,-0.564206,-0.040779],[0.563880,0.814126,0.138698],[-0.045055,-0.137369,0.989495]]2H`Wc?@ @िN ?R ? ? |L?i2i>I2[];2CYNЂByR IV=V=ieMb@Mb@Mb@aaaa a9e?&1~jt?Yef&?yePeD9Y=iGy]FD;E> Q 54 eqT?Q 94 ) wBY&?Q E:yV?Q I@ DI  ;i  ; 4y!ɮ% A%\EjIgOMFNOT Ignoring new targets: 267.09 m.RUZUgOe ProNav: ac range: 267.085663 m, nav range: 262.054535 m, bearing: 26.716272 deg, approach rate: -0.681430 m/s, LOS rate: -0.008719 deg/s, cmd heading: 33.939292 deg, new cmd heading: 33.931870 deg. BeMgOmHeadingCmd: 0.592223 target range: 267.085663 and range: 268.60 m.m?i*i"i iqqyy}BʎyjZB?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753640颹ɢL,) i)o<iyi?VE;I?I9@ @@0@ԡ^A0::E  E E (E "E :*E 1]:VE c44ZE a @a @a @a @M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005764I I O > C$,@2ȒX@A:>:?:5=ٱ: BAHRS rotation from veh to nav: [[0.824313,-0.564591,-0.041783],[0.564394,0.813754,0.138790],[-0.044359,-0.137989,0.989440]]:H`?!d?F ?`?@+~?i:>I:ns];:CYĴByN IbDVVDVy^x¼%^`=ٔbQ-b>9`Y`=biGydf:Ef>hQ 5n4jT?Q 9n4jg)juBYpyr?Q Ir@jDIj;ijL;j 4ytɮv/AtjgOFNOT Ignoring new targets: 267.09 m.R#Z%#gO- ProNav: ac range: 267.085663 m, nav range: 261.817535 m, bearing: 26.713205 deg, approach rate: -0.650126 m/s, LOS rate: -0.008422 deg/s, cmd heading: 33.931871 deg, new cmd heading: 33.925730 deg. B5vgO5HeadingCmd: 0.592116 target range: 267.085663 and range: 268.60 m.5?9*9"9 999AAʎAAIjIZM`?uBɢ}h)y }iy)}_<顁i 5wi?}n7;I?IB>BB IB݂BBBBBg;BU(EBeCBeCBe”CBe =Be =Ce!659@1 @1@51@1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257987^A];) IQ Ia Om >a *$,>X@AN>N?NM2=ٱNER ERER"EP"ERy:*ERrN:VER(3ZEPBERIN޵];NCYjĂByj Ivchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509625bDzVDzy ,% D=ٔ YQ->9Y=iGy^FÒ:E>!Q 54%T?Q 94%)%sBYy?Q I@%DI%Y!;i% ;%L4yҒBɮpAjgOFNOT Ignoring new targets: 267.09 m.RZgO ProNav: ac range: 267.085663 m, nav range: 261.546112 m, bearing: 26.709654 deg, approach rate: -0.597100 m/s, LOS rate: -0.007820 deg/s, cmd heading: 33.925731 deg, new cmd heading: 33.918621 deg. BdgOHeadingCmd: 0.591992 target range: 267.085663 and range: 268.60 m.Ì?*" ʎjZJ?QɢUP7)Q ]iY)]rH$,>X@A06FO>6l?6.=ٱ6Gn >AHRS rotation from veh to nav: [[0.823723,-0.565182,-0.045268],[0.565383,0.812755,0.140609],[-0.042678,-0.141416,0.989030]]6H@[?`S-??w?٥¿!?i6FO>I6?];6CYfByf IiUMb@Mb@Mb@QQQQ Q9UT㥛 ?X9v~jt?YU!?yU}QU(AUA Q)UAQYQbDuVDuy%D=ٔRQ->9Y=iGy':E>Q 54T?Q 94u)rBY!?Q E:y?Q I@ɈDIj:i:4yɮAjgOFNOT Ignoring new targets: 267.09 m.RZgO ProNav: ac range: 267.085663 m, nav range: 261.283356 m, bearing: 26.707302 deg, approach rate: -0.695283 m/s, LOS rate: -0.006229 deg/s, cmd heading: 33.918620 deg, new cmd heading: 33.913913 deg. Bb6gOHeadingCmd: 0.591909 target range: 267.085663 and range: 268.60 m.`?*" Bʎ j Z  @yɢ}p)9 ;i)<顁iopԉi`?}J4;I`?IE EE&E"E:*E=:VE4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013570E9@A @A@E4@AԹB<A<B>BCB IB΂BB =BBrDB+h;B(E^A yb];Iq I O > i߹ I߹  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265770z0$, X@AF>F%.?Ff*=ٱFb RAHRS rotation from veh to nav: [[0.823341,-0.565553,-0.047542],[0.566022,0.812103,0.141806],[-0.041590,-0.143664,0.988752]]FHX? gW`??&?>K c¿ۣ?iF>IF:^;FCYZByZ I`bDfVDf02yr%rU=ٔr:Q-r>9tYt=viGyv_Fv:Ez>xQ 5~4zT?Q 94z[)zqBYy?Q I @zшDIzM;izI;zE4y ӒBɮA]EP-B*** querying acoustic contact ***) )j9gO=FNOT Ignoring new targets: 267.09 m.RE~ӸZE~ӸgOU ProNav: ac range: 267.085663 m, nav range: 261.041046 m, bearing: 26.705086 deg, approach rate: -0.631136 m/s, LOS rate: -0.005778 deg/s, cmd heading: 33.913911 deg, new cmd heading: 33.909474 deg. BU1)gO]HeadingCmd: 0.591832 target range: 267.085663 and range: 268.60 m.]M?Y*a"a aaaiiʎiiijqZu A@颙ɢD) i)8<顡ih niM?|7;IM?IQ@Q @Q@U/@QDD4=E EE$E"Eg:*EZ:VE4ZEBE;a2E;aJEQ:I Z$,/X@AF3>FV?Fa&=ٱFc VAHRS rotation from veh to nav: [[0.823019,-0.565808,-0.050022],[0.566554,0.811402,0.143676],[-0.040705,-0.146588,0.988360]]FH +V?`r5!? ?c?Rפ@f¿?iF3>IFA^;FC}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769489YBy IiMb@Mb@Mb@ 9Zd;?ˡE9Y=iGy:E>Q 54T?Q 94)pBY_ ?Q E:yI>Q I @ۈDI:i<:&4yɮ?A^Ej gOFNOT Ignoring new targets: 267.09 m.RZIgO ProNav: ac range: 267.085663 m, nav range: 260.729523 m, bearing: 26.704465 deg, approach rate: -0.626684 m/s, LOS rate: -0.001249 deg/s, cmd heading: 33.909475 deg, new cmd heading: 33.908233 deg. BWgO%HeadingCmd: 0.591810 target range: 267.085663 and range: 268.60 m.%?!*!"! ))))-Bʎ111j1Z=@颅BɢRl_) oi)U<顑i?ji?P{ܦ;I?I1@9 @9@=/@9qE  E E (E "E 7:*E a9:VE c44ZE a @a @a @a @- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021616ԩ ^AU ፨;Ai Am ?A I I O >#$,ŪLX@A2->2ad?2" $=ٱ2?% >AHRS rotation from veh to nav: [[0.822924,-0.565826,-0.051353],[0.566739,0.811149,0.144377],[-0.040037,-0.147915,0.988189]]2H eU?`>J@"??z? ¿@??i2->I2];2C @)B`AB94@@DF`AiFC B^>B^CB^ IB^BB^ =B\B\B^h;B^(EIDtIxiz"aA zQ8z$F)x| ~`A~||`AI)i)I`A 㥽  )-lA1i11i5C1)1 9I9Y9YEByE IbD}VD}:y%V=ٔQ->9Y=iGy`F :E>Q 548T?Q 94)oBYyj>Q I @DI;i:;-4yВBɮATEj9gOEFNOT Ignoring new targets: 267.09 m.RedZmdgOu ProNav: ac range: 267.085663 m, nav range: 260.487640 m, bearing: 26.703969 deg, approach rate: -0.613499 m/s, LOS rate: -0.001259 deg/s, cmd heading: 33.908232 deg, new cmd heading: 33.907239 deg. B}gO}HeadingCmd: 0.591793 target range: 267.085663 and range: 268.60 m.}?y*" ʎjZG @)ɢ) &i)K<i6gBDAT read: Rx Time:00:39:40.5849  TRx dataTimestamp_ set to:1761698381.329317 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274791i?Yzo#;I?IQ%;y @  @ @ 4@ E  E E 'E "E :*E ;J:VE '4ZE BE cR˂?R>=ٱRl  ^AHRS rotation from veh to nav: [[0.822712,-0.565749,-0.055424],[0.567156,0.810323,0.147347],[-0.038451,-0.152658,0.987531]]RHS?x` $&?@*?D?ɯKÿ@ڙ?iRZ>IRy^;RCYmBym IiMb@Mb@Mb@G ǿ9 Y ƬA-DAT read: Range 11 to 50 : 266.4 m (Round-trip 355.2 ms) speed 0.6 m/s 5X#Rx 1: Read range message, but no direction.y!Y%3C!5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode. 9T㥛 ? ףp= y&1|?Y!?yQ`;VASA | A)AYG A p<bDVD2y}%}=ٔh&Q->9Y=iGyaFB:E>Q 54ZU?Q 94)nBY"?Q E:y>Q I @DI:iQ:84yђBɮAUEgO] addTargetRange:: Added new target pos. range: 266.399994 m, deltaT: 4.032044 s, deltaX: -2.200012 m, approachRate: -0.545632 m/s, rangeRepo size: 4 jYgO]FNOT Ignoring new targets: 267.09 m.ReN6ZeN6gO ProNav: ac range: 267.085663 m, nav range: 260.087646 m, bearing: 26.704080 deg, approach rate: -0.631836 m/s, LOS rate: 0.000176 deg/s, cmd heading: 33.907238 deg, new cmd heading: 33.907461 deg. Bۤ6gOHeadingCmd: 0.591797 target range: 267.085663 and range: 266.40 m.?*" Bʎj`fp@Zѷ?eBɢeVq)a eii)m  BDAT read: Tx time:00:39:41.8255  $Ping request sent. BCB IBBB =BCDBsDBh;B(Eq^AMϩ;AQzAUZAA}.Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251294IԡIO?<$,YX@A2:>2:s?2=ٱ2]n :AHRS rotation from veh to nav: [[0.822868,-0.565342,-0.057245],[0.566975,0.810171,0.148868],[-0.037783,-0.154955,0.987199]]2HT? GCO$???@CXÿ!?i2:>I2\^;2CYvByv IbD~VD~k2y%#=ٔ论Q->9 ?Y ?=iGy%E%>)Q 554-"U?Q 954-B)-mBY1y5>Q I5 @-DI-`:i-l:-cA4yAɮEAAP]B*** querying acoustic contact ***a ajigOmFNOT Ignoring new targets: 267.09 m.Ruo6Zuo6gO ProNav: ac range: 267.085663 m, nav range: 259.771942 m, bearing: 26.704180 deg, approach rate: -0.650454 m/s, LOS rate: 0.000205 deg/s, cmd heading: 33.907460 deg, new cmd heading: 33.907658 deg. B6gOHeadingCmd: 0.591800 target range: 267.085663 and range: 266.40 m.9?*" ʎjZ7 ?Bɢ~) Mi)h<i_i9?,vʱ;I9?IIE EE&E"E:*ET:VE4ZEBE'*$,}X@A2>2U?2J=ٱ2L :AHRS rotation from veh to nav: [[0.823143,-0.564848,-0.058154],[0.566616,0.810354,0.149239],[-0.037172,-0.155796,0.987090]]2H/W? =gƭ!?k?E?4@#ÿI2v^;2CYBqByBp I]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754995iMMb@Mb@Mb@IIII I9M+?&1I +?YMv?yMнM949Y=iGybF|E>Q 54}1U?Q 94)nBY ?Q E:y>Q I @DIj;i;I4yɮAVEjgOFNOT Ignoring new targets: 267.09 m.R\8Z\8gO ProNav: ac range: 267.085663 m, nav range: 259.478180 m, bearing: 26.705589 deg, approach rate: -0.627492 m/s, LOS rate: 0.003015 deg/s, cmd heading: 33.907658 deg, new cmd heading: 33.910481 deg. B8gOHeadingCmd: 0.591850 target range: 267.085663 and range: 266.40 m.t?*"   BʎjZu?EBɢEg̼)A E"iA)M狂q $,̓X@A6>6YK?6=ٱ6!! BAHRS rotation from veh to nav: [[0.823250,-0.564597,-0.059075],[0.566500,0.810375,0.149570],[-0.036573,-0.156599,0.986985]]6HX?@- ? ??%? q Ŀ`a?i6>I6P_;6CYJfByJc IPPbDVVDV02yZ\%^Y=ٔ^WкQ-^>9`Y`=biGy`bYڹEf>dQ 5j4fzCU?Q 9n4fC)foBBr>BrCBr IBrBBr =BpBrtDBri;Br)EYly~s>Q I~ @f DIfi;if;f(P4yɮUA j)gO-FNOT Ignoring new targets: 267.09 m.R5\8Z5\8gOM ProNav: ac range: 267.085663 m, nav range: 259.241821 m, bearing: 26.706732 deg, approach rate: -0.621244 m/s, LOS rate: 0.003007 deg/s, cmd heading: 33.910482 deg, new cmd heading: 33.912770 deg. BM8gOUHeadingCmd: 0.591890 target range: 267.085663 and range: 266.40 m.U?Q*Q"Q QQYYYʎaaajaZe?颕Bɢ6\) &i)|<顙iMWi?gtN;I?IQ9@! @!@-/@)uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258997ԁ^A;A?A>ԩI I O >bEʻ 4jEʻ 4rEʲd0E%  E% E% $E! "E% :*E% A:VE% 4ZE! BE% *F(F?F\=ٱF|! RAHRS rotation from veh to nav: [[0.823331,-0.564348,-0.060305],[0.566460,0.810465,0.149230],[-0.035343,-0.157026,0.986962]]FHX?$>ிo ?U??tkĿ1?iF>IFe`;FCYZaByZ] IbDfVDfkyjؼ%nH=ٔnEQ-n>9pYp=riGyrcFrKEv>tQ 5z4vVU?Q 9~4v^)vpBY|y~j>Q I~ @vDIv;iv;vIW4y ɮ A WEj)gO5FNOT Ignoring new targets: 267.09 m.R5ua8Z5ua8gOE ProNav: ac range: 267.085663 m, nav range: 258.985870 m, bearing: 26.707976 deg, approach rate: -0.633297 m/s, LOS rate: 0.003080 deg/s, cmd heading: 33.912770 deg, new cmd heading: 33.915260 deg. BM^8gOMHeadingCmd: 0.591933 target range: 267.085663 and range: 266.40 m.M?Q*Q"Q QQQʎjZ`B?Թ颕Bɢ) )i) Js<11i53TiM?us}u;I}?InManaging dock network, ignoring radio surface power offe9@a @a@a@i}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762847 ^A I I O >9 %,X@AN6>NfH?Nƿ =ٱN" ^AHRS rotation from veh to nav: [[0.823347,-0.564145,-0.061969],[0.566512,0.810382,0.149483],[-0.034112,-0.158183,0.986820]]NH@X? y `_ ?@?D"?wT?Ŀ?iN6>INf`;NCYn`Byn[ IiMb@Mb@Mb@ 9V-?ʡE~jt?Y?yy<AA  A)AYfAE EE)E"EI:*EVEFA4ZEa@a@a@a@bDVDyD%9=ٔ6Q->9Y=iGy 8E >Q 54!lU?Q 94h)sBY?Q E:y%>Q I% @DI ;i ;^4y)ɮ-A)jQgOUFNOT Ignoring new targets: 267.09 m.R]8Z]8gOm ProNav: ac range: 267.085663 m, nav range: 258.710785 m, bearing: 26.710704 deg, approach rate: -0.623439 m/s, LOS rate: 0.006190 deg/s, cmd heading: 33.915260 deg, new cmd heading: 33.920722 deg. Bm@59gOuHeadingCmd: 0.592028 target range: 267.085663 and range: 266.40 m.u+?q*q"q qqyy}BʎjZ"@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014849mBɢmH)q u)iq)uCjBBs IBsBB =BBBvi;BA)EBCBCBB =B =CF'6^AM ;i I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266897I%,t_X@A 2PW>2s?2=ٱ28N >AHRS rotation from veh to nav: [[0.822905,-0.564756,-0.062272],[0.567264,0.810412,0.146438],[-0.032236,-0.155829,0.987258]]2HI2*a;2CYFZByFT I N49XY\=^iGy^dF^;Eb>`Q 5f4b}}U?Q 9j4b)bwBYhyj>Q Ij @b#DIb:ib:bQe4ynҒBɮrApP~B*** querying acoustic contact ***| |j gO FNOT Ignoring new targets: 267.09 m.R(8Z(8gO ProNav: ac range: 267.085663 m, nav range: 258.485229 m, bearing: 26.712910 deg, approach rate: -0.622964 m/s, LOS rate: 0.006097 deg/s, cmd heading: 33.920724 deg, new cmd heading: 33.925139 deg. B29gOHeadingCmd: 0.592105 target range: 267.085663 and range: 266.40 m.8?*" ʎjZ@$'@EBɢEV)I MY+iI)MF%b s %,X:4X@A2 >2и?2 <ٱ2 :AHRS rotation from veh to nav: [[0.822473,-0.565242,-0.063559],[0.567992,0.810183,0.144878],[-0.030396,-0.155259,0.987406]]2HQ?vgE,??Y?> ÿԘ?i2 >I2 `;2CYBVByBO IPEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770944iUMb@Mb@Mb@QQQQ Q9US?Mb?YU?yUU=ٔ%Q->9Y=iGy;E>Q 54 U?Q 94:)|BY0?Q E:y>Q I @,DI ;iX ;l4yɮAXEjgOFNOT Ignoring new targets: 267.09 m.R9Z9gO ProNav: ac range: 267.085663 m, nav range: 258.220276 m, bearing: 26.716542 deg, approach rate: -0.616600 m/s, LOS rate: 0.008463 deg/s, cmd heading: 33.925140 deg, new cmd heading: 33.932413 deg. Bw9gOHeadingCmd: 0.592232 target range: 267.085663 and range: 266.40 m.?*" Bʎ j Z f@5Bɢ= )9 =,i9)=>Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022905! [%,NX@A6q>6?6^l<ٱ6Y+BF>BDBFZ IBF^BBDBDBDBFi;BFu)E >AHRS rotation from veh to nav: [[0.822395,-0.565233,-0.064644],[0.568191,0.810287,0.143507],[-0.028734,-0.154750,0.987536]]6HQ? c.?@?n^?@lÿ?i6q>I6u`;4YVSByVK IbDbVDbyj%jV=ٔjQ-j>9lYl=niGyneFrA:Er>tQ 5z4vWU?Q 9z4vȳ)vBYxyz2>Q Iz @v3DIv:iv :|vs4yɮA j)gO-FNOT Ignoring new targets: 267.09 m.R5w9Z5w9gOE ProNav: ac range: 267.085663 m, nav range: 257.984650 m, bearing: 26.719771 deg, approach rate: -0.615394 m/s, LOS rate: 0.008440 deg/s, cmd heading: 33.932414 deg, new cmd heading: 33.938877 deg. BE%w9gOMHeadingCmd: 0.592345 target range: 267.085663 and range: 266.40 m.M?I*I"Q QQQYYʎYYajaZe@v @颍Bɢ) -i)VP<顑iFi?^nA;I?I@ @@4@)UBDAT read: Rx Time:00:39:44.5825 UTRx dataTimestamp_ set to:1761698385.361366]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276162^A1iAi Iy I O >ԑ E  E E E "E :*E L_:VE ZE BE c>>L?>_<ٱ>w FAHRS rotation from veh to nav: [[0.822357,-0.565302,-0.064523],[0.568328,0.810730,0.140427],[-0.027073,-0.152152,0.987986]]>HP?` /??? yÿ?i>>I>e`;>CYNTByNM IbDVVDVy^Y<%bK=ٔbQ-b>9dYd=fiGydf9Ef>hQ 5n4jU?Q 9r4j7)jBYpyr)>Q Ir @j;DIjf;ij;jz4ytɮvAxjgOFNOT Ignoring new targets: 267.09 m.RT9ZT9gO- ProNav: ac range: 267.085663 m, nav range: 257.737274 m, bearing: 26.723171 deg, approach rate: -0.616984 m/s, LOS rate: 0.008487 deg/s, cmd heading: 33.938879 deg, new cmd heading: 33.945685 deg. B-x9gO5HeadingCmd: 0.592464 target range: 267.085663 and range: 266.40 m.5?1*1"9 999AAʎAAAjIZM@ԙBɢ} ) &,i)lG<iRCi-?Um]K;Ie?IqI)ZA@ @@4@DAT read: 00:39:44.5825 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 409,-0.16,-2.348, 2.741,-2.053,-2.805, PHS= 0.559,-0.692, 0.708, RAW= 155.6, -8.7, CAL= 156.1, -10.4, ROT= 353.9, 10.4 Ygot valid direction response: 00:39:44.5825 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 409,-0.16,-2.348, 2.741,-2.053,-2.805, PHS= 0.559,-0.692, 0.708, RAW= 155.6, -8.7, CAL= 156.1, -10.4, ROT= 353.9, 10.4 PDAT read: Bearing 171.6, -6.0 (Local) ~Local bearing/azimuth received: Bearing 171.6, -6.0 (Local) DAT read: Range 11 to 50 : 264.6 m (Round-trip 352.8 ms) speed 0.6 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.978002,-0.104518,-0.180519]]Fpublishing direction and range infoyY]K?T[lE@ǿY]LCYYY] Y)]@I]?i]&1]}?5?]-@]|]].@ ]9)]@I]9>YY]ۀ{?]qe?oQPÿ ]z?)]>I]i ڽi]9>YYT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A;A ؟AI ) I1 OE >o %,сX@AY=QBy=I IIEp=)Ep;E=E=E EEE"E:*E=:VEZEa@a@a@a@iMb@Mb@Mb@ 9V-?MbMb?Y?y=AA  A)AY AbDVD0y}% 7=ٔ Q- >9 "?*DAT read: user:505> BDAT read: Tx time:00:39:45.9255 $Ping request sent.Q 54KU?Q 94")BY ?Q E:y>Q I @DDI@:i:4yΒBɮAOEQwX@AJCRCj ;>Xdp@7r];m#TGrK?T[lE@ǿZi ڽb9>#/l@F-&ER]@A8$3Hz ?z?0).ȿ2B:;fC"?*nMB+wAnM“AC}>gO] addTargetRange:: Added new target pos. range: 264.600006 m, deltaT: 4.031953 s, deltaX: -1.799988 m, approachRate: -0.446431 m/s, rangeRepo size: 4 gO Added new target pos. range: 263.125244 m, bearing: 26.995110 deg, lat: 36.779462 deg, lon: -121.859168 deg, deltaT: 8.063997 s, deltaX: -3.960419 m, approachRate: -0.491124 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 263.13 m.RZgO ProNav: ac range: 263.125244 m, nav range: 258.121552 m, bearing: 27.024311 deg, approach rate: 0.000000 m/s, LOS rate: 0.008487 deg/s, cmd heading: 33.945685 deg, new cmd heading: 33.953800 deg. BgOHeadingCmd: 0.592606 target range: 263.125244 and range: 264.60 m.?*" Bʎj p@Z ?5Bɢ=v)9 =-i9)=<<9AiE%?iM?M0kMy;IM?IQ!9@ @@54@B>BCBM IBTBB =BBBqj;B)EI^A [R;ia Ia m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251338y A .AI I O >ڗ&%,]X@A2@u>2j?2<ٱ2s :AHRS rotation from veh to nav: [[0.821856,-0.565877,-0.065850],[0.569189,0.810751,0.136773],[-0.024009,-0.149888,0.988411]]2HL? ۰6?`? Ɓ?֕`/ÿ?i2@u>I2D`;2CYBOByBG IbDNVDNβyVL1%Vd=ٔV Q-V>9Z ?YZ ?=ZiGyXZQB;E^?`Q 5f4bU?Q 9f4b)bBYdyf>Q If @bKDIb:ibp:b4yn͒BɮnAlPzB*** querying acoustic contact ***x xjgOFNOT Ignoring new targets: 263.13 m.R  9Z  9gO ProNav: ac range: 263.125244 m, nav range: 257.912048 m, bearing: 27.027186 deg, approach rate: -0.639168 m/s, LOS rate: 0.008779 deg/s, cmd heading: 33.953799 deg, new cmd heading: 33.959554 deg. B9gO%HeadingCmd: 0.592706 target range: 263.125244 and range: 264.60 m.%?!*!"! )))))ʎ111j1Z= m?eBɢei.)a ek-ii)m 6 ːC G \A E Cƿ9M \AYM A,%,肵X@AB>B-?By<ٱBz JAHRS rotation from veh to nav: [[0.821639,-0.566091,-0.066702],[0.569586,0.810889,0.134278],[-0.021926,-0.148321,0.988696]]BHJ?k_ :? ?0?@s*¿`f?iB>IB`;BCYVJByV@ I%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755052i=Mb@Mb@Mb@9999 99=-?y&1X9v?Y=5?y=`彙=<9=jA 9)99Y=3A IM<bDUVDUfye\Ƽ%e?=ٔmwQ-m>9m"?Ym"?=uiGyugFu:Eu>yQ 54} U?Q 94})}BY ?Q E:y`>Q I @}TDI}:i}E:}4yɮAPEjgOFNOT Ignoring new targets: 263.13 m.Rl8Zl8gOu ProNav: ac range: 263.125244 m, nav range: 257.643372 m, bearing: 27.029304 deg, approach rate: -0.627937 m/s, LOS rate: 0.004957 deg/s, cmd heading: 33.959554 deg, new cmd heading: 33.963795 deg. Bu#9gO}HeadingCmd: 0.592780 target range: 263.125244 and range: 264.60 m.}o?y*y"y BʎjԱZ-?Bɢ ) "/i)+<  i 9i5o?5Ph5{;I5o?I9@ @@0@E EE%E"E:*E3:VE 4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007376^A r; A zA YAAy I I O >9 ة3%,]ϔX@AB>BBBB =BBBj;B*EBj>BD?B<ٱB$ JAHRS rotation from veh to nav: [[0.821462,-0.566221,-0.067783],[0.569883,0.810753,0.133837],[-0.020826,-0.148571,0.988682]]BH`jI?z:Z`{IB7`;BCYzOByzG I ||bD VD 2y<%O=ٔ%6Q-%>9!Y!=%iGy!-e:E->1Q 5=45V?Q 9=451)5BY9yE>Q IE @5\DI5;i5;54yIɮMAIjqgOuFNOT Ignoring new targets: 263.13 m.R}8Z}8gO ProNav: ac range: 263.125244 m, nav range: 257.395935 m, bearing: 27.031240 deg, approach rate: -0.627776 m/s, LOS rate: 0.004915 deg/s, cmd heading: 33.963795 deg, new cmd heading: 33.967669 deg. B9gOHeadingCmd: 0.592848 target range: 263.125244 and range: 264.60 m.?*" ʎjZ?Bɢ. ) +i)#<i6i?2gf;I?IU9@Q @Y@]0@Y5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2593829^A=;i A I I O >E  E E &E "E I:*E g:VE 4ZE BE 6>h?6[<ٱ69 >AHRS rotation from veh to nav: [[0.821178,-0.566567,-0.068336],[0.570349,0.810777,0.131692],[-0.019208,-0.147118,0.988932]]6H G?@P!o~M@??@K?`*`¿U?i6$>I6^>`;6CYFXByFQ IbDRVDRfyV0=%ZQ=ٔZQ-Z>9XY\=^iGy^hF^#:Eb>`Q 5f4bV?Q 9j4bv)bBYhyj>Q Ij @bcDIb:ib:b˝4ylɮrArQEjgO FNOT Ignoring new targets: 263.13 m.R 8Z 8gO ProNav: ac range: 263.125244 m, nav range: 257.151001 m, bearing: 27.033136 deg, approach rate: -0.627462 m/s, LOS rate: 0.004863 deg/s, cmd heading: 33.967668 deg, new cmd heading: 33.971465 deg. B%f9gO%HeadingCmd: 0.592914 target range: 263.125244 and range: 264.60 m.%5?!*)") )))11ʎ111jZ`_?%Bɢ%+)) -p&i))-<))i-D3i55?=_e=λ@%,X@A6t>6?6y<ٱ6 BAHRS rotation from veh to nav: [[0.820849,-0.566868,-0.069770],[0.570861,0.810447,0.131505],[-0.018001,-0.147775,0.988857]]6HeD?`#pܱ~D?-? +?nJ¿?i6t>I6xk`;4YJRByJK IPiMb@Mb@Mb@ 9MbX9?MbXS㥛?Y!?yʽ/<AA K A)tAY\A15@AbD5VD5βyEм%MA=ٔM:Q-M>9IYQ=UiGyUiFUK:EU>YQ 5e4]-V?Q 9m4]M)]BYm#?Q Em:ym>Q Im @]lDI]':i]:]14yqɮ}AyE EE'E"E:*EA:VE'4ZEa@a@a@a@jgOFNOT Ignoring new targets: 263.13 m.R7Z7gO ProNav: ac range: 263.125244 m, nav range: 256.880280 m, bearing: 27.033833 deg, approach rate: -0.635104 m/s, LOS rate: 0.001638 deg/s, cmd heading: 33.971466 deg, new cmd heading: 33.972862 deg. B]?8gO]HeadingCmd: 0.592938 target range: 263.125244 and range: 264.60 m.e?a*a"a aayy}Bʎjchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015091Z @Bɢ) Z(i)<i0i%?%Rd% B%CB%S IB%YBB% =B!B!B%\k;B%3*E^A8<A>A>) M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267559A I I O >F%,X@A2>2D?24<ٱ2P :AHRS rotation from veh to nav: [[0.820361,-0.567418,-0.071023],[0.571603,0.810055,0.130694],[-0.016626,-0.147813,0.988876]]2Hf@? I( .`J??`?`k¿@ޤ?i2>I2~`;2CYvYByvS I|bDVDya=%M=ٔbQ->9!Y!=%iGy!%7;E%>)Q 554-M@V?Q 954-S)-BY9y=>Q I= @-tDI-;i-;-$4yE̒BɮMAIPeB*** querying acoustic contact ***a ajqgOuFNOT Ignoring new targets: 263.13 m.Ru7Z}7gO ProNav: ac range: 263.125244 m, nav range: 256.625946 m, bearing: 27.034440 deg, approach rate: -0.643525 m/s, LOS rate: 0.001536 deg/s, cmd heading: 33.972862 deg, new cmd heading: 33.974076 deg. B38gOHeadingCmd: 0.592960 target range: 263.125244 and range: 264.60 m.2?*" ʎjZ20@%Bɢ%)) -$i))5r <11i5.iE2?EbMM%,26X@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770987Y WBy P IYiMb@Mb@Mb@ 9Pn?ˡEV-?Y$?y什< A  A)AYAbD VD 1yc2%;=ٔQ->9!Y!=%iGy%jF-E->)Q 5=4-MUV?Q 9=4-ՙ)-BY=%?Q EE:yE>Q IE @-}DI-{;i-;-dz4yIɮMAMREjqgOuFNOT Ignoring new targets: 263.13 m.R}9Z}9gO ProNav: ac range: 263.125244 m, nav range: 256.343628 m, bearing: 27.033332 deg, approach rate: -0.646241 m/s, LOS rate: -0.002538 deg/s, cmd heading: 33.974078 deg, new cmd heading: 33.971861 deg. BgOHeadingCmd: 0.592921 target range: 263.125244 and range: 264.60 m.?*" BʎjZ`@Bɢ<) $i)L<i+i?" aܻB% >B! B% Z IB% ^BB%  =B! B! B% k;B% h*EBCBCB˓CB =B =C75!S%,PX@A2*>2`<?2]<ٱ29 :AHRS rotation from veh to nav: [[0.819404,-0.568427,-0.073951],[0.573058,0.809295,0.129020],[-0.013490,-0.148097,0.988881]]2H 8? 0o~V??ස?ɠ@¿@?i2*>I2a;2CYBTByBL I Jp9XYX=ZiGyX^՟;E^>`Q 5f4bsfV?Q 9f4b)bŰBYdyfv>Q If @bDIb:ib:b4ylɮnAlԹjgOFNOT Ignoring new targets: 263.13 m.Ru>Zu>gO ProNav: ac range: 263.125244 m, nav range: 256.112885 m, bearing: 27.032336 deg, approach rate: -0.601764 m/s, LOS rate: -0.002602 deg/s, cmd heading: 33.971862 deg, new cmd heading: 33.969866 deg. B ^gO HeadingCmd: 0.592886 target range: 263.125244 and range: 264.60 m. a?*" 11999ʎ9AAjAZE@ @颍Bɢr) %i);ig(ia?4_w0 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527039"Z%,EjX@A2Q>2~?2EB<ٱ2G :AHRS rotation from veh to nav: [[0.818840,-0.569044,-0.075435],[0.573900,0.808851,0.128062],[-0.011857,-0.148154,0.988893]]2H3?5Ob]??@Rd?H ¿?i2Q>I2a;2CYBLByBB IbDNVDNܲyV%VJ=ٔVyQ-V>9Z ?YZ ?=ZiGyZkF^O$;E^>1Q 5=45zV?Q 9=45)5̰BY9yE>Q IE @5DI5;i5;5T4yM˒BɮMAUSEjgOFNOT Ignoring new targets: 263.13 m.RPcZPcgO ProNav: ac range: 263.125244 m, nav range: 255.842667 m, bearing: 27.031105 deg, approach rate: -0.681199 m/s, LOS rate: -0.003105 deg/s, cmd heading: 33.969867 deg, new cmd heading: 33.967404 deg. BڵgOHeadingCmd: 0.592843 target range: 263.125244 and range: 264.60 m.?*" ʎjZ~@BɢW %) )i)8;i%i? +b] <ԙ a%,[X@A2>2'?2{%<ٱ2' :AHRS rotation from veh to nav: [[0.818186,-0.569783,-0.076936],[0.574865,0.808352,0.126876],[-0.010100,-0.148036,0.988930]]2H.? ;@Ke??u=?\¿`Q?i2>I2ja;2CYZNByZE Ii]Mb@Mb@Mb@YYYY Y9]NbX9?V-{Gz?Y]%?y]h]ף<]lA]A ]bA)]AYY]AE EEE"Eغ:*ER:VEZEa@a@a@a@bDuVDu1y2<%<=ٔMQ->9"?Y"?=iGy/;E>Q 54V?Q 94)ѰBY&?Q E:yI?Q I @DI2 ;i ;4yɮAgO addTargetRange:: Added new target pos. range: 261.600006 m, deltaT: 4.032016 s, deltaX: -3.000000 m, approachRate: -0.744045 m/s, rangeRepo size: 4 jgOFNOT Ignoring new targets: 263.13 m.RȸZȸ}*DAT read: user:506> BDAT read: Tx time:00:39:49.9255 $Ping request sent.BCBBB =BBB9l;B*E^A 9<- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251245A .AI I O >3g%,5X@A22h>2 ?2 <ٱ2"  >AHRS rotation from veh to nav: [[0.817646,-0.570312,-0.078731],[0.575656,0.807821,0.126673],[-0.008643,-0.148895,0.988815]]2H(*?? 'k? ?`6?G`ÿ_?i22h>I2a;0Y^FByb< IdfAAbDjVDj:yv"%vW=ٔz.zQ-~>9 ?Y ?=iGy lF o#;E>Q 54V?Q 94)ְBYy?Q I @DIbA I I O% >Q p`m%,"X@A2>>2jW?2;ٱ2 :AHRS rotation from veh to nav: [[0.816975,-0.571072,-0.080176],[0.576630,0.807274,0.125724],[-0.007073,-0.148946,0.988820]]2H$?@9F`qs?0? ?|ÿj?i2>>I2sa;2CYB>ByB1 Irchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754975i=Mb@Mb@Mb@9999 99=x&1?~jtMb?Y=!?y==<=A9 =A)=tA9Y=AbDQVDQye2$%eB=ٔm(uQ-m>9iYi=uiGyq _1;E >Q 54V?Q 9%4c)۰BY%"?Q E%:y%>Q I% @DIH:i:4y5ŒBɮ5:A1jQgO]FNOT Ignoring new targets: 263.13 m.R]Z]gOm ProNav: ac range: 263.125244 m, nav range: 255.041504 m, bearing: 27.024905 deg, approach rate: -0.651134 m/s, LOS rate: -0.004118 deg/s, cmd heading: 33.958358 deg, new cmd heading: 33.954989 deg. Bu&gOuHeadingCmd: 0.592626 target range: 263.125244 and range: 261.60 m.u\?y*y"y yyyBʎjZ?颵Bɢ /) Y.i)4;项ii\?PV0lB >B B B B  =B B B jl;B *EEt%,ѕX@A0Yf@Byf4 IbDrVDry4<%P=ٔQ->9Y=iGymF%E%>)Q 554-!V?Q 954-f)-߰BY1y1Q I5 @-DI-:i-6:-4yAɮE(AAjigOmFNOT Ignoring new targets: 263.13 m.Ru^Zu^gO ProNav: ac range: 263.125244 m, nav range: 254.804596 m, bearing: 27.023405 deg, approach rate: -0.635476 m/s, LOS rate: -0.004026 deg/s, cmd heading: 33.954988 deg, new cmd heading: 33.951986 deg. BgOHeadingCmd: 0.592574 target range: 263.125244 and range: 261.60 m.?*" ʎjZc?ɢO5) ,i)B;izYi?TkE  E E 'E "E 7:*E 3:VE '4ZE BE ;a 2E ;a JE ;a :E ;a  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510932:pz%,!X@A2>2A?2O;ٱ2 :AHRS rotation from veh to nav: [[0.815914,-0.572266,-0.082440],[0.578156,0.806460,0.123927],[-0.004435,-0.148777,0.988861]]2H?@P`A???`)r ÿ?i2>I2x$a;2C\Yf.Byj IbD~VD~y=:%=G=ٔEһQ-E>9E"?YM"?=MiGyIM;EM>QQ 5]4U[V?Q 9e4U)UBYayem?Q Ie @UDIU;iU;U4ymĒBɮmAuKEjgOFNOT Ignoring new targets: 263.13 m.R)Z)gO ProNav: ac range: 263.125244 m, nav range: 254.544510 m, bearing: 27.021648 deg, approach rate: -0.634793 m/s, LOS rate: -0.004294 deg/s, cmd heading: 33.951986 deg, new cmd heading: 33.948467 deg. BugOHeadingCmd: 0.592513 target range: 263.125244 and range: 261.60 m.?*" ʎjZ࣓?Bɢ%6)! %5i))-zY;))i-mi=?=Q=&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763038^A NJNW%,MX@AY~4By~% I  9Ee EeEe&Ea"Ee:*Ee?:VEe4ZEaam@am@am@am@only read 0 of 1 data item for water mass range. Device response is::WD, 0.00, +0.00,219.24 a@a a@a a@a a@a bDVDyu<%C=ٔQ->9Y=iGynFE>Q 54 V?Q 94)BQ A+:YQ E:yQ I @DI ;i>4yɮAj gOFNOT Ignoring new targets: 263.13 m.RZgO- ProNav: ac range: 263.125244 m, nav range: 254.278183 m, bearing: 27.019844 deg, approach rate: -0.634952 m/s, LOS rate: -0.004304 deg/s, cmd heading: 33.948468 deg, new cmd heading: 33.944858 deg. B- gO5HeadingCmd: 0.592450 target range: 263.125244 and range: 261.60 m.5ƪ?1*1"1 99999ʎAAAjAZM @]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015005}Bɢ}4) 2i)pf;顁iMiƪ?\DOBmCBmM IBmTBBm =BmDDBmsDBm\l;Bm*Eq^Auzl< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267439A ԡ I I O >ނ%,X@Aj|>j/?jl:ٱj( zAHRS rotation from veh to nav: [[0.815089,-0.572944,-0.085820],[0.579335,0.805864,0.122284],[-0.000903,-0.149391,0.988778]]jH5?UL?@?@N? ֔M?ÿ@?ij|>Ij.Xa;jCY,By IbD5 VD52yE4%MQ=ٔMkQ-M>9IYQ=UiGyQUq;E]>YQ 5e4]VW?Q 9m4]|)]BQ Am :YiQ Em[:ym?Q Im @]ljDI]H:i]O?]4yy}ÒBɮ}ALEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 263.13 m.RZgO ProNav: ac range: 263.125244 m, nav range: 254.030487 m, bearing: 27.018083 deg, approach rate: -0.633189 m/s, LOS rate: -0.004507 deg/s, cmd heading: 33.944859 deg, new cmd heading: 33.941332 deg. BgOHeadingCmd: 0.592388 target range: 263.125244 and range: 261.60 m.?*" ʎjZs@@BɢtB)  5i )  B;  iJiU?U]eLUL#%,X9X@Archecking for new query: numPingsReceived=0, elapsed TxPingTime=2.774843YvByv Iaa aa aa aa iMb@Mb@Mb@ 9%C?sh|?~jth?YZ$?yD;AA )AYAbDVDk1yԎ%B=ٔQ->9Y=iGyoFE>Q 54W?Q 944y)BQ AT:Y%?Q E:y>Q I @ЉDI';i;|4y ɮ *A j)gO5FNOT Ignoring new targets: 263.13 m.R=hUZ=hUgOM ProNav: ac range: 263.125244 m, nav range: 253.757446 m, bearing: 27.016856 deg, approach rate: -0.648327 m/s, LOS rate: -0.002915 deg/s, cmd heading: 33.941331 deg, new cmd heading: 33.938875 deg. BMgOUHeadingCmd: 0.592345 target range: 263.125244 and range: 261.60 m.U?Q*Q"Q YYYY]~BʎaaajaZm@ɢ6D) Bi Bm A IBm JBBm  =Bm CDBi Bm Kl;Bm *EI I O >'%,]4SX@Ab>b"?bٱb,9 jAHRS rotation from veh to nav: [[0.815201,-0.572471,-0.087888],[0.579177,0.806080,0.121611],[0.001226,-0.150040,0.988679]]bH` ?Q?h?!?T?4ÿB?ib>IbNa;`YrByv IbD~ VD~2y w<% X=ٔ &Q->9Y=iGymE>!Q 5-4%&W?Q 9-4%+v)%BY)y->Q I5 @%؉DI%:i%:%4y9ɮ=A9jagOeFNOT Ignoring new targets: 263.13 m.RmSZmSgO} ProNav: ac range: 263.125244 m, nav range: 253.512787 m, bearing: 27.015765 deg, approach rate: -0.647477 m/s, LOS rate: -0.002890 deg/s, cmd heading: 33.938875 deg, new cmd heading: 33.936691 deg. B}@gOHeadingCmd: 0.592307 target range: 263.125244 and range: 261.60 m.n?*" ʎjZ @BɢP) n;i).%:igin?RGubE -4jE -4rE /E  E E $E "E :*E A:VE 4ZE BE Bu?BٱB`h NAHRS rotation from veh to nav: [[0.815618,-0.571825,-0.088226],[0.578586,0.806685,0.120407],[0.002319,-0.149252,0.988796]]BH?cL@ǃ?\?Ҿ?b?ÿ8?iBT;>IBH(a;BCYVByV IbDbVDbNyfTD%jN=ٔj4Q-j>9lYl=niGynpFrEr>tQ 5v4v9W?Q 9z4vr)vBYxyz&>Q Iz @vDIvl:iv:v4y’BɮcAMEjgOFNOT Ignoring new targets: 263.13 m.RCZCgO ProNav: ac range: 263.125244 m, nav range: 253.256226 m, bearing: 27.014662 deg, approach rate: -0.619157 m/s, LOS rate: -0.002665 deg/s, cmd heading: 33.936690 deg, new cmd heading: 33.934481 deg. B gOHeadingCmd: 0.592268 target range: 263.125244 and range: 261.60 m.?*" ʎ!j!Z%@ԑ额Bɢ>K) ?i)M:顡iB i?xDLjght5? `h?Ylyӿ & '?)>I2iiw>mT****** received valid address query ******mR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.^A <A I I O > )%,ꆖX@AN)>N?NnYٱN VAHRS rotation from veh to nav: [[0.815877,-0.571220,-0.089741],[0.578216,0.806868,0.120954],[0.003318,-0.150573,0.988593]]NH?@nG`A???-k? Eÿ?iN)>IN6a;LYbByb IEE EEEE'EA"EE:*EE3:VEE'4ZEAaM@aM@aM@aM@ieMb@Mb@Mb@aaaa a9eMb?J +~jt?Ye ?yeȽeD9Y=iGy`E>Q 54KNW?Q 94o)BY}"?Q E:y>Q I @DI:i8:~ 4yBɮ ACE]*DAT read: user:507> eBDAT read: Tx time:00:39:53.9754 e$Ping request sent.e-w n@|A/Ed=;\Ur-6(?ReQĿ 3%'տZ-2b-iw>-~\}l@2-3W@f5>SSz-g6?tM2_?ъ"ӿ2-ټB:-cC"-U?*-R:B-D-?)“-+wA-?}C-">gO addTargetRange:: Added new target pos. range: 260.000000 m, deltaT: 4.035941 s, deltaX: -1.600006 m, approachRate: -0.396439 m/s, rangeRepo size: 4 gO Added new target pos. range: 258.545227 m, bearing: 22.502447 deg, lat: 36.779465 deg, lon: -121.859168 deg, deltaT: 8.067957 s, deltaX: -4.580017 m, approachRate: -0.567680 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 258.55 m.RZgO- ProNav: ac range: 258.545227 m, nav range: 253.249573 m, bearing: 26.984494 deg, approach rate: 0.000000 m/s, LOS rate: -0.002665 deg/s, cmd heading: 33.934480 deg, new cmd heading: 33.932128 deg. B)gOUHeadingCmd: 0.592227 target range: 258.545227 and range: 260.00 m.U6?Q*Q"Q QYYY]nBʎaaaje@p@Ze[Y?BɢH) +>i)y:i^ i%6?%ͤA%ĆBB. IB;BB =BBBl;B*EBCBCBB =B =C6@ @@4@!I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251473^A% ]<A) zA- [AAe .Aԁ I I O >%,X@A2(>2ߟ?2 ٱ2 :AHRS rotation from veh to nav: [[0.816349,-0.570375,-0.090813],[0.577541,0.807408,0.120578],[0.004548,-0.150882,0.988541]]2H?`@`?`7{?H?`8޾?pr?Pÿ@!?i2(>I2Sa;2CYBByFIbDNVDNyV%VQ=ٔZNQ-Z>9Z ?YZ ?=ZiGy^qF^k E^>`Q 5f4b`W?Q 9f4bl)bBYhyj0>Q Ij @bDIb;ibz;bO4ynBɮnUAnDEP~B*** querying acoustic contact ***| |jgO FNOT Ignoring new targets: 258.55 m.R 7Z 7gO ProNav: ac range: 258.545227 m, nav range: 253.002258 m, bearing: 26.984817 deg, approach rate: -0.689228 m/s, LOS rate: 0.000901 deg/s, cmd heading: 33.932127 deg, new cmd heading: 33.932774 deg. B7gOHeadingCmd: 0.592239 target range: 258.545227 and range: 260.00 m.?*" ʎjZ?EBɢE2rb)A MAiI)Mh:IIiMiU?Un?UO)%,eX@A6checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755016:r1>:n?:{ٱ: BAHRS rotation from veh to nav: [[0.816780,-0.569670,-0.091355],[0.576924,0.807927,0.120055],[0.005416,-0.150764,0.988555]]:H #?: c(v??﻾?Y/v?@8Lÿ >?i:r1>I:a;:CYNByNIiuMb@Mb@Mb@qqqq q9ux&1?&1{Gz?YuA ?yuнu#9Y=iGy1E>Q 54uW?Q 94i) BYc"?Q E:yG>Q I @DI:i:4yBɮAEEjgOFNOT Ignoring new targets: 258.55 m.RT 8Z T 8gO- ProNav: ac range: 258.545227 m, nav range: 252.728180 m, bearing: 26.985650 deg, approach rate: -0.634175 m/s, LOS rate: 0.001931 deg/s, cmd heading: 33.932773 deg, new cmd heading: 33.934441 deg. B- b8gOHeadingCmd: 0.592268 target range: 258.545227 and range: 260.00 m.ܞ?*" NBʎjZn?QmBɢuU)q utEiq)uByyi}i}ܞ?_<xB CB  IB ,BB  =B B tDB l;B *EA I I O >%,@ՖX@A:{>:>?: ͻٱ:.P@ FAHRS rotation from veh to nav: [[0.817203,-0.568939,-0.092134],[0.576316,0.808382,0.119910],[0.006257,-0.151089,0.988500]]:H`&?4 /q?@C?t?Qy?`Vÿˡ?i:{>I:"ia;8YRByRIXZ@AbDZVDZyb<%bY=ٔfQ-f>9dYd=jiGyjrFjEj>lQ 5r4nW?Q 9r4nf)nBYtyv>Q Iv @nDIn):in:nr 4yxɮzAxjgO%FNOT Ignoring new targets: 258.55 m.R%O8Z%O8gO5 ProNav: ac range: 258.545227 m, nav range: 252.489731 m, bearing: 26.986417 deg, approach rate: -0.634151 m/s, LOS rate: 0.002040 deg/s, cmd heading: 33.934443 deg, new cmd heading: 33.935976 deg. B5n8gO=HeadingCmd: 0.592295 target range: 258.545227 and range: 260.00 m.=?9*9"A AAAAIʎIIIjIZU`?}Bɢ}r) 'Di)!顁ii?:oE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514990K;%,X@AB2w>Bc?BٱBc NAHRS rotation from veh to nav: [[0.817590,-0.568305,-0.092605],[0.575756,0.808885,0.119207],[0.007161,-0.150780,0.988541]]BH)? /ﴷl?b?@T?T}?`Lÿ!?iB2w>IB.a;@pY By II%>)>bD%VD%ܲy5[%5)=ٔ5Q-5>9="?Y="?==iGy9=¸EE>AQ 5]4E՞W?Q 9e4E^c)EBYqyu>Q I} @E DIE$;iE;E(4yBɮAjgOFNOT Ignoring new targets: 258.55 m.R% 8Z- 8gOm ProNav: ac range: 258.545227 m, nav range: 252.183701 m, bearing: 26.987451 deg, approach rate: -0.585572 m/s, LOS rate: 0.001981 deg/s, cmd heading: 33.935976 deg, new cmd heading: 33.938047 deg. Bmh8gOuHeadingCmd: 0.592331 target range: 258.545227 and range: 260.00 m.u?q*q"q qqyyyʎjZ ?BɢD) Di) iGEi?7?f%,G X@A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0190226>6.?6mٱ6y BAHRS rotation from veh to nav: [[0.818097,-0.567449,-0.093381],[0.575026,0.809399,0.119238],[0.007921,-0.151245,0.988465]]6H-?@( 緿f??`d?8?[ÿ?i6>I6?`;6C D)F`AFHHHJ`AiJ㥽IHLILiNaA NL)LP R`ARC PPV̐CV`AIVC )TiT)XIZ`AZ+X X\\\i\\i^&CbA)` `I`Y`Yf ByjIiUMb@Mb@Mb@QQQQ Q9UZd;?|?5^/$?YU?yUҽU9AYA=EiGyEsFMEM>QBaBaBe IBe'BBe =BaBaBel;Be*EyQ 5}4UW?Q 94U4`)U!BYQ I @UDIU;iUv;U04yBɮnAFEjgOFNOT Ignoring new targets: 258.55 m.R48Z48gO  ProNav: ac range: 258.545227 m, nav range: 251.909836 m, bearing: 26.988446 deg, approach rate: -0.675996 m/s, LOS rate: 0.002459 deg/s, cmd heading: 33.938045 deg, new cmd heading: 33.940038 deg. B 8gOHeadingCmd: 0.592365 target range: 258.545227 and range: 260.00 m.5B?1*1"9 9999ELBʎAAAjAZM>@颵BɢWg) Bi)lA1项iOiB?5Z 7%,&X@A2Y>2?2M9 ٱ2J :AHRS rotation from veh to nav: [[0.818834,-0.566173,-0.094649],[0.573968,0.809963,0.120503],[0.008436,-0.152997,0.988191]]2H3?`:@]? 7?Cپ?@G?@gÿB?i2Y>I2U`;2CYByI -p<-<bD5VD5ye)N%eX=ٔmQ-m>9m ?Yu ?=uiGyqu^bEu>yQ 54}ZW?Q 94}~])})BYy`>Q I @}DI}6:i}:}74yɮAPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 258.55 m.R588Z588gO ProNav: ac range: 258.545227 m, nav range: 251.675003 m, bearing: 26.989365 deg, approach rate: -0.642541 m/s, LOS rate: 0.002516 deg/s, cmd heading: 33.940036 deg, new cmd heading: 33.941876 deg. B^8gOHeadingCmd: 0.592398 target range: 258.545227 and range: 260.00 m.]?*" ʎjE EEE"EI:*E?:VEZEBETAAiE=iM]?M]3MIHy 4%,I@X@ABȭ>B,?BٱB NAHRS rotation from veh to nav: [[0.819581,-0.565002,-0.095178],[0.572890,0.810743,0.120386],[0.009146,-0.153193,0.988154]]BH:?]`U?`?`Ѿ?a? ՛ÿ?iBȭ>IB`;BCYuByuI yyiMb@Mb@Mb@ 9-?1Zdy&1?Y5?y"۽`<ASA A) AY3AbDVD:y%\=%%==ٔ%ֺQ-%>9-"?Y-"?=-iGy-tF5GFE5>9Q 5E4=W?Q 9E4=iZ)=4BYE ?Q EE:yE>Q IM @=$DI= ;i=i ;=>4yUBɮUAQjygO}FNOT Ignoring new targets: 258.55 m.R*y8Z*y8gO ProNav: ac range: 258.545227 m, nav range: 251.403900 m, bearing: 26.990837 deg, approach rate: -0.626088 m/s, LOS rate: 0.003404 deg/s, cmd heading: 33.941877 deg, new cmd heading: 33.944825 deg. BU8gOHeadingCmd: 0.592449 target range: 258.545227 and range: 260.00 m.?*" !-_Bʎ)))j1Z5O{ @}Bɢ};V)y ;i)顙imi?~17BMCBIBIBM =BIBMsDBMl;BIԁ ^A /C<A I I O >$Y%,UZX@A02B>2?2"ٱ27 >AHRS rotation from veh to nav: [[0.820298,-0.563779,-0.096250],[0.571850,0.811396,0.120926],[0.009921,-0.154236,0.987984]]2H??z @٣L?`? ? Q?ÿ?i2B>I2`;2CYF ByFIbDNVDNyVAG%Vf=ٔZQ-Z>9XYX=^iGy\^GiE^>`Q 5f4bW?Q 9f4bW)b=BYhyj_>Q Ij @b+DIbl:ib:bD4ylɮnGApjgO FNOT Ignoring new targets: 258.55 m.R 8Z 8gO ProNav: ac range: 258.545227 m, nav range: 251.181793 m, bearing: 26.992106 deg, approach rate: -0.625565 m/s, LOS rate: 0.003578 deg/s, cmd heading: 33.944824 deg, new cmd heading: 33.947365 deg. B%8gO%HeadingCmd: 0.592493 target range: 258.545227 and range: 260.00 m.%?!*)") )))11ʎ111BDAT read: Rx Time:00:39:56.7234 TRx dataTimestamp_ set to:1761698397.465026checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279913j9Z Q @BɢYw) ?i)m;ii?`0M&a%,{tX@A2>2?2yZ2ٱ2 :AHRS rotation from veh to nav: [[0.820520,-0.563312,-0.097092],[0.571514,0.811685,0.120576],[0.010886,-0.154425,0.987945]]2HA?ڸ`I? S?޾?@2K?/ÿ>?i2>I21`;2CYB ByBIbDJVDJ:`yf8;%jI=ٔr4Q-r>9xY|=iGyuF~E>1Q 545W?Q 945T)5HBYy+>Q I% @53DI5^:G}?P{˘?fIԿ ?)>I|iJ>T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.BɢdN) =i)=2᪻99i=SiE ?E.McG#i]!>u9@q @q@u4@q@}[A@}[AA E  E E (E "E :*E |;:VE c44ZE a @a @a @a @= *DAT read: user:508> E BDAT read: Tx time:00:39:57.9754 E $Ping request sent.E B]CB] IB],BB] =B]DDBYB]l;B]*EAIIO >%,| X@AJ,>Jk?J>ٱJe RAHRS rotation from veh to nav: [[0.821243,-0.562125,-0.097856],[0.570461,0.812394,0.120790],[0.011598,-0.155021,0.987843]]JH`G?@ 8A?@!???ÿ i?iJ,>IJC`;JCYZByZ II^=)^R=iEMb@Mb@Mb@AAAA A9EZd;?EԸ:v?YE?yEƽE9qYq=uiGyuvF}%E}>Q 54X?Q 94Q Im @=DI1Gm@3<XA!VrА$?mP]ֿZ|bJ>hĎk@fY@vՅTzZyT?˥?n@>] Կ2B:\C"H?*? B9tQ“gO addTargetRange:: Added new target pos. range: 257.799988 m, deltaT: 4.035936 s, deltaX: -2.200012 m, approachRate: -0.545106 m/s, rangeRepo size: 4 gO Added new target pos. range: 256.356995 m, bearing: 24.981167 deg, lat: 36.779465 deg, lon: -121.859196 deg, deltaT: 4.035936 s, deltaX: -2.188232 m, approachRate: -0.542187 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 256.36 m.RZgO5 ProNav: ac range: 256.356995 m, nav range: 249.486588 m, bearing: 26.485959 deg, approach rate: 0.000000 m/s, LOS rate: 0.003108 deg/s, cmd heading: 33.950411 deg, new cmd heading: 33.953296 deg. B1gO=HeadingCmd: 0.592597 target range: 256.356995 and range: 257.80 m.=m?9*9"A AaaimnBʎiiijup@ZuoH?颽Bɢ!Z) 3i)i߻i m? ,~Y%,X@AV>V?V FٱV  AHRS rotation from veh to nav: [[0.821968,-0.560961,-0.098444],[0.569405,0.813083,0.121133],[0.012092,-0.155623,0.987743]]VH`M?c38??`?È?pÿ@?iV>IV{_;TY%By% IԡbDVD0y%>=ٔPQ->9 ?Y ?=iGy CE> Q 54 *X?Q 94 N) _BYy>Q I @ FDI 8:i : n\4y%Bɮ%A%>EPEB*** querying acoustic contact ***A AjIgOMFNOT Ignoring new targets: 256.36 m.RUI7ZUI7gOe ProNav: ac range: 256.356995 m, nav range: 249.216400 m, bearing: 26.486164 deg, approach rate: -0.677453 m/s, LOS rate: 0.000513 deg/s, cmd heading: 33.953297 deg, new cmd heading: 33.953707 deg. Beup7gOmHeadingCmd: 0.592604 target range: 256.356995 and range: 257.80 m.m?i*i"q qqqqyʎyyjZd?颵Bɢj) Z5i)Qл项i;"ۻi?V8+ 1 A%,82ȗX@AY By IiMb@Mb@Mb@ 9RQ?RQ?Y"?y½<A )YAbDVD E EE&E"E%:*EE7:VE4ZEa@a@a@a@y=%L=ٔQ->9Y=iGywFE>Q 5 4U>X?Q 9 4K)iBY~$?Q E:y>iQ I @NDI&B CB ! IB 1BB  =B CDB tDB l;B *EBCBBB =B =C(5-9@) @)@50@1@==@==ԁԱ^Am Β;Ai zAi  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260936 A ؟AI I O% >V%,, X@A2I>2p?2pZٱ2" :AHRS rotation from veh to nav: [[0.822844,-0.559616,-0.098780],[0.568111,0.814172,0.119888],[0.013332,-0.154767,0.987861]]2HT?`I -?` ??@M? hÿ?i2I>I2[_;2CYB%ByB I DDbDNVDNkyVZ<%Va=ٔV`Q-Z>9Z"?YZ"?=ZiGyX^?E^>`Q 5f4bOX?Q 9f4bSH)brBYdyf>>Q Ij @bVDIb:ib:bi4ylɮnAljgOFNOT Ignoring new targets: 256.36 m.Rn<Zn<gO ProNav: ac range: 256.356995 m, nav range: 248.727142 m, bearing: 26.485945 deg, approach rate: -0.640530 m/s, LOS rate: -0.000161 deg/s, cmd heading: 33.953386 deg, new cmd heading: 33.953269 deg. BgOHeadingCmd: 0.592596 target range: 256.356995 and range: 257.80 m.e?*" ʎjZ`$ ?=BɢE=h)A E -iA)EIIiMOһiMe?ԱU(5?;I5e?I99@ @@0@E EE(E"Eغ:*EVEc44ZEBE9 L%,X@A5>5N?5fٱ5s MAHRS rotation from veh to nav: [[0.822846,-0.559675,-0.098433],[0.568091,0.814440,0.118151],[0.014041,-0.153139,0.988105]]5HT?2-??@,??`?`ÿ ?i5>I5S^;5Cchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763745Y,By IiMb@Mb@Mb@ 9y&1?Zd;OI +?Y`%?yj9<A A) AY AbDVD:y<%*=ٔ2Q-> 9Y = iGy xFrE>Q 5%4mgX?Q 9%4D)}BY-#'?Q E-:y-Z>Q I-!@`DI0;i /;1r4y5Bɮ=A9jgOFNOT Ignoring new targets: 256.36 m.RZgO ProNav: ac range: 256.356995 m, nav range: 248.413406 m, bearing: 26.485427 deg, approach rate: -0.661492 m/s, LOS rate: -0.001093 deg/s, cmd heading: 33.953270 deg, new cmd heading: 33.952233 deg. BgOHeadingCmd: 0.592578 target range: 256.356995 and range: 257.80 m.5?*" AAAEsBʎIIIjIZM`@颽}Bɢ~L) (i)O[iMͻi 5? ' {;I 5?I19@ @@@E EE$E"E*E3:VE4ZEa@a@a@a@- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014977a ^A *;B <A <B >B CB 4 IB @BB  =B B B l;B *Eԑ AI IY Ii Ou >.&,3X@ABs>B?B;sٱBN JAHRS rotation from veh to nav: [[0.823119,-0.559221,-0.098727],[0.567674,0.814860,0.117257],[0.014877,-0.152561,0.988182]]BHV?@#3Fb*?`U?@?w?@!ÿ/?iBs>IB_;BCYR#ByR IbD\VD\yb?%f^=ٔfQ-f>9hYh=jiGyhnEn>lQ 5r4nsyX?Q 9v4nA)nBYtyv>Q Iv!@nhDInf;in;nx4y~Bɮ~A~@EjgO%FNOT Ignoring new targets: 256.36 m.R%6Z-6gO= ProNav: ac range: 256.356995 m, nav range: 248.173660 m, bearing: 26.485060 deg, approach rate: -0.674236 m/s, LOS rate: -0.001033 deg/s, cmd heading: 33.952232 deg, new cmd heading: 33.951497 deg. B=gOEHeadingCmd: 0.592565 target range: 256.356995 and range: 257.80 m.E^?A*A"A AAAIIʎQQQjQZU!@|Bɢvq) p,i)%  !)i-ɻi-^?5&5;I5^?I1A}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269403@ @@4@@@\Aq^Ar;A>A?ԙE  E E %E "E g:*E *:VE 4ZE BE ;a 2E ;a JE f;a :E g;a AQ IY Ii O} > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519169 8 &,1X@A>o8>>r?> ٱ>N RAHRS rotation from veh to nav: [[0.823366,-0.559002,-0.097904],[0.567295,0.815467,0.114849],[0.015636,-0.150103,0.988547]]>HY?X 8H'?@M?f??6ÿ,?i>o8>I>_;>CYn6Byn( IbDzVDzy=%H=ٔ)Q- >9 Y = iGy yFE>Q 5%4~X?Q 9%4>)BY!y%>Q I-!@pDId:i:4y1ɮ5lA1PUB*** querying acoustic contact ***Q QjagOeFNOT Ignoring new targets: 256.36 m.Rm턷Zm턷gO} ProNav: ac range: 256.356995 m, nav range: 247.907104 m, bearing: 26.484688 deg, approach rate: -0.649532 m/s, LOS rate: -0.000908 deg/s, cmd heading: 33.951497 deg, new cmd heading: 33.950752 deg. B}ԷgOHeadingCmd: 0.592552 target range: 256.356995 and range: 257.80 m.?*" ʎjZ@@zBɢ[) "i)IiŻi?s$;I?IԱq@q @q@u/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.776146^AuX; A I I O >9 %&,PKX@AER ERER(EP"ERغ:*ER|:VERc44ZEPaV@aZ@aZ@aZ@Y7By) Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022976iMb@Mb@Mb@ 9{Gz?MbX9{Gz?Y#?yʡף<7ASA A)Y\AbDVDk1y @;% ;=ٔQ->9Y=iGyE>!Q 5-4%X?Q 9-4%;)%BY-)%?Q E5:y5>Q I5!@%yDI% ;i% ;%n4y=Bɮ=ZAEAEjagOeFNOT Ignoring new targets: 256.36 m.Rm Zm gO} ProNav: ac range: 256.356995 m, nav range: 247.625076 m, bearing: 26.483113 deg, approach rate: -0.645376 m/s, LOS rate: -0.003608 deg/s, cmd heading: 33.950753 deg, new cmd heading: 33.947600 deg. B}HӸgOHeadingCmd: 0.592497 target range: 256.356995 and range: 257.80 m.?*" BʎjZh @yBɢS)  i)Oii?#;I?IB>BBA IBJBB =BBuDBl;B*E@ @@/@9^A ;i  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275979A I! I9 OE >&,eX@A(:>:)?:ۛٱ:Ӹ FAHRS rotation from veh to nav: [[0.823968,-0.558338,-0.096621],[0.566373,0.816724,0.110377],[0.017285,-0.145671,0.989182]]:H]?,? "?A?A?@V¿@a?i:>I:u>_;:CYLyL TV4<bDZVDZ1yb;%bb=ٔb`Q-f>9dYd=fiGyfzFjGEj>lQ 5=4nݳX?Q 9E4nA8)nBYAyEY>Q IE!@nDIne-&,X@A*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782993HjJ>j6?j#ٱj vAHRS rotation from veh to nav: [[0.824361,-0.557956,-0.095472],[0.565780,0.817492,0.107701],[0.017955,-0.142801,0.989588]]jH)a?`p`?`(?P?b?NG¿?ijJ>Ij(_;jCY~;By~. I iMb@Mb@Mb@ 9{Gz?{Gzy&1?Yyף`e<AjA tA)YAbD% VD%f2y-y<%-4=ٔ5Q-5>91Y9==iGy9=ͺEE>AQ 5M4EX?Q 9U4E4)EBYU'%?Q EU:yUv>Q IU!@EDIE:iEf:E4yaɮe.AajgOFNOT Ignoring new targets: 256.36 m.RWZWgO ProNav: ac range: 256.356995 m, nav range: 247.100327 m, bearing: 26.480585 deg, approach rate: -0.660465 m/s, LOS rate: -0.002938 deg/s, cmd heading: 33.945139 deg, new cmd heading: 33.942540 deg. BgOHeadingCmd: 0.592409 target range: 256.356995 and range: 257.80 m.?*" xBʎjZ@&w@vBɢ\S) i)-ii?!;I?IԹ9@ @@0@E EE'E"Eغ:*E=:VE'4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034915^Aϩ;B} >B} CB} M IB} TBB}  =By By B} l;B} *E I I O > &&,YX@A6>6?6?ٱ6 BAHRS rotation from veh to nav: [[0.824723,-0.557324,-0.096034],[0.565224,0.817948,0.107160],[0.018828,-0.142658,0.989593]]6H!d?କ@P?@,?n?G?B¿ྪ?i6>I6[_;6CYJ6ByJ' IbDRVDRk1yZj%Zg=ٔ^!|Q-^>9 Y = iGy {FE>Q 5%4"X?Q 9%41)BY!y->Q I-!@DI$:i:4y5Bɮ5JA5BEjYgO]FNOT Ignoring new targets: 256.36 m.ReKZeKgOu ProNav: ac range: 256.356995 m, nav range: 246.866760 m, bearing: 26.479582 deg, approach rate: -0.644908 m/s, LOS rate: -0.002773 deg/s, cmd heading: 33.942540 deg, new cmd heading: 33.940531 deg. BujgO}HeadingCmd: 0.592374 target range: 256.356995 and range: 257.80 m.}ӥ?y*y" ʎjZ@颽uBɢg@i) i)G5iW_iӥ? Z@;Iӥ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.2882749@ @@J0@)Q^Ae;II)O5>E  E E (E "E C:*E 3:VE c44ZE BE *;a 2E ,;a JE ;a :E ;a ԁ - checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539555 @,&,|aX@AB>B?BٱB' JAHRS rotation from veh to nav: [[0.825198,-0.556303,-0.097853],[0.564501,0.818259,0.108585],[0.019663,-0.144843,0.989259]]BHh?< d?@-/?A̻?`"?@6¿?iB>IB T_;BCYV8ByV* IbD^VD^:yf2<%jG=ٔjQ-j>9lYl=niGyln En>tQ 5z4voX?Q 9z4v.)vBYxy~>Q I~!@vDIv:iv:v4yBɮA8EPB*** querying acoustic contact ***! !j)gO5FNOT Ignoring new targets: 256.36 m.R5_BZ5_BAgOM ProNav: ac range: 256.356995 m, nav range: 246.608597 m, bearing: 26.478517 deg, approach rate: -0.643393 m/s, LOS rate: -0.002655 deg/s, cmd heading: 33.940532 deg, new cmd heading: 33.938401 deg. BMgOUHeadingCmd: 0.592337 target range: 256.356995 and range: 257.80 m.Uc?Q*Q"Q QYYYYʎaaajiZmx@tBɢ \) i)?=iiEc?E9 Eh;IEc?II9@ @@2@@\A@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=4.793785ԡ^Avт;A?AIaIqO}> 3&,b͘X@AEB E@EB&E@"EB:*E@VEB4ZE@aJ@aJ@aJ@aJ@Y%0By% II-<)-;Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.043055iMb@Mb@Mb@ 9T㥛 ?I +y&1?Y!?y9A )5 AYbD VD y%8=ٔQ-%>9!Y!=%iGy%|F-E->1Q 5=45Y?Q 9=45g+)5BY="?Q EE:yEM>Q IE!@5DI5 ;i5Q:5ª4yMBɮM,AM9EjqgOuFNOT Ignoring new targets: 256.36 m.R}/Z}/gO ProNav: ac range: 256.356995 m, nav range: 246.327698 m, bearing: 26.478303 deg, approach rate: -0.634703 m/s, LOS rate: -0.000486 deg/s, cmd heading: 33.938401 deg, new cmd heading: 33.937971 deg. BcgOHeadingCmd: 0.592329 target range: 256.356995 and range: 257.80 m.?*" mBʎjZ`rJ@B=>B9B=S IB=YBB= =B9B9B=l;B=*EusBɢud`)q uQ!iy)}2Fyyi}mi?8ep;I?Ie9@a @a@e4@a checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295468^A qZ;I1 IA OU >9 =G9&,yX@A6=>6&?6ٱ69 BAHRS rotation from veh to nav: [[0.826146,-0.555032,-0.097074],[0.563077,0.819570,0.106063],[0.020690,-0.142284,0.989610]]6Ho?ٸ`? 9?&?@/?`\6¿?i6=>I6_;4YJ:ByJ- IbDRVDRN2yZ"h=%Zd=ٔ^;Q-^>9`Y`=biGy`biEf>dQ 5j4fY?Q 9j4f()fȱBYlyn^>Q IM!@fDIfuqԡ o>@&,X@A6checking for new query: numPingsReceived=0, elapsed TxPingTime=5.807092f1>f?f嬼ٱfa nAHRS rotation from veh to nav: [[0.826621,-0.554223,-0.097648],[0.562364,0.820016,0.106399],[0.021104,-0.142866,0.989517]]fHs?2 w ? =?@If_;fCYv6Byv' IiMb@Mb@Mb@ 9%C?J +y&1?YZ$?yȽlAjA )YfAbD VD:2y%7=ٔqrQ->9Y=iGy}FE>Q 5 4*Y?Q 9 4i%)ѱBY K&?Q E :y >Q I!@DI{:io:׸4yɮAjAgOEFNOT Ignoring new targets: 256.36 m.RM8ZM8QgOe ProNav: ac range: 256.356995 m, nav range: 245.810394 m, bearing: 26.479024 deg, approach rate: -0.669269 m/s, LOS rate: 0.001846 deg/s, cmd heading: 33.937817 deg, new cmd heading: 33.939416 deg. Be(X8gOeHeadingCmd: 0.592355 target range: 256.356995 and range: 257.80 m.m?i*i"i iiiy}iBʎyyyjZ~@颭qBɢ_^) i)(V顱iai?(:I?IM9@I @I@M/@IԁE EE&E"E[:*ErN:VE4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054951^Au ;Au[AzAu\AԱB B B B B B B B l;B BCBCBB =B =C5Aa Ii Iy O > EYF&,X@A6*>6_?61ٱ6 BAHRS rotation from veh to nav: [[0.827170,-0.553256,-0.098478],[0.561531,0.820542,0.106740],[0.021751,-0.143590,0.989398]]6H,x?E5?A?PS? E? ,a¿@&?i6*>I6^;6CYJ1ByJ" I LLbDVVDVy^Vļ%^b=ٔ^Q-^>9`Y`=biGy`f 5Ef>hQ 5j4j|Q IM!@jDIj;a 2E ?;a JE Ȕ;a :E Ȕ;a I I O >% checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559023Q L&,4X@A6>6W?6͸ٱ6 BAHRS rotation from veh to nav: [[0.827895,-0.551904,-0.099960],[0.560444,0.821052,0.108518],[0.022181,-0.145863,0.989056]]6H~?`2 )?`F?ǻ??`¿X?i6>I6^;4YN9ByN, IbDVVDV0y^!=%^J=ٔbXQ-b>9`Y`=biGyb~FfSEf>hQ 5n4jjPY?Q 9n4j)jBYpyrr>Q Ir!@jÊDIj;ij ;j94yvBɮvAv;EP B*** querying acoustic contact ***  jgOFNOT Ignoring new targets: 256.36 m.R%!8Z%!8gO- ProNav: ac range: 256.356995 m, nav range: 245.314026 m, bearing: 26.480583 deg, approach rate: -0.670748 m/s, LOS rate: 0.002200 deg/s, cmd heading: 33.940815 deg, new cmd heading: 33.942537 deg. B5ڀ8gO=HeadingCmd: 0.592409 target range: 256.356995 and range: 257.80 m.=?9*9"9 99AAAʎAIIjIZM@oBɢ|;e) i)ngfiz)i?gk =ݹI ?I A9@ @@0@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=6.813329^Arg:ԁ I I O% >OkS&,OWNX@AE6 E6E6"E4"E6:*E6A:VE6(3ZE4a:@a:@a:@a:@8FQ>FS?FٱF) NAHRS rotation from veh to nav: [[0.828652,-0.550516,-0.101333],[0.559309,0.821598,0.110223],[0.022576,-0.148013,0.988728]]FH@P?@ԝ@?J?7??@¿@?iFQ>IF^;FCYV5ByZ& Ii5Mb@Mb@Mb@1111 195x&1?J +y&1?Y5!?y115A5SA 1)5 A1Y5=AbDVDyS%;=ٔ'mQ->9Y=iGyLE>checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063000Q 54eY?Q 94)BY#?Q E:y>Q I!@̊DIv;i~ ;4yɮAj!gO%FNOT Ignoring new targets: 256.36 m.R-3B8Z-3B8gO= ProNav: ac range: 256.356995 m, nav range: 245.036026 m, bearing: 26.481743 deg, approach rate: -0.635049 m/s, LOS rate: 0.002653 deg/s, cmd heading: 33.942536 deg, new cmd heading: 33.944859 deg. B=\8gOEHeadingCmd: 0.592450 target range: 256.356995 and range: 257.80 m.Eƪ?A*A"A AIIIMcBʎQQQjQZ]BYBYBYB] =BYBYB]l;B]*EԑM9@I @I@U*0@QԹ^AuqA?A>II O > checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314952 \Y&,#2hX@A6>6F?6ٱ6P BAHRS rotation from veh to nav: [[0.829291,-0.549355,-0.102400],[0.558341,0.822117,0.111257],[0.023065,-0.149439,0.988502]]6H?`Q6@?N?`^{?I?` ÿΡ?i6>I6^;4YJ2ByJ# IbDVVDVN2y^>%^]=`ٔb Q-b>9`Yd=fiGyfFfLEf>hQ 554jwY?Q 954j)jBY9y=>Q I=!@jԊDIjbYA `&,X@Ai`IbAnchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.838211u>uc?uٱu[U AHRS rotation from veh to nav: [[0.829953,-0.548152,-0.103477],[0.557340,0.822622,0.112535],[0.023436,-0.151070,0.988245]]uH@? ur}?@R?ϼ??DVÿ`?iu>Iub~^;qY6By( Ii%Mb@Mb@Mb@!!!! !9%T㥛 ?9QYQ=UiGyQ],E]>aQ 5m4eY?Q 9m4e)eBYu#?Q Eu:yu>Q Iu!@e݊DIe ;ieL ;eM4yyɮ}Ayj!gO%FNOT Ignoring new targets: 256.36 m.R-u8Z-u8gO= ProNav: ac range: 256.356995 m, nav range: 244.509842 m, bearing: 26.484337 deg, approach rate: -0.628406 m/s, LOS rate: 0.003354 deg/s, cmd heading: 33.946962 deg, new cmd heading: 33.950053 deg. B=h8gOEHeadingCmd: 0.592540 target range: 256.356995 and range: 257.80 m.E?A*A"A AIIQUUBʎQQQjYZ]`Y @kBɢX_) ni)ri%i?jrdI?II9@ @@4@E} E}E}"Ey"E}:*E}rN:VE}(3ZEya@a@a@a@ԉmchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.086897BU >BQ BQ BQ BQ BQ BQ BU ,m;BU +E^A 2I I O >Թ uf&,蛙X@Aԙ}ž>8?ٱ-Q AHRS rotation from veh to nav: [[0.830315,-0.547685,-0.103043],[0.556792,0.823113,0.111662],[0.023660,-0.150088,0.988389]]H?@a@=? V? 蕼?`:?6ÿ?i}ž>IRI^;CY8By5* I E;EbDMVDMyu<%}H=ٔ}Q-}>9Y=iGyFҺE>Q 54zY?Q 94)BYy>Q I!@DI;i;p4yBɮAjgOFNOT Ignoring new targets: 256.36 m.R8Z8gO ProNav: ac range: 256.356995 m, nav range: 244.250290 m, bearing: 26.485767 deg, approach rate: -0.652160 m/s, LOS rate: 0.003596 deg/s, cmd heading: 33.950053 deg, new cmd heading: 33.952916 deg. B8gOHeadingCmd: 0.592590 target range: 256.356995 and range: 257.80 m.?*" ʎjchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.339164Z`0!@iBɢF(j) i)탼i%bi%?mxmIm?Ii@ @@4@E  E E !E "E :*E 0:VE c3ZE BE `;a 2E a;a JE ܉;a :E ܉;a ^A% vтA- ZAzA- ZA  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.591855 gl> M :Ga Ay I ) II m 9i Ym bAO >pm&,_X@Ay.E?.fAB{>B?Bd¼ٱB$ JAHRS rotation from veh to nav: [[0.830626,-0.547729,-0.100268],[0.556325,0.823980,0.107519],[0.023727,-0.145090,0.989134]]BH@}? )i?` ^?b?K?`N¿@?iB{>IB.'^;BCYV2ByV" I\bDbVDbk1yjo%jQ=ٔjl4Q-n>9lYl=niGylr7Er>tQ 5z4voY?Q 9z4v)vBY|y~;>Q I~!@vDIv,;iv,;vE4yBɮA =EP%B*** querying acoustic contact ***! !j1gOFNOT Ignoring new targets: 256.36 m.R8Z8gO ProNav: ac range: 256.356995 m, nav range: 244.001968 m, bearing: 26.487185 deg, approach rate: -0.642722 m/s, LOS rate: 0.003675 deg/s, cmd heading: 33.952915 deg, new cmd heading: 33.955755 deg. B98gOHeadingCmd: 0.592640 target range: 256.356995 and range: 257.80 m.=?*" ʎjZ!@MhBɢURt)Q U?iQ)]ÇYYi]iu=?uu咻Iu=?Iy9@ @@/@@@@@checking for new query: numPingsReceived=0, elapsed TxPingTime=8.845464A I I O >9 E]  E] E] 'EY "E] 7:*E] [:VE] '4ZEY ae @ae @am @am @Ut&,.ҙX@A2l>2 ?2Hٱ2 :AHRS rotation from veh to nav: [[0.830692,-0.548039,-0.097995],[0.556229,0.824464,0.104254],[0.023658,-0.141111,0.989711]]2H`?@ 9? b?`k?9?¿`?i2l>I2qL^;0Yhyj# Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=9.094961!iMb@Mb@Mb@ 9Mb?MbX~jt?Y ?yʽ<VAA A) AYbDVDNB>BBZ IB^BB =BBBvm;BB+Ey;%;=ٔ&9Q->9Y=iGyF3E>Q 54Y?Q 94 )BY"?Q E:yG>Q I!@DI;:in:4y Bɮ A3EjgOFNOT Ignoring new targets: 256.36 m.Rk8Zk8gO ProNav: ac range: 256.356995 m, nav range: 243.725220 m, bearing: 26.488637 deg, approach rate: -0.611665 m/s, LOS rate: 0.003212 deg/s, cmd heading: 33.955756 deg, new cmd heading: 33.958662 deg. B8gOHeadingCmd: 0.592690 target range: 256.356995 and range: 257.80 m.?*" QBʎ!!!j!Z-@f"@fBɢނi) i)&iX؉i%?%1I%IM?IQ9@ @@/@qAIIYIiOu>i߱IߵAchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.347197ԡ z&, X@A6/!>6b?6,üٱ6 >AHRS rotation from veh to nav: [[0.831007,-0.547560,-0.098006],[0.555747,0.824826,0.103958],[0.023915,-0.140856,0.989741]]6H? ?@d??,}?`¿?i6/!>I6l^;6CYJ8ByJ+ IbDRVDR1yZh<%Z_=ٔZ8Q-^>9\Y`=biGy`bͺEb>dQ 5j4f:Y?Q 9j4fS )f'BYlyn>Q In!@fDIf;if;fP4yrBɮrUAv4Ej gO FNOT Ignoring new targets: 256.36 m.R8Z8gOM ProNav: ac range: 256.356995 m, nav range: 243.493378 m, bearing: 26.489887 deg, approach rate: -0.662167 m/s, LOS rate: 0.003576 deg/s, cmd heading: 33.958662 deg, new cmd heading: 33.961166 deg. BMi8gOUHeadingCmd: 0.592734 target range: 256.356995 and range: 257.80 m.Um?Q*Q"Y YYYaaʎaaijiZm#@y颥eBɢZ~) fi)j顱iqim?Ky Im?IE% E%E%&E!"E%:*E%:VE%4ZE!BE%c  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.852871vg&,X@AB!>B?B|ٱBΑ JAHRS rotation from veh to nav: [[0.831012,-0.547339,-0.099191],[0.555757,0.824504,0.106433],[0.023528,-0.143573,0.989360]]BH?̓ d@?Ub?0???@`¿`֨?iB!>IBY];@YV;ByV. IiMb@Mb@Mb@ 9MbX9?MbI +?Y!?y9<AjA bA)| AY AbDVD3yS<%;=ٔsh:Q->9 ?Y ?=iGyFE7E>Q 54ZY?Q 94()3BY#?Q E:y^>Q I!@DIt2;ix1;4yBɮ3A5Ej gOFNOT Ignoring new targets: 256.36 m.R8Z8gO- ProNav: ac range: 256.356995 m, nav range: 243.215271 m, bearing: 26.490828 deg, approach rate: -0.636157 m/s, LOS rate: 0.002154 deg/s, cmd heading: 33.961166 deg, new cmd heading: 33.963049 deg. B-V|8gO5HeadingCmd: 0.592767 target range: 256.356995 and range: 257.80 m.5?1*1"1 1999=@BʎAAAjAZEWe$@ucBɢugi)q } iy)}oyyi}ڨi?RFI?I9@ @@0@E- E-E-)E)"E-y:*E-E7:VE-FA4ZE)a5@a5@a5@a5@A]؟AIiIyOZ>BCBS IBYBB =BBtDBm;Bu+E1i &,X@ABw>B?BٱB JAHRS rotation from veh to nav: [[0.831259,-0.546800,-0.100093],[0.555404,0.824458,0.108603],[0.023138,-0.145869,0.989033]]BH?`c?a?`hͻ??׫¿)?iBw>IB} ^;BCYV9j"?Yj"?=jiGyhnbEn>tQ 54vZ?Q 94vn)vQ I!@vDIvr;ivI;v4y!ɮ%(A!jIgOMFNOT Ignoring new targets: 256.36 m.RU 8ZU 8gOe ProNav: ac range: 256.356995 m, nav range: 242.975922 m, bearing: 26.491656 deg, approach rate: -0.630998 m/s, LOS rate: 0.002186 deg/s, cmd heading: 33.963051 deg, new cmd heading: 33.964709 deg. Be8gOmHeadingCmd: 0.592796 target range: 256.356995 and range: 257.80 m.m{?i*i"q qqyyyʎjZ`'%@颵aBɢs) i)项i~i{?8eI{?I1}2Acoustic response timeoutM9@Q @Q@U|3@QY^Au bEjE4rE0E= E=E=&E9"E=:*E=C:VE=4ZE9BE=`;aU2E=a;aUJE==;a]:E=>;a]ԑAa Ii I O >% 2Acoustic response timeoutԹ &,9X@A2>2?2-ٱ2L :AHRS rotation from veh to nav: [[0.831263,-0.546607,-0.101111],[0.555410,0.824181,0.110659],[0.022847,-0.148145,0.988702]]2H`?`}e⹿@?_?%T?e?g¿q?i2>I2n];2CYB9ByF+ IbDNVDNyVэ%VM=ٔV?:Q-V>9XYX=ZiGyZF^6E^>`Q 5f4bZ?Q 9n4b)bGBYtyzH>Q Iz!@bDIb;ibX;bx 4yBɮ:AP%B*** querying acoustic contact ***! !j)gO-FNOT Ignoring new targets: 256.36 m.R5 8Z5 8gO ProNav: ac range: 256.356995 m, nav range: 242.721848 m, bearing: 26.492530 deg, approach rate: -0.635670 m/s, LOS rate: 0.002187 deg/s, cmd heading: 33.964710 deg, new cmd heading: 33.966459 deg. B8gOHeadingCmd: 0.592827 target range: 256.356995 and range: 257.80 m.{?*" ʎ  j Z  N%@ԙ_Bɢk) Mi)5  i vi{?C(sI{?Im9@i @i@u4@q2Acoustic response timeout^A #2EM  EM EI EI "EM :*EM .:VEI ZEI aU @aU @aU @aU @A .AI! I1 9 OE >ț&,\TSX@A2u>2ʐ?2.ٱ2޼ :AHRS rotation from veh to nav: [[0.831749,-0.545807,-0.101432],[0.554672,0.824635,0.110977],[0.023072,-0.148566,0.988633]]2H?@wk?hc? h?`I2];2CYB;ByF. Iz2Acoustic response timeoutBu>BuCBuZ IBu^BBu =BqBqBu2n;Bu+EB1B5CB1B5 =B5 =C55iMb@Mb@Mb@ 9T㥛 ?ˡE9 ?Y ?=iGyE>Q 54*Z?Q 94?)QBYs"?Q E:y>Q I!@DI ;iz ;.4yɮ,Aj1gO=FNOT Ignoring new targets: 256.36 m.R=bZEbgOU ProNav: ac range: 256.356995 m, nav range: 242.442383 m, bearing: 26.492427 deg, approach rate: -0.640751 m/s, LOS rate: -0.000236 deg/s, cmd heading: 33.966459 deg, new cmd heading: 33.966253 deg. BUiݶgO]HeadingCmd: 0.592823 target range: 256.356995 and range: 257.80 m.]??Y*Y"Y YYYaeYBʎiiijiZmi&@额^BɢHUs) i!)垼99iEŒniE??M* MͻIM??II@ @@4@@\A@\AQ2Acoustic response timeout^A [ԙ Am ؟AI I O >L&,mX@A0>>>_?>ٱ>e FAHRS rotation from veh to nav: [[0.832161,-0.545097,-0.101865],[0.554045,0.824989,0.111473],[0.023274,-0.149202,0.988533]]>H?@pq@༺?`Pf??@#՗? ÿ?i>>I>P];>CYRDByR9 IbDjVDjyvwH=%v\=ٔvQ-z>9z"?Yz"?=ziGyzF~E~>Q 5 4Q I!@&DI:i;4y%Bɮ%A%6EjYgOeFNOT Ignoring new targets: 256.36 m.RmZmgO ProNav: ac range: 256.356995 m, nav range: 242.207626 m, bearing: 26.492380 deg, approach rate: -0.627540 m/s, LOS rate: -0.000124 deg/s, cmd heading: 33.966254 deg, new cmd heading: 33.966161 deg. BNigOHeadingCmd: 0.592821 target range: 256.356995 and range: 257.80 m.$?*" ʎjZ'@DzDE% E%E!E!"E%:*E%T:VE!ZE!BE%  2Acoustic response timeout&,jX@A\0>2?0Ƽٱ=C AHRS rotation from veh to nav: [[0.832521,-0.544434,-0.102473],[0.553465,0.825451,0.110932],[0.024191,-0.149069,0.988531]]H?@l;@?j?@f?`}Ř? ÿ ?i0>I];CY%FBy%< IiMb@Mb@Mb@ 9+?{GzZd;O?Yv?yףj<lASA A) AY AbDVDky <%#=ٔuQ->9Y=iGyFϲE>Q 54TZ?Q 94)fBY?Q E:y>Q I!@0DI:i8:h$4y ~Bɮ A 7Ej1gO5FNOT Ignoring new targets: 256.36 m.R=׶Z=׶gO ProNav: ac range: 256.356995 m, nav range: 241.896027 m, bearing: 26.492198 deg, approach rate: -0.626664 m/s, LOS rate: -0.000367 deg/s, cmd heading: 33.966162 deg, new cmd heading: 33.965797 deg. B,gOHeadingCmd: 0.592815 target range: 256.356995 and range: 257.80 m.?*" `BE% E% E%$E!"E%[:*E%:VE%4ZE!a-@a5@a5@a5@ʎ111j9Z}@f(@颥ZBɢ,Z)  i)顩ih_i?!]I?I2Acoustic response timeout!AqAu@AB}>B}CB}` IB}dBB} =ByB}sDB}Mn;B}+E9@ @@/@@=@=I ^A rq A!I)IAOM>*Ϩ&,X@A2@Ǽ>2k9?2˼ٱ2l :AHRS rotation from veh to nav: [[0.832453,-0.544458,-0.102895],[0.553540,0.825463,0.110473],[0.024788,-0.148920,0.988539]]>BDAT read: Response Not Received B*response not receivedB*DAT read: user:509> FBDAT read: Tx time:00:40:10.4254 F$Ping request sent.FI2{];2C P)R`ARj9Y=iGyD9E%>!Q 5-4%eZ?Q 94% )%oBYy >Q I!@%8DI% &,X@AZ>Z`?ZмٱZ fAHRS rotation from veh to nav: [[0.832105,-0.544916,-0.103284],[0.554031,0.825249,0.109608],[0.025508,-0.148428,0.988594]]ZH ?@o`p ?ph?>??¿`?iZ>IZ];XYu?By}4 IbDVDNy8%B=ٔQ->9 ?Y ?=iGyF^:E>Q 54{yZ?Q 94)zBYyX>Q I!@@DI ;i;Z24y|BɮAPeB*** querying acoustic contact ***a ajigOuFNOT Ignoring new targets: 256.36 m.Ru? Zu? gO ProNav: ac range: 256.356995 m, nav range: 241.399231 m, bearing: 26.491860 deg, approach rate: -0.634798 m/s, LOS rate: -0.000472 deg/s, cmd heading: 33.965510 deg, new cmd heading: 33.965120 deg. B2]gOHeadingCmd: 0.592803 target range: 256.356995 and range: 257.80 m.?*" ʎjZ 12*@ԱWBɢbr)  i)5iEQi?"7ܻI ?I checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5043509@ @@@^Az EU  EU EU $EQ "EU غ:*EU |;:VEU 4ZEQ ae @ae @ae @ae @E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753991A] ؟AIa Iq B >B B B B =B DDB B Xn;B +EO >1 uܵ&,_ؚX@A25>2p?2$׼ٱ2ݕ :AHRS rotation from veh to nav: [[0.831955,-0.545014,-0.103978],[0.554218,0.825188,0.109117],[0.026331,-0.148407,0.988576]]2H`_?pO`(?g?`?@?@¿i?i25>I2];2CY=:By=- IiMb@Mb@Mb@ 9-?ˡEI +?Y5?y什9<VAd@ bA) AY A p<4<bDVD:2yļ%E=ٔQQ->9"?Y"?=iGy:E>Q 5 4Z?Q 9 4)BY ?Q E :y>Q I!@IDI':i;94ytBɮA.EjAgOEFNOT Ignoring new targets: 256.36 m.RM 5ZM 5gO] ProNav: ac range: 256.356995 m, nav range: 241.141678 m, bearing: 26.491874 deg, approach rate: -0.646607 m/s, LOS rate: 0.000034 deg/s, cmd heading: 33.965120 deg, new cmd heading: 33.965148 deg. B]5gOeHeadingCmd: 0.592804 target range: 256.356995 and range: 257.80 m.e?a*a"i iiiq5Bʎj Z-+@颵VBɢ,r)  i)ʱ项iIi?B#M׻I?I9@ @@0@@@[A9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006045i ^A [RӻA .AI) I9 OE >&,PX@AE EE&E "E:*E1]:VE4ZE BE2B?B ޼ٱB# JAHRS rotation from veh to nav: [[0.831689,-0.545320,-0.104500],[0.554576,0.825064,0.108237],[0.027195,-0.147973,0.988617]]BH1?@Bs?`f?s?`ٛ? ¿?iBo>IB];BCYRIByV? I XXbD^VD^yf֚=%j_=ٔjQ-j>9n ?Yn ?=niGynFn:En>pQ 5v4r Z?Q 9z4rC)rBYxyz>Q Iz!@rPDIr;ir;r?4y~sBɮ~SAj!gO%FNOT Ignoring new targets: 256.36 m.R5(Z5(gOE ProNav: ac range: 256.356995 m, nav range: 240.914383 m, bearing: 26.491864 deg, approach rate: -0.622189 m/s, LOS rate: -0.000028 deg/s, cmd heading: 33.965148 deg, new cmd heading: 33.965127 deg. BEtSgOMHeadingCmd: 0.592803 target range: 256.356995 and range: 257.80 m.]?a checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258194*a" 5GM\AQaQy9\AY]AʎjZ+@ TBɢ ;s)  i)isCi?#=,˻I=?IAy9@ @@f1@ԩ^A`Իi I A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514168) A ؟AI I O >&,| X@A|YCBy7 IiMb@Mb@Mb@ 9x&1?/$:v?YA ?yT<A=A A)| AYbDVD0yݼ%>=ٔQ->9"?Y"?=iGyE>Q 54Z?Q 94)BY!?Q E:y>Q I!@YDI ;iX ;G4yrBɮyA/EjgOFNOT Ignoring new targets: 256.36 m.R7Z7gO ProNav: ac range: 256.356995 m, nav range: 240.642502 m, bearing: 26.492083 deg, approach rate: -0.607561 m/s, LOS rate: 0.000490 deg/s, cmd heading: 33.965127 deg, new cmd heading: 33.965566 deg. Be7gOHeadingCmd: 0.592811 target range: 256.356995 and range: 257.80 m.u?*" =BʎjZ,@%RBɢ%.s)! %i!)-))i-<E5 E5E1E1"E5y:*E5c:VE1ZE1aE@aE@aE@aE@iEu?M;$MͻIMu?IQ)@ @@4@-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762001BU>BUCBUf IBUiBBU =BQBUrDBU n;BU+EQ^A[Rӻԉ A} .AI I O >&,%X@A2Z1>2y?2f@ٱ2 @ :AHRS rotation from veh to nav: [[0.830807,-0.546308,-0.106336],[0.555762,0.824565,0.105928],[0.029811,-0.147103,0.988672]]2H`?@[{8?b?@?@䆞?`H¿3?i2Z1>I2];2CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014061YJKByJB IPRAAbDRVDRyZ9=%Z\=ٔ^Q-^>9b ?Yb ?=biGybFf,;Ef>dQ 5j4fFZ?Q 9n4f[)fBYYiym>Q Iu!@f`DIf0 C4&,T?X@A2eQ>2~?28ٱ2 :AHRS rotation from veh to nav: [[0.830643,-0.546409,-0.107090],[0.555946,0.824554,0.105042],[0.030906,-0.146789,0.988685]]2H`?/|DjP?b?@? ե?¿N?i2eQ>I2^;2CYBFByB; IbDNVDNkyVҼ%VK=ٔV2Q-Z>9Z"?YZ"?=ZiGyX^6:E^>`Q 5f4bnZ?Q 9f4bd)bBYdyf>Q Ij!@bhDIb:ib:b U4ynqBɮnVAn0EjgOFNOT Ignoring new targets: 256.36 m.R 6Z 6gO ProNav: ac range: 256.356995 m, nav range: 240.154434 m, bearing: 26.492299 deg, approach rate: -0.661882 m/s, LOS rate: 0.000276 deg/s, cmd heading: 33.965783 deg, new cmd heading: 33.965995 deg. B7gO%HeadingCmd: 0.592818 target range: 256.356995 and range: 257.80 m.%?!*!"! ))))1ʎ11Ա1jZ@+.@-OBɢ- Kr)) -si))%顑i0i?$ I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519391q@y @y@y@^AEM  EM EM %EI "EM :*EM :VEM 4ZEI a] @a] @a] @a] @A I! I1 BE >BE CBE l IBE nBBE  =BA BE qDBE m;BE ]+Ee checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773794a Om >&,=YX@A2Hq>2p?2Gٱ2 :AHRS rotation from veh to nav: [[0.830465,-0.546612,-0.107438],[0.556120,0.824746,0.102587],[0.032534,-0.144943,0.988905]]2H+?}?Rd?`#C? I2^;2CYBPByBG IiEMb@Mb@Mb@AAAA A9EE?Ky&1?YE&?yE^E`e9qYq=uiGyuFu:E}>Q 54Z?Q 94%)BYP(?Q E:y/>Q I!@qDI:i:\4yɮAPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 256.36 m.R57Z57gO ProNav: ac range: 256.356995 m, nav range: 239.873901 m, bearing: 26.492764 deg, approach rate: -0.654246 m/s, LOS rate: 0.001087 deg/s, cmd heading: 33.965995 deg, new cmd heading: 33.966927 deg. B7gOHeadingCmd: 0.592835 target range: 256.356995 and range: 257.80 m.?*"   6BʎjZ%/@1MBɢl) 0i)g}¼i[9+i?v-%,ZI?I @ @@@achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.026237ԉ^A- 3AY Ii I O >Թ cD&,ssX@AbEjE4rE/E EE&E"E:*E n:VE4ZEBE9 B?B ٱBX JAHRS rotation from veh to nav: [[0.830489,-0.546420,-0.108224],[0.555999,0.824990,0.101276],[0.033944,-0.144281,0.988954]]BH`^?`F| ?Pf??? a?w¿?iBhb>IB^;@YVVByVO I Z49IYI=MiGyIUEU>YQ 5e4]v[?Q 9e4])]BYaye>Q Im!@]zDI]:i]W:]c4yupBɮuAqjgOFNOT Ignoring new targets: 256.36 m.R7Z7gO ProNav: ac range: 256.356995 m, nav range: 239.612259 m, bearing: 26.493209 deg, approach rate: -0.657631 m/s, LOS rate: 0.001120 deg/s, cmd heading: 33.966927 deg, new cmd heading: 33.967818 deg. B%8gOHeadingCmd: 0.592850 target range: 256.356995 and range: 257.80 m. ?*" ʎjZ@/@KBɢm) i)TżiN&i  ? u% VGI  ?I%BDAT read: Rx Time:00:40:13.1607 %TRx dataTimestamp_ set to:1761698413.873253%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279192-PExceeded connect timeout, disconnecting.ԑ@ @@ 0@@[A@\A^A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532621A- .AIQ Iy O > ,&,zQX@A2W>2?2dٱ2 :AHRS rotation from veh to nav: [[0.830504,-0.546385,-0.108291],[0.555913,0.825264,0.099504],[0.035001,-0.142838,0.989127]]2H |?@{@ ?h?`y??H¿?i2W>I2B7_;0Y^[By^V IiEMb@Mb@Mb@AAAA A9Ev/?|?5^Mb?YEx)?yEҽE9 ?Y ?=iGyFFE>Q 54[?Q 94)ʲBY+?Q E:yX>Q I!@DIX%;i%;j4yoBɮA1EjIgO]FNOT Ignoring new targets: 256.36 m.Rm8Zu8gO ProNav: ac range: 256.356995 m, nav range: 239.330536 m, bearing: 26.494712 deg, approach rate: -0.659529 m/s, LOS rate: 0.003522 deg/s, cmd heading: 33.967818 deg, new cmd heading: 33.970827 deg. BH8gOHeadingCmd: 0.592903 target range: 256.356995 and range: 257.80 m.z?*" YEE EEEE'EA"EE:*EET:VEE'4ZEAa@a@a@a@BBʎ  j Z O_0@UIBɢ]&])Y ];iY)]t1ɼaaie{!iz?%x梻Iz?IB>BCBs IBsBB =BBpDBm;B4+EBCBCBĔCB =B =CkN6mDAT read: 00:40:13.1607 LVL= 32752, 32753, 32754, 31411, AGC= 71, IDX= 28,-0.32,-2.296, 2.646,-1.817,-2.455, PHS= 0.261,-1.137, 0.594, RAW= 160.4, 3.6, CAL= 159.3, 2.4, ROT= 350.7, -2.4 }Ygot valid direction response: 00:40:13.1607 LVL= 32752, 32753, 32754, 31411, AGC= 71, IDX= 28,-0.32,-2.296, 2.646,-1.817,-2.455, PHS= 0.261,-1.137, 0.594, RAW= 160.4, 3.6, CAL= 159.3, 2.4, ROT= 350.7, -2.4 PDAT read: Bearing 182.0, -7.7 (Local) ~Local bearing/azimuth received: Bearing 182.0, -7.7 (Local) DAT read: Range 11 to 50 : 248.3 m (Round-trip 331.1 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.985990,-0.161462,0.041876]Fpublishing direction and range infoy)-j)a4;?$wuƪĿ ۷p?Y-LxC)))) -z)-GI-ˡ>i-7-b?-$+3@-=-1@ -+=)-+@I-+))-`]78N?a'̷?-9? -д4?)-5/I-5&i-+))T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9@ @@/@ԁ ^Ae A I I O >&,X@A*DAT read: user:510> BDAT read: Tx time:00:40:14.3754 $Ping request sent.B6?BٱB  JAHRS rotation from veh to nav: [[0.830681,-0.546144,-0.108146],[0.555581,0.825724,0.097517],[0.036040,-0.141089,0.989341]]BH`?zrQ?Tl??s?@8¿?iB&>IBd$_;BCYPyVU IbD]VD]kym[S%mJ=ٔmk(Q->9Y=iGy8pE>Q 54*[?Q 94)ղBYy>Q I!@DI);i;r4yɮA&X@AJvCRvCjPK>(nn@ Ck, $@rj)a4;?$wuƪĿ ۷p?Z5&b+KoIk@`mY@&~q8@z$L?|L?ԎJ刹?2B:^C"Ƈ?*C9BBC9“mC$a>gO addTargetRange:: Added new target pos. range: 248.300003 m, deltaT: 16.409111 s, deltaX: -9.499985 m, approachRate: -0.578946 m/s, rangeRepo size: 4 gO Added new target pos. range: 246.896622 m, bearing: 24.876013 deg, lat: 36.779465 deg, lon: -121.859233 deg, deltaT: 16.409111 s, deltaX: -9.460373 m, approachRate: -0.576532 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 246.90 m.RZgO ProNav: ac range: 246.896622 m, nav range: 237.597244 m, bearing: 25.780801 deg, approach rate: 0.000000 m/s, LOS rate: 0.003522 deg/s, cmd heading: 33.970827 deg, new cmd heading: 33.973813 deg. BgOHeadingCmd: 0.592955 target range: 246.896622 and range: 248.30 m.?*" !!ʎ)))j- o@Z- ?a颥GBɢ>l)  i)"̼顱i:i?3&}I?ID=D<E EE&E"E :*E1]:VE4ZEBEL"đ&,cc›X@A,66 >6h?6@ٱ6- >AHRS rotation from veh to nav: [[0.830767,-0.545993,-0.108250],[0.555385,0.826046,0.095891],[0.037064,-0.139783,0.989488]]6H@?`xF ?`n?I? ?j ?i66 >I6/_;4YFbByF^ ILLbDRVDRk2yZ=%ZR=ٔe(Q->9 "?Y "?= iGy F E>Q 5%4>[?Q 9%4)BY!y%>Q I%!@DI9:i1:x4y5nBɮ5\A1jYgO]FNOT Ignoring new targets: 246.90 m.Re8Ze8gOu ProNav: ac range: 246.896622 m, nav range: 237.333755 m, bearing: 25.781475 deg, approach rate: -0.704017 m/s, LOS rate: 0.001802 deg/s, cmd heading: 33.973815 deg, new cmd heading: 33.975164 deg. BuS8gO}HeadingCmd: 0.592978 target range: 246.896622 and range: 248.30 m.}p?y*y"y yʎjZ*?颽EBɢfn)  i)(μi%ip?&kIp?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504393u9@q @q@}_4@yԉԱ^A[RӻE EE$E"E:*E[:VE4ZEa@a@a@a@A I I O >Be >Be ߍCBe  IBe }BBe  =Ba Be oDBe sm;Be +E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754716&,)ܛX@A2[>2?2Bٱ2; :AHRS rotation from veh to nav: [[0.831282,-0.545315,-0.107709],[0.554566,0.826806,0.094065],[0.037760,-0.137926,0.989722]]2H`ݙ?8s Ԓ ?1u?@?;U?Ϋ?i2[>I2_;2CYBjByFh I`iMb@Mb@Mb@ 9x&?&1Mb?Y7)?yнd@  A)OAY\ AbDVDky=%8=ٔҺQ->9Y=iGyE>Q 5 4T[?Q 9 4)BY D+?Q E:y>Q I!@DI:i:v4ymBɮA2EP=B*** querying acoustic contact ***9 9jAgOMFNOT Ignoring new targets: 246.90 m.RM7ZU7gOe ProNav: ac range: 246.896622 m, nav range: 237.045319 m, bearing: 25.782201 deg, approach rate: -0.666013 m/s, LOS rate: 0.001679 deg/s, cmd heading: 33.975164 deg, new cmd heading: 33.976618 deg. BeD8gOeHeadingCmd: 0.593004 target range: 246.896622 and range: 248.30 m.m?i*i"i iiiquE  E E &E "E :*E z:VE 4ZE BE =88X@An>nV?nlٱn zAHRS rotation from veh to nav: [[0.831267,-0.545405,-0.107369],[0.554526,0.827074,0.091921],[0.038668,-0.135950,0.989961]]nHཙ? s|?cw?@#??̣?@f­?in>In^;nCYhBye IbDVD2y5E:%5W=ٔ5Q-=>99Y9==iGyEFEEE>IQ 5U4M4h[?Q 9U4M)MBYQechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258875yU>Q Ie!@MDIMc;iM e;M4ymeBɮu@u)EjgOFNOT Ignoring new targets: 246.90 m.R7Z7gO ProNav: ac range: 246.896622 m, nav range: 236.791656 m, bearing: 25.782849 deg, approach rate: -0.665068 m/s, LOS rate: 0.001700 deg/s, cmd heading: 33.976619 deg, new cmd heading: 33.977916 deg. BG8gOHeadingCmd: 0.593027 target range: 246.896622 and range: 248.30 m.?*" ʎjZ`%f?BBɢvsg) rھi)dԼii%?%ܖ'%IлI%?I)I9@ @@/@qe checking for new query: numPingsReceived=0, elapsed TxPingTime=1.520201^A 0ԩ A I I O >',"X@A2@>2c?2i ٱ2% :AHRS rotation from veh to nav: [[0.831714,-0.544890,-0.106522],[0.553827,0.827742,0.090104],[0.039076,-0.133935,0.990219]]2Hg?@oD?|??@?$?i2@>I2C^;0YB{ByB} IiMMb@Mb@Mb@IIII I9M/$?zGếZd;O?YM1(?yM ׽Mj9Y=iGyE>Q 54}[?Q 94)BYm*?Q E:yz>Q I!@DI ;i ;S4ydBɮ@jgOFNOT Ignoring new targets: 246.90 m.R68Z68gO ProNav: ac range: 246.896622 m, nav range: 236.518112 m, bearing: 25.783875 deg, approach rate: -0.664861 m/s, LOS rate: 0.002496 deg/s, cmd heading: 33.977917 deg, new cmd heading: 33.979971 deg. B18gOHeadingCmd: 0.593062 target range: 246.896622 and range: 248.30 m.?*" RBʎ j Z ?5@Bɢ=d7X)9 =ľi9)=?ּ9AiEiE?M$(M>SIM?IIE EE'E"E>:*E:VE'4ZEa@a@a@a@9@ @@0@B<AB%g>B%ۍCB% IB%BB% =B!B%kDB%vm;B% +Euchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763293ԩ^A5[RӻA I I O > % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0147539 ',Ի)X@AJ->Jc/?JCٱJ RAHRS rotation from veh to nav: [[0.832169,-0.544455,-0.105178],[0.553168,0.828313,0.088898],[0.038719,-0.132159,0.990472]]JH!?-l캿 ?@? ?ӣ?@?iJ->IJ ^;HY^By^ IbDfVDf:ynO<%nT=ٔrr:Q-r>9pYp=viGyvFvEv>xQ 5~4z[?Q 9~4z )zBYy>Q I!@zDIz;iz3;z 4y cBɮ A@ *Ej1gO5FNOT Ignoring new targets: 246.90 m.R= A8Z= A8gOM ProNav: ac range: 246.896622 m, nav range: 236.263550 m, bearing: 25.784887 deg, approach rate: -0.662940 m/s, LOS rate: 0.002638 deg/s, cmd heading: 33.979969 deg, new cmd heading: 33.981995 deg. BM8gOUHeadingCmd: 0.593098 target range: 246.896622 and range: 248.30 m.U@?Q*Q"Y YYYaaʎaaajiZm@颕?BɢlZ) ࿾i)Wټ顙ix i@?(ZI@?I9@ @@0@E EE&E"Ea:*E[:VE4ZEBE(Y ',CX@A2>2?2xٱ2 :AHRS rotation from veh to nav: [[0.832900,-0.543625,-0.103677],[0.552087,0.829189,0.087435],[0.038436,-0.130063,0.990760]]2H ? ae?@?"b?߭?@O?i2>I2_;0YBByF IbDN VDN2yVk=%VN=ٔV;:Q-V>9Z ?YZ ?=ZiGyX^SWE^>`Q 5f4b[?Q 9f4b$)bBYdyfK>Q If!@bDIb:ib:b4ylɮn@ljgOFNOT Ignoring new targets: 246.90 m.R 5R8Z 5R8gO ProNav: ac range: 246.896622 m, nav range: 236.000046 m, bearing: 25.786027 deg, approach rate: -0.662767 m/s, LOS rate: 0.002872 deg/s, cmd heading: 33.981994 deg, new cmd heading: 33.984278 deg. B*8gO%HeadingCmd: 0.593138 target range: 246.896622 and range: 248.30 m.%?!*!"! !!)))ʎ)11j1Z5@9}>Bɢ}[P) Ʋi)ۼ顁iC i?.)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518877+1I?I@ @@=0@iE EE'E"E :*E&p:VE'4ZEa@a@a@a@Թ^AA?A?B P>B ׍CB IB BB ' =B EDB hDB m;B *E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770777I I O >Թ ',]X@AR>RE?RٱRj bAHRS rotation from veh to nav: [[0.833400,-0.543371,-0.100960],[0.551365,0.829990,0.084342],[0.037967,-0.125957,0.991309]]RH5?Kc عȤ?`F?s?`p?@Y͸?iR>IR_;RCYnByr IieMb@Mb@Mb@aaaa a9e{Gz?bX9ȶS㥛?Ye#?yeEe/9Y=iGyF+E > Q 54 [?Q 94 ) +BY%?Q E:y>Q I!@ ȋDI ]:i : ӣ4y)ɮ-@)PMB*** querying acoustic contact ***I IjQgO]FNOT Ignoring new targets: 246.90 m.R]ŶZeŶgOu ProNav: ac range: 246.896622 m, nav range: 235.711105 m, bearing: 25.785875 deg, approach rate: -0.642317 m/s, LOS rate: -0.000337 deg/s, cmd heading: 33.984279 deg, new cmd heading: 33.983975 deg. BugOuHeadingCmd: 0.593132 target range: 246.896622 and range: 248.30 m.}?y*y"y yyԁPBʎjZY @颽E  E E "E "E :*E X:VE (3ZE BE #>27u?2ٱ2 :AHRS rotation from veh to nav: [[0.833782,-0.543191,-0.098743],[0.550831,0.830549,0.082304],[0.037304,-0.123014,0.991704]]2HX?`a5G i?ړ??}?} ?i2>>I2_;2CYFByF IIJG>)HbDRVDRyVm=%Zc=ٔZ:Q-Z>9XY\=^iGEBDAT read: Rx Time:00:40:17.1083 ETRx dataTimestamp_ set to:1761698417.905184Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275889y\MEU>Q 54[?Q 94)7BYy>Q I!@ЋDI:i:4yɮ@j)gO5FNOT Ignoring new targets: 246.90 m.RU1pZU1pgOe ProNav: ac range: 246.896622 m, nav range: 235.462112 m, bearing: 25.785794 deg, approach rate: -0.627600 m/s, LOS rate: -0.000205 deg/s, cmd heading: 33.983975 deg, new cmd heading: 33.983812 deg. Be'gOmHeadingCmd: 0.593129 target range: 246.896622 and range: 248.30 m.mT?i*i"i ʎjZ @;Bɢj?)  i)2)i-qi-T?5F+5]&I5T?I1@ @@4@iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527026i ^A I I O > $',DX@A b>bN(?bVٱbL nAHRS rotation from veh to nav: [[0.834447,-0.542491,-0.096963],[0.549865,0.831322,0.080946],[0.036696,-0.120862,0.991991]]bH`ʳ?@\`Ҹ@~?0?޸?ɢ?c?ib>Ib+_;bCYvByv IiMb@Mb@Mb@ 9ˡE?/${Gz?Y'?yף<Ad@ K A)Y AbD VD2y/%8=ٔ:Q->9Y=iGyF%5E>Q 54E[?Q 94ü)CBYb)?Q E:yK>Q I!@؋DI8;i;ܱ4ybBɮ @ +Ej)gO5FNOT Ignoring new targets: 246.90 m.R5Z=EM EMEM$EI"EM:*EMc:VEM4ZEIa]@a]@a]@a]@gO] ProNav: ac range: 246.896622 m, nav range: 235.187500 m, bearing: 25.785158 deg, approach rate: -0.676812 m/s, LOS rate: -0.001568 deg/s, cmd heading: 33.983811 deg, new cmd heading: 33.982539 deg. Be7gOmHeadingCmd: 0.593107 target range: 246.896622 and range: 248.30 m.m?i*i"i iiqquMBʎqyyjyZ} @AM:BɢMwI)Q UdiQ)U1QQiUi]?2,6I?IBK>B֍CB IBBB+ =BBBQm;B*EDAT read: 00:40:17.1083 LVL= 32192, 32753, 29170, 32755, AGC= 69, IDX= 149,-0.30,-2.690, 2.218,-2.133,-2.728, PHS= 0.140,-1.292, 0.551, RAW= 162.3, 7.2, CAL= 161.7, 7.1, ROT= 348.3, -7.1 Ygot valid direction response: 00:40:17.1083 LVL= 32192, 32753, 29170, 32755, AGC= 69, IDX= 149,-0.30,-2.690, 2.218,-2.133,-2.728, PHS= 0.140,-1.292, 0.551, RAW= 162.3, 7.2, CAL= 161.7, 7.1, ROT= 348.3, -7.1 PDAT read: Bearing 185.8, -10.6 (Local) ~Local bearing/azimuth received: Bearing 185.8, -10.6 (Local) DAT read: Range 11 to 50 : 246.6 m (Round-trip 328.9 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.971714,-0.201233,0.123601]Fpublishing direction and range infoyAEǶG?nɿA7X?YEvCAE}AEq E)EEIE)\>iEB`EV ?EuJ5@E>E4@ E=)E@IEAAEX( l~?IY? ?5? E  *DAT read: user:511>  BDAT read: Tx time:00:40:18.4254  $Ping request sent. 9)Y1=5iGy1=E=>AQ 5U4E[?Q 9U4E)ENBYYyYQ I]!@EDIEB;iE+?;E4yiɮm@m,E/X@AJ)uCR)uCj>]ZIm@C֪H]lM>@rǶG?nɿA7X?ZQbh k@B}FW@zaF@z6^?ab7!?*`~_?2ݸB:^C"(>?*[i:B1BU?? “+wAjCW->gO] addTargetRange:: Added new target pos. range: 246.600006 m, deltaT: 4.031789 s, deltaX: -1.699997 m, approachRate: -0.421648 m/s, rangeRepo size: 4 gOe Added new target pos. range: 245.162369 m, bearing: 22.549028 deg, lat: 36.779485 deg, lon: -121.859291 deg, deltaT: 4.031789 s, deltaX: -1.734253 m, approachRate: -0.430145 m/s, posRepo size: 4 jigOFNOT Ignoring new targets: 245.16 m.RZgO ProNav: ac range: 245.162369 m, nav range: 234.778351 m, bearing: 24.415288 deg, approach rate: 0.000000 m/s, LOS rate: -0.001568 deg/s, cmd heading: 33.982537 deg, new cmd heading: 33.981174 deg. BgOHeadingCmd: 0.593083 target range: 245.162369 and range: 246.60 m.P?*" ʎj@3n@Z?颭9Bɢ5m=) i) 顱iNiP?k-?4IP?IbEjE4rEğ/Eu EuEu%Eq"Eu>:*Eu1]:VEu 4ZEqBEu )1',ĜX@A:=>:?:Ӈٱ: FAHRS rotation from veh to nav: [[0.835616,-0.540475,-0.098153],[0.548181,0.831946,0.085812],[0.035278,-0.125511,0.991465]]:H\?`K `?`M??? ?i:=>I:E_;:CYNByN I PPbDVVDVfy^GT=%bd=ٔb;Q-b>9dYd=fiGyfFfEf>hQ 5n4j\?Q 9r4jضQ =rtI)jXBYpyr[>Q Ir"@jDIjp;ij:;jS4yxɮz@x|jgO%FNOT Ignoring new targets: 245.16 m.R%ŸZ%ŸgO5 ProNav: ac range: 245.162369 m, nav range: 234.543152 m, bearing: 24.413472 deg, approach rate: -0.699653 m/s, LOS rate: -0.005407 deg/s, cmd heading: 33.981175 deg, new cmd heading: 33.977539 deg. B5SgO=HeadingCmd: 0.593020 target range: 245.162369 and range: 246.60 m.=(?A*A"A AAAIIʎIIIjQZU`?}8Bɢ}_G) i)^顁i5i(?7.SI(?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5038219@ @@/@1^A0QIyIO~>Eu EuEqEq"Eu2:*EuX:VEqZEqa@a@a@a@B H>B B IB ΂BB * =B B B l;B *EB}׍CB}ٍCB}ɗCB}' =B}" =C}ɓ%7m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754796ԁ ;Y7',tޜX@A6)/>6bm?6) ٱ6 BAHRS rotation from veh to nav: [[0.836079,-0.539689,-0.098533],[0.547526,0.832140,0.088081],[0.034457,-0.127592,0.991228]]6H (? E@t9V??`w?W?`T#?i6)/>I6_;6CYjByj IQiMb@Mb@Mb@ 9!rh?333333{Gz?Yl'?yCAA  A)AY AbDVDy7B=%;=ٔ_:Q->9Y=iGyFE>Q 54=\?Q 94l)dBY(?Q E:y>Q I"@DI:i:4yaBɮ<@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 245.16 m.RZgO- ProNav: ac range: 245.162369 m, nav range: 234.256134 m, bearing: 24.410378 deg, approach rate: -0.656345 m/s, LOS rate: -0.007085 deg/s, cmd heading: 33.977541 deg, new cmd heading: 33.971344 deg. B-yOgO5HeadingCmd: 0.592912 target range: 245.162369 and range: 246.60 m.5?1*1"1 1999=WBʎAAAjIZMY?u7Bɢu4)q usiy)}yyi}i?q0XYI?I=9@A @A@E0@Aychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006916Ա^AjZXIy I O > Eu  Eu Eu 'Eq "Eu :*Eu T:VEu '4ZEq BEu #6Z?6ٱ6* >AHRS rotation from veh to nav: [[0.836263,-0.539578,-0.097571],[0.547310,0.832232,0.088551],[0.033422,-0.127454,0.991281]]6H?9Dl??I??fP?i6+ >I6_;6CYrByr ItvAAbDzVDzܲy.%W=ٔ 2;Q- >9 Y = iGyFBE>%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259091)Q 554- 1\?Q 954-q)-nBY1y5>Q I5"@-DI-:i- ;-4yAɮEy@E-EjigOmFNOT Ignoring new targets: 245.16 m.Ru*Zu*gO ProNav: ac range: 245.162369 m, nav range: 234.006195 m, bearing: 24.407694 deg, approach rate: -0.656547 m/s, LOS rate: -0.007058 deg/s, cmd heading: 33.971343 deg, new cmd heading: 33.965969 deg. BNgOHeadingCmd: 0.592818 target range: 245.162369 and range: 246.60 m.?*" ʎjZ@p?ԹɢD<) zi)si i?1A[I?Iu9@q @q@uh2@q@}=@y^AlXchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514790I I O >A thD',}X@A2>2J?2ٱ2 :AHRS rotation from veh to nav: [[0.836426,-0.539518,-0.096497],[0.547121,0.832330,0.088805],[0.032406,-0.127074,0.991364]]2H?C?q?滶?? C`@?i2>I2%_;2CYBłByB IIF >)F>i Mb@Mb@Mb@     9 /$?{GzQ?Y 1(?y ף u< A ?@ )  Y G AbD-VD-ky=c=%=G=ٔ=!;Q-=>9AYA=EiGyAEEM>IQ 5]4MtE\?Q 9]4ME)MwBY]z)?Q E]:y]g>Q I]"@MDIM ;iM ;M4ymYBɮmA@m#EjgOFNOT Ignoring new targets: 245.16 m.RӸZӸgO- ProNav: ac range: 245.162369 m, nav range: 233.735779 m, bearing: 24.405325 deg, approach rate: -0.660036 m/s, LOS rate: -0.005788 deg/s, cmd heading: 33.965967 deg, new cmd heading: 33.961224 deg. B-)E5 E5E1E1"E5:*E5i:VE1ZE1aE@aE@aE@aE@gOUHeadingCmd: 0.592735 target range: 245.162369 and range: 246.60 m.U~?Q*Q"Q QYYY]TBʎaaajaZeS?6Bɢ$1) bi)2-ii~?R3b]I~?I BUF>BQBU IBU݂BBU+ =BQBUgDBU3l;BUO*E5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763717@ @@4@Ai^Au \IY Iq O} >ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014978xJ',+K,X@A2>2&`?2{ٱ2 :AHRS rotation from veh to nav: [[0.836268,-0.539742,-0.096617],[0.547409,0.831972,0.090369],[0.031606,-0.128462,0.991211]]2H`? E ܻ`??m"?.?mq?i2>I25_;0YjǂByj IbDvVDvky~Y!<%~O=ٔ~;Q->9Y=iGyF Y:E >Q 54&Y\?Q 945)BYy%>Q I%"@ DI;i/;4y)ɮ-@-$EjQgOUFNOT Ignoring new targets: 245.16 m.R]ָZ]ָgOm ProNav: ac range: 245.162369 m, nav range: 233.474838 m, bearing: 24.403009 deg, approach rate: -0.660186 m/s, LOS rate: -0.005865 deg/s, cmd heading: 33.961224 deg, new cmd heading: 33.956587 deg. Bm+gO}HeadingCmd: 0.592654 target range: 245.162369 and range: 246.60 m.}0?y*y" ʎjZ@5Bɢ/5) \i)dii0?4WI0?Iqu9@q @q@u/@qDE=DE%=EM EMEM$EI"EM:*EMAr:VEM4ZEIBEMm% wQ','FX@AYnByn I v;tbDzVDz0y%j(%-G=ٔ-Q-->9)Y1=5iGy15E5>Q 54'n\?Q 94)BYyQ I"@DI;iV;4yɮ@jgOFNOT Ignoring new targets: 245.16 m.RTոZTոgO  ProNav: ac range: 245.162369 m, nav range: 233.196518 m, bearing: 24.400534 deg, approach rate: -0.654453 m/s, LOS rate: -0.005828 deg/s, cmd heading: 33.956586 deg, new cmd heading: 33.951629 deg. B*gOHeadingCmd: 0.592568 target range: 245.162369 and range: 246.60 m.?*" !!!ʎ!))j)Z-@Yɢ]G7)Y ]&miY)eCaaieim?m 6iIm?Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5204869@ @@/@@@!^AONI1IIEU EUEU"EQ"EU:*EUV:VEU(3ZEQae@ae@ae@ae@Om>BU I>BQ BU !IBU BBU ) =BQ BU hDBU Zk;BU )Ei M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770918hW',.`X@A 2l>2?25ٱ2a >AHRS rotation from veh to nav: [[0.835923,-0.540629,-0.094623],[0.547983,0.831779,0.088644],[0.030782,-0.125951,0.991559]]2H?@L@99`?@? ]?Y?`,`ٺ?i2l>I2^;2CYF‚ByF I HHiMb@Mb@Mb@ 9 r?ʡEMb?Y#?y<A  A)9AYbDuVDuky_<%E=ٔ;Q->9Y=iGyFH:E>Q 54\?Q 94)BY$?Q E:y>Q I"@DIs:i:4yXBɮd@%EPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 245.16 m.RָZָgO ProNav: ac range: 245.162369 m, nav range: 232.937180 m, bearing: 24.398185 deg, approach rate: -0.647011 m/s, LOS rate: -0.005867 deg/s, cmd heading: 33.951627 deg, new cmd heading: 33.946924 deg. B+gOHeadingCmd: 0.592486 target range: 245.162369 and range: 246.60 m.#?*"    RBʎ jZ gE @E4BɢE 7)A EVdiA)MiIIiMܺiU#?UN7ULIU#?IYq9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022906ԙ^A5NJNIIO> XG  9 Y ADY zD] ?AEa  Ee Ee &Ea "Ea *Ee ҆:VEe 4ZEa BEe :?:vٱ:` VAHRS rotation from veh to nav: [[0.835493,-0.541674,-0.092415],[0.548667,0.831608,0.085983],[0.030279,-0.122543,0.992001]]:H@[?eU@`?`?? X? ^`y?i:]ֹ>I:U^;:CBDAT read: Rx Time:00:40:21.1557 TRx dataTimestamp_ set to:1761698421.937252 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276122YƂBy IbD-VD-yeݧ<%eL=ٔm:Q-u>9Y=iGy;E>Q 54\?Q 9 4)BY1y5C>Q I="@%DI d', X@AHfӻ>f?fi7ٱf nAHRS rotation from veh to nav: [[0.835603,-0.541584,-0.091944],[0.548497,0.831793,0.085274],[0.030295,-0.121686,0.992106]]fH@C? TJ? ?Ե??`&`U?ifӻ>If\7^;dYzÂByz IiuMb@Mb@Mb@qqqq q9uE?ktI +?Yu&?yu u949"?E EE)E"E:*EAr:VEFA4ZEa@a@a@a@Y"?=iGyFXE>IQ 5U4M&\?Q 9U4M)MBYU (?Q E]:y]>Q I]"@M.DIM:iM:M4yaAABBB !IBBB( =BBBMj;Bb)EɮZ@jgOFNOT Ignoring new targets: 245.16 m.R|Z|gO% ProNav: ac range: 245.162369 m, nav range: 232.389450 m, bearing: 24.393876 deg, approach rate: -0.661053 m/s, LOS rate: -0.004330 deg/s, cmd heading: 33.941966 deg, new cmd heading: 33.938295 deg. B%gO-HeadingCmd: 0.592335 target range: 245.162369 and range: 246.60 m.-D?)*)"1 1119=MBʎ999jaZe@ԹDAT read: 00:40:21.1557 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 142,-0.06,-0.695,-2.103,-0.174,-0.826, PHS= 0.233,-1.233, 0.608, RAW= 161.1, 4.7, CAL= 160.1, 3.8, ROT= 349.9, -3.8 Ygot valid direction response: 00:40:21.1557 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 142,-0.06,-0.695,-2.103,-0.174,-0.826, PHS= 0.233,-1.233, 0.608, RAW= 161.1, 4.7, CAL= 160.1, 3.8, ROT= 349.9, -3.8 PDAT read: Bearing 182.1, -8.8 (Local) ~Local bearing/azimuth received: Bearing 182.1, -8.8 (Local) DAT read: Range 11 to 50 : 244.6 m (Round-trip 326.2 ms) speed 0.7 m/s %R#Rx 1: Read range and direction messages.-^direction in FSK: [0.982339,-0.174981,0.066274]-Fpublishing direction and range infoyFsQo?Deƿ{S?YtCyɢ}X6) .bi)顉iStϺ )JIn>iҝ?P3@=[2@ ԇ=)k@IԇMq1N? e BDAT read: Tx time:00:40:22.4753 m $Ping request sent.m zk',&X@Avȹ>vй?v&^ٱvd ~AHRS rotation from veh to nav: [[0.835549,-0.541672,-0.091922],[0.548573,0.831775,0.084963],[0.030436,-0.121417,0.992135]]vHм?`U+`??)?@*?*?ivȹ>Iv];vCYBy II=)p<bDVDy˼%<=ٔQ->9Y=iGy'b9E>Q 54\?Q 94])BYy>Q I"@6DI:i :54y ɮ@&E0X@AJ,sCR,sCj>MRe&m@4FE֫,0@rFsQo?Deƿ{S?ZT4bԇ-q6k@/YgO addTargetRange:: Added new target pos. range: 244.600006 m, deltaT: 4.031315 s, deltaX: -2.000000 m, approachRate: -0.496116 m/s, rangeRepo size: 4 gO Added new target pos. range: 243.174469 m, bearing: 23.686009 deg, lat: 36.779545 deg, lon: -121.859291 deg, deltaT: 4.031315 s, deltaX: -1.987900 m, approachRate: -0.493114 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 243.17 m.RZgO ProNav: ac range: 243.174469 m, nav range: 238.203247 m, bearing: 23.729658 deg, approach rate: 0.000000 m/s, LOS rate: -0.004330 deg/s, cmd heading: 33.938295 deg, new cmd heading: 33.934624 deg. B gO5HeadingCmd: 0.592271 target range: 243.174469 and range: 244.60 m.5?1*1"1 11199ʎ99AjE@3n@ZEO?Iɢdv;) li)EiȺi?E EE(E"E:*Ee:VEc44ZEBE.Hr',!˝X@A6R>6u?6ٱ6? JAHRS rotation from veh to nav: [[0.835830,-0.541286,-0.091640],[0.548148,0.832074,0.084767],[0.030368,-0.121083,0.992178]]6H?8R`un?Z?R??R?i6R>I6];6CYVByV I^checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501704bDfVDfk1yn睽%nP=ٔn59Q-n>9r ?Yr ?=riGyrFrEv>xQ 5~4zI\?Q 9~4zq)zBY|y~^>Q I~"@z?DIzE:iz:z4y ɮ @ 'Ej1gO5FNOT Ignoring new targets: 243.17 m.R=Z=gOM ProNav: ac range: 243.174469 m, nav range: 237.949020 m, bearing: 23.727348 deg, approach rate: -0.684038 m/s, LOS rate: -0.006222 deg/s, cmd heading: 33.934624 deg, new cmd heading: 33.929999 deg. BM16gOUHeadingCmd: 0.592190 target range: 243.174469 and range: 244.60 m.UǙ?Q*Q"Q QYYYYʎaaajaZe?频ɢI) ᅾi)O顙iiǙ?C<IIǙ?I)E9@A @I@M4@IIEu EuEu$Eq"Eu:*EuV:VEu4ZEqa}@a}@a}@a}@B5G>B1B1B1B1B1B1B5h;B5(E^Ae*:uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754828y A ؟AI I O >@x',2Ub?2ٱ2 >AHRS rotation from veh to nav: [[0.836291,-0.540804,-0.090268],[0.547464,0.832654,0.083488],[0.030011,-0.119239,0.992412]]2H`?`DNӄ??_?A?t?i2>I2{];0YFByF IiEMb@Mb@Mb@AAAA A9EQ?i|?5y&1?YE(?yEE`e9}"?Y}"?=}iGyyOE>Q 54\?Q 94Д)BY?Q E:y>Q I"@GDI7 ;i~ ;[4yɮ@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 243.17 m.Rp8Zp8gO ProNav: ac range: 243.174469 m, nav range: 237.687805 m, bearing: 23.728730 deg, approach rate: -0.618885 m/s, LOS rate: 0.003279 deg/s, cmd heading: 33.929999 deg, new cmd heading: 33.932767 deg. B8gOHeadingCmd: 0.592238 target range: 243.174469 and range: 244.60 m.?*" 1BʎjZ7?-3Bɢ5<)1 5oi1)=j99i=_ĺiE?E=E?oVIE?IAԑ@ @@4@@\A@[Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008901Թ^A5bEjE 4rE).0E  E E &E "E :*E X:VE 4ZE BE 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262804~',X@A2=Ǹ>2j9?2ةٱ2oe :AHRS rotation from veh to nav: [[0.836636,-0.540277,-0.090224],[0.546944,0.832961,0.083830],[0.029862,-0.119483,0.992387]]2H?I ??u??h?i2=Ǹ>I2c];2C\YvByv I xxbDVDy %Q=ٔ39Q->9 ?Y ?=iGyF%кE%>!Q 5-4%\?Q 954%a)%dzBY1y5{>Q I5"@%ODI%:i% :%34yAɮEB@AjagOmFNOT Ignoring new targets: 243.17 m.Ruw8Zuw8gO ProNav: ac range: 243.174469 m, nav range: 237.445114 m, bearing: 23.730053 deg, approach rate: -0.620490 m/s, LOS rate: 0.003385 deg/s, cmd heading: 33.932766 deg, new cmd heading: 33.935414 deg. BC8gOHeadingCmd: 0.592285 target range: 243.174469 and range: 244.60 m.?*" ʎjZ@3z?ɢKC) }i)i\hi??D_I?Im9@q @q@u/@qi I checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517680^AlXA ؟AI I IA O >A܅',X@AE& E&E$E$"E&m:*E&rN:VE$ZE$a*@a*@a*@a*@>S>>?>ٱ>~ FAHRS rotation from veh to nav: [[0.837127,-0.539440,-0.090682],[0.546212,0.833287,0.085356],[0.029519,-0.120985,0.992215]]>H`?C6z?I?`ٵ?Q:?`:?i>S>I>e];>CBrF>BpBr!IBrBBr) =BpBrgDBrg;Br#(EB֍CB֍CBCB) =B) =Cr5echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.766348YBy Ii=Mb@Mb@Mb@9999 99=E?K7A~jt?Y=&?y= I=D<9=?@ =A)="A9Y=AQQbD]VD]:2yϛ<%=ٔ+:Q->9"?Y"?=iGyF?ݺE>Q 54]?Q 94)ԳBY)?Q E:y>Q I"@ZDI;i;V4y QBɮ @ Ej1gO5FNOT Ignoring new targets: 243.17 m.R58Z=8gOM ProNav: ac range: 243.174469 m, nav range: 237.099289 m, bearing: 23.732184 deg, approach rate: -0.655054 m/s, LOS rate: 0.004043 deg/s, cmd heading: 33.935412 deg, new cmd heading: 33.939682 deg. BM8gOUHeadingCmd: 0.592359 target range: 243.174469 and range: 244.60 m.Uڤ?Q*Q"Q QQYY]BʎYaajaZe@@频ɢ%8) ri)$ 顙i5ުiڤ?@JdlIڤ?I9@ @@3@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017555^A jZXA% ?A% >I I I) O= >y',R4X@A2>2?2ٱ2u :AHRS rotation from veh to nav: [[0.837480,-0.538651,-0.092096],[0.545676,0.833373,0.087905],[0.029400,-0.123874,0.991862]]2H?`<@-v??@?? 0@V?i2>I2b=];2C @)B`ABvB& F@@F`AiFqIFFEDIDiFaA HH)HH N`ANC N@ELLN`AIN+)PiP)PIR`ARRF TTTTiTTiXX)X XIXYXYbByb IbDjVDjJyr<%r=ٔv.9Q-v?9tYt=ziGyxzEz?|Q 54~x%]?Q 94~)~۳BY y >Q I "@~`DI~:i~B:~#4yɮJ@1jAgOEFNOT Ignoring new targets: 243.17 m.RM8ZM8gO] ProNav: ac range: 243.174469 m, nav range: 236.894867 m, bearing: 23.733473 deg, approach rate: -0.671068 m/s, LOS rate: 0.004235 deg/s, cmd heading: 33.939681 deg, new cmd heading: 33.942261 deg. B]8gOeHeadingCmd: 0.592404 target range: 243.174469 and range: 244.60 m.eͧ?a*a"a aiiʎjZ@=2BɢExF)A E2kiAEu EuEqEq"Eu:*Eux:VEqZEqBEu#Ա 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521655[',NX@A2>2ҩ?2pٱ2+ :AHRS rotation from veh to nav: [[0.837843,-0.537939,-0.092958],[0.545116,0.833595,0.089268],[0.029468,-0.125465,0.991660]]2H@?6`̷ q?ά?=ڶ?,?;?i2>I2JL];0YrByr IIve>)va=z=z=bD~VD~y Ǥ% H=ٔ/Q->9Y=iGyFvֺE>!Q 5-4%:]?Q 9-4%6)%BY1y5l>Q I5"@%iDI%K:i%:%*4y=RBɮ=@EEjagOmFNOT Ignoring new targets: 243.17 m.Rm8Zm8gO} ProNav: ac range: 243.174469 m, nav range: 236.625046 m, bearing: 23.735217 deg, approach rate: -0.662784 m/s, LOS rate: 0.004289 deg/s, cmd heading: 33.942260 deg, new cmd heading: 33.945752 deg. B})8gOHeadingCmd: 0.592465 target range: 243.174469 and range: 244.60 m.˫?*" ʎԙjZ@ɢfC) ri) ii˫?OC#I˫?I9@ @@@E EE%E"E>:*E:VE 4ZEa@a@a@a@BG>BB IBBB( =BBhDBf;B'Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.774236^AmtIIO> ',gX@AY]By] IiMb@Mb@Mb@ 9Mb?Dl/$?Y ?yO <A(@ )AY\A <bDVD0y tb<%;=ٔQ->9Y=iGy%E%>)Q 5-4-P]?Q 954-)-BY5q$?Q E5:y5>Q I="@-rDI-` ;i- ;-24yEQBɮEZ@E EP]B*** querying acoustic contact ***Y YjigOmFNOT Ignoring new targets: 243.17 m.Ru 9Zu 9gO ProNav: ac range: 243.174469 m, nav range: 236.345779 m, bearing: 23.738529 deg, approach rate: -0.638309 m/s, LOS rate: 0.007579 deg/s, cmd heading: 33.945750 deg, new cmd heading: 33.952381 deg. B]9gOHeadingCmd: 0.592581 target range: 243.174469 and range: 244.60 m.a?*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025689" )1115 Bʎ999j9Z= P @1Bɢ v<)  ki)riji%a?%]Em;/Ima?Ii)9@ @@@QE EE'E"E:*E:VE'4ZEBEy m',)́X@A22>2n?2 ٱ2 :AHRS rotation from veh to nav: [[0.838316,-0.537705,-0.089998],[0.544350,0.834677,0.083650],[0.030140,-0.119115,0.992423]]2H|? 4 Qk? ?j?ݞ?X~?i22>I2I$];0Y^‚Byb IbDjVDjy=%\=ٔlQ-%>9!Y!=%iGy%F-{E->1Q 5=45Lc]?Q 9=45Z)5BY9y=m>Q IE"@5yDI5;i5;594yIɮM@IjigOuFNOT Ignoring new targets: 243.17 m.R}9Z}9gO ProNav: ac range: 243.174469 m, nav range: 236.107788 m, bearing: 23.741431 deg, approach rate: -0.639963 m/s, LOS rate: 0.007812 deg/s, cmd heading: 33.952382 deg, new cmd heading: 33.958192 deg. Bd9gOHeadingCmd: 0.592682 target range: 243.174469 and range: 244.60 m.?*" ʎjZ ii?2HGI?IQ9@ @@4@ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.529571^A1II IY O >E  E E &E "E :*E g:VE 4ZE a @a @a @a @A AAA B E>B B IB ݂BB B B gDB #f;B Q'Eʗ',X@ARۅ>R?RkٱR@ bAHRS rotation from veh to nav: [[0.837957,-0.538793,-0.086778],[0.544880,0.834903,0.077742],[0.030564,-0.112428,0.993190]]RH`? =7@o???`;L?@ȼ5?iRۅ>IR\;RCYpyp xxDAT read: 00:40:25.2020 LVL= 28640, 32753, 25458, 32755, AGC= 70, IDX= 137, 0.15,-2.858, 2.048,-2.328,-2.992, PHS= 0.236,-1.198, 0.619, RAW= 161.5, 4.2, CAL= 160.5, 3.1, ROT= 349.5, -3.1 Ygot valid direction response: 00:40:25.2020 LVL= 28640, 32753, 25458, 32755, AGC= 70, IDX= 137, 0.15,-2.858, 2.048,-2.328,-2.992, PHS= 0.236,-1.198, 0.619, RAW= 161.5, 4.2, CAL= 160.5, 3.1, ROT= 349.5, -3.1 PDAT read: Bearing 180.7, -9.0 (Local) ~Local bearing/azimuth received: Bearing 180.7, -9.0 (Local) DAT read: Range 11 to 50 : 241.8 m (Round-trip 322.5 ms) speed 0.1 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.981816,-0.181969,0.054079]Fpublishing direction and range infoyy k?w[A/Jǿʾ7?YqCorc )FIq>iXv?e4@Q =G3@I k]=)2@Ik][q4?(IkD)?(Dȩ? E9?)8pIt;ik]T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.i5Mb@Mb@Mb@1111 195x&1?㥛 ¿S㥛?Y5!?y55/<11 5| A)5"A1Y5AbDmVDmky5̺%=ٔ^GQ->9Y=iGyP:E>Q 5 4]?Q 9 4 )BY%?Q E:y>Q I"@DIC:i:B4y=RBɮ=@AyiŞX@AJcpCRcpCj>Xm@ 'E66)@ry k?w[A/Jǿʾ7?Zt;bk]{'ӆk@EW@S( 9@zשsP?,F?9&^?2.B:6\C"u?*{BشB(>?“شBmCS>gO= addTargetRange:: Added new target pos. range: 241.800003 m, deltaT: 4.040326 s, deltaX: -2.800003 m, approachRate: -0.693014 m/s, rangeRepo size: 4 gOM Added new target pos. range: 240.389084 m, bearing: 22.915173 deg, lat: 36.779564 deg, lon: -121.859291 deg, deltaT: 4.040326 s, deltaX: -2.785385 m, approachRate: -0.689396 m/s, posRepo size: 4 jQgOFNOT Ignoring new targets: 240.39 m.RZgO ProNav: ac range: 240.389084 m, nav range: 237.727463 m, bearing: 23.536733 deg, approach rate: 0.000000 m/s, LOS rate: 0.007812 deg/s, cmd heading: 33.958191 deg, new cmd heading: 33.967387 deg. BgOHeadingCmd: 0.592843 target range: 240.389084 and range: 241.80 m.?*" Bʎ!!j%9n@Z% D?颍/Bɢ.2) [i)$顱i = BDAT read: Tx time:00:40:26.5753 = $Ping request sent.= 9yYy=}iGy}F}E>Q 54є]?Q 94)BYyQ I"@DI/;i~ ;I4yɮ@!EQjgOFNOT Ignoring new targets: 240.39 m.R{!9Z{!9gO ProNav: ac range: 240.389084 m, nav range: 237.463943 m, bearing: 23.540311 deg, approach rate: -0.649166 m/s, LOS rate: 0.008824 deg/s, cmd heading: 33.967388 deg, new cmd heading: 33.974552 deg. B/9gOHeadingCmd: 0.592968 target range: 240.389084 and range: 241.80 m.?*" ʎjZ@\?.BɢJ>) PRi)ii?K.I?I9@ @@0@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502650ԙ^AoMA) IQ I O > ',؞X@AEn EnEn"El"En:*EnV:VEn(3ZElav@av@av@av@BF>BB IBBBBBhDBZe;B&EY5ςBy5 IiMb@Mb@Mb@ 9)\(?9)Y)=5iGy11E5>9Q 5E4=]?Q 9E4=|)=+BYm%?Q Em:ym>Q Im"@=DI=>;i=;=Q4yqɮu6@yjgOFNOT Ignoring new targets: 240.39 m.R9Z9gO ProNav: ac range: 240.389084 m, nav range: 237.170486 m, bearing: 23.544091 deg, approach rate: -0.664567 m/s, LOS rate: 0.008573 deg/s, cmd heading: 33.974553 deg, new cmd heading: 33.982124 deg. B{9gOHeadingCmd: 0.593100 target range: 240.389084 and range: 241.80 m.f?*" !!)-Bʎ)))j1Z5@?}-Bɢ}4) =i)E顡i@sif?%MFIf?I=9@9 @9@=2@9 ^A ˈ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007650A5 .A9 IA IQ Oe >', X@A2X>2x?2Qnٱ2Z :AHRS rotation from veh to nav: [[0.837811,-0.538754,-0.088413],[0.544944,0.835091,0.075230],[0.033302,-0.111209,0.993239]]2H@Y?x= 8-p??`HB? ?+x?i2X>I2,K];2CYBтByB IbDNVDNNyRD<%V|=ٔV~ Q-V ?9Z ?YZ ?=ZiGyZF^9E^ ?`Q 5b4by]?Q 9f4b{)b6BYdyf>Q If"@bDIba;ib;bW4ynSBɮn@n"EPzB*** querying acoustic contact ***x xjgOFNOT Ignoring new targets: 240.39 m.R 9Z 9gO ProNav: ac range: 240.389084 m, nav range: 236.962265 m, bearing: 23.546780 deg, approach rate: -0.658635 m/s, LOS rate: 0.008513 deg/s, cmd heading: 33.982124 deg, new cmd heading: 33.987507 deg. BFy9gO%HeadingCmd: 0.593194 target range: 240.389084 and range: 241.80 m.%?!*!") )))11ʎ111j9Z=?ɢY*<) z7i)iji?sNI?IDzD@AE EE'E"E :*EAr:VE'4ZEBEK"', X@A 2n>2$?2 ٱ2 :AHRS rotation from veh to nav: [[0.837951,-0.538215,-0.090347],[0.544665,0.835164,0.076431],[0.034319,-0.113254,0.992973]]2H@? 9 ! m?`??5? ?o?i2n>I2[];2CY^ۂByb IbDj VDj:2yrO>=%rH=ٔr"Q-v>9v"?Yv"?=viGytzFEz>|Q 5U4~?]?Q 9U4~x)~CBYYy]>Q I]"@~DI~kSB9B= !IB=BB9B9B=gDB=d;B=&EEU EUEU%EQ"EUO:*EU&p:VEU 4ZEQBEU <2EU <JEUu;:EUu;^A5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762710I I O >(',g&X@A2$>2^Y?2 ٱ2j :AHRS rotation from veh to nav: [[0.838357,-0.537123,-0.093043],[0.543987,0.835343,0.079243],[0.035160,-0.117048,0.992504]]2H? 0ѷ@Wh?@"?@AI?`~??i2$>I2K];2CYB߂ByB IPiEMb@Mb@Mb@AAAA A9EMb?Mb~jt?YE#?yEE9qYq=}iGy}F}UE}>Q 54]?Q 94u)QBYq&?Q E:y>Q I"@DI:i:#f4yɮ?@jgOFNOT Ignoring new targets: 240.39 m.R8Z8gO ProNav: ac range: 240.389084 m, nav range: 236.426407 m, bearing: 23.552093 deg, approach rate: -0.666943 m/s, LOS rate: 0.004645 deg/s, cmd heading: 33.994340 deg, new cmd heading: 33.998144 deg. B9gOHeadingCmd: 0.593380 target range: 240.389084 and range: 241.80 m.?*" BʎjZx@E*BɢE,)A EiI)MIIiM{A]i?RˏI?Im9@i @i@m/@qiߑIߑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.016854^A]bEjE4rEp/E  E E $E "E *E c:VE 4ZE BE 2E JE ;:E ;1 Iq I O >= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266661',_C@X@A|YBy !I    A@AbDVDye=%eK=ٔmQ-m>9iYi=uiGyquEu>Q 54g]?Q 94Ks)^BYyQ I"@DI:i:Qm4yTBɮK@#EjgOFNOT Ignoring new targets: 240.39 m.Rf8Zf8gO ProNav: ac range: 240.389084 m, nav range: 236.160538 m, bearing: 23.553947 deg, approach rate: -0.647317 m/s, LOS rate: 0.004519 deg/s, cmd heading: 33.998144 deg, new cmd heading: 34.001856 deg. B5R9gO=HeadingCmd: 0.593444 target range: 240.389084 and range: 241.80 m.=?9*9"9 99AAAʎAIIjIZM@+@})Bɢ}q#)y }i)#顁iYi?TI?I)M9@I @I@M0@IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518641^AmmIIO>ԉ =',-ZX@AVA;>Vm?VXٱVwBbB>BbՍCBb"!IBbBBb) =B`B`Bb_d;Bbo&EBBBB( =B( =C4 AHRS rotation from veh to nav: [[0.839200,-0.535353,-0.095610],[0.542681,0.835783,0.083452],[0.035233,-0.121918,0.991915]]VH? !y]?`?]? ?6ý?iVA;>IVU];VCY-By5!IYE% E%E%'E!"E%:*E%rN:VE%'4ZE!BE%<2E%<JE%V;:E%V;iMb@Mb@Mb@ 9K7A?i|?5?Y "?y<A@ A) AYAbD VD2yk;<%4=ٔ(Q->9Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770790=iGyF>`E>Q 5 4^?Q 9 4dp)lBY $?Q E :y ]>Q I"@DI ;i ;u4yUBɮ-@$EjAgOEFNOT Ignoring new targets: 240.39 m.RM58ZM58gO] ProNav: ac range: 240.389084 m, nav range: 235.874176 m, bearing: 23.555050 deg, approach rate: -0.641106 m/s, LOS rate: 0.002473 deg/s, cmd heading: 34.001856 deg, new cmd heading: 34.004066 deg. B]ѐ8gOeHeadingCmd: 0.593483 target range: 240.389084 and range: 241.80 m.e?a*a"a *BʎjZ`'u@='Bɢ= c )a eսia)e aiimEUim?uVuΛIu?Iqԁ59@1 @9@9@9ԩ^Am e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023320 I I O >2?2ٱ27 :AHRS rotation from veh to nav: [[0.839673,-0.534446,-0.096522],[0.541957,0.836066,0.085302],[0.035110,-0.123936,0.991669]]2H?/@W??`Vֵ??I@?i2ɵ>I2Ly];2CYBByB!IbDJVDJkyRҝ=%Vw=ٔV9Q-V?9XYX=ZiGyXZd,EZ?\Q 5b4^"^?Q 9f4^An)^vBYdyf>Q If"@^njDI^9:i^:^z4yjOBɮn@nEPzB*** querying acoustic contact ***x xjgOFNOT Ignoring new targets: 240.39 m.R =8Z =8gO ProNav: ac range: 240.389084 m, nav range: 235.663010 m, bearing: 23.555903 deg, approach rate: -0.640688 m/s, LOS rate: 0.002592 deg/s, cmd heading: 34.004066 deg, new cmd heading: 34.005774 deg. Bŗ8gO%HeadingCmd: 0.593513 target range: 240.389084 and range: 241.80 m.%s?!*)") )))11ʎ111Թj9Z" @ɢ a)  i )  iSi%s?-X-I-s?I)9@ @@4@E EE$E"E2:*E&p:VE4ZEa @a @a @a @BDAT read: Rx Time:00:40:29.2992  TRx dataTimestamp_ set to:1761698430.009032 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275643^AܝIaIqO}>9 K',ӍX@A2c>2?2 ٱ2 :AHRS rotation from veh to nav: [[0.840108,-0.533585,-0.097496],[0.541313,0.836214,0.087901],[0.034625,-0.126622,0.991346]]2H*? nR? D?? W?)5@?i2c>I2k];2CYBByB$!IJ=J= HJbDNVDN0yV'<%VJ=ٔV.:Q-Z>9XYX=ZiGyZF^E^>Q 5%46^?Q 9-4k)BY)y->Q I-"@ЌDIB:i:%4y5PBɮ5@=Eechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526775jigOmFNOT Ignoring new targets: 240.39 m.RuD8ZuD8gO ProNav: ac range: 240.389084 m, nav range: 235.396072 m, bearing: 23.557024 deg, approach rate: -0.639544 m/s, LOS rate: 0.002687 deg/s, cmd heading: 34.005774 deg, new cmd heading: 34.008017 deg. Bb8gOHeadingCmd: 0.593552 target range: 240.389084 and range: 241.80 m.?*" ʎjZ@qN@&Bɢڟ) ȋi)NiPi?ZꦼI?I!@ @@E4@IA@AAAABA>BB;!IBBBBBBc;B&E^AԅE EE&E"E:*E1]:VE4ZEBEi R G!? 4@ |٠= 3@ 5z=) @I 5z l-?1u:?x|? f:?) UI t;?i 5z  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.ԙ v',ͰX@A2J>2{?2m ٱ2- :AHRS rotation from veh to nav: [[0.840232,-0.533297,-0.098004],[0.541163,0.836089,0.089991],[0.033949,-0.128649,0.991109]]2H@.?`@5Q?I2Kb];2CYBByB8!Ii Mb@Mb@Mb@     9 y&1?)\(Q?Y `%?y GὙ < A  ) A Y bD%VD%ky5n=%5B=ٔ5k:Q-=>99Y9=EiGyAEEE>IQ 5U4MK^?Q 9U4Mh)MBYU'?Q E:y>Q I"@M،DIM>g=c6\7m@YwaвFϭ^|-@r=Dʌb?}ǿ.xA?Z=t;?b=5z==jc Pk@<:qV@LEŻ<@z=~W?hg?a?2=B:=ZC"=Sk8?*=B=%B=?={“=%B=BkC=F>gOu addTargetRange:: Added new target pos. range: 239.699997 m, deltaT: 4.031628 s, deltaX: -2.100006 m, approachRate: -0.520883 m/s, rangeRepo size: 4 qgO Added new target pos. range: 238.299332 m, bearing: 22.580305 deg, lat: 36.779573 deg, lon: -121.859311 deg, deltaT: 4.031628 s, deltaX: -2.089752 m, approachRate: -0.518340 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 238.30 m.RZgO ProNav: ac range: 238.299332 m, nav range: 235.258133 m, bearing: 23.054030 deg, approach rate: 0.000000 m/s, LOS rate: 0.002687 deg/s, cmd heading: 34.008017 deg, new cmd heading: 34.010363 deg. BgOHeadingCmd: 0.593593 target range: 238.299332 and range: 239.70 m.?*" LBʎj`fm@ZDI?M$BɢMG0) H i)^顑iiPi?t]X*I?Iu*DAT read: user:514> }BDAT read: Tx time:00:40:30.5253 $Ping request sent. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249634^',X@A2bV>2?2m ٱ2 :AHRS rotation from veh to nav: [[0.840181,-0.533191,-0.099009],[0.541237,0.835889,0.091387],[0.034033,-0.130369,0.990881]]2H`?`X`Q??(e?l?`L?i2bV>I2~];0YBByB9!IbDJVDJβy ;% M=ٔ _Q- >9Y=iGyFll9E>!Q 5-4%_^?Q 9-4%f)%BY)y-(>Q I5"@%DI%:i%:%F4y=QBɮ=@9jagOeFNOT Ignoring new targets: 238.30 m.Rm˷Zm˷gO} ProNav: ac range: 238.299332 m, nav range: 234.997940 m, bearing: 23.053517 deg, approach rate: -0.702571 m/s, LOS rate: -0.001387 deg/s, cmd heading: 34.010363 deg, new cmd heading: 34.009336 deg. B}u"gOHeadingCmd: 0.593575 target range: 238.299332 and range: 239.70 m.?*" ʎjZ?ɢ-}) i).iOi?6b_\I?Iu9@q @q@u/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502098^A) Iq I O >',l۟X@AB@B@BBT!IBB*BB@B@B@BB'c;BB%EmU>mx?m ٱmEu EuEu!Eq"Eu:*Euą:VEuc3ZEqBEuu<2Euv<JEu;:Eu; AHRS rotation from veh to nav: [[0.839580,-0.533769,-0.100981],[0.542146,0.835063,0.093525],[0.034405,-0.133268,0.990483]]mH?@@ٹCY?`ָ? A?w??imU>Imj];mCYByF!I AAiEMb@Mb@Mb@AAAA A9EPn?MbX:v?YE$?yEʽE9qYq=}iGyy};E}>Q 54checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753597u^?Q 9 4b)BY,&?Q E:yN>Q I"@DIT',@X@ADRϨ>R4*?fGR)r\AٱR |-9-\AY-ZA 5AHRS rotation from veh to nav: [[0.838747,-0.534659,-0.103164],[0.543383,0.834078,0.095123],[0.035189,-0.135842,0.990105]]RH`?@hdc? Ű?Y?B?Fc?iRϨ>IR̈];PYE"ByMJ!IbD]VD]0ym<%m]=ٔm Q-u>9qYq=uiGyuFW;E>Q 54^?Q 94)`)BYy%>Q I"@DI:i:Ҟ4yɮ@P%B*** querying acoustic contact ***! !j1gO=FNOT Ignoring new targets: 238.30 m.R=/Z=/gOM ProNav: ac range: 238.299332 m, nav range: 234.460098 m, bearing: 23.050261 deg, approach rate: -0.679190 m/s, LOS rate: -0.004267 deg/s, cmd heading: 34.005924 deg, new cmd heading: 34.002816 deg. BMgOUHeadingCmd: 0.593461 target range: 238.299332 and range: 239.70 m.U?Q*Q"Y YYYYaʎaaajaZm^?颕"Bɢȏ) i)M7顙iRi?cI?IԩI@I @I@M0@IEe EeEe'Ea"Ee:*Ee1]:VEe'4ZEaa}@a}@a}@a}@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257772^Au9gII O > (,X@A2Z>2z?2ٱ2t >AHRS rotation from veh to nav: [[0.837566,-0.536511,-0.103152],[0.545130,0.833228,0.092546],[0.036297,-0.133744,0.990351]]2HV? +%hq?ͩ?`??`?i2Z>I2|a];0YDyDbDNVDN1ٔV?Q-V>9XYX=ZiGyX^e;E^>`Q 5f4b^?Q 9f4b])bĴBYdyf'>Q Ij"@bDIb:ib:b<4ynSBEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509686ɮn@]EjgOFNOT Ignoring new targets: 238.30 m.RٗZٗgO ProNav: ac range: 238.299332 m, nav range: 234.222961 m, bearing: 23.048655 deg, approach rate: -0.612075 m/s, LOS rate: -0.004149 deg/s, cmd heading: 34.002816 deg, new cmd heading: 33.999602 deg. BgOHeadingCmd: 0.593405 target range: 238.299332 and range: 239.70 m.d?*" ʎjZ?ɢ%3)! %@8i))-C7))i-Ui5d?5Te5I=d?I99@ @@0@IBiAiBE>B֍CBm!IB>BBBBBb;B%EEU EUEU#EQ"EU:*EUVL:VEU3ZEQBEQae2EQaeJEU;ae:EU;aey^A5%I9IIOU>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761636ԡ I (,(X@A2θ>23=?2iٱ2CE :AHRS rotation from veh to nav: [[0.836383,-0.538812,-0.100721],[0.546848,0.832831,0.085733],[0.037690,-0.126784,0.991214]]2H ?`=ȹ?? ? L?x:?i2θ>I2Rc];0Y^+BybU!IIb4>)b>yiMb@Mb@Mb@ 9%C?MbX9Mb?YZ$?yʡ< fA)AYAbDVDy<%<ٔPQ->9Y=iGyF&;E>Q 54e^?Q 94CZ)дBY%?Q E:y>Q I"@DIi ;i ;4yTBɮ@j gO FNOT Ignoring new targets: 238.30 m.R\1Z\1gO5 ProNav: ac range: 238.299332 m, nav range: 233.941177 m, bearing: 23.044636 deg, approach rate: -0.678685 m/s, LOS rate: -0.009691 deg/s, cmd heading: 33.999603 deg, new cmd heading: 33.991555 deg. B5㍹gO=HeadingCmd: 0.593265 target range: 238.299332 and range: 239.70 m.=0?9*9"9 9AAAEcBʎIIIjIZM]@}!Bɢ})y }  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265565-(,(BX@A2+>2d?2!ٱ2} :AHRS rotation from veh to nav: [[0.835092,-0.541401,-0.097500],[0.548703,0.832438,0.077282],[0.039322,-0.118037,0.992230]]2H?'S?`T?ȳ?@ "?7Z?i2+>I29];2CYj0Byj[!IbDvVDvy~<%~W=ٔ~Q->9Y=iGy ;E >Q 54^?Q 94bW)ٴBYy>Q I%"@ DI;iY;4y)ɮ-C@)jQgOUFNOT Ignoring new targets: 238.30 m.R]3.Z]3.gOm ProNav: ac range: 238.299332 m, nav range: 233.696167 m, bearing: 23.041019 deg, approach rate: -0.644044 m/s, LOS rate: -0.009519 deg/s, cmd heading: 33.991557 deg, new cmd heading: 33.984314 deg. Bm\gOuHeadingCmd: 0.593138 target range: 238.299332 and range: 239.70 m.u?q*q"q qyyyyʎjZy@颱ɢa) a B} ]>B} ٍCB} !IB} MBB} " =By B} jDB} b;B} %E(,]X@AE" E"E"#E "E"m:*E"g:VE"3ZE BE"Sza>z~?z'ٱzH MAHRS rotation from veh to nav: [[0.834467,-0.542761,-0.095262],[0.549535,0.832475,0.070686],[0.040937,-0.111335,0.992939]]zH?@L^ cɕ? ???w(?iza>Iz}];zCY}3By}_!IԹiMb@Mb@Mb@ 9Cl?ʡEQ?Y;?yu<A@  A)AYAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769725bDMVDMk2y]s<%]0=ٔ]dQ-e>9aYa=eiGyeFm;Em>qQ 5}4u^?Q 9}4uS)uBY}~ ?Q E}:y>Q I"@uDIu ;iu;u4yUBɮ@EjgOFNOT Ignoring new targets: 238.30 m.R)Z)gO ProNav: ac range: 238.299332 m, nav range: 233.406403 m, bearing: 23.036735 deg, approach rate: -0.623829 m/s, LOS rate: -0.009235 deg/s, cmd heading: 33.984313 deg, new cmd heading: 33.975734 deg. B6gOHeadingCmd: 0.592988 target range: 238.299332 and range: 239.70 m.?*" WBʎjZ f]@ Bɢ") 0=i)i@`mi%?%_Wi%юCI%?I)9@ @@/@!^AON checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022614A I I O- >A `/(,YMwX@A2>2^?2v6/ٱ2ٽ :AHRS rotation from veh to nav: [[0.833789,-0.544029,-0.093961],[0.550425,0.832339,0.065151],[0.042764,-0.106040,0.993442]]2H f?h ? ??? u%F?i2>I2];2CYB/ByBZ!IbDNVDN:2yV¼%Vm=ٔZSQ-Z?9XYX=ZiGy\^S;E^?`Q 5f4b^?Q 9f4bpQ)bBYhyj+>Q Ij"@bDIb:ib:b4ylɮn`@pjgOFNOT Ignoring new targets: 238.30 m.R +Z +gO ProNav: ac range: 238.299332 m, nav range: 233.190704 m, bearing: 23.033490 deg, approach rate: -0.623928 m/s, LOS rate: -0.009394 deg/s, cmd heading: 33.975734 deg, new cmd heading: 33.969239 deg. BgO%HeadingCmd: 0.592875 target range: 238.299332 and range: 239.70 m.%?!*!"! )))))ʎ111j1Z= @aɢe*Z)a e Թ $(,&X@A2>2?2l6ٱ2Խ :AHRS rotation from veh to nav: [[0.832704,-0.545629,-0.094307],[0.551920,0.831590,0.061993],[0.044599,-0.103671,0.993611]]2H? u|$@S?@b??զ? 5?i2>I2e];2Cbchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525593Ydyf[!IbDrVDr:yz:%zF=ٔz⑻Q-z>9|Y|=~iGy~F;E> Q 54 ^?Q 94 eN) BYy>Q I"@ #DI :i : 4yQBɮ @EPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 238.30 m.R^)Z^)gO ProNav: ac range: 238.299332 m, nav range: 232.933258 m, bearing: 23.029499 deg, approach rate: -0.596295 m/s, LOS rate: -0.009255 deg/s, cmd heading: 33.969239 deg, new cmd heading: 33.961248 deg. B~gO HeadingCmd: 0.592736 target range: 238.299332 and range: 239.70 m. ? * "  ʎ!j!Z%@IɢM4)Q U@BB!IBWBB =BBBb;B%EBB׍CBŕCB) =B% =Cϥ61E EE%E"E:*EVE 4ZEBEn%iuuX?u4@u4Q=u4@ uq=)u@Iuqqqu3?^|P?4 ? u4;?)u нIu4+Hiuqqq T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.^A- "5Y Aa I I O >A*(,X@A:.>:eV?::ٱ:9ؽ BAHRS rotation from veh to nav: [[0.831599,-0.546994,-0.096134],[0.553502,0.830491,0.062606],[0.045593,-0.105273,0.993398]]:Ht?:J?@b?@?X?1?i:.>I:a];:CYN0ByLi%Mb@Mb@Mb@!!!! !9%K7A?~jtMb?Y% "?y%Ľ%<%tA%@ %A)!!Y%AbD=VD=yMM;%ME=ٔMQ-U>9QYQ=UiGy]F]H;E]>aQ 5m4e_?Q 9m4enK)eBYu#?Q Eu:yu>Q Iu"@e+DIe0;ie:e+4y}SBɮ}+@EբX@AJlCRlCjx>ܾ`l@IBFz>j5@r(үA?Hgyȿ{]U?Z4+Hbq]6~Oj@َ̥V@*T漈B@zJ ?(?ȢC ?2B:"WC"'᥊?*RBSB'᥊?“BiC>gO addTargetRange:: Added new target pos. range: 238.000000 m, deltaT: 4.031883 s, deltaX: -1.699997 m, approachRate: -0.421638 m/s, rangeRepo size: 4 gO Added new target pos. range: 236.623871 m, bearing: 22.993389 deg, lat: 36.779582 deg, lon: -121.859311 deg, deltaT: 4.031883 s, deltaX: -1.675461 m, approachRate: -0.415553 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 236.62 m.RZgO ProNav: ac range: 236.623871 m, nav range: 233.594345 m, bearing: 22.930562 deg, approach rate: 0.000000 m/s, LOS rate: -0.009255 deg/s, cmd heading: 33.961248 deg, new cmd heading: 33.953820 deg. BgOHeadingCmd: 0.592606 target range: 236.623871 and range: 238.00 m.?*" JBʎjm@Z@6?IqɢuП)y }=iy)}yyi}͈i?ӧkI?I*DAT read: user:515> BDAT read: Tx time:00:40:34.5753 $Ping request sent.)1(,ĠX@A@NJ>Nr?N @<ٱNj޽ ZAHRS rotation from veh to nav: [[0.831035,-0.547493,-0.098141],[0.554319,0.829776,0.064826],[0.045943,-0.108274,0.993059]]NHח???s?@Ⅷ?޷@#?iNJ>IN];LYb/By`If=)fj=j=bDnVDn1yvpZ%vQ=ٔvjQ-v>9z ?Yz ?=ziGyx~V&;E~>Q 5 4#_?Q 9 4H) BYy>Q I"@3DI-:i:4yɮ6@!jAgOMFNOT Ignoring new targets: 236.62 m.RMZMgO] ProNav: ac range: 236.623871 m, nav range: 233.344421 m, bearing: 22.928145 deg, approach rate: -0.645372 m/s, LOS rate: -0.006250 deg/s, cmd heading: 33.953820 deg, new cmd heading: 33.948979 deg. Be6gOeHeadingCmd: 0.592521 target range: 236.623871 and range: 238.00 m.e}?i*i"i iiiqqʎqqyjyZ}?颥BɢV) B `>B ڍCB !IB bBB ! =B B kDB b;B %E `7(E EE$E"EI:*EF:VE4ZEBEu?u#<ٱu\ AHRS rotation from veh to nav: [[0.829934,-0.549034,-0.098847],[0.555954,0.828649,0.065242],[0.046089,-0.109100,0.992962]]uH`Ҏ?@N_?`J??`?W?iu>Iuq];uCY-ByX!I%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752867iMb@Mb@Mb@ 9K7A?J +Mb`?YyȽ; A )=AYzAbDVDy%5+=ٔ=Q-=>9="?Y="?==iGyEFE;EE>IQ 5]4MZ;_?Q 9e4M3E)MBYe#?Q Ee:ye>Q Ie"@M=DIMlf;iMe;Mn4ymTBɮul@qjgOFNOT Ignoring new targets: 236.62 m.R}ָZ}ָgO ProNav: ac range: 236.623871 m, nav range: 233.036728 m, bearing: 22.925315 deg, approach rate: -0.636439 m/s, LOS rate: -0.005860 deg/s, cmd heading: 33.948981 deg, new cmd heading: 33.943314 deg. B+gOHeadingCmd: 0.592423 target range: 236.623871 and range: 238.00 m.?*" #BʎjZ`?颕 Bɢw ) =(,tX@A,>č>>?>:ٱ>` rAHRS rotation from veh to nav: [[0.828831,-0.550390,-0.100550],[0.557635,0.827278,0.068227],[0.045632,-0.112619,0.992590]]>Hȅ?ʜ`%?y?Yw?]?ԼK?i>č>I>&];9} ?Y ?=iGyذ;E>Q 54M_?Q 94B)BYy>Q I"@EDI_:i4:4yɮ)@jgOFNOT Ignoring new targets: 236.62 m.RZgO ProNav: ac range: 236.623871 m, nav range: 232.798462 m, bearing: 22.922997 deg, approach rate: -0.641953 m/s, LOS rate: -0.006253 deg/s, cmd heading: 33.943315 deg, new cmd heading: 33.938673 deg. B7gOHeadingCmd: 0.592342 target range: 236.623871 and range: 238.00 m.?*" ʎjZ?Eu EuEu(Eq"Eu:*Euxv:VEuc44ZEqa}@a}@a}@a}@颩ɢl) =i)^O顱ii?Wl\_I?Iԁechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257007i@i @i@m4@iԱ^A&t A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508774D(,;X@A:>:D?:"Q:ٱ: FAHRS rotation from veh to nav: [[0.827724,-0.552216,-0.099649],[0.559289,0.826280,0.066760],[0.045472,-0.110991,0.992781]]:H|?@?p?,?H?i?i:>I:s];8YN/ByRZ!ITTbDZVDZ\yf [%fS=ٔfK9Q-f>9hYh=jiGyjFj;En>pQ 5v4r`_?Q 9v4r?)r&BYtyv>Q Iv"@rMDIr:ir:r4y~VBɮ~k@~EPB*** querying acoustic contact *** j!gO-FNOT Ignoring new targets: 236.62 m.R-Z-gOE ProNav: ac range: 236.623871 m, nav range: 232.555389 m, bearing: 22.920509 deg, approach rate: -0.637322 m/s, LOS rate: -0.006530 deg/s, cmd heading: 33.938674 deg, new cmd heading: 33.933693 deg. BE7?gOMHeadingCmd: 0.592255 target range: 236.623871 and range: 238.00 m.M?I*I"I IIIQQʎQQqjqZ^?yɢ})y }`B܍CBBB =BDDBmDB+b;Bx%E9@ @@/@E EE&E"EI:*EC:VE4ZEBEa2EJ(,b.X@A2>2B?2~:ٱ2۽ :AHRS rotation from veh to nav: [[0.826286,-0.554724,-0.097631],[0.561408,0.825124,0.063173],[0.045515,-0.107010,0.993216]]2H p?L@]`?kg?@,?M?`d l?i2>I2k];2CYB5ByFa!IiMb@Mb@Mb@ 9MbX9?A`"{Gzt?Y!?yٽף;K A@ OA)YAbDVD0y <%7=ٔ ɸQ->9"?Y"?=%iGy!%;E%>)Q 554-u_?Q 954-<)-1BY=$?Q E=:y=1>Q I="@-VDI-7 ;i-~ ;-f4yEWBɮE&@MEjigOmFNOT Ignoring new targets: 236.62 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012858RZgO ProNav: ac range: 236.623871 m, nav range: 232.270233 m, bearing: 22.918259 deg, approach rate: -0.639664 m/s, LOS rate: -0.005053 deg/s, cmd heading: 33.933691 deg, new cmd heading: 33.929186 deg. BgOHeadingCmd: 0.592176 target range: 236.623871 and range: 238.00 m.٘?*" !!%Bʎ!))j)ZU <@颹ɢKe) $=i)rii٘?kp9I٘?I l> CQ}G`]A19`]AY3A9@ @@/@qE EEE"E:*EX:VEZEa@a@a@a@^A NJκ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264853ԡ I I O >\Q(,GX@AyEݦ>E<)?Ec9ٱE~0ڽ %AHRS rotation from veh to nav: [[0.825456,-0.556058,-0.097066],[0.562650,0.824327,0.062527],[0.045246,-0.106227,0.993312]]EH@#j?`9`Rٸ :?`??o*?@16?iEݦ>IEx];ECY,ByW!I==bDM VDM2yeI %e*=ٔuI:Q-}>9Y=iGyFJ;E>Q 54_?Q 94>9)Q I"@`DI:i:ԩ4yɮ@jgOFNOT Ignoring new targets: 236.62 m.RZgO ProNav: ac range: 236.623871 m, nav range: 231.961838 m, bearing: 22.915707 deg, approach rate: -0.638255 m/s, LOS rate: -0.005289 deg/s, cmd heading: 33.929187 deg, new cmd heading: 33.924076 deg. BgOHeadingCmd: 0.592087 target range: 236.623871 and range: 238.00 m.?*" ʎ  j Z  B@1ɢ=F+)9 =0B CB B B  =B B pDB b;B y%E ^A% 9E  E E %E "E :*E A:VE 4ZE BE X(,ScX@A.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7688506>6@?66ٱ6Xl FAHRS rotation from veh to nav: [[0.825279,-0.555917,-0.099352],[0.562960,0.823767,0.066961],[0.044618,-0.111193,0.992797]]6Hh?`o@?M\?@a$?!ئ? "w?i6>I6\];4YR.ByRY!IxiMb@Mb@Mb@ 9-?nI +?Y5?yV94< A@ 9A)AYA 4<4<bDVD:y#<%l=ٔ:Q-?9Y=iGy@:E?Q 54r_?Q 94!7)EBY/"?Q E:y>Q I"@gDI:i:4yYBɮ@j gOFNOT Ignoring new targets: 236.62 m.Rd8Zd8gO- ProNav: ac range: 236.623871 m, nav range: 231.745331 m, bearing: 22.916775 deg, approach rate: -0.632078 m/s, LOS rate: 0.003122 deg/s, cmd heading: 33.924074 deg, new cmd heading: 33.926213 deg. B-Զ8gO5HeadingCmd: 0.592124 target range: 236.623871 and range: 238.00 m.5r?1*1"1 1199= Bʎ9AAjAZE @颱ɢ) 0q M^(,q}X@A:;]>:k?:*3ٱ:Z bAHRS rotation from veh to nav: [[0.825825,-0.554550,-0.102408],[0.562222,0.823749,0.073105],[0.043818,-0.117948,0.992053]]:H@(m? h7?&\? ?`No?1?i:;]>I:k];:CYn3Byn_!IbDvVDvk2y~<%~X=ٔ ;Q->9Y= iGy F E >Q 54%_?Q 944)PBY!y%=>Q I%"@nDI;i8;p 4y-ZBɮ-w@-EjQgOUFNOT Ignoring new targets: 236.62 m.YRek8Zek8gOu ProNav: ac range: 236.623871 m, nav range: 231.506516 m, bearing: 22.917994 deg, approach rate: -0.631159 m/s, LOS rate: 0.003223 deg/s, cmd heading: 33.926212 deg, new cmd heading: 33.928651 deg. Bu8E EEE"E:*Eg:VEZEa@a@a@a@gOHeadingCmd: 0.592167 target range: 236.623871 and range: 238.00 m.<?*" ʎjZ2 @ɢ) =iQ)UMQYi]􊼺i]<?e%iedE:Ie<?Ia}BDAT read: Rx Time:00:40:37.2390 TRx dataTimestamp_ set to:1761698438.074099checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275154 @  @ @ 0@ԉԱ^A5rg:IIO> % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524753ɑe(,-\X@AԱ>?1ٱ^ AHRS rotation from veh to nav: [[0.826563,-0.552975,-0.104942],[0.561169,0.824026,0.077906],[0.043395,-0.123285,0.991422]]H3s?@ݺ?l^??`7?`ູ?i>I6A];A)A)B5>B1B5!IB5\BB5 =B1B5oDB5{b;B5%EE EE#E"E,:*Ek:VE3ZEBEi}+}|?}6@}l=}5@ }=)}@I}yy}QՈ#?'?!"[? }SB?)}ԥI}f_i}yyT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Y%2By%^!I )-A15A i Mb@Mb@Mb@     9 /$?(\¿ rh?Y ?y z C< A @  ) V@ Y AI I bDQ VDQ ye '&%e <ٔm #:Q-m >9i Yi =m iGym Fu Eu >y Q 5 4} _?Q 9 4} 0)} eBY !?Q E :y l>Q I #@} |DI} ;i} ;} S4y \Bɮ @ y}夡X@AJ}ACR}ACj}L>}˄1g@F%DmL(@r}7B.?)L˿֏ ?Z}f_b}}ҺOá5f@iR@RTa9@z}Ƣ3b?bIW?o" ?2}B:}1C"}BO?*}B}Byy“}%B}gC}>kO addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 194.600006 m, deltaT: 4.032207 s, deltaX: -43.399994 m, approachRate: -10.763335 m/s, rangeRepo size: 4j gO FNOT Ignoring new targets: 236.62 m.R ۯ8Z ۯ8gO  ProNav: ac range: 236.623871 m, nav range: 231.080841 m, bearing: 22.921371 deg, approach rate: -0.604388 m/s, LOS rate: 0.004805 deg/s, cmd heading: 33.928651 deg, new cmd heading: 33.935418 deg. B 9gO HeadingCmd: 0.592285 target range: 236.623871 and range: 238.00 m. ? * "      Bʎ   j @3Sh@Z _?9 U Bɢ] )Y ] P=iY )] a a ie 9aƺim ?m hm ¯Im ?I m 9@i  @i @m /@i -*DAT read: user:516> 5BDAT read: Tx time:00:40:38.5753 =$Ping request sent.=:{?:(,ٱ:e BAHRS rotation from veh to nav: [[0.827052,-0.551853,-0.106974],[0.560540,0.823932,0.083255],[0.042194,-0.128820,0.990770]]:H5w?Ȩb?]? 8P??(}`c?i:JL>I:;];:C FC)F`AdfEdj̐Cj`AijQ8IjFhInCinffA ll)nPJnC n`Arr0Eppr`AIr)vFit)vfCIv`AvTzE xzCxxix|Y|YQ IU#@EDIEw;iE;E4y]XBɮ]@]EP}B*** querying acoustic contact ***y yjgOFNOT Ignoring new targets: 236.62 m.D=D<bE 4jE4rEͰ/E EE$E"E*ErN:VE4ZEa@a@a@a@Rr8Zr8gO ProNav: ac range: 236.623871 m, nav range: 230.873352 m, bearing: 22.923047 deg, approach rate: -0.674237 m/s, LOS rate: 0.005449 deg/s, cmd heading: 33.935419 deg, new cmd heading: 33.938773 deg. B9gOHeadingCmd: 0.592343 target range: 236.623871 and range: 238.00 m.У?*" ʎjZ?ɢ` )  8i=i ) )p  i ˺iУ?}h\IУ?Iachecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251085%9@! @!@%/@!^AqԑA)I1IIOUu>i1 I1 = checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502579 ѝu(,סX@AYE5ByEb!IbDUVDUy %E=ٔQ->9Y=iGyFE>Q 54e_?Q 94[,)}BYyQ I#@DIh;i;_"4yYBɮF@EjgO%FNOT Ignoring new targets: 236.62 m.R-}8Z5}8gOM ProNav: ac range: 236.623871 m, nav range: 230.613571 m, bearing: 22.925149 deg, approach rate: -0.615489 m/s, LOS rate: 0.004986 deg/s, cmd heading: 33.938773 deg, new cmd heading: 33.942982 deg. BM9gO]HeadingCmd: 0.592417 target range: 236.623871 and range: 238.00 m.]?Y*Y"a aaiiiʎqqyjyZ0?B=>B9B=!IB=bBB= =B9B=pDB=c;B=%EBCBލCBÖCB =B =CÖ7yE EE&E"E:*EA:VE4ZEBE9 |(,X@A.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0062876~>6?6)ٱ6V2 BAHRS rotation from veh to nav: [[0.827891,-0.550853,-0.105628],[0.559352,0.824781,0.082835],[0.041490,-0.127661,0.990950]]6H~?@j `6?d?@4?`%>?5Wܵ?i6~>I6/];6CY5CBy5s!I====ԑiMb@Mb@Mb@ 9+?M¿{Gz?Y?ynף<bA^@ )?@Y bDVD:yPm=%.=ٔ:Q->9 ?Y ?=iGyJE>Q 5 4`?Q 9 4|))BY #?Q E:yk>Q I#@DI ;iL ;*4yɮg@jAgOEFNOT Ignoring new targets: 236.62 m.R8Z8gO- ProNav: ac range: 236.623871 m, nav range: 230.314896 m, bearing: 22.927101 deg, approach rate: -0.647114 m/s, LOS rate: 0.004234 deg/s, cmd heading: 33.942980 deg, new cmd heading: 33.946889 deg. B58gO=HeadingCmd: 0.592485 target range: 236.623871 and range: 238.00 m.=?9*A"A aaiqu BʎyyyjyZ ?Bɢ]K߼)a e=ia)eraaie/غim?mehu֏Iu?IqԹDzD@AE EE"E"Eغ:*EVL:VE(3ZEa%@a%@a%@a%@-9@) @)@- 0@) checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258296^A q A- ؟AI9 II O] >(,ȴX@A2`g>2} ?2{(ٱ2i JAHRS rotation from veh to nav: [[0.828070,-0.550695,-0.105050],[0.559122,0.824935,0.082856],[0.041031,-0.127347,0.991009]]2H?K@亿S?e? 6? ?LX?i2`g>I2 ];2CYRUByR!IbDVDy=%;=ٔ:Q->9"?Y"?=iGyF~.E>Q 54$`?Q 9 4&)BY y D>Q I #@DIf;i:224y[Bɮ]@j9gOEFNOT Ignoring new targets: 236.62 m.RM8ZM8gOU ProNav: ac range: 236.623871 m, nav range: 230.036560 m, bearing: 22.928945 deg, approach rate: -0.637294 m/s, LOS rate: 0.004228 deg/s, cmd heading: 33.946887 deg, new cmd heading: 33.950580 deg. B]8mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510519gOmHeadingCmd: 0.592549 target range: 236.623871 and range: 238.00 m.mQ?i*i"i qqqqqʎyyyjZH?Bɢ4ɼ) =i)ݜiHߺi%Q?%g% $I%Q?I)@ @@0@B<A<BBB!IBgBB =BBBc;B@&EAE=  E= E9 E9 "E= :*E= [:VE9 ZE9 BE= 5(,*X@AYr]Byv!I1iuMb@Mb@Mb@qqqq q9uMbX9?K7Zd;O?Yu!?yuI uj9Y=iGyE>Q 548`?Q 94H$)BY%?Q E:y>Q I#@DI:i#:#94y]Bɮ@EjgOFNOT Ignoring new targets: 236.62 m.R(8Z(8gO  ProNav: ac range: 236.623871 m, nav range: 229.780884 m, bearing: 22.929859 deg, approach rate: -0.643353 m/s, LOS rate: 0.002303 deg/s, cmd heading: 33.950579 deg, new cmd heading: 33.952410 deg. B 8gOHeadingCmd: 0.592581 target range: 236.623871 and range: 238.00 m.i?*" !!ʎ))1j1Z5P@ɢީ) >i)?i4i-i?-g)I-i?I1e]>iaa@ @@4@@ =@ =echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014378ԉ^AE Թ E  E E $E "E :*E :VE 4ZE a- @a- @a- @a- @I1 IA OU >(,DX@A2f>2?2%ٱ2A| :AHRS rotation from veh to nav: [[0.828100,-0.550905,-0.103704],[0.559130,0.825000,0.082149],[0.040300,-0.126011,0.991210]]2H?Z`e? ff??-? $!?i2f>I2\;2CYBaByF!I HHHJAbDRVDRyV'<%V[=ٔZ;Q-Z>9XY\=^iGy^Fbchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266478fܷEf>hQ 5n4joK`?Q 94j!)jBYy>Q I%#@jDIj$ia)eaaie,ime?megu=%Iue?Ii@i @i@m/@i}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518865^A"5I I) O= >! C(,w^X@AB>BCB!IB{BB =BBqDBJd;B&EB>BP?B"ٱBM JAHRS rotation from veh to nav: [[0.828608,-0.549951,-0.104700],[0.558415,0.825215,0.084812],[0.039757,-0.128742,0.990881]]BH?@3@ͺ?(h? :? [? zK?iB>IB1\;BCYVrByV!IbD^VD^yf=%fH=ٔjl:Q-j>9hYh=jiGyln En>pQ 5v4r_`?Q 9v4rQ)rµBYxyz(>Q Iz#@rDIrw:ir,:rF4y~[Bɮ~@Ej!gO%FNOT Ignoring new targets: 236.62 m.R-J88Z-J88gO= ProNav: ac range: 236.623871 m, nav range: 229.278656 m, bearing: 22.931717 deg, approach rate: -0.664135 m/s, LOS rate: 0.002517 deg/s, cmd heading: 33.954144 deg, new cmd heading: 33.956127 deg. B=n8gOEHeadingCmd: 0.592646 target range: 236.623871 and range: 238.00 m.M?I*I"QE EE(E"E:*EVL:VEc44ZEBE i). i >Xi?Og\I?Ia@ @@/@ԑ^A I) I9 OM > BDAT read: Rx Time:00:40:41.2632  TRx dataTimestamp_ set to:1761698441.853130 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023401  gG ) o(,ZxX@Av9 YnAY]wBy]!Ii=Mb@Mb@Mb@9999 99=1Zd?`"Mb?Y="?y==== A9 ="A)=(@9Y=AbDUVDU2ye<%e3=ٔeQ-e>9iYi=miGymFuEu>yQ 54}u`?Q 94}k)}ӵBYi?Q E:y>Q I#@}DI}:i} :}N4ԑy]Bɮb@jgOFNOT Ignoring new targets: 236.62 m.Ry Zy gO ProNav: ac range: 236.623871 m, nav range: 228.998230 m, bearing: 22.931498 deg, approach rate: -0.613888 m/s, LOS rate: -0.000480 deg/s, cmd heading: 33.956128 deg, new cmd heading: 33.955690 deg. B`gOHeadingCmd: 0.592639 target range: 236.623871 and range: 238.00 m.*?*"  BʎjZ24 @Bɢ% )! %8>i!)%3!)i5i5*?=g=f/TI=*?I9A9@ @@0@@[A@E EE%E"E:*E H:VE 4ZEa@a@a@a@Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274423^AyII IY Om > U(,'.X@A2U>2?2)B"ٱ2J :AHRS rotation from veh to nav: [[0.831453,-0.545100,-0.107479],[0.554181,0.827462,0.090499],[0.039604,-0.134809,0.990080]]2HC? uqڻ?z?*?F?kA໮?i2U>I2&\;2CYBByF!IJ=J=bDNVDNyV+e=%Vk=ٔV|9Q-Z?9XYX=ZiGyX^pE^?`Q 5f4b.`?Q 9f4b=)bߵBYdyf%>Q Ij#@bōDIby:ibN:bT4ylɮn@ljgOFNOT Ignoring new targets: 236.62 m.RЂ6ZЂ6gO ProNav: ac range: 236.623871 m, nav range: 228.784698 m, bearing: 22.931579 deg, approach rate: -0.586166 m/s, LOS rate: 0.000223 deg/s, cmd heading: 33.955691 deg, new cmd heading: 33.955854 deg. BM6gOHeadingCmd: 0.592641 target range: 236.623871 and range: 238.00 m.Z?*" ʎjZ`@!ɢ%ڇ)! %M>i))-))i-Jl=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526432i5Z?EhE-IEZ?IA9@ @@/@A!A%@AB->B-CB-!IB-BB- =B)B)B-e;B-&E9E  E E $E "E m:*E V:VE 4ZE BE Ti ? o5@ k= D5@ %=) M@I %˽ G %[?`4ϙ?1t? ??) ܽI @Xi %˽ e T****** received valid address query ******e R****** received valid ping request ******e Querying Benthos address 50 with one ping in standard two-way mode.O >(, X@A B>Bҗ?B"ٱB JAHRS rotation from veh to nav: [[0.833414,-0.541917,-0.108382],[0.551220,0.829209,0.092566],[0.039708,-0.136888,0.989790]]BH`T?`bW辻?@?k?T?\?iB>IB\;BCYvByv!IiMb@Mb@Mb@ 9%C?S㥻Q?YZ$?y/ݽ< A  A)?@YbD% VD%2y=|=%E3=ٔE]pQ-E>9IYI=MiGyUFUE]>aQ 5m4e`?Q 9u4e)eBY}&?Q E}:y}>Q I}#@eύDIeV;iepi;e\4y^Bɮ@EX@AJSCRSCj4U>fai@k oF㬮#5@rNoZgO addTargetRange:: Added new target pos. range: 212.800003 m, deltaT: 8.064150 s, deltaX: -25.199997 m, approachRate: -3.124942 m/s, rangeRepo size: 4 igO} Added new target pos. range: 211.601120 m, bearing: 22.194597 deg, lat: 36.779582 deg, lon: -121.859325 deg, deltaT: 8.064150 s, deltaX: -25.022751 m, approachRate: -3.102962 m/s, posRepo size: 4 jygO}FNOT Ignoring new targets: 211.60 m.RZgO ProNav: ac range: 211.601120 m, nav range: 227.999481 m, bearing: 22.637468 deg, approach rate: 0.000000 m/s, LOS rate: 0.000223 deg/s, cmd heading: 33.955855 deg, new cmd heading: 33.956055 deg. BgOHeadingCmd: 0.592645 target range: 211.601120 and range: 212.80 m.?*" ?Bʎjj@Z?BɢA) y>i)i M*DAT read: user:517> MBDAT read: Tx time:00:40:42.6268 U$Ping request sent.UE  E E !E "E :*E e:VE c3ZE a @a @a @a @g(,\ŢX@ARchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250772TY By !IbDVDJ2y- =%-^=ٔ-Q-5>91Y1=5iGy1=E=>AQ 5M4E1`?Q 9M4Es)EBYIyIQ IU#@E֍DIEN:iE:E8c4yYɮ]!@YP}B*** querying acoustic contact ***y yjgOFNOT Ignoring new targets: 211.60 m.RUZUgO ProNav: ac range: 211.601120 m, nav range: 227.761658 m, bearing: 22.635685 deg, approach rate: -0.660036 m/s, LOS rate: -0.004954 deg/s, cmd heading: 33.956057 deg, new cmd heading: 33.952487 deg. BgOHeadingCmd: 0.592583 target range: 211.601120 and range: 212.80 m.?*" ʎjZ@UL?ɢl))|/ >i)iki?}ih6&I?I@ @@4@^AAA>echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504731A I I ! O5 >B% >B! B% !IB% BB% =B! B! B% e;B% d'E摷(,#ߢX@ABa>B?B(ٱB JAHRS rotation from veh to nav: [[0.837117,-0.535436,-0.111996],[0.545484,0.832430,0.097505],[0.041021,-0.142715,0.988913]]BH`?K"@˫@t?E???D¿-?iBa>IB\;BCYlyn!I pptvAbDzVDz2|y % L=ٔ WQ- >9Y=iGyFE>!Q 5-4%"`?Q 9-4%)% BY)y->>Q I-#@%ߍDI%:i%:%4j4y=`Bɮ==@9jagOeFNOT Ignoring new targets: 211.60 m.RmZmgO} ProNav: ac range: 211.601120 m, nav range: 227.502762 m, bearing: 22.634161 deg, approach rate: -0.648720 m/s, LOS rate: -0.003823 deg/s, cmd heading: 33.952488 deg, new cmd heading: 33.949436 deg. B}߸gOHeadingCmd: 0.592529 target range: 211.601120 and range: 212.80 m.?*" ʎjZ?E EE&E"E2:*Ez:VE4ZEBE"*i)顙iRchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.757401i? k1φI?I9@ @@4@Q^A% &ԉ m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007592Aq Iy I O >*(,2X@AR>R?R+ٱR] bAHRS rotation from veh to nav: [[0.838692,-0.533026,-0.111706],[0.542992,0.834207,0.096222],[0.041897,-0.141356,0.989072]]RH`?/`?@ӱ??s?¿ z?iR>IRG];RCYBy!Ii=Mb@Mb@Mb@9999 99=Q?{Gz?Y=(?y=̽=ף<=bA=@ ="A)=(@9Y==AbDUVDU02ye =%e2=ٔmQ-m>9iYq=uiGyqu!ӻEu>yQ 54}t`?Q 94}Y)}BY*?Q E:y>Q I#@}DI}bui)顉ii?Y~m]I?IAbEJ4jE4rEEC0E EEE"E:*E҆:VEZEa@a@a@a@9@ @@`2@^A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259635qA%.AI1IAOM>ԙ i(,X@A2z>2@?2.ٱ24 :AHRS rotation from veh to nav: [[0.839753,-0.531567,-0.110688],[0.541292,0.835588,0.093783],[0.042638,-0.138669,0.989421]]2H A?V@DR?@#?`'?ԥ?@U?i2z>I2\;0 @)B`AB什@@DF`AiFIDDIF̏CiJs@ HH)JJH J`AN+LLLN`AIR,)PiP)PIR`ART TTTTiTXYXY^By^"IbDfVDfyn\=%nh=ٔr Q-r>9r ?Yr ?=viGyvFv:Ev>xQ 5~4zp`?Q 94z )z%BYy>Q I#@zDIz;iz;z^x4y ɮ @j1gO=FNOT Ignoring new targets: 211.60 m.R=θZ=θgOM ProNav: ac range: 211.601120 m, nav range: 226.964172 m, bearing: 22.629610 deg, approach rate: -0.689592 m/s, LOS rate: -0.005629 deg/s, cmd heading: 33.944148 deg, new cmd heading: 33.940322 deg. BM$gOUHeadingCmd: 0.592370 target range: 211.601120 and range: 212.80 m.U?Q*Y"Y YYYaaʎaaajiZm?ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510735Bɢ%ٻ) >i)i%H;#i%?-Wo-I-?I)ԡBA<Be>B܍CB"IBǃBB =BBlDBf;B'EBMCBMCBMŕCBM =BM =CMŊ6ueE EE(E"Es:*E1]:VEc44ZEBEg0J(,3X@A2=>2k?2i/ٱ2 R NAHRS rotation from veh to nav: [[0.840768,-0.530317,-0.108965],[0.539701,0.836899,0.091229],[0.042812,-0.135511,0.989850]]2H?[@%廿 :E? ?Z??pXڬ?i2=>I2\;2CY=By= "IIE!>)E>M=M=iMb@Mb@Mb@ 9(\?I +{Gz?Y'?y9K A@ A)YAbDVD:y*<%=ٔIQ->9"?Y"?=iGySjE>5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014932I Q 54 a?Q 94 ) 5BYC)?Q E:yQ>Q I#@ DI  ;i * ; 4yaBɮ3@jgOFNOT Ignoring new targets: 211.60 m.R Z gO ProNav: ac range: 211.601120 m, nav range: 226.616577 m, bearing: 22.625472 deg, approach rate: -0.630540 m/s, LOS rate: -0.007519 deg/s, cmd heading: 33.940323 deg, new cmd heading: 33.932033 deg. B*\gOHeadingCmd: 0.592226 target range: 211.601120 and range: 212.80 m.?*" !!)-WBʎ)))j1Z5 h@频ɢ,) I>i)   i ,i?E|rEIE?IAqPExceeded connect timeout, disconnecting.DD<E EE$E"E:*E:VE4ZEa@a@a@a@eC" checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266866 9@  @ @ 4@ ^AU֣AQIYIiO} ?D(,aVX@A6XS>6z?60ٱ6 e ^AHRS rotation from veh to nav: [[0.840959,-0.530302,-0.107555],[0.539390,0.837362,0.088789],[0.042977,-0.132682,0.990227]]6H"?;B??@ຶ??@?i6XS>I6];6Cchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518831YuƃByu"IbDVD02y =%=ٔߣQ->9Y=iGyFn5E>ԱQ 54l!a?Q 94)EBYy>Q I#@DI);i:ӊ4ybBɮ@ EPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 211.60 m.R Z gO ProNav: ac range: 211.601120 m, nav range: 226.269394 m, bearing: 22.621369 deg, approach rate: -0.649892 m/s, LOS rate: -0.007691 deg/s, cmd heading: 33.932035 deg, new cmd heading: 33.923818 deg. B3agOHeadingCmd: 0.592082 target range: 211.601120 and range: 212.80 m.?*" !AAʎIIIjIZU`8@颙ɢ4) 6>i)i[6i?uI?IBT>B׍CB5"IBBB) =BEDBiDB]g;B'EE EE%E"E:*Ex:VE 4ZEBE6H?6+ٱ6> >AHRS rotation from veh to nav: [[0.839878,-0.532585,-0.104682],[0.541156,0.836538,0.085756],[0.041898,-0.128674,0.990802]]6HG? m̺@&Q??@?s?`x?i6b>I6/];6CYFByF"I^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022917 !!iMb@Mb@Mb@ 9q= ףp?(\µ:v?Y+?yT< A A)@YAbDVD:y#%=ٔ;Q->9!Y!=%iGy%FKw;E>Q 54=a?Q 94)TBY,?Q E:y>Q I#@DI:in:l4ydBɮ$@EjgOFNOT Ignoring new targets: 211.60 m.RU4ZU4gO  ProNav: ac range: 211.601120 m, nav range: 225.899902 m, bearing: 22.616250 deg, approach rate: -0.710105 m/s, LOS rate: -0.009854 deg/s, cmd heading: 33.923818 deg, new cmd heading: 33.913564 deg. B DgO HeadingCmd: 0.591903 target range: 211.601120 and range: 212.80 m.?*" `Bʎ!j!Z% k @IɢU )Q UK>iQ)UUYYi]A?i]?exeIIe?IiEnManaging dock network, ignoring radio surface power off9@ @@4@@@@@Eu EuEu(Eq"Eu>:*Eu:VEuc44ZEqa@a@a@a@)uBDAT read: Rx Time:00:40:45.3119 uTRx dataTimestamp_ set to:1761698446.137717}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276498A I I O >Q (,搣X@A2D>2p?2'ٱ2$ :AHRS rotation from veh to nav: [[0.839272,-0.533931,-0.102659],[0.542165,0.836061,0.084016],[0.040971,-0.126170,0.991162]]2HR?@GjY?? ??W&?i2D>I21];2CYBɃByB"IbDNVDNyV-=%Ve=ٔV*;Q-V>9XYX=ZiGyXZBc;E^?`Q 5f4bNa?Q 9f4b)b]BYdyf>Q If#@bDIb:ibp:b[4ylɮn@ljgOFNOT Ignoring new targets: 211.60 m.R .Z .gO ProNav: ac range: 211.601120 m, nav range: 225.671585 m, bearing: 22.613015 deg, approach rate: -0.672718 m/s, LOS rate: -0.009543 deg/s, cmd heading: 33.913563 deg, new cmd heading: 33.907085 deg. BgOHeadingCmd: 0.591790 target range: 211.601120 and range: 212.80 m.?*" ʎjZ @1AɢE@d)I M>iI)MA9A9BEP>BE؍CBEG"IBEBBE# =BABABEg;BE%(EԉE  E E %E "E :*E 1]:VE 4ZE BE &2DF?2o$ٱ2CD :AHRS rotation from veh to nav: [[0.838358,-0.536397,-0.097127],[0.543640,0.835823,0.076521],[0.040135,-0.116954,0.992326]]2H@?**Pݸe? ?@疳??@`"?i2>I2|7];2CYnByn "IiMb@Mb@Mb@ 9E?kt~jt?Y&?y D< A@  A)@YQAbDVD1y-#%-4=ٔ5:Q-U>9aYi=miGymFԑ>t;E>Q 54fa?Q 94)hBY!(?Q E:y>Q I#@#DI;i;4y eBɮU@gOm addTargetRange:: Added new target pos. range: 210.600006 m, deltaT: 4.034030 s, deltaX: -2.199997 m, approachRate: -0.545360 m/s, rangeRepo size: 4 jgOFNOT Ignoring new targets: 211.60 m.R|Z|gO ProNav: ac range: 211.601120 m, nav range: 225.366623 m, bearing: 22.608979 deg, approach rate: -0.632939 m/s, LOS rate: -0.008387 deg/s, cmd heading: 33.907084 deg, new cmd heading: 33.899002 deg. BugOHeadingCmd: 0.591649 target range: 211.601120 and range: 210.60 m.Sv?*" 1Bʎj@3Sj@Z -?颭Bɢ7) `>i),顱iNiSv?{ ISv?II l>]Gq9@ @@/@d9YQA*DAT read: user:518> BDAT read: Tx time:00:40:46.6752 $Ping request sent. ,(,ģX@AE" E"E"$E "E"a:*E"i:VE"4ZE a&@a*@a*@a*@:>:?:YY"ٱ:0K FAHRS rotation from veh to nav: [[0.837288,-0.538348,-0.095549],[0.545324,0.834901,0.074576],[0.039626,-0.114547,0.992627]]:H`?&:@uKs??o?I?R ?i:>I:Y];:CY^ɃBy^"IIb=)b<bDjVDjyE?K=%EZ=ٔE:Q-M>9M ?YM ?=MiGyIUӴ;EU>YQ 5e4] xa?Q 9e4])]qBYaye>Q Im#@]+DI]6:i]-:]Ҩ4yugBɮu@uEjgOFNOT Ignoring new targets: 211.60 m.R[,Z[,gO ProNav: ac range: 211.601120 m, nav range: 225.130127 m, bearing: 22.605726 deg, approach rate: -0.683922 m/s, LOS rate: -0.009418 deg/s, cmd heading: 33.899004 deg, new cmd heading: 33.892491 deg. B㉹gOHeadingCmd: 0.591536 target range: 211.601120 and range: 210.60 m.n?*" ʎjZC?ɢ) >i)i=(Ui n? } =7uI n?IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2526299@ @@/@AIIOK>I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502822 D(,yޣX@A6 >6?61ٱ6 >AHRS rotation from veh to nav: [[0.837157,-0.538953,-0.093258],[0.545580,0.834928,0.072377],[0.038856,-0.111471,0.993008]]6H??߷du??O?? [@?i6 >I6];6CYFăByJ"IbDRVDRfyZg%ZT=ٔZ;Q-^>9\Y\=^iGybFb@B:Eb>dQ 5j4f9a?Q 9j4f)fzBYhyj>Q In#@f3DBrN>Br֍CBrN"IBrBBr. =BpBrhDBrJh;Bra(EIf:if;f4yɮ,@P%B*** querying acoustic contact ***! !j)gO-FNOT Ignoring new targets: 211.60 m.R5#Z5#gOE ProNav: ac range: 211.601120 m, nav range: 224.877930 m, bearing: 22.602237 deg, approach rate: -0.646766 m/s, LOS rate: -0.008958 deg/s, cmd heading: 33.892491 deg, new cmd heading: 33.885506 deg. BE%gOMHeadingCmd: 0.591414 target range: 211.601120 and range: 210.60 m.Mf?I*Q"Q QQQʎjZ? ɢ ǚ)  «>i )NiRm\i5f?=3~=4tI=f?I9QEe EeEe&Ea"Ee:*Ee n:VEe4ZEaBEem%ԩ Ae ؟AIi Iy O >m(,LSX@A2Fg>2r ?2*tٱ2$ٽ :AHRS rotation from veh to nav: [[0.836807,-0.540110,-0.089640],[0.546182,0.834877,0.068311],[0.037943,-0.106123,0.993629]]2H`?H@ Rz?O?|?Sm?@*?i2Fg>I2,];2C@YFɃByF"IRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007018iMb@Mb@Mb@ 9%C?:vMbp?YZ$?yԽ;| A A)@Y@bDVDNy<%6=ٔF;Q->9"?Y"?=iGy%L:E%>)Q 554-a?Q 954-)-BY5&?Q E=:y=>Q I=#@-+?MBɢM|Z) >i)顑i&dib?jIb?IԩE9@A @A@EP0@AEe EeEe#Ea"Ee ;*Eexv:VEe3ZEaam@am@am@am@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258834^A- zl A9 IA IY Oe >U),-X@A>8>>6?>ٱ>߽ FAHRS rotation from veh to nav: [[0.837023,-0.539622,-0.090559],[0.545899,0.834829,0.071090],[0.037240,-0.108940,0.993351]]>H?D. x??2?@?㻿?i>8>I>v];>CY^ƃByb"I dddfAAbDjVDjlyv%v_=ٔv@:Q-v>9xYx=ziGyzF~}E~>Q 5 4a?Q 9 4i)BY y \>Q I#@DDI:i:̽4yɮ(@EjAgOEFNOT Ignoring new targets: 211.60 m.RMZMgO] ProNav: ac range: 211.601120 m, nav range: 224.349030 m, bearing: 22.598950 deg, approach rate: -0.648516 m/s, LOS rate: -0.004015 deg/s, cmd heading: 33.881864 deg, new cmd heading: 33.878921 deg. B]gOeHeadingCmd: 0.591299 target range: 211.601120 and range: 210.60 m.eZ_?a*a"i iiiiqʎqqqjqZ}<?颡ɢS) >i)<)顩ijiZ_? npIZ_?Im9@i @q@u4@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511313B<ABB؍CBBB =BBiDBh;B(E9^AkE}  E} E} *Ey "E} V:*E} :VE} (N4ZEy BE} 9i } checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765075 ),,X@A2U>2?2ٱ2> >AHRS rotation from veh to nav: [[0.837245,-0.539268,-0.090613],[0.545585,0.834960,0.071961],[0.036852,-0.109686,0.993283]]2H?Ai2nu??@l?;ޢ?g ?i2U>I2];2CYJByN "IiMb@Mb@Mb@ 9x&1?S㥛9QYQ=UiGyY]qE]>aQ 5m4ea?Q 9m4e)eBY#?Q E:yC>Q I#@eLDIeni)޼顑iqib?WivIb?Ia=9@9 @9@=~4@9@E=@E=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015981ԑ^A zlA zA ZAԹ A I I O >g),EX@AbE5 4jE5 4rE5?0E EE%E"E:*E҆:VE 4ZEa@a@a@a@^8̷>^?^ٱ^ fAHRS rotation from veh to nav: [[0.837510,-0.538767,-0.091144],[0.545229,0.834990,0.074275],[0.036088,-0.111900,0.993064]]^H?= 5Ur?`=??z?| .?i^8̷>I^ۻ];^CYlyn "IbDzVDzy~;%P=ٔ:Q->9 Y = iGy F ߓE>Q 54a?Q 9%4s)BY!y%>Q I%#@TDI;i;4y-jBɮ5@1jQgO]FNOT Ignoring new targets: 211.60 m.R]M8ZeM8gOm ProNav: ac range: 211.601120 m, nav range: 223.832077 m, bearing: 22.601735 deg, approach rate: -0.678463 m/s, LOS rate: 0.003697 deg/s, cmd heading: 33.881768 deg, new cmd heading: 33.884499 deg. Bu{8gOuHeadingCmd: 0.591396 target range: 211.601120 and range: 210.60 m.ue?y*y"y yʎjZ9@ԙ颹ɢ;) m>i)ܼiM,xie?'}Ie?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266778IQ9@ @@/@^Am checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519754A I I O > j),L_X@A2;+>2lk?2ٱ2 :AHRS rotation from veh to nav: [[0.838215,-0.536988,-0.095075],[0.544223,0.834840,0.082850],[0.034883,-0.121188,0.992016]]2H`? /VFj??@5? %ܡ? '`?i2;+>I2];2CBF2>BFӍCBFG"IBFBBF- =BDBFeDBFh;BF(EBM׍CBM֍CBIBM) =BM( =CMA6YTyV "IIZ%>)Zp=^=^= %<%4<bD-VD-Ny5 %=G=ٔ=@;Q-=>9AYA=EiGyAECEM>IQ 5U4M!a?Q 9]4M)MBYYy]>Q I]#@M]DIM;iM;M'4yekBɮm@mEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 211.60 m.R8Z8gO ProNav: ac range: 211.601120 m, nav range: 223.569641 m, bearing: 22.603226 deg, approach rate: -0.637129 m/s, LOS rate: 0.003623 deg/s, cmd heading: 33.884500 deg, new cmd heading: 33.887485 deg. B'8gOHeadingCmd: 0.591448 target range: 211.601120 and range: 210.60 m.&i?*" ʎjZJ@ɢ|8) >i)ڼi~i &i?  52I &i?I E= E=E=$E9"E=s:*E=ą:VE=4ZE9BE=f0ԙ ),yX@AFchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023549Vi>z ?Hoٱ׉ %AHRS rotation from veh to nav: [[0.839064,-0.534968,-0.098896],[0.543012,0.834665,0.092047],[0.033303,-0.130935,0.990831]]H?t AQ`Z`? ?@_?` ? y ?iVi>I];CY5By5 "IiMb@Mb@Mb@ 9K7A?333333ÿI +?Y "?y94<fA@ SA)@Y@bDVDy%>=ٔ9 Y = iGy F aE>Q 5%49b?Q 9%4u)BY%&?Q E%:y%Ͱ>Q I%#@fDI/:i8:4y1ɮ5@qj gOFNOT Ignoring new targets: 211.60 m.R]9Z]9gO% ProNav: ac range: 211.601120 m, nav range: 223.291336 m, bearing: 22.606742 deg, approach rate: -0.615024 m/s, LOS rate: 0.007779 deg/s, cmd heading: 33.887485 deg, new cmd heading: 33.894525 deg. B-c9gO5HeadingCmd: 0.591571 target range: 211.601120 and range: 210.60 m.53q?1*1"1 1199=Bʎ9AAjAZE@ @qɢu)q u>iq)}Gؼyyi}󴂻i3q?2I3q?I!@! @!@!@)@-[A@-\AԡEE EEEE&EA"EE:*EE?:VEE4ZEAaM@aM@aM@aM@UBDAT read: Rx Time:00:40:49.3570 ]TRx dataTimestamp_ set to:1761698450.172953]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279761^A A ?A ?A I I O > $),uX@A2{>2V?2{ٱ2+ :AHRS rotation from veh to nav: [[0.839030,-0.535037,-0.098813],[0.543151,0.834300,0.094506],[0.031875,-0.132964,0.990608]]2HU?K@}a?@? 1? Q?@?i2{>I2֎];2CYBƃByB"IbDJVDJJyRK"=%Vc=ٔV;Q-V>9XYX=ZiGyXZ9EZ>\Q 5b4^b?Q 9f4^`)^BYdyf>Q If#@^mDI^:i^:^4yjlBɮn]@n EjygO}FNOT Ignoring new targets: 211.60 m.R9Z9gO ProNav: ac range: 211.601120 m, nav range: 223.058212 m, bearing: 22.609678 deg, approach rate: -0.661044 m/s, LOS rate: 0.008335 deg/s, cmd heading: 33.894523 deg, new cmd heading: 33.900403 deg. Bt9gOHeadingCmd: 0.591674 target range: 211.601120 and range: 210.60 m.w?*" ʎjZ @Bɢȧ)! %̫>i!)%Qּ!!i%鐅i-w?-Rӄ5ˠI5w?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527973m9@i @i@m,0@iB >BЍCBA"IBBB8 =BFDBcDBVh;BJ(E^Am() EU  EU EU #EQ "EU :*EU ~:VEU 3ZEQ BEU 5 DAT read: 00:40:49.3570 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 116,-0.08,-0.708,-2.107,-0.153,-0.795, PHS= 0.189,-1.267, 0.598, RAW= 162.0, 5.7, CAL= 161.2, 5.1, ROT= 348.8, -5.1  Ygot valid direction response: 00:40:49.3570 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 116,-0.08,-0.708,-2.107,-0.153,-0.795, PHS= 0.189,-1.267, 0.598, RAW= 162.0, 5.7, CAL= 161.2, 5.1, ROT= 348.8, -5.1 *),YX@A"PDAT read: Bearing 181.6, -9.9 (Local) &~Local bearing/azimuth received: Bearing 181.6, -9.9 (Local) eDAT read: Range 11 to 50 : 208.2 m (Round-trip 277.6 ms) speed 0.6 m/s mR#Rx 1: Read range and direction messages.~>O?vٱ>Yu^direction in FSK: [0.977072,-0.193466,0.088894]Fpublishing direction and range infoyqu`+D?|ȿ?Yu3PCqqqu q)uCIu7A>iu-u?u4@u%=u4@ uK=)u@IuKqq UAHRS rotation from veh to nav: [[0.838568,-0.535989,-0.097566],[0.543945,0.833730,0.094957],[0.030447,-0.132698,0.990689]]H?`&`h??`O?`-?Aำ?i~>I];CYmBym"I qqqquq?.qR?px v? u;?)u̽Iu4+HiuKqqT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.IiMb@Mb@Mb@ 9Zd;?S㥛Ŀ rh?Y?y$C<A|@ =A)@YbDVDy3%=ٔ>6;Q->9Y = iGy F K:E >Q 543b?Q 94)̶BYMJ$?Q EM:yMM>Q IM#@xDI,;i;4y]mBɮ](@YquX@AJuNCRuNCju>uss Gi@}c6D} ϐe2@ru`+D?|ȿ?Zu4+HbuKu}eg@iS@.w=@zu2bwB?Q|}@;?']?2uB:u==C"uל~?*uߐBu Buל~?uߐ“u BuLCuf>gO addTargetRange:: Added new target pos. range: 208.199997 m, deltaT: 4.030945 s, deltaX: -2.400009 m, approachRate: -0.595396 m/s, rangeRepo size: 4 gO Added new target pos. range: 206.965302 m, bearing: 22.493296 deg, lat: 36.779435 deg, lon: -121.859407 deg, deltaT: 8.064975 s, deltaX: -4.635818 m, approachRate: -0.574809 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 206.97 m.R=ZAgOM ProNav: ac range: 206.965302 m, nav range: 204.823303 m, bearing: 22.492807 deg, approach rate: 0.000000 m/s, LOS rate: 0.008335 deg/s, cmd heading: 33.900404 deg, new cmd heading: 33.908991 deg. BQgOUHeadingCmd: 0.591824 target range: 206.965302 and range: 208.20 m.U?Y*Y"Y YyyBʎj`fj@Z ?ɢ߻)1 5J>i1)5Ӽ1Qi]<ۈie?emALIm?Iqy*DAT read: user:519> BDAT read: Tx time:00:40:50.7752 $Ping request sent.32),vpˤX@A2|>2?2HMٱ2 :AHRS rotation from veh to nav: [[0.837871,-0.537708,-0.094035],[0.545093,0.833351,0.091646],[0.029085,-0.128045,0.991342]]2H`?`4 gq?`Ъ? v?ȝ?c ?i2|>I2];2CYBŃByB"IbDNVDN02yVf=%Vb=ٔZw;Q-Z>9XYX=ZiGyX^s;E^>`Q 5-4b]Fb?Q 9-4b)bֶBY)y-ߧ>Q I5#@bDIb!fi)Ѽ顡i4yiS?T僼IS?IU9@Q @Q@U4@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.499805^AB} '>By By By By By B} dDB} ~g;B} 'EA I I O >I 8),X@A2L>2?2ٱ2h :AHRS rotation from veh to nav: [[0.837205,-0.539283,-0.090896],[0.546193,0.832894,0.089217],[0.027594,-0.124340,0.991856]]2H a?@A Djz? ?ֶ?A?@ԿH?i2L>I2];2CYnByn"IbDvVDvN2y5l%F=ٔQm;Q->9 Y = iGy F L;E>E% E%E%&E!"E%>:*E%X:VE%4ZE!BE%Q IE#@DIӹ;iI;p4yMnBɮMV@M EPmB*** querying acoustic contact ***i ijqgO}FNOT Ignoring new targets: 206.97 m.RRW9ZRW9gO ProNav: ac range: 206.965302 m, nav range: 204.329849 m, bearing: 22.501690 deg, approach rate: -0.657312 m/s, LOS rate: 0.011766 deg/s, cmd heading: 33.917364 deg, new cmd heading: 33.926779 deg. BB9gOHeadingCmd: 0.592134 target range: 206.965302 and range: 208.20 m.?*" ʎjZA?BɢS[) >i)qϼii?ayI?I1%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7522309@ @@4@a^Apԉ G5 \AQ 9 \AY AI I O- > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003313Թ ?),X@A6[>6?6JԼٱ6 BAHRS rotation from veh to nav: [[0.836109,-0.541201,-0.089570],[0.547951,0.831680,0.089767],[0.025912,-0.124135,0.991927]]6Hg?`Q`Ј????@Iǿݽ?i6[>I6];6CYJփByJ'"IN=Na=iMb@Mb@Mb@ 9S?QſV-?Y/?y(<fA@ )@Yz@ -p<-<bD5VD5kyM >%MF=ٔMV;Q-U>9QYQ=UiGyUF] ;E]>aQ 5m4eNpb?Q 9m4e6)eBYm"?Q Eu:yu>Q Iu#@eDIe:ie:e4y}pBɮ}@yjgOFNOT Ignoring new targets: 206.97 m.Rk`9Zk`9gO ProNav: ac range: 206.965302 m, nav range: 204.068497 m, bearing: 22.506710 deg, approach rate: -0.637660 m/s, LOS rate: 0.012263 deg/s, cmd heading: 33.926779 deg, new cmd heading: 33.936831 deg. B9gOHeadingCmd: 0.592309 target range: 206.965302 and range: 208.20 m.?*" BʎQjQZU 0?ԑ颡ɢW) >i)ͼ顩iՐi? _I?I!@! @!D)zD-?AE5 E5E1E1"E5:*E5c:VE1ZE1a=@a=@a=@aE@@%/@A-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255608^AIi Iy O > E),4X@AFD>F4?FɠżٱFL VAHRS rotation from veh to nav: [[0.835170,-0.542747,-0.088973],[0.549463,0.830472,0.091695],[0.024122,-0.125468,0.991804]]FH?0^ƶ2?9?`Sy? |?Wܼ?iFD>IF];FCYf؃Byf*"IbDzVDzNy 2<% N=ٔ;Q->9Y=%iGy!%;E->1Q 5E45ob?Q 9E45)5BYIyM>Q IU#@5DI5o7;i5E;54yaɮew@achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.506913jgOFNOT Ignoring new targets: 206.97 m.RzV9ZzV9gO ProNav: ac range: 206.965302 m, nav range: 203.816849 m, bearing: 22.511418 deg, approach rate: -0.625602 m/s, LOS rate: 0.011719 deg/s, cmd heading: 33.936830 deg, new cmd heading: 33.946258 deg. B9gO5HeadingCmd: 0.592474 target range: 206.965302 and range: 208.20 m.5`?1*9"9 999AAʎAAAjIZMb?颱ɢ`ٞ:) D>i)Iʼ项iQi`?iKI`?IB)A-4=B=A>B=ՍCB9B9B=- =B=EDB=gDB=tf;B=r'E9@ @@/@E= E=E='E9"E=>:*E=ą:VE='4ZE9BE=L),B2X@A 6.>6;m?6zзٱ6 >AHRS rotation from veh to nav: [[0.834220,-0.544610,-0.086465],[0.550975,0.829599,0.090514],[0.022436,-0.123148,0.992135]]6H?rm"??+??ࡆ ?i6.>I6];6CYFByF6"IiMb@Mb@Mb@ 9Q?ףp= ÿL7A`?Y(?y+=OA V@)@Y3@bDmVDmy}5=%}C=ٔ;Q->9Y=iGyF^;E>Q 54 b?Q 94) BYX!?Q E:yV>Q I#@DI ;iG ; 4yqBɮ@ EjgOFNOT Ignoring new targets: 206.97 m.R$9Z$9gO ProNav: ac range: 206.965302 m, nav range: 203.556503 m, bearing: 22.515118 deg, approach rate: -0.632158 m/s, LOS rate: 0.008996 deg/s, cmd heading: 33.946259 deg, new cmd heading: 33.953668 deg. B9gOHeadingCmd: 0.592603 target range: 206.965302 and range: 208.20 m.ڴ?*" BʎjZ vz@5Bɢ5lS;)9 =+>i9)=4)ȼ99i=#iEڴ?EEL6IMڴ?IIq9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022861ԙ^A50:DIIO> EI  EM EM #EI "EI *EM e:VEM 3ZEI aU @aU @aU @aU @R),LX@A&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274866:$>:?:= ٱ:| BAHRS rotation from veh to nav: [[0.832800,-0.547122,-0.084269],[0.553193,0.828172,0.090049],[0.020522,-0.121610,0.992366]]:HL? @³? b?t ??!u?i:$>I:w^;:CYJByJH"IP LLbDVVDVfy^|=%bW=ٔbE;Q-b>9dYd=fiGydfZ;Ef>hQ 5n4jb?Q 9r4j)jBYpyr>Q Ir#@jDIj;ij;j4ytɮv@xjgOFNOT Ignoring new targets: 206.97 m.R:9Z:9gO- ProNav: ac range: 206.965302 m, nav range: 203.318710 m, bearing: 22.518334 deg, approach rate: -0.626452 m/s, LOS rate: 0.008482 deg/s, cmd heading: 33.953669 deg, new cmd heading: 33.960109 deg. B-]x9gO5HeadingCmd: 0.592716 target range: 206.965302 and range: 208.20 m.58?1*1"1 9ʎjZj@ɢ;) >i)_nżiטi%8?%j%I%8?I)Iq)u[A@ @@0@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527207^A:IIO>B- J>B- ׍CB- N"IB- BB- % =B) B- hDB- ye;B- &EA (Y),gfX@A2>2ӧ?2)ٱ2 :AHRS rotation from veh to nav: [[0.831631,-0.549211,-0.082205],[0.555016,0.826975,0.089834],[0.018644,-0.120334,0.992558]]2H?#@c ?v?`W?\? .ξ ?i2>I2y];2CYZByZJ"IbDfVDf:2yj.;%nI=ٔn4;Q-n>9pYp=riGyrFv:;Ev>tQ 5z4v@b?Q 9~4vaE EE(E"E:*EL_:VEc44ZEBE0Q I%#@vDIv ;iv;v4y)ɮ-@- EPEB*** querying acoustic contact ***I IjQgOUFNOT Ignoring new targets: 206.97 m.R] 9Z] 9gOm ProNav: ac range: 206.965302 m, nav range: 203.063507 m, bearing: 22.521641 deg, approach rate: -0.619183 m/s, LOS rate: 0.008034 deg/s, cmd heading: 33.960110 deg, new cmd heading: 33.966733 deg. BmCk9gOuHeadingCmd: 0.592831 target range: 206.965302 and range: 208.20 m.u?q*q"q yyyʎjZ@颵Bɢ;) >i)Y¼项icji?I?I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779033Y@Y @Y@e>2@a1^A5QIIO>ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030780 `),RCX@A2'>2Pi?2ٱ2Yg :AHRS rotation from veh to nav: [[0.830012,-0.551956,-0.080148],[0.557485,0.825403,0.089000],[0.017031,-0.118553,0.992802]]2Hv?`?i? ȶ?|p?wY ?i2'>I2)^;2CYFByFM"Ii5Mb@Mb@Mb@1111 195/$?n~jt?Y5?y5V5=15@ 5(@)5@1Y5@bDMVDM:YyU(<%eB=ٔez;Q-e>9aYi=miGyim;Em>qQ 54ub?Q 94u)u2BY ?Q E:y>Q I#@uDIuni)A顙i+i?Ƿ̻I?IbEÞ4jEw4rE7/Eu EuEu&Eq"Eu:*Eu[:VEu4ZEqa@a@a@a@ԉ9@ @@4@eBDAT read: Rx Time:00:40:53.4249 eTRx dataTimestamp_ set to:1761698454.213075mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.283749Ա^AA I I O >;f),%X@AR>R^?R2wٱR| ZAHRS rotation from veh to nav: [[0.827926,-0.555089,-0.080096],[0.560594,0.823294,0.089007],[0.016536,-0.118593,0.992805]]RH`^~?@I`-@b?kX?@1ɶ??@\?iR>IR ^;RCYbByb^"I j49xYx=ziGyMFM[<EM>QQ 5]4Uyb?Q 9]4Ud)U?BYaye>Q Ie#@UDIUt:iU:U(4yiɮm@ijgOFNOT Ignoring new targets: 206.97 m.R08Z08gO ProNav: ac range: 206.965302 m, nav range: 202.549942 m, bearing: 22.523812 deg, approach rate: -0.651344 m/s, LOS rate: 0.002405 deg/s, cmd heading: 33.969232 deg, new cmd heading: 33.971080 deg. Bڌ8checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534871gOHeadingCmd: 0.592907 target range: 206.965302 and range: 208.20 m.?*" ʎjZ\@Bɢ,<) >i )   i 塠i?BB`"IBBBBBiDBPd;Bm&EBՍCBԍCBÖCB- =B. =C79@ @@1@E EE#E"E:*EAr:VE3ZEBE#A } PDAT read: Bearing 183.2, -12.2 (Local) } ~Local bearing/azimuth received: Bearing 183.2, -12.2 (Local)  DAT read: Range 11 to 50 : 184.1 m (Round-trip 245.5 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.970660,-0.220528,0.095846] Fpublishing direction and range infoel),X@Ay ?ێnE:̿aVX?Y8C )GI!>i刺7!?6@Pw=o5@ =)@I Ľhy?%?>Ӻ? YB?).ֽItdi ĽZT****** received valid address query ******ZR****** received valid ping request ******^Querying Benthos address 50 with one ping in standard two-way mode.k!>f?#ٱ. AHRS rotation from veh to nav: [[0.825657,-0.558408,-0.080449],[0.563918,0.821137,0.087921],[0.016964,-0.117959,0.992874]]Hk?y T ?F?? _?2?ik!>I@];CYM ByMf"IieMb@Mb@Mb@aaaa a9eMbX9?"~jX9v?Ye!?yeS㽙e9AYi=miGyqu <Eu>Q 54b?Q 94 )LBYu$?Q E:y)>Q I#@ʎDIJ E"5f@/q.D1@r ?ێnE:̿aVX?Ztdb Ľjd@2f%Q@][19@z97V?V?GHE?2+B:'C"\'=?*'!BlBB\G7?d“HCp8>kOaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 184.100006 m, deltaT: 4.044607 s, deltaX: -24.099991 m, approachRate: -5.958549 m/s, rangeRepo size: 4jgOFNOT Ignoring new targets: 206.97 m.R Z gO ProNav: ac range: 206.965302 m, nav range: 202.245712 m, bearing: 22.520464 deg, approach rate: -0.609803 m/s, LOS rate: -0.006722 deg/s, cmd heading: 33.971080 deg, new cmd heading: 33.964372 deg. BD*DAT read: user:520> BDAT read: Tx time:00:40:54.8252 $Ping request sent.iQ)U꽸YYi]ѣi?+::I?I59@1 @9@=4@9iE  E E $E "E s:*E k:VE 4ZE a @a @a @a @^A] NJκԙ } checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251146I I O >s),PoϥX@AJa0>Jn?J{0ٱJ RAHRS rotation from veh to nav: [[0.823363,-0.561304,-0.083736],[0.567219,0.818692,0.089473],[0.018333,-0.121165,0.992463]]JH X?@3o&?`2?@?Œ?A?iJa0>IJZ];JCY^By^m"IbDfVDfyn =%ni=ٔnQ-r>9pYp=riGyrFv><Ev?xQ 5~4zc?Q 9~4z)zVBY|y~R>Q I#@zюDIz-:iz9:zT74y tBɮ T@ j)gO5FNOT Ignoring new targets: 206.97 m.R=Z=gOM ProNav: ac range: 206.965302 m, nav range: 202.025497 m, bearing: 22.517770 deg, approach rate: -0.685857 m/s, LOS rate: -0.008399 deg/s, cmd heading: 33.964372 deg, new cmd heading: 33.958979 deg. BMugOMHeadingCmd: 0.592696 target range: 206.965302 and range: 208.20 m.U?Q*Q"Q QQYYYʎYaajaZe/?频ɢI<) >i)5N顙iGi?q=;I?IԱ9@ @@/@^A9II!O=.>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502803 B T>B ؍CB s"IB BB ! =B B jDB b;B %E1 ^y),FX@A2>2N?2Dٱ2> :AHRS rotation from veh to nav: [[0.821387,-0.563709,-0.086924],[0.570019,0.816643,0.090396],[0.020029,-0.123798,0.992105]]2HH? @`=?`!?@-$??`A`S?i2>EB EBEB%E@"EB:*EBV:VEB 4ZE@BEB59Y=iGy  <E >Q 54$c?Q 94)bBYy%'>Q I%#@ڎDI :i:u>4y)ɮ-@)PEB*** querying acoustic contact ***I IjQgO]FNOT Ignoring new targets: 206.97 m.R]HZ]HgOm ProNav: ac range: 206.965302 m, nav range: 201.764755 m, bearing: 22.514307 deg, approach rate: -0.637975 m/s, LOS rate: -0.008485 deg/s, cmd heading: 33.958980 deg, new cmd heading: 33.952044 deg. BmsxgOuHeadingCmd: 0.592575 target range: 206.965302 and range: 208.20 m.u?y*y"y yyyʎjZ B? =Bɢ=G<)9 =D?i9)EϲAAiE8iM?uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754856MI};I}?Iy)@) @1@1@19^Amrg:qIIO >i! I! % checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007014ԑ ເ),X@AY~By~z"IiMb@Mb@Mb@ 9/$?B`"۹9Y=iGyFE>Q 54:c?Q 94[)kBY:*?Q E:y>Q I#@DI:i:E4yuBɮ@EjgOFNOT Ignoring new targets: 206.97 m.R%bZ%bgO5 ProNav: ac range: 206.965302 m, nav range: 201.480865 m, bearing: 22.509013 deg, approach rate: -0.663161 m/s, LOS rate: -0.012384 deg/s, cmd heading: 33.952044 deg, new cmd heading: 33.941441 deg. B5OgO=HeadingCmd: 0.592390 target range: 206.965302 and range: 208.20 m.=ݦ?9*9"9 99AAE(BʎAIIjIZM{?qyɢ`<)  ?i)b顁iڭiݦ?0 ;Iݦ?IDzDAAE EE(E"E:*E:VEc44ZEa@a@a@a@-9@) @)@-0@)^A[R;IiIychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258742O:>ԡ ,),X@A2>2?2rƼٱ2 :AHRS rotation from veh to nav: [[0.818163,-0.567327,-0.093536],[0.574474,0.813407,0.091364],[0.024250,-0.128484,0.991415]]2Hd.? '@b? o?c?Ԙ? ,r?i2>I22];2CY^By^w"IbDfVDfk1vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511246yMgH%MR=ٔM1Q-M>9QYQ=UiGyQ]g<E]>aQ 5m4eqMc?Q 9m4eR)euBYiym>Q Iu#@eDIe:ie:eL4yyɮ}@yjgOFNOT Ignoring new targets: 206.97 m.RavZavgO ProNav: ac range: 206.965302 m, nav range: 201.223663 m, bearing: 22.503786 deg, approach rate: -0.661640 m/s, LOS rate: -0.013463 deg/s, cmd heading: 33.941440 deg, new cmd heading: 33.930973 deg. BŹgOHeadingCmd: 0.592207 target range: 206.965302 and range: 208.20 m.?*" ʎjZA?ɢTr<) ?i) ,  i Աi?,NB׍CB"IB(BB# =BBiDBb;BY%E9@ @@?1@E EE"E"E:*E҆:VE(3ZEBEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7698211 Q W),6X@A &l>&CVGb`]Al09`]AY Ae9>e4?eeռٱeZ AHRS rotation from veh to nav: [[0.817020,-0.568375,-0.097094],[0.576018,0.812152,0.092806],[0.026107,-0.131752,0.990939]]eH%?!0,۸`n?@&?·?Ż?`Aŵ?ie9>IeM];eCY#By"IiMb@Mb@Mb@ 9(\?ʡE~jt?Y'?y-D<A@ V@)@Y@bD VD:2ytc=%5=ٔ솻Q->9Y=iGyF;E>Q 54cc?Q 94)~BY.)?Q E:y>Q I#@DI':is:T4yɮ@Ej gOFNOT Ignoring new targets: 206.97 m.R[Z[gO% ProNav: ac range: 206.965302 m, nav range: 200.927429 m, bearing: 22.495940 deg, approach rate: -0.656576 m/s, LOS rate: -0.017415 deg/s, cmd heading: 33.930973 deg, new cmd heading: 33.915258 deg. B%)gO5HeadingCmd: 0.591933 target range: 206.965302 and range: 208.20 m.5?1*1"1 9999EBBʎAAAjAZ(@-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022926MBɢUJZ<)Q U?iQ)UQYi]˶i]?e%Ȅc/),QX@A2œ>2?2=C޼ٱ2x :AHRS rotation from veh to nav: [[0.817185,-0.567799,-0.099067],[0.575737,0.812221,0.093934],[0.027128,-0.133798,0.990637]]2H@`&?g+q\pl?? ?@Ǜ?L L?i2œ>I2];2CYE$ByE"IbD]VD]ymQ;%mH=ٔm$Q-u>9qYq=uiGyq}PE}>Q 54wc?Q 94^)BYyb>Q I#@DI:i:[4yvBɮ@jgOFNOT Ignoring new targets: 206.97 m.RsZsgO ProNav: ac range: 206.965302 m, nav range: 200.659424 m, bearing: 22.488842 deg, approach rate: -0.657076 m/s, LOS rate: -0.017425 deg/s, cmd heading: 33.915257 deg, new cmd heading: 33.901042 deg. B!gOHeadingCmd: 0.591685 target range: 206.965302 and range: 208.20 m.x?*" ʎjZy@ɢU<) ?i)=i񧻻ix?$v_BE֍CBE"IBE7BBE( =BABEhDBEa;BE-%Eq ^Au jZX<EM  EI EM %EI "EM :*EI VEM 4ZEI BEM 5s),kX@A 2>2ɤ?2]ٱ2AHRS rotation from veh to nav: [[0.818257,-0.566054,-0.100190],[0.574200,0.813121,0.095541],[0.027385,-0.135707,0.990371]]2H)/?`_?`?fu? ?^?i2>I2];2C @)B`ABL@DFِCF`AiFtIDDIHiJr@ HH)LL LNtNELPR`AIR)PiP)TIV`AV}VE TXXXiXXYXYb+Byb"IbDjVDj02yr5=%rc=ٔr:Q-r>9tYt=viGyvFzEz>qQ 5}4u/c?Q 9}4uV)uBYyu>Q I$@uDIu:iu:uSb4yɮ@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 206.97 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779395R>Z>gO= ProNav: ac range: 206.965302 m, nav range: 200.412445 m, bearing: 22.482413 deg, approach rate: -0.646724 m/s, LOS rate: -0.016856 deg/s, cmd heading: 33.901043 deg, new cmd heading: 33.888168 deg. BEgOuHeadingCmd: 0.591460 target range: 206.965302 and range: 208.20 m.ui?q*y"y yyyʎjZ`Qq@IQɢU<) s ?i)顑ihii?l%F[),򱅦X@A6rt>6?6ݼٱ6# BAHRS rotation from veh to nav: [[0.819566,-0.563826,-0.102039],[0.572346,0.813974,0.099325],[0.027055,-0.139805,0.989809]]6H9?@ @P?@ ?@`m?a?`$?i6rt>I6];6CLY5%By5"Ionly read 0 of 1 data item for BIT error. Device response is::TS,00050504291, +10.6, 0.0,1492.0, 0 a@a a@a a@a a@a bDVDyؼ%9=ٔ#D:Q- >9 Y = iGyE>Q 5%4$c?Q 9%4)BQ A%+:Y!Q E-:y-_>Q I-$@DI:i>Xh4y5wBɮ5"@5EjYgO]FNOT Ignoring new targets: 206.97 m.ReZegOu ProNav: ac range: 206.965302 m, nav range: 200.132996 m, bearing: 22.475291 deg, approach rate: -0.665904 m/s, LOS rate: -0.016996 deg/s, cmd heading: 33.888168 deg, new cmd heading: 33.873903 deg. BugO}HeadingCmd: 0.591211 target range: 206.965302 and range: 208.20 m.}Y?y*y"y ʎjZ5 @E EEE"E:*EP:VEZEa@a@a@a@颱ɢj<) r?i)D\项iŻiY?҉%,^A 0:D<1 IA IQ O] >),X@A2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5347336>6+?6Լٱ6Z BAHRS rotation from veh to nav: [[0.821578,-0.560209,-0.105717],[0.569505,0.814936,0.107441],[0.025963,-0.148478,0.988575]]6H]J?:K@b9??G?? Tÿg?i6>I67];6C|YEByE}"IbD]VD]:yG%Q=ٔ 7;Q->9Y=iGy¯FE>BBB"IBABBBBBa;B"%EQ 54c?Q 94ū)BQ A :YQ ER:y>Q I$@DI:itR?l4yxBɮ@EjgOFNOT Ignoring new targets: 206.97 m.R%bZ%bgO- ProNav: ac range: 206.965302 m, nav range: 199.873550 m, bearing: 22.468896 deg, approach rate: -0.657094 m/s, LOS rate: -0.016216 deg/s, cmd heading: 33.873903 deg, new cmd heading: 33.861098 deg. B5jgO=HeadingCmd: 0.590988 target range: 206.965302 and range: 208.20 m.=J?9*9"9 99AAAʎAIIjIZM @qɢ} <)y }?iy)}oN顁iTɻiJ?Kр";IeJ?I19@ @@/@E EE$E"E:*E&p:VE4ZEBE)iVR?ּ5@K={4@ `=)x@I`Q5h?=(?Fm!ζ? $>?) I4Ri`e T****** received valid address query ******^A &<II ԉ  R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.I) O5 >),hX@An>nF?nɼٱn# vAHRS rotation from veh to nav: [[0.823590,-0.556378,-0.110195],[0.566649,0.815577,0.117228],[0.024649,-0.158990,0.986972]]nH Z?@5!?`5? ?=?@YĿ G?in>InC^;nCY&By"IYaa a%a% a%a% a%a% i%Mb@Mb@Mb@!!!! !9%Mb?y&1?Y%#?y%̽%`e<%fA%9@ %?@)%@!Y%@bD=VD=yMK=%M@=ٔE;Q->9Y=iGyqE>Q 54c?Q 94)BQ AT:Y%?Q E:yv>Q I$@DI:i:jt4yɮ@9=lX@AJ=W4CR=W4Cj=#>={6f@݋GcB[)6 +@r=8UOm*DAT read: user:521> uBDAT read: Tx time:00:40:58.8751 u$Ping request sent.uA .AI I O >aF),֦X@A(6Dd>6?67ٱ6@/ >AHRS rotation from veh to nav: [[0.825270,-0.552948,-0.114791],[0.564271,0.815634,0.127825],[0.022947,-0.170264,0.985131]]6H`h?`b??\?_?5ſ2?i6Dd>I69^;4YF"ByF"IbDRVDR:2yV%ZN=ٔZ3;Q-Z>9^ ?Y^ ?=^iGy^ïF^Eb>`Q 5f4bc?Q 9j4b)bBYhyj@>Q Ij$@b'DIb<;ib7;b+{4ylɮr\@rEj1gO5FNOT Ignoring new targets: 180.34 m.R=m'Z=m'gOM ProNav: ac range: 180.343170 m, nav range: 180.114792 m, bearing: 23.296153 deg, approach rate: -0.666773 m/s, LOS rate: -0.009148 deg/s, cmd heading: 33.846466 deg, new cmd heading: 33.839649 deg. BUgO]HeadingCmd: 0.590613 target range: 180.343170 and range: 181.40 m.eo2?a*a"a iʎjZj?颅Bɢ<) ?i)ޒ顩iһio2?9)G;Io2?Iԁ}9@y @y@}0@@\A@\A%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503112^AU;BUY>BUٍCBU"IBUFBBU# =BQBUjDBUa;BQB׍CB׍CBƔCB# =B$ =CjJ6ԱAIIO> E  E E E "E :*E :VE ZE BE u?Ŏٱ98 %AHRS rotation from veh to nav: [[0.827119,-0.549590,-0.117585],[0.561646,0.815970,0.136919],[0.020696,-0.179289,0.983579]]H@w? = ?l??u1?@ƿ zy?il>In^;Y5By=o"IbDmVDmܲy},%}>=ٔ;Q->9Y=iGy`E>Q 54c?Q 94)BYy>Q I$@0DI;i:4yɮ@PB*** querying acoustic contact *** j gO5FNOT Ignoring new targets: 180.34 m.REb ZEb gO ProNav: ac range: 180.343170 m, nav range: 179.839157 m, bearing: 23.292607 deg, approach rate: -0.595411 m/s, LOS rate: -0.007671 deg/s, cmd heading: 33.839650 deg, new cmd heading: 33.832548 deg. B`gOHeadingCmd: 0.590489 target range: 180.343170 and range: 181.40 m.O*?*" ʎjZ?ɢei<) >i)+iֻi%O*?%y~-n :I-O*?I159@1 @1@50@95checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006854A ^A] ϩ;Aa zAe ZAi A ؟AI I E  E E )E "E s:*E e:VE FA4ZE a @a @a @a @O >!),} X@AV>V[?V?ٱVY02 ^AHRS rotation from veh to nav: [[0.826744,-0.550958,-0.113758],[0.562219,0.816383,0.132016],[0.020135,-0.173101,0.984698]]VHt?q@D?@? ?L? )(ƿ?iV>IV^;VCYf!Byj"Ii]Mb@Mb@Mb@YYYY Y9]NbX9?MbI +?Y]%?y]]9<]5 A]O@ ]@)YYY](@bDuVDu!yv=%5=ٔ:Q->9"?Y"?=iGyįF!:E>Q 54d?Q 94z)ʷBY(?Q E:y>Q I$@9DI;i ;4yyBɮp@jgOFNOT Ignoring new targets: 180.34 m.RsZsgO ProNav: ac range: 180.343170 m, nav range: 179.541428 m, bearing: 23.292264 deg, approach rate: -0.720234 m/s, LOS rate: -0.000833 deg/s, cmd heading: 33.832546 deg, new cmd heading: 33.831858 deg. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258906B÷gOHeadingCmd: 0.590477 target range: 180.343170 and range: 181.40 m.)?*" JBʎjZl}?额Bɢ;<) ?i)~顡i7;ۻi)?ſ}:I)?I9@ @@1@) ^Ae 9 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511664B [>B ڍCB B B  =B B kDB a;B 8%EA I I O >7),ʦ&X@A:y>:?:̤ٱ:0) BAHRS rotation from veh to nav: [[0.826330,-0.552507,-0.109154],[0.562827,0.817066,0.125012],[0.020116,-0.164736,0.986133]]:H@Kq? $ ?h%?f?@I:>^;:CYJByNs"IbDVVDVN2y^v%^X=ٔb3V8Q-b>9`Y`=biGy`f:Ef>hQ 5n4jd?Q 9n4jޜ)jշBYpyr>Q Ir$@jADIj;ij;j.4ytɮvT@vEjgOFNOT Ignoring new targets: 180.34 m.REkZEkgO ProNav: ac range: 180.343170 m, nav range: 179.292786 m, bearing: 23.291960 deg, approach rate: -0.657920 m/s, LOS rate: -0.000803 deg/s, cmd heading: 33.831856 deg, new cmd heading: 33.831249 deg. B7gOHeadingCmd: 0.590467 target range: 180.343170 and range: 181.40 m.(?*" ʎjZy? ɢS<) a>i)=M99i=޻iE(?Ef }E<;IE(?IIIQ)UYAE EE$E"E:*Ei:VE4ZEBE#),@X@A6>6,P?6ٱ6Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014789D JAHRS rotation from veh to nav: [[0.825793,-0.554446,-0.103226],[0.563598,0.817983,0.115159],[0.020588,-0.153276,0.987969]]6Hl?@ m`? ,?{??ÿq?i6>I6^;6CYzByxi}Mb@Mb@Mb@yyyy y9}jt?p= ףZd;O?Y} ?y}}j<}bA}"@ }?@)yyY}@bD VD2ygC%<=ٔMQ->9Y=iGyůF ;E>Q 54M/d?Q 94)BYH$?Q E:y>Q I$@JDI:i8:Ș4yɮ_@jgOFNOT Ignoring new targets: 180.34 m.R -7Z -7gO ProNav: ac range: 180.343170 m, nav range: 179.014725 m, bearing: 23.292347 deg, approach rate: -0.639225 m/s, LOS rate: 0.000889 deg/s, cmd heading: 33.831249 deg, new cmd heading: 33.832022 deg. BH7gO%HeadingCmd: 0.590480 target range: 180.343170 and range: 181.40 m.%)?!*!"! !)))-KBʎ11jZ \@%Bɢ%#<)) ->i))-IIiU@iU)?]|]sDC;I])?IYԩ@ @@O3@E EEE"E:*E&p:VEZEa@a@a@a@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266770^A ;A ?A ? A I I O >K),hZX@A>Aa>>r?>yٱ>d JAHRS rotation from veh to nav: [[0.825315,-0.556403,-0.096284],[0.564274,0.819055,0.103646],[0.021193,-0.139871,0.989943]]>Hh?` @?5???`N?i>Aa>I>3];>CYRByRz"IbDZVDZkyb<%bZ=ٔfӺQ-f>9dYd=fiGydj;Ej>lpQ 5v4rAd?Q 9v4r)rBYtyv>Q Iv$@rRDIr:irR:rX4y|ɮ~@~EjgOFNOT Ignoring new targets: 180.34 m.R|7Z|7gO ProNav: ac range: 180.343170 m, nav range: 178.774536 m, bearing: 23.292684 deg, approach rate: -0.612642 m/s, LOS rate: 0.000862 deg/s, cmd heading: 33.832024 deg, new cmd heading: 33.832700 deg. B7gOHeadingCmd: 0.590492 target range: 180.343170 and range: 181.40 m.|*?*" ʎjZF@EBɢE<)A E?iA)M0IIiMYi|*?/{o;I|*?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519612 9@  @ @ /@BS>B؍CB"IBABB =BBjDBb;B[%E1^A-2;E  E E E "E a:*E T:VE ZE BE (] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774099s),:tX@AN_>N?NSٱN @ AHRS rotation from veh to nav: [[0.824871,-0.557702,-0.092500],[0.564914,0.819376,0.097445],[0.021447,-0.132634,0.990933]]NHWe?`@? S8?@)??& ?iN_>IN0^;NCAYMByU}"I}=}= :G-9)Y-AbD-VD-y=7<%E)=ٔE& Q-E>9IYI=MiGyMƯFm:Eu>qQ 5}4u"Zd?Q 94uQ)uBYy>Q I$@u\DIu:iu:u4yɮ@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 180.34 m.Rx7Zx7gO5 ProNav: ac range: 180.343170 m, nav range: 178.462326 m, bearing: 23.293092 deg, approach rate: -0.650175 m/s, LOS rate: 0.000850 deg/s, cmd heading: 33.832700 deg, new cmd heading: 33.833516 deg. B57gO5HeadingCmd: 0.590506 target range: 180.343170 and range: 181.40 m.=k+?9*9"9 999AAʎAIIjQZUe @iBɢ<) G?i){aiem9imk+?mymC;Imk+?Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0233419@ @@@ԙ ^AE Β{;AI zAI E5  E5 E5 'E1 "E5 m:*E5 e:VE5 '4ZE1 a= @a= @a= @a= @A I I O >F.), X@A.BDAT read: Rx Time:00:41:01.5779 .TRx dataTimestamp_ set to:1761698462.2852502checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275980Y-By-x"Ia%@a% a%@a% a%@a% a%@a% bD-VD-k1y=S%=@=ٔEQ-E>9AYA=MiGyMǯFMEM>QQ 5]4Und?Q 9]4U)UBQ A]+:YYQ Ee:yaQ Ie$@UeDIU& ;iUp>Uԭ4yiɮm@qjgOFNOT Ignoring new targets: 180.34 m.Rz7Zz7gO ProNav: ac range: 180.343170 m, nav range: 178.193329 m, bearing: 23.293444 deg, approach rate: -0.652524 m/s, LOS rate: 0.000856 deg/s, cmd heading: 33.833516 deg, new cmd heading: 33.834222 deg. Bp7gOHeadingCmd: 0.590519 target range: 180.343170 and range: 181.40 m.:,?*" ʎjZ @!ɢUa<) >i)N.ui'i]:,?]xe6;Ie:,?Ia @  @@@Q checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526723AABL>B׍CB"IB7BB& =BBiDBLb;Bm%Eԁ ^A m;AA IQ Ia Om >qe),嚫X@AV>VE?V ٱV3^ zAHRS rotation from veh to nav: [[0.825853,-0.555703,-0.095709],[0.563448,0.819918,0.101296],[0.022183,-0.137583,0.990242]]VH dm?R@\?IVF^;VCE- E-E-(E)"E->:*E-i:VE-c44ZE)BE-9Y=iGyE>Q 54d?Q 94Ȏ)BQ A :YQ EY:yP>Q I$@mDI;i6Y?4y{Bɮ@Ea}DAT read: 00:41:01.5779 LVL= 28944, 32753, 28594, 32755, AGC= 68, IDX= 211,-0.17, 1.112,-0.271, 1.744, 1.003, PHS= 0.212,-1.229, 0.697, RAW= 164.0, 3.7, CAL= 162.9, 2.3, ROT= 347.1, -2.3 Ygot valid direction response: 00:41:01.5779 LVL= 28944, 32753, 28594, 32755, AGC= 68, IDX= 211,-0.17, 1.112,-0.271, 1.744, 1.003, PHS= 0.212,-1.229, 0.697, RAW= 164.0, 3.7, CAL= 162.9, 2.3, ROT= 347.1, -2.3 PDAT read: Bearing 179.1, -11.7 (Local) ~Local bearing/azimuth received: Bearing 179.1, -11.7 (Local) DAT read: Range 11 to 50 : 223.9 m (Round-trip 298.6 ms) speed 0.7 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.973976,-0.223070,0.040132]Fpublishing direction and range infoyIMgQ*?Go+̿.='?YM_CIMqIMo I)IIMY>iMOMn2?M07@M A=M5@ Ml$=)Mr@IMl$IIMfu?8J/?'-3? M?D?)MYIMfiMl$IIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.kOaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 223.899994 m, deltaT: 4.031795 s, deltaX: 42.500000 m, approachRate: 10.541210 m/s, rangeRepo size: 4jgOFNOT Ignoring new targets: 180.34 m.R7Z7gO= ProNav: ac range: 180.343170 m, nav range: 177.924133 m, bearing: 23.293925 deg, approach rate: -0.632199 m/s, LOS rate: 0.001132 deg/s, cmd heading: 33.834223 deg, new cmd heading: 33.835187 deg. BE8gOUHeadingCmd: 0.590535 target range: 180.343170 and range: 181.40 m.UT-?Q*Y"Y Yʎ jk@Z?m?ԙ5Bɢ5<)9 =}?i9)=?|l99i=iET-?EtwE';IMT-?I) @1  @1 @9 @A  *DAT read: user:522>  BDAT read: Tx time:00:41:02.8251  $Ping request sent. 2?2Tqٱ2 >AHRS rotation from veh to nav: [[0.826505,-0.554740,-0.095676],[0.562494,0.820536,0.101595],[0.022147,-0.137786,0.990214]]2Hr?m@:~?@A?@?? ֯?i2H>I2];2CYF&ByF"I HHLNAE^ E^E^$E\"E^2:*E^e:VE^4ZE\ab@ab@ab@ab@aa aa aa aa iMb@Mb@Mb@ 9ףp= ?'1ZĿI +?Y?y"9<Af@ (@)@YG@bDVDy<%&=ٔ8Q->9 ?Y ?=iGyȯF;E>Q 54rd?Q 94)BQ AT:Y#?Q E:y>Q I$@wDI ;i;+4yɮW@E  uX@AJ ^CR ^Cj O> Tk@hHi!@r gQ*?Go+̿.='?Z fb l$ ? ;i@Wq1iT@s'?}4@z w˘?v?}:M?2 ;B: MC" ݵa?* Z$B B B\G7? d“  pCC ͅ>kOEaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 223.899994 m, deltaT: 4.031795 s, deltaX: 42.500000 m, approachRate: 10.541210 m/s, rangeRepo size: 4jAgOMFNOT Ignoring new targets: 180.34 m.RU7J9ZU7J9gOe ProNav: ac range: 180.343170 m, nav range: 177.613861 m, bearing: 23.299292 deg, approach rate: -0.637702 m/s, LOS rate: 0.011049 deg/s, cmd heading: 33.835186 deg, new cmd heading: 33.845938 deg. Beš9gOmHeadingCmd: 0.590723 target range: 180.343170 and range: 181.40 m.m9?i*i"i iiqqu!BʎqyyjyZ}$\?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250720MBɢMa<)M# M?iI)UeQQiUi]9?]v]:I]9?IYԁ9@ @@@Ա^A ] ;  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502694Be \>Be ٍCBe "IBe ~'),ReX@A>>>,?>ٱ>dk FAHRS rotation from veh to nav: [[0.826908,-0.554012,-0.096406],[0.561884,0.820891,0.102103],[0.022572,-0.138598,0.990091]]>Hv?w ?@D?e#?5?` Ԯ?i>>I>];>CYN$ByN"IbDZVDZ\yb%b]=ٔf–Q-f>9f"?Yj"?=jiGyhjEj>lQ 5r4nd?Q 9v4nЉ)n*BYtyva>Q Iv$@nDIn]:in:n4yxɮzp@|jgO%FNOT Ignoring new targets: 180.34 m.R%O9Z%O9gO5 ProNav: ac range: 180.343170 m, nav range: 177.378311 m, bearing: 23.303431 deg, approach rate: -0.644565 m/s, LOS rate: 0.011341 deg/s, cmd heading: 33.845937 deg, new cmd heading: 33.854226 deg. B5 9gO=HeadingCmd: 0.590868 target range: 180.343170 and range: 181.40 m.=C?9*A"A AAAIIʎIIIjQZUuU?yɢ}<) ?i)L_顁iiC?qvf0j:IC?IU9@Q @Q@]'1@YE EE'E"E:*E n:VE'4ZEBE.A *,BX@A2d>2_?2ٱ25K :AHRS rotation from veh to nav: [[0.827823,-0.551799,-0.101126],[0.560530,0.820888,0.109309],[0.022696,-0.147173,0.988850]]2H}?Vd㹿 ?D??=?@¿`?i2d>I2];2CY^4Byb"Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006726iMb@Mb@Mb@ 9+?SÿV-?Yv?y<AO@ @)@Y@bDVDky=%<=ٔוQ->9Y=iGyɯFvE>Q 54d?Q 94;)8BYG#?Q E:y>Q I$@DI ;iu ;74yɮw@EPB*** querying acoustic contact *** j gO FNOT Ignoring new targets: 180.34 m.R9Z9gO- ProNav: ac range: 180.343170 m, nav range: 177.103134 m, bearing: 23.307193 deg, approach rate: -0.632971 m/s, LOS rate: 0.008667 deg/s, cmd heading: 33.854225 deg, new cmd heading: 33.861761 deg. B-}9gO5HeadingCmd: 0.590999 target range: 180.343170 and range: 181.40 m.5K?1*1"1 1999=4BʎAAAjAZE@? Bɢ&<) 9 ?i)-XiiK?%ju%ZI%K?I!IU[A)UZAI@ @@2@@@ZAbEuƻ 4jEu4rEu0E EE&E"E:*Ee:VE4ZEa@a@a@a@q^Aq: checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259864ԡ A! I) IA OM >;*,%X@ABy>B?B?dٱB" JAHRS rotation from veh to nav: [[0.829506,-0.548280,-0.106345],[0.558050,0.821307,0.118475],[0.022385,-0.157622,0.987246]]BH`O?@t9?$H?^T?` ?,Ŀ?iBy>IB];BCYV3ByV"IIZ=)Z49lYl=niGylrEr>tQ 5v4vd?Q 9z4v)vEBYxyz>Q Iz$@vDIv;iv;v4yɮ@j!gO-FNOT Ignoring new targets: 180.34 m.R-'9Z-'9gOE ProNav: ac range: 180.343170 m, nav range: 176.864899 m, bearing: 23.310627 deg, approach rate: -0.634645 m/s, LOS rate: 0.009160 deg/s, cmd heading: 33.861762 deg, new cmd heading: 33.868640 deg. BE9gOEHeadingCmd: 0.591119 target range: 180.343170 and range: 181.40 m.MS?I*I"I IIIQQʎQYYjYZ] %?q颍Bɢ<) 2 ?i)JQ顑iawiS?usOXIS?Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510734ԡB Y>B B "IB ABB  =B B B b;B %EBٍCBٍCBB =B! =CI6z@ @@1@E  E E %E "E 2:*E i:VE 4ZE BE !* *,!::X@Aj>j0?jA{ٱj ' rAHRS rotation from veh to nav: [[0.831094,-0.545366,-0.108902],[0.555691,0.822157,0.123555],[0.022152,-0.163201,0.986344]]jHQ?@s໿@9?`O?E??Ŀ!?ij>Ij];jCY~=By~"IiMb@Mb@Mb@ 9Mb?㥛 ¿L7A`?Y ?y+=fA"@ (@)@YG@bDVDy=%=ٔ9Q->9 ?Y ?=iGyʯF㭻E>Q 54d?Q 94)XBY%?Q E:y>Q I$@ DIg1;i0;&4yɮ@EjigOmFNOT Ignoring new targets: 180.34 m.RuG9ZuG9gO} ProNav: ac range: 180.343170 m, nav range: 176.521729 m, bearing: 23.314594 deg, approach rate: -0.633363 m/s, LOS rate: 0.007337 deg/s, cmd heading: 33.868640 deg, new cmd heading: 33.876591 deg. BV9gOHeadingCmd: 0.591258 target range: 180.343170 and range: 181.40 m.\?*" 8BʎjZ @e Bɢe0<)i m?ii)m@_Giiiuiu\?}=v}I}\?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0154301} {>i a 9@  @ @ /@ E  E E $E "E :*E X:VE 4ZE a @a @a @a @ԉ 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266675^A _A؟AIIO?*,,[X@A6ۻ>6?6>ٱ6 >AHRS rotation from veh to nav: [[0.833531,-0.543079,-0.101445],[0.552100,0.825550,0.116844],[0.020292,-0.153401,0.987956]]6HI?`Lͪ?j? ?tǔ?@ÿU?i6ۻ>I6];6CYFCByJ"ILLbDRVDRfyZ<%Z(=ٔ^{;Q-^>9^"?Y^"?=biGyb˯FbEb>dQ 5z4f e?Q 9z4f~)fiBYxy~s>Q I~$@fDIf;if\;f4yɮ@j)gO-FNOT Ignoring new targets: 180.34 m.R9Z9gO ProNav: ac range: 180.343170 m, nav range: 176.210999 m, bearing: 23.318720 deg, approach rate: -0.643156 m/s, LOS rate: 0.008553 deg/s, cmd heading: 33.876591 deg, new cmd heading: 33.884856 deg. Buz9gOHeadingCmd: 0.591402 target range: 180.343170 and range: 181.40 m.$f?*" ʎjZ@U!BɢU~#<)Y ]?iY)];>YYiecy ie$f?ev}0I}$f?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518662BeZ>BaBe"IBePBBaBaBaBeb;Be%E 9@  @ @ @ AEm  Em Em 'Ei "Em O:*Em xv:VEm '4ZEi BEm *,zX@AU'>UI?U7QٱU mAHRS rotation from veh to nav: [[0.834585,-0.542344,-0.096596],[0.550570,0.827071,0.113252],[0.018470,-0.147701,0.988859]]UH?ZD?^w??`?¿?iU'>IU];UCY}JBy}"IiMb@Mb@Mb@ 9~jt?@5^I ¿Q?Y$?yb<| A @ @)t@Y@bDVDy-<%-=ٔ-^;Q-5>91Y1=5iGy1=2cE=>AQ 5M4E&e?Q 9M4Eh{)EzBYU(?Q EU:yUo>Q IU$@EDIE>;iE;E4yYɮ]@]EjgOFNOT Ignoring new targets: 180.34 m.R%8Z-8gO5 ProNav: ac range: 180.343170 m, nav range: 175.859512 m, bearing: 23.322287 deg, approach rate: -0.660304 m/s, LOS rate: 0.006715 deg/s, cmd heading: 33.884855 deg, new cmd heading: 33.892005 deg. B5D9gO=HeadingCmd: 0.591527 target range: 180.343170 and range: 181.40 m.=Qn?9*A"A AAAIM@BʎIIQjQZU @额#Bɢi<) D?i)=4il iQn?x+.IQn?Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023502Y@Y @Y@]0@Y^A A E  E E $E "E ;*E M:VE 4ZE a @a @a @a @Ai Iy I O > BDAT read: Rx Time:00:41:05.4950  TRx dataTimestamp_ set to:1761698466.317095 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275726$*,X@A6ù>6ѷ?6ٱ6 >AHRS rotation from veh to nav: [[0.835843,-0.540947,-0.093503],[0.548729,0.828296,0.113231],[0.016196,-0.145951,0.989159]]6H9?oO﷿ 1?g?`?@?¿ 1?i6ù>I6Hr];6CYF]ByJ"IbDrVDrܲyz=%za=ٔU;Q->9!Y!=%iGy%̯F%ƻE->)Q 554-9e?Q 9=4-y)-BYyy}@>Q I}$@-DI-#B؍CB"IB`BB! =BBiDBb;B%E^A= .)AQ zAU [Aԩ IA IY Oe >+*,X@A:>:Vc?:K fٱ:%@ JAHRS rotation from veh to nav: [[0.836577,-0.540252,-0.090920],[0.547669,0.828958,0.113520],[0.014040,-0.144762,0.989367]]:H =?IF? ӆ???¿?i:>I:];:CEV EVEV(ET"EVT;*EV:VEVc44ZETBEVG9Y=iGy%{QE%>)Q 5=4-JNe?Q 9=4-v)-BYAyE>Q IE$@-DI-2;i-uE;-x4yQɮU@QjgOFNOT Ignoring new targets: 180.34 m.R 9Z 9gO= ProNav: ac range: 180.343170 m, nav range: 175.353760 m, bearing: 23.327944 deg, approach rate: -0.650426 m/s, LOS rate: 0.007433 deg/s, cmd heading: 33.897283 deg, new cmd heading: 33.903334 deg. BUY9gO]HeadingCmd: 0.591725 target range: 180.343170 and range: 181.40 m.]G{?Y*Y"Y YaaaaʎiiijiZmY@颽&Bɢ=)  ?i)$iLiG{?kz_IG{?DAT read: 00:41:05.4950 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 109,-0.11,-2.434, 2.481,-1.882,-2.503, PHS= 0.171,-1.253, 0.578, RAW= 162.2, 6.1, CAL= 161.5, 5.6, ROT= 348.5, -5.6  Ygot valid direction response: 00:41:05.4950 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 109,-0.11,-2.434, 2.481,-1.882,-2.503, PHS= 0.171,-1.253, 0.578, RAW= 162.2, 6.1, CAL= 161.5, 5.6, ROT= 348.5, -5.6 PDAT read: Bearing 182.1, -11.0 (Local) ~Local bearing/azimuth received: Bearing 182.1, -11.0 (Local) %DAT read: Range 11 to 50 : 199.2 m (Round-trip 265.7 ms) speed 0.6 m/s %R#Rx 1: Read range and direction messages.-^direction in FSK: [0.975248,-0.198417,0.097583]5Fpublishing direction and range infoyJsr;5?eɿA_1?Y3GC )I/>iNb?-5@^ =e4@ +=)@I+Ƚ%P? Ha?h_  BDAT read: Tx time:00:41:06.8251  $Ping request sent. :2*,.WɨX@A@Y _By "I p<4<bD%VD%k1y5z<%5A=ٔ=Q-=>99Y9==iGy=ͯFEEE>IQ 5U4Mde?Q 9U4Ms)MBYQyYQ I]$@MȏDIM:iM:M4yaɮe@eEX@AJ FCR FCjo >sM$h@' إC pS3@rJsr;5?eɿA_1?ZMb+Ƚ𛭡f@Cx팂R@xJ;@z2A?`]?nw?2̖B: 5C"2 ?*k9ƴBjBל~?ߐ“OBC>gO addTargetRange:: Added new target pos. range: 199.199997 m, deltaT: 8.063845 s, deltaX: 17.800003 m, approachRate: 2.207384 m/s, rangeRepo size: 4 gO Added new target pos. range: 198.046265 m, bearing: 22.609099 deg, lat: 36.779435 deg, lon: -121.859407 deg, deltaT: 8.063845 s, deltaX: 17.703094 m, approachRate: 2.195366 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 198.05 m.RZgO ProNav: ac range: 198.046265 m, nav range: 194.309189 m, bearing: 22.469825 deg, approach rate: 0.000000 m/s, LOS rate: 0.007433 deg/s, cmd heading: 33.903334 deg, new cmd heading: 33.909383 deg. BgOHeadingCmd: 0.591830 target range: 198.046265 and range: 199.20 m.2?*" ʎj`fh@Z?(Bɢa=) ?i)Ezii2?{^I2?IDE%=DE<EM EMEM"EI"EM;*EM^:VEM(3ZEIaU@aU@aU@aU@ԙU9@Q @Q@U/@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251158^A} jbI I  O >Z\8*,IX@A2 u>2V?2v$ٱ27 >AHRS rotation from veh to nav: [[0.836241,-0.540947,-0.089873],[0.548270,0.827795,0.118974],[0.010038,-0.148765,0.988822]]2H|?@pO m?L}?u?? ÿ m?i2 u>I2];0YFSByF"IbDNVDNkyV_%VT=ٔZb*9XY\=^iGy\^:Eb>`Q 5f4bwe?Q 9j4b}q)bBYhyj>Q Ij$@bЏDIb:ib:b4rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501896B%D>B%֍CB%"IB%oBB%& =B!B%hDB% b;B%I%E9yyɮ}@}EjgOFNOT Ignoring new targets: 198.05 m.R2}8Z2}8gO ProNav: ac range: 198.046265 m, nav range: 194.056549 m, bearing: 22.471236 deg, approach rate: -0.618201 m/s, LOS rate: 0.003459 deg/s, cmd heading: 33.909383 deg, new cmd heading: 33.912210 deg. B8gO%HeadingCmd: 0.591880 target range: 198.046265 and range: 199.20 m.%n?!*!"! !))))ʎ)11jQZ]`÷?颥)Bɢ=) ?i)顩iCin?|LUIn?II9@ @@/@@=@=Em EmEm%Ei"Em2:*EmǙ:VEm 4ZEiBEm!*I I! O5 >ԡ >*,GX@A-쌺>-H?-Zٱ- EAHRS rotation from veh to nav: [[0.835084,-0.542966,-0.088446],[0.550065,0.826459,0.119972],[0.007956,-0.148838,0.988830]]-H ?_f!?[r? ? TK?@ ÿ}?i-쌺>I-];)YUiByU"Iԡonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 84.23, 70.64, 78.82 a@a a@a a@a a@a bDVD:y=%6=ٔa;Q->9Y=iGyίF N;E >Q 54e?Q 94n)BQ A+:YQ E:y%9>Q I%$@ڏDI':i$> 4y-}Bɮ-;@-EjQgOUFNOT Ignoring new targets: 198.05 m.R]~8Z]~8gOm ProNav: ac range: 198.046265 m, nav range: 193.762695 m, bearing: 22.472693 deg, approach rate: -0.700409 m/s, LOS rate: 0.003479 deg/s, cmd heading: 33.912210 deg, new cmd heading: 33.915129 deg. Bm8gOuHeadingCmd: 0.591931 target range: 198.046265 and range: 199.20 m.uň?q*q"q qyyyyʎjZo?颵+Bɢ =) ?i) 项iHiň?{}D7Iň?IiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0071601@1 @1@5/@1^AElXIIO>Em  Em Em #Ei "Em :*Em k:VEm 3ZEi au @au @au @au @  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257826nE*,X@A2[I>2?2ٱ2e :AHRS rotation from veh to nav: [[0.833227,-0.546686,-0.082867],[0.552902,0.825293,0.114848],[0.005604,-0.141512,0.989921]]2H̩?r~6_?h?f?Xv?¿@n?i2[I>I2l];0YRlByR"Ib@Ab@AbDjVDjyU<%UV=ٔ]y;Q-e>9iYi=miGyqu<Eu>Q 54e?Q 942l)BQ A :YQ ES:y>Q I$@DI);iU?P4yɮ@EPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 198.05 m.RE8ZE8gO ProNav: ac range: 198.046265 m, nav range: 193.509964 m, bearing: 22.473735 deg, approach rate: -0.654827 m/s, LOS rate: 0.002702 deg/s, cmd heading: 33.915130 deg, new cmd heading: 33.917216 deg. B78gOHeadingCmd: 0.591967 target range: 198.046265 and range: 199.20 m.(?*" ʎ j Z `C?5-Bɢ=Ʊ=)9 =?i9)=à9AiE}iiE(?Mh~MIM(?II9@ @@o0@!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509806B1A5<B==>B=ԍCB="IB=yBB=, =B9B=gDB=a;B=)%E^A 7QIYIiO}>y ɞK*,'0X@AE EE&E"E:*E:VE4ZEBEm%R?R>ٱRe ^AHRS rotation from veh to nav: [[0.831219,-0.550425,-0.078153],[0.555938,0.823688,0.111671],[0.002908,-0.136271,0.990667]]RHW?@>?[?x?zg?Wq?iR&>IR];RCYfoByf"IbDnVDn0yvj<%zP=ٔz;Q-z>9|Y|=~iGy~ϯF~<E>Q 5 4e?Q 94i)˸BQ A9YQ E+:yb>Q I$@DIK ;i?4y%Bɮ%@!jAgOMFNOT Ignoring new targets: 198.05 m.RMM8ZUM8gO] ProNav: ac range: 198.046265 m, nav range: 193.254211 m, bearing: 22.474541 deg, approach rate: -0.658832 m/s, LOS rate: 0.002080 deg/s, cmd heading: 33.917217 deg, new cmd heading: 33.918832 deg. Bes8gOeHeadingCmd: 0.591995 target range: 198.046265 and range: 199.20 m.e?i*i"i iiqqqʎqyyjyZ} ?Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761828Qm/Bɢm=)i mU ?ii)uqqiu{i}?}~~ױI?Ie9@a @a@e4@iy^AAzAZAԩ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014935A1 I9 IQ O] > R*,JX@A>>>:?>Lٱ>l FAHRS rotation from veh to nav: [[0.829290,-0.553853,-0.074331],[0.558818,0.822106,0.108922],[0.000782,-0.131866,0.991267]]>H ?)`a@?N?N?"I?@v?i>>I>];>CYRrByR"Ia-a- a-a- a-a- a-a- i-Mb@Mb@Mb@)))) )9-L7A`?rh|:v?Y-+'?y--<-OA-9@ -@)-@)Y-@bDEVDEyUn<%UE=ٔU;Q-]>9YYY=eiGyae<Ee>iQ 5u4me?Q 9u4mf)mԸBQ A}T:Y}<*?Q E}:y}>Q I}$@mDIm,;im;m14yɮ@jgOFNOT Ignoring new targets: 198.05 m.R՘Z՘gO ProNav: ac range: 198.046265 m, nav range: 192.978470 m, bearing: 22.472807 deg, approach rate: -0.663119 m/s, LOS rate: -0.004176 deg/s, cmd heading: 33.918832 deg, new cmd heading: 33.915360 deg. BgOHeadingCmd: 0.591935 target range: 198.046265 and range: 199.20 m.?*" YBʎjZ=@颭1Bɢ=)Ա  ?i)Uhi}i?~0-I?IbEjEr 4rE5/E5 E5E5%E1"E5:*E5z:VE5 4ZE1aE@aE@aE@aE@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265817]9@Y @a@e11@a ^A u9 i I % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519080B= D>B= ֍CB= "IB= ~BB= ) =B9 B= hDB= &b;B= T%EB֍CB׍CB̕CB& =B& =C6AE.AIQIaOu>Y*,"hX@A2>2\?2a|:ٱ2p: >AHRS rotation from veh to nav: [[0.827142,-0.557623,-0.069945],[0.561992,0.820497,0.104645],[-0.000963,-0.125865,0.992047]]2H@w? 籿?`A? ʺ?@4OU@پ?i2>I2];2CYFkByF"IbDNVDNk1yV%V5=ٔZ|;Q-Z>9^ ?Y^ ?=^iGy^ЯF^ <Eb>`Q 5f4be?Q 9j4bc)b޸BYhyjv>Q Ij$@bDIb;ib;b$4ypɮr5@rExj gO FNOT Ignoring new targets: 198.05 m.RvZvgO ProNav: ac range: 198.046265 m, nav range: 192.678543 m, bearing: 22.470606 deg, approach rate: -0.663121 m/s, LOS rate: -0.004876 deg/s, cmd heading: 33.915359 deg, new cmd heading: 33.910948 deg. BgOHeadingCmd: 0.591858 target range: 198.046265 and range: 199.20 m.?*" ʎjZ@-3Bɢ-> =) L?i)%ջiEp!i?$~Pz:I?I!E5 E5E5&E1"E5 :*E5:VE54ZE1BE5K"`*,X@AB>B?B2;ٱB JAHRS rotation from veh to nav: [[0.824918,-0.561483,-0.065162],[0.565245,0.818853,0.099886],[-0.002726,-0.119231,0.992863]]BH`e?@}@}? 4? #?@Tf 煾@?iB>IB!];@YReByR"Ii-Mb@Mb@Mb@)))) )9-w/?v/Zd;O?Y-&?y-x齙-j<-9A-O@ -@)-@)Y-@bDEVDEN2yU%UA=YٔU=;Q-]>9aYa=eiGyam<Em>qQ 5}4ue?Q 9}4u|`)uBY})?Q E}:y}>Q I$@uDIur;iu;u+4y~Bɮ@EBDAT read: Rx Time:00:41:09.4917 TRx dataTimestamp_ set to:1761698470.097285checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023052jgOFNOT Ignoring new targets: 198.05 m.RC ZC gO ProNav: ac range: 198.046265 m, nav range: 192.397995 m, bearing: 22.467198 deg, approach rate: -0.621138 m/s, LOS rate: -0.007555 deg/s, cmd heading: 33.910950 deg, new cmd heading: 33.904125 deg. B8]gOHeadingCmd: 0.591739 target range: 198.046265 and range: 199.20 m./|?*" FBʎjZ` @M5BɢM =)  1?i )Ļi9#i/|?}y;I/|?I!ԑ@ @@B4@E9 E=E="E9"E9*E=:VE=(3ZE9aE@aE@aE@aM@Աu checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273934^A 9A ?A A1 IA IQ O] > f*,EX@A2(>29?2p;ٱ2i >AHRS rotation from veh to nav: [[0.822416,-0.565481,-0.062147],[0.568869,0.816611,0.097650],[-0.004469,-0.115662,0.993279]]2H;Q?`l@ѯ+4?!??@Nr ?i2(>I2 ];2CԩYmoBym"IbD}VD}0y*=%7=ٔ;Q->9Y=iGyѯF"<E>Q 54f?Q 944])BYy>Q I$@DI:i:J34yɮ@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 198.05 m.Ro-Zo-gO ProNav: ac range: 198.046265 m, nav range: 192.103714 m, bearing: 22.463242 deg, approach rate: -0.703830 m/s, LOS rate: -0.009477 deg/s, cmd heading: 33.904127 deg, new cmd heading: 33.896202 deg. BgO HeadingCmd: 0.591600 target range: 198.046265 and range: 199.20 m. s? *" ʎj!Z% @M7BɢM"$=)Q U?iQ)UDγQQiU$i]s?]S{]r;Ies?IaAA?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526701B@>BՍCB"IBBB' =BBgDBb;B%E9@ @@/@ ^A_;EE  EE EE &EA "EE a:*EE |:VEE 4ZEA BEE (l*,0GX@A*DAT read: 00:41:09.4917 LVL= 32752, 32753, 32546, 32755, AGC= 64, IDX= 412, 0.17,-1.692,-3.116,-1.120,-1.800, PHS= 0.210,-1.271, 0.636, RAW= 162.3, 5.0, CAL= 161.3, 4.1, ROT= 348.7, -4.1 .Ygot valid direction response: 00:41:09.4917 LVL= 32752, 32753, 32546, 32755, AGC= 64, IDX= 412, 0.17,-1.692,-3.116,-1.120,-1.800, PHS= 0.210,-1.271, 0.636, RAW= 162.3, 5.0, CAL= 161.3, 4.1, ROT= 348.7, -4.1 2PDAT read: Bearing 182.3, -11.7 (Local) 2~Local bearing/azimuth received: Bearing 182.3, -11.7 (Local) :DAT read: Range 11 to 50 : 196.8 m (Round-trip 262.5 ms) speed 0.6 m/s :R#Rx 1: Read range and direction messages.B^direction in FSK: [0.978105,-0.195445,0.071497]BFpublishing direction and range infoyt?L?GSɿ M?YDC" )@I= W>i!"?uJ5@¸=,4@ C=)6@IC`?%Hs?? -?-;ٱ-| EAHRS rotation from veh to nav: [[0.820409,-0.568548,-0.060679],[0.571745,0.814610,0.097556],[-0.006036,-0.114729,0.993378]]-H@@?`1@HK?I?s?+x^?i->I-^;-C )`A\E̐Ci\IIi~r@ ) `Au什qqy}`AI}E)yiy)ށIށ݅q݁ ށށމމiމމYY`By"IbDVDky5%B=ٔft;Q->9%"?Y%"?=%iGy%үF-<E->qQ 54u$f?Q 94uZ)uBY1y5>Q I=$@uDIu4g@C%+@rt?L?GSɿ M?ZIbC漢gO addTargetRange:: Added new target pos. range: 196.800003 m, deltaT: 4.031896 s, deltaX: -2.399994 m, approachRate: -0.595252 m/s, rangeRepo size: 4 gO Added new target pos. range: 195.651337 m, bearing: 24.114376 deg, lat: 36.779440 deg, lon: -121.859395 deg, deltaT: 4.031896 s, deltaX: -2.394928 m, approachRate: -0.593995 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 195.65 m.RZgO  ProNav: ac range: 195.651337 m, nav range: 192.828369 m, bearing: 22.699718 deg, approach rate: 0.000000 m/s, LOS rate: -0.009477 deg/s, cmd heading: 33.896204 deg, new cmd heading: 33.886904 deg. BgOHeadingCmd: 0.591438 target range: 195.651337 and range: 196.80 m.|h?*" 999AAʎAAIjMh@ZM?颵9Bɢ]4<) |?i)ai&i|h?xgyD* BDAT read: Tx time:00:41:10.8751 $Ping request sent.6u*,թX@A>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249979YhBy"IimMb@Mb@Mb@iiii i9mS㥛?i|?5 rh?Ym$&?ymmC9 ?Y ?=iGyE>Q 54>Q I$@"DI:i#:B4yɮ[@EjgOFNOT Ignoring new targets: 195.65 m.R7Z7gO ProNav: ac range: 195.651337 m, nav range: 192.520355 m, bearing: 22.696350 deg, approach rate: -0.759617 m/s, LOS rate: -0.008317 deg/s, cmd heading: 33.886904 deg, new cmd heading: 33.880159 deg. BsgO HeadingCmd: 0.591320 target range: 195.651337 and range: 196.80 m. `? * " :BʎjZ%?M:BɢM=)Q U?iQ)U2QQiU2(i]`?]w]f%BB"IB~BB+ =BBBb;B%E-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501844A ^A h%<A I I) O= >KU{*,X@AE} E}E}%Ey"E}:*E}c:VE} 4ZEyBE}m%%W=ٔQ->9Y=iGyӯFE>Q 5 4mOf?Q 9 4S)BYyQ I$@*DIS:i:I4yɮ,@!jAgOEFNOT Ignoring new targets: 195.65 m.RMZMgO] ProNav: ac range: 195.651337 m, nav range: 192.269745 m, bearing: 22.693603 deg, approach rate: -0.660154 m/s, LOS rate: -0.007247 deg/s, cmd heading: 33.880160 deg, new cmd heading: 33.874657 deg. B]7TgOeHeadingCmd: 0.591224 target range: 195.651337 and range: 196.80 m.ezZ?a*a"a iiiiiʎqqqjqZu`?h*, X@A2>2(?2;ٱ2$ >AHRS rotation from veh to nav: [[0.815883,-0.574492,-0.065534],[0.578170,0.809098,0.105263],[-0.007450,-0.123772,0.992283]]2H?I2Q];2CYFYByF"I n49Y=%iGy!%<E%>1Q 5545bf?Q 9=45P)5BY9y=>Q I=$@52DI5:i5 :5^P4yE}BɮM?@MEjigOuFNOT Ignoring new targets: 195.65 m.Ru"Zu"gO ProNav: ac range: 195.651337 m, nav range: 192.014313 m, bearing: 22.690162 deg, approach rate: -0.658588 m/s, LOS rate: -0.008884 deg/s, cmd heading: 33.874658 deg, new cmd heading: 33.867767 deg. BgOHeadingCmd: 0.591104 target range: 195.651337 and range: 196.80 m.R?*" ʎjZ@Ѽ?=Bɢ=) @?i)ki&+iR?QhsvUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257854ԑԹ ۋ*,#X@A2/q>2j?2p;ٱ2W  :AHRS rotation from veh to nav: [[0.815366,-0.574911,-0.068233],[0.578912,0.808353,0.106896],[-0.006300,-0.126660,0.991926]]2H z?ewq??`]?yh6۽?i2/q>I2];2CYFPByF"IPbDNVDNyV=A%ZP=ٔZ?Q-Z>9\Y\=^iGy^ԯFb9;Eb>dQ 5j4fqvf?Q 9j4fN)f BYhyjl>Q Ij$@f:DIfK:ifB:f+W4yrBɮr@rEP%B*** querying acoustic contact ***! !j1gO5FNOT Ignoring new targets: 195.65 m.B]<A]<Be:>BeԍCBe"IBetBBaBaBefDBeb;Be%Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509747R=$Z$gO ProNav: ac range: 195.651337 m, nav range: 191.758102 m, bearing: 22.686622 deg, approach rate: -0.649777 m/s, LOS rate: -0.008990 deg/s, cmd heading: 33.867766 deg, new cmd heading: 33.860677 deg. BgO HeadingCmd: 0.590980 target range: 195.651337 and range: 196.80 m. |J? *" 1199ʎ99AjAZE ?颍>Bɢ}=) ?i)[3M顱ip,i|J?lp5E= E=E9E9"E= :*E=Ar:VE9ZE9BE=K"F?F';ٱF1 ZAHRS rotation from veh to nav: [[0.815269,-0.574793,-0.070360],[0.579060,0.808109,0.107932],[-0.005180,-0.128736,0.991665]]FH@?d?? j?^7u lz?iFk>IF+^;FCY GBy"I 11AAbDe VDe2y+%==ٔ(Q->9"?Y"?=iGy9EU>iQ 54mpf?Q 94mJ)mBYy>Q I$@mDDImG;im;m,_4yɮ@jgO%FNOT Ignoring new targets: 195.65 m.R%$Z%$gOU ProNav: ac range: 195.651337 m, nav range: 191.456482 m, bearing: 22.682418 deg, approach rate: -0.645658 m/s, LOS rate: -0.009013 deg/s, cmd heading: 33.860676 deg, new cmd heading: 33.852255 deg. B]gO]HeadingCmd: 0.590833 target range: 195.651337 and range: 196.80 m.]@?Y*a"a aaaiiʎjZ@@Bɢ7R=) u?i),/)i..i5@?5QAm5DE =DE 4=EM  EM EI EI "EM :*EM ]t:VEI ZEI aU @aU @aU @aU @ԁ !*,%WX@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267085>?!;ٱ@  %AHRS rotation from veh to nav: [[0.816039,-0.573230,-0.074079],[0.577992,0.808773,0.108675],[-0.002382,-0.131500,0.991313]]H ?`W~?x?һ?6cָ?i>I%^;CY=NBy="IYa%@a% a%@a% a%@a% a%@a% %AA%AAbD-VD-:y=%<=ٔMӻQ->9 ?Y ?=iGyկFHE>Q 54 f?Q 94G)BQ A+:YQ E:y>Q I$@MDI-;i>d4yBɮ@jgOFNOT Ignoring new targets: 195.65 m.R!*Z!*gO ProNav: ac range: 195.651337 m, nav range: 191.186218 m, bearing: 22.678737 deg, approach rate: -0.681653 m/s, LOS rate: -0.009296 deg/s, cmd heading: 33.852255 deg, new cmd heading: 33.844883 deg. BgOHeadingCmd: 0.590705 target range: 195.651337 and range: 196.80 m.k8?*"    ʎjZ @=ABɢE\=)A Eq?iA)EIIiMG/iUk8?U jUB]֍CB]"IB]eBB]) =BYB]hDB]b;B]%EԱchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517914^AE H< A} ؟AI I O >aț*,kqX@AE EE$E"Ea:*EVE4ZEBE(9"?Y"?=iGyE>Q 54f?Q 94D)BQ A :YQ ES:yQ I$@TDI?;iF?7i4yɮ+@EԹjgOFNOT Ignoring new targets: 195.65 m.R$Z$gO ProNav: ac range: 195.651337 m, nav range: 190.942886 m, bearing: 22.675415 deg, approach rate: -0.657675 m/s, LOS rate: -0.008992 deg/s, cmd heading: 33.844882 deg, new cmd heading: 33.838228 deg. BgOHeadingCmd: 0.590589 target range: 195.651337 and range: 196.80 m.0?*" ʎ  j Z o@5BBɢ= =)9 =l>i9)=AAiEZ1iE0?M?hMd1i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022079a Я*,DX@A2_N>2}?2:ٱ2u :AHRS rotation from veh to nav: [[0.816664,-0.571962,-0.076933],[0.577112,0.809245,0.109837],[-0.000565,-0.134099,0.990968]]2H"? M㱳w? U?`E?@3B`'*?i2_N>I2c^;0Yv5Byv"IIzN>)z=z=z=auau auau a}a} a}a} i}Mb@Mb@Mb@yyyy y9})\(?S㥛 rh?Y}G!?y}$y}"A}9@ }@)}@yY} @bDVDy %H=ٔґQ->9Y=iGy֯FB-E>Q 54f?Q 94!B)$BQ AT:Y$?Q E:y>Q I$@]DI;i2:[p4yɮ@jgOFNOT Ignoring new targets: 195.65 m.RZgO  ProNav: ac range: 195.651337 m, nav range: 190.680252 m, bearing: 22.673861 deg, approach rate: -0.643705 m/s, LOS rate: -0.003813 deg/s, cmd heading: 33.838229 deg, new cmd heading: 33.835118 deg. BN߸QgO]HeadingCmd: 0.590534 target range: 195.651337 and range: 196.80 m.]@-?Y*Y"Y aaaam BʎiiijiZu9 @CBɢF<) N>i)Kźi3i@-?-eXۃ ٨*,X@AN3f>N?N8ٱN] ZAHRS rotation from veh to nav: [[0.818807,-0.567196,-0.088568],[0.574066,0.809487,0.123202],[0.001815,-0.151722,0.988421]]NH3?w&]^?Q? +?E]? kÿ&?iN3f>INX^;NCY`y` j9tYx=ziGyxz Ez>BE>BB"IB[BB& =BBBSb;Bm%EBՍCBՍCBCB) =B) =C' 6!Q 5-4%f?Q 9-4%?)%,BY1y5I>Q I5$@%eDI%:i%:%w4y9ɮ=@=EP]B*** querying acoustic contact ***Y YjagOmFNOT Ignoring new targets: 195.65 m.RmoZmogO ProNav: ac range: 195.651337 m, nav range: 190.432922 m, bearing: 22.672602 deg, approach rate: -0.641896 m/s, LOS rate: -0.003273 deg/s, cmd heading: 33.835118 deg, new cmd heading: 33.832595 deg. BgOHeadingCmd: 0.590490 target range: 195.651337 and range: 196.80 m.]*?*" ʎchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525944jZ@@DBɢ=) s>i)pi4i]*?wcsR9 k*,X@Ay>?ٱt" =AHRS rotation from veh to nav: [[0.820296,-0.564466,-0.092159],[0.571935,0.810197,0.128338],[0.002224,-0.157984,0.987439]]H ?? @JM?"?em?@Q8b?8Ŀ?iy>I^;CY0By"IiMb@Mb@Mb@ 9~jt?ny&1?Y$?yV`e<A @)@YG@bDVD0y0%<ٔVQ->9 ?Y ?=iGyׯFjE>Q 54.f?Q 94-<)5BYr(?Q E:y>Q I$@oDI:i]:4y~Bɮ@*DAT read: user:525> BDAT read: Tx time:00:41:14.9250 $Ping request sent.Z $e@} E3ȸ*$`rQ[?#K9}0ƶ ybrZVb*?[0?d@4-yʆO@蝛`z;'&?;#`?! 2B:!C"FtrF?*B{“ B>CV>kO5addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 217.899994 m, deltaT: 4.034398 s, deltaX: 21.099991 m, approachRate: 5.230022 m/s, rangeRepo size: 4j1gO=FNOT Ignoring new targets: 195.65 m.R=lZ=lgO ProNav: ac range: 195.651337 m, nav range: 190.107712 m, bearing: 22.672003 deg, approach rate: -0.616407 m/s, LOS rate: -0.001137 deg/s, cmd heading: 33.832594 deg, new cmd heading: 33.831395 deg. B#gOHeadingCmd: 0.590469 target range: 195.651337 and range: 196.80 m.(?*" %+Bʎ!!!j%i)(顙iJ6i(?`ư4k*,DݪX@A2>2,?2>ٱ2i% :AHRS rotation from veh to nav: [[0.821845,-0.562046,-0.093144],[0.569709,0.811318,0.131128],[0.001869,-0.160832,0.986980]]2H@L?GGط` ;? R??^?"Ŀ@W?i2>I2];2CYB)ByB"I DDHHbDNVDNyVF%V]=ٔZ?{:Q-^>9\Y\=^iGy\bEb>dQ 5j4fg?Q 9j4f9)fQ In$@fwDIf;if;f64ypɮrK@pQjgOFNOT Ignoring new targets: 195.65 m.RVZVgO ProNav: ac range: 195.651337 m, nav range: 189.864197 m, bearing: 22.671741 deg, approach rate: -0.680723 m/s, LOS rate: -0.000733 deg/s, cmd heading: 33.831395 deg, new cmd heading: 33.830871 deg. BīgOHeadingCmd: 0.590460 target range: 195.651337 and range: 196.80 m.d(?*" ʎjZ0?ɢ =)  >i ) 㗸 i`8id(?o_WBB"IBKBB) =BBB4b;B^%Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502786^A*:<ԩA I I O% > E  E E !E "E :*E ga:VE c3ZE BE m%RH?RnٱRq& fAHRS rotation from veh to nav: [[0.823824,-0.559252,-0.092470],[0.566844,0.813049,0.132811],[0.000908,-0.161829,0.986818]]RH\?@d !#??@?xM?@ҶĿ?iR>IR];RCYv$Byv"I checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756205bDVD1y-N¼%-C=ٔ-t;Q-5>91Y1=5iGy5دF=zE=>AQ 5M4Esg?Q 9M4E6)EDBYIyM>Q IU$@EDIEW:iE:E4Թyɮ@EjgO%FNOT Ignoring new targets: 195.65 m.R%Z%gO= ProNav: ac range: 195.651337 m, nav range: 189.589432 m, bearing: 22.671728 deg, approach rate: -0.656954 m/s, LOS rate: -0.000031 deg/s, cmd heading: 33.830870 deg, new cmd heading: 33.830844 deg. B=dgO=HeadingCmd: 0.590460 target range: 195.651337 and range: 196.80 m.E](?A*A"A AAAIIʎIIQjQZU@?}FBɢ><) @>i)97顁i:i](?^Ii;I](?It>i>-9@) @)@-/@)^Am8<PExceeded connect timeout, disconnecting.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007356A I I O >9 *,}X@A6u>6 3?6:ٱ6c& BAHRS rotation from veh to nav: [[0.826218,-0.555971,-0.090887],[0.563350,0.815246,0.134204],[-0.000519,-0.162083,0.986777]]6H`p?ZD ?`~?`-?@#Ŀ`?i6u>I6y];6CYJByJ"IiMb@Mb@Mb@ 9Mb?~jtÿ/$?Y ?y< A @ @)@YbD1VD1yEм%EI=ٔEe;Q-M>9IYI=MiGyIUz*EU>YQ 5e4] 2g?Q 9e4]j4)]NBYe?%?Q Ee:ymм>Q Im$@]DI]:i]f:]4yu}Bɮu@uEjgOFNOT Ignoring new targets: 195.65 m.RF8ZF8gO ProNav: ac range: 195.651337 m, nav range: 189.327438 m, bearing: 22.673864 deg, approach rate: -0.677080 m/s, LOS rate: 0.005526 deg/s, cmd heading: 33.830846 deg, new cmd heading: 33.835122 deg. B!9E EE&E"El;*E&p:VE4ZEa@a@a@a@gO=HeadingCmd: 0.590534 target range: 195.651337 and range: 196.80 m.=A-?9*9"9 99AAEBʎAIIjIZM;?颵GBɢK(<) _>i)%9项i&;iA-?>]4M;IA-?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259775@ @@0@Aq^A;A ؟AB Z>B ٍCB "IB FBB =B B jDB a;B F%EI I O% >ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5108721*,*X@A2֒>2=?2g;ٱ2"" :AHRS rotation from veh to nav: [[0.828580,-0.553083,-0.086916],[0.559867,0.817921,0.132491],[-0.002188,-0.158441,0.987366]]2H? ܲ@m?@i,?v?@aGĿ?i2֒>I2=];2CYB.ByF"IIJ=)J=J=J=bDNVDNk2yV=%VT=ٔZ;Q-Z>9Z"?Y^"?=^iGy^ٯF-E>!Q 5-4%1Fg?Q 9-4%2)%VBY1y5>Q I5$@%DI%:i%:%4y9ɮ=@AP}B*** querying acoustic contact ***y yjgOFNOT Ignoring new targets: 195.65 m.R8Z8gO ProNav: ac range: 195.651337 m, nav range: 189.071762 m, bearing: 22.676297 deg, approach rate: -0.636744 m/s, LOS rate: 0.006068 deg/s, cmd heading: 33.835121 deg, new cmd heading: 33.839995 deg. B19gOHeadingCmd: 0.590619 target range: 195.651337 and range: 196.80 m.2?*" ʎjZ@0y?qQɢ}=)y >i)M::顁i.=i2?\vOI2?Im9@i @i@m 2@iE EE%E"Ea:*Ee:VE 4ZEBE( *,/DX@A->>-q"?-آ;ٱ- EAHRS rotation from veh to nav: [[0.830729,-0.550674,-0.081540],[0.556663,0.820698,0.128762],[-0.003987,-0.152357,0.988318]]-H T?@ߴ/?)C?I{? XTp mÿ L?i->>I-J];-CYU(ByU"Ii Mb@Mb@Mb@     9 ףp= ?ʡEÿQ?Y ?y  <   ) @ Y @ %p<%bD-VD-뱍5nManaging dock network, ignoring radio surface power offyEѼ%E3=ٔE5;Q-E>9IYI=MiGyIUJEU>YQ 5e4]\g?Q 9e4]k/)]bBYe#?Q Ee:ye>Q Im$@]DI]/:i]E:]U4uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014895y}Bɮ}s@EjgOFNOT Ignoring new targets: 195.65 m.Rj 9Zj 9gO ProNav: ac range: 195.651337 m, nav range: 188.788879 m, bearing: 22.679656 deg, approach rate: -0.640629 m/s, LOS rate: 0.007618 deg/s, cmd heading: 33.839995 deg, new cmd heading: 33.846722 deg. B_9gOHeadingCmd: 0.590737 target range: 195.651337 and range: 196.80 m.:?*" (BʎjZQ=@HBɢ<) N>i)(Ɛ:i>i:?\I:?I!19@ @@4@@[A@[AE EE#E"E:*E:VE3ZEa@a@a@a@) ^A 0:ĺ- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266917I I O >C*,uu^X@A6'>6i?6 ;ٱ6 BAHRS rotation from veh to nav: [[0.832287,-0.548789,-0.078288],[0.554315,0.822430,0.127840],[-0.005771,-0.149796,0.988700]]6H@? ` ?YQ? ]?w,ÿn?i6'>I6];4YHyJ"IbDVVDVkyZ:%Zh=ٔ^;Q-^>9 Y = iGyگFE>Q 5%4ng?Q 9%4O-)kBY)y->Q I-$@DI6:i:4y1ɮ5p@1jYgO]FNOT Ignoring new targets: 195.65 m.Re9Ze9gOu ProNav: ac range: 195.651337 m, nav range: 188.557846 m, bearing: 22.682617 deg, approach rate: -0.640871 m/s, LOS rate: 0.008224 deg/s, cmd heading: 33.846722 deg, new cmd heading: 33.852652 deg. Bup9gO}HeadingCmd: 0.590840 target range: 195.651337 and range: 196.80 m.}NA?y*y"y yʎjZ@*@颹ɢ=) B>i):iD@iNA?3]һINA?IQU9@Y @Y@]/@Y^A-yA1zA1BW>BB"IBABB =BBBa;B(%Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519381IIOJ>yԩ E  E E %E "E ;*E &p:VE 4ZE BE OS>>?>&<ٱ>w FAHRS rotation from veh to nav: [[0.834009,-0.546202,-0.078057],[0.551690,0.823413,0.132775],[-0.008249,-0.153799,0.988068]]>H2?}z`q?fY??@䀿`ÿ@@?i>S>I>U^;>Cbchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770696Yn/Byn"IppbDzVDzy%<%%B=ٔ%_;Q-%>9)Y)=-iGy)-E5>qQ 5}4ug?Q 94u*)uuBYy>Q I%@uDIu[:iug:u4yɮ@EjgOFNOT Ignoring new targets: 195.65 m.Rd9Zd9gO ProNav: ac range: 195.651337 m, nav range: 188.290146 m, bearing: 22.686283 deg, approach rate: -0.623154 m/s, LOS rate: 0.008545 deg/s, cmd heading: 33.852651 deg, new cmd heading: 33.859993 deg. B:z9gOHeadingCmd: 0.590968 target range: 195.651337 and range: 196.80 m.I?!*!"! !!!))ʎ))1j1Z5@E@YɢeI=)a e>ia)e}:aaimYAimI?u]u IuI?Iqԉ9@ @@/@Թ^A-uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022840IIO> 3V*,0X@A2傺>2D?2V2<ٱ2! :AHRS rotation from veh to nav: [[0.835103,-0.544615,-0.077442],[0.549986,0.823839,0.137132],[-0.010885,-0.157111,0.987521]]2H *?|m:ӳ{?@\??J@:Ŀ`ř?i2傺>I2];2ClYr(Byr"IimMb@Mb@Mb@iiii i9m?l¿?Ym ?ymm9Y=iGyۯF⟻E>DzD@AE EE$E"E:*EVE4ZEa@a@a@a@Q 54g?Q 94z()~BY$?Q E:y>Q I%@DI;iB;4y~Bɮa@jgO FNOT Ignoring new targets: 195.65 m.R 9Z 9gO ProNav: ac range: 195.651337 m, nav range: 188.029404 m, bearing: 22.689237 deg, approach rate: -0.650412 m/s, LOS rate: 0.007380 deg/s, cmd heading: 33.859993 deg, new cmd heading: 33.865911 deg. BX9gOHeadingCmd: 0.591072 target range: 195.651337 and range: 196.80 m.yP?*" BʎjZ@ @ɢ<) >i);BDAT read: Rx Time:00:41:17.5844 TRx dataTimestamp_ set to:1761698478.413120checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275860 iЉBi-yP?-8^5-I5yP?I1I=ZA)9@ @@@1^A 3I) I9 OM >a A AAA AAB R>B ؍CB "IB 2?2IZ<ٱ20Z :AHRS rotation from veh to nav: [[0.835822,-0.543980,-0.074070],[0.548838,0.824662,0.136780],[-0.013323,-0.154976,0.987828]]2H? Ih@D ? c?? H Dÿ J?i2gѹ>I2];2CYR,ByV"IAbDVD:ye<%e?=ٔu+;Q-u>9yYy=}iGyyfME>Q 54g?Q 94%)BYy>Q I%@DI#;i>/;4yɮ@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 195.65 m.R 9Z 9gO ProNav: ac range: 195.651337 m, nav range: 187.752151 m, bearing: 22.692513 deg, approach rate: -0.642491 m/s, LOS rate: 0.007602 deg/s, cmd heading: 33.865912 deg, new cmd heading: 33.872473 deg. B^9gOHeadingCmd: 0.591186 target range: 195.651337 and range: 196.80 m.W?*"   ʎ jZ >7@9ɢE =)A E>iA)E[%;IIiMCiW?`?IW?IiE EE%E"EO:*Ee:VE 4ZEBE izD ?P3@|=G3@ V=)2@IV轩4RT?SRq?p? U7?)FiIt;iV轩uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.ԑ^A x/A >A >I I O- > k*,ūX@AUrD>U x?U|<ٱU^ }AHRS rotation from veh to nav: [[0.836387,-0.543684,-0.069745],[0.547923,0.825681,0.134284],[-0.015421,-0.150528,0.988485]]UH?e`ڱ?k?80?1Dÿ@?iUrD>IU];UCԑY1By"Ii%Mb@Mb@Mb@!!!! !9%'1Z?x&V-?Y%"?y%7 %<%fA! !)%@!Y%@bD=VD=JyE<%MJ=*DAT read: user:526> BDAT read: Tx time:00:41:18.9250 $Ping request sent.9qYq=uiGyuܯFu!E}>yQ 54}g?Q 94}'#)}BY&?Q E:yF>Q I%@}ĐDI};i};}K4yɮ@E!%X@AJ%J>CR%J>Cj%`>% gOe addTargetRange:: Added new target pos. range: 191.399994 m, deltaT: 8.064152 s, deltaX: -5.400009 m, approachRate: -0.669631 m/s, rangeRepo size: 4 gOu Added new target pos. range: 190.290802 m, bearing: 23.835229 deg, lat: 36.779440 deg, lon: -121.859350 deg, deltaT: 8.064152 s, deltaX: -5.360535 m, approachRate: -0.664736 m/s, posRepo size: 4 jqgO}FNOT Ignoring new targets: 190.29 m.RZgO ProNav: ac range: 190.290802 m, nav range: 189.038422 m, bearing: 23.805478 deg, approach rate: 0.000000 m/s, LOS rate: 0.007602 deg/s, cmd heading: 33.872472 deg, new cmd heading: 33.879311 deg. BgOHeadingCmd: 0.591305 target range: 190.290802 and range: 191.40 m._?*" Թ&Bʎjg@Z?1ɢ5(=)Y ]<>iY)e@A;aaieDim_?mbamTOIm_?Iq1@1 @1@1@1bEUǻ 4jEQrEUǐ'0E EE(E"E:*Ek:VEc44ZEa@a@a@a@E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250763 ^Au 2DA I I O >S*,xX@A26:>2r?2s<ٱ28 >AHRS rotation from veh to nav: [[0.836406,-0.544553,-0.062341],[0.547842,0.827014,0.126161],[-0.017144,-0.139675,0.990049]]2H?l0믿?v? &? E {?i26:>I2#'^;2CYF5ByF"I N49\Y\=^iGy\b`Eb>dQ 5j4f&g?Q 9j4f )fBYhyj>Q Ij%@fːDIf;if;f4yr}Bɮr@rEjgO FNOT Ignoring new targets: 190.29 m.R '9Z'9gO ProNav: ac range: 190.290802 m, nav range: 188.802368 m, bearing: 23.807983 deg, approach rate: -0.679553 m/s, LOS rate: 0.007221 deg/s, cmd heading: 33.879309 deg, new cmd heading: 33.884326 deg. B%rS9gO%HeadingCmd: 0.591393 target range: 190.290802 and range: 191.40 m.%e?)*)") ))111ʎ119j9Z= j?aɢe}=)i M>i ) ,U;  i jEie?lbDOIe?IAiE%>B]>BٍCBBB" =BBkDBa;BB%EB}ٍCB}؍CB}”CB}" =B}" =C}a6ԩ9@ @@1@-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503677^ANJNEe  Ee Ee #Ea "Ee :*Ee ą:VEe 3ZEa BEe n% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754753|w*,X@A2`a>2?2 <ٱ2 :AHRS rotation from veh to nav: [[0.836220,-0.545593,-0.055348],[0.548077,0.828045,0.118123],[-0.018617,-0.129112,0.991455]]2H@Q? uVى?W?U=?Y@@?i2`a>I29^;2CY^3By^"IbDjVDjk1lyrf %rH=ٔvk;Q-v>9v ?Yz ?=ziGyzݯFzx?:Ez>|Q 54~g?Q 9 4~@)~BY y >Q I %@~ԐDI~:i~:~4yɮ@jgOFNOT Ignoring new targets: 190.29 m.R8Z8gO ProNav: ac range: 190.290802 m, nav range: 188.536575 m, bearing: 23.810847 deg, approach rate: -0.624767 m/s, LOS rate: 0.006742 deg/s, cmd heading: 33.884326 deg, new cmd heading: 33.890063 deg. BlE9gOHeadingCmd: 0.591493 target range: 190.290802 and range: 191.40 m.l?*" !!!ʎ!))j)Z-f?1ɢ5= =)9 =>i9)=Sp;99i=xFiEl?E:cEjLIMl?I I@I @Q@U4@Q=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006765A^A- jZXA5 [AzA1 i Ay I I O >K_+,fX@Ar>r9a?rʢ<ٱro  AHRS rotation from veh to nav: [[0.836512,-0.545474,-0.052021],[0.547588,0.828743,0.115464],[-0.019870,-0.125073,0.991949]]rH?`t~ׅ?`??Xc ?ir>Ir];rCY%4By%"I))9E] E]E]&EY"E]:*E]k:VE]4ZEYae@ae@ae@ae@iMb@Mb@Mb@ 9x&1?rh|S㥛?Y!?y/<A"@ @)@Y@bD VD:2yuXx;%u4=ٔ}4;Q-}>9yYy=iGyޣE>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258983Q 54h?Q 94L)BY$?Q E:y>Q I%@ݐDIn;i(n;4yɮ@jgOFNOT Ignoring new targets: 190.29 m.R8Z8gOU ProNav: ac range: 190.290802 m, nav range: 188.244263 m, bearing: 23.812773 deg, approach rate: -0.657117 m/s, LOS rate: 0.004337 deg/s, cmd heading: 33.890063 deg, new cmd heading: 33.893922 deg. BU8gO]HeadingCmd: 0.591561 target range: 190.290802 and range: 191.40 m.]p?Y*Y"Y YYaaeBʎaiijZ`l?ɢr=) >i)%;!!i%pUGi-p?-e-WI-p?I1i@ @@4@ԙBc>BۍCBBB =BBBb;B[%E^A ONM checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510851 A ؟AI I O > +,l0X@ABϴ>B:0?B`ަ<ٱB' bAHRS rotation from veh to nav: [[0.836913,-0.544898,-0.051611],[0.546957,0.829098,0.115910],[-0.020368,-0.125236,0.991918]]BH ?ol??J?m۔`ʽ?iBϴ>IB];BCYj8Byn"IppbDvVDvy~<%~e=ٔ!:Q->9"?Y"?= iGy ޯF { E >Q 54h?Q 94)BY!y%R>Q I%%@DIr;i:4y-|Bɮ-C@-EPMB*** querying acoustic contact ***I IjQgO]FNOT Ignoring new targets: 190.29 m.R]H8ZeH8gOm ProNav: ac range: 190.290802 m, nav range: 188.015274 m, bearing: 23.814338 deg, approach rate: -0.652233 m/s, LOS rate: 0.004461 deg/s, cmd heading: 33.893922 deg, new cmd heading: 33.897055 deg. Bu9gO}HeadingCmd: 0.591615 target range: 190.290802 and range: 191.40 m.}t?y*y"y yyʎjZ>?ԑ颽GBɢ&=) >i)u;iQ5Hit?.fbIt?Iq@q @q@u/@q@=@=E  E E !E "E  :*E VE c3ZE BE L"! t+,MJX@ANո>N@?Nz<ٱN3\ VAHRS rotation from veh to nav: [[0.836766,-0.545176,-0.051043],[0.547160,0.828950,0.116004],[-0.020931,-0.124996,0.991936]]NH?r@>"`V? Æ?@i?@n?iNո>IN^];NCYb.Byb"I-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021077iMb@Mb@Mb@ 9+?y&1Zd;O?Y?y`彙j<9A@ )@Y@bDVDyB%?=ٔ:Q->9Y=iGy:E>Q 54~)h?Q 94+)BYg"?Q E:y>Q I%@DI7iQ)U;;QQiUIi]u?]zg]]I]u?Ia%9@! @!@%/@!E EE(E"E:*EVL:VEc44ZEa@a@a@a@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.274895^AE cIA IQ O] >q ٚ+,jdX@A>̯>>?><ٱ>& FAHRS rotation from veh to nav: [[0.835852,-0.546377,-0.053144],[0.548551,0.827597,0.119059],[-0.021069,-0.128668,0.991464]]>H L?@{@5?{?z?.x?i>̯>I>{];>CYN1ByR"IIV;>)V=V=V=bDZVDZJyb<%b[=ٔf`9Q-f>9dYd=jiGyj߯FjE;Ej>lQ 5r4n;h?Q 9r4n)nBYtyv>Q Iv%@nDIn:in:n4yxɮz@xjgOFNOT Ignoring new targets: 190.29 m.R%J7Z%J7gO5 ProNav: ac range: 190.290802 m, nav range: 187.508072 m, bearing: 23.815461 deg, approach rate: -0.650335 m/s, LOS rate: 0.001245 deg/s, cmd heading: 33.898400 deg, new cmd heading: 33.899305 deg. B58gO=HeadingCmd: 0.591654 target range: 190.290802 and range: 191.40 m.=v?9*9"9 9AAAAʎIIIjIZM`@}FBɢ}X!=)y }Q>i)R;顁iIIiv?@h"EIv?IBeW>BeٍCBaBaBe =BaBejDBeib;Be%Eԁ59@1 @1@50@1Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.526925ԡ^AjbIaIqO|>E  E E #E "E V:*E :VE 3ZE BE 9:d?:©<ٱ: BAHRS rotation from veh to nav: [[0.834947,-0.547361,-0.057093],[0.549940,0.825947,0.124008],[-0.020721,-0.134937,0.990637]]:H?F;?'n?`?7E@M?i: >I:];:CYN,ByN"I Vp9dYd=fiGydf;Ef>hQ 5n4jOh?Q 9r4j)jBYpyr>Q Ir%@jDIjQ;ij;j4ytɮz@xjgOFNOT Ignoring new targets: 190.29 m.Rp7Zp7gO- ProNav: ac range: 190.290802 m, nav range: 187.252350 m, bearing: 23.815793 deg, approach rate: -0.633738 m/s, LOS rate: 0.000823 deg/s, cmd heading: 33.899305 deg, new cmd heading: 33.899968 deg. B-7gO5HeadingCmd: 0.591666 target range: 190.290802 and range: 191.40 m.5mw?1*1"9 999AAʎAAIjIZM#@qɢu=) >i):;iJimw?i%0I%mw?I!9@ @@0@@@\A ]BDAT read: Rx Time:00:41:21.6132 eTRx dataTimestamp_ set to:1761698482.209176echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.031934^A 2D) Iq I O >Y %+,嗬X@AE: E:E8E8"E::*E:e:VE8ZE8a>@a>@aB@aB@Y53By5"IiMb@Mb@Mb@ 9}?5^I?MbMb?YM"?y<A|@ )@YG@bD VD 02yv<%6=ٔQ->9!Y!=%iGy%F%E->1Q 5=45eh?Q 9=45 )5BY=!$?Q E=:y=H>Q I=%@5DI5:i5:54yM}BɮM@MEjqgOuFNOT Ignoring new targets: 190.29 m.R}.Z}.gO ProNav: ac range: 190.290802 m, nav range: 186.964142 m, bearing: 23.813643 deg, approach rate: -0.640727 m/s, LOS rate: -0.004786 deg/s, cmd heading: 33.899967 deg, new cmd heading: 33.895661 deg. B% gOHeadingCmd: 0.591591 target range: 190.290802 and range: 191.40 m.r?*" -Bʎjchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.282940Z X @EBɢK=) y>i!);顡iϡKir?j2Ir?Iy@y @y@}0@yQBMU>BM؍CBIBIBM# =BIBIBMb;BM%Eԉ ^A 0I I O% >e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534867++,X@A,f>fN?f.<ٱfp nAHRS rotation from veh to nav: [[0.831493,-0.552242,-0.060408],[0.555134,0.821831,0.128137],[-0.021117,-0.140079,0.989915]]fH@? `? qL?f?` `b?if>Ifn];fCYv4Byv"I |||~AbDVD:y6<%]=ٔ:Q->9Y=%iGy%F%<E%>)Q 554-wh?Q 954- )-BY9y=>Q I=%@-DI-;i-;-U4yE|BɮE{@APeB*** querying acoustic contact ***a ajigOuFNOT Ignoring new targets: 190.29 m.Ru޸Z}޸gO ProNav: ac range: 190.290802 m, nav range: 186.727005 m, bearing: 23.811398 deg, approach rate: -0.640144 m/s, LOS rate: -0.006068 deg/s, cmd heading: 33.895661 deg, new cmd heading: 33.891165 deg. B1gOHeadingCmd: 0.591512 target range: 190.290802 and range: 191.40 m.\m?*" ʎjZ O@DBɢas%=) >i)H;ilLi\m?k-I\m?IԉE EE$E"E:*E|:VE4ZEBE& z2+,-ˬX@A`jp:>j s?jC<ٱj. rAHRS rotation from veh to nav: [[0.829854,-0.554855,-0.058974],[0.557558,0.820465,0.126361],[-0.021726,-0.137743,0.990230]]jH)?@`1?`?A?,?u?`?ijp:>IjR];jC*DAT read: user:527> %BDAT read: Tx time:00:41:22.9766 %$Ping request sent.%=ٔ:Q->9Y=iGy;E>Q 54h?Q 94)BY %?Q E :y >Q I %@DI:i : 4yɮ@EX@AJSCRSCj>>f@^r|\6p"\rv_?w,2; K7Ztwbl?&Ld@4 P@^=3 \zxt.:?[L3? $h2B:&C"速?*M8BI8?k9ƴ“B8C>kOaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 213.000000 m, deltaT: 4.047831 s, deltaX: 21.600006 m, approachRate: 5.336193 m/s, rangeRepo size: 4jgOFNOT Ignoring new targets: 190.29 m.R dZ dgO ProNav: ac range: 190.290802 m, nav range: 186.448105 m, bearing: 23.807913 deg, approach rate: -0.578054 m/s, LOS rate: -0.007234 deg/s, cmd heading: 33.891166 deg, new cmd heading: 33.884186 deg. BSgO%HeadingCmd: 0.591391 target range: 190.290802 and range: 191.40 m.E`e?A*A"A AAIIMi);irMi`e?kHI`e?IEE EEEE&EA"EE ;*EE:VEE4ZEAaU@aU@aU@aU@Y@Y @a@e4@a@m=@m=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2510719 ^A} 3A .AI I O >,9+,{X@AHB}b>B}ڍCB}"IB}7BB} =ByB}kDB}b;B}%Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503046Y$By"II4=)%>bDVDk2y % '=ٔ Q- >9 ?Y ?=iGyFE>Q 5%4h?Q 9-4))ĹBY)y)Q I-%@!DI:i:m4y={Bɮ=w@EEjqgO}FNOT Ignoring new targets: 190.29 m.Rp%Zp%gO ProNav: ac range: 190.290802 m, nav range: 186.130432 m, bearing: 23.803931 deg, approach rate: -0.719910 m/s, LOS rate: -0.009040 deg/s, cmd heading: 33.884186 deg, new cmd heading: 33.876208 deg. BYgOHeadingCmd: 0.591251 target range: 190.290802 and range: 191.40 m.@\?*" ʎjZ`,a?额BBɢm=) >i);顡iLNi@\? jWI@\?I!@ @@4@E EE#E"E:*Ee:VE3ZEBE&A+,9X@A2+;>2h?2ػ<ٱ2: :AHRS rotation from veh to nav: [[0.826547,-0.560784,-0.048378],[0.562400,0.819304,0.111567],[-0.022928,-0.119424,0.992579]]2Hs? Ũ-?@7?૏?z@4?i2+;>I2x^;2C @)B`AB\@@@F`AiFIFFDIDiF^r@ HH)HH J`AJ 0HLLN`AI~Q8)|i|)I`A    i  Y Ym&Byu"IbDVDy5<%R=ٔJ;Q->9Y=iGy+v<E>Q 54ȷh?Q 942)ƹBYyA>Q I%@)DI!;i";>4yɮJ@EjgOFNOT Ignoring new targets: 190.29 m.Rw)Zw)gO ProNav: ac range: 190.290802 m, nav range: 185.877747 m, bearing: 23.800348 deg, approach rate: -0.652181 m/s, LOS rate: -0.009260 deg/s, cmd heading: 33.876208 deg, new cmd heading: 33.869033 deg. BgO HeadingCmd: 0.591126 target range: 190.290802 and range: 191.40 m.  T? * " ʎ!!!j!Z-?颭ABɢ-s=) >i)-;i OiU T?]5Yj]<;Ie T?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.009596AM9@I @I@M/@Iq^Am *:D zD bE3jE#4rEI"0E  E E $E "E :*E i:VE 4ZE a @a @a @a @ԙ A ؟AI I1 O= >W7G+,NDX@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259093:z>:8?:<ٱ: fAHRS rotation from veh to nav: [[0.825155,-0.563094,-0.045218],[0.564401,0.818381,0.108184],[-0.023912,-0.114790,0.993102]]:Hg?`&? .0??Y|b}?i:z>I: ^;:CYu$By}"IiMb@Mb@Mb@ 9T㥛 ?A`"Q?Y!?yٽu<OA|@ t@)@YG@ YYbD]VD]ymo5%m>=ٔu0;Q-u>9u"?Y}"?=}iGy}F}H;E}>ԉQ 54h?Q 94')ȹBYV#?Q E:y>Q I%@2DI/;i /;$4yɮq@jgOFNOT Ignoring new targets: 190.29 m.RZgO ProNav: ac range: 190.290802 m, nav range: 185.604187 m, bearing: 23.798539 deg, approach rate: -0.637527 m/s, LOS rate: -0.004221 deg/s, cmd heading: 33.869033 deg, new cmd heading: 33.865410 deg. B7gOHeadingCmd: 0.591063 target range: 190.290802 and range: 191.40 m.O?*" BʎjZ@?-@Bɢ-I=)) ->i))5N;11i5Oi=O?=ii=@/y;I=O?IA9@ @@/@B<ABf>BۍCB"IB2BB =BDDBlDB&c;B%EBEڍCBEڍCBABE =BE =CE?6Թ^A?B:checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511055A II1O=>=_M+,8X@AFa>F?F :<ٱFER ERER(EP"ER :*ERk:VERc44ZEPBERL"IF@(^;FCY]By]~"I aabDiVDiy?!%[=ٔ;Q->9Y=iGy;E>Q 54h?Q 94})ʹBYy>Q I%@9DI6:i:D+4yzBɮ@QPmB*** querying acoustic contact ***i ijgOFNOT Ignoring new targets: 190.29 m.RϞZϞgO ProNav: ac range: 190.290802 m, nav range: 185.365936 m, bearing: 23.796817 deg, approach rate: -0.599362 m/s, LOS rate: -0.004339 deg/s, cmd heading: 33.865410 deg, new cmd heading: 33.861960 deg. BgOHeadingCmd: 0.591003 target range: 190.290802 and range: 191.40 m.K?*" ʎj Z 7@5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763202I]?Bɢ]=)a ea>ia)ewFT+,QX@A:w>:a?:j<ٱ:@ FAHRS rotation from veh to nav: [[0.824033,-0.564283,-0.050541],[0.565965,0.815887,0.118375],[-0.025561,-0.126150,0.991682]]:H@z^?@੿b?@?M?,%ۻ?i:w>I:r^;:CYRByRt"Ii%Mb@Mb@Mb@!!!! !9%#~j?y&1y&1?Y%%?y%`彙%`e<%9A%@ %@)!!Y%@bD= VD=2yMs %MN=ٔU;Q-U>9QYQ=]iGy]F]x9Ee>aQ 5m4eh?Q 9m4e)e͹BYub(?Q Eu:yu>Q Iu%@eBDIe:ie:e324yɮX@EjgOFNOT Ignoring new targets: 190.29 m.RqZqgO ProNav: ac range: 190.290802 m, nav range: 185.104935 m, bearing: 23.795245 deg, approach rate: -0.699579 m/s, LOS rate: -0.004220 deg/s, cmd heading: 33.861961 deg, new cmd heading: 33.858812 deg. BgOHeadingCmd: 0.590948 target range: 190.290802 and range: 191.40 m.ZH?*" BʎjZ@@颽>Bɢ\=) >i) <i;GQiZH?`)g;IZH?I D=D<E EE"E"E:*EVE(3ZEa@a@a@a@9@ @@00@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267220^A ϩ;I A= .AIA IY Ou >B c>B B "IB (BB  =B EDB kDB c;B &E*pZ+,kX@A2eP>2?2O<ٱ2 :AHRS rotation from veh to nav: [[0.824187,-0.563903,-0.052246],[0.565713,0.815528,0.122000],[-0.026188,-0.130107,0.991154]]2H_?~ Q?@?l;? њ[?i2eP>I2];2CYBByF"IJAAJAAbDNVDNy.=%O=ٔ:Q->9  ?Y  ?= iGy aDE>Q 5%4i?Q 9-4)ϹBY)y->Q I-%@JDI:i:94y1ɮ5@9jYgOeFNOT Ignoring new targets: 190.29 m.ReZegOu ProNav: ac range: 190.290802 m, nav range: 184.845825 m, bearing: 23.793690 deg, approach rate: -0.657278 m/s, LOS rate: -0.003951 deg/s, cmd heading: 33.858812 deg, new cmd heading: 33.855697 deg. Bu_gOHeadingCmd: 0.590893 target range: 190.290802 and range: 191.40 m.D?*" ʎjchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519204Z/@i)$!<iQiD?fآ;ID?I9@ @@4@@=@>IE EE(E"EO:*EAr:VEc44ZEBE ԡ Xa+,䢅X@A2Q>2?25<ٱ2_ :AHRS rotation from veh to nav: [[0.824173,-0.563951,-0.051944],[0.565718,0.815506,0.122125],[-0.026512,-0.130037,0.991155]]2H_? @^[? ?C?%@?i2Q>I2ݾ];2CY^ Bybl"IIb>)b=bDjVDj!3yr̚%rL=ٔvT:Q-v>9v"?Yv"?=viGyvFz7Ez>|Q 54~i?Q 94~)~ѹBY y >Q I %@~RDI~:i~:~@4yyBɮ@Ej9gO=FNOT Ignoring new targets: 190.29 m.REnZEngOU ProNav: ac range: 190.290802 m, nav range: 184.582764 m, bearing: 23.792105 deg, approach rate: -0.658812 m/s, LOS rate: -0.003973 deg/s, cmd heading: 33.855697 deg, new cmd heading: 33.852524 deg. BUygOHeadingCmd: 0.590838 target range: 190.290802 and range: 191.40 m.)A?*" ʎ j Z @ @颵;Bɢޜ=) >i)3<i5Ri)A?dw;I)A?Ii߱I߱BDAT read: Rx Time:00:41:25.6616  TRx dataTimestamp_ set to:1761698486.251440checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036081I@I @I@M4@I^A ϩ;E  E E &E "E :*E g:VE 4ZE a @a @a @a @ A I I O% >] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275023g+,X@A2ʪ>29?2t<ٱ2 :AHRS rotation from veh to nav: [[0.824913,-0.562744,-0.053264],[0.564679,0.816132,0.122740],[-0.025601,-0.131327,0.991008]]2He?  pE@?? k?7S`W?i2ʪ>I2bZ];2CYBByBn"Ii Mb@Mb@Mb@     9 w/?X9vQ?Y &?y  u< fA |@ )  Y =@bD}VD}k1y8;%?=ٔ Q->9Y=iGyCE>Q 540i?Q 94)չBY)?Q E:y>Q I%@[DI ;i ;G4yxBɮ@EjgOFNOT Ignoring new targets: 190.29 m.ROҶZOҶgO ProNav: ac range: 190.290802 m, nav range: 184.299072 m, bearing: 23.791952 deg, approach rate: -0.662157 m/s, LOS rate: -0.000359 deg/s, cmd heading: 33.852525 deg, new cmd heading: 33.852217 deg. B?(gO HeadingCmd: 0.590833 target range: 190.290802 and range: 191.40 m. @? * " Bʎj!Z%@ @M9BɢM=)Q U>iQ)U OB%ڍCB%"IB%BB% =B!B!B%c;B%.&Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527409)^AE;A I I O >Q   CKm+,eX@A*gG8EB EBE@E@"EB:*EBAr:VE@ZE@BEB<`?M4<ٱV AHRS rotation from veh to nav: [[0.826160,-0.560859,-0.053827],[0.562873,0.817293,0.123313],[-0.025169,-0.132174,0.990907]]Ho?@`2 ? C'?m?@ř@?i>IN];CY%By%e"I 54<5<bD=VD=2yM%MO=ٔMQ-U>9QYQ=]iGy]F]$E]>aQ 5m4eDi?Q 9m4e)eعBYqyuf>Q I}%@edDIe/;ie0;erN4yɮ@jgOFNOT Ignoring new targets: 190.29 m.R5Z5gO ProNav: ac range: 190.290802 m, nav range: 184.036987 m, bearing: 23.791985 deg, approach rate: -0.664347 m/s, LOS rate: 0.000085 deg/s, cmd heading: 33.852217 deg, new cmd heading: 33.852285 deg. B6gOHeadingCmd: 0.590834 target range: 190.290802 and range: 191.40 m.@?*" 1iqqʎqqqjyZ} @8B=DAT read: 00:41:25.6616 LVL= 29088, 32753, 25890, 32755, AGC= 67, IDX= 83,-0.43, 3.107, 1.709,-2.628, 3.000, PHS= 0.209,-1.246, 0.612, RAW= 161.9, 5.1, CAL= 161.0, 4.2, ROT= 349.0, -4.2 MYgot valid direction response: 00:41:25.6616 LVL= 29088, 32753, 25890, 32755, AGC= 67, IDX= 83,-0.43, 3.107, 1.709,-2.628, 3.000, PHS= 0.209,-1.246, 0.612, RAW= 161.9, 5.1, CAL= 161.0, 4.2, ROT= 349.0, -4.2 mPDAT read: Bearing 180.4, -13.3 (Local) u~Local bearing/azimuth received: Bearing 180.4, -13.3 (Local) DAT read: Range 11 to 50 : 210.6 m (Round-trip 280.8 ms) speed 0.4 m/s ɢn=) >i)@ <顉iSi@?cC;I@?IR#Rx 1: Read range and direction messages.^direction in FSK: [0.978991,-0.190297,0.073238]Fpublishing direction and range infoy  } S?[ȿ?Y RC  q  "e ) CI V>i | ? 4@ K= 3@ Q =) @I Q   ?qQ~5I?,W>? S3;?) NI Di Q  5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.a9@ @@/@@@ԉ^A% qZ; *DAT read: user:528>  BDAT read: Tx time:00:41:27.0250  $Ping request sent. *u+,UխX@AF=>F`t?FI<ٱFy3 VAHRS rotation from veh to nav: [[0.827591,-0.558648,-0.054822],[0.560766,0.818425,0.125385],[-0.025179,-0.134510,0.990592]]FH{?@q?0? ?nș`7?iF=>IF.];FCYfByfa"I llԑiMb@Mb@Mb@ 9MbX9?n rh?Y!?yVC<Af@ @)?@Y3@bDVDkyf%2=ٔU7Q->9  ?Y  ?= iGy E>Q 54\i?Q 9%4)ܹBY%%?Q E%:y%>Q I%%@mDI:i:zV4yIɮU*@YAEƿX@AJEcQCREcQCjE>Eae..i@OGCCx[.@rE} S?[ȿ?ZEDbEQ E EE$E"E:*E]t:VE4ZEa@a@a@a@Eleg@U0uU@<( I.@zE%VGO/3?5TR?$в?2EB:E?C"E@?*EABE̢BAE 5L“E̢BE7CE>gO] addTargetRange:: Added new target pos. range: 210.600006 m, deltaT: 8.079971 s, deltaX: 19.200012 m, approachRate: 2.376248 m/s, rangeRepo size: 4 gOm Added new target pos. range: 209.387695 m, bearing: 23.798149 deg, lat: 36.779438 deg, lon: -121.859350 deg, deltaT: 8.079971 s, deltaX: 19.096893 m, approachRate: 2.363485 m/s, posRepo size: 4 jigOmFNOT Ignoring new targets: 209.39 m.RuZqgO ProNav: ac range: 209.387695 m, nav range: 183.521057 m, bearing: 23.824936 deg, approach rate: 0.000000 m/s, LOS rate: 0.000085 deg/s, cmd heading: 33.852286 deg, new cmd heading: 33.852369 deg. BgOHeadingCmd: 0.590835 target range: 209.387695 and range: 210.60 m.@?*" Bʎj@3Sj@Z 7? 5Bɢ =)  z>i)RA'<iTi@?Թb 7I@?I%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245876u9@q @q@u/@qB% ]>B! B% s"IB% BB%  =B! B! B% c;B% D&E^A ;1  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498228A ؟AI I O >x{+,X@ABF>B?B:<ٱBd JAHRS rotation from veh to nav: [[0.829417,-0.555636,-0.057770],[0.558052,0.819410,0.130936],[-0.025416,-0.140839,0.989706]]BH?`? 8??¿`?iBF>IBv];BCYRByRW"IbD^VD^yf,%fR=ٔfh:Q-f>9j"?Yj"?=jiGyjFn En>lQ 5v4noi?Q 9v4n)nBYtyvo>Q Iz%@nuDIn~ ;in ;nH]4y|ɮ~@|PB*** querying acoustic contact *** j!AgOFNOT Ignoring new targets: 209.39 m.R 9Z 9gO ProNav: ac range: 209.387695 m, nav range: 183.269257 m, bearing: 23.827623 deg, approach rate: -0.703318 m/s, LOS rate: 0.007516 deg/s, cmd heading: 33.852371 deg, new cmd heading: 33.857752 deg. B\9gOHeadingCmd: 0.590929 target range: 209.387695 and range: 210.60 m.$G?*"   ʎ  jZ`?]4Bɢ==) >i),<顱iJUi$G?ib9I9I$G?IqE EE'E"Es:*E&p:VE'4ZEBEf0v+,{ X@A:\>:F?:<ٱ:U FAHRS rotation from veh to nav: [[0.830708,-0.553591,-0.058833],[0.556096,0.820192,0.134326],[-0.026107,-0.144302,0.989189]]:H )?]`?@??1?ջx¿p?i:\>I:A];:CYNByNY"IbDVVDVy^1;%^L=ٔb:Q-b>9b ?Yb ?=fiGydf'Ef>hQ 5r4ji?Q 9r4j)jBYpyrV>Q Iv%@j~DIjh-;ijt.;jEd4yzwBɮz@zEjgOFNOT Ignoring new targets: 209.39 m.R%9Z%9gO- ProNav: ac range: 209.387695 m, nav range: 183.010681 m, bearing: 23.830564 deg, approach rate: -0.646435 m/s, LOS rate: 0.007362 deg/s, cmd heading: 33.857753 deg, new cmd heading: 33.863643 deg. B5W9gO5HeadingCmd: 0.591032 target range: 209.387695 and range: 210.60 m.5M?9*9"9 99AYaʎiqyjZ@@w?颭2Bɢ!=) >i)o1<Թ顱ibUiM?wbĘIM?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0043129@ @@0@@@=^Ae"5IYIiO}z>E EE$E"E :*E1]:VE4ZEa@a@a@a@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2537639 1+,[$X@AYByZ"II >) g?iMb@Mb@Mb@ 9Mb? rhS㥛?Y#?yC /< @)d@Yz@bDVDky';%9=ٔQ->9Y=iGyFE>Q 54di?Q 94:)BY&?Q E:y>Q I%@DI:i:k4y vBɮ m@Ej9gO=FNOT Ignoring new targets: 209.39 m.RE8ZE8gOU ProNav: ac range: 209.387695 m, nav range: 182.723465 m, bearing: 23.833091 deg, approach rate: -0.650865 m/s, LOS rate: 0.005736 deg/s, cmd heading: 33.863644 deg, new cmd heading: 33.868707 deg. BU'9gO]HeadingCmd: 0.591120 target range: 209.387695 and range: 210.60 m.]S?Y*Y"Y Yaaae-BʎiiijiZu*j?BD>B֍CBf"IB BB& =BBhDBc;B@&E50Bɢ==)9 =>i9)=)6ԙ $Վ+,]6>X@A:'>:?:A<ٱ:˴" FAHRS rotation from veh to nav: [[0.831141,-0.552269,-0.064832],[0.555351,0.818525,0.146976],[-0.028104,-0.158163,0.987013]]:H ?0՘`o?`[1? ?=ǜ>Ŀ`?i:'>I:R];8YNByNT"IbDVVDV1y^Լ%b_=ٔbP;Q-b>9`Yd=fiGydfEf>hQ 5n4ji?Q 9n4j)jBYpyr>Q Ir%@jDIj;ij;jdr4ytɮv@xEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.757833jAgOMFNOT Ignoring new targets: 209.39 m.RM8ZU8gOe ProNav: ac range: 209.387695 m, nav range: 182.484665 m, bearing: 23.835186 deg, approach rate: -0.640479 m/s, LOS rate: 0.005624 deg/s, cmd heading: 33.868705 deg, new cmd heading: 33.872899 deg. Be$9gOmHeadingCmd: 0.591194 target range: 209.387695 and range: 210.60 m.mwX?i*i"i iiiqqʎqyyjyZ}1@颥/Bɢ&%=) >i);<顱i*?WiwX?bխIwX?Iqq@q @q@u4@qԡ^AIQIq checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012243O > G+,XX@A2l>2 ?2x<ٱ2N/' :AHRS rotation from veh to nav: [[0.830566,-0.552963,-0.066268],[0.556140,0.817211,0.151243],[-0.029477,-0.162471,0.986273]]2H`? ?&?[?`0/Ŀ ?i2l>I28];2CYBByB["IimMb@Mb@Mb@iiii i9m?p= ף:v?Ym ?ymm=ٔP;Q->9Y=iGyFM;E>Q 54oi?Q 94)BY#?Q E:bEE!4jEE4rEE '0E EE'E"E:*E:VE'4ZEa@a@a@a@y>Q I%@DI$;i;y4yuBɮ]@jgOFNOT Ignoring new targets: 209.39 m.R ן8Z ן8gO ProNav: ac range: 209.387695 m, nav range: 182.209579 m, bearing: 23.837052 deg, approach rate: -0.642637 m/s, LOS rate: 0.004367 deg/s, cmd heading: 33.872899 deg, new cmd heading: 33.876638 deg. B8gO%HeadingCmd: 0.591259 target range: 209.387695 and range: 210.60 m.%\?!*!"! ))))58Bʎ111j9Z=@e-BɢeA\"=)a m>ii)mfAB I>B ՍCB `"IB BB . =B B B c;B /&EBB؍CBȕCBB" =CZ61 - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519065Q +,qX@A2>2?2B<ٱ2+$ :AHRS rotation from veh to nav: [[0.829226,-0.555201,-0.064319],[0.558092,0.816267,0.149138],[-0.030300,-0.159564,0.986722]]2H`?4@.w?@?? lĿ:?i2>I2)];2CYBByBL"I DDbDvVDv1y%k%%Q=ٔ-$ ;Q-->9)Y)=-iGy15;EU>YQ 5e4]i?Q 9e4])]BYiym>Q Im%@]DI]#:i]:]Ҁ4ytBɮ@EPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 209.39 m.RŒ8ZŒ8gO] ProNav: ac range: 209.387695 m, nav range: 181.957596 m, bearing: 23.838595 deg, approach rate: -0.627123 m/s, LOS rate: 0.003846 deg/s, cmd heading: 33.876639 deg, new cmd heading: 33.879729 deg. B]78gOeHeadingCmd: 0.591313 target range: 209.387695 and range: 210.60 m.mG`?i*" ʎjZ @+Bɢ%A^=)! %>i!)%F Ϣ+,NjX@A02x>2?2<ٱ2' >AHRS rotation from veh to nav: [[0.827166,-0.558875,-0.058780],[0.561135,0.815767,0.140184],[-0.030395,-0.148939,0.988379]]2H`$x?Nb@?? ?`oÿ@͠?i2x>I2A];2CYFByJO"IbDPVDPyZ#<%ZR=ٔb~9Q-f>9lYp=riGyrFr<Ev>tQ 5z4vRi?Q 9~4v)vBY|y~>Q I~%@vDIve;iva;v4y ɮ @ j)gO5FNOT Ignoring new targets: 209.39 m.R52{8Z52{8gOE ProNav: ac range: 209.387695 m, nav range: 181.709030 m, bearing: 23.839894 deg, approach rate: -0.656069 m/s, LOS rate: 0.003431 deg/s, cmd heading: 33.879729 deg, new cmd heading: 33.882329 deg. BM8gOMHeadingCmd: 0.591358 target range: 209.387695 and range: 210.60 m.M@c?Q*Q"Q QQQYYʎYYajaZe @ *Bɢ *=)  >i)K<19i=Xiu@c?}rbTK:I@c?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024445ԑ @  @ @/@ԹDzD?AE EE)E"E:*EC:VEFA4ZEa@a@a@a@^A- uI I O >  BDAT read: Rx Time:00:41:29.6758  TRx dataTimestamp_ set to:1761698490.529116 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274793M+,X@A2+>2?2<ٱ2K1 :AHRS rotation from veh to nav: [[0.824853,-0.563017,-0.051281],[0.564540,0.815430,0.127942],[-0.030217,-0.134483,0.990455]]2H1e?<{A`?? c`?I6α?i2+>I2G];2C`YfByfK"IiMb@Mb@Mb@ 9"~j?/$~jt?YS#?y1<K A|@ )AY\@bDVD0yr%;=ٔչQ->9Y=iGy <E>Q 54-i?Q 94)BY&?Q E:y>Q I%@DIi ;i ;.4yɮ@Ej gO FNOT Ignoring new targets: 209.39 m.R Z8Z Z8gO% ProNav: ac range: 209.387695 m, nav range: 181.427307 m, bearing: 23.841180 deg, approach rate: -0.651612 m/s, LOS rate: 0.002980 deg/s, cmd heading: 33.882328 deg, new cmd heading: 33.884905 deg. B%8gO-HeadingCmd: 0.591403 target range: 209.387695 and range: 210.60 m.-2f?)*)") 1119=OBʎ999jAZE@R @m(BɢmA#=)i u5>iq)u~QBލCBZ"IBBB =BDDBnDB^c;B&E9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525923^Aq:Q E  E E %E "E [:*E L_:VE 4ZE BE }2+,X@Aj>jJ?j<ٱj | AHRS rotation from veh to nav: [[0.820184,-0.570603,-0.041368],[0.571406,0.813480,0.108378],[-0.028189,-0.112528,0.993249]]jH>?`B5.`H?`??ݜμ@?ij>IjX];jCYByQ"IMDAT read: 00:41:29.6758 LVL= 20560, 20721, 18162, 12995, AGC= 65, IDX= 90,-0.13, 0.548,-0.505, 0.864,-0.263, PHS= 0.912,-0.198, 1.082, RAW= 157.0, -27.8, CAL= 158.6, -28.7, ROT= 351.4, 28.7 UYgot valid direction response: 00:41:29.6758 LVL= 20560, 20721, 18162, 12995, AGC= 65, IDX= 90,-0.13, 0.548,-0.505, 0.864,-0.263, PHS= 0.912,-0.198, 1.082, RAW= 157.0, -27.8, CAL= 158.6, -28.7, ROT= 351.4, 28.7 ]PDAT read: Bearing 147.8, -3.9 (Local) e~Local bearing/azimuth received: Bearing 147.8, -3.9 (Local) mDAT read: Range 11 to 50 : 184.9 m (Round-trip 246.6 ms) speed 0.4 m/s uR#Rx 1: Read range and direction messages.`direction in FSK: [0.867284,-0.131165,-0.480224]Fpublishing direction and range infoy!%|x?ѶKTa޿Y%8C!%PP%P%F %2)%AI%xi?i%J%~?%^/@%Ul%m(1@ %;)%?B@I%;?!!%2L/?yw* ?*Sݿ %$l%?)%z>I%ti%;?!!T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.I]=)]p;bDeVDey!<%9=ٔYQ->9"?Y"?=iGyFZ<E>Q 54j?Q 94) BYy />Q I %@DI:i-:4ysBɮ@!%I®X@AJ%7CR%7Cj%>%Uc@U3A8[lVr%|x?ѶKTa޿Z%tb%;?%Tb@*TN@A'C^Vz%?(?dﺖ%߿2%wB:%0C"%a<ݚ?*%;HuB%%速?%M8“%%.C%>kOaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 184.899994 m, deltaT: 4.035976 s, deltaX: -25.700012 m, approachRate: -6.367732 m/s, rangeRepo size: 4jgOFNOT Ignoring new targets: 209.39 m.Rv7Zv7gO ProNav: ac range: 209.387695 m, nav range: 181.136093 m, bearing: 23.841875 deg, approach rate: -0.629418 m/s, LOS rate: 0.001506 deg/s, cmd heading: 33.884903 deg, new cmd heading: 33.886297 deg. B^08gOHeadingCmd: 0.591427 target range: 209.387695 and range: 210.60 m.g?*" ))11ʎ119j=g@Z= ?颭'Bɢ =) >i)DxW<顱i Zig?gX_7  BDAT read: Tx time:00:41:31.0750  $Ping request sent. i}+,v8ۮX@AHE^ E^E^(E\"E^ :*E^k:VE^c44ZE\ab@ab@ab@ab@YnBynL"IieMb@Mb@Mb@aaaa a9eS?ʡE~jt?Ye/?yeyeD9Y=iGyE>Q 542(j?Q 94l) BY ?Q E:y>Q I%@DI*;i\(;4yqBɮ@ݦEjgOFNOT Ignoring new targets: 209.39 m.R%׷Z%׷gO ProNav: ac range: 209.387695 m, nav range: 180.895264 m, bearing: 23.841303 deg, approach rate: -0.617740 m/s, LOS rate: -0.001469 deg/s, cmd heading: 33.886297 deg, new cmd heading: 33.885151 deg. B,gOHeadingCmd: 0.591407 target range: 209.387695 and range: 210.60 m.zf?*" ,BʎjZ`:?&Bɢ_-=) >i)t\<iZi zf? ] (B>BCBT"IBBB =BBqDBb;B%E  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.494803+,\X@AF>F`?F <ٱF+ jAHRS rotation from veh to nav: [[0.818385,-0.573214,-0.040892],[0.574021,0.812005,0.105587],[-0.027319,-0.109884,0.993569]]FH50?@W錄`^? ??^!Q?iF>IF0J];FCYvByz<"I  bDVDy5%=Q=ٔE=Q-E>9AYA=EiGyMFM<EM>QQ 5]4U;j?Q 9]4U)UBYayew>Q Ie%@UɑDIU;iU;U4ympBɮm@mަEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 209.39 m.R"Z"gO ProNav: ac range: 209.387695 m, nav range: 180.649948 m, bearing: 23.840480 deg, approach rate: -0.658926 m/s, LOS rate: -0.002213 deg/s, cmd heading: 33.885149 deg, new cmd heading: 33.883501 deg. BgOHeadingCmd: 0.591379 target range: 209.387695 and range: 210.60 m.d?*" ʎjZ2R?%Bɢ )=) >i)%a<G\AfAB9\AYrA1)i-gk[i5d?51[=Y+,8X@A2->2bl?2<ٱ2' :AHRS rotation from veh to nav: [[0.818747,-0.572539,-0.043038],[0.573493,0.811908,0.109142],[-0.027546,-0.114042,0.993094]]2H-3?`I20];2CYBۃByF-"I HHbDNVDNk1yV%n%VS=ٔZ:Q-Z>9XYX=ZiGyX^ٺE>!Q 5E4%Nj?Q 9E4% )%BYAyE9>Q IE%@%ёDI%ٓ;i%P;%4yQɮUV@QYjygOFNOT Ignoring new targets: 209.39 m.RZgO ProNav: ac range: 209.387695 m, nav range: 180.401352 m, bearing: 23.839681 deg, approach rate: -0.620033 m/s, LOS rate: -0.001996 deg/s, cmd heading: 33.883500 deg, new cmd heading: 33.881899 deg. BigOHeadingCmd: 0.591351 target range: 209.387695 and range: 210.60 m.b?*" checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001189 ʎ!)1j9ZE]?$Bɢq9=) +>i)lf<i\i-b?-5LY-JJ+,)X@A2>2N?2o<ٱ2i :AHRS rotation from veh to nav: [[0.820047,-0.570341,-0.047258],[0.571590,0.812137,0.117130],[-0.028424,-0.123064,0.991992]]2H=?<@82vJ??:?,$ e?i2>I2nD];2CYBByB7"Ii Mb@Mb@Mb@     9 v?Zd;y&1?Y ?y  `e< A @ @) =A Y @bD!VD!y5 =%5?=ٔ=;Q-=>99Y9=EiGyEFEEE>BU>BUCBUG"IBUBBU =BUCDBUtDBUub;BU%Eԉ Q 5 4 bj?Q 94 ;) BY?Q E:y>Q I%@ ڑDI :i ': 54y%oBɮ%@AjgOFNOT Ignoring new targets: 209.39 m.Rp|7Zp|7gO ProNav: ac range: 209.387695 m, nav range: 180.133484 m, bearing: 23.840064 deg, approach rate: -0.602584 m/s, LOS rate: 0.000862 deg/s, cmd heading: 33.881898 deg, new cmd heading: 33.882664 deg. B7gOHeadingCmd: 0.591364 target range: 209.387695 and range: 210.60 m.c?*" *BʎjZ2T?颥#BɢA%=) >i)`k<顱ix\i=c?=}uW=A:)f+,>DX@A2z2>2?2<ٱ2T :AHRS rotation from veh to nav: [[0.822015,-0.567288,-0.049762],[0.568681,0.813152,0.124042],[-0.029903,-0.130263,0.991028]]2HM? 9'nz2?W?/?鞞@s@?i2z2>I2 *];2CYB׃ByB)"Ixz@AbD~VD~:3yP% @=ٔ d;Q- >9Y=iGyFE>!Q 5-4%uj?Q 9-4%)%BY1y5>Q I5%@%DI%];i%;%<4y=nBɮ=o@EߦEjagOmFNOT Ignoring new targets: 209.39 m.Rm7Zm7gO} ProNav: ac range: 209.387695 m, nav range: 179.888458 m, bearing: 23.840661 deg, approach rate: -0.622593 m/s, LOS rate: 0.001520 deg/s, cmd heading: 33.882663 deg, new cmd heading: 33.883859 deg. B}28gOHeadingCmd: 0.591385 target range: 209.387695 and range: 210.60 m.e?*" ʎjZg@"Bɢ $=) c>i)ºo<i(]ie?V;Ie?Ie9@i @i@m0@iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011061y^A9<A?AI I O >ԙ E  E E 'E "E :*E ga:VE '4ZE a @a @a @a @C+,Fx^X@A2KK>2z?2_<ٱ2QV >AHRS rotation from veh to nav: [[0.824094,-0.564215,-0.050299],[0.565602,0.814738,0.127659],[-0.031047,-0.133652,0.990542]]2H`^? @h?`U? W?`ʟ?i2KK>I2R];2CYFփByF'"IIJ>)J9Y=iGyyE>Q 54:j?Q 94)BY!?Q E:y>Q I%@DI:i:4yɮ@jgOFNOT Ignoring new targets: 209.39 m.RܷZܷgO ProNav: ac range: 209.387695 m, nav range: 179.621658 m, bearing: 23.840026 deg, approach rate: -0.631922 m/s, LOS rate: -0.001508 deg/s, cmd heading: 33.883858 deg, new cmd heading: 33.882585 deg. B0gOHeadingCmd: 0.591363 target range: 209.387695 and range: 210.60 m.c?*"! !!!)-(Bʎ)))j)Z5@]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258821e!Bɢm|=)i m>ii)m;tBB;"IBBB =BBsDBPb;B%E^A50;i I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511054I) Ia Ou >A m+,SxX@A63>6<?6=ٱ6[ >AHRS rotation from veh to nav: [[0.825691,-0.561883,-0.050220],[0.563173,0.815866,0.131143],[-0.032714,-0.136567,0.990091]]6Hl?w?? O?쿠`{`Ү?i63>I6;];6CYJՃByJ&"IbDRVDRyZD%Z[=ٔ^E;Q-^>9`Y`=biGybFbEb>dQ 5j4fkj?Q 9j4f>)fBYlynu>Q In%@fDIf8;if;f#4yrmBɮr@vEPB*** querying acoustic contact *** j gOFNOT Ignoring new targets: 209.39 m.R닷Z닷gO- ProNav: ac range: 209.387695 m, nav range: 179.385147 m, bearing: 23.839669 deg, approach rate: -0.632894 m/s, LOS rate: -0.000956 deg/s, cmd heading: 33.882584 deg, new cmd heading: 33.881870 deg. B-߷gO-HeadingCmd: 0.591350 target range: 209.387695 and range: 210.60 m.5b?1*1"1 11199ʎ9AAjAZE ,@m Bɢu&=)q um>iq)ux1Y X+,T;X@A6>6L?6jv=ٱ6' JAHRS rotation from veh to nav: [[0.827692,-0.558791,-0.051760],[0.560104,0.816865,0.137895],[-0.034774,-0.143126,0.989093]]6Hs|?@D_?#??͡Q¿@?i6>I6(];6CYVǃByV"Ibchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.014964bDfVDfyn%rG=ٔvX;Q-z>9|Y= iGy E>9Q 5U4=аj?Q 9]4=k)=BYaym>Q Im%@=DI=l;i=;=s4ylBɮL@!AjgOFNOT Ignoring new targets: 209.39 m.R1Z1gO5 ProNav: ac range: 209.387695 m, nav range: 179.120361 m, bearing: 23.839551 deg, approach rate: -0.566243 m/s, LOS rate: -0.000253 deg/s, cmd heading: 33.881871 deg, new cmd heading: 33.881634 deg. B5gO=HeadingCmd: 0.591346 target range: 209.387695 and range: 210.60 m.=ub?9*9"9 AAAIIʎIIIjQZU @颙ɢ=) >i) ~<i^iub?SQUIub?IYe9@a @a@e80@a@m[A@m\AbEAjEE{4rEEd/E EEE"E*E&p:VEZEa@a@a@a@uBDAT read: Rx Time:00:41:33.7230 uTRx dataTimestamp_ set to:1761698494.561087}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267810ԉ^A e;A YAzA [AI) II O} >Ա +, X@AB>BߍCB."IB܃BB =BDDBoDBb;B%EBuCBuCBuCBu =Bu =Cu`7F=>Ft?F<=ٱFϋ NAHRS rotation from veh to nav: [[0.829485,-0.556073,-0.052332],[0.557341,0.817967,0.142486],[-0.036427,-0.147357,0.988412]]FH #?Y@E˪? ,?IFUF];FCY̓By"I !!iMb@Mb@Mb@ 9+?:v?Y?yT< A@ )AY @bD VD2yO<%;=ٔtx;Q->9Y=iGyFWE> Q 54 j?Q 94 ) BY%"?Q E%:y%d>Q I%%@ DI K;i H; 4y1ɮ5@1ԑjgOFNOT Ignoring new targets: 209.39 m.R8Z8gO ProNav: ac range: 209.387695 m, nav range: 178.846725 m, bearing: 23.841031 deg, approach rate: -0.684389 m/s, LOS rate: 0.003708 deg/s, cmd heading: 33.881635 deg, new cmd heading: 33.884600 deg. B 8gOHeadingCmd: 0.591398 target range: 209.387695 and range: 210.60 m.e?*"    $Bʎ111j1Z5I@颅Bɢ1"=) %>i)@<顉iC^ie?S@aIe?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.521887=9@9 @A@E4@I^AUrgIIOj>E EE)E"EO:*E[:VEFA4ZEBE i} M} d;?} 4@} K=} 3@ } `=)} @I} `y y } 65fA?,|L?O ƶ? } Y;?)} uI} Di} `y y  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. h+,ůX@A2y5>2?2=ٱ2x :AHRS rotation from veh to nav: [[0.830556,-0.554410,-0.052972],[0.555633,0.818357,0.146848],[-0.038064,-0.151398,0.987740]]2H? ?/?? .}aÿ ?i2y5>I2L8];2CY%ƒBy-"IbDeVDefy_%O=ٔՇ;Q->9Y=iGyE>Q 54j?Q 94)BYyw>Q I%@ DI:i-:4ykBɮ@EįX@AJ5CR5Cj>"}=f@JAC٣A+@rNR?̙Zȿ]1?ZDb`fe:d@fC6#R@FY|'@zñSC?0N?:1˰?2B:9&C" ?*BBB? 5L“B2C>gO addTargetRange:: Added new target pos. range: 182.800003 m, deltaT: 8.067808 s, deltaX: -27.800003 m, approachRate: -3.445794 m/s, rangeRepo size: 4 gO Added new target pos. range: 181.763275 m, bearing: 23.581341 deg, lat: 36.779438 deg, lon: -121.859350 deg, deltaT: 8.067808 s, deltaX: -27.624420 m, approachRate: -3.424031 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 181.76 m.RZgO ProNav: ac range: 181.763275 m, nav range: 178.596039 m, bearing: 23.842536 deg, approach rate: 0.000000 m/s, LOS rate: 0.003708 deg/s, cmd heading: 33.884599 deg, new cmd heading: 33.887528 deg. BgOHeadingCmd: 0.591449 target range: 181.763275 and range: 182.80 m.3i?*" ʎ!!!j%f@Z%`?频ɢ=) >i)Z<顙ivG^i3i?T٢I3i?I9@ @@4@!*DAT read: user:530>  BDAT read: Tx time:00:41:35.0750 $Ping request sent.A >E  E E &E "E *E X:VE 4ZE a @a @a @a @A .AI I O >S+,߯X@ARa>R?R=ٱRv" ^AHRS rotation from veh to nav: [[0.831430,-0.552822,-0.055789],[0.554276,0.818208,0.152690],[-0.038764,-0.157873,0.986698]]RH?`T?@.?W?أ@05Ŀ ?iRa>IR.];RCY-By5"IiMb@Mb@Mb@ 9?Zd;I +?Y ?y9< A )SAY(AbDVDy+%F=ٔ:Q->9 ?Y ?=iGyFE>=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245069QQ 5]4Uwj?Q 9]4UI)U#BYe#?Q Ee:yey>Q Ie%@UDIUP:iU7:U@4yiɮm@qjgOFNOT Ignoring new targets: 181.76 m.RsF8ZsF8gO ProNav: ac range: 181.763275 m, nav range: 178.326172 m, bearing: 23.843652 deg, approach rate: -0.654689 m/s, LOS rate: 0.002711 deg/s, cmd heading: 33.887529 deg, new cmd heading: 33.889764 deg. BÞ8gOHeadingCmd: 0.591488 target range: 181.763275 and range: 182.80 m.k?*" !!%%Bʎ!))IjQZUJ?额BɢNz=)  >i)c<顡i02^ik?aT_̻Ik?IA@A @A@E/@A@M=@M=^A#2B-x>B-ݍCB-"IB-̃BB- =B)B-nDB-Wc;B-&EԁAIIO>ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497174+,X@A6߼>6E?6n=ٱ6#@ BAHRS rotation from veh to nav: [[0.831979,-0.551947,-0.056265],[0.553451,0.818579,0.153688],[-0.038770,-0.159005,0.986516]]6H@?``ά޵? 1? ?٣HZĿ`?i6߼>I6XF];6CYJByN!IIR4=)R4<bDVVDVy^g%^_=ٔb7Q-b>9`Yd=fiGydf 1Ef>hQ 5n4jj?Q 9n4j)j&BYpyr>Q Ir%@jDIj;ij;jr4yvjBɮv@vEP B*** querying acoustic contact ***  jgOFNOT Ignoring new targets: 181.76 m.R]T8Z%]T8gO- ProNav: ac range: 181.763275 m, nav range: 178.100296 m, bearing: 23.844655 deg, approach rate: -0.652406 m/s, LOS rate: 0.002901 deg/s, cmd heading: 33.889763 deg, new cmd heading: 33.891772 deg. B58gO5HeadingCmd: 0.591523 target range: 181.763275 and range: 182.80 m.5 n?1*9"9 999AAʎAAIjIZMg?qɢ}.4=)y }>iy)<顁i*^i n?TI n?IE EE"E"E,:*Ega:VE(3ZEBE1 ,,wX@A2>2N4?2=ٱ2S :AHRS rotation from veh to nav: [[0.832137,-0.551908,-0.054271],[0.553236,0.819367,0.150227],[-0.038443,-0.155034,0.987161]]2H`ݠ?;@xɫ? @8?@:? ծ)ÿ@Җ?i2>I2.];2CRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.001141YVByV!I|bDjVDj:y;%E=ٔ%MQ-%>9!Y)=-iGy-F=4'EE>Q 54k?Q 94)*BY!y->Q I-%@$DIQwiQ)UO:B% ލCB% "IB% ƒBB%  =B! B% oDB% Td;B% &EAU ؟AIa Iq O} > ,,z-X@A2>2MM?2Q=ٱ2/m :AHRS rotation from veh to nav: [[0.831933,-0.552505,-0.051234],[0.553559,0.820054,0.145204],[-0.038211,-0.149162,0.988074]]2H`2? `;`?=??qÿM?i2>I2K];0QYBy!IimMb@Mb@Mb@iiii i9mMb?X9v:v?Ym ?ymm9"?Y"?=iGyI:E>Q 54J-k?Q 94)/BY#?Q E :y >Q I %@-DIo;i|n;p4yɮ0@!ԁjgOFNOT Ignoring new targets: 181.76 m.RG|8ZG|8gO% ProNav: ac range: 181.763275 m, nav range: 177.516312 m, bearing: 23.847508 deg, approach rate: -0.671628 m/s, LOS rate: 0.003446 deg/s, cmd heading: 33.894353 deg, new cmd heading: 33.897484 deg. B%8gO-HeadingCmd: 0.591623 target range: 181.763275 and range: 182.80 m.-t?)*)"1 111Y]=BʎYYYjaZe3? CG`]A5Aeu9e`]AYe=Aɢ^=) >i)><i]it?UIt?II1)5XAԩE EE$E"E:*E[:VE4ZEBEv2~?2t=ٱ2s3 >AHRS rotation from veh to nav: [[0.831538,-0.553308,-0.048940],[0.554187,0.820414,0.140701],[-0.037700,-0.144120,0.988842]]2H?@`?@@??rM`r¿?i2UP>I2"/];2C @)@F}DDDJ`AiJqIHHIHiJMr@ LL)LL N`ANC LPPR`AIR94)PiP)TIV`AV94T TXXXiXXYXYbByb!I ddhjAbDnVDnyv1%vH=ٔvQ-v>9xYx=ziGyzF~:E~>Q 5 4aAk?Q 9 4NQ = tI)3BY y+>Q I&@6DI[;i;4y\Bɮ%@jAgOEFNOT Ignoring new targets: 181.76 m.RMy8ZMy8gO] ProNav: ac range: 181.763275 m, nav range: 177.257446 m, bearing: 23.848805 deg, approach rate: -0.679745 m/s, LOS rate: 0.003412 deg/s, cmd heading: 33.897484 deg, new cmd heading: 33.900083 deg. B]8gO]HeadingCmd: 0.591668 target range: 181.763275 and range: 182.80 m.ew?a*a"a ʎjZ`@aɢe$}=)a e>ia)m)U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261123i f,,mgX@A274>2?2=ٱ2} :AHRS rotation from veh to nav: [[0.830595,-0.554872,-0.047210],[0.555647,0.820144,0.136458],[-0.036998,-0.139574,0.989520]]2H;?+? >? ww?`Y&?i274>I2,&];2CY=By="IiMb@Mb@Mb@ 9K7A?i|?59 ?Y ?=iGy ;E>Q 5 4Wk?Q 9 4\)5BY $?Q E:y>Q I&@?DI ;i ; 4y[BɮR@%ڦEjAgOEFNOT Ignoring new targets: 181.76 m.RM,7ZM,7QgOe ProNav: ac range: 181.763275 m, nav range: 176.977448 m, bearing: 23.849268 deg, approach rate: -0.644048 m/s, LOS rate: 0.001067 deg/s, cmd heading: 33.900083 deg, new cmd heading: 33.901011 deg. Be7gOmHeadingCmd: 0.591684 target range: 181.763275 and range: 182.80 m.mx?i*i"i iiB>BߍCB!IBBBBBBse;B#'E@BʎjZ 1@AɢMB=)I M>i)lG<顑i]ix?VxIx?Iq@q @q@}00@yԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.514109ԩ^A [RӻA >A >A ؟AE  E E &E "E O:*E k:VE 4ZE BE EN ,,IHX@A2D>2wQ?2O=ٱ2 :AHRS rotation from veh to nav: [[0.829799,-0.556242,-0.045052],[0.556903,0.820170,0.131071],[-0.035956,-0.133852,0.990349]]2H്?@ '?>??h"?i2D>I23>];2CY}By}!IbDVD0y>%O=ٔZ-Q->9"?Y"?=iGyFw;E>Q 54jk?Q 94)8BYy>Q I&@GDI;i+;4yɮX@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 181.76 m.Rp7Zp7gO  ProNav: ac range: 181.763275 m, nav range: 176.723953 m, bearing: 23.849592 deg, approach rate: -0.643718 m/s, LOS rate: 0.000823 deg/s, cmd heading: 33.901012 deg, new cmd heading: 33.901660 deg. B 7]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773149ԱgOHeadingCmd: 0.591696 target range: 181.763275 and range: 182.80 m.]y?*" ʎjZ`f@ɢE=) w>i)t<i]i]y?٥VDjI]y?I)1i5>9@ @@13@@=@= i I  BDAT read: Rx Time:00:41:37.7193  TRx dataTimestamp_ set to:1761698498.350247% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027784^A- &tA A I I O >M&,,anX@A2R>2:?2{ =ٱ2p :AHRS rotation from veh to nav: [[0.828364,-0.558494,-0.043551],[0.559132,0.819523,0.125511],[-0.034406,-0.128320,0.991136]]2H?@/[Li?9??l`b?i2R>I2.];0YFByF!IIJ{>)J=i]Mb@Mb@Mb@YYYY Y9]p= ף?:vI +?Y]%?y]Խ]94<] A]@ ]@)]AYY]AbDuVDuy%B=ٔQqQ->9Y=iGy<;E>Q 54k?Q 94)YF'?Q E:y>Q I&@PDI:i:[4yZBɮa@ۦEE E4E$E"E :*E ;VE4ZEa@a@a@a@jgOFNOT Ignoring new targets: 181.76 m.RZgO  ProNav: ac range: 181.763275 m, nav range: 176.448563 m, bearing: 23.847700 deg, approach rate: -0.649381 m/s, LOS rate: -0.004469 deg/s, cmd heading: 33.901661 deg, new cmd heading: 33.897871 deg. B gOHeadingCmd: 0.591629 target range: 181.763275 and range: 182.80 m.u?*" !%$Bʎ!!!j)Z-O @QɢU=)Y ]>iY)]CB5CB5!IB5BB5 =B1B5qDB5Vf;B5'E^Ayb] A .AI I O >9  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531992-,,X@Au>uL?u=ٱu  AHRS rotation from veh to nav: [[0.827099,-0.560338,-0.043913],[0.561076,0.818521,0.123357],[-0.033178,-0.126667,0.991390]]uHw?J@{U? S1? P? 6 x?iu>IuU];qYBy!IbDVD1y¸<%B=ٔ?Q->9 ?Y ?=iGyFE;E>Q 54k?Q 94)9BYy>Q I&@XDIm ;i ;4yYBɮ@jgOFNOT Ignoring new targets: 181.76 m.RⷸZⷸgO- ProNav: ac range: 181.763275 m, nav range: 176.173218 m, bearing: 23.845600 deg, approach rate: -0.657694 m/s, LOS rate: -0.005024 deg/s, cmd heading: 33.897870 deg, new cmd heading: 33.893664 deg. B-gO5HeadingCmd: 0.591556 target range: 181.763275 and range: 182.80 m.57p?1*9"9 999AAʎAAIjIZM@uBɢu=)y }5>iy)}(i+#?ּ5@z0=4@ 4Q=) \@I4QϽX+`?+;F?,Z!}? >?)zITwVi4QϽ%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.^A=?BɺAAzAA A ؟AI I O >3,,%"аX@A 6m">6 ?6 =ٱ6y >AHRS rotation from veh to nav: [[0.826443,-0.561428,-0.042307],[0.562101,0.818469,0.118959],[-0.032160,-0.122093,0.991997]]6H9r?89?0?`t?GwAq?i6m">I6C];4Y^Byb!IbDjVDjβyr%r`=ٔr6Q-r>9v"?Yv"?=viGytvZ;Ez>xQ 54zȦk?Q 94zܚ)xYy>Q I&@z`DIzf;iz;z&4y ɮd@,ưX@AJ3CR3Cj>x4Re@wdB1GW2@r9#?qXyʿ+hg޹?ZTwVb4QϽd@ŒrQ@0@zw/LP?:F?A?2B:$C"ȧ?*, oBaB ?, o“ 2C?=>gO] addTargetRange:: Added new target pos. range: 180.100006 m, deltaT: 4.042319 s, deltaX: -2.699997 m, approachRate: -0.667933 m/s, rangeRepo size: 4 gOm Added new target pos. range: 179.085388 m, bearing: 23.045827 deg, lat: 36.779464 deg, lon: -121.859365 deg, deltaT: 4.042319 s, deltaX: -2.677887 m, approachRate: -0.662463 m/s, posRepo size: 4 jigOuFNOT Ignoring new targets: 179.09 m.RuZgO ProNav: ac range: 179.085388 m, nav range: 178.040512 m, bearing: 23.079372 deg, approach rate: 0.000000 m/s, LOS rate: -0.005024 deg/s, cmd heading: 33.893663 deg, new cmd heading: 33.889958 deg. BgO HeadingCmd: 0.591491 target range: 179.085388 and range: 180.10 m. k? * "  19AʎAIIjM@3f@Zu`?ɢq=) у>i) !F< U*DAT read: user:531> eBDAT read: Tx time:00:41:39.1250 e$Ping request sent.e:,, 9X@A>H>@>zD?>F<ٱ> JAHRS rotation from veh to nav: [[0.825674,-0.562678,-0.040701],[0.563301,0.818331,0.114132],[-0.030913,-0.117162,0.992632]]>Hk?u@֤?/?7?X@?i>H>I>r];9e ?Ye ?=eiGyeFm\;Em>qQ 5}4uk?B>BCB!IBBB =BBrDBf;B'EBeߍCBeCBeCBe =Be =Ce6Q 94u)qY(?Q E:y>Q I&@uiDIuiԱ)c<顱iъ^i7a?Tq:;I7a?Im9@i @i@u/@qi!I!-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499140^A ] ; E  E E &E "E :*E ga:VE 4ZE BE 2֋?2r[<ٱ2c :AHRS rotation from veh to nav: [[0.825087,-0.563646,-0.039178],[0.564218,0.818293,0.109792],[-0.029824,-0.112693,0.993182]]2Hg?b .?@u/?@Q?`Eqټ&?i2k>I2T];2CYBByB!IbDNVDN:yVn%VX=ٔZ9XYX=^iGy\|^<;E>!Q 5-4%mk?Q 9-4%)%8BY)y5u>Q I5&@%qDI%y:i% :%Q44y9ɮ="@9PUB*** querying acoustic contact ***Y YjagOmFNOT Ignoring new targets: 179.09 m.Rm]Zm]gO} ProNav: ac range: 179.085388 m, nav range: 177.504196 m, bearing: 23.070248 deg, approach rate: -0.702894 m/s, LOS rate: -0.012108 deg/s, cmd heading: 33.880549 deg, new cmd heading: 33.871681 deg. B}EgOHeadingCmd: 0.591172 target range: 179.085388 and range: 180.10 m.W?*" ʎchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.750306jZT? BɢH=) k>i)[\<i5^iW?S.{;IW?IU9@Q @Y@]/0@Y)Y^AqA}>AyU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002141Am ؟AIq I O >ԩ G,,AX@AB>B.?B(<ٱBʳ JAHRS rotation from veh to nav: [[0.824824,-0.564024,-0.039269],[0.564617,0.818078,0.109343],[-0.029547,-0.112360,0.993228]]BHd?}  X?-??`A`ü@?iB>IB,];BCY^By^!IiEMb@Mb@Mb@AAAA A9EK7A?B`"۹y&1?YE "?yEνE`e9"?Y%"?=%iGy%F% :E%>)Q 554-k?Q 9=4-v)-:BY=#$?Q E=:y=!>Q I=&@-zDI- ;i-:-;4yEWBɮMf@MݦEjigOuFNOT Ignoring new targets: 179.09 m.Ru#Zu#gO ProNav: ac range: 179.085388 m, nav range: 177.223297 m, bearing: 23.066349 deg, approach rate: -0.641010 m/s, LOS rate: -0.008912 deg/s, cmd heading: 33.871680 deg, new cmd heading: 33.863869 deg. BygOHeadingCmd: 0.591036 target range: 179.085388 and range: 180.10 m.#N?*" +BʎjZ?!Bɢ6=) >i)&<iH-_i#N?jR ;I#N?IIQ)UWAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2564099@ @@0@B>BCB!IBBB =BCDBuDBf;B'E ^A yb];I I) A OM >] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506127DM,,*7X@AJr>J?Jg<ٱJf RAHRS rotation from veh to nav: [[0.824950,-0.563840,-0.039283],[0.564424,0.818159,0.109736],[-0.029734,-0.112699,0.993184]]JHe? ?@[.??rټ *?iJr>IJC&];HY^By^!IIb=)b>bDfVDfܲyrގ%r`=ٔr1:Q-r>9tYt=viGytzf%Ez>|Q 54~k?Q 94~Ύ)~;BYy>Q I&@~DI~:i~:~^B4ySBɮ@ԦEj9gO=FNOT Ignoring new targets: 179.09 m.R="ZE"gOU ProNav: ac range: 179.085388 m, nav range: 176.989105 m, bearing: 23.063105 deg, approach rate: -0.640679 m/s, LOS rate: -0.008886 deg/s, cmd heading: 33.863870 deg, new cmd heading: 33.857373 deg. BUgO]HeadingCmd: 0.590923 target range: 179.085388 and range: 180.10 m.]F?Y*Y"Y YYaaaʎaiijiZm` ?频ɢHA=) d>i)|<顡ivs_iF?QA;IF?I e9@a @a@e4@aE EE%E"Ea:*Ee:VE 4ZEBE(ԑ &T,,iQX@A2^>2/?2p<ٱ2 :AHRS rotation from veh to nav: [[0.825867,-0.562409,-0.040495],[0.563036,0.818630,0.113293],[-0.030567,-0.116365,0.992736]]2H m?A@d?`72??L`ʽ~?i2^>I25\;2CY\yb!IbDjVDjN2yr&S;%rK=ٔr;Q-r>9tYt=viGyvFzEz>|Q 5U4~B l?Q 9U4~)~>Q I]&@~DI~(T?*" ʎjZ @U"Bɢ] =)Y ePd>ia)e ?PPe/;I>?IiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.010672-9@) @1@53@1ԩDD=E EEE"E:*E n:VEZEa@a@a@a@^Ai I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262136 SZ,,QkX@A2F>2x?2 ^=ٱ2,5 :AHRS rotation from veh to nav: [[0.826890,-0.560759,-0.042458],[0.561490,0.819042,0.117893],[-0.031335,-0.121324,0.992118]]2Hu?`?5?4.?` n?i2F>I2&];2CYFByF!Ii Mb@Mb@Mb@     9 ~jt?ktQ?Y $?y  u<  A G@ =A)  Y A !%<bD-VD-k1y=<%=D=ٔ=&:Q-=>9AYA=EiGyAE!EM>B]>B]CBYBYB] =B]DDB]sDB]e;B]W'EIQ 5}4Ml?Q 9}4M)M=BY}&?Q E}:y}P>Q I&@MDIM;iM=;MP4yɮ@զEjYgOeFNOT Ignoring new targets: 179.09 m.RmsZmsgO ProNav: ac range: 179.085388 m, nav range: 176.462112 m, bearing: 23.053967 deg, approach rate: -0.629264 m/s, LOS rate: -0.013306 deg/s, cmd heading: 33.850459 deg, new cmd heading: 33.839070 deg. B¹gOHeadingCmd: 0.590603 target range: 179.085388 and range: 180.10 m.1?*" 2BʎjZO@M#BɢM=)Q Ui>iQ)ULE  E E E "E :*E rN:VE ZE BE 6W?6x=ٱ6s >AHRS rotation from veh to nav: [[0.827665,-0.559581,-0.042899],[0.560290,0.819468,0.120609],[-0.032336,-0.123860,0.991773]]6H:|?@@@?@9?=?b E ?i6>I6];4YFByF!I HHbDPVDPyZq%ZT=ٔZ8*;Q-Z>9\Y\= iGy FOlE>Q 5%41l?Q 9%4)>BY!y%>Q I-&@DI;i :W4y5RBɮ5@1PMB*** querying acoustic contact ***I IjYgO]FNOT Ignoring new targets: 179.09 m.ReZegOu ProNav: ac range: 179.085388 m, nav range: 176.205536 m, bearing: 23.048645 deg, approach rate: -0.692965 m/s, LOS rate: -0.014395 deg/s, cmd heading: 33.839069 deg, new cmd heading: 33.828409 deg. Buҹchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.766288gOHeadingCmd: 0.590417 target range: 179.085388 and range: 180.10 m.%?*" ʎjZ@5@$Bɢ\=) a>i)_<i `i%?O9I%?IYu9@q @q@q@yy^A ;II)O=>5 BDAT read: Rx Time:00:41:41.7667 5 TRx dataTimestamp_ set to:1761698502.381159= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019242ԩ kg,,PX@A8Z&>Z+?Z=ٱZF bAHRS rotation from veh to nav: [[0.828013,-0.559050,-0.043107],[0.559717,0.819529,0.122841],[-0.033347,-0.125842,0.991490]]ZH`?`3?9?`r? H?iZ&>IZ ];ZCYj~Byj!ID@AzD@AE EE&E"E:*EL_:VE4ZEa@a@a@a@iMb@Mb@Mb@ 9~jt?(\µ~jtx?Yy; A V@) AYAbDVDy~ѽ%8=ٔy;Q->9Y=iGyʺE>Q 54Gl?Q 94V)=BY &?Q E:y1>Q I&@DI:i:)_4yɮ >@ j)gO5FNOT Ignoring new targets: 179.09 m.R5sZ5sgOE ProNav: ac range: 179.085388 m, nav range: 175.924988 m, bearing: 23.042887 deg, approach rate: -0.647995 m/s, LOS rate: -0.013320 deg/s, cmd heading: 33.828411 deg, new cmd heading: 33.816877 deg. BEùgOMHeadingCmd: 0.590216 target range: 179.085388 and range: 180.10 m.Mc?I*Q"Q QQQY]"BʎYYYjaZe @颍%Bɢ9=) 1>i).<顑i%_ic?)^OC9Ic?Iԡ]9@Y @Y@]0@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.271241BM>BIBM!IBMBBM =BIBIBMd;BM&E^Aq9 A I I O >- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522127[m,,׸X@A!=>u0?^ =ٱ AHRS rotation from veh to nav: [[0.827941,-0.559026,-0.044759],[0.559752,0.818825,0.127288],[-0.034507,-0.130441,0.990855]]H~~?@ꦿ}?3?J?𪡿 J@?i=>I,];CY By !I@AbDVDNy-;%-F=ٔ58;Q-5>91Y9==iGy=F=/9E=>AQ 5M4ED[l?Q 9M4E,)EQ IU&@EDIE;iE;Eaf4y]QBɮ]@e֦EjgOFNOT Ignoring new targets: 179.09 m.R kZ kgO ProNav: ac range: 179.085388 m, nav range: 175.657532 m, bearing: 23.037364 deg, approach rate: -0.622931 m/s, LOS rate: -0.012883 deg/s, cmd heading: 33.816878 deg, new cmd heading: 33.805815 deg. BgO%HeadingCmd: 0.590023 target range: 179.085388 and range: 180.10 m.% ?!*!"! !))11ʎ111j9Z=@e&Bɢe=)a mv2>ii)mhiG"?-5@k=I4@ %=)@I%˽w5?s\;Z?h!Ch? 6Xvt,, ұX@A2>2C?2q=ٱ2 :AHRS rotation from veh to nav: [[0.827753,-0.559099,-0.047254],[0.559978,0.817871,0.132332],[-0.035339,-0.136000,0.990078]]2H|? #@1@W?+?C? phฮ?i2>I2];0YNyByN!IIR=)R=bDZVDZ:ybx%fd=ٔf;Q-j>9lYl=riGypvT:Ev>|Q 5 4~ll?Q 9 4~e|)~;BYy>Q I&@~DI~W-;i~>J;~l4y!ɮ-x@)yȱX@AJ41CR41CjY>aV-e@mA둙1@r66?H,ɿhܸm?ZKb%˽DYd7d@L-RmQ@0@zͮ4? ?W9[2?2;B:!C"ϳ?* ;BBȧ?B“̢BV0CA>gO  addTargetRange:: Added new target pos. range: 178.199997 m, deltaT: 4.029692 s, deltaX: -1.900009 m, approachRate: -0.471502 m/s, rangeRepo size: 4 gO] Added new target pos. range: 177.204269 m, bearing: 23.587363 deg, lat: 36.779466 deg, lon: -121.859346 deg, deltaT: 4.029692 s, deltaX: -1.881119 m, approachRate: -0.466815 m/s, posRepo size: 4 jYgOeFNOT Ignoring new targets: 177.20 m.ReZagO ProNav: ac range: 177.204269 m, nav range: 176.338715 m, bearing: 23.503830 deg, approach rate: 0.000000 m/s, LOS rate: -0.012883 deg/s, cmd heading: 33.805816 deg, new cmd heading: 33.796242 deg. BgOHeadingCmd: 0.589856 target range: 177.204269 and range: 178.20 m.?*" ʎj`fFf@Z?*DAT read: user:532> BDAT read: Tx time:00:41:43.1750 $Ping request sent.i!)%tz,,mX@A2 #>2[g?2r=ٱ2, :AHRS rotation from veh to nav: [[0.827429,-0.559525,-0.047896],[0.560416,0.817253,0.134281],[-0.035990,-0.137950,0.989785]]2HKz?܅ ?`&?`"0?`UmZQ?i2 #>I2C];2CYBsByB!IB>BCB!IBBB =BCDBuDB'e;B 'EimMb@Mb@Mb@iiii i9m}?5^I?Zd;O~jt?YmM"?ymjmD9 ?Y ?=iGyF:E>Q 54΁l?Q 946y)Q I&@DIv;i";9t4yPBɮ@j1gO=FNOT Ignoring new targets: 177.20 m.RE#4ZE#4gO ProNav: ac range: 177.204269 m, nav range: 176.063705 m, bearing: 23.499798 deg, approach rate: -0.670358 m/s, LOS rate: -0.009843 deg/s, cmd heading: 33.796240 deg, new cmd heading: 33.788164 deg. BgOHeadingCmd: 0.589715 target range: 177.204269 and range: 178.20 m.?*" 0BʎjZ?颉ɢP<) >i)xu<顑iA_i?fM͆:I?I checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503673y@y @y@}4@y1^A ;E  E E (E "E >:*E V:VE c44ZE BE *,,'KX@A2u>2?2=ٱ2 :AHRS rotation from veh to nav: [[0.826699,-0.560769,-0.045905],[0.561455,0.816898,0.132088],[-0.036571,-0.134971,0.990175]]2HQt?䀧o?@$?@?fF?i2u>I2#];2CYBmByB!I Jp9XYX=ZiGyX^-X;E^>`Q 5f4bml?Q 9f4b\v)`Yhyj>Q Ij&@bŒDIb<;ibY;bz4ynOBɮn)@nצEzchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754854PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 177.20 m.R2Z2gO- ProNav: ac range: 177.204269 m, nav range: 175.817795 m, bearing: 23.496090 deg, approach rate: -0.646436 m/s, LOS rate: -0.009763 deg/s, cmd heading: 33.788164 deg, new cmd heading: 33.780736 deg. B-gO5HeadingCmd: 0.589585 target range: 177.204269 and range: 178.20 m.5 ?1*1"1 19999ʎAAAjAZE@YM? (Bɢ (i<)  >i)o9<im^i ?%M%o.;I% ?IA9@ @@/@@\A@^A] ;)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008205I I O >Y ,,"!X@AR7>Rs?R =ٱR0! ZAHRS rotation from veh to nav: [[0.825865,-0.562224,-0.043029],[0.562637,0.816620,0.128727],[-0.037235,-0.130521,0.990746]]RH`|m? `?!?#z? 1?iR7>IRb];RCYfaByf!I hhbEjE4rE- 0EU EUEU$EQ"EUT;*EUxv:VEU4ZEQa]@a]@ae@ae@iMb@Mb@Mb@ 9Mb?RQy&1|?Y#?y½`;AG@ )YAbDVD!y=Q%:=ٔ:Q->9Y=iGyFpW;E>Q 54l?Q 94s);BY$?Q E:y>Q I&@ΒDI ;i ;4yɮ@j!gO-FNOT Ignoring new targets: 177.20 m.)R5$Z5$gOE ProNav: ac range: 177.204269 m, nav range: 175.534393 m, bearing: 23.492144 deg, approach rate: -0.646564 m/s, LOS rate: -0.009015 deg/s, cmd heading: 33.780736 deg, new cmd heading: 33.772833 deg. BEgOMHeadingCmd: 0.589447 target range: 177.204269 and range: 178.20 m.M?I*I"I QQQQ]=BʎYYYjYZe`T?颍)Bɢ"<) =i)<顑i}k^i?LD>;I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2598349@ @@/@YB>BCB!IB{BB =BBvDBe;B'EB]CB]CB]ƔCB] =B] =C].6ԉ^A2;IQ Iq O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510735Թ  ,,a:X@A2ӱ>2.?2:=ٱ2G :AHRS rotation from veh to nav: [[0.825651,-0.562711,-0.040696],[0.562885,0.816722,0.126989],[-0.038221,-0.127756,0.991069]]2H`k? #֤&?"?0A?`QZ ֶ?i2ӱ>I28];2CYBTByB!IbDLVDLyV9%V_=ٔV0;Q-V>9XYX=ZiGyXZPi:E^>1Q 5=45zl?Q 9=45Gp)5:BYAyE>Q IE&@5֒DI5T;i5;5F4yIɮM@UئEjqgOuFNOT Ignoring new targets: 177.20 m.R}%Z}%gO ProNav: ac range: 177.204269 m, nav range: 175.289734 m, bearing: 23.488709 deg, approach rate: -0.643465 m/s, LOS rate: -0.009048 deg/s, cmd heading: 33.772833 deg, new cmd heading: 33.765953 deg. BygOHeadingCmd: 0.589327 target range: 177.204269 and range: 178.20 m.#?*" ʎjZg?*Bɢ'<) =i)內<i]i#?7KPj;I#?Iԑu9@q @q@u4@qEU EUEU(EQ"EUa:*EUga:VEUc44ZEQBEU( X,,TX@AND>N?N =ٱN0 ZAHRS rotation from veh to nav: [[0.826088,-0.562294,-0.037472],[0.562174,0.817633,0.124245],[-0.039224,-0.123703,0.991544]]NHPo? O /T?@ *?ο?$๺?iND>IN\'];NCYfSByf!IbDnVDn1yv%vF=ٔvS;Q-z>9xYx=ziGyzF~BE~>Q 5 4l?Q 9 4Um)9BY yl>Q I&@ޒDI:i:;4yKBɮ@ΦEjgOFNOT Ignoring new targets: 177.20 m.R!Z!gO ProNav: ac range: 177.204269 m, nav range: 175.033524 m, bearing: 23.485182 deg, approach rate: -0.618738 m/s, LOS rate: -0.008531 deg/s, cmd heading: 33.765952 deg, new cmd heading: 33.758887 deg. BygOHeadingCmd: 0.589204 target range: 177.204269 and range: 178.20 m.?*"   ʎ  jZ@# @e+Bɢm<)ms# m=ii}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014972)<顑i]i?HJd;I?Ix>i%> @  @@3@@5=@5=!E] EYE]&EY"E]:*EYVE]4ZEYae@ae@ae@ae@^AE ;I I I O >- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266754 ,,ИnX@AB&ʿ>B&CB&!IB&gBB& =B$B&wDB&f;B&(Ej>jd?j"=ٱj vAHRS rotation from veh to nav: [[0.826384,-0.561943,-0.036197],[0.561716,0.818122,0.123087],[-0.039554,-0.122050,0.991736]]jH`q?@o@u?.??h@ > L?ij>Ij\E];jCY MBy !IIR>)p=iMb@Mb@Mb@ 9~jt?~jt?Y$?y̽D<bA =A)"AY AbDVDNy%%<=ٔQG:Q->9Y=iGyFE>Q 54fl?Q 94 j)8BY&?Q E:yp>Q I&@DI ;i7:җ4y JBɮ @ ϦEjAgOMFNOT Ignoring new targets: 177.20 m.QRuZ}gO ProNav: ac range: 177.204269 m, nav range: 174.751114 m, bearing: 23.481821 deg, approach rate: -0.623341 m/s, LOS rate: -0.007428 deg/s, cmd heading: 33.758886 deg, new cmd heading: 33.752155 deg. BYgOHeadingCmd: 0.589086 target range: 177.204269 and range: 178.20 m.[?*" BʎjZ@-Bɢ<) =i)<i/\i%[?%WI-Q;I-[?I)i߉I߉checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519942@ @@/@yԩ ^A y;Eu  Eu Eu "Eq "Eu :*Eu V:VEu (3ZEq BEu f,,ɈX@A(2>2H?2~$=ٱ2} >AHRS rotation from veh to nav: [[0.826328,-0.561963,-0.037145],[0.561750,0.817712,0.125635],[-0.040228,-0.124682,0.991381]]2HGq? ?*??`Ø`!뿿d?i2>I2I];2CYFGByFx!IbDNVDN:2yV4%V]=^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770949ٔ^:Q-b>9b"?Yb"?=biGy`f+'9Ef>hQ 5n4jl?Q 9n4j_g)hYlyr>Q Ir&@jDIj:ijp:jT4ytɮv$@vЦEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 177.20 m.RZgO ProNav: ac range: 177.204269 m, nav range: 174.508774 m, bearing: 23.478917 deg, approach rate: -0.676506 m/s, LOS rate: -0.008120 deg/s, cmd heading: 33.752155 deg, new cmd heading: 33.746338 deg. BmgOHeadingCmd: 0.588985 target range: 177.204269 and range: 178.20 m.?*" ʎjZ@Ո@u.Bɢ}[}<) N=i)Ҩ<顁ieq[im?mHmx_;Im?Iqԉ9@ @@/@ԱmBDAT read: Rx Time:00:41:45.8140 uTRx dataTimestamp_ set to:1761698506.413050uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023786^Ae jZX;Aa zAa A .AI I Oe >N,,gעX@ALEr ErEr'Ep"Erm:*ErX:VEr'4ZEpav@av@av@av@Ye3Bym`!IiMb@Mb@Mb@ 9RQ?S㥻I +?Y"?y/ݽ94<K A^@ d@)9AYbDVD1y%4=ٔQ->9 ?Y% ?=%iGy%F%E%>)Q 5=4-m?Q 9=4-+d))Y=$?Q EE:yE;>Q IE&@-DI-/;i-B.;-74yIɮMc@IjgOFNOT Ignoring new targets: 177.20 m.R2Z2gO ProNav: ac range: 177.204269 m, nav range: 174.218124 m, bearing: 23.476784 deg, approach rate: -0.666202 m/s, LOS rate: -0.004896 deg/s, cmd heading: 33.746339 deg, new cmd heading: 33.742067 deg. B[gOHeadingCmd: 0.588910 target range: 177.204269 and range: 178.20 m.?*" BʎjIZMg @额/Bɢ8%<) @BUCBUm!IBU>BBQBQBUvDBUh;BU(EEQ @  @ @ @ @ [A@ ! e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526731 G  9 Y AQ ^A qZ;AI IO-?Q ,,IIJX@AE EE&E "E :*Eą:VE4ZE BEM"^y?^2=ٱ^ jAHRS rotation from veh to nav: [[0.828454,-0.558332,-0.043914],[0.558351,0.817276,0.142492],[-0.043668,-0.142567,0.988821]]^Hಂ?``{?'?@+=?@[?¿l?i^H>I^-\;^CYr.ByrY!I ttbD~VD~:y ߲% %=ٔ ;Q- >9Y=iGyE>!Q 5%4%&m?Q 9-4%`)%7BY)y->Q I5&@%DI%3;i%;%ݮ4y=IBɮ=@9jYgOeFNOT Ignoring new targets: 177.20 m.ReZegO ProNav: ac range: 177.204269 m, nav range: 173.899292 m, bearing: 23.474783 deg, approach rate: -0.651287 m/s, LOS rate: -0.004096 deg/s, cmd heading: 33.742067 deg, new cmd heading: 33.738056 deg. BgOHeadingCmd: 0.588840 target range: 177.204269 and range: 178.20 m.;?*" ))ʎ111j1Z5 @yɢO<) Ei)ݨ<iXi;?GI;?IDAT read: 00:41:45.8140 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418,-0.04, 1.082,-0.380, 1.706, 1.006, PHS= 0.178,-1.340, 0.657, RAW= 163.3, 5.7, CAL= 162.5, 5.0, ROT= 347.5, -5.0 Ygot valid direction response: 00:41:45.8140 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418,-0.04, 1.082,-0.380, 1.706, 1.006, PHS= 0.178,-1.340, 0.657, RAW= 163.3, 5.7, CAL= 162.5, 5.0, ROT= 347.5, -5.0 %PDAT read: Bearing 181.3, -15.5 (Local) -~Local bearing/azimuth received: Bearing 181.3, -15.5 (Local) 5DAT read: Range 11 to 50 : 176.1 m (Round-trip 234.9 ms) speed 0.6 m/s =R#Rx 1: Read range and direction messages.E^direction in FSK: [0.972581,-0.215616,0.087156]EFpublishing direction and range infoy7a?F.;N˿O?Y0C )DIE6>i'1(?ih6@%=5@ ¸=)@I¸`.?V@(?HzO0? #aA?)ɽIf_i¸]T****** received valid address query ******ԁ]R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.PExceeded connect timeout, disconnecting.ԩ}9 @9  @9 @= /@A iߑ Iߑ  *DAT read: user:533>  BDAT read: Tx time:00:41:47.1750  $Ping request sent. 9"?Y"?=iGyFE> Q 54 Am?Q 94 \) 9BY$?Q E:y>Q I&@  DI :i : 4y!ɮ%@%ѦEUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250811quTʲX@AJu/CRu/Cju>uAH9QJe@꼷9Blq㱆.@ru7a?F.;N˿O?Zuf_bu¸uӧ0d@/dP@ĺ*@zu8t?S?j/E?&4?2uԄB:u!C"uV*nl?*uWBu?Bqu, o“u?Bu,Cu'>gO} addTargetRange:: Added new target pos. range: 176.100006 m, deltaT: 4.032085 s, deltaX: -2.099991 m, approachRate: -0.520820 m/s, rangeRepo size: 4 gO Added new target pos. range: 175.124161 m, bearing: 22.352182 deg, lat: 36.779466 deg, lon: -121.859365 deg, deltaT: 4.032085 s, deltaX: -2.080109 m, approachRate: -0.515889 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 175.12 m.RZgO ProNav: ac range: 175.124161 m, nav range: 172.876724 m, bearing: 22.958151 deg, approach rate: 0.000000 m/s, LOS rate: -0.004096 deg/s, cmd heading: 33.738057 deg, new cmd heading: 33.733475 deg. BgOHeadingCmd: 0.588760 target range: 175.124161 and range: 176.10 m.?*" Bʎj@3f@Z٠?0Bɢ`K<) i)Uɨ<i*Wi?~F9I?I aB>BBT!IB*BB =BBuDBh;B(EԙE9@I @I@M3@IԹ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502586^A " AE EE%E"E:*EVL:VE 4ZEBE*m,,YX@A2>2]?2q5=ٱ2A :AHRS rotation from veh to nav: [[0.829416,-0.556936,-0.043497],[0.556874,0.818123,0.143408],[-0.044283,-0.143167,0.988707]]2H?j >E?.?@3[?`J OS¿}?i2>I2\;0YFByF@!IbDNVDNܲyVΝ%V4=ٔZñ:Q-Z>9XYX=^iGy\^q~E^>`Q 5f4b'Xm?Q 9f4bY)`Yhyj>Q Ij&@bDIb;ib?;bz4ynHBɮn@rҦExj gO FNOT Ignoring new targets: 175.12 m.RZgO% ProNav: ac range: 175.124161 m, nav range: 172.584702 m, bearing: 22.955337 deg, approach rate: -0.650127 m/s, LOS rate: -0.006275 deg/s, cmd heading: 33.733474 deg, new cmd heading: 33.727837 deg. B%7gO-HeadingCmd: 0.588662 target range: 175.124161 and range: 176.10 m.-?)*)") )1111ʎ999j9Z=>?1Bɢ5:<)  -9i))-uq<))i5kUi5?57,F=yTI=?I9II)MZAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754895@ @@/@@=@=)}nManaging dock network, ignoring radio surface power offI^A%9I! I1 E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006722OM >y ,,X@ABr>B?BJ;6=ٱB n JAHRS rotation from veh to nav: [[0.830023,-0.556132,-0.042190],[0.555954,0.818976,0.142103],[-0.044475,-0.141404,0.988952]]BH`? `뙥_? 5?n0?|Ŧ¿`?iBr>IB\;BCYV ByV0!IIZC=)Z=Z=XbDbVDbyfH%jI=ٔ=9Q-E>a9qYq=iGyF'E>Q 54mm?Q 94V):BYy g>Q I &@ DIIBCB;!IBBB =BBBi;BL)E^AE Β{ IA IQ Oe >,,Ǻ9X@A2>2?27=ٱ2 :AHRS rotation from veh to nav: [[0.830626,-0.555251,-0.041921],[0.555019,0.819505,0.142709],[-0.044885,-0.141805,0.988877]]2H`|?@v?a9?JD?&¿`?i2>I2\;2CYFByF6!Izchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510677iMb@Mb@Mb@ 9S㥛?"~jMb?Y$?yS㽙<A )AY 15<bD=VD=βyEָ<%MB=ٔM:Q-M>9QYQ=UiGyUFU7E]>YQ 5e4ԩ]Zm?Q 94]S)];BYX'?Q E:y>Q I&@](DI]9 ֣,,%vSX@AZL>ZzV?Z5=ٱZЦ jAHRS rotation from veh to nav: [[0.831644,-0.553594,-0.043610],[0.553534,0.820152,0.144745],[-0.044363,-0.144516,0.988508]]ZHԜ? T`?>?`?~¿ڡ?iZL>IZ\;ZCY~ By.!IbDVDk1y-%-M=ٔ5ϫQ-5>91Y9==iGy9= EE>AQ 5M4Efm?Q 9M4EP)EQ IU&@E0DIEl:iE:E4y]GBɮe@eӦEjgOFNOT Ignoring new targets: 175.12 m.RZgO ProNav: ac range: 175.124161 m, nav range: 171.787216 m, bearing: 22.948903 deg, approach rate: -0.688671 m/s, LOS rate: -0.004935 deg/s, cmd heading: 33.718684 deg, new cmd heading: 33.714947 deg. BgOHeadingCmd: 0.588437 target range: 175.124161 and range: 176.10 m.̣?*" ʎjZ@ɢi>Ա9@ @@g2@@@ZAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015328^A"5IAIaO>bE}!4jE}4rE}J0E EE&E"EO:*EVE4ZEa @a @a @a @)  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266612=,,rRmX@A6v*>6?6?2=ٱ6[ >AHRS rotation from veh to nav: [[0.832582,-0.552027,-0.045541],[0.552191,0.820742,0.146516],[-0.043503,-0.147134,0.988159]]6H?`4&Q?`C? ?FI¿?i6v*>I6];6CYFByJ!I HHi-Mb@Mb@Mb@)))) )9-MbX9?y&1~jt?Y-!?y-`彙-<-A) -SA)-A)Y-AbDMVDM!yut%uF=ٔ{Q->9Y=iGyFyE >B>BCB(!IBBB =BDDBsDBij;B)EBUCBUCBQBU =BU =CU61Q 5=45m?Q 9=45M)5=BY=b$?Q EE:yER>Q IE&@59DI5:i5":5p4yMCBɮM@MʦEjgOFNOT Ignoring new targets: 175.12 m.RuZugO ProNav: ac range: 175.124161 m, nav range: 171.511078 m, bearing: 22.947417 deg, approach rate: -0.623748 m/s, LOS rate: -0.003360 deg/s, cmd heading: 33.714948 deg, new cmd heading: 33.711972 deg. BĸgOHeadingCmd: 0.588385 target range: 175.124161 and range: 176.10 m.e?*" Bʎ 1j1Z5@'@I3BɢX<) ޽i)4<顡iOie?cFͱIe?I=9@9 @9@E1@Ay%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519119ԩ ^A% I I O >E  E E 'E "E 2:*E xv:VE '4ZE BE #*2Hw?2/=ٱ2? :AHRS rotation from veh to nav: [[0.833579,-0.550413,-0.046819],[0.550735,0.821496,0.147769],[-0.042872,-0.148962,0.987913]]2H ??I?`?@W1ÿ?i2B>I2\;0@}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770710Yqy}!IAAbDVDy':%8=ٔQ->9Y=iGy䇻E>Q 54m?Q 94K)?BYyw>Q I&@BDI:i-:4yɮw@jgOFNOT Ignoring new targets: 175.12 m.RjZjgO ProNav: ac range: 175.124161 m, nav range: 171.237823 m, bearing: 22.946095 deg, approach rate: -0.661596 m/s, LOS rate: -0.003206 deg/s, cmd heading: 33.711973 deg, new cmd heading: 33.709324 deg. BȻgOHeadingCmd: 0.588339 target range: 175.124161 and range: 176.10 m.]?*" !!!!ʎ)))j)Z5a@Yɢ]7M<)Y ]ݽiY)e - BDAT read: Rx Time:00:41:49.8096 5 TRx dataTimestamp_ set to:1761698510.4451505 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023711,,X@A2z>2F?2 .=ٱ2 :AHRS rotation from veh to nav: [[0.834432,-0.549048,-0.047640],[0.549471,0.822172,0.148710],[-0.042481,-0.150265,0.987733]]2H?̑@Bd`D?;O?@?@;ÿ`?i2z>I2N\;2C <)B`ABt@@BِCB`AiFIDDIDiF=r@ DD)HH HJ\HHLN`AINƽ)N FiL)TIV~`AZ什X X`ddiddYdYnByn!IlbDzVDzky <%i=ٔnQ->9 Y = iGy FE>Q 554m?Q 9=4H)ABYAyM>Q IM&@IDIr;i;4yqɮZ@˦EE EE$E"E:*E:VE4ZEa@a@a@a@P-B*** querying acoustic contact ***) )j9gO=FNOT Ignoring new targets: 175.12 m.RE.ZE.gO ProNav: ac range: 175.124161 m, nav range: 171.012955 m, bearing: 22.945113 deg, approach rate: -0.545296 m/s, LOS rate: -0.002384 deg/s, cmd heading: 33.709323 deg, new cmd heading: 33.707357 deg. BgOHeadingCmd: 0.588304 target range: 175.124161 and range: 176.10 m.?*" ʎjZ@ @ 1ɢ5T<)1 5׽i9)=5Ǥ<99i=KiE?E}GEIe?Iiqchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2756349@ @@/@@ =@ =9AYAYB5>B5CB5!IB5BB5 =B1B5qDB5k;B5)E^A% ra AU .AIa Iq O} >y,,dM?M!*=ٱMy %AHRS rotation from veh to nav: [[0.834928,-0.548282,-0.047771],[0.548783,0.822831,0.147600],[-0.041619,-0.149451,0.987893]]MH?@su@?T??O 9!ÿќ?iM >IM#6];MCYy!IIp>)R=iuMb@Mb@Mb@qqqq q9uRQ?y&1?Yu"?yqu9 ?Y ?=iGyE>Q 54m?Q 94QE)DBY1%?Q E:yf>Q I&@SDIz ;i ;4yɮW@jgOFNOT Ignoring new targets: 175.12 m.RlZl9gO ProNav: ac range: 175.124161 m, nav range: 170.693848 m, bearing: 22.943574 deg, approach rate: -0.737417 m/s, LOS rate: -0.003563 deg/s, cmd heading: 33.707356 deg, new cmd heading: 33.704272 deg. BиgOHeadingCmd: 0.588251 target range: 175.124161 and range: 176.10 m.?*" BʎjZU@1ɢ5g=V<E EE&E"Em:*ER:VE4ZEBETiˡ|?uJ5@ =I4@ =)@I$?e +m?^ښ? y'^,,[ڳX@AV͹>V?Vt =ٱV+ ^AHRS rotation from veh to nav: [[0.835270,-0.547894,-0.046212],[0.548443,0.824215,0.140999],[-0.039164,-0.143117,0.988931]]VH? Y``،? _?`@ ?D Q¿Q?iV͹>IVY];VC=*DAT read: user:534> EBDAT read: Tx time:00:41:51.2749 E$Ping request sent.E=ٔAQ->9"?Y"?=iGyFE>Q 54m?Q 94bB)HBYy>Q I&@\DI:i:'4yBBɮ@̦E!  TͳX@AJ +CR +Cj > @~3d@V@ta,@r %7B?6=6ɿU]k?Z Kb  bYc@ mP@ƫ(@z  Map?B@ ?$k?2 sB: *C" ʗ?* tB B ϳ? “  o*C >gO5 addTargetRange:: Added new target pos. range: 172.899994 m, deltaT: 4.036621 s, deltaX: -3.200012 m, approachRate: -0.792745 m/s, rangeRepo size: 4 gOm Added new target pos. range: 171.926804 m, bearing: 22.719308 deg, lat: 36.779467 deg, lon: -121.859365 deg, deltaT: 4.036621 s, deltaX: -3.197357 m, approachRate: -0.792088 m/s, posRepo size: 4 jigOmFNOT Ignoring new targets: 171.93 m.RuZqgO ProNav: ac range: 171.926804 m, nav range: 170.437469 m, bearing: 22.939332 deg, approach rate: 0.000000 m/s, LOS rate: -0.003563 deg/s, cmd heading: 33.704272 deg, new cmd heading: 33.700948 deg. BgOHeadingCmd: 0.588193 target range: 171.926804 and range: 172.90 m.ɓ?*" ʎj̜e@Z@?ɢiB<) i)%3B5 CB5 !IB5 BB5  =B1 B5 sDB5 +k;B5 *Eԑ ^A #A=.AIIIYOe>ԑ,,KX@A(2ꉹ>2˚?2U=ٱ2 >AHRS rotation from veh to nav: [[0.835600,-0.547397,-0.046145],[0.548040,0.824907,0.138490],[-0.037744,-0.141012,0.989288]]2HI29];2CYFByF!I=G\AfAvȿ9\AY٬A5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502254iMb@Mb@Mb@ 9Mb?MbXZd;O?Y#?yʽj<A jA)AYAbDVDkyw% =ٔ6Q->9 ?Y ?=iGy;E>Q 54=n?Q 94>)KBY"%?Q E:y>Q I&@gDI:i: 4y ɮ j@ j1gO5FNOT Ignoring new targets: 171.93 m.R= Z= gOM ProNav: ac range: 171.926804 m, nav range: 170.109253 m, bearing: 22.935723 deg, approach rate: -0.694378 m/s, LOS rate: -0.007652 deg/s, cmd heading: 33.700949 deg, new cmd heading: 33.693715 deg. BM`gOUHeadingCmd: 0.588066 target range: 171.926804 and range: 172.90 m.U?Q*Q"Q QQYY]BʎYaijiZm`w?ԁ额2Bɢn-<) ~ i) <顡iFi?0 JpI?II)[A=9@9 @9@=/@A@M\A@M\AԱE EEE"E:*EM:VEZEBEt-,X@AR=>Rt?R=ٱR2 ` fAHRS rotation from veh to nav: [[0.835954,-0.546977,-0.044701],[0.547577,0.825884,0.134440],[-0.036618,-0.136863,0.989913]]RH!?@Հ 㦿?m?`X5?]?iR=>IR$];RCYvByv!I xxbD VD y-?%-k=ٔ5SQ-=?99Y9=EiGyEFMٺEM>)Q 554-*n?Q 954-<)-NBY1y5H>Q I=&@-oDI-;i-;- 4yAɮE@AjagOmFNOT Ignoring new targets: 171.93 m.Ru0Zu0gO ProNav: ac range: 171.926804 m, nav range: 169.866196 m, bearing: 22.933108 deg, approach rate: -0.644673 m/s, LOS rate: -0.006945 deg/s, cmd heading: 33.693716 deg, new cmd heading: 33.688479 deg. BZKgOHeadingCmd: 0.587975 target range: 171.926804 and range: 172.90 m.?*" ʎjZ?ɢ <)  i),<iEi?KJhI?I!9@ @@/@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006787^AD zD AAE-  E- E- *E) "E- :*E- R:VE- (N4ZE) aU @aU @aU @aU @q A I I O > -,v,X@ARchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258120Y~By~ I9Bu>BuCBu !IBuBBu =BuCDBuuDBudk;Bu9*EiMb@Mb@Mb@ 9jt?:v{Gz?Y ?yԽף<A@ A) AY A@AbDVDy%2=ٔQ->9Y=iGyE>Q 54@n?Q 949)PBY #?Q E%:y%>Q I%&@wDI:i:94y)ɮ-@UͦEPB*** querying acoustic contact *** ijgOFNOT Ignoring new targets: 171.93 m.RZgO ProNav: ac range: 171.926804 m, nav range: 169.589890 m, bearing: 22.931101 deg, approach rate: -0.577308 m/s, LOS rate: -0.004201 deg/s, cmd heading: 33.688481 deg, new cmd heading: 33.684460 deg. B gO HeadingCmd: 0.587905 target range: 171.926804 and range: 172.90 m. ?*" )BʎjiZu?颹ɢ{<)9 =0!i9)E-, KX@A2>2U?29 =ٱ2 :AHRS rotation from veh to nav: [[0.836271,-0.546563,-0.043817],[0.547220,0.826880,0.129689],[-0.034652,-0.132433,0.990586]]2H`?@q}@6o@Ԃ? u?৙?@޽`?i2>I2A];2CY@yDbDNVDNyVo %VJ=ٔVQ-V>9XYX=ZjGyZF^ҘE^>`Q 5f4bSn?Q 9f4b[6)bSBYdyf>Q If&@bDIb`:ib:b<4ylɮn@nΦEjgOFNOT Ignoring new targets: 171.93 m.RZ gO ProNav: ac range: 171.926804 m, nav range: 169.334442 m, bearing: 22.929302 deg, approach rate: -0.716295 m/s, LOS rate: -0.005053 deg/s, cmd heading: 33.684461 deg, new cmd heading: 33.680857 deg. BgO%HeadingCmd: 0.587842 target range: 171.926804 and range: 172.90 m.%|?!*!"! !!)))uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762182ʎjZ`V(@1BɢK;) @!i)B<iBBi|?L/"I|?Iԑe9@i @i@m?0@iԱ^Ai! I! - checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014958A ؟AI I O > -,LdX@A.> ? =ٱĆ MAHRS rotation from veh to nav: [[0.836725,-0.545824,-0.044347],[0.546556,0.827300,0.129811],[-0.034166,-0.132854,0.990547]]Ht?dw`c}? >y???~^?i.>IN];CYyE EE'E"E:*Ei:VE'4ZEa@a@a@a@I;>)>=iMb@Mb@Mb@ 9~jt?Zd;OMb?Y$?yj<A@ )fAYAbD%VD%:2y5+f:%=(=ٔ=тQ-=>9E"?YE"?=EjGyAEغEE>QQ 5]4Ukn?Q 9]4U2)UTBY]U&?Q E]:y]>Q Ie&@UDIU] ;iUr;U!4yiɮm@ijgOFNOT Ignoring new targets: 171.93 m.R %Z %gO ProNav: ac range: 171.926804 m, nav range: 169.018555 m, bearing: 22.924917 deg, approach rate: -0.648522 m/s, LOS rate: -0.009019 deg/s, cmd heading: 33.680858 deg, new cmd heading: 33.672072 deg. B gOHeadingCmd: 0.587689 target range: 171.926804 and range: 172.90 m.r?*" BʎjZ@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266470颭0Bɢ'<) ni)f<顱iGAir?M(S+Ir?I !B]Ŀ>B]CB] IB]BB] =BYB]vDB]k;B]O*E}9@ @@0@I ^A ܪ&E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518523ԑ A I I O > -,`WX@A2>26O?2=ٱ2 :AHRS rotation from veh to nav: [[0.836381,-0.546141,-0.046871],[0.547174,0.826740,0.130769],[-0.032668,-0.135020,0.990304]]2H?y`s?`t? ?`չSH?i2>I2!];2CYB؂ByB I J4Q Ij&@bDIb ;ib2 ;b'4ylɮn@ljgOFNOT Ignoring new targets: 171.93 m.R- Z- gO ProNav: ac range: 171.926804 m, nav range: 168.794189 m, bearing: 22.921732 deg, approach rate: -0.615688 m/s, LOS rate: -0.008752 deg/s, cmd heading: 33.672071 deg, new cmd heading: 33.665692 deg. B$gOHeadingCmd: 0.587577 target range: 171.926804 and range: 172.90 m.uk?*" ʎjZ V@ɢ6;) 0i)Ŝ<i2?i uk? !N ԿI uk?I9@ @@4@E EEE"E:*Exv:VEZEBE2{9&-,X@A2jm>2?2V<ٱ2. >AHRS rotation from veh to nav: [[0.835909,-0.546580,-0.050068],[0.547983,0.825901,0.132671],[-0.031164,-0.138337,0.989895]]2Hÿ?}u?m? Z?響7?i2jm>I2m^;2CYFւByF IbDNVDN0yV/%VK=ٔZtQ-Z>9XYX=ZjGy\^X;E^>`Q 5f4bߐn?Q 9j4bT-)bWBYhyj>Q Ij&@bDIbs:ibH:b.4yn>Bɮr@rŦEjgO FNOT Ignoring new targets: 171.93 m.R u6Z u6gO ProNav: ac range: 171.926804 m, nav range: 168.532639 m, bearing: 22.917911 deg, approach rate: -0.681525 m/s, LOS rate: -0.009970 deg/s, cmd heading: 33.665692 deg, new cmd heading: 33.658039 deg. BgO%HeadingCmd: 0.587444 target range: 171.926804 and range: 172.90 m.%b?!*)") )))11ʎ111j9Z= @/BɢF`;) 2i)<iӋ>ib?POIb?Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022823IAQ 9@  @ @ U3@ԁbEƞ4jEƞ4rET0E EE$E"E:*E[:VE4ZEaM@aM@aM@aM@^Aԩ  BDAT read: Rx Time:00:41:53.9073  TRx dataTimestamp_ set to:1761698514.733068 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275183A I I O >B ÿ>B B IB ؂BB  =B B B k;B W*EBABECBE˖CBE =BE =CEo6sf,-,X@AN?N~<ٱN$ ZAHRS rotation from veh to nav: [[0.834968,-0.547998,-0.050270],[0.549486,0.825289,0.130242],[-0.029885,-0.136371,0.990207]]NH? 2@`d? h?ǫ? EtƯ?iNU>INgW^;NCYbЂByb I ddiMb@Mb@Mb@ 9S㥛?I +Q?Y$&?y9u<A@ A)AY AbDVDNykǼ%8=ٔ9Y=jGy F;E>Q 54n?Q 94))YBY'?Q E:yG>Q I&@DIj:i<:64y ɮ@P-B*** querying acoustic contact ***) )j9gO=FNOT Ignoring new targets: 171.93 m.RE2SZE2SgOU ProNav: ac range: 171.926804 m, nav range: 168.242401 m, bearing: 22.912795 deg, approach rate: -0.653514 m/s, LOS rate: -0.011540 deg/s, cmd heading: 33.658038 deg, new cmd heading: 33.647788 deg. BUgO]HeadingCmd: 0.587265 target range: 171.926804 and range: 172.90 m.]V?Y*Y"Y YaaaeBʎiiijZ @U.Bɢ]h;)Y ]6K3-,ʹX@A:J\>:?:<ٱ: FAHRS rotation from veh to nav: [[0.833893,-0.549385,-0.052906],[0.551174,0.823919,0.131775],[-0.028805,-0.139047,0.989867]]:H??z@8?]??@G ?i:J\>I:.^;:CYN˂ByN IV@AVAAbDZVDZ1zDAT read: 00:41:53.9073 LVL= 32752, 32753, 32754, 31507, AGC= 68, IDX= 56,-0.04, 2.499, 1.111, 3.026, 2.419, PHS= 0.182,-1.264, 0.562, RAW= 161.4, 6.3, CAL= 160.7, 5.9, ROT= 349.3, -5.9 ~Ygot valid direction response: 00:41:53.9073 LVL= 32752, 32753, 32754, 31507, AGC= 68, IDX= 56,-0.04, 2.499, 1.111, 3.026, 2.419, PHS= 0.182,-1.264, 0.562, RAW= 161.4, 6.3, CAL= 160.7, 5.9, ROT= 349.3, -5.9 PDAT read: Bearing 182.0, -13.1 (Local) ~Local bearing/azimuth received: Bearing 182.0, -13.1 (Local)  DAT read: Range 11 to 50 : 171.2 m (Round-trip 228.3 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.977408,-0.184683,0.102793]Fpublishing direction and range infoy`blF?W;ǿzBP?Yb3+C`bbb b{)bDIb5^:>ibʡb;?bI4@bz0=b3@ bB=)b@IbBҽ``bGp??H0Ѧ? b8?)bIbt;?ibBҽ``5T****** received valid address query ******=R****** received valid ping request ******9EQuerying Benthos address 50 with one ping in standard two-way mode.yUʼ%UT=ٔU7Q-U>9YYY=]jGy] Fe!;Ee>iQ 5u4mn?Q 9u4m')m[BYqyu\>Q Iu&@mDIm<;im;mN=4y?Bɮ6@ƦE`bcϴX@AJbA*CRbA*Cjb_>b#=! d@lq?781@rblF?W;ǿzBP?Zbt;?bbBҽb谓gO addTargetRange:: Added new target pos. range: 171.199997 m, deltaT: 4.035417 s, deltaX: -1.699997 m, approachRate: -0.421269 m/s, rangeRepo size: 4 gO5 Added new target pos. range: 170.254166 m, bearing: 23.708897 deg, lat: 36.779470 deg, lon: -121.859365 deg, deltaT: 4.035417 s, deltaX: -1.672638 m, approachRate: -0.414489 m/s, posRepo size: 4 j1gO=FNOT Ignoring new targets: 170.25 m.REZAgOU ProNav: ac range: 170.254166 m, nav range: 168.334869 m, bearing: 22.858608 deg, approach rate: 0.000000 m/s, LOS rate: -0.011540 deg/s, cmd heading: 33.647786 deg, new cmd heading: 33.638802 deg. BQgO]HeadingCmd: 0.587108 target range: 170.254166 and range: 171.20 m.]L?Y*Y"Y YYaaiaʎj`ffe@Z@3ݿ?-Bɢ6;) Ci) ؘ<i;iL?rLP\IL?I}9@y @@/@ԑ}*DAT read: user:535> }BDAT read: Tx time:00:41:55.2749 $Ping request sent.:-,*VX@A< /> ^? <ٱ " AHRS rotation from veh to nav: [[0.833032,-0.550617,-0.053651],[0.552532,0.823221,0.130443],[-0.027658,-0.138307,0.990003]] H3?@x`X?@W?Z? SR ?i />I \^; CY-ςBy5 IiMb@Mb@Mb@ 9Mb?X9v:v?Y#?y}T<A@ )| AYAbDVDkyG<%0=ٔX"Q->9 ?Y ?=jGywc;E>Q 54 n?Q 94e#)Y#?Q E:y>Q I&@DI:i#:fE4y ɮ @ǦEj1gO5FNOT Ignoring new targets: 170.25 m.R=pZ=pchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250804gO ProNav: ac range: 170.254166 m, nav range: 168.039597 m, bearing: 22.849173 deg, approach rate: -0.643379 m/s, LOS rate: -0.020593 deg/s, cmd heading: 33.638801 deg, new cmd heading: 33.619899 deg. BgOHeadingCmd: 0.586778 target range: 170.254166 and range: 171.20 m.7?*"   6BʎjZ`д?Bɿ>BCB IBӂBB =BBwDBik;ԡBG*E颵,Bɢ;) 9i)@<i1:i7?pkPa}I7?I9@ @@/@^A 3 E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502998I I O >e@-,;X@A6c>6҇?6$<ٱ6 >AHRS rotation from veh to nav: [[0.831759,-0.552578,-0.053241],[0.554515,0.822462,0.126766],[-0.026260,-0.134961,0.990503]]6Hŝ? [B@?`Q?9?`㚿kF2?i6c>I6K^;6CYFByF IIJ=)Jp<bDRVDRNyZn%Z`=ٔZ{Q-Z>9\Y\=^jGy^ Fb ;Eb>dQ 5f4fVn?Q 9j4f| )f\BYhyjB>Q Ij&@fDIf:if:fK4lypɮrz@tj gO FNOT Ignoring new targets: 170.25 m.RiZigO% ProNav: ac range: 170.254166 m, nav range: 167.807556 m, bearing: 22.841556 deg, approach rate: -0.636353 m/s, LOS rate: -0.020918 deg/s, cmd heading: 33.619899 deg, new cmd heading: 33.604643 deg. B%!gO-HeadingCmd: 0.586512 target range: 170.254166 and range: 171.20 m.-%?)*)") 11111ʎ999jAZE@?iɢmK:)q uhiq)uhi %>E EE(E"E:*ER:VEc44ZEBE a e$G-,X@A6W>6?6P<ٱ6ʁ >AHRS rotation from veh to nav: [[0.830748,-0.554260,-0.051510],[0.556075,0.822134,0.121967],[-0.025254,-0.129967,0.991197]]6H}?@|_]?`N?`?9?ܙŢ?i6W>I6S,^;6CYFByJ I PR<bDR VDR2yZQ<%ZJ=ٔ^#Q-^>iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0068449)Y)=-jGy)9E;EE>YQ 5e4]jn?Q 9m4])]]BYiym >Q Im'@]ēDI]d:i]:])S4yqɮW@jgOFNOT Ignoring new targets: 170.25 m.RZgO ProNav: ac range: 170.254166 m, nav range: 167.537903 m, bearing: 22.832520 deg, approach rate: -0.628063 m/s, LOS rate: -0.021079 deg/s, cmd heading: 33.604643 deg, new cmd heading: 33.586543 deg. BOgOHeadingCmd: 0.586196 target range: 170.254166 and range: 171.20 m.?*" ʎj Z Ƴ?5+Bɢ5tiU;)9 =bi9)=A۔<99i=T8iE?EQOE7IM?IIi9@ @@@0@DzD?AE EE"E"E*EP:VE(3ZEa@a@a@a@ԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260312^A?BɺIQ Ii Ou >B ˿>B CB IB ɂBB =B B B ]k;B C*E NM-,7X@A27>2[q?2&<ٱ2 >AHRS rotation from veh to nav: [[0.829821,-0.555789,-0.049949],[0.557505,0.821834,0.117374],[-0.024186,-0.125246,0.991831]]2H?@`ے?wL?`@ ?6Ę?i27>I2-^;2CY^Byb I Mm>MCԡgG`]AA%T9%`]AY%PAiMMb@Mb@Mb@IIII I9My&1?ˡE~jt?YM`%?yM什MD9Y=jGy Fx;E>Q 54D o?Q 94)_BY&?Q E:y>Q I'@ΓDIT&  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762556k6T-,6QX@ARʲ>R=?R.<ٱR fAHRS rotation from veh to nav: [[0.829311,-0.556567,-0.049759],[0.558299,0.821577,0.115380],[-0.023336,-0.123466,0.992074]]RH ?@e y@?\J?? O嗿`v?iRʲ>IR ^;RCYvByv IbDVDy-<%5d=ٔ5RQ-=>9AYA=EjGyAM+;EM>YQ 5m4]o?Q 9m4])]`BYqyug>Q I}'@]ՓDI]f;i]g;]Fa4y@Bɮm@ȦEjgOFNOT Ignoring new targets: 170.25 m.RΓZΓgO ProNav: ac range: 170.254166 m, nav range: 167.013107 m, bearing: 22.819800 deg, approach rate: -0.659745 m/s, LOS rate: -0.016153 deg/s, cmd heading: 33.572562 deg, new cmd heading: 33.561062 deg. B}gOHeadingCmd: 0.585751 target range: 170.254166 and range: 171.20 m.?*" ʎjZ0@颍)Bɢ\Z ;) p`i)<顑i"5i?ƂNy;I?I)a@a @a@e4@a@m=@m=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014615i^A ] ;A >A >I I O- >ԡ E  E E 'E "E :*E ga:VE '4ZE a @a @a @a @dZ-,kX@Ao>?Y<ٱ 5AHRS rotation from veh to nav: [[0.829609,-0.556053,-0.050534],[0.557884,0.821850,0.115450],[-0.022665,-0.123971,0.992027]]H(?.ߩ/?`L?#?h5@@?io>In^;CYEByE IiMb@Mb@Mb@ 9x&1?(\µ~jt?Y!?yA(@ A)| AYQAbDVD y 0H% ==ٔ"˺Q->9Y=jGy F%КE%>1Q 5=451o?Q 9=45)5bBYE#?Q EE:yEK>Q IE'@5ޓDI5:;i5z%;5h4yUABɮU#@]ɦE}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267312ԩjgO FNOT Ignoring new targets: 170.25 m.R vtZ vtgO ProNav: ac range: 170.254166 m, nav range: 166.738541 m, bearing: 22.813826 deg, approach rate: -0.613001 m/s, LOS rate: -0.013358 deg/s, cmd heading: 33.561063 deg, new cmd heading: 33.549097 deg. BùB1B5CB5 IB5BB5 =B1B1B5sk;B5M*EgOeHeadingCmd: 0.585542 target range: 170.254166 and range: 171.20 m.e?a*a"i iiiq}BʎyjZ|@(Bɢ@g:) =$tiA)EŞa-,ˆX@A2>2Y?2<ٱ2 :AHRS rotation from veh to nav: [[0.830064,-0.555204,-0.052367],[0.557235,0.822055,0.117112],[-0.021972,-0.126391,0.991737]]2H@?@;Ϫ?EN??@-O?i2>I2^;0YVByV IbDbVDbNyj%jT=ٔj#Q-j>9n"?Yn"?=njGylnLEr>pQ 5z4rDo?Q 9z4r)rdBYxyz>Q Iz'@rDIr;ir;ro4y|ɮX@j!gO-FNOT Ignoring new targets: 170.25 m.R-0Z50gO= ProNav: ac range: 170.254166 m, nav range: 166.495255 m, bearing: 22.808577 deg, approach rate: -0.668499 m/s, LOS rate: -0.014446 deg/s, cmd heading: 33.549097 deg, new cmd heading: 33.538582 deg. B=ӹgOEHeadingCmd: 0.585359 target range: 170.254166 and range: 171.20 m.E?A*I"I IIIQQʎQQYjYZ] G@E EE&E"E:*ER:VE4ZEBE# g-,0X@A&BDAT read: Rx Time:00:41:57.9036 &TRx dataTimestamp_ set to:1761698518.517186*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023707>ʾ>>D;?><ٱ>B FAHRS rotation from veh to nav: [[0.830335,-0.554579,-0.054642],[0.556856,0.821976,0.119444],[-0.021327,-0.129607,0.991336]]>H? @?M?链? ֕?i>ʾ>I>e+_;>CY5By= IE=E=bDMVDMy]%]C=ٔeqɺQ-e>9e ?Ym ?=mjGymFmEm>qQ 5}4uNXo?Q 9}4u )ufBYy>Q I'@uDIuL;iuz;uv4y>Bɮ@EjgOFNOT Ignoring new targets: 170.25 m.RzZzgO ProNav: ac range: 170.254166 m, nav range: 166.228363 m, bearing: 22.802832 deg, approach rate: -0.635444 m/s, LOS rate: -0.013699 deg/s, cmd heading: 33.538582 deg, new cmd heading: 33.527074 deg. BȹgOHeadingCmd: 0.585158 target range: 170.254166 and range: 171.20 m.?*" ʎjZ0 @&Bɢ`˺) i)܌<i2i%?%L%f:I%?I)@ @@/@@[A@E EE%E"Ef;*EVE 4ZEa@a@a@a@ ^Arg:AzA checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276637Bտ>BCB IBBB =BBxDBk;Bg*EI A% ؟AI) I9 OM >Q m-,yuX@A2q>2a?2{<ٱ2m >AHRS rotation from veh to nav: [[0.830727,-0.553818,-0.056385],[0.556294,0.822104,0.121169],[-0.020751,-0.132025,0.991029]]2HP?߸ެ`(?N??`? 2?i2q>I2eL_;0YFByF IiMb@Mb@Mb@ 9}?5^I?MbX9I +?YM"?yʡ94<A ) AY(AbD-VD-1y=;%=L=ٔ=VQ-=>9E"?YE"?=EjGyAMEM>QQ 5]4Uko?Q 9]4U )UgBY]#?Q E]:ye`>Q Ie'@UDIU:iUQ:U}4yiɮm@ij gOFNOT Ignoring new targets: 170.25 m.RϊZϊgO% ProNav: ac range: 170.254166 m, nav range: 165.972794 m, bearing: 22.796514 deg, approach rate: -0.612663 m/s, LOS rate: -0.015170 deg/s, cmd heading: 33.527073 deg, new cmd heading: 33.514417 deg. B%޹gOMHeadingCmd: 0.584937 target range: 170.254166 and range: 171.20 m.Mm?Q*Q"Q QQQY] BʎYYajaZep@%Bɢ ~s) i)<iVO1im?mL s:Im?I!Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5267719@ @@@QE EE(E"E:*E1]:VEc44ZEBE i X ? D5@ ޹= 4@ nF=) @I nF ~g? z]??B? x?t-,cEԵX@A,Y=By= IbD VD2y 쬽% >=ٔ Q-5>91Y1=5jGy5F=E=>AQ 5M4Efo?Q 9M4EI)EiBYqyqQ Iu'@EDIEh;iEB;Eq4yyɮ}.@}E)-mѵX@AJ-y'CR-y'Cj-d->-[ yd@ȼ7@ۣV)@r-UxLL?$KHȿ.0ۣ?Z-4+Hb-nF-f*c@@P@#];+@z- Q#7K?Nc.:?>Gд?2-B:-PC"-/?*->B-ǝB-/?->“-ǝB-&C-u,>gO addTargetRange:: Added new target pos. range: 168.399994 m, deltaT: 4.031857 s, deltaX: -2.800003 m, approachRate: -0.694470 m/s, rangeRepo size: 4 gOu Added new target pos. range: 167.476501 m, bearing: 23.296253 deg, lat: 36.779475 deg, lon: -121.859344 deg, deltaT: 4.031857 s, deltaX: -2.777664 m, approachRate: -0.688929 m/s, posRepo size: 4 jygO}FNOT Ignoring new targets: 167.48 m.RZԉgO ProNav: ac range: 167.476501 m, nav range: 166.921829 m, bearing: 23.295844 deg, approach rate: 0.000000 m/s, LOS rate: -0.015170 deg/s, cmd heading: 33.514417 deg, new cmd heading: 33.501248 deg. BgOHeadingCmd: 0.584707 target range: 167.476501 and range: 168.40 m.]?*" ʎj e@Z x?-$Bɢ5X:)1 5"i1)5҈<11i=/i=]?EGrK]:I]]?Ia9@ @@0@e*DAT read: user:536> mBDAT read: Tx time:00:41:59.2749 m$Ping request sent.mzb{-,3X@AB>B2?B<ٱB RAHRS rotation from veh to nav: [[0.830638,-0.554021,-0.055679],[0.556488,0.822583,0.116955],[-0.018995,-0.128132,0.991575]]BH?@`?R?`?wsf?iB>IBH_;BCY^By^ I ddhhzchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250096B}ӿ>B}CB} IB}BB} =ByByB}k;B}*EB5CB5CB5CB5 =B5 =C5ݲ5imMb@Mb@Mb@iiii i9mCl?Ky&1?Ym;?ym^m`e9 ?Y ?=jGy9E>Q 54o?Q 94! )lBY% ?Q E%:y%>Q I%'@DI;ie;W4y5?Bɮ5X@1PmB*** querying acoustic contact ***i ijygOFNOT Ignoring new targets: 167.48 m.R*Z*gO ProNav: ac range: 167.476501 m, nav range: 166.637939 m, bearing: 23.291694 deg, approach rate: -0.637861 m/s, LOS rate: -0.009341 deg/s, cmd heading: 33.501248 deg, new cmd heading: 33.492933 deg. BÈgOHeadingCmd: 0.584562 target range: 167.476501 and range: 168.40 m.ڥ?*" BʎjZ`*D?]"Bɢ]n)Y ]riY)e긆l-,E, X@A6>6?6z<ٱ6%n >AHRS rotation from veh to nav: [[0.830663,-0.553865,-0.056847],[0.556480,0.822561,0.117148],[-0.018124,-0.128945,0.991486]]6H@˔?C@? kR? k?@EA?i6>I6>)_;6CYFByJ IEX EZEZ'EX"EX*EZ n:VEZ'4ZEXBEZ9n"?Yn"?=njGynFnozEn>tQ 5v4vzo?Q 9z4v)voBYxyz>Q Iz'@vDIv6:ivp:vc4y|ɮ@j!gO-FNOT Ignoring new targets: 167.48 m.R-m-Z-m-gO= ProNav: ac range: 167.476501 m, nav range: 166.420700 m, bearing: 23.288507 deg, approach rate: -0.645221 m/s, LOS rate: -0.009476 deg/s, cmd heading: 33.492932 deg, new cmd heading: 33.486551 deg. B=gOEHeadingCmd: 0.584451 target range: 167.476501 and range: 168.40 m.M?I*I"I IIIQQʎQQYjYZ]?!Bɢp)  _i ) <  i -i?HJ٧:I?I9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754091@ @@4@a^Aԑ AM .AIQ Ii O >m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005831{-,#X@A2l>2,?2~<ٱ2[ :AHRS rotation from veh to nav: [[0.830527,-0.553804,-0.059382],[0.556714,0.822113,0.119167],[-0.017176,-0.132030,0.991097]]2Hଓ?øZg?N?? @[?i2l>I2y_;2C@YF}ByF IbDRVDR02yV%ZN=ٔZQ-Z>9^ ?Y^ ?=^jGy\b}2:Eb>dQ 5f4fjo?Q 9j4f)frBYhyj$>Q Ij'@fDIfy:if:fR4yr@Bɮr:@r¦EjgO FNOT Ignoring new targets: 167.48 m.R *Z *gO% ProNav: ac range: 167.476501 m, nav range: 166.171432 m, bearing: 23.284807 deg, approach rate: -0.628008 m/s, LOS rate: -0.009337 deg/s, cmd heading: 33.486549 deg, new cmd heading: 33.479137 deg. B%gO%HeadingCmd: 0.584321 target range: 167.476501 and range: 168.40 m.-?)*)") )))11ʎ119j9Z=>? BɢD») i)a<iG,i?gIB:I?I@ @@/@ԱE EE&E"E:*EX:VE4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257694BM<AM<B]޿>B]CB] IB]BB] =BYB]yDB]Al;B]*E^AΒ{: A- ؟AI1 IA OU >ൎ-,9=X@A2>2J?2}<ٱ2 :AHRS rotation from veh to nav: [[0.830289,-0.554179,-0.059207],[0.557098,0.822161,0.117020],[-0.016172,-0.130144,0.991363]]2H ?ջ ZP?`$O??s@`??i2>I2+_;2CY^zByb| If=f=liMb@Mb@Mb@ 9K7A?ʡE{Gz?Y "?y-#<A@ )| AYQAbDVD:2yK2%;=ٔQ->9"?Y"?=jGyF_:E>Q 54o?Q 94w)tBY#?Q E:yK>Q I'@ DI;i;4yɮa@j gO FNOT Ignoring new targets: 167.48 m.RNZNgO% ProNav: ac range: 167.476501 m, nav range: 165.892715 m, bearing: 23.279873 deg, approach rate: -0.637551 m/s, LOS rate: -0.011304 deg/s, cmd heading: 33.479139 deg, new cmd heading: 33.469255 deg. B%gO-HeadingCmd: 0.584149 target range: 167.476501 and range: 168.40 m.-Ŋ?)*)") ))1=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509899Q]BʎaiijqZuX?BɢD) i!)%杕-,WX@A2>2U?2y<ٱ2 :AHRS rotation from veh to nav: [[0.830202,-0.554276,-0.059511],[0.557253,0.822228,0.115798],[-0.015252,-0.129298,0.991488]]2H?@Fx? O?@줽?@s<`ڌE?i2>I2_;2CYBtByFt IbDNVDN1yVi %V\=ٔV"Q-Z>9XYX=ZjGyX^O9E^>`Q 5f4bio?Q 9f4b)bwBYdyf_>Q Ij'@b(DIbl:ib:bn4ynABɮn@næEjgOFNOT Ignoring new targets: 167.48 m.R fPZ fPgO ProNav: ac range: 167.476501 m, nav range: 165.656204 m, bearing: 23.275662 deg, approach rate: -0.638596 m/s, LOS rate: -0.011387 deg/s, cmd heading: 33.469255 deg, new cmd heading: 33.460821 deg. BgO%HeadingCmd: 0.584001 target range: 167.476501 and range: 168.40 m.%?!*!"! !))))ʎ111j1Z5@9eBɢmp)i mii)m p}&ț-,jqX@A6:>6Ts?6 g<ٱ6 FAHRS rotation from veh to nav: [[0.829965,-0.554572,-0.060069],[0.557637,0.822145,0.114539],[-0.014135,-0.128560,0.991601]]6H?])?`O?jR?@t 2?i6:>I6]_;6CZchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267081YfvByfw IB->B-CB- IB-BB- =B)B-{DB-l;B-*Eԙi]Mb@Mb@Mb@YYYY Y9]Gz?:vMb?Y]p?y]Խ]<]CA](@ ]OA)]fAYYYbDVDJy8%<%-=ٔ\Q->9Y=jGyFz:E>Q 54o?Q 94)|BY?Q E:y>Q I'@1DI:i:4yBBɮ@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 167.48 m.RlZlgO- ProNav: ac range: 167.476501 m, nav range: 165.362305 m, bearing: 23.273365 deg, approach rate: -0.622701 m/s, LOS rate: -0.004875 deg/s, cmd heading: 33.460820 deg, new cmd heading: 33.456219 deg. B-gO5HeadingCmd: 0.583921 target range: 167.476501 and range: 168.40 m.5{?1*1"9 999AEBʎAAAjIZM@uBɢu$)y }#iy)}|x̯-,DX@A2[P>2~?2^R<ٱ2 :AHRS rotation from veh to nav: [[0.829888,-0.554649,-0.060421],[0.557782,0.822297,0.112727],[-0.012840,-0.127253,0.991787]]2H`q?`﮿Z?AP?@ۼ?KI?i2[P>I2_;2CYBrByFr IEV EVEV#ET"EV:*EVV:VEV3ZETBEVwQ Iv'@r8DIr:ir :r4yxɮ~@|jgO%FNOT Ignoring new targets: 167.48 m.R%-Z%-gO5 ProNav: ac range: 167.476501 m, nav range: 165.150131 m, bearing: 23.271695 deg, approach rate: -0.624569 m/s, LOS rate: -0.004923 deg/s, cmd heading: 33.456220 deg, new cmd heading: 33.452875 deg. B5$gOHeadingCmd: 0.583863 target range: 167.476501 and range: 168.40 m. x?*" ʎjZ`@}Bɢ})y }iy)t<顁iG'i x?xFQZ;I x?IIIY)Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7704509@ @@80@!Y^A "5;A9 IA IY ia Ie Ae BDAT read: Rx Time:00:42:01.9010 m TRx dataTimestamp_ set to:1761698522.549469m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023187O} >ԁ ٨-,X@AR&>R4i?Rl?<ٱRģ ZAHRS rotation from veh to nav: [[0.830077,-0.554388,-0.060221],[0.557526,0.822774,0.110485],[-0.011703,-0.125286,0.992052]]RH ?Wծ`A?*T?H?^ ?iR&>IR_;RCY%mBy%l IbDUVDUye%mA=ٔm/Q-m>9iYq=ujGyuFu9DEu>yQ 54}|p?Q 94}I)}BYy`>Q I'@}@DI} :i}N:}4yCBɮc@ĦEjgOFNOT Ignoring new targets: 167.48 m.RZgO5 ProNav: ac range: 167.476501 m, nav range: 164.885635 m, bearing: 23.269645 deg, approach rate: -0.623329 m/s, LOS rate: -0.004838 deg/s, cmd heading: 33.452877 deg, new cmd heading: 33.448771 deg. B5 gO=HeadingCmd: 0.583791 target range: 167.476501 and range: 168.40 m.=Ws?9*A"A AAAIIʎIIIjQQZU  @颽Bɢ) i) p<i&iWs?EI;I-Ws?I1E EE&E"Em:*ErN:VE4ZEa@a@a@a@9@ @@4@ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274692BU>BQBU IBU}BBU =BQBQBUl;BU+EԱ^A) AY Ia Iy O -,X@A2zƾ>29?2]4<ٱ2$ :AHRS rotation from veh to nav: [[0.830492,-0.553592,-0.061792],[0.556921,0.823007,0.111802],[-0.011037,-0.127264,0.991808]]2Hd? -K?V? ?͚,J ?i2zƾ>I2_;0YBlByFk IiMb@Mb@Mb@ 9x&1?)\(Mb?Y!?yGὙA?@ )YzA5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528512bDuVDuk1Թy:%4=ٔQ->9Y=jGyӺE> Q 554 1p?Q 954 $) BY=$?Q E=:y=m>Q I='@ JDI t;i  ; 4yEBBɮEX@MEjgOFNOT Ignoring new targets: 167.48 m.RɃZɃgO ProNav: ac range: 167.476501 m, nav range: 164.594498 m, bearing: 23.267966 deg, approach rate: -0.623062 m/s, LOS rate: -0.003600 deg/s, cmd heading: 33.448772 deg, new cmd heading: 33.445407 deg. BҸgOHeadingCmd: 0.583732 target range: 167.476501 and range: 168.40 m.~o?*" BʎjZP@mBɢm) 㧾i)'k<顩iy%i~o?:D g$;I~o?I=9@A @A@E4@AE EEE"E:*E|:VEZEBE#i | Z$? ּ5@ = 4@ A=) @I A [r?nꌞ?S"_۴? '>?) c I Qi A 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] 2;9 A I I O >ћ-,۶X@Abq/>bm?b+<ٱb ~AHRS rotation from veh to nav: [[0.832223,-0.550645,-0.064766],[0.554343,0.824180,0.115897],[-0.010439,-0.132355,0.991147]]bH@?`,?_?l?`az?ibq/>Ib"W_;`ԱY=oBy=m IbDMVDMܲy]M<%]1=ٔeQ-e>9aYi=mjGymFmۻEm>qQ 5}4uHp?Q 9}4u)uBYy>Q I'@uSDIu ;iu ;u4yɮ5@zӶX@AJ%CR%Cj>nV,:d@`f@;f_%@r-"xE?smɿP0?ZQb A{ c@a҆9O@Xx*@z뵂t?O81o y?,H?*DAT read: user:537> BDAT read: Tx time:00:42:03.3249 $Ping request sent.gO addTargetRange:: Added new target pos. range: 166.500000 m, deltaT: 4.032016 s, deltaX: -1.899994 m, approachRate: -0.471227 m/s, rangeRepo size: 4 gO  Added new target pos. range: 165.596588 m, bearing: 22.558958 deg, lat: 36.779478 deg, lon: -121.859362 deg, deltaT: 4.032016 s, deltaX: -1.879913 m, approachRate: -0.466246 m/s, posRepo size: 4 j gOFNOT Ignoring new targets: 165.60 m.RZgO% ProNav: ac range: 165.596588 m, nav range: 163.941193 m, bearing: 22.720856 deg, approach rate: 0.000000 m/s, LOS rate: -0.003600 deg/s, cmd heading: 33.445408 deg, new cmd heading: 33.442110 deg. B!gO-HeadingCmd: 0.583675 target range: 165.596588 and range: 166.50 m.-k?)*)"1 11119ʎ999jd@Z@x?5Bɢ5ϻ)1 5$i1)]x(fiu>9@ @@@@@ Eu EuEqEq"Eu>:*Eu:VEqZEqa}@a}@a}@a}@^A1 I  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251631B >B B y IB xBB B B B m;B 5+EAe .AIq I O >c-,%X@A2ż>28?2g <ٱ21 :AHRS rotation from veh to nav: [[0.832674,-0.549984,-0.064582],[0.553676,0.824793,0.114716],[-0.009826,-0.131279,0.991297]]2HD?yl?d?@ ^?w ?i2ż>I2_;0 @)B`ABq@@@F`AiFIDDIDiFr@ HH)HH J`ANxiNELLN`AIN)PiP)PIR`AR 0P PTTTiTTYThY]dBy]` IiMb@Mb@Mb@ 9'1Z?ʡE{Gz?Y"?yyף<ZA A)AYA p<<bDVDy X% L=ٔ ȺQ- >9 ?Y ?=jGyE>!Q 5-4%\p?Q 9-4%@)%BY-%?Q E-:y5->Q I5'@%\DI% ;i%X ;%4y=CBɮ=@=EPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 165.60 m.R SbZ SbgO ProNav: ac range: 165.596588 m, nav range: 163.682281 m, bearing: 22.719593 deg, approach rate: -0.632608 m/s, LOS rate: -0.003092 deg/s, cmd heading: 33.442109 deg, new cmd heading: 33.439578 deg. BgO%HeadingCmd: 0.583631 target range: 165.596588 and range: 166.50 m.%h?!*!"A AAIIM߂BʎQQQjQZU v?]Bɢ]m")a eԫia)eai-,X@AN>N4?N<ٱNbq bchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755377 nAHRS rotation from veh to nav: [[0.833389,-0.548739,-0.065940],[0.552601,0.825215,0.116841],[-0.009701,-0.133813,0.990959]]NH ?Dq᰿?`)h? L?݃ ?iN>IN^;NCxYbBy^ IbDVDNy%I=ٔQ->9Y=jGyFPE>Q 54pp?Q 94)BYy>Q I'@dDI:id:'4y EBɮ $@ j1gO=FNOT Ignoring new targets: 165.60 m.R=]Z=]gOM ProNav: ac range: 165.596588 m, nav range: 163.419907 m, bearing: 22.718415 deg, approach rate: -0.673281 m/s, LOS rate: -0.003028 deg/s, cmd heading: 33.439578 deg, new cmd heading: 33.437218 deg. BMXgOUHeadingCmd: 0.583590 target range: 165.596588 and range: 166.50 m.U f?Q*Q"Y YYYYaʎaaajaZm`?颕 BɢO-) h-,J,X@AbEIjEIrEM/Eb EbEb'E`"Eb>:*Eb]t:VEb'4ZE`aj@aj@aj@aj@YYepByep I iibD}VD}:y}=%A=ٔQ->9Y=jGyFE>Q 54p?Q 9 4)BYy!Q I%'@mDI B)B- IB-}BB- =B)B)B-Zm;B-V+EBCBCBÔCB =B =CÞT6ԉjgOFNOT Ignoring new targets: 165.60 m.R@Z@gO ProNav: ac range: 165.596588 m, nav range: 163.139832 m, bearing: 22.717153 deg, approach rate: -0.582741 m/s, LOS rate: -0.002630 deg/s, cmd heading: 33.437218 deg, new cmd heading: 33.434690 deg. B gOHeadingCmd: 0.583545 target range: 165.596588 and range: 166.50 m.Ll-,EX@A2>2T?2<ٱ2% :AHRS rotation from veh to nav: [[0.834600,-0.546842,-0.066385],[0.550780,0.826390,0.117133],[-0.009194,-0.134323,0.990895]]2H` ?@? q? o?Ԃ`|1`i?i2>I2|^;2CYBByB Ii Mb@Mb@Mb@     9 ~jt?1ZdZd;O?Y $?y "۽ j< A @ ) fA Y !%@AbD%VD%y!=%Z=ٔQ->9Y=jGy»E>Q 54Ҙp?Q 94)BY&?Q E:yl>Q I'@uDI,3;ic2;4yFBɮn@EjgO FNOT Ignoring new targets: 165.60 m.R Z gO ProNav: ac range: 165.596588 m, nav range: 162.902588 m, bearing: 22.714802 deg, approach rate: -0.747052 m/s, LOS rate: -0.007411 deg/s, cmd heading: 33.434691 deg, new cmd heading: 33.429984 deg. BYgO%HeadingCmd: 0.583463 target range: 165.596588 and range: 166.50 m.%]?!*)") )))15Bʎ119j9Z=?e Bɢen)i mȉii)m $VQ e-,7_X@A6>6B6?6z <ٱ6t BAHRS rotation from veh to nav: [[0.834861,-0.546399,-0.066743],[0.550393,0.826695,0.116807],[-0.008647,-0.134253,0.990909]]6H.?`| ќ?`Ht??`@1/?i6>I6X\^;6CYJyByJz IbDRVDR:2yZ1%Z\=ٔ^Q-^>9\Y`=bjGy`bäEb>dQ 5j4fmp?Q 9j4f`)fBYlyn.>Q In'@f|DIf#;if;f4ypɮr@tj gO FNOT Ignoring new targets: 165.60 m.RZgO% ProNav: ac range: 165.596588 m, nav range: 162.660446 m, bearing: 22.712437 deg, approach rate: -0.652615 m/s, LOS rate: -0.006385 deg/s, cmd heading: 33.429985 deg, new cmd heading: 33.425248 deg. B%:gO-HeadingCmd: 0.583381 target range: 165.596588 and range: 166.50 m.-oX?)*)") 11119ʎ999jAZEm@mBɢm,)i u捾iq)uRԑB= >B9 B= IB= BB9 B9 B9 B= rm;B= `+EM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268977Թ N-,syX@A2$>2F?2<ٱ2֧ :AHRS rotation from veh to nav: [[0.835518,-0.545253,-0.067881],[0.549401,0.827173,0.118084],[-0.008236,-0.135955,0.990681]]2H ?r`ఔ?@3x?@:? ހf?i2$>I2 ^;2CYNByR IV=TieMb@Mb@Mb@aaaa a9eˡE?|?5^ rh?Ye'?yeҽeC=ٔyQ->9Y=jGyF5E>Q 54Sp?Q 94<)BY *?Q E:y>Q I'@DI:iQ:4yGBɮE@EjgOFNOT Ignoring new targets: 165.60 m.RZgO ProNav: ac range: 165.596588 m, nav range: 162.374588 m, bearing: 22.708963 deg, approach rate: -0.663207 m/s, LOS rate: -0.008075 deg/s, cmd heading: 33.425248 deg, new cmd heading: 33.418287 deg. BslgOHeadingCmd: 0.583259 target range: 165.596588 and range: 166.50 m.yP?*"    Bʎ  jZPO@EBɢE폻)A EhiA)M"3OE  E E &E "E a:*E V:VE 4ZE BE (.>>o?>c`;ٱ>! FAHRS rotation from veh to nav: [[0.835763,-0.544828,-0.068278],[0.549035,0.827443,0.117888],[-0.007732,-0.136014,0.990677]]>H? ;oz@?jz?-? h?i>.>I>];>CYNByN IbDZVDZNbchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770660yf%fW=ٔjQ-j>9hYh=njGylntEr>pQ 5v4rp?Q 9z4rv)rBYxyz^>Q Iz'@rDIrK:ir :r4y~HBɮ@PB*** querying acoustic contact *** j)gO-FNOT Ignoring new targets: 165.60 m.R5DZ5DgOE ProNav: ac range: 165.596588 m, nav range: 162.122116 m, bearing: 22.705923 deg, approach rate: -0.662859 m/s, LOS rate: -0.007992 deg/s, cmd heading: 33.418289 deg, new cmd heading: 33.412200 deg. BEjgOMHeadingCmd: 0.583153 target range: 165.596588 and range: 166.50 m.MI?I*I"I IIQQQʎjZ|@%Bɢ%V&)) -Ri))- K<))i-;iuI?}C}ᕻI}I?Iy9@ @@01@^A񖻝uBDAT read: Rx Time:00:42:05.9119 }TRx dataTimestamp_ set to:1761698526.581772checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024305I A% ؟AI1 IA OM >-,PX@A6ď>6?60;ٱ6km >AHRS rotation from veh to nav: [[0.836147,-0.544315,-0.067668],[0.548453,0.827985,0.116792],[-0.007544,-0.134768,0.990848]]6H ?k`R`? ~??~@?i6ď>I6N];6CYDyDbDLVDLٔVQ-Z>9Z"?YZ"?=ZjGyZF^1E^>D`zDb@AEf EfEf(Ed"Ef>:*EfT:VEfc44ZEdaj@aj@aj@aj@lQ 5r4np?Q 9r4n)nBYpyv>Q Iv'@nDIn:in:n4yxɮx|jgOFNOT Ignoring new targets: 165.60 m.RG ZG gO ProNav: ac range: 165.596588 m, nav range: 161.855423 m, bearing: 22.702774 deg, approach rate: -0.634143 m/s, LOS rate: -0.007501 deg/s, cmd heading: 33.412199 deg, new cmd heading: 33.405890 deg. B[gO%HeadingCmd: 0.583043 target range: 165.596588 and range: 166.50 m.%JB?)*1"Q YYYaiʎiqjZ` @Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277249AAAAB%>B!B% IB%BB% =B!B!B%m;B%o+EBɢ\j) ހi)MG<iy iJB?gGM9IYMAy?ݟAJDwIJB?I- 9@)  @) @- 4@) ԩ  DAT read: 00:42:05.9119 LVL= 32544, 32753, 27346, 32755, AGC= 70, IDX= 45, 0.08, 2.613, 1.148,-3.070, 2.508, PHS= 0.207,-1.315, 0.662, RAW= 162.7, 5.0, CAL= 161.8, 4.2, ROT= 348.2, -4.2  Ygot valid direction response: 00:42:05.9119 LVL= 32544, 32753, 27346, 32755, AGC= 70, IDX= 45, 0.08, 2.613, 1.148,-3.070, 2.508, PHS= 0.207,-1.315, 0.662, RAW= 162.7, 5.0, CAL= 161.8, 4.2, ROT= 348.2, -4.2  PDAT read: Bearing 179.8, -12.4 (Local)  ~Local bearing/azimuth received: Bearing 179.8, -12.4 (Local)  DAT read: Range 11 to 50 : 137.1 m (Round-trip 182.9 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.976239,-0.203947,0.073238] Fpublishing direction and range infoy  :X=? {!ʿ?Y  C  j ) FI S>i Q x)? ¸= {4@ Q =) x@I Q ɗm?)Ïe?xXXl? >?) I 4Ri Q  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. ^A Ae.AIiIO?4P-,ͷX@A<EN ENEN&EL"EN:*ENL_:VEN4ZELBEN9  ?Y  ?= jGy FE>Q 5%4q?Q 9%4E)ǺBY%o&?Q E-:y->Q I-'@DI ;i ;4y5GBɮ5@5EŷX@AJZCRZCj>ӕ`@L#;P#@r:X=? {!ʿ?Z4RbQ F>np_@'II@쇧;F)@zcDă??;x?2LB:B"Kk?*LBΛB/?“B7!C)>kOaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 137.100006 m, deltaT: 3.781801 s, deltaX: -29.399994 m, approachRate: -7.774072 m/s, rangeRepo size: 4jgOFNOT Ignoring new targets: 165.60 m.RjKZjKgO ProNav: ac range: 165.596588 m, nav range: 161.477432 m, bearing: 22.696475 deg, approach rate: -0.665487 m/s, LOS rate: -0.011115 deg/s, cmd heading: 33.405888 deg, new cmd heading: 33.393262 deg. B*DAT read: user:538> BDAT read: Tx time:00:42:07.1249 $Ping request sent.-,IX@A2mn>2 ?2;ٱ2Z :AHRS rotation from veh to nav: [[0.836290,-0.544112,-0.067533],[0.548243,0.828287,0.115636],[-0.006983,-0.133729,0.990993]]2H?]iI3?R?O? |@ 7?i2mn>I2];2CYBByF IHbDRVDRkyVx%Zp=ٔZںQ-Z?9\Y\=^jGy\bZFEb?`Q 5f4bq?Q 9j4b)b̺BYhyj>Q Ij'@bDIb;ib/;b4yrIBɮr]@pjgOFNOT Ignoring new targets: 165.60 m.R>Z>gO ProNav: ac range: 165.596588 m, nav range: 161.259308 m, bearing: 22.692852 deg, approach rate: -0.625773 m/s, LOS rate: -0.010410 deg/s, cmd heading: 33.393263 deg, new cmd heading: 33.386006 deg. BggOHeadingCmd: 0.582696 target range: 165.596588 and range: 166.50 m.+?*") )))11ʎ111j9Z=@z?颅Bɢd#) ri)BLA<顩ii+?/DcrI+?IDaDe4=Eu EuEu'Eq"Eu:*Eu1]:VEu'4ZEqa}@a@a@a@9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505088B>BCB IBBB =BBzDBn;B+E^A! A5 ؟AI9 II Oe >}.,sX@A2>2?2A6;ٱ2, :AHRS rotation from veh to nav: [[0.836222,-0.543980,-0.069418],[0.548355,0.827988,0.117229],[-0.006293,-0.136095,0.990676]]2HT?@Ih[ű ?@~??yk?i2>I2];2CY@y@|iEMb@Mb@Mb@AAAA A9E(\?Mby&1?YE'?yEE`e9u"?Yu"?=ujGyuF}O9E}>Q 54u+q?Q 94Z)кBY(?Q E:y?>Q I'@DI':i:O4yɮjgOFNOT Ignoring new targets: 165.60 m.RʹZʹchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754888gO ProNav: ac range: 165.596588 m, nav range: 160.979706 m, bearing: 22.683797 deg, approach rate: -0.680782 m/s, LOS rate: -0.022085 deg/s, cmd heading: 33.386006 deg, new cmd heading: 33.367865 deg. B!gOHeadingCmd: 0.582379 target range: 165.596588 and range: 166.50 m.?*"  BʎjZ 9?EBɢEሻ)A ErniI)M4 >n.,X@A:>>:x?:;ٱ:9 FAHRS rotation from veh to nav: [[0.836050,-0.544173,-0.069973],[0.548622,0.827793,0.117362],[-0.005942,-0.136509,0.990621]]:H`?@i鱿N?F}?t ?`Vx#y*?i:>>I:Rn];:CYNByN IIRp=)R>V=V=bDZVDZk1yb)I<%b<ٔbnpQ-f>9dYd=fjGydjRY:Ej>lQ 5r4n.>q?Q 9r4nB)nԺBYpyrj>Q Iv'@nDInU;in;n#4yzJBɮz!@zEP B*** querying acoustic contact ***  jgOFNOT Ignoring new targets: 165.60 m.R%ùZ%ùgO5 ProNav: ac range: 165.596588 m, nav range: 160.729324 m, bearing: 22.675632 deg, approach rate: -0.655521 m/s, LOS rate: -0.021410 deg/s, cmd heading: 33.367865 deg, new cmd heading: 33.351510 deg. B5gO=HeadingCmd: 0.582094 target range: 165.596588 and range: 166.50 m.=?9*9"9 AAAAAʎIIIjIZU`sG?Y颅Bɢ@) pai);<顉iri?I'EBI?IU9@Q @Q@U0@Qԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258785^AUԹD zD AAE  E E !E "E f;*E g:VE c3ZE a @a @a @a @A I I O > .,5X@A*checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513014B0A0B>տ>B>CB> IB>BB> =B<B>xDB>n;B>+EԱ >?Ʒ;ٱR AHRS rotation from veh to nav: [[0.835554,-0.545065,-0.068947],[0.549380,0.827624,0.114978],[-0.005608,-0.133949,0.990972]]H@ۼ?,q@?{?:o?v<% ?i >I];CY-By- IiMb@Mb@Mb@ 9J +?v//$?Y(?yxi<AV@ A)| AY AbDVDk2y "<%*=ٔ5Q->9!Y!=%jGy%F-:E->1Q 5=45Uq?Q 9=45=)5ںBY=k)?Q E=:y=?Q I='@5ĔDI5E:i5M:5g,4yMKBɮM@MEjgOFNOT Ignoring new targets: 165.60 m.ReZegO ProNav: ac range: 165.596588 m, nav range: 160.412506 m, bearing: 22.663751 deg, approach rate: -0.652616 m/s, LOS rate: -0.024523 deg/s, cmd heading: 33.351510 deg, new cmd heading: 33.327700 deg. B3gOHeadingCmd: 0.581678 target range: 165.596588 and range: 166.50 m.?*" $BʎjZ@8-?mBɢm)q uXiq)ur8I?I1@9 @9@= 0@9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762656 ^A] yb]Aa Ae >9 A E  E E $E "E :*E n:VE 4ZE BE +u.,PX@A2Eֺ>2@?2*a;ٱ2v BAHRS rotation from veh to nav: [[0.834790,-0.546543,-0.066463],[0.550542,0.827436,0.110694],[-0.005505,-0.128997,0.991630]]2H?G} @ ?[z?@mV?v@n?i2Eֺ>I2+];0YVByV IbDdVDdyrX%rk=ٔvQ-v?9xԑYx=jGyv;E>Q 54gq?Q 94')ߺBYyf?Q I'@̔DIz;i3;24yɮR@jYgO]FNOT Ignoring new targets: 165.60 m.Re}޹Ze}޹gOu ProNav: ac range: 165.596588 m, nav range: 160.169815 m, bearing: 22.654515 deg, approach rate: -0.637893 m/s, LOS rate: -0.024315 deg/s, cmd heading: 33.327700 deg, new cmd heading: 33.309198 deg. Bu1gO}HeadingCmd: 0.581355 target range: 165.596588 and range: 166.50 m.}?y*y"y ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014862ʎjZ$@颥Bɢ) F^i)C5<顱i"ri?jDI?I=9@9 @9@=S1@9^A "5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267723 A .AI I O >A".,jX@A2>>2?2;ٱ2  :AHRS rotation from veh to nav: [[0.833839,-0.548186,-0.064835],[0.551980,0.826861,0.107791],[-0.005480,-0.125668,0.992057]]2HϮ?@`ҩ?@u?4?@qv?i2>>I2];2CYBByB I DDHJAbDNVDN2yV<%VN=ٔZcQ-Z>9Z ?YZ ?=ZjGy^F^Ԗ;E^>`Q 5f4bzq?Q 9f4b)bBYhyj?Q Ij'@bԔDIb6:ib :bf94ynMBɮn@pjgOFNOT Ignoring new targets: 165.60 m.R Z gO ProNav: ac range: 165.596588 m, nav range: 159.923386 m, bearing: 22.644966 deg, approach rate: -0.685965 m/s, LOS rate: -0.026621 deg/s, cmd heading: 33.309200 deg, new cmd heading: 33.290073 deg. BBgO%HeadingCmd: 0.581021 target range: 165.596588 and range: 166.50 m.%ѽ?!*!") ))))1ʎ111j1Z=1@Bɢ8) Ri)2<iiѽ?D9Iѽ?IbEe!4jEe 4rEeb0E EE(E"E,:*EVEc44ZEa@a@a@a@9@ @@3@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521405B-ҿ>B-CB- IB-BB- =B)B)B-o;B-#,EBCBCBB =B =Cō6^A?BɺQA ؟AI I O >y !.,![X@A2$>2.?2;ٱ2 :AHRS rotation from veh to nav: [[0.833384,-0.548852,-0.065058],[0.552670,0.826449,0.107412],[-0.005187,-0.125471,0.992084]]2H`?3y?@Er?@\?`s>uo`&?i2$>I2];2CYBByB Ii Mb@Mb@Mb@     9 RQ?i|?5I +?Y "?y q 94< A d@ )  Y  AbD%VD%y5%5B=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770804ٔ={6Q-E>9M"?YM"?=MjGyIU&;EU>Q 54 q?Q 94)BYH#?Q E:y>Q I'@ݔDI:i:@4yɮ@QjagOmFNOT Ignoring new targets: 165.60 m.Rm?ƹZm?ƹgO ProNav: ac range: 165.596588 m, nav range: 159.655182 m, bearing: 22.635251 deg, approach rate: -0.597157 m/s, LOS rate: -0.021665 deg/s, cmd heading: 33.290072 deg, new cmd heading: 33.270611 deg. BgOHeadingCmd: 0.580682 target range: 165.596588 and range: 166.50 m.?*" +BʎjZ@颽Bɢ<|) `i)/<i(wi?3D+:I?I9@ @@ 2ԡ@E EE)E"E:*EAr:VEFA4ZEBE8'.,kJX@A>>>`?>;ٱ>s FAHRS rotation from veh to nav: [[0.832960,-0.549563,-0.064477],[0.553309,0.826173,0.106241],[-0.005117,-0.124171,0.992248]]>H?@?p?2? qtɿ@~?i>>I>g];>CYRByR IbDZ VDZ2yb҇%bQ=ٔb:Q-f>9f ?Yf ?=fjGyfFj;Ej>lQ 5r4noq?Q 9r4n)nBYpyr;>Q Iv'@nDIn:in:nG4yzNBɮz@zEP B*** querying acoustic contact ***  jgO%FNOT Ignoring new targets: 165.60 m.R%Z%gO5 ProNav: ac range: 165.596588 m, nav range: 159.408295 m, bearing: 22.626215 deg, approach rate: -0.679698 m/s, LOS rate: -0.024917 deg/s, cmd heading: 33.270610 deg, new cmd heading: 33.252509 deg. B5f6gO=HeadingCmd: 0.580366 target range: 165.596588 and range: 166.50 m.=ڒ?9*9"A AAAAIʎIIIjQZUp @}Bɢ}ǻ)y  ei) *-<顁iPiڒ?3CM:Iڒ?Iԩ 9@  @ @ /@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274868^A50::E EE&E"Em:*EC:VE4ZEa@a@a@a@ A} ؟AI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5304271 Gb-.,"X@AB.>B.CB. IB.BB. =B,B.yDB.Xo;B.H,E'>lF?X.;ٱy AHRS rotation from veh to nav: [[0.832590,-0.550135,-0.064381],[0.553870,0.825936,0.105155],[-0.004675,-0.123209,0.992370]]H`?ചD{M? n? j?`%s` ~?i'>I];CY {By | II0>)<==iMb@Mb@Mb@ 9)\(?V-~jt?YG!?yhD<A )AY AbDVDyܖ%.=ٔvQ->9"?Y"?=jGy:E>Q 54q?Q 94)BYT"?Q E:y>Q I'@DI ;i ;O4yOBɮE@E j!gO%FNOT Ignoring new targets: 165.60 m.R-xZ-xgO= ProNav: ac range: 165.596588 m, nav range: 159.111740 m, bearing: 22.617325 deg, approach rate: -0.631195 m/s, LOS rate: -0.018957 deg/s, cmd heading: 33.252510 deg, new cmd heading: 33.234696 deg. B= gOEHeadingCmd: 0.580055 target range: 165.596588 and range: 166.50 m.Ez~?A*A"A AIIIMBʎQQQjQZU3@Bɢ%ኻ)! %,ki!)%)<))i-`i-z~?5IB5i0;I5z~?I19@ @@/@1}DAT read: 00:42:09.7465 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 289, 0.18, 3.067, 1.626,-2.642, 2.998, PHS= 0.171,-1.328, 0.598, RAW= 162.2, 6.4, CAL= 161.5, 6.1, ROT= 348.5, -6.1 Ygot valid direction response: 00:42:09.7465 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 289, 0.18, 3.067, 1.626,-2.642, 2.998, PHS= 0.171,-1.328, 0.598, RAW= 162.2, 6.4, CAL= 161.5, 6.1, ROT= 348.5, -6.1 PDAT read: Bearing 182.2, -12.3 (Local) ~Local bearing/azimuth received: Bearing 182.2, -12.3 (Local) DAT read: Range 11 to 50 : 163.2 m (Round-trip 217.6 ms) speed 0.7 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.974376,-0.198239,0.106264]Fpublishing direction and range infoyQUQc0.?1k_ɿO4?YU3#CQUQU Q)UEIU/>iUU?U-5@U=Ue4@ U^ =)U@IU^ ڽQQU:FcՏ?d~Z?mc? U>|R~4.,ҸX@AR`>R ?R;ٱR ZAHRS rotation from veh to nav: [[0.831850,-0.551039,-0.066188],[0.554983,0.824958,0.106952],[-0.004332,-0.125702,0.992059]]RH?l? f?@7a?q?iR`>IRh];RCYbpByfo IbDnVDnyvw%ve=ٔzz{Q-z>9z ?Yz ?=zjGyzF~u;E~>Q 5 4q?Q 9 4.)BY yr>Q I'@DI;i;V4yɮ@ErǸX@AJN"CRN"Cj>֥ c@Z+1@R^?1@rQc0.?1k_ɿO4?ZMb^ ڽ%mb@MZO@|SQx4@z-)5?avۢ?nUn $?2H|B:%C"j|?* F4B`B>“ǝB=C>gO addTargetRange:: Added new target pos. range: 163.199997 m, deltaT: 7.812049 s, deltaX: -3.300003 m, approachRate: -0.422425 m/s, rangeRepo size: 4 gO- Added new target pos. range: 162.308182 m, bearing: 23.061340 deg, lat: 36.779475 deg, lon: -121.859344 deg, deltaT: 7.812049 s, deltaX: -3.288406 m, approachRate: -0.420940 m/s, posRepo size: 4 j)gO-FNOT Ignoring new targets: 162.31 m.R5Z1M*DAT read: user:539> MBDAT read: Tx time:00:42:11.1748 U$Ping request sent.U:.,ߋX@A02>2?2#{;ٱ2p >AHRS rotation from veh to nav: [[0.831422,-0.551535,-0.067421],[0.555628,0.824421,0.107740],[-0.003839,-0.127039,0.991890]]2H@? -B`?@a? ܔ?@_soB?i2>I2g];2CYFjByFh IbDLVDLyv~%vL=ٔvQ-v>9xYx=zjGyxz:E~>Q 5 4q?Q 9 4)BY y >Q I '@DI:iN: ]4yPBɮb@Ej9gOEFNOT Ignoring new targets: 162.31 m.REZMgOe ProNav: ac range: 162.308182 m, nav range: 158.987137 m, bearing: 23.166760 deg, approach rate: -0.668635 m/s, LOS rate: -0.018314 deg/s, cmd heading: 33.220363 deg, new cmd heading: 33.206467 deg. BegOmHeadingCmd: 0.579562 target range: 162.308182 and range: 163.20 m.m0^?q*q"q qqʎjZx??Bɢ) i)H#<i)i0^?@;I0^?IE EE'E"E:*EX:VE'4ZEa@a@a@a@ԙ9@ @@g1@B>BB IBBB =BBzDBfo;BQ,Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.518009uGx[A^Ar;A9x[AYdAI I O > ׆A.,MgX@A2s >2?2R_;ٱ2 :AHRS rotation from veh to nav: [[0.831332,-0.551648,-0.067617],[0.555766,0.824394,0.107235],[-0.003413,-0.126727,0.991932]]2H@E?  ^O?na?s?k`8?i2s >I2<];2CYXyX \\``bA%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.766789iMMb@Mb@Mb@IIII I9M r?9Y=jGyF9E>Q 54q?Q 94˨)BY$?Q E:y>Q I'@DI:i:pd4yɮjgOFNOT Ignoring new targets: 162.31 m.RZgO ProNav: ac range: 162.308182 m, nav range: 158.715591 m, bearing: 23.159469 deg, approach rate: -0.640446 m/s, LOS rate: -0.017223 deg/s, cmd heading: 33.206467 deg, new cmd heading: 33.191862 deg. B*gOHeadingCmd: 0.579307 target range: 162.308182 and range: 163.20 m.{M?*"   Bʎ   jZ?ɢ) i)/<i;i {M? ? [;I {M?I1@ @@4@E= E=E= E9"E=:*E=V:VE=3ZE9BE=A -G.,K X@A2v>2&?2G;ٱ26 :AHRS rotation from veh to nav: [[0.830878,-0.552343,-0.067517],[0.556446,0.824063,0.106249],[-0.003047,-0.125849,0.992045]]2H?ˬHh?`^? 3?hԾ?i2v>I26];2CYB`ByF\ IbDNVDN:3yV¼%V<ٔV|Q-Z>9XYX=ZjGyX^ ;E^>`Q 5f4br?Q 9f4bڥ)bBYdyfp>Q Ij'@bDIb:ibW:bk4ynQBɮn@nEP~B*** querying acoustic contact ***| |jgO FNOT Ignoring new targets: 162.31 m.R  Z  gO% ProNav: ac range: 162.308182 m, nav range: 158.473740 m, bearing: 23.152885 deg, approach rate: -0.641428 m/s, LOS rate: -0.017489 deg/s, cmd heading: 33.191861 deg, new cmd heading: 33.178672 deg. B%gO-HeadingCmd: 0.579077 target range: 162.308182 and range: 163.20 m.-e>?)*)") )1119ʎ999j9ZE:?mBɢm0)i mii)uld?ʴ>\;Ie>?I9@ @@/@5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.271590Iq^AAZAzAUAIIO>E%  E% E% $E! "E% V:*E% Ar:VE% 4ZE! a- @a5 @a5 @a5 @ԙ BY A] <Be >Be CBe y IBe xBBe =Ba Ba Be ]o;Be O,E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.524944M.,4,:X@Aԁmst>m?m';ٱm'w AHRS rotation from veh to nav: [[0.830888,-0.552127,-0.069140],[0.556433,0.823871,0.107788],[-0.002550,-0.128031,0.991767]]mH`?,L?']??Sd@Uc?imst>Im=];mCYUByN Ii-Mb@Mb@Mb@)))) )9-x&1?KMbp?Y-!?y-^-;-pA) -fA)-| A)Y- AbDEVDEy:A%/=ٔQ->9Y=jGy F_E>Q 54r?Q 94m)BY5#?Q E:y>Q I'@DIv:i:Bs4ySBɮ@jIgOMFNOT Ignoring new targets: 162.31 m.RU3:ZU3:gOe ProNav: ac range: 162.308182 m, nav range: 158.173889 m, bearing: 23.148024 deg, approach rate: -0.626378 m/s, LOS rate: -0.010174 deg/s, cmd heading: 33.178672 deg, new cmd heading: 33.168931 deg. BegOHeadingCmd: 0.578907 target range: 162.308182 and range: 163.20 m.A3?*" BʎjZ?-Bɢ-)) -i1)5a<11i5> i=A3?=C==W;I=A3?IqԡQ@Q @Q@]3@Y5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774713^A [R; I I1 OE >E5  E5 E5 (E1 "E5 :*E5 rN:VE5 c44ZE1 BE5 28?2Q;ٱ2$ :AHRS rotation from veh to nav: [[0.831193,-0.551548,-0.070091],[0.555979,0.824005,0.109105],[-0.002421,-0.129657,0.991556]]2H "?@H@?@?^?`L?c@Ӻ?i2,>I2q%];2CYB[ByFU IIF >)F>bDNVDN1yV/ =%Vp=ٔVgƹQ-Z?9XYX=ZjGyX^ҺE^?`Q 5f4b4(r?Q 9f4b)bBYdyj>Q Ij'@bDIb:ib:b$y4ylɮnz@ljgOFNOT Ignoring new targets: 162.31 m.R A@Z A@gO ProNav: ac range: 162.308182 m, nav range: 157.959564 m, bearing: 23.144577 deg, approach rate: -0.652409 m/s, LOS rate: -0.010505 deg/s, cmd heading: 33.168932 deg, new cmd heading: 33.162030 deg. BΙgOHeadingCmd: 0.578787 target range: 162.308182 and range: 163.20 m.\+?*" ʎjZ @%Bɢ%7;H)! %}i!)%Ɂ<))i-vi-\+?5dPM checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278719Y VZ.,mX@AY~NBy~E IbDVD!y5s%5B=ٔ5Q-=>9AYA=EjGyE!FMEM>QQ 5e4UBCBl IBnBB =BB{DBSo;BN,Eichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.533658@ @@@ԉ^A! A- ?A- ?Թ AU ؟AIa Iq O} >a.,lX@A>b->>l?> ;ٱ>8 FAHRS rotation from veh to nav: [[0.832275,-0.549803,-0.070966],[0.554358,0.824852,0.110931],[-0.002454,-0.131666,0.991291]]>H@?*M?0e?e?dl?i>b->I>];9e"?Ye"?=ejGyamEm>qQ 5}4uPr?Q 9}4u*)uBY}"?Q E:yD>Q I'@u0DIu:iu:u4yUBɮ AEjgOFNOT Ignoring new targets: 162.31 m.RZgO ProNav: ac range: 162.308182 m, nav range: 157.428055 m, bearing: 23.139773 deg, approach rate: -0.692543 m/s, LOS rate: -0.001222 deg/s, cmd heading: 33.153328 deg, new cmd heading: 33.152402 deg. B/gOHeadingCmd: 0.578619 target range: 162.308182 and range: 163.20 m.Y ?*" iiuBʎqqqjyZ} S@颥Bɢ{M) Жi);S <iEiY ?G:;IY ?I9@ @@0@ԙE EE#E"E:*EV:VE3ZEBE2 h.,ˡX@A2>2?24;ٱ2W :AHRS rotation from veh to nav: [[0.833666,-0.547454,-0.072763],[0.552262,0.825730,0.114792],[-0.002761,-0.135882,0.990721]]2Hd? ? al?b? ϝf@d?i2>I2\;2CYBGByF= I HHNAANBAbDnVDnk1yv~%vR=ٔzO:Q-z>9xYx=~jGy~"F~ӻE~>Q 5 4dr?Q 94)BYy>Q I'@7DI:iX:4yɮ%nA!P=B*** querying acoustic contact ***9 9jIgOMFNOT Ignoring new targets: 162.31 m.RU,ZU,gOe ProNav: ac range: 162.308182 m, nav range: 157.181137 m, bearing: 23.139544 deg, approach rate: -0.637176 m/s, LOS rate: -0.000590 deg/s, cmd heading: 33.152403 deg, new cmd heading: 33.151946 deg. Be?gOmHeadingCmd: 0.578611 target range: 162.308182 and range: 163.20 m.m?i*i"i iiqqqʎyyyjZ  @颹ɢp) i)s<i i?]|9n;I?Iu9@q @q@u4@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.288567^Ar;D1zD5@AbEijEm!4rEm!1EA EAEE%EA"EA*EAVEE 4ZEAaU@a]@a]@a]@1 A I I O >A A B >B B Z IB ^BB B B B ?o;B G,EBCBCBB =BCʵH6 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538805a XIn.,컹X@A@>z)?;E;ٱN AHRS rotation from veh to nav: [[0.834996,-0.545075,-0.075332],[0.550248,0.826373,0.119730],[-0.003010,-0.141425,0.989944]]H`I?AqH?q?@?{h5¿?i@>IF];YJBy@ IiMb@Mb@Mb@ 9-?Mb~jt?Y5?y<AV@ A)| AY AbDVDyf3<%,=ٔ :Q->9Y=jGy妻E>Q 54d{r?Q 94)BY!?Q E:y>Q I'@ADII;i!I;Ж4y%VBɮ-aA)jIgOUFNOT Ignoring new targets: 162.31 m.RU8ZU8gOe ProNav: ac range: 162.308182 m, nav range: 156.882538 m, bearing: 23.141642 deg, approach rate: -0.629409 m/s, LOS rate: 0.004429 deg/s, cmd heading: 33.151945 deg, new cmd heading: 33.156148 deg. Be9gOmHeadingCmd: 0.578684 target range: 162.308182 and range: 163.20 m.u$?q*q"q qqqy}BʎyyjZy@Bɢ'B) 0i)<iJi$?88I$?I@ @@@ADAT read: 00:42:13.7919 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 25, 0.31,-0.054,-1.441, 0.551,-0.116, PHS= 0.164,-1.280, 0.622, RAW= 163.4, 5.8, CAL= 162.6, 5.2, ROT= 347.4, -5.2 Ygot valid direction response: 00:42:13.7919 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 25, 0.31,-0.054,-1.441, 0.551,-0.116, PHS= 0.164,-1.280, 0.622, RAW= 163.4, 5.8, CAL= 162.6, 5.2, ROT= 347.4, -5.2 PDAT read: Bearing 181.4, -13.4 (Local) ~Local bearing/azimuth received: Bearing 181.4, -13.4 (Local) %DAT read: Range 11 to 50 : 159.7 m (Round-trip 213.0 ms) speed 0.4 m/s -R#Rx 1: Read range and direction messages.5^direction in FSK: [0.971900,-0.217245,0.090633]5Fpublishing direction and range infoyu?[T;˿0L3?YC )HI'>i ףd;?6@4Q=>5@ ޹=)W@I޹+J'?% Y?a(2߹? \A?)}SϽIt0ai޹UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.i ^Am 0::Aq zAu \AE-  E- E- #E) "E- m:*E- [:VE- 3ZE) BE- U u.,չX@A0>?׹>>z?>_J;ٱ>S FAHRS rotation from veh to nav: [[0.835868,-0.543669,-0.075825],[0.548922,0.827065,0.121030],[-0.003088,-0.142787,0.989749]]>Hm?eDiŐ?Pw??KiF¿@?i>?׹>I>2 ];>CYRIByPbDZVDZβyb+%by=ٔbMz9Q-f?9f ?Yf ?=fjGyf#FjCEj?lQ 5r4nr?Q 9r4n)nBYpyr)>Q Iv'@nHDIn;in;n4yxɮzeAx)-BʹX@AJ-CR-Cj->-eKc@y@Amȭx,@r-u?[T;˿0L3?Z-t0ab-޹-nVb@#ĮmL@f2@z-,F?ピcX? \#?2-gB:-C"-բ?*-B-B-9u?-ivh“)-pC-.>gOE addTargetRange:: Added new target pos. range: 159.699997 m, deltaT: 4.043953 s, deltaX: -3.500000 m, approachRate: -0.865490 m/s, rangeRepo size: 4 gOM Added new target pos. range: 158.833084 m, bearing: 21.551974 deg, lat: 36.779488 deg, lon: -121.859362 deg, deltaT: 4.043953 s, deltaX: -3.475098 m, approachRate: -0.859332 m/s, posRepo size: 4 jQgOUFNOT Ignoring new targets: 158.83 m.R]ZYgOm ProNav: ac range: 158.833084 m, nav range: 157.440460 m, bearing: 22.401559 deg, approach rate: 0.000000 m/s, LOS rate: 0.004429 deg/s, cmd heading: 33.156149 deg, new cmd heading: 33.159082 deg. BigOuHeadingCmd: 0.578735 target range: 158.833084 and range: 159.70 m.u'?q*q"q qyyyyʎj`fc@ZL?MBɢMS}]*DAT read: user:540> eBDAT read: Tx time:00:42:15.1748 e$Ping request sent.e  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250848VL{.,VcX@A`YEBy; II-=)-=5=5=bD} VD}2E EE%E"Ef;*Ec:VE 4ZEa@a@a@a@yu%u2=ٔuQ-u>9}"?Y}"?=}jGyyE>Q 548r?Q 94ď)$BYyQ I(@QDI;iD;4yXBɮAEjgOFNOT Ignoring new targets: 158.83 m.R^7Z^7gO ProNav: ac range: 158.833084 m, nav range: 157.150803 m, bearing: 22.402388 deg, approach rate: -0.595968 m/s, LOS rate: 0.001710 deg/s, cmd heading: 33.159083 deg, new cmd heading: 33.160745 deg. BKH8gOHeadingCmd: 0.578764 target range: 158.833084 and range: 159.70 m.)?*" ʎ)))j1Z5?B>BCBS IBYBB =BBzDB.o;B:,Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.505243aɢS) ni)X8;  i Ei)? r8l}I)?I@ @@4@A ^A 9A ?A ? checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755514q A.AIIO>w.,X@A2u>2`?2J;ٱ2I :AHRS rotation from veh to nav: [[0.837348,-0.541478,-0.075163],[0.546661,0.828604,0.120736],[-0.003096,-0.142187,0.989835]]2H`? S@=?~?@?`?\i+3¿?i2u>I20];0YF:ByF, IieMb@Mb@Mb@aaaa a9ejt?Mb/$?Ye ?yae9U ?YU ?=UjGyU$F]E]>aQ 5m4eWr?Q 9m4e)e-BYu)$?Q Eu:yu>Q Iu(@e[DIe:ie:e4E EE)E"E[:*EX:VEFA4ZEBEC.,1(X@A2!>2i?2b9W;ٱ2[ :AHRS rotation from veh to nav: [[0.838156,-0.540255,-0.074967],[0.545421,0.829358,0.121162],[-0.003284,-0.142441,0.989798]]2H+?I 1t?`?`}? )j;¿l?i2!>I2-];2Cechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2588111YMByE IbDVDy=%D=ٔ9Q->9"?Y"?=jGy%F(hE>Q 54>r?Q 94)5BYy>Q I(@cDIj;i;N4yɮ[APB*** querying acoustic contact *** j)gO-FNOT Ignoring new targets: 158.83 m.R5y8Z5y8gOE ProNav: ac range: 158.833084 m, nav range: 156.574753 m, bearing: 22.404028 deg, approach rate: -0.645341 m/s, LOS rate: 0.002028 deg/s, cmd heading: 33.162351 deg, new cmd heading: 33.164031 deg. BEm8gOMHeadingCmd: 0.578822 target range: 158.833084 and range: 159.70 m.M-?I*I"I IQQQQʎYYYjYZe@j>?颙ɢd) ԙi)};顩iE i-?8ÔI-?Ia9@ @@/@E EE&E"E*E~:VE4ZEa@a@a@a@B<A<B>BBBB =BBBo;B4,Eԑ I I ] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518983 gG \A ^A- vтM 9U \AYU iAԹ A .AI I O >dՐ.,CX@ABk>B ?BM;ٱBS ZAHRS rotation from veh to nav: [[0.839516,-0.538144,-0.074931],[0.543326,0.830683,0.121498],[-0.003139,-0.142712,0.989759]]BHP?@y8 .b? ?|?[i _D¿?iBk>IBH];BC \)b`Ab}```f`AifIddIdih hh)hh j`Aj\llln`AIn94)lip)rYCIpr\rE ttvuAtittYxY~WBy~P I =only read 3 of 4 data items for beam range. Device response is::RA, 0.42, 78.80, 85.93, 85.25 a=@a= a=@aE aE@aE aE@aE bDMVDMӀy]H=%]X=ٔ]ȹQ-]>9e ?Ye ?=ejGyam ػEm>qQ 5}4u9r?Q 9}4u)u=BQ A}+:YyQ E}:y}>Q I(@ukDIuZ:iu>u4yZBɮAEjgOFNOT Ignoring new targets: 158.83 m.R>8Z>8gO ProNav: ac range: 158.833084 m, nav range: 156.332214 m, bearing: 22.405012 deg, approach rate: -0.640536 m/s, LOS rate: 0.002603 deg/s, cmd heading: 33.164031 deg, new cmd heading: 33.166003 deg. Bq8gOHeadingCmd: 0.578856 target range: 158.833084 and range: 159.70 m./?*" ʎjZeP?ɢ]) 'i);顡iUr i/?&9fܻI/?I>i%>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763607U9@Y @Y@]/@YE EEE"E,:*Ez:VEZEBEm checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014707q Y.,|D]X@A:Ƶ>:ڸ?:-K;ٱ: BAHRS rotation from veh to nav: [[0.840202,-0.537362,-0.072820],[0.542265,0.831811,0.118492],[-0.003100,-0.139045,0.990281]]:H?@2\ ;Z? 1?~U?ei< b?i:Ƶ>I:a];:CYU[ByUV IbDeVDeN3yu<%uI=ٔ}ȸQ-}>9yYy=jGy&F$LE>Q 54r?Q 945)DBQ A :YQ EY:y>Q I(@sDI ;ioI?R4y[Bɮ@jgOFNOT Ignoring new targets: 158.83 m.RX8ZX8gO ProNav: ac range: 158.833084 m, nav range: 156.072403 m, bearing: 22.406211 deg, approach rate: -0.639977 m/s, LOS rate: 0.002959 deg/s, cmd heading: 33.166002 deg, new cmd heading: 33.168405 deg. BM8gOHeadingCmd: 0.578898 target range: 158.833084 and range: 159.70 m.2?*" ʎjZ`@)ɢ-\L)1 5ۋi1)5^;11i5 i=2?=C9=4EIE2?IAI9@ @@(0@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266789^AeԡA ؟AI I O >D %=D 4=E  E E %E "E O:*E rN:VE 4ZE a% @a% @a- @a- @ H!.,<wX@AN>N?N?;ٱN9 VAHRS rotation from veh to nav: [[0.840391,-0.537409,-0.070251],[0.541973,0.832588,0.114287],[-0.002929,-0.134120,0.990961]]NHz?t2W?@? A?ng*`?iN>INW];NCB->B-CB-` IB-dBB- =B)B-{DB-o;B-0,EY]^By]Y IbDm VDm:2y2^<%E=ٔعQ->9"?Y"?=jGyp[E>Q 54Z s?Q 94)LBQ A9YQ E/:ys>Q I(@|DIG ;iÙ?,4yɮ@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519132jQgOUFNOT Ignoring new targets: 158.83 m.R]a8Z]a8gOe ProNav: ac range: 158.833084 m, nav range: 155.807083 m, bearing: 22.407503 deg, approach rate: -0.631815 m/s, LOS rate: 0.003081 deg/s, cmd heading: 33.168406 deg, new cmd heading: 33.170993 deg. Bmi8gOuHeadingCmd: 0.578943 target range: 158.833084 and range: 159.70 m.u5?q*q"q qqyyyʎyjZF@Աɢ 9) i)q;!iE] i]5?F:I5?I9@ @@ 0@!  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770806^A] Β9 A .AI I O >].,fMX@A>mԵ>>?>b';ٱ>S JAHRS rotation from veh to nav: [[0.840144,-0.538022,-0.068486],[0.542358,0.832815,0.110757],[-0.002554,-0.130196,0.991485]]>H u?z7`FZ?k?`Z?>d`A>?i>mԵ>I>^];>CYRdByRa IE5 E5E5$E1"E5:*E5;J:VE54ZE1BE5 =ٔdQ->9 ?Y ?=jGy'F:E>Q 5 4!s?Q 9 4)UBQ A T:Y g(?Q E:y>Q I(@DI`;i;4y\Bɮt@EjAgOEFNOT Ignoring new targets: 158.83 m.RMZMgO] ProNav: ac range: 158.833084 m, nav range: 155.525284 m, bearing: 22.405352 deg, approach rate: -0.665034 m/s, LOS rate: -0.005084 deg/s, cmd heading: 33.170995 deg, new cmd heading: 33.166686 deg. B]gOeHeadingCmd: 0.578868 target range: 158.833084 and range: 159.70 m.ae0?i*i"i iiiqu BʎqqyjyZ} @颡ɢѮC) i)~^;顱iZ i0? ;I0?IPExceeded connect timeout, disconnecting.}9@y @y@}4@y@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024795ԑ^AA?A ?A ؟AI I O > .,> X@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2788936>6?6;ٱ6|T ^AHRS rotation from veh to nav: [[0.840094,-0.538105,-0.068450],[0.542436,0.832818,0.110353],[-0.002375,-0.129837,0.991533]]6H ?@'8` [?q?@?tc`?i6>I6\];6CYfpByfo IbDrVDryzs=%z]=ٔzQ-z>9~"?Y~"?=~jGy|9E> Q 54 3s?Q 94 }) \BYy>Q I(@ DI :i I; %4y%]Bɮ%@%EjIgOMFNOT Ignoring new targets: 158.83 m.RUZUgOe ProNav: ac range: 158.833084 m, nav range: 155.282013 m, bearing: 22.403483 deg, approach rate: -0.656667 m/s, LOS rate: -0.005052 deg/s, cmd heading: 33.166685 deg, new cmd heading: 33.162941 deg. BegOmHeadingCmd: 0.578803 target range: 158.833084 and range: 159.70 m.mg,?i*i"i iqqqqʎyyyjyZ @颹ɢP5) oi);i,` ig,?;iIg,?Iu9@q @q@u/@qDIzDM?AEU EUEU%EQ"EU,:*EUrN:VEU 4ZEQa]@a]@a]@a]@A}@AA}AAB>BCBl IBnBB =BB|DBn;B,E^AQchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5314979 A I I O >Q i.,źX@A2յ>2?2>.;ٱ2 :AHRS rotation from veh to nav: [[0.840138,-0.538092,-0.068005],[0.542366,0.832882,0.110214],[-0.002665,-0.129478,0.991579]]2H`i? 8`h[??6?e@?i2յ>I2:];2CY^gBy^e Ii}Mb@Mb@Mb@yyyy y9}{Gz?KMb?Y}#?y}^}=}A}d@ } A)} AyY}f AbDVDyy%?=ٔ1:Q->9Y=jGy(FJE>Q 54Hs?Q 94z)eBY%?Q E:y>Q I(@DI;i;4yɮU@PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 158.83 m.RTZ TgO ProNav: ac range: 158.833084 m, nav range: 155.006393 m, bearing: 22.398534 deg, approach rate: -0.644332 m/s, LOS rate: -0.011590 deg/s, cmd heading: 33.162942 deg, new cmd heading: 33.153026 deg. BgO%HeadingCmd: 0.578629 target range: 158.833084 and range: 159.70 m.%!?!*!"! !!))-Bʎ)11j1Z5x@aɢe8)a e-ia)m;iiimiu!?u.Α.,ߺX@A02\>2?2}&$;ٱ2 :AHRS rotation from veh to nav: [[0.839987,-0.538331,-0.067984],[0.542601,0.832780,0.109822],[-0.002505,-0.129138,0.991623]]2H+?:@lg\?#?Q?@΄d a?i2\>I2];2CYrtByrt I ttbDzVDzyC=% U=ٔ 9۹Q- >9 Y=jGy4?:E>!Q 5%4%[s?Q 9-4%>w)%mBY)y-/>Q I-(@%DI%:i%1:%P4y1ɮ=@=EjYgOeFNOT Ignoring new targets: 158.83 m.ReVZeVgOu ProNav: ac range: 158.833084 m, nav range: 154.758957 m, bearing: 22.394053 deg, approach rate: -0.646204 m/s, LOS rate: -0.011723 deg/s, cmd heading: 33.153024 deg, new cmd heading: 33.144047 deg. BugO}HeadingCmd: 0.578473 target range: 158.833084 and range: 159.70 m.?*" ʎjZ`"@颽Bɢq/) 0hi)/;ii?ȭ<ݻI?II)m9@q @q@u/@q@}\A@yԙEchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.286753Թ^AA I I O >De =De =bE-4jE4rE+/Em  Em Em &Ei "Em :*Em rN:VEm 4ZEi a} @a} @a} @a} @黽.,̚X@AB>BCB IB}BB =BBBn;B,EB}CB}CByB} =B} =C}026BN>B'?B^D8;ٱBݿ NAHRS rotation from veh to nav: [[0.839637,-0.538956,-0.067348],[0.543140,0.832505,0.109246],[-0.002812,-0.128306,0.991731]]BHN? ?=ga?? ?g XlA?iBN>IB'\;BCYZoByZn I\bDfVDf1yn%nM=ٔnI:Q-r>9pYp=rjGyr)Fvr:Ev>xQ 5~4zoos?Q 9=4z\t)zvBYAyE}>Q IE(@zDIz+.,/X@AE EE%E"E*E[:VE 4ZEBE9)Y)=-jGy)5E5>9Q 5E4=s?Q 9E4=p)=}BYE)?Q EE:yE>Q IM(@=DI=6;i= ;=4yUaBɮU@QjygO}FNOT Ignoring new targets: 158.83 m.RZgO ProNav: ac range: 158.833084 m, nav range: 154.207977 m, bearing: 22.380793 deg, approach rate: -0.676530 m/s, LOS rate: -0.019670 deg/s, cmd heading: 33.134586 deg, new cmd heading: 33.117477 deg. BgOHeadingCmd: 0.578009 target range: 158.833084 and range: 159.70 m.f?*" $BʎjZ4@BɢTU0) ei)7;ivif?!=If?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=5.0429969@ @@0@Թ^A&tA .AI I) O= >A U checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294733.,Ui-X@A2 :>2r?2nH1;ٱ2R :AHRS rotation from veh to nav: [[0.838660,-0.540533,-0.066880],[0.544648,0.831694,0.107910],[-0.002705,-0.126926,0.991909]]2HN?` L `m?;?`? )f??i2 :>I2\;2CYBuByBu IbDNVDN2yVy%Ve=ٔZQ-Z>9^ ?Y^ ?=^jGy^*F^ ;E^>`Q 5f4bKs?Q 9f4b n)bBYyy}>Q I(@bDIbBCB IBBB =BBB"o;B@,Echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.546834a^A<ȻI I O >ԑ ĵ.,,GX@A2 >2?2e2;ٱ2 :AHRS rotation from veh to nav: [[0.837886,-0.541609,-0.067872],[0.545838,0.830753,0.109133],[-0.002722,-0.128488,0.991707]]2H?T@` w??"?LfMr?i2 >I2\;2CYBmByBk IiMb@Mb@Mb@ 9x&1?Q~jt?YA ?yuD<A=A  A)Y AbD-VD-Ny=%=B=ٔE)8Q-E>9AYA=EjGyAMJ];EM>QQ 54Us?Q 94Uj)UBY!?Q E:y[>Q I(@UDIU .,_aX@A:>:J?:)4;ٱ: FAHRS rotation from veh to nav: [[0.837742,-0.541645,-0.069350],[0.546060,0.830308,0.111383],[-0.002748,-0.131180,0.991355]]:H`?(USy? ??@Ãf-?i:>I:C\;:CYLyLbDZVDZٔb̍8Q-b>9dYd=fjGyf+Ff3:Ef>hQ 5n4j/s?Q 9r4jg)jBYpyr>Q Ir(@jǕDIj;ij;jr4yvdBɮvy@zEjgOFNOT Ignoring new targets: 158.83 m.R׹Z׹gO- ProNav: ac range: 158.833084 m, nav range: 153.467407 m, bearing: 22.355860 deg, approach rate: -0.660803 m/s, LOS rate: -0.023564 deg/s, cmd heading: 33.084856 deg, new cmd heading: 33.067533 deg. B-,gO5HeadingCmd: 0.577137 target range: 158.833084 and range: 159.70 m.5F?1*1"9 999AAʎAAAjIZM@uBɢuZ`)y }|iy)});yyi}\.iF?=[IF?I9@ @@/@%checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302790^Au_IIO=>) D =D R=E  E E &E "E :*E F:VE 4ZE a @a @a @a @B% >B% CB%  IB% }BB! B! B! B% Qo;B% V,E .,zX@AjGr`]A|)9-`]AY-הAzh>z$?z%;ٱz MAHRS rotation from veh to nav: [[0.837185,-0.542516,-0.069259],[0.546914,0.829851,0.110602],[-0.002529,-0.130473,0.991449]]zH8?`K\`P?#? eP?dS?izh>Iz \;zCchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.554831Y\ByW IAAAbD VD2yj%<ٔ"Q->9Y=jGy;E>Q 54s?Q 94kd)BYy >Q I](@ЕDIkma.,T唻X@A2>2S?2_;ٱ2m4 >AHRS rotation from veh to nav: [[0.836793,-0.543052,-0.069797],[0.547515,0.829433,0.110762],[-0.002257,-0.130900,0.991393]]2H ? `=ޱ=??@Z? ~bT}?i2>I2\;0YJZByJT IiMb@Mb@Mb@ 9~jt?y&1I +?Y$?y`e94<Ad@ | A) AYf AbD5VD5y=N6%=S=ٔEs7Q-E>EU EUEU%EQ"EUm:*EUg:VEU 4ZEQBEUUQ 54Bs?Q 94 a)BYA%?Q E:y>Q I(@ؕDI;i];>4y!ɮ%WA)jigOuFNOT Ignoring new targets: 158.83 m.RuZ}gO ProNav: ac range: 158.833084 m, nav range: 152.930954 m, bearing: 22.335560 deg, approach rate: -0.683871 m/s, LOS rate: -0.027171 deg/s, cmd heading: 33.047662 deg, new cmd heading: 33.026864 deg. BFgOHeadingCmd: 0.576428 target range: 158.833084 and range: 159.70 m.?*"  BʎjZ@, @UBɢUƑ)Q UiQ)}Ӆ;yyi}4;i?0=¹I?Iԙ}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.0589439@ @@/@^A ?Bɺ I Iy O >- checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310735F.,X@AV_>V d?V| ;ٱVMm fAHRS rotation from veh to nav: [[0.836652,-0.543319,-0.069414],[0.547731,0.829411,0.109855],[-0.002114,-0.129931,0.991521]]VH?b@ ű??`}?Pa?iV_>IV\;VCpYWByQ IbD%VD%1yES%EK=ٔEaQ-E>9IYI=UjGyQ]0:E]>iQ 5}4ms?Q 9}4m^)mBYy>Q I(@mDImT`;imtl;m4yfBɮsAjgOFNOT Ignoring new targets: 158.83 m.RZgO ProNav: ac range: 158.833084 m, nav range: 152.684448 m, bearing: 22.325729 deg, approach rate: -0.645922 m/s, LOS rate: -0.025803 deg/s, cmd heading: 33.026864 deg, new cmd heading: 33.007170 deg. B<gOHeadingCmd: 0.576084 target range: 158.833084 and range: 159.70 m.:z?q*q"q qqyyyʎyjZ@@颍Bɢ) 'i)|;顑i@i:z?<|N8I:z?I Eu EuEu*Eq"Euy:*EuR:VEu(N4ZEqa@a@a@a@E9@A @A@A@AAAB>BCBs IBsBBBBBmo;Be,E1checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562856^A 9I) ԩ I O >.,sȻX@A2__>2?2>:ٱ2( >AHRS rotation from veh to nav: [[0.836372,-0.543885,-0.068345],[0.548159,0.829437,0.107499],[-0.001780,-0.127373,0.991853]]2H?g@ ? ??`']MC?i2__>I2\;2CYFLByFB IIJC=)J9IYI=MjGyM-FM:EU>yQQ 54U t?Q 94UZ)UBY!?Q E:y>Q I(@UDIUA>A ؟AI  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.074866I O > ..,7OX@A2n>2B?2<:ٱ2B :AHRS rotation from veh to nav: [[0.836308,-0.543928,-0.068783],[0.548258,0.829337,0.107763],[-0.001571,-0.127834,0.991794]]2H?`gS??`X?ƽY\Ǽ?i2n>I2z\;2CYFEByF: IbDR VDR:2yZ%ZT=ٔZ Q-Z>9^"?Y^"?=^jGy 29E >Q 54ht?Q 94W)BY!y%#>Q I%(@DI;i;$4y-gBɮ-A-EjQgOUFNOT Ignoring new targets: 158.83 m.R]ùZ]ùgOm ProNav: ac range: 158.833084 m, nav range: 152.182251 m, bearing: 22.309591 deg, approach rate: -0.660492 m/s, LOS rate: -0.021312 deg/s, cmd heading: 32.990920 deg, new cmd heading: 32.974840 deg. BmgOuHeadingCmd: 0.575520 target range: 158.833084 and range: 159.70 m.u?U?q*q"q qyyyyʎjZ @颵Bɢթ) i)=[;项i1i?U?;5:I?U?Im9@q @q@u4@qMchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.327147^A1A .AI I! O5 >E  E E %E "E :*E L_:VE 4ZE a @a @a @a @Y B >B CB Z IB ^BB =B B {DB o;B ,E'X., *X@A2t>2H?2d:ٱ2  :AHRS rotation from veh to nav: [[0.836283,-0.543902,-0.069289],[0.548297,0.829299,0.107858],[-0.001203,-0.128191,0.991749]]2H?g輱`???@̵S hh?i2t>I2>\;2CYB;ByB/ IbDNVDNN2yV3%VK=ٔZ*oQ-Z>9Z ?YZ ?=ZjGy^.F^8E^>`Q 5f4b0t?Q 9f4bT)bBYhyj*>Q Ij(@bDIb:ibB:b+4ylɮn]ArEjgOFNOT Ignoring new targets: 158.83 m.R ѺZ ѺgO ProNav: ac range: 158.833084 m, nav range: 151.933929 m, bearing: 22.301560 deg, approach rate: -0.630240 m/s, LOS rate: -0.020416 deg/s, cmd heading: 32.974839 deg, new cmd heading: 32.958750 deg. BtgO%HeadingCmd: 0.575239 target range: 158.833084 and range: 159.70 m.%B?!*!"! )))))ʎ111j1checking for new query: numPingsReceived=0, elapsed TxPingTime=8.578910Z= j!@Bɢ)  ii ) H;  i 1i=B?=|];=5:I=B?IA@ @@4@a^A50::ԑu checking for new query: numPingsReceived=0, elapsed TxPingTime=8.834741AE ؟AIQ Ii O} >Թ @/,X@A:0>:"n?:p:ٱ:  FAHRS rotation from veh to nav: [[0.836569,-0.543424,-0.069588],[0.547861,0.829550,0.108145],[-0.001042,-0.128595,0.991697]]:H+?cб??`\?Qu?i:0>I:ξ\;:CYN4ByN% Ii%Mb@Mb@Mb@!!!! !9%jt?{Gz{Gzt?Y% ?y%ף%ף;%A! %A)% A!Y% AEA EEEAEA"EA*EEP:VEAZEABEE9u"?Yu"?=ujGyq}aE}>Q 54Dt?Q 94Q)BY"?Q E:y >Q I(@DI:iM:?34yɮAjgOFNOT Ignoring new targets: 158.83 m.RTZTgO ProNav: ac range: 158.833084 m, nav range: 151.663452 m, bearing: 22.294815 deg, approach rate: -0.631447 m/s, LOS rate: -0.015773 deg/s, cmd heading: 32.958750 deg, new cmd heading: 32.945237 deg. BgOHeadingCmd: 0.575003 target range: 158.833084 and range: 159.70 m.c3?*" BʎqjqZu ""@ԑ颽BɢJ) ,i)H3;iHic3?:+{:Ic3?I9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=9.087551^Amvт:AuZAzAqA I I O >) j /,3/X@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=9.340154Y}"By IbDVDyv%E=ٔQ->9Y=jGy/FE>Q 54Xt?Q 94N)BYyQ I(@ DI:i-::4yjBɮCAEjgOFNOT Ignoring new targets: 158.83 m.R%吹Z%吹gO5 ProNav: ac range: 158.833084 m, nav range: 151.401077 m, bearing: 22.288250 deg, approach rate: -0.631710 m/s, LOS rate: -0.015835 deg/s, cmd heading: 32.945236 deg, new cmd heading: 32.932083 deg. B5gO=HeadingCmd: 0.574773 target range: 158.833084 and range: 159.70 m.=W$?9*9"9 9AAAAʎIIIjIZM^S#@}Bɢ}.׼)}Р. }#Ѿiy)];顁i?HiW$?(N:ݞ:IW$?I 9@  @ @/@DMAAzDM@AbEjE4rEó0EU EUEU)EQ"EU:*EUF:VEUFA4ZEQae@ae@ae@ae@Be<Ae<Bm>BmCBmA IBmJBBm =BiBmzDBmfp;Bm,EB5CB5CB1B5 =B5 =C5ł+6checking for new query: numPingsReceived=0, elapsed TxPingTime=9.590729^AMq:I A I I O] >R/,IX@A:>:I?:'U:ٱ: FAHRS rotation from veh to nav: [[0.836872,-0.542872,-0.070249],[0.547398,0.829824,0.108388],[-0.000547,-0.129161,0.991623]]:H?`5_`I?`?Q?AX a?i:>I:\;:CYNByN Ii%Mb@Mb@Mb@!!!! !9%+? ףp= I +?Y%v?y%Q%94<%A! % A)% A!Y% AbD=VD=kyM%MR=ٔM Q-U>9QYQ=UjGyQ]E]>aQ 5m4e kt?Q 9m4eL)eBYm' ?Q Em:yuj>Q Iu(@eDIe#:ie:eLA4yyɮ}_AyPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 158.83 m.RUZUgO ProNav: ac range: 158.833084 m, nav range: 151.158478 m, bearing: 22.283712 deg, approach rate: -0.623636 m/s, LOS rate: -0.011682 deg/s, cmd heading: 32.932082 deg, new cmd heading: 32.922992 deg. B gOHeadingCmd: 0.574615 target range: 158.833084 and range: 159.70 m.?*" ܂BʎjZ$@颅Bɢܼ) վi)#;顉i\i?9hW:I?Ii9I=AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.844413Q9@ @@@yE] E]E]$EY"E]>:*E]:VE]4ZEYBE]G|/,1cX@A2ø>27?2s8ٱ2F :AHRS rotation from veh to nav: [[0.837023,-0.542604,-0.070515],[0.547167,0.830015,0.108090],[-0.000122,-0.129057,0.991637]]2H@?]H d?`{?ʫ?`}?i2ø>I2\;2C@YRByR IV=V= Z49hYh=jjGyj0Fn:En>9Q 5E4=~t?Q 9M4=KI)=BYIyME>Q IM(@=DI=|:i=t:=GH4yUkBɮ]A]EjgOFNOT Ignoring new targets: 158.83 m.RUZUgO ProNav: ac range: 158.833084 m, nav range: 150.908997 m, bearing: 22.279058 deg, approach rate: -0.624756 m/s, LOS rate: -0.011675 deg/s, cmd heading: 32.922994 deg, new cmd heading: 32.913670 deg. BgOHeadingCmd: 0.574452 target range: 158.833084 and range: 159.70 m.H?*" ʎjZ$@BɢS) ݾi)6:ijiH?[9[K:IH?Iu9@q @q@u0@qԩM2Acoustic response timeout^Aq:A?A?A I I  O >Em  Em Ei Ei "Em [:*Em c:VEi ZEi au @au @au @au @Be >Be CBe ( IBe 6BBe =Ba Be {DBe p;Be ,ES/,r}X@A2ʸ>2:?2ZYٱ2 :AHRS rotation from veh to nav: [[0.836997,-0.542610,-0.070775],[0.547206,0.830100,0.107231],[0.000566,-0.128481,0.991712]]2H?]U ?.?s? +B?r`?i2ʸ>I2c\;2CYB ByFIbDNVDNlyrG%vH=ٔvܺQ-v>9tYx=zjGyxz-8Ez>|Q 54~t?Q 9 4~F)~BY y H>Q I (@~!DI~d:i~:~1O4ylBɮAj9gOEFNOT Ignoring new targets: 158.83 m.REVZEVgOU ProNav: ac range: 158.833084 m, nav range: 150.661880 m, bearing: 22.274430 deg, approach rate: -0.624905 m/s, LOS rate: -0.011722 deg/s, cmd heading: 32.913671 deg, new cmd heading: 32.904400 deg. BU2Acoustic response timeoutgOHeadingCmd: 0.574290 target range: 158.833084 and range: 159.70 m.?*" ʎjZ@%@=BɢE)A EiA)E:IIiM9iM?U8u:Iu?Iy0959@1 @1@5/@1m 2Acoustic response timeouta ^AU Β{:E  E E E "E m:*E L_:VE ZE BE U&/,>X@AV锸>VP ?VhjٱV} ^AHRS rotation from veh to nav: [[0.837219,-0.542167,-0.071557],[0.546867,0.830306,0.107371],[0.001201,-0.129025,0.991641]]VH~?mYQ`?ݑ?|?LS?`?iV锸>IV];VCYjByjIieMb@Mb@Mb@aaaa a9e?I +?Ye ?ye̽aeAeA e| A)e| AaYef AbD}VD}:y/b;%#=ٔ⥺Q->9 ?Y ?=jGy1FzSE>Q 54_t?Q 94C)BY"?Q E:y>Q I(@+DI;i;W4yɮA)U2Acoustic response timeoutjygOFNOT Ignoring new targets: 158.83 m.RjZjgO ProNav: ac range: 158.833084 m, nav range: 150.344620 m, bearing: 22.270232 deg, approach rate: -0.607457 m/s, LOS rate: -0.008055 deg/s, cmd heading: 32.904399 deg, new cmd heading: 32.895985 deg. BkgOHeadingCmd: 0.574143 target range: 158.833084 and range: 159.70 m. ?* "    BʎjZ&@BɢWmݼ) i)Dl:iKi ?68B:I ?I"Yu9@q @q@u0@qԁ 2Acoustic response timeout^A ه:Ա A ؟AI I O >C-/,jX@A:DE>:}?:m1ٱ: FAHRS rotation from veh to nav: [[0.837550,-0.541609,-0.071896],[0.546358,0.830616,0.107567],[0.001459,-0.129374,0.991595]]:H6? Tg{? g?@? -W?R%?i:DE>I:>H];:CYNByNI PPTVAbD^VD^02ybBN%bK=ٔf'Q-f>9f"?Yj"?=jjGyhnyźEn>lQ 5r4nt?Q 9v4nY@)nBYtyv>Q Iv(@n3DIn2:in:n_4y~mBɮ~FA~ED@AzDAAE EE'E"E:*EP:VE'4ZEa%@a%@a%@a%@j9gO=FNOT Ignoring new targets: 158.83 m.REZEgOU ProNav: ac range: 158.833084 m, nav range: 150.089630 m, bearing: 22.266904 deg, approach rate: -0.660085 m/s, LOS rate: -0.008632 deg/s, cmd heading: 32.895984 deg, new cmd heading: 32.889315 deg. BU|gO]HeadingCmd: 0.574027 target range: 158.833084 and range: 159.70 m.]l?Y*Y"Y YYaaaʎaiijiZm@'@颙ɢ ) i)\8:顡i9il?779Il?I }GAA?AB>BB IB!BB =BB|DBp;B%-E`9Y6cA2Acoustic response timeout9@ @@0@)^A5 9A9 zA9 Y ] 2Acoustic response timeoutIA IQ O] >64/, ӼX@A2s>2?2dٱ2n :AHRS rotation from veh to nav: [[0.837356,-0.541863,-0.072242],[0.546654,0.830493,0.107008],[0.002013,-0.129096,0.991630]]2H?V`x~/~?f?d?K}`?4o?i2s>I2=];2ߐCYF ByFIiMb@Mb@Mb@ 9x&1?B`"۹/$?Y!?yν< ) A!Y AbD-VD-:y=ҳ<%=4=ٔEdQ-E>9AYA=MjGyM2FML:EM>QQ 5]4U+t?Q 9]4U6=)UŻBY#?Q E:y>Q I(@U=DIU:*EV:VE4ZEBEc:/,NX@A2>2. ?2,ٱ23 >AHRS rotation from veh to nav: [[0.837217,-0.542039,-0.072534],[0.546864,0.830448,0.106283],[0.002626,-0.128648,0.991687]]2H |?@aX ??`]5?@e?`w?i2>I2];2CYFByFI LN<bDRVDR!yVҸ%ZV=ٔZѺQ-Z>9\Y\=^jGy\b,:Eb>dQ 5f4ft?Q 9j4f:)f̻BYhyj>Q Ij(@fDDIfy:ifN:fm4ypɮr,ApjgOFNOT Ignoring new targets: 158.83 m.ԙR-Z-gO ProNav: ac range: 158.833084 m, nav range: 149.556549 m, bearing: 22.259427 deg, approach rate: -0.672226 m/s, LOS rate: -0.009493 deg/s, cmd heading: 32.881231 deg, new cmd heading: 32.874334 deg. BgOHeadingCmd: 0.573765 target range: 158.833084 and range: 159.70 m.J?%BDAT read: Response Not Received -*response not received-*DAT read: user:541> 5BDAT read: Tx time:00:42:27.6247 5$Ping request sent.5D9D=%=EE EEEE$EA"EEO:*EER:VEE4ZEAaU@aU@aU@aU@B}>B}CB} IB}BB} =ByByB}q;B}=-E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2490889 2A/,lX@AEq>E?E3\ٱEA  eAHRS rotation from veh to nav: [[0.837362,-0.541742,-0.073080],[0.546639,0.830651,0.105851],[0.003360,-0.128584,0.991693]]EH?U]~?? ? |k?@ou?iEq>IE*];ECYuByuIi5Mb@Mb@Mb@1111 195~jt? ףp= X9v?Y5?y5Q5<5A5=A 5 A)5 A1Y5f AbDMVDMN2y]%]0=ٔeϺQ-e>9aYa=ejGym3FmqEm>qQ 5}4ut?Q 9}4ub7)u׻BY?Q E:y>Q I(@uMDIu:iuQ:uu4ynBɮTAjgOFNOT Ignoring new targets: 158.83 m.RzZZzZgO ProNav: ac range: 158.833084 m, nav range: 149.272736 m, bearing: 22.253924 deg, approach rate: -0.614505 m/s, LOS rate: -0.011938 deg/s, cmd heading: 32.874336 deg, new cmd heading: 32.863308 deg. BȮgOHeadingCmd: 0.573573 target range: 158.833084 and range: 159.70 m.?*" BʎjZ@*@频ɢ|i) i)j0顙iDܻi?<6 p:I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502031)@ @@/@A?A?IAIQOeV>QE5  E5 E5 &E1 "E5 :*E5 e:VE5 4ZE1 BE5 9Y=jGy E >Q 544 u?Q 944)߻BYy!Q I%(@TDIj;i;{4y)ɮ-1A)jQgOUFNOT Ignoring new targets: 158.83 m.R]ZZ]ZgOm ProNav: ac range: 158.833084 m, nav range: 149.055328 m, bearing: 22.249694 deg, approach rate: -0.612953 m/s, LOS rate: -0.011943 deg/s, cmd heading: 32.863308 deg, new cmd heading: 32.854836 deg. BmڮgOuHeadingCmd: 0.573425 target range: 158.833084 and range: 159.70 m.u?q*q"q qyyyyʎjZ`*@颱ɢ) oi)E项iٻi?5:I?IqU9@Q @Q@U/@QIIO>ԡ=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005108 DU ?AzDU @AEe  Ee Ea Ea "Ee :*Ee c:VEa ZEa am @am @am @am @ N/,;X@A2<\>2?2yٱ2l >AHRS rotation from veh to nav: [[0.837445,-0.541164,-0.076336],[0.546499,0.830476,0.107928],[0.004989,-0.132101,0.991224]]2HY?7QŠ|?@C?$? ot? ?i2<\>I2];2CYb ByfIhj@AbDnVDn:B >B B B B B BDB }DB Dq;B S-Ey;%>=ٔxQ->9Y=jGy4FwǹE>Q 54G u?Q 942)BYy>Q I(@]DI_:i-:d4yoBɮ)AEjgOFNOT Ignoring new targets: 158.83 m.R[Z[gO ProNav: ac range: 158.833084 m, nav range: 148.792511 m, bearing: 22.244557 deg, approach rate: -0.613115 m/s, LOS rate: -0.012004 deg/s, cmd heading: 32.854835 deg, new cmd heading: 32.844544 deg. BgOHeadingCmd: 0.573245 target range: 158.833084 and range: 159.70 m.7?*" !!!!!ʎ)))j)Z5+@Yɢ])Y eia)eaaie_ֻim7?m>5iIm7?IqԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258086U9@Q @Q@U0@Q^A0::AzA I I1 O= >- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509169T/,TX@A2?>2?2ٱ2D >AHRS rotation from veh to nav: [[0.837559,-0.540764,-0.077905],[0.546315,0.830489,0.108753],[0.005889,-0.133648,0.991011]]2H`H?M j{?@^?D׻?wx?`b]?i2?>I2]];0YFByFIiMb@Mb@Mb@ 9x&1?ˡEQ?Y!?y什<Ad@ )Y AbD5VD5yEL =%ES=ٔEQ-E>9IYI=MjGyM5FUEU>YQ 5e4]2u?Q 9e4]&/)]BYe#?Q Ee:ye>Q Im(@]eDI]3:i]:],4yurBɮuAuEP-B*** querying acoustic contact ***) )jYgOeFNOT Ignoring new targets: 158.83 m.ReZegO ProNav: ac range: 158.833084 m, nav range: 148.546448 m, bearing: 22.238108 deg, approach rate: -0.594988 m/s, LOS rate: -0.015620 deg/s, cmd heading: 32.844546 deg, new cmd heading: 32.831626 deg. BgOHeadingCmd: 0.573020 target range: 158.833084 and range: 159.70 m.p?*" ӂBʎjZ`,@E EE'E"E:*EV:VE'4ZEBE#[/,|nX@A6[>6?61ٱ6b* @ VAHRS rotation from veh to nav: [[0.837436,-0.540578,-0.080476],[0.546489,0.830155,0.110421],[0.007116,-0.136450,0.990621]]6H G?`iL |? ? D? &&}?1w+?i6[>I6u];4YfByf IbDmVDm1y[=%F=ٔkBQ->9Y=jGyu:E>Q 54Fu?Q 94,)BYy>Q I(@mDIl:i :h4yɮAjgOFNOT Ignoring new targets: 158.83 m.RZiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013518gO  ProNav: ac range: 158.833084 m, nav range: 148.284042 m, bearing: 22.231168 deg, approach rate: -0.675357 m/s, LOS rate: -0.017894 deg/s, cmd heading: 32.831627 deg, new cmd heading: 32.817722 deg. B gOHeadingCmd: 0.572777 target range: 158.833084 and range: 159.70 m.?*" !ʎ!!!j!Z-F-@QɢU)Q ]iY)]V YYi]Xлie?e(4eH:Ie?IiԱ-9@) @)@-4@1@5=@5=bEŻ 4jE4rE?/E- E-E-#E)"E-:*E-:VE-3ZE)a5@a5@a5@a5@B%>B%CB% IB%'BB% =B!B!B%Qq;B%[-EBCBCBBBCi5^A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265170 A I I O- >b/,X@Apchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5171491YByIE-  E- E- )E) "E- m:*E- L_:VE- FA4ZE) BE- U9 Y = jGy 6F% E% >) Q 55 4- lhu?Q 95 4- &)- BY5 (?Q E5 :y5 >Q I5 (@- |DI- :i- :- Z4yE sBɮM AM EY jq gOu FNOT Ignoring new targets: 158.83 m.R} !ȹZ} !ȹgO  ProNav: ac range: 158.833084 m, nav range: 147.837631 m, bearing: 22.216230 deg, approach rate: -0.651620 m/s, LOS rate: -0.021871 deg/s, cmd heading: 32.817720 deg, new cmd heading: 32.787754 deg. B  gO HeadingCmd: 0.572254 target range: 158.833084 and range: 159.70 m. A? * "      ۂBʎ   j Z Ȥ.@ Bɢ Uۼ) ,i ) 4 i <-ͻi A? 3 4;I A?I u 9@q  @q @u /@q  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769358ԉ ^A0::A?A?ԹAII!O=!?Sk/,c԰X@ATR>RQ?R#*ٱR ^AHRS rotation from veh to nav: [[0.836762,-0.541127,-0.083730],[0.547468,0.829673,0.109188],[0.010384,-0.137204,0.990488]]RH`?`PWoۄ?? ?@XD? ?iR>IR/];RC `)b`AftffEddf`AifIjxFhIhij r@ hh)ll lppt|~`AI)i)I`A     uA i YYBy I-BDAT read: Rx Time:00:42:30.1909 5TRx dataTimestamp_ set to:1761698550.8012725checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022342bDEVDE1yU|=%Un=ٔ]Q-]?9YYY=ejGyaerb;Ee?iQ 5u4mOyu?Q 9u4m$)mBYyy}a>Q I}(@mDIm>:im6:m]4yɮAEjgOFNOT Ignoring new targets: 158.83 m.R̹Z̹gO ProNav: ac range: 158.833084 m, nav range: 147.613129 m, bearing: 22.208577 deg, approach rate: -0.655229 m/s, LOS rate: -0.022370 deg/s, cmd heading: 32.787753 deg, new cmd heading: 32.772423 deg. B#gOHeadingCmd: 0.571987 target range: 158.833084 and range: 159.70 m.m?*" ʎyjyZ7^/@ɢ  )  پi ) Hiʻi=m?=s_2= p^;I=m?IA9@ @@0@E] E]E]&EY"E]:*E]R:VE]4ZEYae@ae@ae@ae@B1B1B5! IB51BB1B1B1B5oq;B5j-Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273563^A ] ;) Aq I I O >̓r/,LʽX@AD>Hx?9 >ٱ AHRS rotation from veh to nav: [[0.836428,-0.541488,-0.084727],[0.547954,0.829460,0.108365],[0.011599,-0.137066,0.990494]]H?S ֈ? ?@ӽ?@D?b` ?iD>IN^;Y!By IimMb@Mb@Mb@iiii i9mJ +?X9vI +?Ym(?ym}m99Y=jGy7FҢ:E>Q 54u?Q 94 )BY)?Q E:y>Q I(@DIU:i]:4ytBɮAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525133IjgOFNOT Ignoring new targets: 158.83 m.R@Z@gOM ProNav: ac range: 158.833084 m, nav range: 147.300903 m, bearing: 22.195913 deg, approach rate: -0.629824 m/s, LOS rate: -0.025600 deg/s, cmd heading: 32.772422 deg, new cmd heading: 32.747041 deg. BMf;gOuHeadingCmd: 0.571544 target range: 158.833084 and range: 159.70 m.uP?y*" Bʎ19j9Z=Y50@ɢf) }׾i)eirȻiUP?U.1Ul;IUP?IYqEu EuEu$Eq"Eu:*EuV:VEu4ZEqBEu >i d; -? o5@ q= 4@ |٠=) mj@I |٠ {rbe?0kї?G4? ??) 6I Ti |٠  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.^A _; AI!I1OE?z/,X@A2M>2|?2[.Sٱ2O :AHRS rotation from veh to nav: [[0.836377,-0.541356,-0.086068],[0.548003,0.829466,0.108064],[0.012889,-0.137548,0.990411]]2H? R=?@?@?e?)r?i2M>I2^;0XY.By I A!%AAbD-VD-ky= a=%=3=ٔE9Q-E>9Y=jGy8F9E>Q 54u?Q 943)"BYy>Q I-(@DI;i;4y9ɮE,AA9=|X@AJ=BR=Bj=>=xx]@i8ϔ8y6Ƀ"@r=##R<7?caPPʿ5;?Z=Tb=|٠=v ,[@F@Kg,@z=Y/t?{t?J=Y?2=4B:=tB"=E?*=b|B=֞B9=“=֞B=8C=>gO addTargetRange:: Added new target pos. range: 121.500000 m, deltaT: 16.396036 s, deltaX: -38.199997 m, approachRate: -2.329831 m/s, rangeRepo size: 4 gO Added new target pos. range: 120.846077 m, bearing: 22.035791 deg, lat: 36.779488 deg, lon: -121.859385 deg, deltaT: 16.396036 s, deltaX: -37.987007 m, approachRate: -2.316841 m/s, posRepo size: 4 j!gO-FNOT Ignoring new targets: 120.85 m.R-Z)gO= ProNav: ac range: 120.846077 m, nav range: 146.222275 m, bearing: 21.435677 deg, approach rate: 0.000000 m/s, LOS rate: -0.025600 deg/s, cmd heading: 32.747041 deg, new cmd heading: 32.722498 deg. B9m*DAT read: user:542> uBDAT read: Tx time:00:42:31.5747 u$Ping request sent.u) <ʾi)"m}ioƻi4?Q0g;I4?I9 M9@I @I@I@QD=D<E EE"E"E:*EVE(3ZEa@a@a@a@ gG)BM>BMCBM. IBM;BBM =BIBIBMq;BM|-E9YA9  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250898^Au r;i A .AI I O>r/,B X@AL>.|?hٱ AHRS rotation from veh to nav: [[0.836367,-0.541157,-0.087402],[0.547985,0.829523,0.107721],[0.014208,-0.137989,0.990332]]H`?'Q_@?s??9?`@̰?iL>I9_;CYBy IyiMb@Mb@Mb@ 9?v/9E ?YE ?=MjGyI]NEe>Q 54u?Q 94),BY'?Q E:y>Q I(@DI;i ;4yɮAEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 120.85 m.RZgO ProNav: ac range: 120.846077 m, nav range: 145.889832 m, bearing: 21.419538 deg, approach rate: -0.677300 m/s, LOS rate: -0.032957 deg/s, cmd heading: 32.722497 deg, new cmd heading: 32.690145 deg. BAqgOHeadingCmd: 0.570551 target range: 120.846077 and range: 121.50 m.?*a"a aiiimBʎqqqjqZ} R?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502984ɢ) }ؾi)+iUGĻiE?Er.E魢;IE?IIԡ@ @@0@E EE'E"E[:*EP:VE'4ZEBE/,x%X@A2F>2y?2}ٱ2d :AHRS rotation from veh to nav: [[0.836377,-0.541049,-0.087976],[0.547936,0.829741,0.106288],[0.015491,-0.137102,0.990436]]2H?@EP`?I2z_;0YB*ByB IbDNVDN:yR}=%Ro=ٔVvQ-V?9TYX=ZjGyZ9FZE^?\Q 5b4^u?Q 9f4^B)^2BYdyf{>Q If(@^DI^:i^:^4ynuBɮnUAnEjgOFNOT Ignoring new targets: 120.85 m.R ~Z ~gO ProNav: ac range: 120.846077 m, nav range: 145.673157 m, bearing: 21.408986 deg, approach rate: -0.647531 m/s, LOS rate: -0.031581 deg/s, cmd heading: 32.690146 deg, new cmd heading: 32.669011 deg. B0ggOHeadingCmd: 0.570182 target range: 120.846077 and range: 121.50 m.o?*" ʎjZj?Bɢtl)! %6;i!)%}˔!!)imA»imo?u.u{8;Iuo?Iq9@ @@4@@ =@ =Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006751^AEm;AM?AM>ԁIA IQ O] >EE  EE EE &EA "EE :*EE c:VEE 4ZEA aM @aM @aU @aU @Ա B A 4=B >B CB 4 IB @BB =B CDB {DB q;B o-E/,2je?2PKٱ2 :AHRS rotation from veh to nav: [[0.836526,-0.540569,-0.089491],[0.547674,0.829872,0.106609],[0.016637,-0.138193,0.990266]]2H?WL趿?O?J?6 ?@P`A?i2>I2_;2CYz$Byz IIp=)U?bD VD y"%D=ٔ%3Q-%>9!Y!=%jGy!-<E->1Q 5=45*u?Q 9=45)59BY9y=Y>Q IE(@5DI5:i5{:54yIɮMAIjigOuFNOT Ignoring new targets: 120.85 m.RuZugO ProNav: ac range: 120.846077 m, nav range: 145.403214 m, bearing: 21.395824 deg, approach rate: -0.647873 m/s, LOS rate: -0.031646 deg/s, cmd heading: 32.669010 deg, new cmd heading: 32.642638 deg. BggOHeadingCmd: 0.569722 target range: 120.846077 and range: 121.50 m.E?*" ʎjZ?ɢh ) =Ӿi)EeiiE?-;IE?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260472ԡq@q @q@ut3@q^Aϩ;I I O >- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510728 /,YX@A2>2a?2㐼ٱ2R :AHRS rotation from veh to nav: [[0.836541,-0.540393,-0.090411],[0.547618,0.829970,0.106132],[0.017686,-0.138294,0.990233]]2H`?J1%?@?`p+?A?࠳?i2>I2_;2CYB2ByB# IiEMb@Mb@Mb@AAAA A9EK7?v/y&1|?YE)?yAE`;EAA EK A)EfAAYE3 AbDeVDeym=%mE=ٔu%Q-u>9qYy=}jGy}:F} E>Q 54u?Q 94e)?BY]*?Q E:y>Q I(@DI\ ;i;\4yxBɮ/AEjgOFNOT Ignoring new targets: 120.85 m.RZgO ProNav: ac range: 120.846077 m, nav range: 145.129456 m, bearing: 21.382502 deg, approach rate: -0.659143 m/s, LOS rate: -0.032137 deg/s, cmd heading: 32.642639 deg, new cmd heading: 32.615944 deg. BAkgOHeadingCmd: 0.569256 target range: 120.846077 and range: 121.50 m.?*" BE EEE"Ea:*E[:VEZEBE(I X&/,rX@A6Ƹ>6P9?6ٱ6_ BAHRS rotation from veh to nav: [[0.836865,-0.539687,-0.091620],[0.547092,0.830281,0.106415],[0.018640,-0.139180,0.990092]]6H@?EotƁ?`?>? V?`Ԯ?i6Ƹ>I6_;6CYJ&ByJ IbDRVDRyZ%ZW=ٔ^^$Q-^>9\Y`=bjGy`bԺEb>dQ 5j4f\ v?Q 9j4f< )fDBYlrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014962yn>Q Iv(@f–DIff;ifg;f4yxɮzAxjgOFNOT Ignoring new targets: 120.85 m.R%Z%gO5 ProNav: ac range: 120.846077 m, nav range: 144.878418 m, bearing: 21.370301 deg, approach rate: -0.657747 m/s, LOS rate: -0.032023 deg/s, cmd heading: 32.615943 deg, new cmd heading: 32.591498 deg. B5mjgO5HeadingCmd: 0.568829 target range: 120.846077 and range: 121.50 m.=ƞ?9*9"A AAAAIʎIIIjIZU`nB@yɢ}n)y Bоi)顁iiƞ?*T;Iƞ?IIZA)YAQ-9@) @)@-/@)E  E E %E "E [:*E R:VE  4ZE a@a@a@a@B>BCB: IBEBB =BB|DBAq;BJ-Ey^AIqIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266864O>ԡ /, ߌX@AX?ԟٱ_ AHRS rotation from veh to nav: [[0.837176,-0.539059,-0.092470],[0.546585,0.830630,0.106295],[0.019509,-0.139530,0.990026]]H &?`?}??$6?0? J?ix>I~|_;CY#By IiMb@Mb@Mb@ 9(\? rh{Gzt?Y'?yCף;V@  A)Y ABAbD VDf2y#%+=ٔ;Q->9Y=jGy;F E> Q 54 #v?Q 94 o) KBY(?Q E:y3>Q I(@ ̖DI :i : ]4y%Bɮ%A%EP=B*** querying acoustic contact ***A AjIgOUFNOT Ignoring new targets: 120.85 m.RUZUgOe ProNav: ac range: 120.846077 m, nav range: 144.565414 m, bearing: 21.357358 deg, approach rate: -0.655709 m/s, LOS rate: -0.027174 deg/s, cmd heading: 32.591498 deg, new cmd heading: 32.565554 deg. BmFgOmHeadingCmd: 0.568376 target range: 120.846077 and range: 121.50 m.m?q*q"q qqqy}ۂBʎyyyjZ@ԡ颵Bɢ)  Ҿi).项iei?^)d;I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521373=9@9 @A@E/@AE EE'E"E:*Eg:VE'4ZEBE  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7708717/,CX@A2>2?2aٱ2p :AHRS rotation from veh to nav: [[0.837715,-0.538120,-0.093066],[0.545739,0.831165,0.106460],[0.020064,-0.139973,0.989952]]2H@?F8&ӷ@v??@?ȋ?௭?i2>I2_;2CYB%ByB IbDNVDNNyVKB<%Vy=ٔVݺQ-V?9XYX=ZjGyX^BHE^?l!Q 5%4%4v?Q 9-4%)%PBY)y->Q I-(@%ӖDI%p:i%$:%O4y1ɮ=A9jgOFNOT Ignoring new targets: 120.85 m.RZgO ProNav: ac range: 120.846077 m, nav range: 144.342804 m, bearing: 21.348206 deg, approach rate: -0.646802 m/s, LOS rate: -0.026632 deg/s, cmd heading: 32.565553 deg, new cmd heading: 32.547221 deg. BBgOHeadingCmd: 0.568056 target range: 120.846077 and range: 121.50 m.!l?*" ʎjZ@@ɢM) yϾi){ʻiUi!l?(4;I!l?I 9@ @@0@BDAT read: Rx Time:00:42:34.1375 TRx dataTimestamp_ set to:1761698554.833196 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0239411^A a bEʞ4jET4rEʲ0E-  E- E) E) "E- ,:*E- X:VE) ZE) a= @a= @a= @a= @A= ؟AII IY Oe >Ay A} @AB >B CB A IB JBB =B B B Rq;B V-EBIBIBIBIBICMm,6/,^X@A^>^\?^xٱ^M jAHRS rotation from veh to nav: [[0.838091,-0.537522,-0.093127],[0.545142,0.831637,0.105827],[0.020564,-0.139460,0.990014]]^H?a3@.׷q?Ɯ?`r??@2?i^>I^u^;^CY5'By5 I9bDMVDM!y];%]?=ٔebQ-e>9e"?Ye"?=ejGymqQ 5}4uIv?Q 9}4ut)uVBYyR>Q I(@uܖDIu;iu;u4yɮAjgOFNOT Ignoring new targets: 120.85 m.RCZCgO ProNav: ac range: 120.846077 m, nav range: 144.071472 m, bearing: 21.337092 deg, approach rate: -0.661096 m/s, LOS rate: -0.027131 deg/s, cmd heading: 32.547221 deg, new cmd heading: 32.524950 deg. BFgOHeadingCmd: 0.567667 target range: 120.846077 and range: 121.50 m.R?*" ʎjZ @]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274694颥Bɢf> ) 3;i)X<ջ顩iiR?h';IR?Ie>i)>im9@i @i@u0@qԩ^Am;A>AE DAT read: 00:42:34.1375 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 406,-0.25,-3.128, 1.773,-2.570, 3.111, PHS= 0.146,-1.293, 0.558, RAW= 162.2, 7.1, CAL= 161.7, 6.9, ROT= 348.3, -6.9 M Ygot valid direction response: 00:42:34.1375 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 406,-0.25,-3.128, 1.773,-2.570, 3.111, PHS= 0.146,-1.293, 0.558, RAW= 162.2, 7.1, CAL= 161.7, 6.9, ROT= 348.3, -6.9 U PDAT read: Bearing 182.9, -11.4 (Local) U ~Local bearing/azimuth received: Bearing 182.9, -11.4 (Local) A I  DAT read: Range 11 to 50 : 118.9 m (Round-trip 158.6 ms) speed 0.2 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.972131,-0.201319,0.120137] Fpublishing direction and range infoy  Ht?צɿrjƹI?Y B     ) HI >i  ? -5@ = 4@  Ϣ=) @I Ϣ   #?)Y?܇{]mn?  J/,`ھX@ABP>B}?B媼ٱB JAHRS rotation from veh to nav: [[0.838389,-0.537044,-0.093206],[0.544673,0.831980,0.105550],[0.020860,-0.139259,0.990036]]BH?v/Rܷ@m??Z?S\?`<`?iBP>IB.^;BCYb2Byf" IԙE EEE"E*E H:VEZEBE9yYy=}jGyyեE>Q 54t^v?Q 94 )]BY%?Q E:y>Q I)@DI ;i ;;4yBɮLAE9=վX@AJ=BR=Bj=>=s\@r7rj,@r=Ht?צɿrjƹI?Z=Qb=Ϣ=}Z@]%>'F@n3@z=;*.?액?!h?2=<1B:=B"=Aޙ?*=pB=B=Kk?=p“=B=KB=>gOM addTargetRange:: Added new target pos. range: 118.900002 m, deltaT: 3.780978 s, deltaX: -2.599998 m, approachRate: -0.687652 m/s, rangeRepo size: 4 gO] Added new target pos. range: 118.257500 m, bearing: 22.335742 deg, lat: 36.779269 deg, lon: -121.859475 deg, deltaT: 3.780978 s, deltaX: -2.588577 m, approachRate: -0.684632 m/s, posRepo size: 4 jagOeFNOT Ignoring new targets: 118.26 m.ReZigO ProNav: ac range: 118.257500 m, nav range: 118.147713 m, bearing: 22.025758 deg, approach rate: 0.000000 m/s, LOS rate: -0.027131 deg/s, cmd heading: 32.524951 deg, new cmd heading: 32.500893 deg. BgOHeadingCmd: 0.567248 target range: 118.257500 and range: 118.90 m.#7?*" Bʎj]@Z@?5Bɢ5[)9 =pi9)=9AiEcзiM#7?Mz&M*;IM#7?IQm*DAT read: user:543> uBDAT read: Tx time:00:42:35.3747 }$Ping request sent.}rh/, X@A2>25,?2 جٱ2 :AHRS rotation from veh to nav: [[0.839064,-0.535838,-0.094075],[0.543624,0.832508,0.106787],[0.021098,-0.140742,0.989821]]2H?%H^e??bV??¿?i2>I2R^;2CYB,ByB IbDNVDNܲyV%Vn=ٔV5Q-V?9XYX=ZjGyZ=F^TnE^?`Q 5f4bov?Q 9f4bf)bcBYdyfh>Q If)@bDIbW:ib:ilInAnchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249873b94yQɮ]xAYjygOFNOT Ignoring new targets: 118.26 m.R5Z5gO ProNav: ac range: 118.257500 m, nav range: 117.926781 m, bearing: 22.016387 deg, approach rate: -0.622933 m/s, LOS rate: -0.026469 deg/s, cmd heading: 32.500892 deg, new cmd heading: 32.482116 deg. BAgOHeadingCmd: 0.566920 target range: 118.257500 and range: 118.90 m.!?*" ʎ jZf?颅Bɢ}) ži)nEi5qi!?E&$"s;I!?I@ @@4@@@@@D=D4=E% E%E%&E!"E%:*E%ga:VE%4ZE!a-@a-@a-@a-@9BE>BECBABABE =BABE{DBErq;BE^-Eichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502546I Ii O >ԑ O/, X@AJ>?{ٱ8 AHRS rotation from veh to nav: [[0.839801,-0.534441,-0.095433],[0.542472,0.833016,0.108669],[0.021420,-0.143030,0.989487]]H? #Fn@[? ?ѻ?@?N¿ߩ?iJ>IW^;Y&By IiiMb@Mb@Mb@ 9J +?㥛 I +?Y(?y  A)Y AbDVD1yϼ%+=ٔ1Q->9Y=jGy<E>Q 54ކv?Q 94)lBY )?Q E :y >Q I )@DI ;ii ;4yɮAEP5B*** querying acoustic contact ***1 1j9gOEFNOT Ignoring new targets: 118.26 m.RMZMgO] ProNav: ac range: 118.257500 m, nav range: 117.612053 m, bearing: 22.003737 deg, approach rate: -0.682144 m/s, LOS rate: -0.027492 deg/s, cmd heading: 32.482115 deg, new cmd heading: 32.456747 deg. B]AIgO]HeadingCmd: 0.566477 target range: 118.257500 and range: 118.90 m.e?a*a"a aaiimBʎiqqjqZu@ ?额Bɢ )  ˾i)顩i]i?9%7F;I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753453ԙ9@ @@/@AzAIyIO]>E EE%E"E ;*E&p:VE 4ZEBEQQ2_?2ٱ2 :AHRS rotation from veh to nav: [[0.840448,-0.533336,-0.095910],[0.541453,0.833632,0.109025],[0.021807,-0.143561,0.989401]]2H ?@@S?`??T?2`¿,?i2[>I2j=^;2ߐCYN-ByR IbDZVDZ:yb)=%bu=ٔbXQ-b?9dYd=fjGyf>FjmEj?lQ 5r4nzv?Q 9r4n)nrBYpyrH>Q Iv)@nDIn;in:n` 4yxɮzkAxjgOFNOT Ignoring new targets: 118.26 m.R%(Z%(gO- ProNav: ac range: 118.257500 m, nav range: 117.392250 m, bearing: 21.994990 deg, approach rate: -0.661031 m/s, LOS rate: -0.026355 deg/s, cmd heading: 32.456748 deg, new cmd heading: 32.439222 deg. B5@gO5HeadingCmd: 0.566171 target range: 118.257500 and range: 118.90 m.5?9*9"9 99AAAʎAIIjIZM2?Bɢ) &þi)cii?$7;I?I!@ @@/@IqIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257531) 7m> U Gm \A ʴ9 \AY rAD @AzD AAE%  E% E% &E! "E% :*E% ~:VE% 4ZE! a- @a5 @a5 @a5 @BA AE <BE >BA BE G IBE OBBE =BA BA BE oq;BE ]-E]/,nAX@A2Vִ>2A?2j޴ٱ2 :AHRS rotation from veh to nav: [[0.840991,-0.532343,-0.096670],[0.540598,0.834060,0.109988],[0.022077,-0.144759,0.989221]]2H f?XL?? /(?T?r¿ ?i2Vִ>I2[^;2C@Yv5Byv' IbDVD1y 6=%E=ٔ1+Q->9Y=jGy%6 E%>)Q 5-4-"v?Q 954-)-zBY1y5>Q I5)@-DI-:i-:-4yAɮE*AAjagOmFNOT Ignoring new targets: 118.26 m.RmZmgO ProNav: ac range: 118.257500 m, nav range: 117.118950 m, bearing: 21.984200 deg, approach rate: -0.659957 m/s, LOS rate: -0.026117 deg/s, cmd heading: 32.439222 deg, new cmd heading: 32.417591 deg. B/?gOHeadingCmd: 0.565794 target range: 118.257500 and range: 118.90 m.?*" ʎjZ@?Bɢee) ֹi)i{i? $:I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5270309@ @@/@ԩII)O5 >  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7775234/,e[X@A.Z>.?.ϸٱ.r1 :AHRS rotation from veh to nav: [[0.841494,-0.531455,-0.097174],[0.539795,0.834559,0.110150],[0.022558,-0.145145,0.989153]].H ? g฿F??2?a?¿$?i.Z>I.;^;.CYR8ByR* Ili-Mb@Mb@Mb@)))) )9-'1Z? rh9Y!=%jGy%?F% E%>)Q 5U4-"v?Q 9]4-)-BY]#?Q E]:y]>Q I])@-DI-;i-`;-B4yeBɮe-AmEjgOFNOT Ignoring new targets: 118.26 m.RZgO ProNav: ac range: 118.257500 m, nav range: 116.840645 m, bearing: 21.972544 deg, approach rate: -0.624553 m/s, LOS rate: -0.026220 deg/s, cmd heading: 32.417591 deg, new cmd heading: 32.394223 deg. B?gOHeadingCmd: 0.565386 target range: 118.257500 and range: 118.90 m.!?*" Bʎ!!!j!Z%@>@Bɢ) a AQ Ia Iq O >h/,wuX@A2 >2?2Ȧٱ2 :AHRS rotation from veh to nav: [[0.841810,-0.531046,-0.096671],[0.539287,0.835054,0.108880],[0.022905,-0.143790,0.989343]]2H`?Tf@A?@¸?߻?Rt? g¿ ?i2 >I2X^;2CYB6ByB( IIFG>)F= J49XY\=^jGy\^׺E^>`Q 5f4bv?Q 9f4b)bBYhyj>Q Ij)@bDIb;ib;b4ylɮn5AnEjgOFNOT Ignoring new targets: 118.26 m.R Z checking for new query: numPingsReceived=0, elapsed TxPingTime=2.281612gOU ProNav: ac range: 118.257500 m, nav range: 116.609428 m, bearing: 21.962893 deg, approach rate: -0.650727 m/s, LOS rate: -0.027215 deg/s, cmd heading: 32.394225 deg, new cmd heading: 32.374884 deg. BU:GgO]HeadingCmd: 0.565048 target range: 118.257500 and range: 118.90 m.]?Y*Y"Y aaaaaʎijZԁ@=Bɢ=, )9 =i9)E AAiEBiM?M#M L:IM?IQ9@ @@/@A^Arg:E EEE"E:*E]t:VEZEa@a@a@a@B>BCBM IBTBBBBzDB*q;B7-EAIIOl>ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.533422ԑ W/,_X@AԁᏳ>͝?ļٱH' AHRS rotation from veh to nav: [[0.842297,-0.530276,-0.096664],[0.538478,0.835815,0.107031],[0.024037,-0.142203,0.989546]]H?`5;??Zf?;?`3¿[?iᏳ>I@Q^;Y4By& IiMb@Mb@Mb@ 9Cl?x&I +?Y;?y79<A(@ 5 A)OAY= AbDVD0y%5-=ٔ=Q-=>99Y9=EjGyE@FEEE>IQ 5U4Mav?Q 9U4M*)MBY]@ ?Q E]:y]Q>Q I])@M DIM:iM:M'4yaɮeFAaPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 118.26 m.RZgO ProNav: ac range: 118.257500 m, nav range: 116.307457 m, bearing: 21.950354 deg, approach rate: -0.621379 m/s, LOS rate: -0.025868 deg/s, cmd heading: 32.374885 deg, new cmd heading: 32.349743 deg. B]=gOHeadingCmd: 0.564610 target range: 118.257500 and range: 118.90 m.@?*" BʎjZ@4@Bɢ9) i)i@i@?," Z:I@?I =checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787156ԡ@ @@0@E EE'E"E:*E n:VE'4ZEBE BDAT read: Rx Time:00:42:37.9343  TRx dataTimestamp_ set to:1761698558.629122 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038562/,8X@AYv;Byv. IbD%VD%βy5=%5h=ٔ=Q-=?9AYA=EjGyAEEE?IQ 5U4MGv?Q 9U4M)MBYYyYQ I])@M'DIM;iMa;M-4yaɮe AmEjgOFNOT Ignoring new targets: 118.26 m.RAZAgO ProNav: ac range: 118.257500 m, nav range: 116.096886 m, bearing: 21.941572 deg, approach rate: -0.623171 m/s, LOS rate: -0.026037 deg/s, cmd heading: 32.349743 deg, new cmd heading: 32.332147 deg. B>gOHeadingCmd: 0.564302 target range: 118.257500 and range: 118.90 m. v?*" ʎjZ( @Bɢ) u篾iq)uQyyi}@i v?"~:I v?It>i,>M9@I @I@M0@I@U=@U==checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2894821^Amrg:A I I O >B >B CB S IB YBB =B B B B 2-EE  E E )E "E :*E [:VE FA4ZE BE <2E <JE C;:E C;Y X/,ÿX@A>\?ӼٱK  AHRS rotation from veh to nav: [[0.842263,-0.530251,-0.097095],[0.538448,0.836167,0.104398],[0.025831,-0.140211,0.989785]]H ?4۸:?? ͹?Rs?lP?i>I >^;Y%9QYQ=]jGy]AF]E]>aQ 5m4e w?Q 9m4eh)eBYiyuA>Q Iu)@e0DIe;ie3;e44yyɮ}AyDAT read: 00:42:37.9343 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 405, 0.39,-2.207, 2.694,-1.600,-2.262, PHS= 0.158,-1.282, 0.618, RAW= 163.4, 6.0, CAL= 162.7, 5.4, ROT= 347.3, -5.4 Ygot valid direction response: 00:42:37.9343 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 405, 0.39,-2.207, 2.694,-1.600,-2.262, PHS= 0.158,-1.282, 0.618, RAW= 163.4, 6.0, CAL= 162.7, 5.4, ROT= 347.3, -5.4 PDAT read: Bearing 180.8, -12.0 (Local) ~Local bearing/azimuth received: Bearing 180.8, -12.0 (Local) DAT read: Range 11 to 50 : 116.6 m (Round-trip 155.5 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.971205,-0.218871,0.094108]Fpublishing direction and range infoy4(?FQ̿|ӄ{?Y3B )EI!>i?5?6@Pw=ּ5@ =) @Itd?Ff:?,h!? A?)΢ԽIbizȿX@AJBRBj>>Y'\@HΌa9w%@r4(?FQ̿|ӄ{?Zbb]Q;Z@xكGD@^D1@zP4d?9db?n"4?]T****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.2<"B:B"V\?*ȞBƤBV\?“NB:F>gO addTargetRange:: Added new target pos. range: 116.599998 m, deltaT: 3.795137 s, deltaX: -2.300003 m, approachRate: -0.606040 m/s, rangeRepo size: 4 gO Added new target pos. range: 115.963646 m, bearing: 20.713764 deg, lat: 36.779267 deg, lon: -121.859475 deg, deltaT: 3.795137 s, deltaX: -2.293854 m, approachRate: -0.604419 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 115.96 m.RZgOU ProNav: ac range: 115.963646 m, nav range: 115.652580 m, bearing: 21.964239 deg, approach rate: 0.000000 m/s, LOS rate: -0.026037 deg/s, cmd heading: 32.332148 deg, new cmd heading: 32.307375 deg. BQgO]HeadingCmd: 0.563870 target range: 115.963646 and range: 116.60 m.]Y?Y*Y"Y Yaaaʎj`f&]@ZÝ?=Bɢ= U BDAT read: Tx time:00:42:39.1747 U $Ping request sent.U Aa A .AI I O >/,'X@AE EE&E "E:*EA:VE4ZE a@a@a@a@bo{>b?b$Yۼٱbܴ ~AHRS rotation from veh to nav: [[0.842322,-0.530147,-0.097145],[0.538309,0.836458,0.102773],[0.026773,-0.138861,0.989950]]bHM?@`v޸@9?B?MO?Mj?@5@?ibo{>Ib^;bސCY :By - IiMb@Mb@Mb@ 9E?V-:v?Y&?ymT<A?@ )fAYf AbDVDNy%7=ٔv Q->9 ?Y ?=jGy%E%>)Q 554-#w?Q 954-)-BY5Y'?Q E=:y=s>Q I=)@-9DI-o;i-;-z<4yEBɮEAEEjigOmFNOT Ignoring new targets: 115.96 m.RuW!ZuW!gO ProNav: ac range: 115.963646 m, nav range: 115.362991 m, bearing: 21.949815 deg, approach rate: -0.706215 m/s, LOS rate: -0.035264 deg/s, cmd heading: 32.307375 deg, new cmd heading: 32.278455 deg. BgOHeadingCmd: 0.563365 target range: 115.963646 and range: 116.60 m.8?*" BʎjZ?Bɢ ) *i)% i㬻i8? D:I8?I-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251200Q@ @@4@i^A ?B:ԙ AQ IY Ii O > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502718/,X@A2>2?2!ٱ2& :AHRS rotation from veh to nav: [[0.842199,-0.530487,-0.096353],[0.538453,0.836734,0.099718],[0.027722,-0.135864,0.990340]]2HK? @;?@??Dc?cܰ?i2>I2q^;2ߐCYn9Y= jGy BF F:E >Q 545w?Q 94)BY!y%>Q I%)@ADI;i;B4y)ɮ-A)jQgOUFNOT Ignoring new targets: 115.96 m.R]+Z]+gOm ProNav: ac range: 115.963646 m, nav range: 115.124741 m, bearing: 21.937884 deg, approach rate: -0.649673 m/s, LOS rate: -0.032603 deg/s, cmd heading: 32.278456 deg, new cmd heading: 32.254543 deg. BmngOuHeadingCmd: 0.562948 target range: 115.963646 and range: 116.60 m.u\?q*q"q qyyʎjZL?颽BɢtW ) i).$i;i\?a 6@;I\?IbEjE24rE–/E= E=E=(E9"E=>:*E=?:VE=c44ZE9B%>B%CB%Z IB%^BB% =B!B!B%6q;B%9-EBCBCBB =B =CE 6a@a @a@e/@a@m[A@m\AԩEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755129^Am ;A ؟AI I O > f0,2X@A>?uٱ* AHRS rotation from veh to nav: [[0.841825,-0.531120,-0.096138],[0.538990,0.836648,0.097514],[0.028642,-0.133907,0.990580]]H:? y`h????GT?#Բ?i>I^;Y-?By-4 I5=5=iMb@Mb@Mb@ 9p= ף?QI +?Y%?yu94<AV@  A)OAY AbD VD 2y<%9=ٔQ->9%"?Y%"?=%jGy!-A:E->1Q 5=45Jw?Q 9=45t)5¼BY=%?Q E=:y=>Q IE)@5JDI5/:i5:5J4yIɮMAIPeB*** querying acoustic contact ***a ajygO}FNOT Ignoring new targets: 115.96 m.RZchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006813gO ProNav: ac range: 115.963646 m, nav range: 114.840355 m, bearing: 21.924101 deg, approach rate: -0.642415 m/s, LOS rate: -0.031212 deg/s, cmd heading: 32.254544 deg, new cmd heading: 32.226910 deg. B{dgOHeadingCmd: 0.562466 target range: 115.963646 and range: 116.60 m.?*" ނBʎjZ D@?Bɢe)i mii)mZ(iiimګiu?uuY;I}?Iy]9@Y @Y@Y@YE= E=E=&E9"E=,:*E=L_:VE=4ZE9BE=k 0,-X@AYGBy%= IbDEVDEܲye'=%eW=ٔeQ-m>9iYi=ujGyuCFuE}>Q 54E]w?Q 94w)ɼBYyQ I)@RDI3;i6D;CQ4yɮAEjgOFNOT Ignoring new targets: 115.96 m.RZgO ProNav: ac range: 115.963646 m, nav range: 114.595245 m, bearing: 21.912167 deg, approach rate: -0.638880 m/s, LOS rate: -0.031174 deg/s, cmd heading: 32.226909 deg, new cmd heading: 32.202989 deg. B4dgO HeadingCmd: 0.562048 target range: 115.963646 and range: 116.60 m. d? * "  ʎjZ%`a?1MBɢUjN)1 5i1)5,11i5ui=d?==hk;IEd?IA!@! @!@%/@!achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511146ԉB A <B >B B f IB iBB =B B B jq;B T-EEU  EU EU %EQ "EU :*EU xv:VEU 4ZEQ BEU p%<2EU p%<JEU ;:EU ;^Am _;I I O >Թ c0,mGX@A2S>25?26ٱ2iI :AHRS rotation from veh to nav: [[0.840925,-0.532578,-0.095946],[0.540338,0.836076,0.094932],[0.029659,-0.131674,0.990849]]2H?@ 鏸`sJ?!?xM?_? ?i2S>I2^;2CYBJByFA IbDNVDNyVf_<%VW=ٔV_/Q-V>9XYX=ZjGyX^;E^>`Q 5f4bow?Q 9f4bz)bмBYhyjj>Q Ij)@bZDIb:ib:bW4ylɮnApchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762774jgOFNOT Ignoring new targets: 115.96 m.R}Z}gO ProNav: ac range: 115.963646 m, nav range: 114.351013 m, bearing: 21.900032 deg, approach rate: -0.647439 m/s, LOS rate: -0.032237 deg/s, cmd heading: 32.202990 deg, new cmd heading: 32.178669 deg. BkgOHeadingCmd: 0.561624 target range: 115.963646 and range: 116.60 m.?*" ʎjZ@[@ԑ颭Bɢh) 百i){0iDi?۲;I?II)9@ @@/@@=@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014732^Ayb];I I O > E]  E] E] 'EY "E] >:*E] k:VE] '4ZEY ae @am @am @am @{0,vaX@A2!>2nS?25ٱ2O3 ZAHRS rotation from veh to nav: [[0.840661,-0.532728,-0.097414],[0.540720,0.835687,0.096174],[0.030172,-0.133523,0.990586]]2H?` M?@???K?i2!>I2/^;0YbGByb< I ddhhiMMb@Mb@Mb@IIII I9M#~j?V-Mb?YM%?yMhM9Y=jGyDFH:E>Q 54ӄw?Q 94')ټBY&?Q E:y >Q I)@cDI];iP;u_4yɮAEjgOFNOT Ignoring new targets: 115.96 m.RZgO ProNav: ac range: 115.963646 m, nav range: 114.070229 m, bearing: 21.888344 deg, approach rate: -0.650935 m/s, LOS rate: -0.027163 deg/s, cmd heading: 32.178667 deg, new cmd heading: 32.155233 deg. BFgOHeadingCmd: 0.561215 target range: 115.963646 and range: 116.60 m.ī?*" ւBʎyyjZ!@Bɢۚ) Ui)v4iiī?;Iī?I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2676639@ @@~0@ ^Aϩ;9 IY Ii O} > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5186750,p${X@AFu<>Ft?FٱFm RAHRS rotation from veh to nav: [[0.840378,-0.532941,-0.098685],[0.541130,0.835318,0.097070],[0.030701,-0.134976,0.990373]]FHa? dC P? ?ٸ? o? F"?iFu<>IF^;FCYZNByZE I-IGbD VD fE`]AY9`]AYўAy=%K=ٔQ->9Y=jGyС:E>Q 54w?Q 94 )BYyO>Q I)@kDI6:i-:f4yɮlAEj!gO%FNOT Ignoring new targets: 115.96 m.R-Z-gO] ProNav: ac range: 115.963646 m, nav range: 113.808411 m, bearing: 21.877322 deg, approach rate: -0.636032 m/s, LOS rate: -0.026836 deg/s, cmd heading: 32.155233 deg, new cmd heading: 32.133139 deg. B]tDgOeHeadingCmd: 0.560829 target range: 115.963646 and range: 116.60 m.e~?a*a"a aaiiiʎiqqjyZ}v@B>BCBl IBnBBBB{DBq;Be-EBɢւ) i)8ii~?q| ;I~?IDD<E5 E5E1E1"E5:*E5T:VE1ZE1BE5'ԩ 6%0,X@A@UmB>Uw?UٱU eAHRS rotation from veh to nav: [[0.840343,-0.532912,-0.099137],[0.541162,0.835303,0.097017],[0.031108,-0.135177,0.990333]]UH ? a 2Q?`κ?@ָ?`ڟ?yMΰ?iUmB>IUu^;UސCY}JBy}@ IiMb@Mb@Mb@ 9%C?~jt~jt?YZ$?yD<V@  A)AY AbDVD1y%Х%-?=ٔ-s{Q-->91Y1=5jGy5EF=8E=>AQ 5E4EVw?Q 9M4E)EBYM%?Q EM:yMV>Q IU)@EtDIE7 ;iE ;Em4yYɮ]AYuBDAT read: Rx Time:00:42:41.7310 }TRx dataTimestamp_ set to:1761698562.409230}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023839PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 115.96 m.R-ݹZ-ݹgO= ProNav: ac range: 115.963646 m, nav range: 113.535034 m, bearing: 21.866837 deg, approach rate: -0.630654 m/s, LOS rate: -0.024246 deg/s, cmd heading: 32.133137 deg, new cmd heading: 32.112117 deg. B=}1gOEHeadingCmd: 0.560462 target range: 115.963646 and range: 116.60 m.Esz?A*A"A yyԡԂBʎjZ@ @BɢL:)! %i!)%=))i-ie%>9@ @@4@@ZA@E- E-E-)E)"E->:*E-g:VE-FA4ZE)a5@a5@a5@a5@ % checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274637^A- [R;I I O >-+0,.X@AZD>Z/x?ZٱZx fAHRS rotation from veh to nav: [[0.840340,-0.533189,-0.097660],[0.541180,0.835506,0.095156],[0.030859,-0.132815,0.990660]]ZH?`8XQ?@v?'\?{?`}?iZD>IZE^;XlYvQByvJ II~N>)~<bD VD y%'=%-\=ٔ-0:Q-->91Y1==jGy=FF=>8EE>IQ 5]4M|w?Q 9]4M)MBYYyeN>Q Ie)@M|DIM/;iM)0;Mpt4ymBɮmNAijgOFNOT Ignoring new targets: 115.96 m.R Z gO ProNav: ac range: 115.963646 m, nav range: 113.295616 m, bearing: 21.857621 deg, approach rate: -0.671551 m/s, LOS rate: -0.025905 deg/s, cmd heading: 32.112117 deg, new cmd heading: 32.093646 deg. B=gOHeadingCmd: 0.560140 target range: 115.963646 and range: 116.60 m.Re?*" ʎjZC @m߂Bɢ) Ǎi)6C@顱i%תiRe? ;IRe?I 9@ @@/@DAT read: 00:42:41.7310 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 403, 0.24,-1.937, 2.954,-1.327,-1.963, PHS= 0.129,-1.321, 0.592, RAW= 163.4, 7.0, CAL= 162.9, 6.8, ROT= 347.1, -6.8 Ygot valid direction response: 00:42:41.7310 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 403, 0.24,-1.937, 2.954,-1.327,-1.963, PHS= 0.129,-1.321, 0.592, RAW= 163.4, 7.0, CAL= 162.9, 6.8, ROT= 347.1, -6.8 PDAT read: Bearing 181.9, -12.2 (Local) ~Local bearing/azimuth received: Bearing 181.9, -12.2 (Local) DAT read: Range 11 to 50 : 114.1 m (Round-trip 152.2 ms) speed 0.8 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.967904,-0.221680,0.118404]Fpublishing direction and range infoyMCI?l`̿EO?Y3B )@I>iP?5=5@ =)r@IC׀?Y?>j.? A?)IIfiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.1B>BCBs IBsBB =BBzDBrq;B[-E^A r;D) zD- ?AE5  E5 E5 "E1 "E5 m:*E5 F:VE5 (3ZE1 BE5 UY 20,cX@A6u(>6j?6Bٱ6a BAHRS rotation from veh to nav: [[0.840441,-0.533048,-0.097561],[0.540989,0.835763,0.093972],[0.031446,-0.131758,0.990783]]6H`?O???@? r~?i6u(>I6)^;6ߐCY^XBybR IbDjVDjkr*DAT read: user:545> vBDAT read: Tx time:00:42:42.9247 v$Ping request sent.v9Y= jGy   E >Q 54w?Q 94)BY!y%,>Q I%)@DI;i;^{4y)ɮ-A-E9fX@AJBRBj۹>Ғu[@'9 ݶo*@rMCI?l`̿EO?Zfbi?Z@GTC@A4@zj[+Mq?f]? ،?2B:B"B1?*`BBE?b|“>B>gO addTargetRange:: Added new target pos. range: 114.099998 m, deltaT: 3.780034 s, deltaX: -2.500000 m, approachRate: -0.661370 m/s, rangeRepo size: 4 gO Added new target pos. range: 113.479294 m, bearing: 20.798629 deg, lat: 36.779265 deg, lon: -121.859480 deg, deltaT: 3.780034 s, deltaX: -2.484352 m, approachRate: -0.657230 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 113.48 m.RZgO ProNav: ac range: 113.479294 m, nav range: 112.621956 m, bearing: 21.694761 deg, approach rate: 0.000000 m/s, LOS rate: -0.025905 deg/s, cmd heading: 32.093645 deg, new cmd heading: 32.072890 deg. BgOHeadingCmd: 0.559777 target range: 113.479294 and range: 114.10 m.M?*" ʎj`f\@Z?ނBɢas) Vi)jC顡i2iM?FT;IM?Ii9@ @@/@ԩ^AU0;checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251635A I I O >E=  E= E= %E9 "E= O:*E= T:VE= 4ZE9 aM @aM @aM @aM @R80,X@A2 >2'f?2Kٱ2 :AHRS rotation from veh to nav: [[0.840464,-0.532989,-0.097686],[0.540933,0.835850,0.093521],[0.031805,-0.131443,0.990813]]2H?>`RO? I??H?`?i2 >I2^;0ԙY=QBy=J IiMb@Mb@Mb@ 9y&1?ʡE rh?Y`%?y-C<A?@ " A)AYbD VD2y%-=ٔJGQ->9Y=jGyGF1E>Q 5m4;w?Q 9m4)BYm&?Q Em:ymv>Q Iu)@DIg86@0,iX@AB>BCB IB}BB =BB{DBNq;BK-EZ3>Zu ?Z7ٱZ bAHRS rotation from veh to nav: [[0.841040,-0.532034,-0.097942],[0.540039,0.836350,0.094220],[0.031786,-0.132136,0.990722]]ZH? k`G? `???F? @?iZ3>IZH];ZCDj4=Dj4=En ElEn&El"En:*ElVEn4ZElBEn9YYY=]jGyY]'Ee>aQ 5u4ew?Q 9u4e)eBYyy}>Q I})@eDIe';ie(;e4yBɮAEjgOFNOT Ignoring new targets: 113.48 m.RĹZĹgO ProNav: ac range: 113.479294 m, nav range: 112.045448 m, bearing: 21.676112 deg, approach rate: -0.667078 m/s, LOS rate: -0.021502 deg/s, cmd heading: 32.052893 deg, new cmd heading: 32.035494 deg. BggOHeadingCmd: 0.559125 target range: 113.479294 and range: 114.10 m."?*" ʎjZ@'?ۂBɢ))  {i ) \RK  iti"?i;I"?I!@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006972Q^A8EYF0,X@A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2589370:>:T?:ٱ:F BAHRS rotation from veh to nav: [[0.841947,-0.530438,-0.098800],[0.538643,0.836977,0.096610],[0.031448,-0.134558,0.990407]]:H@:?XJ I:];8Y]bBy]^ IiMb@Mb@Mb@ 9HzG?Zd;O:v?Y=*?yjT<@  A)&AYzAbDVDy-E<%->=ٔ-sN:Q-->91YQ=UjGyUHF]R{E]>aQ 5m4ex?Q 9m4ea)eBYm+?Q Em:ym>Q Iu)@eDIe;ie;e{4yyɮ}A}EPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 113.48 m.RrZrgO= ProNav: ac range: 113.479294 m, nav range: 111.755020 m, bearing: 21.667624 deg, approach rate: -0.669282 m/s, LOS rate: -0.019611 deg/s, cmd heading: 32.035493 deg, new cmd heading: 32.018473 deg. B=gOEHeadingCmd: 0.558828 target range: 113.479294 and range: 114.10 m.EV?A*A"A AAIԉ؂BʎjZ?ڂBɢE EE(E"E:*E~:VEc44ZEa@a@a@a@)  voi ) ϟN iI櫻iV??^;IV?I@ @@0@Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510730^A [R; I I O >;L0,S{4X@A2˭>2,?2Pٱ2 :AHRS rotation from veh to nav: [[0.843071,-0.528460,-0.099806],[0.536926,0.837662,0.100159],[0.030673,-0.138030,0.989953]]2Hp? $@@.?@!?@ ?h??i2˭>I2#];0xYaBy] IbDVDyEd%MZ=ٔM];Q-M>9QYQ=UjGyQUEU>YQ 5e4](x?Q 9m4])]#BYiym>Q Im)@]DI] :i]:]4yqɮ}AyjgOFNOT Ignoring new targets: 113.48 m.RNZNgO ProNav: ac range: 113.479294 m, nav range: 111.506935 m, bearing: 21.660584 deg, approach rate: -0.669758 m/s, LOS rate: -0.019049 deg/s, cmd heading: 32.018472 deg, new cmd heading: 32.004360 deg. Br gOHeadingCmd: 0.558581 target range: 113.479294 and range: 114.10 m.2?*" ʎjZ {?قBɢT) ni ) =Q  i 뫻i2?~;I2?Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764014@ @@4@@[A@ZA BE>BECBE IBEBBE =BABE|DBE q;BE2-EB CB CB B =B =C 6bE!4jE{4rE0E EEE"E:*E?:VEZEBEa 2EaJE;a:E;aI^A;A[AzAZAI I O >a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014833|mS0,p`NX@AZ֮>ZF?ZٱZ fAHRS rotation from veh to nav: [[0.844126,-0.526507,-0.101201],[0.535293,0.838273,0.103729],[0.030220,-0.141733,0.989443]]ZH ?%R蹿@!? "?? ?M$¿`?iZ֮>IZ];ZCYreByrb IIv>)v>bDzVDzJy<%N=ٔ :Q- >9 Y =jGyIF࠻E>Q 5%4bQ I-)@DI:i:49y9ɮ=A9jgOFNOT Ignoring new targets: 113.48 m.R<Z<gO ProNav: ac range: 113.479294 m, nav range: 111.241898 m, bearing: 21.653274 deg, approach rate: -0.641334 m/s, LOS rate: -0.017729 deg/s, cmd heading: 32.004361 deg, new cmd heading: 31.989707 deg. BgOHeadingCmd: 0.558326 target range: 113.479294 and range: 114.10 m.o? * "    ʎjZ @}؂Bɢ}4G)y di)QT顁i$io?n9'E;Io?I!@! @)@-z3@)q]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266889ԙ^Amr;IIO>E  E E &E "E :*E X:VE 4ZE a @a @a @a @Թ [Y0,2hX@A6>6?6ٱ6 >AHRS rotation from veh to nav: [[0.845343,-0.524306,-0.102463],[0.533382,0.839104,0.106811],[0.029975,-0.144944,0.988986]]6H ? :w??W?`ϱ?¿ť?i6>I6];6ސCYJjByJh IiMb@Mb@Mb@ 9S㥛?MbX99IYI=MjGyIMEU>QQ 5e4UPx?Q 9e4U)U7BYeo'?Q Ee:ye>Q Ie)@UDIU ;iU:U4yuBɮuxAuEԙjgOFNOT Ignoring new targets: 113.48 m.RݹZݹgO ProNav: ac range: 113.479294 m, nav range: 110.974670 m, bearing: 21.643760 deg, approach rate: -0.678745 m/s, LOS rate: -0.024223 deg/s, cmd heading: 31.989707 deg, new cmd heading: 31.970633 deg. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518934BR1gOHeadingCmd: 0.557993 target range: 113.479294 and range: 114.10 m.?*" ۂBʎjZ6@ׂBɢ\3) jYi)4Wi{bi%?%%ڽ:I-?IQ9@ @@/@^A2;IQ Ia u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770917O} > BE >BE CBE IBE BBE =BA BE {DBE p;BE -E}`0,X@A2>2#?2Iٱ2 :AHRS rotation from veh to nav: [[0.846205,-0.522857,-0.102746],[0.532040,0.839727,0.108592],[0.029501,-0.146556,0.988762]]2H ?`?M@x?@ ? ̻?i5?Y¿?i2>I2];2ߐCYRlByRk IbDZ VDZ2Eb EbEb%E`"Eby:*EbP:VEb 4ZE`BEb9Y=jGyJFM~E>Q 54%ex?Q 94)ABYy>Q I)@DI+;i;@4yBɮYAEjgOFNOT Ignoring new targets: 113.48 m.RιZιgO  ProNav: ac range: 113.479294 m, nav range: 110.706993 m, bearing: 21.634396 deg, approach rate: -0.644905 m/s, LOS rate: -0.022616 deg/s, cmd heading: 31.970633 deg, new cmd heading: 31.951859 deg. B %gOHeadingCmd: 0.557665 target range: 113.479294 and range: 114.10 m.%?*" ʎ!!!j!Z% @eւBɢe&)a eSia)mYiiimiu%?bRhw :I%?I9@ @@/@@@=BDAT read: Rx Time:00:42:45.4776 TRx dataTimestamp_ set to:1761698566.189855checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024611!Q^Aq:I I! O- >ԁ df0,X@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2747836Ӯ>6b??6ٱ6# BAHRS rotation from veh to nav: [[0.847138,-0.521157,-0.103696],[0.530595,0.840194,0.111996],[0.028757,-0.149897,0.988283]]6H?QՋ?? ī?r? /ÿ`?i6Ӯ>I6];6ݐCYJoByJn I LLiMb@Mb@Mb@ 9}?5^I?sh|?/$?YM"?y<A@  A)AYAbD5VD50yE6y<%EN=ٔEl:Q-M>9IYI=MjGyIUEU>Q 54yx?Q 94)LBY#?Q E:y>Q I)@ʗDI@:i:g4yɮ<AEP B*** querying acoustic contact ***  qjgOFNOT Ignoring new targets: 113.48 m.RݩZݩgO ProNav: ac range: 113.479294 m, nav range: 110.446419 m, bearing: 21.626560 deg, approach rate: -0.615893 m/s, LOS rate: -0.018564 deg/s, cmd heading: 31.951861 deg, new cmd heading: 31.936153 deg. BgOHeadingCmd: 0.557391 target range: 113.479294 and range: 114.10 m.-?*" BʎjZ @MՂBɢMܼ) Li)f\顑ii-?-I-?IE EEE"E:*Ei:VEZEa@a@a@a@m9@i @q@u/@qԩDAT read: 00:42:45.4776 LVL= 31968, 32753, 27474, 32755, AGC= 71, IDX= 402,-0.13,-1.190,-2.578,-0.574,-1.243, PHS= 0.155,-1.290, 0.625, RAW= 163.6, 6.0, CAL= 162.9, 5.4, ROT= 347.1, -5.4 Ygot valid direction response: 00:42:45.4776 LVL= 31968, 32753, 27474, 32755, AGC= 71, IDX= 402,-0.13,-1.190,-2.578,-0.574,-1.243, PHS= 0.155,-1.290, 0.625, RAW= 163.6, 6.0, CAL= 162.9, 5.4, ROT= 347.1, -5.4 PDAT read: Bearing 179.5, -12.1 (Local) ~Local bearing/azimuth received: Bearing 179.5, -12.1 (Local) %DAT read: Range 11 to 50 : 111.6 m (Round-trip 148.9 ms) speed 0.6 m/s -R#Rx 1: Read range and direction messages.5^direction in FSK: [0.970435,-0.222259,0.094108]5Fpublishing direction and range infoyc ?r̿|ӄ{?Y3B|Rk )GIR>i ?36@Pw= =)IƢ@ ? 2\?2Zٱ2 :AHRS rotation from veh to nav: [[0.848409,-0.519189,-0.103177],[0.528601,0.841280,0.113267],[0.027994,-0.150636,0.988193]]2H*&?1iL???i?@ HÿF?i2>I2g];2CYVwByVw IbD^VD^yf%=%fR=ٔj;Q-j>9hYh=jjGynKFn ǻEn>pQ 5v4rzx?Q 9v4r)rVBYxyz>Q Iz)@rїDIrl:ird:r4y|ɮ~A  SXX@AJ BR Bj > ?IZ@h'Dk8w6$@r c ?r̿|ӄ{?Z b  Zu_Y@DB@<, 1@z 7ot?`7?{ eT?2 wB: :B" |?* MDB B  `“ ƤB B L>gO addTargetRange:: Added new target pos. range: 111.599998 m, deltaT: 3.780377 s, deltaX: -2.500000 m, approachRate: -0.661310 m/s, rangeRepo size: 4 gO Added new target pos. range: 110.994644 m, bearing: 19.919221 deg, lat: 36.779265 deg, lon: -121.859502 deg, deltaT: 3.780377 s, deltaX: -2.484650 m, approachRate: -0.657249 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 110.99 m.RZgO ProNav: ac range: 110.994644 m, nav range: 109.494522 m, bearing: 20.659430 deg, approach rate: 0.000000 m/s, LOS rate: -0.018564 deg/s, cmd heading: 31.936151 deg, new cmd heading: 31.922213 deg. BgOHeadingCmd: 0.557148 target range: 110.994644 and range: 111.60 m.<?*" !!!!ʎ)))j-`f[@Z-?ɢڼ) H UBDAT read: Tx time:00:42:46.7246 U$Ping request sent.UBCB IBBB =BBzDBp;B,E E EE&E"E:*E?:VE4ZEBE checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248111Y 7s0,oX@A2>2n(?2Gfٱ2 :AHRS rotation from veh to nav: [[0.849418,-0.517770,-0.101992],[0.527002,0.842346,0.112794],[0.027511,-0.149559,0.988370]]2H`o.? @#@4?~? ?+? $ÿ ?i2>I2];2ސCYByByB{ IbDNVDN02yVT<%VL=ٔV:Q-V>9XYX=ZjGyX^E^>`Q 5f4b x?Q 9f4bF)b`BYdyf>Q I=)@bٗDIby E  E E %E "E I:*E *5:VE 4ZE a @a @a @a @xy0,yX@A02>2 ?2&޼ٱ2S  :AHRS rotation from veh to nav: [[0.850387,-0.516345,-0.101141],[0.525455,0.843345,0.112543],[0.027186,-0.148850,0.988486]]2H_6? d乿?`?@ϼ?֛? ÿ`?i2>I2];0Y^wBybx IIf4=)f;f=f=iMb@Mb@Mb@ 9S㥛?+~jt?Y$?y<checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752193ZA  A)"AYAbDVDβy2%;=ٔB:Q->9Y=jGyLFE>Q 54x?Q 94)kBY#&?Q E:yx>Q I)@DIj:i:4yɮAEjAgOMFNOT Ignoring new targets: 110.99 m.R]yZ]ygOu ProNav: ac range: 110.994644 m, nav range: 108.956985 m, bearing: 20.638352 deg, approach rate: -0.656251 m/s, LOS rate: -0.027045 deg/s, cmd heading: 31.903240 deg, new cmd heading: 31.879953 deg. B}EgOHeadingCmd: 0.556410 target range: 110.994644 and range: 111.60 m.p?*" QU݂BʎYYYjaZe ?ԑɢ -Ѽ)  9i )Yci+ip?Ip?I!@ @@@Թe checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006873 ^A yIi Iy O >B ڿ>B CB IB BB =B B yDB p;B ,Eۀ0,X@A2[ժ>2@ ?2F?ݼٱ2 :AHRS rotation from veh to nav: [[0.851290,-0.514971,-0.100555],[0.524001,0.844266,0.112416],[0.027004,-0.148389,0.988560]]2H=?z?:?IǼ?` ?l¿ I?i2[ժ>I2?];2CDB=DBR=EF EFEF'ED"EF:*EFF:VEF'4ZEDBEF9hYl=njGylrEr>tQ 5v4vTx?Q 9z4vd)vtBYxyz>Q Iz)@vDIv:iv :v>4yɮAj!gO-FNOT Ignoring new targets: 110.99 m.R-Z-gO= ProNav: ac range: 110.994644 m, nav range: 108.713348 m, bearing: 20.628512 deg, approach rate: -0.656336 m/s, LOS rate: -0.026566 deg/s, cmd heading: 31.879952 deg, new cmd heading: 31.860229 deg. BEzBgOEHeadingCmd: 0.556066 target range: 110.994644 and range: 111.60 m.EVZ?I*I"I IIIQQʎQQYjYZ]@Ԅ?ӂBɢ1) ;i ) sf  i iuVZ?uu yIuVZ?Iy 9@  @ @ /@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257013^AMIIO>! 0,uX@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510366FP>F ?F ۼٱF| RAHRS rotation from veh to nav: [[0.852056,-0.513923,-0.099413],[0.522762,0.845185,0.111275],[0.026836,-0.146782,0.988805]]FH` D?`r's@w? ?}|?`z?@¿J?iFP>IF];FސCYZ|ByZ~ I|iEMb@Mb@Mb@AAAA A9E!rh?ʡEy&1?YEl'?yE-E`e9yYy=}jGy}MF}aE>Q 54x?Q 94`)~BY(?Q E:yB>Q I)@DI ;i7 ;4yBɮAPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 110.99 m.RƹZƹgO ProNav: ac range: 110.994644 m, nav range: 108.434471 m, bearing: 20.619314 deg, approach rate: -0.656327 m/s, LOS rate: -0.021704 deg/s, cmd heading: 31.860230 deg, new cmd heading: 31.841786 deg. BgOHeadingCmd: 0.555744 target range: 110.994644 and range: 111.60 m.=E?*"  ʎjZ ?aɢe мE EE"E"Eغ:*E n:VE(3ZEa@a@a@a@)i .i)Th顡iBi=E?:GܻI=E?II)YA)e9@a @a@e/@a@m=@m=Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760120^A TлA ?A >ԁ A I I O >&/0,fL7X@A2jЩ>2 ?2]ݼٱ2c[ :AHRS rotation from veh to nav: [[0.852329,-0.513495,-0.099285],[0.522304,0.845537,0.110750],[0.027079,-0.146252,0.988877]]2H HF?n j ??Z?? e¿?i2jЩ>I2];2ߐCYBByB I DDbDNVDNyVB`=%VX=ٔVk(Q-Z>9XYX=ZjGyX^E^>!Q 5-4%x?Q 9-4%)%BY)y->Q I-)@%DI%:i%:%|4y9Yɮ]tAeEjgOFNOT Ignoring new targets: 110.99 m.RH¹ZH¹gO ProNav: ac range: 110.994644 m, nav range: 108.177673 m, bearing: 20.610878 deg, approach rate: -0.644790 m/s, LOS rate: -0.021232 deg/s, cmd heading: 31.841785 deg, new cmd heading: 31.824873 deg. BmgOHeadingCmd: 0.555449 target range: 110.994644 and range: 111.60 m.1?*" ʎjZ@ɢϼ) i)4Sji li 1? "4߻I1?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012164Iqԉ@! @!@%/@!Bm>BmCBm IBmBBm =BiBmuDBmWp;Bm,EDzD@AE EE$E"E7:*ET:VE4ZEBE;a2E;aJEͨ;a:Eͨ;aԱ^AM `Ի checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265454 Ay I I O >-0,,(QX@A29>2{W ?2`ݼٱ2ww :AHRS rotation from veh to nav: [[0.853147,-0.512453,-0.097637],[0.520970,0.846647,0.108533],[0.027046,-0.143461,0.989286]]2H L?@fȫ??Ȼ??@\¿I2 ^;0YBByF IbDNVDN02yV%VJ=ٔV8Q-Z>9XYX=ZjGyZNF^}E^>`Q 5f4bsy?Q 9f4b֖)bBYdyj>Q Ij)@bDIbB:ib|:bV4ylɮnApjgOFNOT Ignoring new targets: 110.99 m.R ŹZ ŹgO ProNav: ac range: 110.994644 m, nav range: 107.919991 m, bearing: 20.602602 deg, approach rate: -0.670619 m/s, LOS rate: -0.021589 deg/s, cmd heading: 31.824874 deg, new cmd heading: 31.808283 deg. B gOHeadingCmd: 0.555159 target range: 110.994644 and range: 111.60 m.?*" ʎjԹZ{ @qɢŸͼ) i)wl顙iѢi?PI?I-9@) @)@-0@)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518448^A5r绝uPExceeded connect timeout, disconnecting.E  E E 'E "E :*E C:VE '4ZE a @a @a @a @AA II IY Om >9 8A0,kX@AYnByr Imchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769403iMb@Mb@Mb@ 9~jt?sh|?y&1?Y$?yGA@  A)AYAbDVD:ym;%7=ٔQ->9 Y = jGy E>!Q 5-4%_y?Q 9-4%w)%BYU&?Q EU:yU>Q IU)@%DI%;i%;%4y]Bɮ]A]EjgOFNOT Ignoring new targets: 110.99 m.R%ȹZ%ȹgO ProNav: ac range: 110.994644 m, nav range: 107.609177 m, bearing: 20.591920 deg, approach rate: -0.634574 m/s, LOS rate: -0.021873 deg/s, cmd heading: 31.808283 deg, new cmd heading: 31.786857 deg. B gOHeadingCmd: 0.554785 target range: 110.994644 and range: 111.60 m.i?*") )))15܂Bʎ111j9Z=@颁ɢǼ) i )  n  i ii?vyIi?I-a>i)9@ @@0@@@\A BDAT read: Rx Time:00:42:49.2745  TRx dataTimestamp_ set to:1761698569.969085 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021148) ^A Bm >Bm CBm IBm BBm =Bi Bi Bm p;Bm ,EB%CB%CB%˖CB% =B% =C%6Y D =D <bEE-4jEE̙4rEEͰ/E  E E &E "E ,:*E g:VE 4ZE BE º0,AX@A6t>6H ?6߼ٱ6C BAHRS rotation from veh to nav: [[0.853706,-0.512081,-0.094654],[0.520038,0.847866,0.103362],[0.027324,-0.137465,0.990130]]6HQ?b@:;'? !?`u? ? q$?i6t>I6 ^;6CYJByJ II^>)^< `bbDbVDbk1yEŏ<%EC=ٔM-Q-M>9IYq=ujGyuOFu )Eu>yQ 54}/y?Q 94})}BYyo>Q I)@}DI};i};}4yɮaAjgOFNOT Ignoring new targets: 110.99 m. R YȹZ%YȹgO ProNav: ac range: 110.994644 m, nav range: 107.358757 m, bearing: 20.583445 deg, approach rate: -0.645493 m/s, LOS rate: -0.021895 deg/s, cmd heading: 31.786857 deg, new cmd heading: 31.769869 deg. BG gOHeadingCmd: 0.554489 target range: 110.994644 and range: 111.60 m. ?*" ʎjZ @ɢ8ͼ) i)pi~1i ?sp[I ?IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272434}9@ @@4@9a^AAQ I ԑ I O > DAT read: 00:42:49.2745 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417,-0.10,-2.999, 1.889,-2.447,-3.033, PHS= 0.137,-1.316, 0.542, RAW= 162.0, 7.6, CAL= 161.5, 7.6, ROT= 348.5, -7.6  Ygot valid direction response: 00:42:49.2745 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417,-0.10,-2.999, 1.889,-2.447,-3.033, PHS= 0.137,-1.316, 0.542, RAW= 162.0, 7.6, CAL= 161.5, 7.6, ROT= 348.5, -7.6  PDAT read: Bearing 181.4, -11.1 (Local)  ~Local bearing/azimuth received: Bearing 181.4, -11.1 (Local)  DAT read: Range 11 to 50 : 109.3 m (Round-trip 145.8 ms) speed 0.5 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.971317,-0.197617,0.132256] Fpublishing direction and range infoy  }?7Kɿ) ?Y B      ) FI I >i r ? 4@ > e4@  >) @I    2 ?21ٱ2p :AHRS rotation from veh to nav: [[0.853891,-0.512039,-0.093198],[0.519719,0.848405,0.100503],[0.027608,-0.134256,0.990562]]2HS?b۷`?"&?@?`QE?I/@?i2^D>I2;^;2ސCnManaging dock network, ignoring radio surface power offYBy IE] EYEYEY"E]:*EYVEYZEYae@ae@am@am@qiMb@Mb@Mb@ 9{Gz?RQ~jt?Y#?y½D<@ jA)AY\AbDVDy<%%=ٔQ->9Y=jGyPFEE%>)Q 554-0Hy?Q 954-~)-BY5%?Q E5:y5R>Q I=)@- DI- ;i-b;-4yEBɮEAEE9=SX@AJ=bBR=bBj=>= FdZ@}zŽz5 $,@r=}?7Kɿ) ?Z=Mb==t#VX@WR_h C@H@ 4@z=Bcb?Wm? ?2=\B:=B"="?*=^џB=B=B1?9“=B=B=C>gO  addTargetRange:: Added new target pos. range: 109.300003 m, deltaT: 3.780969 s, deltaX: -2.299995 m, approachRate: -0.608308 m/s, rangeRepo size: 4 gO Added new target pos. range: 108.692520 m, bearing: 20.888847 deg, lat: 36.779263 deg, lon: -121.859502 deg, deltaT: 3.780969 s, deltaX: -2.302124 m, approachRate: -0.608871 m/s, posRepo size: 4 jgO%FNOT Ignoring new targets: 108.69 m.RMZQgO ProNav: ac range: 108.692520 m, nav range: 106.823273 m, bearing: 20.620207 deg, approach rate: 0.000000 m/s, LOS rate: -0.021895 deg/s, cmd heading: 31.769870 deg, new cmd heading: 31.748102 deg. BgOHeadingCmd: 0.554109 target range: 108.692520 and range: 109.30 m. ?*" ԡBʎj@3S[@Z@?QɢUֻ)Q UiYm*DAT read: user:547> uBDAT read: Tx time:00:42:50.5246 u$Ping request sent.}50,XX@AY y  IbD%VD%:y54W%5O=ٔ5Q-5>9= ?Y= ?==jGy9=EE>AAQAU@AB]>BYBYBYB] =BYB]tDB]q;B]-EQ 5m4E[y?Q 9u4E݊)EBYqyqQ Iu)@E(DIE;iE;E4y}Bɮ}APB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 108.69 m.R3Z3gO ProNav: ac range: 108.692520 m, nav range: 106.568497 m, bearing: 20.614303 deg, approach rate: -0.664325 m/s, LOS rate: -0.015431 deg/s, cmd heading: 31.748102 deg, new cmd heading: 31.736267 deg. BgOHeadingCmd: 0.553902 target range: 108.692520 and range: 109.30 m. ?*" ʎjZ@?ɢ ˼)  i )itii ?I ?IE EEE"E:*EA:VEZEBE2:0,X@APYfByf IhjAln@AbDvVDvyf%M=ٔQ->9"?Y"?=%jGy%QF!E%>)Q 554-oy?Q 954-4)-BY1y1Q I=)@-0DI-;i-@;- 4yAɮEAAjgOFNOT Ignoring new targets: 108.69 m.RZgO ProNav: ac range: 108.692520 m, nav range: 106.310997 m, bearing: 20.608307 deg, approach rate: -0.641784 m/s, LOS rate: -0.014980 deg/s, cmd heading: 31.736266 deg, new cmd heading: 31.724245 deg. BR۹gO HeadingCmd: 0.553693 target range: 108.692520 and range: 109.30 m. ˾ ?mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.759164*" 19ʎAIijqZu?颹ɢ Ƽ) i)vi}i˾ ?;I˾ ?I@ @@/@E EE%E"Eغ:*E?:VE 4ZEa@a@a@a@^A X checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010875) I I O >d0,LX@A2ה>2J ?2<ٱ2h :AHRS rotation from veh to nav: [[0.853545,-0.513592,-0.087655],[0.520227,0.849372,0.089059],[0.028712,-0.121616,0.992162]]2H>P?Xop? .?̶?f?5"@ʿ?i2ה>I2 ^;0YbByb I|iMb@Mb@Mb@ 9y&1?{Gz?Y`%?y̽#<1A@ A)YAbDVDy٤=%A=ٔ*Q->9Y=jGy̽:E>Q 54py?Q 94e)ǽBY]'?Q E:y>Q I)@9DIq ;i ;_4yɮ@EjgO FNOT Ignoring new targets: 108.69 m.R rZ rgO ProNav: ac range: 108.692520 m, nav range: 106.034538 m, bearing: 20.602799 deg, approach rate: -0.661970 m/s, LOS rate: -0.013224 deg/s, cmd heading: 31.724245 deg, new cmd heading: 31.713199 deg. B%gO%HeadingCmd: 0.553500 target range: 108.692520 and range: 109.30 m.%) ?)*)") )))15ۂBʎ199j9Z= ?颍ԂBɢ!) lٽi)w顑iH i) ?ÆI) ?I) G \A 9@ @@@!@E\A@E[AU9U\AYUAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.263445QBe>BeCBe IBeBBe =BeDDBesDBeNq;Be-EE EE'E"E:*ET:VE'4ZEBE*tO0,z X@ARtѨ>R> ?RٱRbchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513724 bAHRS rotation from veh to nav: [[0.853294,-0.514202,-0.086524],[0.520615,0.849427,0.086222],[0.029161,-0.118618,0.992512]]RH.N? Wtt&ߨ?.??Dܝ?]?iRtѨ>IR];PYjByn IbDvVDv1y~"%~V=ٔQ->9Y = jGy RF :E >Q 54Ҙy?Q 9%4܂)ϽBY!y%7>Q I%)@ADI:i|: 4y-Bɮ-}@5EQjYgO]FNOT Ignoring new targets: 108.69 m.ReqZeqgO ProNav: ac range: 108.692520 m, nav range: 105.785301 m, bearing: 20.597760 deg, approach rate: -0.651256 m/s, LOS rate: -0.013199 deg/s, cmd heading: 31.713200 deg, new cmd heading: 31.703098 deg. B=gOHeadingCmd: 0.553323 target range: 108.692520 and range: 109.30 m. ?*" ʎ j Z `?aɢeЌ¼)i mi) Wy顉iQi ?ٻI ?IE9@A @A@E/@AԁԹiqIuAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.768734^AI) Ia Ou > E  E E $E "E CJ;*E *:VE 4ZE a @a @a @a @v0,'X@A2>2ie ?2ٱ2 :AHRS rotation from veh to nav: [[0.852973,-0.514846,-0.085855],[0.521112,0.849340,0.084039],[0.029653,-0.116423,0.992757]]2HK? y@? -??:]?ͽ@?i2>I2b3^;2ߐCYFByF IIJ>)J>J=HiMb@Mb@Mb@ 9#~j?"~jMb?Y%?yS㽙<xA@ jA)AYAbD5ԱVD5k1y^N=%?=ٔyQ->9Y=jGy:E>Q 54y?Q 94)ڽBY Z(?Q E :y >Q I )@JDI;i;!4yAɮM@IjgOFNOT Ignoring new targets: 108.69 m.RpZpgO ProNav: ac range: 108.692520 m, nav range: 105.501534 m, bearing: 20.594228 deg, approach rate: -0.641222 m/s, LOS rate: -0.008002 deg/s, cmd heading: 31.703098 deg, new cmd heading: 31.696016 deg. BMjgOMHeadingCmd: 0.553200 target range: 108.692520 and range: 109.30 m.U ?Q*Q"Y YYYaełBʎijZ@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0186705ՂBɢ5𾲼)9 =ͽi9)=oz9AiE+i ?dǻI ?I=9@9 @9@9@A^A [RӻI I O >9  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269515,^0,AX@A2d>2^ ?2&ٱ2Н :AHRS rotation from veh to nav: [[0.853020,-0.514792,-0.085705],[0.521019,0.849470,0.083301],[0.029921,-0.115712,0.992832]]2H`K?-y 0?.?=S?`?HG?i2d>I2&^;2ސCYBByF IbDLVDLB<A<Bǿ>BCB IBBB =BCDBvDBMq;B.-Ey%!K<%%U=ٔ-7Q-->9)Y)=-jGy5SF5玹E5>9Q 5E4=vy?Q 9E4=})=BYIyM>Q IM)@=RDI=:i=9:==(4yQɮU@UEPuB*** querying acoustic contact ***q qjygOFNOT Ignoring new targets: 108.69 m.RZgO ProNav: ac range: 108.692520 m, nav range: 105.252846 m, bearing: 20.591136 deg, approach rate: -0.673403 m/s, LOS rate: -0.008392 deg/s, cmd heading: 31.696015 deg, new cmd heading: 31.689817 deg. BugOHeadingCmd: 0.553092 target range: 108.692520 and range: 109.30 m.j ?*" ʎjZ@ɢ?) @Ľi)w{it/ij ?cʻIj ?IDzDAAE EEE"Eغ:*EX:VEZEBEԙ -0,e[X@AY%By% IbDUVDU0yeP =%eF=ٔmQ-m>9iYq=ujGyquEu>yQ 54}y?Q 94}z)}BYyQ I)@}[DI}:i}_:}r/4yBɮ'@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.776112yjgO=FNOT Ignoring new targets: 108.69 m.REZMgO ProNav: ac range: 108.692520 m, nav range: 104.982452 m, bearing: 20.587758 deg, approach rate: -0.593227 m/s, LOS rate: -0.007431 deg/s, cmd heading: 31.689817 deg, new cmd heading: 31.683043 deg. BYgOHeadingCmd: 0.552973 target range: 108.692520 and range: 109.30 m. ?*" ʎjZ @QɢUé)Q U䨽iQ)]3}YYi]Wie ?eePƻIe ?IԡE EE#E"E[:*Ex:VE3ZEa@a@a@a@9@9 @9@E4@A BDAT read: Rx Time:00:42:53.0711  TRx dataTimestamp_ set to:1761698573.753673 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027523^Ae <Ȼ A .AI I O >0,[vX@A2^>2 ?2ٱ2B :AHRS rotation from veh to nav: [[0.853717,-0.513516,-0.086427],[0.519842,0.850157,0.083642],[0.030525,-0.116335,0.992741]]2HQ?`n ?}4?`i?`A?&Ƚ`?i2^>I2<];2CYBByF I HHLLiMb@Mb@Mb@ 9 r?Zd;OI +?Y#?yj9<bA A)AYAbDVD1yБ=%>=ٔ㷺Q->9 ?Y ?=jGyTFPE>Q 54 y?Q 94x)BY]%?Q E:y0>Q I)@dDI ;i ;64yɮ+@jgO FNOT Ignoring new targets: 108.69 m.RZgO% ProNav: ac range: 108.692520 m, nav range: 104.705498 m, bearing: 20.580289 deg, approach rate: -0.715671 m/s, LOS rate: -0.019351 deg/s, cmd heading: 31.683041 deg, new cmd heading: 31.668065 deg. B% gO%HeadingCmd: 0.552712 target range: 108.692520 and range: 109.30 m.-~ ?)*)") ))115قBʎ199j9Z=@s @ԉ!ɢ%)) -8Vi))-}))i5vi5~ ?=B=RI=~ ?I9checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278286@ @@$4@ԹB}Ϳ>B}CB} IB}ɂBB} =ByB}wDB}q;B}-EDIDM<Ee EeEe&Ea"Ee:*Ee[:VEe4ZEaBEe ) 0,W"X@A*DAT read: 00:42:53.0711 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 415, 0.09, 3.071, 1.673,-2.637, 3.087, PHS= 0.085,-1.369, 0.515, RAW= 162.6, 9.0, CAL= 162.4, 9.6, ROT= 347.6, -9.6 .Ygot valid direction response: 00:42:53.0711 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 415, 0.09, 3.071, 1.673,-2.637, 3.087, PHS= 0.085,-1.369, 0.515, RAW= 162.6, 9.0, CAL= 162.4, 9.6, ROT= 347.6, -9.6 2PDAT read: Bearing 183.9, -12.0 (Local) 2~Local bearing/azimuth received: Bearing 183.9, -12.0 (Local) :DAT read: Range 11 to 50 : 106.8 m (Round-trip 142.4 ms) speed 0.7 m/s :R#Rx 1: Read range and direction messages.B^direction in FSK: [0.962995,-0.211728,0.166769]BFpublishing direction and range infoy!N?JM˿8_X?YB )HI{=id; ?>5@| > g5@ +>)"@I+bAjE?܆5a?8? s=>?)t!It]i+RT****** received valid address query ******RR****** received valid ping request ******RQuerying Benthos address 50 with one ping in standard two-way mode.~<>~ ?~ٱ~s  AHRS rotation from veh to nav: [[0.853840,-0.513224,-0.086939],[0.519614,0.850292,0.083702],[0.030965,-0.116643,0.992691]]~HR?Tl@A?5?~m? i? Lܽ ?i~<>I~YU];~ߐCY%By% IbDVD:y=%=B=ٔMވQ-M>9YYY=]jGyYm{ Em>Q 54kz?Q 942u)BYy>Q I)@mDI;i0<x>4y1ɮ5@5EiX@AJlBRlBj>9sY@j|6y|1@r!N?JM˿8_X?Zt]b+YUX@$RrA@ _7@z佱&9S?3Yde?tgH+?2B:B"d= ?*B)ABlBȞ“BB>gO addTargetRange:: Added new target pos. range: 106.800003 m, deltaT: 3.782584 s, deltaX: -2.500000 m, approachRate: -0.660924 m/s, rangeRepo size: 4 gO Added new target pos. range: 106.211960 m, bearing: 20.042376 deg, lat: 36.779263 deg, lon: -121.859505 deg, deltaT: 3.782584 s, deltaX: -2.480560 m, approachRate: -0.655785 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 106.21 m.RZgOm ProNav: ac range: 106.211960 m, nav range: 104.327957 m, bearing: 20.423684 deg, approach rate: 0.000000 m/s, LOS rate: -0.019351 deg/s, cmd heading: 31.668066 deg, new cmd heading: 31.650201 deg. BigOuHeadingCmd: 0.552400 target range: 106.211960 and range: 106.80 m.uj ?q*q"q qyyyyʎj@3Z@Z? ւBɢ $) i)i񺵻ij ?% EȏIEj ?IAA@ @@3@@[A@*DAT read: user:548>  BDAT read: Tx time:00:42:54.2746 $Ping request sent.wW0,F`X@A26#>2z ?2wٱ21 jAHRS rotation from veh to nav: [[0.853928,-0.512867,-0.088171],[0.519445,0.850263,0.085030],[0.031359,-0.118410,0.992469]]2H aS?@hi ^K?Y5? ĵ?L?P`O?i26#>I2*e];2CYzBy~ IiMb@Mb@Mb@ 9J +?x&~jt?Y(?y7<A )AYAbDVDβyi=%D=ٔfxQ->checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2443249Y=jGyUFE>Q 54Sz?Q 94qQ =tI)BY)?Q E%:y%b>Q I%*@vDI;i;F4y)ɮ-@@5EjqgOuFNOT Ignoring new targets: 106.21 m.R}$Z}$gO ProNav: ac range: 106.211960 m, nav range: 104.040527 m, bearing: 20.408841 deg, approach rate: -0.695230 m/s, LOS rate: -0.036003 deg/s, cmd heading: 31.650202 deg, new cmd heading: 31.620432 deg. BǃgOHeadingCmd: 0.551881 target range: 106.211960 and range: 106.80 m. H ?*" ܂BʎjZ?9ɢ}7)y }Hmiy){顁iLi H ?܇ٻI H ?Im9@i @q@u/@q E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496318^A I I) O5 >B п>B CB IB ؂BB =B B xDB p;B ,EBCBCB˕CB =B =C96c80,?X@AN6>NX ?N7ٱNU VAHRS rotation from veh to nav: [[0.853825,-0.512983,-0.088494],[0.519559,0.850318,0.083773],[0.032274,-0.117505,0.992548]]NHR?[j9?@5?)r?'?`?iN6>IN"];NސCYbByb IIfa=)f=j=j=bDn VDn2yv-<%v^=ٔv#Q-v>9xYx=zjGyx~9E~?aQ 5m4e)z?Q 9m4eQ Im*@e}DIe:ie:e>L4bE jE rE /E EE'E"E:*EAr:VE'4ZEBE*Ա c0,X@A@Z53>Zy ?ZNeٱZA bAHRS rotation from veh to nav: [[0.853832,-0.512846,-0.089217],[0.519530,0.850271,0.084426],[0.032562,-0.118436,0.992428]]ZH@R?IZL];ZܐCYzByz Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.002988bDmVDm1y7=%?=ٔ 0Q->9Y=jGyVFE>Q 54=?z?Q 94l)%BYyq>Q I*@DIA >I I O% >0,VX@AFg>F ?FٱF NAHRS rotation from veh to nav: [[0.853616,-0.513041,-0.090160],[0.519865,0.849979,0.085301],[0.032871,-0.119685,0.992268]]FHP?j`?3?@Nֵ? lԠ?`?iFg>IF1&];FސCYZЂByZ IiuMb@Mb@Mb@qqqq q9uL7A`?y&1Mb?Yu+'?yu`eu9Y=jGyۃ:E>Q 54Rz?Q 94h).BY'?Q E:y>Q I*@DI ;i:Z4yBɮK@EjgOFNOT Ignoring new targets: 106.21 m.RFZFgO  ProNav: ac range: 106.211960 m, nav range: 103.273796 m, bearing: 20.366668 deg, approach rate: -0.713040 m/s, LOS rate: -0.043447 deg/s, cmd heading: 31.567092 deg, new cmd heading: 31.535876 deg. B gOHeadingCmd: 0.550405 target range: 106.211960 and range: 106.80 m.U ?*" !%Bʎ!!!j)Z-@;?U؂BɢU)Y ]piY)]!YYie0:ieU ?emJPImU ?Iichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.505018)9@ @@-3@Bɿ>BCB!IBBBBBwDBo;B,EQE EE&E"E%;*E=:VE4ZEBE Kԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756095u1,tX@AJɔ>JC ?JٱJ+ VAHRS rotation from veh to nav: [[0.853421,-0.513239,-0.090872],[0.520150,0.849797,0.085376],[0.033404,-0.120129,0.992196]]JH9O?ulgC?1?7۵?d? ?iJɔ>IJ<];JݐCY^΂By^ I ``dfAbDjVDjyrz_%rW=ٔvQ-v>9tYt=vjGyvWFzm:Ez>|Q 54~eez?Q 94~ f)~6BYy 1>Q I *@~DI~:i~:~4a4yɮv@j9gOEFNOT Ignoring new targets: 106.21 m.RE6ZE6gOU ProNav: ac range: 106.211960 m, nav range: 103.026352 m, bearing: 20.351504 deg, approach rate: -0.649444 m/s, LOS rate: -0.039895 deg/s, cmd heading: 31.535875 deg, new cmd heading: 31.505474 deg. YB]gOeHeadingCmd: 0.549874 target range: 106.211960 and range: 106.80 m.e ?a*a"i iiiiqʎqqjZ@t@eقBɢe)a eia)mȀiiimi ? I ?Iԁe5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010451Թu9@y @y@_0@E  E E %E "E y:*E ?:VE 4ZE a @a @a @a @ ^A A YAzA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260371A؟AI I!O->C 1,#2X@A2_>2G ?2x ٱ2" :AHRS rotation from veh to nav: [[0.853105,-0.513576,-0.091934],[0.520650,0.849384,0.086429],[0.033700,-0.121598,0.992007]]2HL?7o +?`'.?. ?A?!?i2_>I2#];2ߐC Y͂By IiMb@Mb@Mb@ 9S㥛?i|?5~jt?Y$&?yq<@ SA)AYAbD5VD5y=Vv%E=ٔEQ-E>9M"?YM"?=MjGyIU:EU>YQ 5]4]z?Q 9e4]a)]EBYe&?Q Ee:ye4>Q Im*@]DI]2 ;i] ;]=k4yqɮu@qjgOFNOT Ignoring new targets: 106.21 m.R0Z0gO ProNav: ac range: 106.211960 m, nav range: 102.654976 m, bearing: 20.329422 deg, approach rate: -0.646964 m/s, LOS rate: -0.038608 deg/s, cmd heading: 31.505474 deg, new cmd heading: 31.461150 deg. BPgOHeadingCmd: 0.549101 target range: 106.211960 and range: 106.80 m.ܑ ?*" BʎjZA@ڂBɢV) Լi)biPi ܑ ? 6 RI ܑ ?I9 AIG`]Av9`]AYKAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.512190aB<AB>BCB!IBBB =BBuDBxo;B?,E E  E E $E "E :*E E7:VE 4ZE BE 6.*>>j ?>Yy ٱ> FAHRS rotation from veh to nav: [[0.852809,-0.513999,-0.092310],[0.521112,0.849118,0.086260],[0.034045,-0.121668,0.991987]]>H6J?r`?+? '?`Nn?% [?i>.*>I>0];< `)f`Af'dddf`Aij'IhhIhil ll)ll n`Ar\pppr`AIrQ8)pit)tIv~`Avt txzuAxixxY|YԂBy I = a=bDVDky%5<%%=ٔ-'Q-->9)Y1=5jGy5XF5L:E=>9Q 5E4=z?Q 9E4=])=RBYIyM|>Q IM*@=DI=:i= :=t4y]Bɮ] @]EPuB*** querying acoustic contact ***q qjgOFNOT Ignoring new targets: 106.21 m.R|2Z|2gO ProNav: ac range: 106.211960 m, nav range: 102.306709 m, bearing: 20.308459 deg, approach rate: -0.645891 m/s, LOS rate: -0.039011 deg/s, cmd heading: 31.461149 deg, new cmd heading: 31.419079 deg. BɎgOHeadingCmd: 0.548366 target range: 106.211960 and range: 106.80 m.a ?*" ʎjZ@ۑ @]ۂBɢ]4`)a e sia)e&aaim^ԑia ?0.Ia ?I-BDAT read: Rx Time:00:42:56.8179 5TRx dataTimestamp_ set to:1761698577.5334395checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017489E EE%E"EI:*EC:VE 4ZEa@a@a@a@ @  @ @ /@  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268034 ^A1 AIIO>5r1,exX@A@Vɩ>Vk ?Vr ٱVe bAHRS rotation from veh to nav: [[0.852162,-0.515062,-0.092359],[0.522136,0.848605,0.085110],[0.034539,-0.120751,0.992082]]VHD?c{֤@W?'?`ɵ?'?龿 "?iVɩ>IVI];VݐCYuւByu IiMMb@Mb@Mb@IIII I9MJ +?&1Mbp?YM(?yMPM;MAM@ MA)MAIYMGAԡbDVDyb<%=ٔdQ->9Y=jGyYF ;E>Q 54,z?Q 94Y)[BY6)?Q E:y>Q I*@DI ;iG ;~4yɮ@EjgOFNOT Ignoring new targets: 106.21 m.RJZJgO- ProNav: ac range: 106.211960 m, nav range: 101.933723 m, bearing: 20.283341 deg, approach rate: -0.655965 m/s, LOS rate: -0.044335 deg/s, cmd heading: 31.419079 deg, new cmd heading: 31.368660 deg. B-FgO5HeadingCmd: 0.547486 target range: 106.211960 and range: 106.80 m.5( ?1*1"1 999AEBʎAAAjIZMv@u݂Bɢup)y }@Oiy)}ADyyitĻi( ?\I( ?IDAT read: 00:42:56.8179 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 414,-0.07, 2.968, 1.611,-2.744, 2.943, PHS= 0.127,-1.287, 0.552, RAW= 162.7, 7.4, CAL= 162.2, 7.3, ROT= 347.8, -7.3 ]Ygot valid direction response: 00:42:56.8179 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 414,-0.07, 2.968, 1.611,-2.744, 2.943, PHS= 0.127,-1.287, 0.552, RAW= 162.7, 7.4, CAL= 162.2, 7.3, ROT= 347.8, -7.3 ePDAT read: Bearing 181.7, -11.4 (Local) m~Local bearing/azimuth received: Bearing 181.7, -11.4 (Local) }DAT read: Range 11 to 50 : 104.4 m (Round-trip 139.2 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.969493,-0.209612,0.127065]Fpublishing direction and range infoyHE?iʿijO ?ּ5@ A>-5@ w>)?@Iw7Pu#N?zE*.?[<5]? ??)EIt ZiwB>BB!IBBB =BBB:o;B ,E@ @@/@@%=@%==T****** received valid address query ******=R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.DM=DIEU EUEU'EQ"EU :*EU;J:VEU'4ZEQBEUL" } BDAT read: Tx time:00:42:58.0746 } $Ping request sent.} $1,#KX@A(R>Ri ?RٱR95 AHRS rotation from veh to nav: [[0.851880,-0.515540,-0.092302],[0.522589,0.848373,0.084643],[0.034669,-0.120342,0.992127]]RHB?M` ?%?-?@,?ξ?iR>IRo4];RސCYۂBy IbDVD:yR<%_=ٔQ->9Y=jGy%Z:E%>IQ 5U4M}z?Q 9U4M!V)MbBYYy]>Q I]*@MDIMN:iM|:M4yaɮe@aqu-ZX@AJuBRuBju>uga)Y@:h1u5ǝIb*@ruHE?iʿ>gO  addTargetRange:: Added new target pos. range: 104.400002 m, deltaT: 3.780310 s, deltaX: -2.400002 m, approachRate: -0.634869 m/s, rangeRepo size: 4 gO Added new target pos. range: 103.820938 m, bearing: 20.214167 deg, lat: 36.779263 deg, lon: -121.859505 deg, deltaT: 3.780310 s, deltaX: -2.391022 m, approachRate: -0.632494 m/s, posRepo size: 4 j!gOEFNOT Ignoring new targets: 103.82 m.REZIgOU ProNav: ac range: 103.820938 m, nav range: 101.701324 m, bearing: 20.282286 deg, approach rate: 0.000000 m/s, LOS rate: -0.044335 deg/s, cmd heading: 31.368661 deg, new cmd heading: 31.334459 deg. BYgO]HeadingCmd: 0.546889 target range: 103.820938 and range: 104.40 m.] ?ԁY*" ʎjZ@ZSs?ނBɢ |)  ѻi ) O i'kƻi ?9I ?I59@1 @1@5,0@1ԱUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250990 ^A] "E  E E &E "E :*E n:VE 4ZE a @a @a @a @A .AI I O >+1, nX@A :G>: ?: ٱ: FAHRS rotation from veh to nav: [[0.851654,-0.516056,-0.091497],[0.522957,0.848285,0.083237],[0.034661,-0.118738,0.992320]]:H @?`Yl?&%?O? ?e?i:G>I:Y\;:ݐCYVނByV I \\iMb@Mb@Mb@ 9 r?Q9 ?Y ?=jGyZFƆ:E>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502952Q 5%4z?Q 9%4S)jBY%Q$?Q E%:y%">Q I%*@ʘDI ;i ;[4y1ɮ5_@1jYgO]FNOT Ignoring new targets: 103.82 m.Re75Ze75gO  ProNav: ac range: 103.820938 m, nav range: 101.435394 m, bearing: 20.266417 deg, approach rate: -0.662017 m/s, LOS rate: -0.039608 deg/s, cmd heading: 31.334459 deg, new cmd heading: 31.302639 deg. B gOHeadingCmd: 0.546334 target range: 103.820938 and range: 104.40 m. ?*" !A%ނBʎaaijiZm=?颵߂BɢJ)  i)R项iJsȻi ? f:I  ?I 9@ @@4@qԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755426^A 9A A B >B B "!IB BB  =B B vDB 5o;B !,EAM ؟AIQ Ia O >v21,UX@A$6>6 ?6w ٱ6P >AHRS rotation from veh to nav: [[0.852056,-0.515291,-0.092065],[0.522309,0.848555,0.084546],[0.034557,-0.120125,0.992157]]6H D?@C} ?\'?Ҥ?h? ~?i6>I6P\;6ސCD`zDb@AEf EfEf%Ed"Ef:*EfV:VEf 4ZEdBEf29"?Y"?=jGyE>Q 5%4z?Q 9-42P)qBY)y->Q I-*@ҘDI;i;4y1ɮ=_@=EjYgOeFNOT Ignoring new targets: 103.82 m.Re.Ze.gOu ProNav: ac range: 103.820938 m, nav range: 101.194817 m, bearing: 20.252089 deg, approach rate: -0.637441 m/s, LOS rate: -0.038054 deg/s, cmd heading: 31.302637 deg, new cmd heading: 31.273914 deg. BuIgO}HeadingCmd: 0.545833 target range: 103.820938 and range: 104.40 m.} ?y*y"  ʎjZ= ?颵Bɢ ) i)ӊi ʻi ?(g^:I ?Iy@ @@)4@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007884ԡ^A] ;AZAzAVA A I9 II OU >.81,NX@A6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258915N:>N9s ?N ٱN` jAHRS rotation from veh to nav: [[0.852736,-0.513936,-0.093333],[0.521214,0.848938,0.087410],[0.034311,-0.123185,0.991790]]NHI?*r䷿ɭ? *?`?/?`?iN:>INk\;NݐCYrւByv IbD~VD~ky F#=% L=ٔ  :Q- >9Y=jGy[FRE%>9Q 5U4={?Q 9]4=.M)=yBYaym$>Q Im*@=ژDI=;i=;=4y|Bɮ]@zEPmB*** querying acoustic contact ***i ijgOFNOT Ignoring new targets: 103.82 m.RZgOU ProNav: ac range: 103.820938 m, nav range: 100.936821 m, bearing: 20.236827 deg, approach rate: -0.573178 m/s, LOS rate: -0.033993 deg/s, cmd heading: 31.273913 deg, new cmd heading: 31.243311 deg. B]xgO]HeadingCmd: 0.545299 target range: 103.820938 and range: 104.40 m.] ?a*a"a aaaiiʎjZ?Bɢ) i)ŲE EE&E"E:*Ek:VE4ZEa@a@a@a@i̻i  ?]?@9I ?I9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510698^A% "9I AQ Ia Iq O >1,X@A2>2: ?2kY ٱ2B  :AHRS rotation from veh to nav: [[0.853459,-0.512571,-0.094221],[0.520048,0.849406,0.089778],[0.034014,-0.125621,0.991495]]2H O?@f`I2\;2ސCYBقByF IIJ=)J>xiMb@Mb@Mb@ 9Mb?ʡEMb?Y#?y<xA@ =A)AYQAbD-VD-y=:<%=D=ٔE::Q-E>9AYA=MjGyIMXEM>QQ 5]4U{?Q 9]4UIJ)UBYeE$?Q Ee:ye>Q Ie*@UDIU:iU:U>4yɮ3@{Ej1gO=FNOT Ignoring new targets: 103.82 m.R='Z='gOm ProNav: ac range: 103.820938 m, nav range: 100.673073 m, bearing: 20.225384 deg, approach rate: -0.679096 m/s, LOS rate: -0.029540 deg/s, cmd heading: 31.243310 deg, new cmd heading: 31.220365 deg. Bu>XgOuHeadingCmd: 0.544898 target range: 103.820938 and range: 104.40 m.ur~ ?q*y"y yyyɂBʎjZ@?@iAIEAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763169颥Bɢ) Зi)kс顱iͻir~ ?4ڻIr~ ?IBE>BABABABE =BABEuDBEIo;BE),EB CB B ĔCB  =B  =C a6u9@q @q@u/@ybEYjE]O4rE]Ϛ/E EEE"E:*EVL:VEZEBEwOE1,RFX@A2{>2 ?2 ٱ26 :AHRS rotation from veh to nav: [[0.854534,-0.510794,-0.094135],[0.518318,0.850308,0.091228],[0.033445,-0.126749,0.991371]]2H@WX?mX4`?5? Z?@?P9@O?i2{>I2`\;2ݐCYBۂByF IbDNVDNyV8<%VU=ٔV:Q-Z>9Z ?YZ ?=ZjGyZ\F^.E^>!Q 5%4%F,{?Q 9-4%G)%BY)y->Q I-*@%DI%W:i%:%'4y1ɮ=@9YjagOmFNOT Ignoring new targets: 103.82 m.RmZmgO} ProNav: ac range: 103.820938 m, nav range: 100.420486 m, bearing: 20.214659 deg, approach rate: -0.672753 m/s, LOS rate: -0.028637 deg/s, cmd heading: 31.220364 deg, new cmd heading: 31.198861 deg. B}QgOHeadingCmd: 0.544523 target range: 103.820938 and range: 104.40 m.e ?*" ʎjZ4@Bɢiu) ~i)/聼iAϻie ?:Ie ?IU9@Q @Q@U0@Qԉmchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267234^AvтԹA>A?A ؟AE  E E (E "E >:*E c:VE c44ZE a @a @a @a @I I O% > zK1,t%0X@ABs>B$ ?BٱBˡ RAHRS rotation from veh to nav: [[0.855431,-0.509277,-0.094201],[0.516872,0.851012,0.092858],[0.032876,-0.128124,0.991213]]BH@_?@L@7?|;?ŷ?ՠ?\f?iBs>IBM\;BސCY^ڂBy^ IiuMb@Mb@Mb@qqqq q9u(\?kt~jth?Yu'?yu uD;qu@ uA)qqYuAbDVDy%<=ٔv:Q->9"?Y"?=jGy7E>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518907Q 54A{?Q 94D)BY)?Q E:y3>Q I*@DI;i ;4yɮ@|EjgO FNOT Ignoring new targets: 103.82 m.R rԹZ rԹgO ProNav: ac range: 103.820938 m, nav range: 100.141991 m, bearing: 20.204826 deg, approach rate: -0.655696 m/s, LOS rate: -0.023217 deg/s, cmd heading: 31.198860 deg, new cmd heading: 31.179138 deg. B)gO%HeadingCmd: 0.544179 target range: 103.820938 and range: 104.40 m.%JO ?!*!") )))15ՂBʎ999j9Z=O@iɢm)i mii)uqqiujѻi}JO ?} };HI}JO ?I@ @@`0@^Aeu checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771336I I O >BE =AE <BM >BM CBI BI BM =BM DDBM tDBM ho;BM /,E9 aR1, IX@A2೥>2ί ?2 ^ٱ2( :AHRS rotation from veh to nav: [[0.856356,-0.507761,-0.093987],[0.515359,0.851852,0.093564],[0.032555,-0.128561,0.991167]]2HDg? ?`}?`^B??? t?i2೥>I2\;2ݐCYBЂByF I HHER EREPEP"ER,:*ER;J:VEPZEPBER9IYQ=UjGyU]F}擻E}>Q 54V{?Q 94A)BYyK>Q I*@DI/X1,cX@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2748396P>6X~ ?6ٱ6< BAHRS rotation from veh to nav: [[0.856748,-0.507116,-0.093893],[0.514714,0.852213,0.093824],[0.032437,-0.128711,0.991152]]6Hzj?L:X x?`SE??@?@y`?i6P>I67\;6ߐCYJՂByJ IbDVVDVܲyZw<%^P=ٔ^9Q-^>9`Y`=bjGy`bREf>hQ 5z4ji{?Q 9~4j&?)jBY|y~>Q I~*@jDIjb;ij<;j*4y ɮ f@ PEB*** querying acoustic contact ***A AԁjgOFNOT Ignoring new targets: 103.82 m.RZgOe ProNav: ac range: 103.820938 m, nav range: 99.628670 m, bearing: 20.187188 deg, approach rate: -0.592244 m/s, LOS rate: -0.020324 deg/s, cmd heading: 31.160986 deg, new cmd heading: 31.143772 deg. BegOeHeadingCmd: 0.543561 target range: 103.820938 and range: 104.40 m.m& ?i*i"i ʎjZ '! @E EE&E"E:*Ee:VE4ZEa@a@a@a@Bɢ@)  i)i7Իim& ?uuIu& ?IqԱM9@I @Q@U4@Y@y@}\ADAT read: 00:43:00.6147 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 414,-0.13, 2.020, 0.614, 2.626, 2.031, PHS= 0.091,-1.372, 0.551, RAW= 163.2, 8.4, CAL= 162.9, 8.7, ROT= 347.1, -8.7  Ygot valid direction response: 00:43:00.6147 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 414,-0.13, 2.020, 0.614, 2.626, 2.031, PHS= 0.091,-1.372, 0.551, RAW= 163.2, 8.4, CAL= 162.9, 8.7, ROT= 347.1, -8.7 PDAT read: Bearing 182.4, -11.9 (Local) ~Local bearing/azimuth received: Bearing 182.4, -11.9 (Local) %DAT read: Range 11 to 50 : 102.0 m (Round-trip 136.1 ms) speed 0.5 m/s -R#Rx 1: Read range and direction messages.5^direction in FSK: [0.963545,-0.220681,0.151261]5Fpublishing direction and range infoy M]?T n)J?̿ni\?YB )JI5^=iV ?K6@Q >5@ |>)r@I|> ?M?T\]? 4A?)Ifi|MT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.^Am A [AzA ZAI I O > ^1,}X@A2gG~ ?~Kٱ~{X AHRS rotation from veh to nav: [[0.857780,-0.505568,-0.092820],[0.513026,0.853262,0.093534],[0.031912,-0.127851,0.991280]]~H r?@-÷j?M? ?V?h]?i~M>I~m\;~ܐCYMۂByM IiMb@Mb@Mb@ 9+?i|?5Mb?Yv?y<A@ =A)XAYbD=VD= yM<%M3=ٔMY:Q-U>9QYQ=UjGyU^F]ڍE]>aQ 5m4e&{?Q 9m4e<)eBYm^!?Q Eu:yu>Q Iu*@e DIe};ie;e#4yyɮ}@y?tX@AJBRBjƪ>nX@iKb6{kb.@r M]?T n)J?̿ni\?Zfb|`*{nW@S<@@"Nj05@z ?A}? |e_g?2B:sB"fDZ?*ZBgO addTargetRange:: Added new target pos. range: 102.000000 m, deltaT: 3.779649 s, deltaX: -2.400002 m, approachRate: -0.634980 m/s, rangeRepo size: 4 gO Added new target pos. range: 101.431084 m, bearing: 19.110842 deg, lat: 36.779266 deg, lon: -121.859515 deg, deltaT: 3.779649 s, deltaX: -2.389854 m, approachRate: -0.632295 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 101.43 m.RZgO ProNav: ac range: 101.431084 m, nav range: 99.356300 m, bearing: 19.614719 deg, approach rate: 0.000000 m/s, LOS rate: -0.020324 deg/s, cmd heading: 31.143771 deg, new cmd heading: 31.127430 deg. B-*DAT read: user:550> -BDAT read: Tx time:00:43:01.8245 5$Ping request sent.5BBBBBBBwo;B5,Eɢv) i )   i 'ջi% ?;ĻI% ?I99@ @@1@E EE)E"Em:*EP:VEFA4ZEBET checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250830ye1,3X@A6>6 ?6ٱ6I >AHRS rotation from veh to nav: [[0.858439,-0.504682,-0.091537],[0.511910,0.854171,0.091324],[0.032099,-0.125255,0.991605]]6H Ux?Y&na?^U?a?`7o? X:?i6>I6];6ېCYF߂ByF IIJ=)JR=N=N=bDRVDR0yZ<%Zi=ٔZh Q-^>9\Y`=bjGy`bjrEb>dQ 5j4f{?Q 9j4f:)fBYlyn>Q In*@fDIf;if;fD4ypɮr@v~Ej gOFNOT Ignoring new targets: 101.43 m.RZgO% ProNav: ac range: 101.431084 m, nav range: 99.135994 m, bearing: 19.613293 deg, approach rate: -0.635908 m/s, LOS rate: -0.004125 deg/s, cmd heading: 31.127429 deg, new cmd heading: 31.124571 deg. B%gO-HeadingCmd: 0.543226 target range: 101.431084 and range: 102.00 m.- ?)*)"1 11119ʎ99AjAZE>?ɢ銼) @Wi)ic׻i ?z I ?I!Q9@ @@/@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502812y^A]`ԻIIO=>ԩ E  E E 'E "E :*E =:VE '4ZE a @a @a @a @Dk1,#kX@A6>6K ?6Xٱ66@ BAHRS rotation from veh to nav: [[0.859144,-0.503648,-0.090605],[0.510701,0.855106,0.089322],[0.032490,-0.123013,0.991873]]6H~? 1@W? ]?ݶ? ?}l?i6>I6{\;6ߐCYJڂByJ IiUMb@Mb@Mb@QQQQ Q9U r?`"=ٔ}#oQ-}>9Y=jGy_FUE>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754909Q 54{?Q 947)BY&?Q E:y>Q I*@DIBh;ig;4yɮ#@jgOFNOT Ignoring new targets: 101.43 m.RҙZҙgO ProNav: ac range: 101.431084 m, nav range: 98.857880 m, bearing: 19.611488 deg, approach rate: -0.645590 m/s, LOS rate: -0.004202 deg/s, cmd heading: 31.124571 deg, new cmd heading: 31.120950 deg. BgOHeadingCmd: 0.543163 target range: 101.431084 and range: 102.00 m. ?*"   Bʎ   jZ@J^?=Bɢ=3)A EiA)E߂AAiEлػiM ?M7MIU ?IԱ9@ @@/@^A0A?A>I I! U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006836O >A A B >B CB B B =B B sDB xo;B 3,E) ïr1,DX@A:u>: ?:ٱ: RAHRS rotation from veh to nav: [[0.859605,-0.503140,-0.089045],[0.509924,0.855821,0.086880],[0.032494,-0.120089,0.992231]]:H?˶MQ?b?=??@%[?i:u>I:\;:ސCYbByb!IbDrVDr1y =% R=ٔ-Q->9!Y!=%jGy!-<E->9Q 5E4={?Q 9M4=5)=ʾBYIyUw>Q IU*@=%DI=^R;E EE&E"E:*E;J:VE4ZEBE ?颹ɢU) 1;i) ۂiڻiG ?'{IG ?I)59@1 @9@= 0@9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259586Q^Amԁ A I I O >] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510736x1,7X@AY5By= I AAAAQbD]VD]k2ym)%mD=ٔuQ-u>9qYq=ujGyu`F}E}>Q 54{?Q 94<3)־BYyQ I*@.DIy;i;4yɮq@PB*** querying acoustic contact *** jqgOFNOT Ignoring new targets: 101.43 m.RZgO ProNav: ac range: 101.431084 m, nav range: 98.334190 m, bearing: 19.608380 deg, approach rate: -0.595395 m/s, LOS rate: -0.003552 deg/s, cmd heading: 31.117929 deg, new cmd heading: 31.114718 deg. B иgO=HeadingCmd: 0.543054 target range: 101.431084 and range: 102.00 m.E ?A*A"A AAAIIʎIIQjQZU ?EY E]E]'EY"EY*E]P:VE]'4ZEYae@ae@ae@am@yɢ_ڃ) i ) ނ  iЙܻi= ?=: E IE ?IA-9@) @)@50@1checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763552Թ ^A= A I I O >ur1,X@A,2>2Q?2lٱ2 >AHRS rotation from veh to nav: [[0.861088,-0.500656,-0.088716],[0.507421,0.857280,0.087152],[0.032421,-0.120062,0.992237]]2H?`@`I2\;2ݐCYFByF !IiUMb@Mb@Mb@QQQQ Q9U)\(?DlI +?YUG!?yUO U99Y=jGyaF<ԻE>Q 54{?Q 940)BY3%?Q E:yˤ>Q I*@7DI@:i:4yɮ@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014980jgOFNOT Ignoring new targets: 101.43 m.RF9ZF9gO ProNav: ac range: 101.431084 m, nav range: 98.045273 m, bearing: 19.611819 deg, approach rate: -0.729010 m/s, LOS rate: 0.008703 deg/s, cmd heading: 31.114718 deg, new cmd heading: 31.121617 deg. B~9gOHeadingCmd: 0.543175 target range: 101.431084 and range: 102.00 m. ?*"   ‚Bʎ jZ>@B5>B5CB5.!IB5 BB5 =B1B5rDB5mo;B5',EɢBo)! %1,YX@A:v>:?:eٱ:Ň FAHRS rotation from veh to nav: [[0.861593,-0.500078,-0.087057],[0.506569,0.858024,0.084744],[0.032318,-0.117115,0.992592]]:H,?WI 5?t?ϱ??GP?i:v>I:];:ܐCYNByN!IbDVVDV0y^<`%bX=ٔb)9Q-b>9dYd=fjGydj1+Ej>lQ 5r4n{?Q 9r4n.)nBYpyr4>Q Iv*@n?DIn?;inL ;n[4yztBɮz@zwEjgOFNOT Ignoring new targets: 101.43 m.R%9Z%9gO5 ProNav: ac range: 101.431084 m, nav range: 97.801720 m, bearing: 19.614899 deg, approach rate: -0.645306 m/s, LOS rate: 0.008181 deg/s, cmd heading: 31.121617 deg, new cmd heading: 31.127792 deg. B5o9gO5HeadingCmd: 0.543282 target range: 101.431084 and range: 102.00 m.= ?9*9"9 99AAAʎAIIjIZMC@qɢ}d) A 1,5X@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.77094467>6?6Jٱ6' BAHRS rotation from veh to nav: [[0.862044,-0.499563,-0.085535],[0.505809,0.858684,0.082576],[0.032196,-0.114449,0.992907]]6Hޕ?߿嵿 /?Vz? #?{?L?i67>I6?\;6ސCY^Byb%!IIf8>)f=f=f=iMb@Mb@Mb@ 9#~j?X9vZd;O?Y%?yj< A A)AY AbD VD2y-=%:=ٔk9Q->9Y=jGybF-E>Q 54i|?Q 94<,)BY)?Q E:yI>Q I*@HDI;ic;4yɮ@j!gO-FNOT Ignoring new targets: 101.43 m.R-'޷Z-'޷gO= ProNav: ac range: 101.431084 m, nav range: 97.513382 m, bearing: 19.614235 deg, approach rate: -0.657144 m/s, LOS rate: -0.001517 deg/s, cmd heading: 31.127791 deg, new cmd heading: 31.126460 deg. BE1gOEHeadingCmd: 0.543259 target range: 101.431084 and range: 102.00 m.E  ?I*I"I IIIQÛBʎQYYjYZ]@@!ɢ-2E)) -q=i))U&QQiUi]  ?]#]&PIe  ?IaI!@! @!@)@)qBDAT read: Rx Time:00:43:04.3613 TRx dataTimestamp_ set to:1761698585.093038checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023820BM>BIBM;!IBMBBM =BIBIBMo;BM+EBCBCBB =B =Cs6^A9 Ա Da zDe AAA I I O >bEˀ'4jE4rE(0E  E E 'E "E :*E &p:VE '4ZE BE 'J*?JqٱJQ RAHRS rotation from veh to nav: [[0.862339,-0.499290,-0.084146],[0.505314,0.859169,0.080534],[0.032086,-0.111968,0.993194]]JHH? _߿+?Q~?睴? m?񩼿>?iJ>IJB\;JܐCYXyXbDfVDfN2ٔn 9Q-n>9pYp=rjGypvȺEv>tQ 5z4v &|?Q 9~4v*)vBY|y~>Q I~*@vPDIvz;iv;v4y ɮ  j)gO5FNOT Ignoring new targets: 101.43 m.R56Z56gOE ProNav: ac range: 101.431084 m, nav range: 97.265709 m, bearing: 19.613765 deg, approach rate: -0.658175 m/s, LOS rate: -0.001251 deg/s, cmd heading: 31.126460 deg, new cmd heading: 31.125518 deg. BMgOMHeadingCmd: 0.543243 target range: 101.431084 and range: 102.00 m.M ?Q*Q"Q QQQYaaʎaaajiZm @IɢM=)I M s=iI)U`ȁ顑iyi ?M %pWI ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275053Aԉ9@ @@/@)^A NJNA ?A ? DAT read: 00:43:04.3613 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 411, 0.39,-1.991, 2.841,-1.393,-2.045, PHS= 0.156,-1.353, 0.608, RAW= 162.7, 6.7, CAL= 162.1, 6.4, ROT= 347.9, -6.4  Ygot valid direction response: 00:43:04.3613 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 411, 0.39,-1.991, 2.841,-1.393,-2.045, PHS= 0.156,-1.353, 0.608, RAW= 162.7, 6.7, CAL= 162.1, 6.4, ROT= 347.9, -6.4  PDAT read: Bearing 179.8, -10.7 (Local)  ~Local bearing/azimuth received: Bearing 179.8, -10.7 (Local)  DAT read: Range 11 to 50 : 99.5 m (Round-trip 132.7 ms) speed 0.5 m/s  R#Rx 1: Read range and direction messages.% ^direction in FSK: [0.971690,-0.208312,0.111469]- Fpublishing direction and range infoy  ?wVʿ -V:?Y B ) FI w>i / ? ּ5@ |= D5@ =) M@I 佩 9 n:Z?J @?@Z[Ž? >?) hI @Xi 佩 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.Ay I I O 1,iX@AE  E E &E "E 2:*E [:)VE 4ZE a5@a=@a=@a=@&>?ٱ[ UAHRS rotation from veh to nav: [[0.862447,-0.499283,-0.083077],[0.505125,0.859459,0.078608],[0.032154,-0.109760,0.993438]]H)?A߿D)?@??yv?7@>?i&>I\;YBy'!IiMb@Mb@Mb@ 9?ʡES㥛?Yf&?yy/<9 A@ A)YAbD VD JQyu{;%u<ٔ}Q-}>9yY=jGycF'̹E>Q 54C|?Q 94&)BY7)?Q E:y>Q I*@\DIP:i:U4yuBɮ@xE0fX@AJBRBjz>kX@tR4dLO&@r?wVʿ -V:?Z@Xbϖ9ÎW@%;?@܀[O0@zN?Y ?n0?2A:B"?*YBwBB“B>>*DAT read: user:551> BDAT read: Tx time:00:43:05.6245 $Ping request sent.B%CB%M!IB%%BB% =B!B%qDB%n;B%+EA5.AI9IIO]?_X1,$։X@A2>2f?2ٱ2 :AHRS rotation from veh to nav: [[0.862487,-0.499064,-0.083968],[0.505051,0.859375,0.079992],[0.032239,-0.111400,0.993253]]2H~?߿~`)?@?`Vz???i2>I2\;0YBByBC!I DDHJAbDNVDNyV>%Vl=ٔZQ-Z?9^ ?Y^ ?=^jGy\^E^?`Q 5f4b U|?Q 9M4b$)b#BYQyU>Q I]*@bcDIb>) A|1,X@A>?>>u?>&ٱ>wx FAHRS rotation from veh to nav: [[0.862795,-0.498355,-0.085013],[0.504529,0.859486,0.082061],[0.032172,-0.113694,0.992995]]>H? ߿`eõ%? ??x??i>?>I>u\;>ېCYNByNA!IbDZVDZybOѻ%bJ=ٔb.9Q-b>9dYd=fjGyfdFfrĺEj>hQ 5r4jj|?Q 9r4j")j/BYpyrq>Q Ir*@jlDIjr;ij;jx4yxɮz@xjgODNOT Ignoring new targets: 98.94 m.Rn߸Z%n߸gO- ProNav: ac range: 98.941109 m, nav range: 96.404312 m, bearing: 19.606430 deg, approach rate: -0.726562 m/s, LOS rate: -0.006104 deg/s, cmd heading: 31.120148 deg, new cmd heading: 31.115674 deg. B52gO5HeadingCmd: 0.543071 target range: 98.941109 and range: 99.50 m.5 ?1*9"9 999AAʎAAIjIZM ~?uBchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754876ɢus) =i)顉i#,i ?Ք) bI ?I]9@Y @Y@e_0@aE5 E5E5&E1"E5:*E5L_:VE54ZE1aM@aU@aU@aU@A^AA[AzAZA5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007078i I I O >B1,qX@A (.C^XGj\Ap 9\AYAym?mAY%ByM!IiMb@Mb@Mb@ 9NbX9?)\(/$?Y%?yGὙ< A|@ A)l@YbDVDya,=%-=ٔQ->9Y=jGyE>Q 54d|?Q 948)=BY(?Q E:y>Q I*@uDI ;i ;4yvBɮ@j)gO-DNOT Ignoring new targets: 98.94 m.R5#Z5#gOE ProNav: ac range: 98.941109 m, nav range: 96.095482 m, bearing: 19.602222 deg, approach rate: -0.654150 m/s, LOS rate: -0.008941 deg/s, cmd heading: 31.115675 deg, new cmd heading: 31.107232 deg. BE肹gOMHeadingCmd: 0.542924 target range: 98.941109 and range: 99.50 m.M ?iI* "    BʎjZ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259894B>BBf!IB9BB =BBB>n;B+E1ɢ5)1 =>i9)=V}99i=iE ?Ez+EcQ_IM ?IIԙ9@ @@0@@@=E EE#E"Em:*ErN:VE3ZEBET= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510764e1,MX@A2>2d?2c+ٱ2>ܽ :AHRS rotation from veh to nav: [[0.862965,-0.498814,-0.080471],[0.504332,0.860044,0.077290],[0.030656,-0.107283,0.993756]]2Hi?߿™}#?z?Dɳ?*d?v ?i2>I2Ӵ\;0YF2ByF^!IIJ>)J>J=Jp=PbDRVDRyZ=%Zt=ٔ^;Q-^?9`Y`=bjGybeFbyHEb?dQ 5j4f|?Q 9j4f*)fFBYlyn>Q In*@f|DIf;if;f"4ypɮvE@vzEj gODNOT Ignoring new targets: 98.94 m.R} Z} gO% ProNav: ac range: 98.941109 m, nav range: 95.876419 m, bearing: 19.599293 deg, approach rate: -0.654452 m/s, LOS rate: -0.008770 deg/s, cmd heading: 31.107233 deg, new cmd heading: 31.101362 deg. B%dgO-HeadingCmd: 0.542821 target range: 98.941109 and range: 99.50 m.-T ?)*)"1 11119ʎjZ0? Bɢ  D)  6>i )r0|1i5Wi=T ?=r,=~0bI=T ?IA9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763306^AI9IIO}>) E=  E= E= &E9 "E= :*E= H:VE= 4ZE9 a] @a] @a] @a] @ո1,g*X@A:v>:?:έٱ:ѽ FAHRS rotation from veh to nav: [[0.862380,-0.500296,-0.077487],[0.505372,0.859789,0.073231],[0.029986,-0.102313,0.994300]]:H?k@5ֳ,?@c?B? ?,1N?i:v>I:%\;:ސCYN0ByR\!I|ieMb@Mb@Mb@aaaa a9eK7?KI +?Ye)?ye^e9=ٔ:Q->9Y=jGy^5;E>Q 54|?Q 94;)QBYi+?Q E:y>Q I*@DI:i:*4yɮa@jgODNOT Ignoring new targets: 98.94 m.RN˹ZN˹gO ProNav: ac range: 98.941109 m, nav range: 95.588913 m, bearing: 19.589737 deg, approach rate: -0.666424 m/s, LOS rate: -0.022218 deg/s, cmd heading: 31.101362 deg, new cmd heading: 31.082192 deg. B"gOHeadingCmd: 0.542487 target range: 98.941109 and range: 99.50 m.g ?*"     BʎjZ@AɢE,՞)A E>iI)M'zIIiM[oig ?h-:3KIg ?I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0174869m9@i @i@m/@i@u@u@u@uQA?A?IqIO>ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266721B B B !IB MBB  =B B B m;B B+E51,q X@AB.>BQ?BGٱBn;Ͻ VAHRS rotation from veh to nav: [[0.861935,-0.501178,-0.076729],[0.506141,0.859433,0.072087],[0.029815,-0.100970,0.994443]]BH?` `M2?y?Kt?`Շ?,ٹ@y?iB.>IBM\;BܐCYf=Byfk!IbDvVDvβyy=%S=ٔk9Q- >9 Y=jGyfFYg;E>Q 54ɾ|?Q 94)[BYy>Q I*@DI;i;14ywBɮ@{EPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 98.94 m.ReϹZeϹE EEE"E*Eg:VEZEBE iI)MwIIiU8KiU ?]/]d-ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518778Ա <1,+$X@A6y>6?6(ٱ6н >AHRS rotation from veh to nav: [[0.861665,-0.501667,-0.076577],[0.506642,0.859052,0.073093],[0.029115,-0.101779,0.994381]]6H? @i6?[}?:?PН?*?i6y>I6\;4YbFBybv!I ddhjAbDnVDn02yv}0=%vL=ٔv:Q-v>9xYx=zjGyx~;:E~>Q 5 4|?Q 9 4)eBY y >>Q I *@DI:ip:74yxBɮ"@jAgOEDNOT Ignoring new targets: 98.94 m.RM(ӹZM(ӹgOU ProNav: ac range: 98.941109 m, nav range: 95.064148 m, bearing: 19.571786 deg, approach rate: -0.667215 m/s, LOS rate: -0.023076 deg/s, cmd heading: 31.064025 deg, new cmd heading: 31.046192 deg. echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771117Be(gOmHeadingCmd: 0.541858 target range: 98.941109 and range: 99.50 m.m9 ?i*q"q qqqyyʎyyjZU:@颭BɢPG) F>i)_uԹ顱ii9 ?]%0 z1I9 ?Iu9@q @y@}/@yE EEE"E:*ER:VEZEa=@aE@aE@aE@aA}؟AIIO^>q BDAT read: Rx Time:00:43:08.1579  TRx dataTimestamp_ set to:1761698588.873124 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023859ԙ 1,>X@A2n>>2?2kFٱ2׽ :AHRS rotation from veh to nav: [[0.861912,-0.501089,-0.077568],[0.506264,0.858988,0.076394],[0.028350,-0.105115,0.994056]]2H ɔ?`۳P3?|?@?`?躿 N?i2n>>I2r\;0YNGByRw!Ii-Mb@Mb@Mb@)))) )9-uV?Q뱿y&1?Y-r(?y-\-`e<- A-|@ -A)-l@)Y-AbDEVDEyU;%UD=ٔUP:Q-U>9"?Y"?=jGygF,E>Q 54|?Q 94)nBYo)?Q E:y>Q I*@DI:iQ:f?4yɮ@jgODNOT Ignoring new targets: 98.94 m.RZgO- ProNav: ac range: 98.941109 m, nav range: 94.780151 m, bearing: 19.556957 deg, approach rate: -0.658112 m/s, LOS rate: -0.034467 deg/s, cmd heading: 31.046191 deg, new cmd heading: 31.016444 deg. B-O|gO5HeadingCmd: 0.541339 target range: 98.941109 and range: 99.50 m.53 ?9*9"9 999AEBʎAAIjIZM@/ @qyɢ}Pĺ)y I>i)jr顁i#i3 ?M12I3 ?I)@) @)@)@)A5ZAzA1B]<AYuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275233Bu>BuߍCBu!IBuWBBu =BqBuoDBu#m;Bu*EԡA=.AIQIiOuX>E EE%E"EO:*EV:VE 4ZEBE M g5@ M >)M"@IM IIM]E>? ?-Fó? M|??)MZ IMt]iM II>T****** received valid address query ******>R****** received valid ping request ******>Querying Benthos address 50 with one ping in standard two-way mode.TZ>ZJ?ZmzٱZܽ bAHRS rotation from veh to nav: [[0.862203,-0.500476,-0.078293],[0.505802,0.859033,0.078907],[0.027765,-0.107634,0.993803]]ZH`*? /?3}?A3? ^n?@;?iZ>IZs\;XYIByz!IbD VD2y%OC<%%M=ٔ-:Q-->9- ?Y- ?=-jGy)5jE5>Q 54|?Q 94)vBYy>Q I*@DIN:i|:EF4ypBɮj@sEIMXX@AJMBRMBjMD>MRaGPW@"Xـ4,:)@rMd?(/C=˿L`u&?ZMt]bM M]\iV@?(>@h,1@zMZ?I+N?}Xj?2MA:MOB"M?*MԪBMBMfDZ?MYBw“M?BMüBME>gO  addTargetRange:: Added new target pos. range: 96.900002 m, deltaT: 3.779600 s, deltaX: -2.599998 m, approachRate: -0.687903 m/s, rangeRepo size: 4 gO= Added new target pos. range: 96.350525 m, bearing: 18.830258 deg, lat: 36.779267 deg, lon: -121.859524 deg, deltaT: 3.779600 s, deltaX: -2.590584 m, approachRate: -0.685412 m/s, posRepo size: 4 j9gO=DNOT Ignoring new targets: 96.35 m.REZAgO} ProNav: ac range: 96.350525 m, nav range: 94.382797 m, bearing: 19.054559 deg, approach rate: 0.000000 m/s, LOS rate: -0.034467 deg/s, cmd heading: 31.016446 deg, new cmd heading: 30.986550 deg. BygO}HeadingCmd: 0.540817 target range: 96.350525 and range: 96.90 m.s ?*" ʎj9X@Z ?Bɢ) O>i)-o))i-%i5s ?525ݛ3I5s ?I99@ @@0@}*DAT read: user:552> BDAT read: Tx time:00:43:09.4245 $Ping request sent.01,rX@ABB>BQw?BOٱB* ZAHRS rotation from veh to nav: [[0.862906,-0.499182,-0.078814],[0.504623,0.859544,0.080865],[0.027378,-0.109550,0.993604]]BH@? ߿,-%? c? ?@? ?iBB>IB\;@dYnNByn!IIr=)r4=ٔl:Q->9Y=jGyhFIQE>Q 547}?Q 94 )BY*?Q E:yM>Q I*@DI ;i& ;M4yqBɮ2@jgODNOT Ignoring new targets: 96.35 m.R$Z$gO- ProNav: ac range: 96.350525 m, nav range: 94.103844 m, bearing: 19.040919 deg, approach rate: -0.734046 m/s, LOS rate: -0.035998 deg/s, cmd heading: 30.986550 deg, new cmd heading: 30.959190 deg. B-ƒgO5HeadingCmd: 0.540340 target range: 96.350525 and range: 96.90 m.5S ?1*1"9 999AEBʎAAIjIZM '?qɢux:)y }8Y>iy)}myyi}7~iS ?3@IS ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.253447=9@A @A@E4@A)^A]3B >B CB !IB bBB  =B B pDB l;B *EBCBCBB =B =Cɤ!6] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502796a A I I O >1,qX@AJ{>J?JUٱJ3 RAHRS rotation from veh to nav: [[0.863643,-0.497783,-0.079586],[0.503354,0.860155,0.082272],[0.027503,-0.111113,0.993427]]JH?߿@_y?`c??)? q'?iJ{>IJ*\;JېCYZAByZp!IbDfVDf!yn/%n[=ٔnѯQ-n>9pYp=rjGypvEv>xQ 5~4zd%}?Q 9~4z] )zBY|y~>Q I~*@zDIz;iz;z#T4y ɮ @ P-B*** querying acoustic contact ***) )9j9gO=DNOT Ignoring new targets: 96.35 m.REZEgOU ProNav: ac range: 96.350525 m, nav range: 93.856377 m, bearing: 19.028965 deg, approach rate: -0.662025 m/s, LOS rate: -0.032066 deg/s, cmd heading: 30.959188 deg, new cmd heading: 30.935215 deg. BUjgO]HeadingCmd: 0.539921 target range: 96.350525 and range: 96.90 m.]I8 ?Y*a"a aaaiiʎiiijqZuO?bE%4jE%-4rE%"/E EE$E"E:*ET:VE4ZEBEi)jiiI8 ?64|OII8 ?I9@ @@/@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754661ԑ^A d6A?A>A I I O >Թ (1,gX@A2ڝ>2*?2;ٱ2Ҧ :AHRS rotation from veh to nav: [[0.864281,-0.496481,-0.080779],[0.502244,0.860620,0.084163],[0.027735,-0.113312,0.993172]]2H0?V߿ b?3??`f? `?i2ڝ>I2\;0YBLByB~!IbDNVDN02yV)Z=%VN=ٔVQ-V>9XYX=ZjGyZiFZMSE^>`Q 5f4b9}?Q 9f4b)bBYdyf>Q If*@bDIbW:ibp:b[4yjrBɮn_@ntEj|gODNOT Ignoring new targets: 96.35 m.RZ gO ProNav: ac range: 96.350525 m, nav range: 93.592659 m, bearing: 19.016348 deg, approach rate: -0.664943 m/s, LOS rate: -0.031902 deg/s, cmd heading: 30.935214 deg, new cmd heading: 30.909909 deg. Bii!I!%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007157gO-HeadingCmd: 0.539480 target range: 96.350525 and range: 96.90 m.-W ?1*1"1 111AAʎAAAjIZMT??ԙBɢ9) 5V>i1)=g99i=1TiEW ?E96EKZIMW ?IQE EE&E"E:*E&p:VE4ZEa@a@a@a@-9@1 @1@=/@9@]=@]=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258759^AM ON9 A} ؟AI I O >1,hBX@AY~DBy~t!I   AiMb@Mb@Mb@ 9NbX9?x&Mb?Y%?y7< A^@ A)V@YAbDVDy,%9=ٔQ->9"?Y"?=jGyE>Q 54O}?Q 94w)BY&?Q E:ya>Q I*@ʙDI ;i ;b4yɮ@j)gO5DNOT Ignoring new targets: 96.35 m.R5,Z=,gOE ProNav: ac range: 96.350525 m, nav range: 93.307022 m, bearing: 18.999701 deg, approach rate: -0.645398 m/s, LOS rate: -0.037728 deg/s, cmd heading: 30.909908 deg, new cmd heading: 30.876514 deg. BEgOMHeadingCmd: 0.538897 target range: 96.350525 and range: 96.90 m.M$ ?I*Q"Q QQQY]BʎYYajaZeI?颉ɢ@;R) F>i):e顑i{i$ ?}7WPI$ ?IBz>BލCB!IBlBB =BBnDBl;Bc*E5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511152m9@i @i@m/@iIDzD@AE EE$E"E:*ET:VE4ZEBE[ ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762738:1,X@A2R\>2?2 aٱ2 :AHRS rotation from veh to nav: [[0.865715,-0.493199,-0.085399],[0.499705,0.861437,0.090664],[0.028851,-0.121163,0.992213]]2H`? ߿ ܵ,?`?`5?@?5?i2R\>I2\;2ސCYjHByjz!IbDvVDvyz<%~Y=ٔ~BQ-~>9Y=jGyjF E > Q 54 b}?Q 94 ) BYy>Q I%*@ ҙDI ;i ; `i4y-sBɮ-@-uEjIgOUDNOT Ignoring new targets: 96.35 m.RU+)Z]+)gOm ProNav: ac range: 96.350525 m, nav range: 93.063828 m, bearing: 18.985846 deg, approach rate: -0.647295 m/s, LOS rate: -0.036975 deg/s, cmd heading: 30.876512 deg, new cmd heading: 30.848729 deg. BmVgOmHeadingCmd: 0.538412 target range: 96.350525 and range: 96.90 m.u\ ?q*q"q qqqʎjZ2@颱ɢa:) P>i)2b项iJi\ ? 9&wI\ ?IqE9@A @A@E/@AԡEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015302^AQAyzAyA I I O >E  E E #E "E m:*E P:VE 3ZE a @a @a @a @ f1,X@ARЛ>RY?RޓٱR  ZAHRS rotation from veh to nav: [[0.866233,-0.492009,-0.086992],[0.498777,0.861760,0.092688],[0.029363,-0.123679,0.991888]]RH-?`}߿E?? c?`?`l?iRЛ>IR\;RܐCYbFBybv!IiMMb@Mb@Mb@IIII I9MK7?l:v?YM)?yMMT=ٔQ->9Y=jGy"E>Q 54x}?Q 94)BY*?Q E:y)>Q I*@ۙDIG ;i ;p4ytBɮ@j gO DNOT Ignoring new targets: 96.35 m.RZgO% ProNav: ac range: 96.350525 m, nav range: 92.779335 m, bearing: 18.971229 deg, approach rate: -0.663795 m/s, LOS rate: -0.034210 deg/s, cmd heading: 30.848727 deg, new cmd heading: 30.819403 deg. B%nzgO-HeadingCmd: 0.537900 target range: 96.350525 and range: 96.90 m.-ѳ ?)*)"1 1111=Bʎ999j9ZE @iɢm@)q u$K>iq)u_qqiui}ѳ ?}+:}qzIѳ ?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266801%9@! @)@-O0@)@5[A@5\AMGm`]Ay19`]AYA^A-+w! B r>B ܍CB !IB qBB =B EDB lDB k;B &*EiA IA M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519019AY Ii Iy O >K2, X@A(:>:?:ٱ: BAHRS rotation from veh to nav: [[0.866507,-0.491367,-0.087883],[0.498291,0.861891,0.094074],[0.029521,-0.125307,0.991679]]:H`m?`r߿??@;?:? ջ?i:>I:\;:ېCYNAByNp!IIR>)R<bDVVDVβy^ۼ%b\=ٔb޹Q-b>9dYd=fjGyfkFfźEf>hQ 5n4j}?Q 9r4j.)jBYpyr>Q Ir*@jDIj;ijU;j]w4ytɮv6@xP B*** querying acoustic contact ***  jgODNOT Ignoring new targets: 96.35 m.R%>Z%>gO5 ProNav: ac range: 96.350525 m, nav range: 92.532578 m, bearing: 18.958556 deg, approach rate: -0.663173 m/s, LOS rate: -0.034150 deg/s, cmd heading: 30.819402 deg, new cmd heading: 30.793988 deg. B5ygO=HeadingCmd: 0.537456 target range: 96.350525 and range: 96.90 m.= ?9*9"9 9AAAAʎAIIjIZM @qE EE$E"E>:*E:VE4ZEBEi)]顙i._ i ? S<Ќ{I ?I1@1 @1@54@1qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771241ԡ^AuoMA I I O >v 2,'X@A2KK>2{?2ٱ24 :AHRS rotation from veh to nav: [[0.866738,-0.491076,-0.087236],[0.497892,0.862226,0.093115],[0.029490,-0.124140,0.991826]]2HP? m߿Uu?Z?gַ?2?@ǿ ?i2KK>I2N\;2ڐCYBLByB~!IPbDNVDN1yV[=%ZK=ٔZX8Q-Z>9\Y\=^jGy\b#Eb>dQ 5f4fh}?Q 9j4fZ)fBYhyj>Q Ij*@fDIf):if:fe~4yruBɮr@rvEBDAT read: Rx Time:00:43:11.9546  TRx dataTimestamp_ set to:1761698592.653361 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024060jgO%DNOT Ignoring new targets: 96.35 m.R%\Z%\gO5 ProNav: ac range: 96.350525 m, nav range: 92.265541 m, bearing: 18.944848 deg, approach rate: -0.659574 m/s, LOS rate: -0.033957 deg/s, cmd heading: 30.793986 deg, new cmd heading: 30.766491 deg. B5xgOHeadingCmd: 0.536977 target range: 96.350525 and range: 96.90 m.Lw ?*" ʎjZr @Bɢ`.9:) |V>i)Z1i5~ i=Lw ?=.>9I=Lw ?IAE EE%E"E,:*Ek:VE 4ZEa@a@a@a@9@A @A@M4@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274728^A A >A ?! I I O >]2,AX@A:mo>:?:Uٱ:Z BAHRS rotation from veh to nav: [[0.866590,-0.491552,-0.086016],[0.498125,0.862413,0.090087],[0.029899,-0.120915,0.992212]]:H?u߿*`F??@?ߝ?O@4?i:mo>I:\;:ܐCYJGByNx!I|i%Mb@Mb@Mb@!!!! !9%Dl?bX9ȶ~jt?Y%O-?y%E%D<% A%@ %jA)%(@!Y%A9=AAbDEVDEyM!%MA=ٔU|Q-U>9QYY=]jGy]lF]K*:Ee>aQ 5m4e}?Q 9u4en)eǿBYu.?Q Eu:yu>Q Iu*@eDIe;ied;eυ4ywBɮ@wEjgODNOT Ignoring new targets: 96.35 m.RZBuy>BuݍCBu!IBulBBu =BuDDBumDBuDk;Bu)EgO ProNav: ac range: 96.350525 m, nav range: 91.976898 m, bearing: 18.933469 deg, approach rate: -0.640866 m/s, LOS rate: -0.025344 deg/s, cmd heading: 30.766491 deg, new cmd heading: 30.743662 deg. B9gOHeadingCmd: 0.536578 target range: 96.350525 and range: 96.90 m./] ?*" ̂BʎjZ`*@)EDAT read: 00:43:11.9546 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 407, 0.16, 1.772, 0.317, 2.335, 1.772, PHS= 0.101,-1.411, 0.518, RAW= 161.9, 9.0, CAL= 161.6, 9.6, ROT= 348.4, -9.6 MYgot valid direction response: 00:43:11.9546 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 407, 0.16, 1.772, 0.317, 2.335, 1.772, PHS= 0.101,-1.411, 0.518, RAW= 161.9, 9.0, CAL= 161.6, 9.6, ROT= 348.4, -9.6 UPDAT read: Bearing 183.2, -10.7 (Local) U~Local bearing/azimuth received: Bearing 183.2, -10.7 (Local) ]DAT read: Range 11 to 50 : 94.5 m (Round-trip 126.0 ms) speed 0.4 m/s eR#Rx 1: Read range and direction messages.m^direction in FSK: [0.965857,-0.198262,0.166769]uFpublishing direction and range infoy  N4tM?V蕦`ɿ8_X?Y B     ) KI =i  ? 4@ | > J4@ +>) Q@I +   D͉?_?{((V"? ;?) !I 4QOi +  T****** received valid address query ******R****** received valid ping request ******ɢ) L>i)}Wi i-/] ?-@5qI5/] ?I1EQuerying Benthos address 50 with one ping in standard two-way mode.9@ @@4@@=@=YE EE&E"E:*ErN:VE4ZEBE  BDAT read: Tx time:00:43:13.1745  $Ping request sent. 2,rR]X@A8~d>~?~ٱ~^ 5AHRS rotation from veh to nav: [[0.866089,-0.492717,-0.084381],[0.498989,0.862256,0.086744],[0.030018,-0.117233,0.992651]]~H@?ஈ߿m??4??@?i~d>I~\;~ېCYFByw!I bDVDfy6x%3=ٔQ->9Y=jGy;E> Q 54  }?Q 94 K) ѿBYy>Q I*@ DI :i d: Í4y!ɮ%@!QUJX@AJUBRUBjU>U{jx%V@#S2} ^V/@rUN4tM?V蕦`ɿ8_X?ZU4QObU+U܆.U@1IA>@!lv4@zUrCq?P_k?R/?2UA:UB"UD?*UBU3BQQ“QUUBUm>gOu addTargetRange:: Added new target pos. range: 94.500000 m, deltaT: 3.780272 s, deltaX: -2.400002 m, approachRate: -0.634875 m/s, rangeRepo size: 4 gO Added new target pos. range: 93.960327 m, bearing: 19.479471 deg, lat: 36.779267 deg, lon: -121.859524 deg, deltaT: 3.780272 s, deltaX: -2.390198 m, approachRate: -0.632282 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 93.96 m.RZgO ProNav: ac range: 93.960327 m, nav range: 91.667267 m, bearing: 18.921012 deg, approach rate: 0.000000 m/s, LOS rate: -0.025344 deg/s, cmd heading: 30.743662 deg, new cmd heading: 30.721854 deg. BgOHeadingCmd: 0.536197 target range: 93.960327 and range: 94.50 m.=D ?*" ʎjW@Zz?aɢe`i|:)a e,K>ia)mJUiiim}iu=D ?uQXAuƾ^Iu=D ?Iqԙ59@9 @9@=/@9i1I15checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251276^A} 8kE  E E E "E ;*E :VE ZE a @a @a @a @ I) II O >2, wX@A2CL>2?2ٱ2 :AHRS rotation from veh to nav: [[0.865742,-0.493368,-0.084132],[0.499580,0.862002,0.085860],[0.030161,-0.116363,0.992749]]2H)?W߿@ ??@??ɽ?i2CL>I2z\;2ڐCY^2Byb^!IliMb@Mb@Mb@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506172 9E?:v:v?Y&?yԽT<" A9@ A)?@YGAbDVDy˽%M=ٔ.Q->9Y=jGymF:E>Q 54}?Q 94)ڿBY(?Q E:yp>Q I*@DI:i:4y pBɮ@nEj1gO=DNOT Ignoring new targets: 93.96 m.R=oZEogOM ProNav: ac range: 93.960327 m, nav range: 91.404724 m, bearing: 18.914787 deg, approach rate: -0.663858 m/s, LOS rate: -0.015784 deg/s, cmd heading: 30.721853 deg, new cmd heading: 30.709368 deg. BMgOUHeadingCmd: 0.535980 target range: 93.960327 and range: 94.50 m.]5 ?Y*Y"Y YYYaeBʎaaijiZm@?频ɢxٺ) ">i) S顙i i5 ?vBSI5 ?I m9@i @i@m/@i1^A cBu>BBBB =BBB k;B)EA[AzAI1 U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754745IA O >i $2,X@A2>2?2 zٱ2  :AHRS rotation from veh to nav: [[0.865952,-0.493135,-0.083333],[0.499221,0.862323,0.084716],[0.030083,-0.114962,0.992914]]2H`?߿ IU=?&? ?Ξ?#n@?i2>I2\;2ܐCEB EBEB$E@"EB:*EB[:VEB4ZE@BEB9AYA=EjGyIMCEM>QQ 5]4U}?Q 9]4Um)UBYaye2>Q Ie+@UDIUj;iU;Uo4yuqBɮ@oEPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 93.96 m.RZgO ProNav: ac range: 93.960327 m, nav range: 91.152992 m, bearing: 18.908859 deg, approach rate: -0.647598 m/s, LOS rate: -0.015292 deg/s, cmd heading: 30.709367 deg, new cmd heading: 30.697478 deg. B߹gOHeadingCmd: 0.535772 target range: 93.960327 and range: 94.50 m.\( ?*" ʎjZ?%Bɢ%X:)! %C>i!)-P))i-i5\( ?5CMXYIU\( ?IQichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0074299@ @@@@\A@[Aԑ^AlXI1 IA OM > m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259910@*2,X@AV>V?VpٱVC fAHRS rotation from veh to nav: [[0.866148,-0.492931,-0.082506],[0.498896,0.862597,0.083840],[0.029842,-0.113779,0.993058]]VH`{?.߿@@?d?v?䎞? !?iV>IV\;TY];By]i!IIeR=)ep;m=m=ybDuVDu1yZ %C=ٔ:Q->9Y=jGynFmE>Q 54, ~?Q 94)BYy>Q I+@DI:i:4yɮe@jgODNOT Ignoring new targets: 93.96 m.RUZUgO ProNav: ac range: 93.960327 m, nav range: 90.877831 m, bearing: 18.902415 deg, approach rate: -0.666813 m/s, LOS rate: -0.015664 deg/s, cmd heading: 30.697479 deg, new cmd heading: 30.684552 deg. BUgOHeadingCmd: 0.535546 target range: 93.960327 and range: 94.50 m. ?*"    ʎj!Z% m\?aɢeֹ)a m|5>ii)m(1Niiiu"i ?ZE[I ?IE EE%E"E:*ET:VE 4ZEa@a@a@a@ԩ@ @@w0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510861 ^A 1AqAuAAB}v>ByB}!IB}bBB} =ByByB}j;B})EB5ݍCB5ݍCB5ΓCB5 =B5 =C5Ί06A!I9]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764259IiO?,22,WX@Av"˚>vr;?vٱv AHRS rotation from veh to nav: [[0.867226,-0.490999,-0.082704],[0.497045,0.863500,0.085524],[0.029423,-0.115276,0.992898]]vH P?`l߿,?@ʡ??!? ?iv"˚>Iv!\;vِCYybD%VD%kٔ5Y:Q-=>99Y9=EjGyEoFE<EE>IQ 5U4MJ'~?Q 9U4M)MBYQyU>Q I]+@ԙM#DIMS.:*Ek:VEZEBEiQ)UvKQQiUi] ?]WmG]wI] ?Ia@ @@ 0@ =checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014884^A) ! A I I O >_82,`X@A2!>2?2ٱ2 :AHRS rotation from veh to nav: [[0.867868,-0.489724,-0.083521],[0.495926,0.863961,0.087347],[0.029383,-0.117226,0.992670]]2H`?W߿a@???`c\??@?i2!>I2\;2ݐCYB:ByBh!IbDNVDNfy~[%~<ٔEv8Q-E>9IYI=MjGyIMTEU>QQ 5]4U;~?Q 9e4UC)UBYayeJ>Q Ie+@U+DIU;iU:U4ymuBɮu@upEjgODNOT Ignoring new targets: 93.96 m.RֆZֆgO ProNav: ac range: 93.960327 m, nav range: 90.284821 m, bearing: 18.889381 deg, approach rate: -0.679341 m/s, LOS rate: -0.014736 deg/s, cmd heading: 30.669738 deg, new cmd heading: 30.658399 deg. B׹gOHeadingCmd: 0.535090 target range: 93.960327 and range: 94.50 m.?*" ʎjZ@߂Bɢ=F:) 5>i)HiLi? checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518837Թ ?2,q6}?6 ٱ6 BAHRS rotation from veh to nav: [[0.868667,-0.488150,-0.084431],[0.494525,0.864561,0.089330],[0.029389,-0.119351,0.992417]]6H?=߿=@K?{?@S޶? %?Ǎ?i6sN>I6\;6ܐCYJ>ByJl!I LLAԑonly read 2 of 4 data items for bottom velocity. Device response is::BS, -119, +6 a@a a@a a@a a@a bDVDk1ya<%-=ٔ  cQ- >9 Y=jGypFdE>Q 5%4S~?Q 9%4m) BQ A-+:Y)Q E-:y->Q I-+@5DI8:i> 4y=vBɮ=@=qEjgODNOT Ignoring new targets: 93.96 m.R6pZ6pgOM ProNav: ac range: 93.960327 m, nav range: 89.980942 m, bearing: 18.883064 deg, approach rate: -0.629310 m/s, LOS rate: -0.013126 deg/s, cmd heading: 30.658397 deg, new cmd heading: 30.645721 deg. BM+gOUHeadingCmd: 0.534869 target range: 93.960327 and range: 94.50 m.U(?Q*Q"Q QQQYYʎYYajaZe@@颉ɢ ) =>i)E顑ibi(?FK=I(?IB r>B ܍CB !IB \BB B B B ej;B )Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772581e9@a @a@a@aDq Du <E}  E} E} %Ey "E} >:*E} c:VE} 4ZEy BEy a 2Ey a JE} ;a :E} ;a ^A oM A I I O >XF2,X@A2>2=0?2(ٱ2 :AHRS rotation from veh to nav: [[0.869249,-0.487070,-0.084671],[0.493507,0.865044,0.090271],[0.029276,-0.120254,0.992311]]2H?@(,߿ ?q??@? Ⱦ?i2>I2^\;0FBDAT read: Rx Time:00:43:15.7012 FTRx dataTimestamp_ set to:1761698596.433185Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023975YN4ByNa!I Vp9dYd=fjGydfYEf>hQ 5n4j*f~?Q 9r4jD)jBQ Ar :YpQ ErS:yr>Q Ir+@j=DIj;ij;Q?j4ytɮz%@xP B*** querying acoustic contact ***  jgODNOT Ignoring new targets: 93.96 m.R%$Z%$gO5 ProNav: ac range: 93.960327 m, nav range: 89.748657 m, bearing: 18.878376 deg, approach rate: -0.697407 m/s, LOS rate: -0.014113 deg/s, cmd heading: 30.645720 deg, new cmd heading: 30.636319 deg. B5ιgO5HeadingCmd: 0.534705 target range: 93.960327 and range: 94.50 m.=g?9*9"9 99AAAʎAIIjIZM i @uނB9ɢu :)Q ]+>iY)]^0DYYi]ܮieg?eLeIeg?Ii 9@  @@/@a=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274991^AE̓ԑI1 II O] >E  E E $E "E [:*E ;J:VE 4ZE a @a @a @a @ ևL2,4X@A-i>- ?-Kٱ-_ =AHRS rotation from veh to nav: [[0.869536,-0.486632,-0.084240],[0.493012,0.865351,0.090033],[0.029085,-0.119818,0.992370]]-H =?$߿ǐ`?@?c ? aȝ?i~?i-i>I-\;)YM=ByMk!Iԉaa aa aa aa iMb@Mb@Mb@ 9x&?~jtÿ/$?Y7)?y< A @ A)@Y(AbDVDy =% *=ٔ 9Q->9Y=jGyqF*E>!Q 5-4%\~?Q 9-4%)%"BQ A-T:Y5-?Q E5:y5ɖ>Q I5+@%GDI%B;i%;%~4y=xBɮ=@=rEjagOeDNOT Ignoring new targets: 93.96 m.RmD9ZmD9gO} ProNav: ac range: 93.960327 m, nav range: 89.424011 m, bearing: 18.885657 deg, approach rate: -0.676116 m/s, LOS rate: 0.015219 deg/s, cmd heading: 30.636318 deg, new cmd heading: 30.650934 deg. B}9gOHeadingCmd: 0.534960 target range: 93.960327 and range: 94.50 m.DAT read: 00:43:15.7012 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 405,-0.15, 1.300,-0.096, 1.871, 1.345, PHS= 0.056,-1.397, 0.481, RAW= 162.5, 10.1, CAL= 162.4, 11.0, ROT= 347.6, -11.0 Ygot valid direction response: 00:43:15.7012 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 405,-0.15, 1.300,-0.096, 1.871, 1.345, PHS= 0.056,-1.397, 0.481, RAW= 162.5, 10.1, CAL= 162.4, 11.0, ROT= 347.6, -11.0 PDAT read: Bearing 186.4, -11.4 (Local)  ~Local bearing/azimuth received: Bearing 186.4, -11.4 (Local) DAT read: Range 11 to 50 : 92.0 m (Round-trip 122.7 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.E^direction in FSK: [0.958728,-0.210790,0.190809]EFpublishing direction and range infoyF|h?+ʿP@ml?YB )DIB`e=iвE>5@J4> g5@  D>)"@I D3]Ʊ=?$D?5v? [=?)$4It]i D]T****** received valid address query ******?a*a"a aaiimBʎiqqjuW@Zu?]R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. m>֐C-gGAY9YA颥݂Bɢ") >>i)N@顩iԹi?iOBI?Im9@q @q@uD3@q@}[A@}\AB A B% q>B! B! B! B! B! B! B% i;B% E)EE *DAT read: user:554> M BDAT read: Tx time:00:43:16.9744 ^AU (e $Ping request sent.m T2,PX@A^2>^A?^9ٱ^l fAHRS rotation from veh to nav: [[0.869749,-0.486298,-0.083971],[0.492651,0.865543,0.090167],[0.028832,-0.119791,0.992380]]^H?`߿@??/?@(??i^2>I^p\;^ېCYn;Byni!IIr=)r=tv=bDzVDzy(%X=ٔ g/:Q- >9 Y = jGyQE>Q 5%4~?Q 9%4)-BY)y->Q I-+@ODI/:i:E= E=E9E9"E=m:*E=|:VE9ZE9BE=S}gU@H3}d$3t1@r}F|h?+ʿP@ml?Z}t]b} D}d8) U@RR"<@E(6@z}N~fs?㬴 ?1U??2}A:}_B"}+K?*}B}By}Z“}3B}JB}'m>gO addTargetRange:: Added new target pos. range: 92.000000 m, deltaT: 3.779905 s, deltaX: -2.500000 m, approachRate: -0.661392 m/s, rangeRepo size: 4 ԱgO Added new target pos. range: 91.473175 m, bearing: 18.451558 deg, lat: 36.779267 deg, lon: -121.859525 deg, deltaT: 3.779905 s, deltaX: -2.487152 m, approachRate: -0.657993 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 91.47 m.RZgO ProNav: ac range: 91.473175 m, nav range: 89.145409 m, bearing: 18.847892 deg, approach rate: 0.000000 m/s, LOS rate: 0.015219 deg/s, cmd heading: 30.650935 deg, new cmd heading: 30.662689 deg. BgOHeadingCmd: 0.535165 target range: 91.473175 and range: 92.00 m. ?*" ʎjZX?颙ɢ;) <>i)>顡iji ?2Q=I ?I]9@a @a@e/@aechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249251 ^AmIIO >Q 3Z2,jX@Afchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501682~>~?~\"ٱ~  AHRS rotation from veh to nav: [[0.870032,-0.485651,-0.084777],[0.492138,0.865719,0.091276],[0.029065,-0.121135,0.992210]]~HM?߿ /? ?]?8Ý?0?i~>I~6\;~ڐCY7By%d!I-@A)bD5VD5yM%MF=ٔMKQ-M>9QYQ=UjGyUrF]E]>aQ 5m4ep~?Q 9m4e)e9BYiymN>Q Im+@eXDIe:ie:eL4yyɮ}x@yjgODNOT Ignoring new targets: 91.47 m.Rz9Zz9gO ProNav: ac range: 91.473175 m, nav range: 88.867073 m, bearing: 18.854246 deg, approach rate: -0.689518 m/s, LOS rate: 0.015789 deg/s, cmd heading: 30.662690 deg, new cmd heading: 30.675437 deg. B*9gOHeadingCmd: 0.535387 target range: 91.473175 and range: 92.00 m.& ?*" ʎjZV?܂BɢP:) 5>i)<  i i & ?ESCI& ?II!)%[AԱ9@ @@/@EU EUEU%EQ"EU[:*EUX:VEU 4ZEQae@ae@ae@ae@^A-FΞuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753087IIO>) na2,gX@A 2>2j?2ٱ2 >AHRS rotation from veh to nav: [[0.869801,-0.485807,-0.086236],[0.492491,0.865447,0.091941],[0.029967,-0.122441,0.992023]]2Hi?x߿??s?˯?`NX?i2>I2\;2ܐCYJEByJu!IiMb@Mb@Mb@ 9!rh?K7~jt?Yl'?yI <"@ A)YAbD5VD5yM(=%MK=ٔMQ-M>9QYQ=UjGyQU:E]>aQ 5m4e~?Q 9m4e)eEBYm +?Q Em:ym_>Q Iu+@eaDIe :iev:eY4yɮ@sEj9gOEDNOT Ignoring new targets: 91.47 m.RE8ZE8gOu ProNav: ac range: 91.473175 m, nav range: 88.598305 m, bearing: 18.857000 deg, approach rate: -0.634359 m/s, LOS rate: 0.006521 deg/s, cmd heading: 30.675438 deg, new cmd heading: 30.680964 deg. Bu>9gO}HeadingCmd: 0.535484 target range: 91.473175 and range: 92.00 m.}x ?y*" BʎBBBBBBBBi;B)EjZۓ?UۂBɢ]c;)] ]S>iY)e9aaie!qi}x ?}U}EIx ?IiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0054679@ @@@@ =@ =ԙE] E]E]'EY"E]:*E]T:VE]'4ZEYBE]) checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257138Cg2, xX@A>OH>> ?>dٱ>UP VAHRS rotation from veh to nav: [[0.869616,-0.485999,-0.087022],[0.492765,0.865337,0.091512],[0.030829,-0.122461,0.991994]]>H?߿Gw? װ?@Om??Yk?i>OH>I>\;>ڐCY^CBy^s!I ``dfAbDjVDj1yr%rQ=ٔrfQ-v>9tYt=vjGyvsFz4]:Ez>|Q 54~~?Q 94~n)~PBYy>Q I +@~iDI~:i~9:~-4y_Bɮ@tEP-B*** querying acoustic contact ***) )jAgOEDNOT Ignoring new targets: 91.47 m.RM9ZM9gO] ProNav: ac range: 91.473175 m, nav range: 88.338089 m, bearing: 18.859629 deg, approach rate: -0.700049 m/s, LOS rate: 0.007094 deg/s, cmd heading: 30.680964 deg, new cmd heading: 30.686238 deg. B]O9gOeHeadingCmd: 0.535576 target range: 91.473175 and range: 92.00 m.e ?a*a"a aaiiiʎiqqjqZuc?颥ڂBɢ;) Q>i)"67顩i #i ?yWk I ?IU9@Q @Q@U4@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511849^AR5II O%>! Em  Ei Ei Ei "Em :*Ei VEi ZEi au @au @au @au @Zsm2,wjX@Ax>>d?kٱ AHRS rotation from veh to nav: [[0.868804,-0.487363,-0.087502],[0.494163,0.864603,0.090911],[0.031348,-0.122224,0.992007]]H@>?@0߿`f\?Ԫ?E? ? J@?i>>IN\;Y%QBy%!IiMb@Mb@Mb@ 9!rh?V-¿I +?Yyh9<" A@ A)Y(A 4<p<bDVDyu=%8=ٔBQ->9Y=jGy%n;E%>5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7612101Q 5=45~?Q 9=45)5^BYEj+?Q EE:yE>Q IE+@5rDI5:i5 ;54yQɮU@QjqgO}DNOT Ignoring new targets: 91.47 m.R}?&9Z}?&9gO ProNav: ac range: 91.473175 m, nav range: 88.040703 m, bearing: 18.863658 deg, approach rate: -0.668359 m/s, LOS rate: 0.009084 deg/s, cmd heading: 30.686237 deg, new cmd heading: 30.694321 deg. B9gOHeadingCmd: 0.535717 target range: 91.473175 and range: 92.00 m.$ ?*" BʎjZ A@قBɢ0;) q>i)3i:%i$ ?ֽY}I$ ?I!=9@9 @9@=4@9QAA@ABo>BB!IBgBBBBlDBEi;B(E^A FΞ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013433y A I I O >Ut2,I.X@A2י>2?2ٱ2 :AHRS rotation from veh to nav: [[0.868080,-0.488506,-0.088313],[0.495398,0.863902,0.090858],[0.031909,-0.122622,0.991940]]2HP? C߿@??~B?[V?.d?i2י>I2\;2ܐCYBWByB!IbDNVDNkyr4=%v`=ٔv ʺQ-v>9tYx=zjGyztFzۀ;Ez>|Q 54~&?Q 9 4~)~iBY y >Q I +@~zDI~ :i~|:~N4yɮx@E% E%E%#E!"E%O:*E%1:VE%3ZE!BE% i)0i'i+ ?TO[:슼I+ ?IԉMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265017&t9@ @@4@@@ZA ^A e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517101A I)I9OM>{{2,*X@AF˚>F;?FٱF VAHRS rotation from veh to nav: [[0.867142,-0.490482,-0.086553],[0.497002,0.863458,0.086199],[0.032456,-0.117764,0.992511]]FH ?d߿@\(?q?!?`? %?iF˚>IFS\;FؐCY~XBy|IV>)= = =bDVD:y%m:%%,=ٔ%ʖQ-%>9)Y)=-jGy)-;E5>1Q 5=45?Q 9E45)5wBYAyEl>Q IE+@5DI5:i5:54yM[BɮM.@UlEjqgOuDNOT Ignoring new targets: 91.47 m.R}J9Z}J9gO ProNav: ac range: 91.473175 m, nav range: 87.481606 m, bearing: 18.870448 deg, approach rate: -0.674121 m/s, LOS rate: 0.007939 deg/s, cmd heading: 30.700474 deg, new cmd heading: 30.707947 deg. Bwh9gOHeadingCmd: 0.535955 target range: 91.473175 and range: 92.00 m.U4 ?*" ʎjZ@@ւBɢhy;) >i),iy)iU4 ?8]|IU4 ?IE= E=E=&E9"E=:*E=[:VE=4ZE9aE@aE@aE@aE@e Q@Y @Y@e/@a9echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769239^Aa A .AI! I1 OE >a2," X@AB.j>B.ۍCB.!IB.vBB. =B,B,B.i;B.(EB ܍CB ܍CB B B C 5H~J>~!?~ٱ~ݽ eAHRS rotation from veh to nav: [[0.865666,-0.493755,-0.082630],[0.499521,0.862856,0.077196],[0.033182,-0.108102,0.993586]]~H?߿?'%?@?$ó?`3?t?i~J>I~\;~ڐCYubByu!IBDAT read: Rx Time:00:43:19.4977 TRx dataTimestamp_ set to:1761698600.213186checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022233i Mb@Mb@Mb@     9 w/?p= ף/$?Y &?y  <  A @ A)  Y QA%AA!bD-VD-y=5=%=:=ٔ=lغQ-E>9E ?YE ?=EjGyEuFM;EM>QQ 5]4U1?Q 9]4U)UBY]H*?Q Ee:yeD>Q Ie+@UDIU:iU/:UM4yiɮm@ijgODNOT Ignoring new targets: 91.47 m.RZgO ProNav: ac range: 91.473175 m, nav range: 87.190231 m, bearing: 18.870210 deg, approach rate: -0.662058 m/s, LOS rate: -0.000543 deg/s, cmd heading: 30.707947 deg, new cmd heading: 30.707468 deg. B~gOmHeadingCmd: 0.535946 target range: 91.473175 and range: 92.00 m.m3 ?q*q"q qqqy}҂BʎyyyjZ/ @ԩՂBɢ&;) Ԍ>i)(i4+i3 ?^+WI3 ?I bEjE4rEħ/EM EMEM$EI"EM:*EMR:VEM4ZEIBEMF?F,ٱFԽ RAHRS rotation from veh to nav: [[0.864361,-0.496363,-0.080644],[0.501771,0.861909,0.073068],[0.033240,-0.103622,0.994061]]FH@٨?h߿????`Y?VPExceeded connect timeout, disconnecting.iF>IF%\;FܐCY^uBy^!IbDjVDj1yn0=%n+=ٔr9v"?Yv"?=vjGyvvFv';Ez>xQ 5~4zK?Q 9~4}DAT read: 00:43:19.4977 LVL= 32752, 32753, 29362, 32755, AGC= 70, IDX= 402,-0.37,-2.522, 2.366,-1.950,-2.546, PHS= 0.126,-1.327, 0.551, RAW= 162.5, 7.7, CAL= 162.0, 7.7, ROT= 348.0, -7.7 Ygot valid direction response: 00:43:19.4977 LVL= 32752, 32753, 29362, 32755, AGC= 70, IDX= 402,-0.37,-2.522, 2.366,-1.950,-2.546, PHS= 0.126,-1.327, 0.551, RAW= 162.5, 7.7, CAL= 162.0, 7.7, ROT= 348.0, -7.7 PDAT read: Bearing 185.0, -10.4 (Local) ~Local bearing/azimuth received: Bearing 185.0, -10.4 (Local) DAT read: Range 11 to 50 : 89.4 m (Round-trip 119.2 ms) speed 1.0 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.969328,-0.206037,0.133986]Fpublishing direction and range infoy)-=ɻ? l_ʿL`u&?Y-̲B)))-r ))-FI-%>i-#۩-V ?)- >-4@ - >)- \@I- ))-^e?ih? Z? ))-# I-TwVi- ))T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zW)zBYy{>Q I%+@zDIzg=iz|=z4y)ɮ5g@1)-P-X@AJ-űBR-űBj-5>-%AU@6]P2 ȓ'@r-=ɻ? l_ʿL`u&?Z-TwVb- -CT@0૊iQ<@p񉻙0@z-vt? vc?wN?2-A:-5B"-y:{?*-uB-B-y:{?-YBw“-B-B-`B>gO= addTargetRange:: Added new target pos. range: 89.400002 m, deltaT: 3.780375 s, deltaX: -2.599998 m, approachRate: -0.687762 m/s, rangeRepo size: 4 gOM Added new target pos. range: 88.886597 m, bearing: 18.922666 deg, lat: 36.779271 deg, lon: -121.859524 deg, deltaT: 3.780375 s, deltaX: -2.586578 m, approachRate: -0.684212 m/s, posRepo size: 4 jIgOuDNOT Ignoring new targets: 88.89 m.RuZygO ProNav: ac range: 88.886597 m, nav range: 87.274040 m, bearing: 18.829192 deg, approach rate: 0.000000 m/s, LOS rate: -0.000543 deg/s, cmd heading: 30.707468 deg, new cmd heading: 30.706886 deg. BgOHeadingCmd: 0.535936 target range: 88.886597 and range: 89.40 m.3 ?ԑ*" ʎjYV@Z m?E EE#E"E>:*Eg:VE3ZEa@a@a@a@MӂBɢT<) >i)#i.i3 ?;`IE6I3 ?I9@ @@/@*DAT read: user:555> BDAT read: Tx time:00:43:20.7744 $Ping request sent.2,GX@A!6>p?ٱ,Ͻ AHRS rotation from veh to nav: [[0.862840,-0.499371,-0.078332],[0.504472,0.860489,0.071183],[0.031857,-0.100936,0.994383]]Hb?߿ $??9? O?@ֹ?i!6>I\;Y%{By-!I 11BA<BBB!IBBB =BEDBBh;B(EiMb@Mb@Mb@ 9J +?|?5^Mb?Y(?yҽ<SA"@ XA)@Yf@bDVDܲy_<%%=ٔN7;Q->9 ?Y ?=jGyf;E>Q 54d?Q 94')BY*?Q E:y>Q I+@DI :i:P4y ɮ  @ mEAPMB*** querying acoustic contact ***I IjQgO]DNOT Ignoring new targets: 88.89 m.R]KٹZ]Kٹmchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250873gO ProNav: ac range: 88.886597 m, nav range: 86.945160 m, bearing: 18.818716 deg, approach rate: -0.742717 m/s, LOS rate: -0.023747 deg/s, cmd heading: 30.706888 deg, new cmd heading: 30.685858 deg. B-gOHeadingCmd: 0.535569 target range: 88.886597 and range: 89.40 m. ?*" ȂBʎjZ@?҂BɢbP<) w>i)EˆAAiEzo1iM ?M`MϕIM ?IQ59@1 @1@1@1qE EE$E"E:*ErN:VE4ZEBEu02,NaX@A 2>2\?2Hٱ2yѽ >AHRS rotation from veh to nav: [[0.862097,-0.500652,-0.078327],[0.505794,0.859595,0.072588],[0.030988,-0.102196,0.994282]]2H`M?`X? `w/?́?#?\?|)'?i2>I2\;2ڐCYF~ByF!I NpQ 54dw?Q 94)BY!y%>Q I%+@DI:i :4y-\Bɮ-@-nEjQgOUDNOT Ignoring new targets: 88.89 m.R]̹Z]̹gOm ProNav: ac range: 88.886597 m, nav range: 86.709236 m, bearing: 18.810907 deg, approach rate: -0.674677 m/s, LOS rate: -0.022395 deg/s, cmd heading: 30.685858 deg, new cmd heading: 30.670196 deg. Bm#gOuHeadingCmd: 0.535296 target range: 88.886597 and range: 89.40 m.u' ?q*q"q yyyyyʎjZ s?颵тBɢʄ<) ]>i)项iڅ3i' ?VaI' ?IIM9@I @I@U/@Q^A%nManaging dock network, ignoring radio surface power offchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754988I)I9OER>qԙ E  E E E "E 7:*E i:VE ZE a @a @a @a @ ,2,q{X@A@MR>MA?MP<ٱM"Ͻ eAHRS rotation from veh to nav: [[0.861791,-0.501365,-0.077137],[0.506373,0.859282,0.072260],[0.030054,-0.101333,0.994399]]MH@ʓ?- ;44?`<? ?@Zƞ??iMR>IM\;I}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006840YuBy!IG\A)]e9]\AY]AiMb@Mb@Mb@ 9sh|??|?5^Mb?Y)?y=A @ A)@Y@bD5 VD52y=N=%E'=ٔET:Q-E>9IYI=MjGyIU~:EU>QQ 5]4Uu?Q 9e4U)UBYe,?Q Ee:ye>Q Ie+@UDIU ;iU ;U4yqɮu@qjgODNOT Ignoring new targets: 88.89 m.RԹZԹԩgO ProNav: ac range: 88.886597 m, nav range: 86.389320 m, bearing: 18.799874 deg, approach rate: -0.669388 m/s, LOS rate: -0.023170 deg/s, cmd heading: 30.670196 deg, new cmd heading: 30.648049 deg. B)gOHeadingCmd: 0.534909 target range: 88.886597 and range: 89.40 m.?*" ÂBʎjZ`0c?ЂBɢh<) >i)z i M6i ?aͻI?I9@ @@0@B}y>B}ݍCB}!IB}BB} =B}DDB}nDB}h;B}(E- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258823^A  I! I9 OE >,2,@X@AE2 E2E2(E0"E2:*E2R:VE2c44ZE0BE21B'3?BrٱB˽ NAHRS rotation from veh to nav: [[0.861422,-0.502309,-0.075089],[0.507074,0.858965,0.071103],[0.028783,-0.099326,0.994639]]BH`Đ?9`9?`|?`3?`cy?@lm@?iB>IB];@YVByV!IIZ=)ZT?^=^p=bDbVDbyjE=%j}=ٔj;Q-j ?9llYp=rjGyrxFr ;Ev ?tQ 5z4vx?Q 9z4v)vBY|y~>Q I~+@vDIv;iv;v$4yɮ @ j)gO5DNOT Ignoring new targets: 88.89 m.R5AعZ5AعgOE ProNav: ac range: 88.886597 m, nav range: 86.172134 m, bearing: 18.792231 deg, approach rate: -0.669924 m/s, LOS rate: -0.023633 deg/s, cmd heading: 30.648049 deg, new cmd heading: 30.632726 deg. BE-gOMHeadingCmd: 0.534642 target range: 88.886597 and range: 89.40 m.MK?I*Q"Q QQQYYʎYYajaZe ?颍ςBɢ޹<) X>i)顑i{8iK?bIK?IU9@Q @Q@U4@Q checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5113219^Au`ԻIIO>i = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762729;2,X@ABѠ>B>?BٱBн NAHRS rotation from veh to nav: [[0.861364,-0.502395,-0.075170],[0.507248,0.858625,0.073913],[0.027409,-0.101796,0.994428]]BH@L?X> _;? y??`:?GZ?iBѠ>IB\;@YZBy^!IhhbDnVDn:yv<%zH=ٔz\;Q-~>9|Y=jGy W9E >Q 5%4?Q 9%4)BY!y-7>Q I-+@ĚDIB;iC;+4ԙy1ɮ@oEj gODNOT Ignoring new targets: 88.89 m.RιZιgO- ProNav: ac range: 88.886597 m, nav range: 85.898293 m, bearing: 18.782488 deg, approach rate: -0.632350 m/s, LOS rate: -0.022571 deg/s, cmd heading: 30.632726 deg, new cmd heading: 30.613177 deg. B-:%gO-HeadingCmd: 0.534301 target range: 88.886597 and range: 89.40 m.5?1*1"1 11999ʎ9AAjAZE ߾@m͂Bɢua<)q uY>iq)} yyi}*;i?VBbI?IEu EuEu$Eq"Eum:*Euxv:VEu4ZEqa@a@a@a@@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015200^AIqIO> u'2,X@A27>2|+?2_aּٱ2ܽ FAHRS rotation from veh to nav: [[0.861543,-0.501818,-0.076958],[0.507010,0.858268,0.079479],[0.026166,-0.107493,0.993861]]2H‘? l9?v?X?`c˚??i27>I2\;0YZByZ!IAAB%v>B!B%!IB%BB% =B!B!B%_h;B%(EiMb@Mb@Mb@ 9K7?sh|?y&1?Y)?y`e< V@)@Y@bDVDy%J;%%8=ٔ%7;Q-%>9)Y)=-jGy-yF5.E5>9Q 5E4=?Q 9E4=Ӹ)=BYE+?Q EE:yE>Q IE+@=͚DI=:i=;=h34yQɮUn@QPuB*** querying acoustic contact ***q qjygO}DNOT Ignoring new targets: 88.89 m.R"2Z"2gO ProNav: ac range: 88.886597 m, nav range: 85.604111 m, bearing: 18.766236 deg, approach rate: -0.702324 m/s, LOS rate: -0.038934 deg/s, cmd heading: 30.613178 deg, new cmd heading: 30.580561 deg. BgOHeadingCmd: 0.533731 target range: 88.886597 and range: 89.40 m.?*" قBʎjZ@˂Bɢ<) >i)Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266807i =i?ubŸI?Ie9@a @a@e/@iE} E}E}#Ey"E}:*E}F:VE}3ZEyBE}9 q UM2,JX@A2ZR>2 ?2V]ʼٱ2r :AHRS rotation from veh to nav: [[0.861919,-0.501004,-0.078045],[0.506444,0.858134,0.084377],[0.024700,-0.112252,0.993373]]2H֔?`9`4?`u?? K??i2ZR>I2\;2ؐCYBByF!I HHHJAbDNVDNyV=%Vf=ٔZ>;Q-Z>9Z"?YZ"?=^jGy\^AE^>`Q 5f4b?Q 9f4bW)bBYhyj>Q Ij+@b՚DIb:ib:b94yn]Bɮn@rpEjgODNOT Ignoring new targets: 88.89 m.R!Z!gO ProNav: ac range: 88.886597 m, nav range: 85.367836 m, bearing: 18.753182 deg, approach rate: -0.637161 m/s, LOS rate: -0.035299 deg/s, cmd heading: 30.580560 deg, new cmd heading: 30.554380 deg. B4gOHeadingCmd: 0.533275 target range: 88.886597 and range: 89.40 m.?*" ʎjZ@Q颍ʂBɢ<) :>i)SOiF@i?Ib I?I9@ @@@ԁ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771075Ա^A[E  E E (E "E :*E L_:VE c44ZE a @a @a @a @A I I O- > y2,X@AuBDAT read: Rx Time:00:43:23.2944 TRx dataTimestamp_ set to:1761698603.996766checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028931>(?ٱߏ AHRS rotation from veh to nav: [[0.861618,-0.501492,-0.078227],[0.507004,0.857585,0.086568],[0.023674,-0.114250,0.993170]]H`? 9  a9?Vq?L)?=?@|?` ?i>I\;ڐCYUByU"IԩiMb@Mb@Mb@ 9 rh?V-:v?YC+?yhT<"@ l@)@Yz@ 4<bDVDy <% )=ٔ  ;Q->9Y=jGyzF:E>!Q 5-4%?Q 9-4%̲)%BY-B,?Q E-:y5>Q I5+@%ߚDI%P;i%e;% B4y9ɮ=d@9jgODNOT Ignoring new targets: 88.89 m.RRZRgO ProNav: ac range: 88.886597 m, nav range: 85.045746 m, bearing: 18.731056 deg, approach rate: -0.668310 m/s, LOS rate: -0.046082 deg/s, cmd heading: 30.554380 deg, new cmd heading: 30.509962 deg. BgOHeadingCmd: 0.532499 target range: 88.886597 and range: 89.40 m.Q?*"! !AAIMBʎIIQjQZU @颽ɂBɢ<<) %>i!)%Y!!i%.(Ci-Q?-b-zI-Q?I19@ @@/@BEk>BE܍CBE"IBEǃBBE =BABElDBEh;BEW(E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274672 ^A= A= ?A= >1 E  E E #E "E :*E R:VE 3ZE BE ^2,oX@AY5ƃBy5"IԱbDVDfy7=%F=ٔQ->9Y=jGy!-E5>AQ 5M4E?Q 9M4E)EBYQyQQ IU+@EDIE;iE;EaI4y]YBɮ]0@]gEjgODNOT Ignoring new targets: 88.89 m.R\Z\gO ProNav: ac range: 88.886597 m, nav range: 84.764832 m, bearing: 18.711622 deg, approach rate: -0.695016 m/s, LOS rate: -0.048243 deg/s, cmd heading: 30.509963 deg, new cmd heading: 30.470965 deg. BgOHeadingCmd: 0.531819 target range: 88.886597 and range: 89.40 m.E%?*" ʎjZ'@5DAT read: 00:43:23.2944 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 415,-0.16,-2.652, 2.258,-2.061,-2.621, PHS= 0.071,-1.359, 0.517, RAW= 163.1, 9.1, CAL= 162.9, 9.7, ROT= 347.1, -9.7 =Ygot valid direction response: 00:43:23.2944 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 415,-0.16,-2.652, 2.258,-2.061,-2.621, PHS= 0.071,-1.359, 0.517, RAW= 163.1, 9.1, CAL= 162.9, 9.7, ROT= 347.1, -9.7 MPDAT read: Bearing 186.6, -12.2 (Local) M~Local bearing/azimuth received: Bearing 186.6, -12.2 (Local) UDAT read: Range 11 to 50 : 86.9 m (Round-trip 115.9 ms) speed 0.1 m/s ]R#Rx 1: Read range and direction messages.u^direction in FSK: [0.960825,-0.220058,0.168489]uFpublishing direction and range infoy  o?a*̿RV?Y ̭B     ) II sh=i 󭿉 Z? 8/6@ "> 5@ -\->) r@I -\-   "n2w ??1>XK? @?)  #I fi -\-  T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ȂBɢ <) >i)&iEiE%?brZIE%?I9@ @@/@ ^A yb] *DAT read: user:556>  BDAT read: Tx time:00:43:24.5244  $Ping request sent. 52,73X@ARI>Rz?R?wٱR ZAHRS rotation from veh to nav: [[0.861035,-0.502266,-0.079674],[0.508116,0.856129,0.094137],[0.020929,-0.121538,0.992366]]RH`?@e{B?he?W?`n?$`v?iRI>IR \;PY=By="IIE=)E9iYi=mjGym{FuX;Eu>yQ 54}!?Q 94})}BYy_>Q I+@}DI}:i}-:}O4yZBɮ@hEAEX@AJEͬBREͬBjE{>E/2T@8n3m)-@rEo?a*̿RV?ZEfbE-\-E6βS@NF;@@5ѵ~2@zEV1?v23?FwAf?2E2A:EB"Eol?*EDBEBEol?Eu“EBEƨBE-E>gO addTargetRange:: Added new target pos. range: 86.900002 m, deltaT: 3.779572 s, deltaX: -2.500000 m, approachRate: -0.661451 m/s, rangeRepo size: 4 gO Added new target pos. range: 86.401581 m, bearing: 18.854352 deg, lat: 36.779269 deg, lon: -121.859523 deg, deltaT: 3.779572 s, deltaX: -2.485016 m, approachRate: -0.657486 m/s, posRepo size: 4 E EE&E"E:*ErN:VE4ZEa@a@a @a @j gO DNOT Ignoring new targets: 86.40 m.RZgO- ProNav: ac range: 86.401581 m, nav range: 84.386879 m, bearing: 18.830417 deg, approach rate: 0.000000 m/s, LOS rate: -0.048243 deg/s, cmd heading: 30.470966 deg, new cmd heading: 30.434166 deg. B)gO-HeadingCmd: 0.531176 target range: 86.401581 and range: 86.90 m.5-?1*1"1 11999ʎ9AAjEU@ZE{,?mǂBɢuT<)q u]>iq)}ֻyyi}VNHi-?bP׺I-?I59@9 @9@E=0@AI%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249610^AM_yI) I9 OM >ԙ B A <B g>B ۍCB ("IB փBB  =B EDB B g;B $(EBBB˔CB =BCc62, MX@A>\>>8?>ٱ>5 JAHRS rotation from veh to nav: [[0.860983,-0.502286,-0.080105],[0.508251,0.855705,0.097213],[0.019717,-0.124412,0.992035]]>H,?`C?a??`0?ٿ`?i>\>I>\;9YYY=]jGyYeg9Ee>iQ 5u4m6?Q 9u4m)mBYu,?Q Eu:checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501550y}>Q I+@mDIm>i)ɻiJik?LAb 撺I%k?I!9@ @@v2@bE4jErEĭ<0E  E E (E "E O:*E :VE c44ZE BE  CG2,fX@A6P>6}?6⓼ٱ6 BAHRS rotation from veh to nav: [[0.861059,-0.502304,-0.079171],[0.508184,0.855550,0.098911],[0.018051,-0.125402,0.991942]]6H̍? D` C?`?=R? |?* ?i6P>I6"\;6ِCY^ʃByb"IbDjVDjyr><%rR=ٔr;Q-r>9tYt=vjGyv|FzEz>xQ 54zJ?Q 94z)zBYy>Q I+@zDIz;iz;z]4yɮ@j1gO=DNOT Ignoring new targets: 86.40 m.R=oZEogO] ProNav: ac range: 86.401581 m, nav range: 83.856560 m, bearing: 18.791026 deg, approach rate: -0.700505 m/s, LOS rate: -0.052347 deg/s, cmd heading: 30.394161 deg, new cmd heading: 30.355134 deg. BegOmHeadingCmd: 0.529797 target range: 86.401581 and range: 86.90 m.mǠ?q*q"q qyʎjZ1?łBɢs=) g?i)VƼiupNMi}Ǡ?}a}/I}Ǡ?I9@ @@U4@i߉I߉checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006437^AE EE!E"Em:*E[:VEc3ZEa%@a%@a%@a-@IIO>) |22,ӀX@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2599840f;>fU?fyٱf rAHRS rotation from veh to nav: [[0.861391,-0.502190,-0.076227],[0.507673,0.856071,0.097012],[0.016537,-0.122264,0.992360]]fH? >?`d?ո?@?Li?if;>If-\;fאCYz̃By"I !%AiMb@Mb@Mb@ 9oʡ?9 Y =jGyE>Q 5%4a?Q 9%4)BY- .?Q E-:y->Q I-+@ DI;iL ;e4y5[Bɮ5@=iEjYgO]DNOT Ignoring new targets: 86.40 m.ReWZeWgOu ProNav: ac range: 86.401581 m, nav range: 83.557610 m, bearing: 18.770250 deg, approach rate: -0.675607 m/s, LOS rate: -0.047119 deg/s, cmd heading: 30.355133 deg, new cmd heading: 30.313433 deg. BuwgO}HeadingCmd: 0.529069 target range: 86.401581 and range: 86.90 m.}q?y*y"y BʎjZ`š?颽ĂBɢ7<) ?i)i;Oiq?a$Iq?II@ @@/@Bl>BB;"IBBBBBB%g;B'Eqchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509328^A"I) I9 OM >ԡ D 4=D a=E%  E% E% &E! "E% :*E% ga:VE% 4ZE! BE% q>>F?>/5vٱ>ڲ JAHRS rotation from veh to nav: [[0.861535,-0.502336,-0.073597],[0.507476,0.856352,0.095550],[0.015027,-0.119669,0.992700]]>H?`" Fײ>=?;g? u?ZƎ? 3?i>q>I>];>ڐCYRσByV"I Zp9hYh=jjGyn}Fn/En>pQ 5v4rt?Q 9v4r)rBYxyzy>Q Iz+@rDIr:irN:rk4y|ɮ~@jEj!gO%DNOT Ignoring new targets: 86.40 m.R-XXZ-XXgO= ProNav: ac range: 86.401581 m, nav range: 83.312195 m, bearing: 18.753135 deg, approach rate: -0.676029 m/s, LOS rate: -0.047285 deg/s, cmd heading: 30.313435 deg, new cmd heading: 30.279103 deg. B=gOEHeadingCmd: 0.528470 target range: 86.401581 and range: 86.90 m.EI?A*A"A AIIIIʎQQQjQZUXh?ÂBɢQ =) ?i ) 뮡  i 9RiI?#'aII?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762215ԩ@ @@/@^A5?BɹIIO>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0140582,~X@A2XM>2?2|dٱ2, :AHRS rotation from veh to nav: [[0.862117,-0.501540,-0.072191],[0.506517,0.856921,0.095539],[0.013945,-0.118932,0.992804]]2H w? `{b5?k?Fu?V? Yr ?i2XM>I2];2אClYv҃Byz#"IbDVDyM<%F=ٔ+;Q->9Y=jGy%1E%>)Q 554-?Q 954-)- BY1y5>Q I=+@-DI-;i-;-s4yAɮE@AjigOmDNOT Ignoring new targets: 86.40 m.RuJWZuJWgO ProNav: ac range: 86.401581 m, nav range: 83.032959 m, bearing: 18.733759 deg, approach rate: -0.675877 m/s, LOS rate: -0.047055 deg/s, cmd heading: 30.279103 deg, new cmd heading: 30.240221 deg. B;gOHeadingCmd: 0.527791 target range: 86.401581 and range: 86.90 m.W?*" ʎjZ%@ɢ=) ?i)mTE EE$E"E:*Ee:VE4ZEa@a@a@a@iTiW?`LDFIW?I9@ @@/@  !)IG%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267902M`]AaS9`]AYeA9^Au9A I I O >a A A AAB j>B ܍CB A"IB BB  =B DDB B bf;B 'EHk2,2WX@A2S">2 g?2WQٱ2H :AHRS rotation from veh to nav: [[0.863284,-0.499490,-0.072462],[0.504557,0.857701,0.098848],[0.012777,-0.121895,0.992461]]2H?`߿ ڌS%? Jr?"N?*?4=?i2S">I24];2ِCYBσByB"IIF>)F=9iYIYechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517736i}Mb@Mb@Mb@yyyy y9}sh|??Zd;O~jt?Y})?y}j}D9Y=jGy~FE>Q 54?Q 94)BY+?Q E:y>Q I+@%DI:i:xz4yɮ@kEPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 86.40 m.R%Z%gO ProNav: ac range: 86.401581 m, nav range: 82.750740 m, bearing: 18.720573 deg, approach rate: -0.667374 m/s, LOS rate: -0.031287 deg/s, cmd heading: 30.240222 deg, new cmd heading: 30.213760 deg. B egOHeadingCmd: 0.527330 target range: 86.401581 and range: 86.90 m.?*!"! !!!)-Bʎ)))j1Z5@sd@‚Bɢ8v<) ?i))i?Wi ? ` gI-?I1iE EE"E"E:*EP:VE(3ZEBE)W2,2X@AY΃By%"I9=BAbDMVDM yeƲ%eO=ٔeQ-m>9qYq=ujGyy}E>ԙQ 54ܴ?Q 94d)BYyQ I+@.DIR;i(S;l4yɮ@jgODNOT Ignoring new targets: 86.40 m.RZgO ProNav: ac range: 86.401581 m, nav range: 82.484779 m, bearing: 18.708065 deg, approach rate: -0.666821 m/s, LOS rate: -0.031463 deg/s, cmd heading: 30.213762 deg, new cmd heading: 30.188664 deg. BRfgOHeadingCmd: 0.526892 target range: 86.401581 and range: 86.90 m.^?*" ʎ j Z  @1ɢ5Ę =)9 =9?i9)=: n99iE.YiE^?Emi`MIM^?II9@ @@4@}BDAT read: Rx Time:00:43:27.0412 }TRx dataTimestamp_ set to:1761698607.774260checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023866^A2AzAE EE%E"E:*Ek:VE 4ZEa%@a%@a%@a%@A I I O >! = checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2757503,X@Az>8?:]"ٱU 5AHRS rotation from veh to nav: [[0.865917,-0.494909,-0.072479],[0.500090,0.859481,0.105846],[0.009910,-0.127900,0.991738]]H@?`߿`@?`݀??K?_P?iz>Iz];ڐCYEƃByE"IiMb@Mb@Mb@ 9 rh?S㥻Mb?Y,?y/ݽ<@ l@)@Y@bD%VD%:3y5%5==ٔ5;Q-5>99Y9==jGy=FEEEE>IQ 5U4Mˀ?Q 9U4M)MBYU.?Q EU:yU/>Q I]+@M7DIM ;iM ;M4yaɮeQ@ajgODNOT Ignoring new targets: 86.40 m.RZgO ProNav: ac range: 86.401581 m, nav range: 82.192505 m, bearing: 18.699700 deg, approach rate: -0.683429 m/s, LOS rate: -0.019629 deg/s, cmd heading: 30.188664 deg, new cmd heading: 30.171876 deg. BgOHeadingCmd: 0.526599 target range: 86.401581 and range: 86.90 m.*?*" BʎjZ  @BɢL=) ?i)Qi[i*?`*2λI*?Ii@i @q@u4@y!BMe>BMڍCBM;"IBMBBM =BMEDBMkDBMf;BMW'EDAT read: 00:43:27.0412 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 414, 0.28,-1.480,-2.846,-0.934,-1.447, PHS= 0.069,-1.354, 0.469, RAW= 162.1, 9.9, CAL= 162.0, 10.7, ROT= 348.0, -10.7 Ygot valid direction response: 00:43:27.0412 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 414, 0.28,-1.480,-2.846,-0.934,-1.447, PHS= 0.069,-1.354, 0.469, RAW= 162.1, 9.9, CAL= 162.0, 10.7, ROT= 348.0, -10.7 PDAT read: Bearing 187.1, -12.3 (Local) ~Local bearing/azimuth received: Bearing 187.1, -12.3 (Local) DAT read: Range 11 to 50 : 84.4 m (Round-trip 112.6 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.961140,-0.204297,0.185667]Fpublishing direction and range infoyqu`?Ice&ʿ &K{?YųBqqqq q)uGIuO=iuOu >uD5@u;0>u4@ ut;?>)u \@Iut;?qqu nTi?:?B? u;?)u@0IuTwViut;?qqT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԑ^ANJκE  E E (E "E *E ga:VE c44ZE BE 1Ա 3,X@AYrŃByr"I ttbD~VD~1yE%E[=ٔMQ-M>9IYQ=UjGyQUEU>aQ 5m4e߀?Q 9m4e7)e#BYiyiQ Im+@e?DIe:ie:es4y}\Bɮ}f@}lEX@AJԧBRԧBj>aֿ9)T@1$1g)/@r`?Ice&ʿ &K{?ZTwVbt;?RkZsLS@/~?;@k2|q2@zۍ o?a4?r!?2A:cB"xH?*mBB+K?D“&B >gO addTargetRange:: Added new target pos. range: 84.400002 m, deltaT: 3.779955 s, deltaX: -2.500000 m, approachRate: -0.661384 m/s, rangeRepo size: 4 gO Added new target pos. range: 83.914528 m, bearing: 19.442369 deg, lat: 36.779265 deg, lon: -121.859522 deg, deltaT: 3.779955 s, deltaX: -2.487053 m, approachRate: -0.657958 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 83.91 m.RZgO ProNav: ac range: 83.914528 m, nav range: 81.575821 m, bearing: 18.805826 deg, approach rate: 0.000000 m/s, LOS rate: -0.019629 deg/s, cmd heading: 30.171876 deg, new cmd heading: 30.157052 deg. BgOHeadingCmd: 0.526340 target range: 83.914528 and range: 84.40 m.5?*" ʎ  j U@Z ?9ɢ= =)9 =%?i9)E)8AAiE^iM5?Ml`MddzIM5?IQԑ*DAT read: user:557> BDAT read: Tx time:00:43:28.2744 $Ping request sent. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250070 3,5X@A6>6?6c1ٱ6 >AHRS rotation from veh to nav: [[0.868401,-0.490475,-0.072895],[0.495808,0.861054,0.112963],[0.007361,-0.134239,0.990922]]6H?c߿8O??(?&~?`.`?i6>I6];6ؐCY^Byb "I df<bDjVDj02yr/%rQ=ٔvo;Q-v>9tYt=vjGyzFz>OEz>|Q 54~?Q 94~)~)BY y ù>Q I +@~HDI~W:i~:~G4yɮ@mEj9gO=DNOT Ignoring new targets: 83.91 m.RE;ZE;gOU ProNav: ac range: 83.914528 m, nav range: 81.309418 m, bearing: 18.799329 deg, approach rate: -0.688888 m/s, LOS rate: -0.016855 deg/s, cmd heading: 30.157051 deg, new cmd heading: 30.144015 deg. BUgO]HeadingCmd: 0.526112 target range: 83.914528 and range: 84.40 m.]L?Y*Y"Y YaaaaʎiiijiZm?颙ɢ_=) >i)8顡i`iL?azj"IL?IE EEE"E,:*E1]:VEZEa@a@a@a@U9@Q @Q@U/@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504528!^A[RӻA>A>AM .AQ Ii I O >B% <A% <B- d>B) B- 5"IB- BB) B) B) B- e;B- ?'Ep3,OX@A28>2.r?2^Żٱ25K >AHRS rotation from veh to nav: [[0.869109,-0.489315,-0.072258],[0.494585,0.861500,0.114910],[0.006023,-0.135607,0.990744]]2H? P߿F?g?`j?˫x? [-?i28>I2 ];0YFByF"IiMb@Mb@Mb@ 9/$?PnL7A`?Y?y+=jAn@ ?@)@Y@bD-VD-k2Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754075yE%EE=ٔMlR;Q-M>9M ?YU ?=UjGyQUD^EU>Q 54 ?Q 94|)5BY V ?Q E :y >Q I +@PDI:i:4yZBɮ#@cEP5B*** querying acoustic contact ***1 1jAgOEDNOT Ignoring new targets: 83.91 m.RE8ZM8gO] ProNav: ac range: 83.914528 m, nav range: 81.036812 m, bearing: 18.801200 deg, approach rate: -0.622880 m/s, LOS rate: 0.004289 deg/s, cmd heading: 30.144015 deg, new cmd heading: 30.147770 deg. B]18gOeHeadingCmd: 0.526178 target range: 83.914528 and range: 84.40 m.e?a*a"a aaaimǂBʎiiqjqZu?颙ɢ<) >i)顩iF,bi?Խb/I?IIi@i @i@m/@iE EEE"E:*EP:VEZEBE3,iX@A@b>bS?bٱb rAHRS rotation from veh to nav: [[0.869345,-0.489299,-0.069469],[0.494183,0.862028,0.112653],[0.004763,-0.132265,0.991203]]bH`?@P߿ȱ?໕?ּ?-s? `?ib>Ib1];bڐCYzByz"II~>)~g?=a=bD VD 0yIT<%L=ٔ*O;Q->9%"?Y%"?=%jGy%F-/E->1Q 5=45?Q 9=45)5?BY9y=>Q IE+@5XDI5;i5;54yIɮM@MdEjigOuDNOT Ignoring new targets: 83.91 m.R}8Z}8gO ProNav: ac range: 83.914528 m, nav range: 80.800797 m, bearing: 18.802949 deg, approach rate: -0.625006 m/s, LOS rate: 0.004644 deg/s, cmd heading: 30.147769 deg, new cmd heading: 30.151276 deg. B9gOHeadingCmd: 0.526239 target range: 83.914528 and range: 84.40 m.?*" ʎjZk?ɢ =) k>i)zֺivdi?cf4I?Iԩ9@ @@0@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258216E EE$E"E[:*EL_:VE4ZEa@a@a@a@^A-0 A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512361 3,^X@Ape֘>eKA?eP{ٱe% uAHRS rotation from veh to nav: [[0.869487,-0.489211,-0.068307],[0.493942,0.862180,0.112546],[0.003835,-0.131597,0.991296]]eH?@:O߿| ?`?@ϼ?jo?+ ?ie֘>Ieu?];eېCYBy!Ii Mb@Mb@Mb@     9 K7? rhy&1?Y I,?y C `e< A @ ) @ Y @AAbD%VD%1y5.%59=ٔ= ;Q-=>99Y9=EjGyAE&EE>IQ 5U4M5?Q 9U4M)MGBY]/?Q E]:y]>Q I]+@MbDIM ;iMf:M84yaɮek@meEjgODNOT Ignoring new targets: 83.91 m.Rn8Zn8gO ProNav: ac range: 83.914528 m, nav range: 80.498665 m, bearing: 18.804382 deg, approach rate: -0.685750 m/s, LOS rate: 0.003265 deg/s, cmd heading: 30.151276 deg, new cmd heading: 30.154153 deg. B/8gOHeadingCmd: 0.526289 target range: 83.914528 and range: 84.40 m.?*" ׂBʎjZ?颱ɢ?<) >i)% !!i%fi-?-d5݋8I5?I1Bg>BۍCB("IBփBB =BBlDBe;B'EBۍCBۍCBēCB =B =C69@ @@0@1]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762136^A] :a Aa zAa bEeJ4jEer 4rEeʅ0E  E E #E "E :*E Ar:VE 3ZE BE K"H'3,X@A2E>2$?2I<ٱ2+ >AHRS rotation from veh to nav: [[0.869707,-0.488665,-0.069398],[0.493562,0.861745,0.117441],[0.002414,-0.136392,0.990652]]2H@?HF߿ı?i??c?Huk?i2E>I2q];2ؐCYFByF!IHbDRVDRyZ&%ZZ=ٔ^w;Q-^>9\Y\=bjGybFbHEb>dQ 5j4f`J?Q 9j4f)fMBYlyn>Q In+@fjDIf;if#;fDz4ypɮr@pj gO DNOT Ignoring new targets: 83.91 m.Rw8Zw8gO% ProNav: ac range: 83.914528 m, nav range: 80.241165 m, bearing: 18.805649 deg, approach rate: -0.686026 m/s, LOS rate: 0.003387 deg/s, cmd heading: 30.154151 deg, new cmd heading: 30.156694 deg. B%[8gO-HeadingCmd: 0.526334 target range: 83.914528 and range: 84.40 m.-ͽ?)*)") )1111ʎ999j9ZEH@ɢI|=) >i)݆`igchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014151iͽ?e?Iͽ?I!%9@! @!@%4@!^AE*: checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266057 IA IQ O] >m-3, SX@A2p>2 ?2 䗺ٱ2 :AHRS rotation from veh to nav: [[0.869879,-0.488191,-0.070565],[0.493263,0.861266,0.122116],[0.001159,-0.141033,0.990004]]2H ? >߿`?`}?`C? R?@` ¿@?i2p>I2SG];2ِCYBByB!I DDHJAbDNVDNJyVH\%VK=ٔZL;Q-Z>9XYX=ZjGyX^`E^>`Q 5f4bj`?Q 9f4b)bTBYhyjs>Q Ij+@bsDIb:iby:b͹4|E  E E $E "E [:*E ;J:VE 4ZE a@a@a@a@yyɮ}[@yjgODNOT Ignoring new targets: 83.91 m.R^o8Z^o8gO  ProNav: ac range: 83.914528 m, nav range: 79.965515 m, bearing: 18.807037 deg, approach rate: -0.647122 m/s, LOS rate: 0.003270 deg/s, cmd heading: 30.156696 deg, new cmd heading: 30.159481 deg. B~8gOHeadingCmd: 0.526382 target range: 83.914528 and range: 84.40 m.?*" !!!ʎ!))j)Z- ge@Yɢ]E<)Y ]>iY)eaaie؄iim?mfm3DIm?Ii)9@ @@24@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520561Q^A -BA9 A= @AB] i>BY B] "IB] ̃BB]  =B] DDBY B] de;B] 'Eԁ I I O >U43,-X@A2C>2)?2eٱ2Q :AHRS rotation from veh to nav: [[0.869672,-0.488649,-0.069946],[0.493630,0.860940,0.122931],[0.000149,-0.141438,0.989947]]2HZ? F߿ 豿ࠗ? Ҍ?nx?̔#?¿?i2C>I2J];2ېCFchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770123YJByJ!IiMb@Mb@Mb@ 9sh|??HzGQ?Y)?y= u<@ @)@Y -4<-bD5VD5ܲyE%EA=ٔM=;Q-M>9IYI=MjGyMFU5:EU>ԙQ 543x?Q 94$)\BY-?Q E:y4>Q I+@|DI:i/:{4yɮ|@fEP B*** querying acoustic contact ***  j9gO=DNOT Ignoring new targets: 83.91 m.RE8ZE8gOu ProNav: ac range: 83.914528 m, nav range: 79.668106 m, bearing: 18.808648 deg, approach rate: -0.708314 m/s, LOS rate: 0.003852 deg/s, cmd heading: 30.159482 deg, new cmd heading: 30.162717 deg. Bu8gO}HeadingCmd: 0.526439 target range: 83.914528 and range: 84.40 m.}?y*y"y ƂBʎjZ@ɢ%<)! %M>i!)%!!i-1kiM?mhum>Iu?IqE EE"E"EI:*EL_:VE(3ZEBE! :3,x X@A6>6?6%ٱ6Q BAHRS rotation from veh to nav: [[0.868644,-0.490804,-0.067589],[0.495436,0.860555,0.118268],[0.000118,-0.136219,0.990679]]6H?Vi߿M:??F??`o?i6>I6x];6ؐCYJByJ!IbDRVDRkyZw=%ZT=ٔ^A8Q-^>9\Y`=bjGybFbv;Eb>dQ 5j4f5?Q 9j4f )fbBYlyn#>Q In+@fDIfa;if;f4ypɮr@tj gODNOT Ignoring new targets: 83.91 m.RcP8ZcP8gO% ProNav: ac range: 83.914528 m, nav range: 79.417793 m, bearing: 18.809685 deg, approach rate: -0.685304 m/s, LOS rate: 0.002847 deg/s, cmd heading: 30.162716 deg, new cmd heading: 30.164796 deg. B%8gO-HeadingCmd: 0.526475 target range: 83.914528 and range: 84.40 m.-?)*)"1 11119ʎ99AjAZE @m‚Bɢm =)q u>iq)uԩ XG u9 Y A  DAT read: 00:43:30.7877 LVL= 32752, 32753, 30434, 32755, AGC= 71, IDX= 411, 0.03,-1.952, 2.868,-1.355,-1.996, PHS= 0.146,-1.374, 0.596, RAW= 162.6, 7.1, CAL= 162.1, 7.0, ROT= 347.9, -7.0  Ygot valid direction response: 00:43:30.7877 LVL= 32752, 32753, 30434, 32755, AGC= 71, IDX= 411, 0.03,-1.952, 2.868,-1.355,-1.996, PHS= 0.146,-1.374, 0.596, RAW= 162.6, 7.1, CAL= 162.1, 7.0, ROT= 347.9, -7.0 5 PDAT read: Bearing 182.3, -12.7 (Local) = ~Local bearing/azimuth received: Bearing 182.3, -12.7 (Local) /A3,SuX@AnDAT read: Range 11 to 50 : 81.9 m (Round-trip 109.2 ms) speed 0.6 m/s rR#Rx 1: Read range and direction messages.v^direction in FSK: [0.970495,-0.208056,0.121869]vFpublishing direction and range infoy15c}K?bʿUM7P2?Y5̣B1115v 1)1I5>i5;߯5u?5>5@5=5D5@ 55=)5M@I55115v`?Fx }?sI9ھ? 5rJ>?)5I5@Xi5511T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.YMByU!IiIu4>)u;>}=yBk>B܍CB"IBƒBB =BBBe;B&EiMb@Mb@Mb@ 9v/?x&Q?Yx)?y7  An@ (@)@Y(@ae@AbDmVDm1yO%=ٔQ->9Y=jGyE>Q 5 4婁?Q 9 4})lBY ,?Q E :y>Q I+@DI:i/:4y9ɮ=!@=gE15X@AJ5ܢBR5ܢBj5>5ن9S@n*0 ':#@r5c}K?bʿUM7P2?Z5@Xb555ԙgO  addTargetRange:: Added new target pos. range: 81.900002 m, deltaT: 3.781311 s, deltaX: -2.500000 m, approachRate: -0.661146 m/s, rangeRepo size: 4 gO= Added new target pos. range: 81.430260 m, bearing: 18.648808 deg, lat: 36.779269 deg, lon: -121.859522 deg, deltaT: 3.781311 s, deltaX: -2.484268 m, approachRate: -0.656986 m/s, posRepo size: 4 j9gO=DNOT Ignoring new targets: 81.43 m.REZAgOU ProNav: ac range: 81.430260 m, nav range: 79.419968 m, bearing: 18.719172 deg, approach rate: 0.000000 m/s, LOS rate: 0.002847 deg/s, cmd heading: 30.164796 deg, new cmd heading: 30.168070 deg. BQ]*DAT read: user:558> eBDAT read: Tx time:00:43:32.1744 e$Ping request sent.ei1)=pH3,sg#X@A"checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2508666(>6?6ٱ6fr BAHRS rotation from veh to nav: [[0.865877,-0.496106,-0.064310],[0.500256,0.858773,0.110688],[0.000315,-0.128014,0.991772]]6H`D?`1߿ v?`{?V?@4?b@?i6(>I6];6֐CYJByJ!IbDRVDR:2yZ S=%^=ٔ^!Q-^ ?9`Y`=bjGybFb<Eb ?dQ 5j4fѺ?Q 9n4f%|)fqBYlyn9>Q In+@fDIf;if;f4ypɮr@tj gO DNOT Ignoring new targets: 81.43 m.RZgO% ProNav: ac range: 81.430260 m, nav range: 79.207809 m, bearing: 18.718889 deg, approach rate: -0.731489 m/s, LOS rate: -0.000981 deg/s, cmd heading: 30.168071 deg, new cmd heading: 30.167502 deg. B%gO-HeadingCmd: 0.526522 target range: 81.430260 and range: 81.90 m.-)?)*)") 11199ʎ999jAZEq(?imÂBɢmY=)i m>iq)u:yyi}i|pi)?aj9qI)?I]9@Y @a@e/@iԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502830^A 3E  E E &E "E [:*E ?:VE 4ZE a @a @a @a @A I I O >N3,/=X@A2c>2Շ?2c9ٱ2 :AHRS rotation from veh to nav: [[0.865068,-0.497640,-0.063341],[0.501654,0.858108,0.109518],[-0.000147,-0.126516,0.991965]]2H`?`S߿@7 ?u?a ?@tL#`1,?i2c>I2];2ِCYFByF!IbDNVDNyV%VL=ٔV:Q-Z>9XYX=ZjGyX^;E^>AQ 5E4EGс?Q 9M4Ey)ExBYIyM>Q IM+@EDIE :iE:EZ4yQɮ@hEj gO DNOT Ignoring new targets: 81.43 m.RZgO% ProNav: ac range: 81.430260 m, nav range: 78.926056 m, bearing: 18.718192 deg, approach rate: -0.646967 m/s, LOS rate: -0.001604 deg/s, cmd heading: 30.167501 deg, new cmd heading: 30.166104 deg. B%;gO-HeadingCmd: 0.526498 target range: 81.430260 and range: 81.90 m.-?)*)") )1199ʎ999jAZEk?ɢ_=) >i) :i>ri?:{jnI?Iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7573269@ @@0@^ABA<B%f>B%ۍCB% "IB%BB% =B%EDB!B%d;B%&EA.AIIO>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006776Q ހU3,8WX@A2>2?2t:ٱ2 :AHRS rotation from veh to nav: [[0.864471,-0.498847,-0.061987],[0.502683,0.857748,0.107605],[-0.000509,-0.124181,0.992260]]2H@?`߿? r??@@`Qʿ?i2>I2];2ؐCYBByB!Ii Mb@Mb@Mb@     9 ˡE?p= ף9 ?Y ?=jGyF,0;E>Q 54灊?Q 94Fw)BYC+?Q E:y>Q I+@DI ;i;4yɮ@P%B*** querying acoustic contact ***! !j)E9 E=E=!E9"E9*E=L_:VE=c3ZE9BE=}iI)M{W:QQiUsiU6?]sj]?SI]6?IY>i>%9@! @!@%4@!@=\A@9]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258798a^A 3ԉ Iy I O >[3,pX@A0B>B`*?B':ٱB JAHRS rotation from veh to nav: [[0.863821,-0.500381,-0.058585],[0.503798,0.857812,0.101711],[-0.000639,-0.117376,0.993087]]BH l?@?3s? ?D@S @_?iB>IB];BِCYnByn!IbDz VDz2yQ%Y=ٔ?9Q->9 Y = jGy `;E>Q 5%4?Q 9%4u)BY!y%n>Q I%,@DI:iN:b4y1ɮ5@5iEjQgO]DNOT Ignoring new targets: 81.43 m.R]ZegOm ProNav: ac range: 81.430260 m, nav range: 78.389565 m, bearing: 18.714437 deg, approach rate: -0.669062 m/s, LOS rate: -0.004964 deg/s, cmd heading: 30.162300 deg, new cmd heading: 30.158566 deg. BuWgOuHeadingCmd: 0.526366 target range: 81.430260 and range: 81.90 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510739?*" ʎjZJ?łBɢ =) >i) ;i~ui%?%Lj%U I%?I)ԑ9@ @@q4@EM EMEM%EI"EM>:*EM[:VEM 4ZEIaU@aU@aU@aU@Թ^A- _u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763051 Ia I O >ɒb3,%ˊX@A2>2GS?2Q9ٱ2 :AHRS rotation from veh to nav: [[0.863507,-0.501151,-0.056602],[0.504337,0.857950,0.097808],[-0.000455,-0.113005,0.993594]]2Hء?@n @ #?Rt? ?`8=`?i2>I22];2ؐCYFByF!I\iMMb@Mb@Mb@IIII I9ML7A`?)\({Gz?YM+'?yMGὙMף<%@=ٔQ->9Y=jGyF:E>B>BߍCBBB =BDDBoDBd;B&EQ 54H?Q 94jr)BY)?Q E:yw>Q I,@DI:i:4yɮt@jgODNOT Ignoring new targets: 81.43 m.RZgO- ProNav: ac range: 81.430260 m, nav range: 78.106064 m, bearing: 18.706214 deg, approach rate: -0.660970 m/s, LOS rate: -0.019240 deg/s, cmd heading: 30.158567 deg, new cmd heading: 30.142062 deg. B- gO5HeadingCmd: 0.526078 target range: 81.430260 and range: 81.90 m.5?1*9"9 999AE‚BʎAAAjIZM{@uƂBɢuJJ =)y }'>iy)}F#;yyi}rwi?jI?I9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016203EU EUEU&EQ"EU&:*EU:VEU4ZEQBEU_;A h3,ǜX@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266856J>Jd?J7:ٱJs VAHRS rotation from veh to nav: [[0.863373,-0.501388,-0.056545],[0.504566,0.857777,0.098135],[-0.000701,-0.113258,0.993565]]JH?_ `h%?r?g?`FI?iJ>IJ;];J֐CY^By^!If=f=bDjVDj:yrR;%rX=ٔr*:Q-r>9tYt=vjGytz7:Ez>|Q 54~%?Q 94~p)~BYy>Q I,@~›DI~];i~H;~n4yɮe@j9gOEDNOT Ignoring new targets: 81.43 m.RE*ZE*gOU ProNav: ac range: 81.430260 m, nav range: 77.858078 m, bearing: 18.698921 deg, approach rate: -0.659955 m/s, LOS rate: -0.019470 deg/s, cmd heading: 30.142062 deg, new cmd heading: 30.127430 deg. BUgO]HeadingCmd: 0.525823 target range: 81.430260 and range: 81.90 m.]S?Y*a"a aaaiiʎiiijqZu"}@颱ɢL=) s>i):;项i6yiS?Gi߉IS?I9@ @@/@Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519293^ANJκIQIiOu>ԩ Ee  Ee Ea Ea "Ee :*Ee ]t:VEa ZEa am @am @am @am @Yn3,%vX@A:u>:M?::ٱ: BAHRS rotation from veh to nav: [[0.863553,-0.500772,-0.059192],[0.504256,0.857248,0.104173],[-0.001424,-0.119807,0.992796]]:H@:? RsN"?`n?? VW?i:u>I:;];:ؐCYJByJ"IbDV VDV2yZ =%^M=ٔ^:Q-^>9`Y`=bjGybFf@lEf>hQ 5j4j:?Q 9n4jm)jBYlyn>Q In,@j˛DIj;ij+;jf4yvYBɮv@vaEj gODNOT Ignoring new targets: 81.43 m.RZgO- ProNav: ac range: 81.430260 m, nav range: 77.594383 m, bearing: 18.691121 deg, approach rate: -0.662523 m/s, LOS rate: -0.019663 deg/s, cmd heading: 30.127428 deg, new cmd heading: 30.111776 deg. B-gO-HeadingCmd: 0.525550 target range: 81.430260 and range: 81.90 m.5l?1*1"1 11199ʎ9AAjAZE`Ĭ@mǂBɢu=)q u>iq)uӕS;qԹqif {il?XeiVԜIl?IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772042i@q @q@}0@yԱ^AAABv>BލCB"IBƒBB =BBnDBd;B&EB܍CB܍CBǔCB =B =Cǥ6IYIiOq BDAT read: Rx Time:00:43:34.6840  TRx dataTimestamp_ set to:1761698615.333105 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023837 u3,TX@Ab>b?bP?;ٱbj jAHRS rotation from veh to nav: [[0.863946,-0.499696,-0.062466],[0.503579,0.856680,0.111833],[-0.002369,-0.128074,0.991762]]bHq?@߿@R? i??gc@d ?ib>Ib];bאCYvƒByv"IimMb@Mb@Mb@iiii i9mK7A`?K:v?Ym+?ym^mT9Y=jGyE> bE-4jE( 4rE0E EEE"E:*ErN:VEZEBEvQ I=,@ ԛDI ;i ; + 4yAɮEp@IPeB*** querying acoustic contact ***a ajqgOuDNOT Ignoring new targets: 81.43 m.R} Z} gO ProNav: ac range: 81.430260 m, nav range: 77.295517 m, bearing: 18.675660 deg, approach rate: -0.665117 m/s, LOS rate: -0.034543 deg/s, cmd heading: 30.111777 deg, new cmd heading: 30.080734 deg. B|gOHeadingCmd: 0.525008 target range: 81.430260 and range: 81.90 m.f?*" тBʎjZD @ɢJ=) Z>i)]cp;i}if?i1If?I@ @@/0@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2747941^Au[RӺIIO>Y {3,I.X@A2S >2 ?2MU;ٱ2a :AHRS rotation from veh to nav: [[0.864426,-0.498612,-0.064451],[0.502750,0.856443,0.117250],[-0.003263,-0.133757,0.991009]]2H`?@B߿?g?@?fj@X?i2S >I2];2ِCYfByj"I xxA bD5VD5ye%mT=ٔ}d;Q->9Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.529136=jGyFYE>Q 54g?Q 94g)BYyR>Q I,@ݛDId:i:4yɮ@jgODNOT Ignoring new targets: 81.43 m.R%Z%gOU ProNav: ac range: 81.430260 m, nav range: 77.011650 m, bearing: 18.661020 deg, approach rate: -0.667084 m/s, LOS rate: -0.034529 deg/s, cmd heading: 30.080734 deg, new cmd heading: 30.051347 deg. BU|gO]HeadingCmd: 0.524495 target range: 81.430260 and range: 81.90 m.]ME?Y*Y"a aaaiiʎijZ@A@}ȂBɢ} R=)y }>iy);顁i~iME?hWHIME?IE- E-E-%E)"E-:*E-x:VE- 4ZE)a5@a5@a5@a5@ԁ}9@y @y@}K0@yԩ} DAT read: 00:43:34.6840 LVL= 32752, 32753, 28130, 32755, AGC= 69, IDX= 406,-0.18, 2.968, 1.576,-2.693, 2.985, PHS= 0.085,-1.363, 0.562, RAW= 163.7, 8.3, CAL= 163.4, 8.6, ROT= 346.6, -8.6  Ygot valid direction response: 00:43:34.6840 LVL= 32752, 32753, 28130, 32755, AGC= 69, IDX= 406,-0.18, 2.968, 1.576,-2.693, 2.985, PHS= 0.085,-1.363, 0.562, RAW= 163.7, 8.3, CAL= 163.4, 8.6, ROT= 346.6, -8.6  PDAT read: Bearing 185.2, -14.1 (Local)  ~Local bearing/azimuth received: Bearing 185.2, -14.1 (Local)  DAT read: Range 11 to 50 : 79.2 m (Round-trip 105.6 ms) speed 0.8 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.961838,-0.229142,0.149535] Fpublishing direction and range infoyI M t:7a?|tTͿS&r#?YM fBI I I M m I )M EIM {=iM vM ;?M 6@M V>M 6@ M `>)M @IM `I I M &Hj?W?lJw? M C?)M >IM |oiM `I I 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.^Ai Ay A} > A ؟AI I O >K#3,A) X@ABnw>BnݍCBn"IBñBBn =BlBnmDBnKd;Bn&E% >%?%6F;ٱ% ]AHRS rotation from veh to nav: [[0.864411,-0.498484,-0.065622],[0.502769,0.855950,0.120716],[-0.004006,-0.137341,0.990516]]%HB?`+߿̰?c?=?hp@bN?i% >I%k];%אCYmǃBy"I)iMb@Mb@Mb@ 9!rh?~jt9%"?Y%"?=-jGy)-]8E->1Q 5=45`~?Q 9=45d)5BYe(?Q Ee:ye>Q Ie,@5DI5;i5;5A4yiɮm@ubEX@AJ~BR~Bj\>8[R@&K٘a 2뛴'@rt:7a?|tTͿS&r#?Z|ob`] zlR@]?w8@S -BDAT read: Tx time:00:43:36.1243 -$Ping request sent.-gO addTargetRange:: Added new target pos. range: 79.199997 m, deltaT: 4.030639 s, deltaX: -2.700005 m, approachRate: -0.669870 m/s, rangeRepo size: 4 gO Added new target pos. range: 78.747849 m, bearing: 18.079068 deg, lat: 36.779271 deg, lon: -121.859522 deg, deltaT: 4.030639 s, deltaX: -2.682411 m, approachRate: -0.665505 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 78.75 m.RZgO ProNav: ac range: 78.747849 m, nav range: 76.896652 m, bearing: 18.597699 deg, approach rate: 0.000000 m/s, LOS rate: -0.034529 deg/s, cmd heading: 30.051347 deg, new cmd heading: 30.018714 deg. B gO HeadingCmd: 0.523925 target range: 78.747849 and range: 79.20 m. ?*" Bʎ!!j%S@Z%ZC?Q颕ɂBɢ=) >i)Z9;顙i^ti?whuI?Im9@i @i@m1@iE EE'E"E:*Ek:VE'4ZEBEa2Ev-3,*X@A:%F>:?:퉈;ٱ:9 FAHRS rotation from veh to nav: [[0.864193,-0.498762,-0.066377],[0.503143,0.855519,0.122209],[-0.004167,-0.139010,0.990282]]:Hx?߿ `?i`?I?`:q``d?i:%F>I: ];:ِCYNÃByN"IbDVVDV0y^Ɉ%^S=ٔb%9Q-b>d9f ?Yf ?=fjGyfFja:Ej>lQ 5r4nߑ?Q 9r4na)nBYpyv9>Q Iv,@nDIn@;in<;n4yzXBɮzL@zcEjgO%DNOT Ignoring new targets: 78.75 m.R%wfZ%wfgO5 ProNav: ac range: 78.747849 m, nav range: 76.644745 m, bearing: 18.580351 deg, approach rate: -0.729046 m/s, LOS rate: -0.050372 deg/s, cmd heading: 30.018716 deg, new cmd heading: 29.983905 deg. B5_gO=HeadingCmd: 0.523318 target range: 78.747849 and range: 79.20 m.=)?9*9"A AAAIIʎIIQjQZU?}ʂBɢ}}-=) >i) ҟ;顉iHi)?V!hpoI)?I9@ @@%/@!uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502620!^AAE  E E &E "E :*E L_:VE 4ZE a @a @a @a @A I I O > Q ] G \A u9 \AY A 3,[DX@A2>2B?2;ٱ2P :AHRS rotation from veh to nav: [[0.863950,-0.499260,-0.065797],[0.503554,0.855257,0.122349],[-0.004811,-0.138836,0.990304]]2H{? ߿ ذ?C^?ER?@s ^?i2>I2B^;2ؐCYBɃByB"IJ=J=HHbDNVDNk2yV<%VM=ٔZ:Q-Z>9XYX=ZjGyX^E:E^>`Q 5f4b?Q 9f4b_)bBYhyjw>Q Ij,@bDIb:ib:b%4checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757798y ɮ @ j1gO5DNOT Ignoring new targets: 78.75 m.9RENZENgOU ProNav: ac range: 78.747849 m, nav range: 76.383759 m, bearing: 18.562164 deg, approach rate: -0.646091 m/s, LOS rate: -0.045178 deg/s, cmd heading: 29.983905 deg, new cmd heading: 29.947406 deg. B\gOHeadingCmd: 0.522681 target range: 78.747849 and range: 79.20 m.%i?!*)"1 AIQʎjZ1?颥˂Bɢ+=) >i) ;iIii?րg":Ii?IiB-<A-<B5>B5ލCB5""IB5уBB5 =B1B5nDB5+d;B5|&Ee9@a @a@e/@aԑchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006736^A 9A [AzA A I D zD ?AE%  E% E% -E! "E% m:*E% VL:VE% t4ZE! BE% SC,3,^X@AY ŃBy "IԩiMb@Mb@Mb@ 9y&1?v/~jt?Y`%?yxiD<" A@ @)(@Yp@bD-VD-0y=5j%=4=ٔ=Q-E>9AYA=MjGyMFMEM>QQ 5]4Uo?Q 9]4U[)UBY] &?Q Ee:ye>Q Ie,@UDIU* ;iU ;U-4yiɮm&@udEPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 78.75 m.RZgO ProNav: ac range: 78.747849 m, nav range: 76.092041 m, bearing: 18.535866 deg, approach rate: -0.652126 m/s, LOS rate: -0.059014 deg/s, cmd heading: 29.947405 deg, new cmd heading: 29.894607 deg. BغgOHeadingCmd: 0.521759 target range: 78.747849 and range: 79.20 m.?*" BʎjZ=?颵̂Bɢl"=) [>i)E;i6i?Lfg:I?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258855Y@Y @Y@Y@a^A 1  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510718A ؟AI I O >oN3,wX@A2>2\?2};ٱ2 :AHRS rotation from veh to nav: [[0.862817,-0.501755,-0.061557],[0.505473,0.854731,0.118029],[-0.006607,-0.132953,0.991100]]2H@2?_@m`,?Y? '7?@{?i2>I2];2ِCYBȃByF"IbDN VDN:2yVr<%Vi=ٔV;Q-V>9Z"?YZ"?=ZjGyX^;E^>AQ 5M4E΂?Q 9M4EY)EBYIyM>Q IU,@EDIEB:iE:EC44yYɮ]@YjgODNOT Ignoring new targets: 78.75 m.RfZfgO ProNav: ac range: 78.747849 m, nav range: 75.855820 m, bearing: 18.514050 deg, approach rate: -0.643628 m/s, LOS rate: -0.059626 deg/s, cmd heading: 29.894608 deg, new cmd heading: 29.850841 deg. B>ںgOHeadingCmd: 0.520995 target range: 78.747849 and range: 79.20 m._?*" ʎjZp?͂Bɢ0=)  >i ) ;i3i%_?%f%—;I%_?I)E EE&E"E:*EVE4ZEa@a@a@a@@ @@0@A5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765409^A] ;ԁA I1 II O] >BE >BE ߍCBE ("IBE փBBE  =BA BE oDBE d;BE j&Eԙ 63,X@A2 >2?2P;ٱ2 :AHRS rotation from veh to nav: [[0.862439,-0.502584,-0.060070],[0.506109,0.854550,0.116608],[-0.007273,-0.130970,0.991360]]2H@?+~ 2?yX?` ڽ?}8?i2 >I2];2ؐCYBƒByB"I DDHJAiMb@Mb@Mb@ 9MbX?+{Gz?Y*?y#<A @)Y(@ %;%4<bD-VD-y=%A=ٔb:Q->9Y=jGyFU:E>Q 54p䂊?Q 94V)BY+?Q E:y>Q I,@DI/;im;;4yɮ Y@ j)gO5DNOT Ignoring new targets: 78.75 m.R5ZZ=ZgOE ProNav: ac range: 78.747849 m, nav range: 75.572769 m, bearing: 18.493799 deg, approach rate: -0.665133 m/s, LOS rate: -0.047767 deg/s, cmd heading: 29.850840 deg, new cmd heading: 29.810185 deg. BM֮gOMHeadingCmd: 0.520286 target range: 78.747849 and range: 79.20 m.Mu1?Q*Q"Q QQQY]BʎYYajaZe@@}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014807ԁ额΂Bɢuc=) >i)a;顩i鄼iu1?d;Iu1?I-9@) @)@5 0@1ԡDD<E EE'E"E[:*EL_:VE'4ZEBE} `3,]X@A6i>6l ?6'C;ٱ6 >AHRS rotation from veh to nav: [[0.862069,-0.503302,-0.059371],[0.506734,0.854262,0.116007],[-0.007668,-0.130092,0.991472]]6H? e)7?V??Ph ئ $?i6i>I6];4YJʃByJ"IbDRVDR0yZ-=%ZS=ٔZh:Q-^>9\Y\=bjGy`b;Eb>dQ 5j4f?Q 9j4fjS)fBYhyn>Q In,@fDIfy:if;fB4yrWBɮr@reEj gO DNOT Ignoring new targets: 78.75 m.RM`ZM`gO% ProNav: ac range: 78.747849 m, nav range: 75.325874 m, bearing: 18.475877 deg, approach rate: -0.673173 m/s, LOS rate: -0.049025 deg/s, cmd heading: 29.810186 deg, new cmd heading: 29.774225 deg. B%qgO-HeadingCmd: 0.519658 target range: 78.747849 and range: 79.20 m.-S?)*)") )1111ʎ999j9ZE@mЂBɢm /=)i m>iq)u;qqiu#iS?c);IS?I9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518703^A5ϩ;E  E E &E "E m:*E :VE 4ZE a @a @a @a @) Aa Iq I O >Q J3,jX@A2A>2?2<ٱ2 :AHRS rotation from veh to nav: [[0.861952,-0.503662,-0.057995],[0.506923,0.854324,0.114712],[-0.008230,-0.128275,0.991704]]2H?@`8?V?`]?@ڀ`Tk ?i2A>I2];2֐CYBɃByB"IbDJVDJ:yRһ%VK=ٔVȶ:Q-V>9XYX=ZjGyZFZ:E^>\Q 5b4^a ?Q 9f4^P)^BYdyf>Q If,@^"DI^:i^:^(I4rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770768ypɮr@pj gO DNOT Ignoring new targets: 78.75 m.R_Z_gO ProNav: ac range: 78.747849 m, nav range: 75.056511 m, bearing: 18.456153 deg, approach rate: -0.665784 m/s, LOS rate: -0.048926 deg/s, cmd heading: 29.774226 deg, new cmd heading: 29.734636 deg. BgOEHeadingCmd: 0.518967 target range: 78.747849 and range: 79.20 m.M ?I*q"q yyʎ jZ@1 тBɢ =)  >i)L;i:i ?)b;I ?I!AAAAB>BCBBB =BBpDB]d;B&E@ @@4@YBDAT read: Rx Time:00:43:38.6306 TRx dataTimestamp_ set to:1761698619.365050checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023699ԁ ^A g;A E%  E% E% )E! "E% :*E% T:VE% FA4ZE! BE% x3,SX@A(:>:/?:Ef <ٱ: BAHRS rotation from veh to nav: [[0.861773,-0.504047,-0.057302],[0.507221,0.854212,0.114232],[-0.008630,-0.127507,0.991800]]:H? (!V';?`U?P>?@%RӼ?i:>I:];:ؐCYzƃByz"II~p>)~a=iMb@Mb@Mb@ 9(\?kt~jth?Y.?y D;@ ?@)?@Y@bDVDܲyM%7=ٔ{j:Q->9Y=jGyEK:E> Q 54 $?Q 94 SM) BYw/?Q E:y>Q I,@ ,DI :i : P4y!ɮ% @-\EPEB*** querying acoustic contact ***A AjQgOUDNOT Ignoring new targets: 78.75 m.R]NZ]NgOm ProNav: ac range: 78.747849 m, nav range: 74.750862 m, bearing: 18.436040 deg, approach rate: -0.684429 m/s, LOS rate: -0.045222 deg/s, cmd heading: 29.734638 deg, new cmd heading: 29.694248 deg. BmgOuHeadingCmd: 0.518262 target range: 78.747849 and range: 79.20 m.uج?q*q"q qqyy}BʎyjZ @颵ӂBɢ$.=) |>i);项iiج?`;Iج?II)ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2752089@ @@/@@=@>Ա^A[R; A1 I9 II O] > DAT read: 00:43:38.6306 LVL= 32752, 32753, 26674, 32755, AGC= 70, IDX= 403, 0.33,-0.067,-1.493, 0.574,-0.090, PHS= 0.124,-1.359, 0.620, RAW= 163.9, 6.9, CAL= 163.4, 6.7, ROT= 346.6, -6.7  Ygot valid direction response: 00:43:38.6306 LVL= 32752, 32753, 26674, 32755, AGC= 70, IDX= 403, 0.33,-0.067,-1.493, 0.574,-0.090, PHS= 0.124,-1.359, 0.620, RAW= 163.9, 6.9, CAL= 163.4, 6.7, ROT= 346.6, -6.7  PDAT read: Bearing 183.7, -14.4 (Local)  ~Local bearing/azimuth received: Bearing 183.7, -14.4 (Local)  DAT read: Range 11 to 50 : 76.6 m (Round-trip 102.2 ms) speed 0.5 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.966132,-0.230165,0.116671] Fpublishing direction and range infoy  ?I vͿmu"޽?Y 3B 2h ) FI =i 󭿉 R? 7@ Ϣ= |=) I |ゥ #+?5S ?_e0? ^OD?) tI i |ゥ  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.3,YX@A`r͠>rm<?rU<ٱrã zAHRS rotation from veh to nav: [[0.861672,-0.504268,-0.056872],[0.507386,0.854123,0.114162],[-0.008992,-0.127227,0.991833]]rHђ?"`bIr];pYBy "IbD=VD=:2yM%MW=ٔULy:Q-U>9QYQ=jGyF:E>Q 548?Q 94J)BYy>Q I,@4DI:ip:W4yVBɮw@]EőX@AJUBRUBjH>@zeR@@Q1A !@r?I vͿmu"޽?Zb|HЂQ@C+潷`7@Sj$@z< 3$? Ĥ?N0ߵr?2A:|B"ܨ֚?*VBB4?“tBBW֢>gO addTargetRange:: Added new target pos. range: 76.599998 m, deltaT: 3.779918 s, deltaX: -2.599998 m, approachRate: -0.687845 m/s, rangeRepo size: 4 E EE&E"E[:*E[:VE4ZEa@a@a@a@gO Added new target pos. range: 76.166153 m, bearing: 18.048601 deg, lat: 36.779278 deg, lon: -121.859522 deg, deltaT: 3.779918 s, deltaX: -2.581696 m, approachRate: -0.683003 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 76.17 m.RZgO% ProNav: ac range: 76.166153 m, nav range: 75.255119 m, bearing: 18.222438 deg, approach rate: 0.000000 m/s, LOS rate: -0.045222 deg/s, cmd heading: 29.694247 deg, new cmd heading: 29.656944 deg. B)gOMHeadingCmd: 0.517611 target range: 76.166153 and range: 76.60 m.U-?Q*Q"Q QQQYYʎYYaje`f&S@Ze 0?ԂBɢ =) >i)<iE\i-?K,_^ BDAT read: Tx time:00:43:39.8743  $Ping request sent. B B B B  =B B B d;B &EBߍCBߍCBB =B =C-F6I I O >&3,oX@ABV>BG?BM7<ٱB(" JAHRS rotation from veh to nav: [[0.862126,-0.503516,-0.056653],[0.506606,0.854496,0.114837],[-0.009412,-0.127705,0.991768]]BH ?6?X?@e?FX`?iBV>IB];BِCYRByV "IiMb@Mb@Mb@ 9S㥛?~jty&1?Y$?yĽ`e<jA@ @)Yz@bDVD yy%@=ٔ:Q->9Y=jGy E >Q 54M?Q 94G)BY%&?Q E%:y%E>Q I%,@=DI1;i ;_4y)ɮ-@)]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250902jYgOeDNOT Ignoring new targets: 76.17 m.Re%Ze%gO} ProNav: ac range: 76.166153 m, nav range: 74.986176 m, bearing: 18.208193 deg, approach rate: -0.681946 m/s, LOS rate: -0.036249 deg/s, cmd heading: 29.656944 deg, new cmd heading: 29.628353 deg. B}gO}HeadingCmd: 0.517112 target range: 76.166153 and range: 76.60 m.ya?*" BʎjZ c?颽ւBɢ>(=) I>i)… <i#iya?]qԡ 3,,X@A2>29?2^<ٱ2 :AHRS rotation from veh to nav: [[0.862891,-0.502134,-0.057277],[0.505302,0.855065,0.116335],[-0.009440,-0.129326,0.991557]]2H`͜?{dS o+? \?Ƚ?XUֺ?i2>I2];2ؐCYBByF"IbDNVDNyVi?%Vc=ٔV8Q-V>9XYX=ZjGyZFZUE^>Q 54`?Q 9%4qE)BY)y5>Q I=,@EDI;i;e4yYɮ]@]^EԁjgODNOT Ignoring new targets: 76.17 m.RZgO ProNav: ac range: 76.166153 m, nav range: 74.745041 m, bearing: 18.195603 deg, approach rate: -0.632484 m/s, LOS rate: -0.033130 deg/s, cmd heading: 29.628353 deg, new cmd heading: 29.603092 deg. BrgOHeadingCmd: 0.516671 target range: 76.166153 and range: 76.60 m.D?*" ʎjZ`l?-؂Bɢ5"=)1 =>i9)=<99iE牼iMD?M ~\MB;IMD?I1ԡ9@ @@0@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755379^A;E EE%E"E:*EP:VE 4ZEa @a @a @a @Iq I O > 3,;FX@A2t>2U?2P[<ٱ2:u :AHRS rotation from veh to nav: [[0.863986,-0.500024,-0.059190],[0.503435,0.855759,0.119287],[-0.008994,-0.132860,0.991094]]2Hƥ? 2$N#?ab??Yk ?i2t>I2.s];2אCYBByB "IbDNVDNk1yZU*=%ZJ=jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.008177ٔn؎Q-r>9pYt=vjGytzsEz>Q 54Iu?Q 94B)BYy>Q I,@MDIdiq)}Y ?3,`X@AE6 E6E4E4"E6:*E6T:VE4ZE4BE6v:E4a>=d>=U?=n <ٱ=h MAHRS rotation from veh to nav: [[0.865424,-0.497328,-0.060881],[0.500966,0.856787,0.122271],[-0.008646,-0.136316,0.990628]]=H?6߿+?j?`-M?@?r8?i=d>I=]];=֐CYBy!I1iMb@Mb@Mb@ 9v/?A`"9Y=jGyFǻE>Q 54񍃊?Q 94?)BY+?Q E:y>Q I,@WDI:i:t4y ɮ@P-B*** querying acoustic contact ***) )j9gO=DNOT Ignoring new targets: 76.17 m.REZEgOU ProNav: ac range: 76.166153 m, nav range: 74.170753 m, bearing: 18.169714 deg, approach rate: -0.707715 m/s, LOS rate: -0.028533 deg/s, cmd heading: 29.576379 deg, new cmd heading: 29.551113 deg. BUPgO]HeadingCmd: 0.515764 target range: 76.166153 and range: 76.60 m.] ?Y*Y"Y YaaaeBʎiichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511699ij Z `Z?}܂Bɢ}=) >i)!<顩iPi ?Zk;I ?Ia}9@y @@2@ԑ^A S;I I O% > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762833Թ 3,^zX@AY~By"II =) >bDVDy%<%%k=ٔ-Q--?9)Y)=-jGy)5E5?9Q 5E4=@?Q 9E4==)=BYIyIQ IM,@=^DI=K:i=y:=z4yUUBɮU@U_EjygODNOT Ignoring new targets: 76.17 m.RZgO ProNav: ac range: 76.166153 m, nav range: 73.938141 m, bearing: 18.160306 deg, approach rate: -0.669526 m/s, LOS rate: -0.027164 deg/s, cmd heading: 29.551114 deg, new cmd heading: 29.532239 deg. BFgOHeadingCmd: 0.515435 target range: 76.166153 and range: 76.60 m.?*" ʎjZ @݂Bɢ0=) 3>i)\ <iTi?WYވ;I?IԡgG-`]AIE} E}E}(Ey"E}:*E}k:VE}c44ZEya@a@a@a@˾9`]AYA9@ @@/@@=@=Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014762^Avт;I9IIOU>B B B "IB ǃBB  =B B B %e;B 'E 3,:X@A2t>2C?2<ٱ2K :AHRS rotation from veh to nav: [[0.865949,-0.496366,-0.061259],[0.500056,0.857177,0.123252],[-0.008668,-0.137362,0.990483]]2H۵?t߿K]`v?m? i?@ ?i2t>I2k];2ؐCYBByB"IimMb@Mb@Mb@iiii i9m?Cl绿Mb?Ym,?ym;߽m9Y=jGyF_$E>Q 54?Q 94:)BY /?Q E:y>Q I,@hDI;i;&4yɮ@`EjgODNOT Ignoring new targets: 76.17 m.RZgO ProNav: ac range: 76.166153 m, nav range: 73.652573 m, bearing: 18.149246 deg, approach rate: -0.683089 m/s, LOS rate: -0.026559 deg/s, cmd heading: 29.532239 deg, new cmd heading: 29.510032 deg. BmBgO HeadingCmd: 0.515047 target range: 76.166153 and range: 76.60 m. #? * " Bʎ!j!Z%`~#@i9I9=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267129]߂Bɢ]M =)a ew>ia)e(%3,X@A: >:&?:<ٱ:U BAHRS rotation from veh to nav: [[0.866346,-0.495630,-0.061616],[0.499367,0.857413,0.124404],[-0.008828,-0.138546,0.990317]]:H@?e߿-?`o?ؿ?C?i: >I:$];:ՐCYZBy^!IbDjVDjkyv%vV=ٔzm9Q-z>9|Y|=jGyE >Q 54g˃?Q 9%48)BY!y%]>Q I-,@pDI^;;i.;݈4y1ɮ5@9jqgODNOT Ignoring new targets: 76.17 m.RiZigO ProNav: ac range: 76.166153 m, nav range: 73.390289 m, bearing: 18.139167 deg, approach rate: -0.675574 m/s, LOS rate: -0.026054 deg/s, cmd heading: 29.510034 deg, new cmd heading: 29.489803 deg. B>gOHeadingCmd: 0.514694 target range: 76.166153 and range: 76.60 m.?*" ʎjZ@nF@mBɢmg =)q u>i)xd+<ii?Z}W75R;I?IY9@ @@/@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771353y^Ayb];E  E E &E "E m:*E C:VE 4ZE a @a @a @a @ԩ A I I O >3,X@ADVBDAT read: Rx Time:00:43:42.3774 ZTRx dataTimestamp_ set to:1761698623.146457^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025857]>]Q?]<ٱ]WX mAHRS rotation from veh to nav: [[0.866286,-0.495618,-0.062541],[0.499459,0.856944,0.127232],[-0.009464,-0.141456,0.989899]]]H@?5߿@"?l? $I?@a;¿`A?i]>I]\;]ؐCYBy!I 4<p;bDVDy%;=ٔ:Q->9Y=jGyF%"9E%>)Q 5U4-ナ?Q 9U4-5)-BYQyUy>Q IU,@-zDI-K;i-9;-4yTBɮH@jԩgODNOT Ignoring new targets: 76.17 m.RZA=@AA9BU>BUCBU"IBUƒBBU =BQBUqDBUe;BU&EgO ProNav: ac range: 76.166153 m, nav range: 73.089691 m, bearing: 18.127476 deg, approach rate: -0.637074 m/s, LOS rate: -0.024879 deg/s, cmd heading: 29.489803 deg, new cmd heading: 29.466325 deg. B6gOHeadingCmd: 0.514284 target range: 76.166153 and range: 76.60 m.$?*" ʎjZ`/T @颅BɢJl=) >i)1<顉i֎i$?\Vv;I$?I@ @@/@@[A@\A]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275504 ^A A >A >E  E E E "E :*E VL:VE ZE BE <3,X@A2ef>2 ?2/%<ٱ2{ :AHRS rotation from veh to nav: [[0.865993,-0.496505,-0.059493],[0.499955,0.857269,0.123027],[-0.010082,-0.136284,0.990618]]2H`6?߿uC?n?~?ܥq%?i2ef>I2];0YNByN!IDAT read: 00:43:42.3774 LVL= 32752, 32753, 30562, 32755, AGC= 70, IDX= 402, 0.33, 1.057,-0.392, 1.703, 1.052, PHS= 0.108,-1.399, 0.607, RAW= 163.8, 7.6, CAL= 163.4, 7.6, ROT= 346.6, -7.6 Ygot valid direction response: 00:43:42.3774 LVL= 32752, 32753, 30562, 32755, AGC= 70, IDX= 402, 0.33, 1.057,-0.392, 1.703, 1.052, PHS= 0.108,-1.399, 0.607, RAW= 163.8, 7.6, CAL= 163.4, 7.6, ROT= 346.6, -7.6 PDAT read: Bearing 183.7, -14.6 (Local) ~Local bearing/azimuth received: Bearing 183.7, -14.6 (Local) DAT read: Range 11 to 50 : 74.2 m (Round-trip 99.0 ms) speed 0.8 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.964231,-0.229712,0.132256]Fpublishing direction and range infoԱyY]$ ?+5gͿ) ?Y]fBYYY]bw Y)YI]/=i]o]Zd?]c6@]>Y ]>)YI]YY]a?C?&? ]7C?)]IYi]YYT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.iMb@Mb@Mb@ 9S㥛?!rh~jt?Y$&?yl罙< A@ @)AAYp@bD=VD=02ymE <%m=ٔu;:Q-u>9u ?Yu ?=ujGyuF}:E}>Q 54?Q 94w2)BY(?Q E:y>Q I,@DI:iU:ә4yɮ@aEY]uX@AJ]BR]Bj]߮>]gÞNQ@0v!#@r]$ ?+5gͿ) ?ZYb]]]\Q@M2=6@NԦ&@z]YR?8bnJ?X{@i?2]A:]B"]rkښ?*] lB]7B]ƚ?]V“]B]B]>gO= addTargetRange:: Added new target pos. range: 74.199997 m, deltaT: 3.781109 s, deltaX: -2.400002 m, approachRate: -0.634735 m/s, rangeRepo size: 4 gOM Added new target pos. range: 73.781471 m, bearing: 17.757561 deg, lat: 36.779279 deg, lon: -121.859524 deg, deltaT: 3.781109 s, deltaX: -2.384682 m, approachRate: -0.630683 m/s, posRepo size: 4 jIgOUDNOT Ignoring new targets: 73.78 m.RUZQgO ProNav: ac range: 73.781471 m, nav range: 72.763840 m, bearing: 17.981894 deg, approach rate: 0.000000 m/s, LOS rate: -0.024879 deg/s, cmd heading: 29.466324 deg, new cmd heading: 29.439881 deg. BgOHeadingCmd: 0.513823 target range: 73.781471 and range: 74.20 m.?*" BʎǰR@Zx?]Bɢ]=)a e>ia)e*8  BDAT read: Tx time:00:43:43.6743  $Ping request sent. t4,zX@A2Ey>2?2~1<ٱ2Uo >AHRS rotation from veh to nav: [[0.865914,-0.497084,-0.055682],[0.500076,0.857919,0.117894],[-0.010833,-0.129931,0.991464]]2H?:߿ K?t?`T.?/ ?i2Ey>I2 ];2אCYFByF!IbDNVDN0yV%VL=ٔZ:Q-Z>9XYX=^jGy\^9E^>hQ 5n4jC?Q 9r4j0)jBYtyv>Q Iz,@jDIj;ij;j4ySBɮ n@ bEP5B*** querying acoustic contact ***9 9jIgOUDNOT Ignoring new targets: 73.78 m.R]$ܹZ]$ܹchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251114gO  ProNav: ac range: 73.781471 m, nav range: 72.503281 m, bearing: 17.973097 deg, approach rate: -0.709984 m/s, LOS rate: -0.024058 deg/s, cmd heading: 29.439881 deg, new cmd heading: 29.422223 deg. B 0gOHeadingCmd: 0.513515 target range: 73.781471 and range: 74.20 m.u?*" 99ʎAAAjAZE?ԙ颵Bɢ"=) D>i)k=<iWkiu?Tq;Iu?I}9@y @@/@B]>B]CB] "IB]BB] =BYBYB]Ke;B]'E^Aϩ;u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502333A% ؟AI1 IA OM >! 4,]X@A2^>2?2n9<ٱ2v :AHRS rotation from veh to nav: [[0.866256,-0.496754,-0.053256],[0.499472,0.858684,0.114842],[-0.011318,-0.126083,0.991955]]2H ^?`߿ oD@[?@Wz?Ef? -y#?i2^>I2F];2֐CYbByb!If=diMMb@Mb@Mb@IIII I9MS㥛?!rh{Gz?YM$?yIMף9"?Y"?=jGyF4ӺE>Q 54k)?Q 94-)BYv'?Q E:y>Q I,@DI? ;i ;>4yTBɮ@XEjgODNOT Ignoring new targets: 73.78 m.R7ƹZ7ƹgO ProNav: ac range: 73.781471 m, nav range: 72.223152 m, bearing: 17.964005 deg, approach rate: -0.664877 m/s, LOS rate: -0.021662 deg/s, cmd heading: 29.422221 deg, new cmd heading: 29.403968 deg. BgO HeadingCmd: 0.513196 target range: 73.781471 and range: 74.20 m. `? * "  ߂BʎjZ?Bɢ'=) >i)mB<i i`?%MS%g֖;I%`?I!checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7544379@ @@@0@@=@=9^Avт;AzA\Ai A= .AIA IY Oe >: 4,|9X@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006450 :'>:I?:ψE<ٱ:T BAHRS rotation from veh to nav: [[0.867428,-0.494859,-0.051803],[0.497416,0.859938,0.114383],[-0.012056,-0.124987,0.992085]]:H?ë߿@煪??@7H?򰈿 ")?i:'>I:K!];:ՐCYNByN!IbDVVDV1y^Լ%bV=ٔb:Q-b>9f ?Yf ?=fjGydj̻Ej>lQ 5n4n=?Q 9r4nD+)nBYpyrN>Q Ir,@nDIn:in :nܮ4yxɮz@zYEjgODNOT Ignoring new targets: 73.78 m.RZ%gO5 ProNav: ac range: 73.781471 m, nav range: 71.975739 m, bearing: 17.956394 deg, approach rate: -0.653274 m/s, LOS rate: -0.020166 deg/s, cmd heading: 29.403968 deg, new cmd heading: 29.388693 deg. B5gO5HeadingCmd: 0.512929 target range: 73.781471 and range: 74.20 m.=XO?9*9"9 999AAʎAAIjIZM@U?uBɢ}=)y }>iy)}FB9 A= 4=B] >B] CB] "IB] BB] =BY B] sDB] }e;B] ;'EBCBCBB =B =C˔J64,uSX@A:>:j?:K<ٱ:UB FAHRS rotation from veh to nav: [[0.868693,-0.492703,-0.051154],[0.495195,0.861185,0.114637],[-0.012429,-0.124916,0.992089]]:H@U? p߿0 F?Ԏ?X?Gt `2?i:>I: ];:֐CYNBPyN!Ii]Mb@Mb@Mb@YYYY Y9]v/?Cl绿Q?Y]x)?y];߽]u<] A]@ Y)]?@YYYbDuVDu1y=%?=ٔd:Q->9"?Y"?=jGyF2ĻE>Q 54S?Q 94()BY+?Q E:yη>Q I,@DI:i:S4ySBɮ@ZEjgODNOT Ignoring new targets: 73.78 m.RuZugO ProNav: ac range: 73.781471 m, nav range: 71.689476 m, bearing: 17.945954 deg, approach rate: -0.669922 m/s, LOS rate: -0.024530 deg/s, cmd heading: 29.388692 deg, new cmd heading: 29.367729 deg. B3gOHeadingCmd: 0.512564 target range: 73.781471 and range: 74.20 m.^7?*"  Bʎ   j Zˌ?=Bɢ==)A E>iA)ELK:*EX:VEc44ZEBE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7623664,QmX@A:V>:)?:XP<ٱ:XQ BAHRS rotation from veh to nav: [[0.869905,-0.490647,-0.050304],[0.493054,0.862442,0.114416],[-0.012753,-0.124334,0.992158]]:HC? f߿{`2? ?@cJ?|[Կ ÿ?i:V>I:T ];:אCYJByN!I PPPPbDVVDV02y^%bX=ٔb`:Q-b>9dYd=fjGydfԻEf>hQ 5n4jg?Q 9r4jI&)jBYpyr>Q Ir,@jDIj8;ijU;j4ytɮz@x|j1gO=DNOT Ignoring new targets: 73.78 m.REӹZEӹgO] ProNav: ac range: 73.781471 m, nav range: 71.435707 m, bearing: 17.937136 deg, approach rate: -0.663323 m/s, LOS rate: -0.023132 deg/s, cmd heading: 29.367730 deg, new cmd heading: 29.350031 deg. B]V)gOeHeadingCmd: 0.512255 target range: 73.781471 and range: 74.20 m.m#?i*i"i iiqqʎjZQ@uBɢu=)q }Ƚ>iy)}PE  E E &E "E :*E ą:VE 4ZE a @a @a @a @Ա !4,+X@AJ#@>Ju?JN<ٱJr ZAHRS rotation from veh to nav: [[0.870952,-0.488878,-0.049406],[0.491206,0.863673,0.113076],[-0.012609,-0.122752,0.992357]]JH ?@I߿K o?5??@҉lc?iJ#@>IJ];JՐCYjByj!IbDz VDz2yUH<%UA=ٔ]ŲQ-]>9YYY=ejGyeFe{Ee>iQ 5u4m~?Q 9u4m#y)m BYyyj>Q I,@mDIm[0;img1;mV4yTBɮ]@[EPB*** querying acoustic contact *** jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266437gODNOT Ignoring new targets: 73.78 m.R$ιZ$ιgO ProNav: ac range: 73.781471 m, nav range: 71.152084 m, bearing: 17.927707 deg, approach rate: -0.674971 m/s, LOS rate: -0.022528 deg/s, cmd heading: 29.350030 deg, new cmd heading: 29.331097 deg. B$gOHeadingCmd: 0.511924 target range: 73.781471 and range: 74.20 m.w ?*" ʎjZ@t6@%Bɢ%=)! %ܲ>i!)-pU<))i- ϓi5w ?5b$Q5? I5w ?I99@ @@/@ԱB>BB!IBBBBBrDB1e;B'E^AvтIQIiOu>} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520236! '4,X@AYBy!IEa EeEe%Ea"Ea*EeVL:VEe 4ZEaBEe29YYa=ejGyaeEe>iQ 5u4m?Q 9}4m!)mBY}:.?Q E}:y}Z>Q I},@mœDIm ;im ;m4ySBɮC@jgODNOT Ignoring new targets: 73.78 m.RtZtgO ProNav: ac range: 73.781471 m, nav range: 70.855026 m, bearing: 17.918719 deg, approach rate: -0.681407 m/s, LOS rate: -0.020704 deg/s, cmd heading: 29.331097 deg, new cmd heading: 29.313045 deg. BgOHeadingCmd: 0.511609 target range: 73.781471 and range: 74.20 m.?*" ؂BʎjZ@Bɢ<=) Dz>i)%gZy  .4,iX@ABDAT read: Rx Time:00:43:46.1739 TRx dataTimestamp_ set to:1761698626.925187checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023434:M֕>: ?:T<ٱ: FAHRS rotation from veh to nav: [[0.872301,-0.486008,-0.053742],[0.488797,0.863791,0.122240],[-0.012987,-0.132899,0.991045]]:H?߿ uH?,? K? %?i:M֕>I:I];:אCYNByN!IR=PbDZVDZyb%bh=ٔbی:Q-b>9dYd=fjGyfFfEj>hQ 5n4j?Q 9r4j)jBYpyr&>Q Ir,@jʜDIjj;ijw;j4ytɮzR@xjgODNOT Ignoring new targets: 73.78 m.RΨZΨgO ProNav: ac range: 73.781471 m, nav range: 70.615791 m, bearing: 17.911882 deg, approach rate: -0.643345 m/s, LOS rate: -0.018448 deg/s, cmd heading: 29.313044 deg, new cmd heading: 29.299324 deg. B gOHeadingCmd: 0.511370 target range: 73.781471 and range: 74.20 m. ?*" ʎ!!j!Z%} @Q 7m>ѐCBXGɢ:=)=d99YEA M>iI)Uz^A A B >B CB !IB BB  =B B sDB ]e;B .'E 44,X@A~I>~?~P]<ٱ~ AHRS rotation from veh to nav: [[0.872205,-0.486358,-0.052097],[0.488954,0.863972,0.120319],[-0.013508,-0.130416,0.991367]]~H?} ߿y`K??7;?ܩ@wH?i~I>I~];~֐CY%By%!IiMb@Mb@Mb@ 9L7A`?zGếQ?Y+'?y ׽u< A@ (@)V@Y@bDVD02y%9=ٔ:Q->9Y=jGy9E>Q 54?Q 941)BY[)?Q E:y1>Q I,@ӜDI:i{:4yɮ@ \EԩjgODNOT Ignoring new targets: 73.78 m.Ry׹Zy׹gO ProNav: ac range: 73.781471 m, nav range: 70.324379 m, bearing: 17.901613 deg, approach rate: -0.665497 m/s, LOS rate: -0.023548 deg/s, cmd heading: 29.299326 deg, new cmd heading: 29.278703 deg. Ba,gOHeadingCmd: 0.511010 target range: 73.781471 and range: 74.20 m.?*" ݂BʎUDAT read: 00:43:46.1739 LVL= 32752, 32753, 26578, 32755, AGC= 69, IDX= 399,-0.47, 1.724, 0.311, 2.311, 1.748, PHS= 0.077,-1.393, 0.519, RAW= 162.7, 9.2, CAL= 162.6, 9.8, ROT= 347.4, -9.8 ]Ygot valid direction response: 00:43:46.1739 LVL= 32752, 32753, 26578, 32755, AGC= 69, IDX= 399,-0.47, 1.724, 0.311, 2.311, 1.748, PHS= 0.077,-1.393, 0.519, RAW= 162.7, 9.2, CAL= 162.6, 9.8, ROT= 347.4, -9.8 mPDAT read: Bearing 185.7, -14.2 (Local) m~Local bearing/azimuth received: Bearing 185.7, -14.2 (Local) uDAT read: Range 11 to 50 : 71.6 m (Round-trip 95.5 ms) speed 0.7 m/s }R#Rx 1: Read range and direction messages.^direction in FSK: [0.961676,-0.214960,0.170209]Fpublishing direction and range infoy)-!@/ ?σ˿rl?Y-3B)))-g ))-EI--=i-M-/?-ּ5@-l$>->5@ -%/>)-W@I-%/))-u^31?1A7q?!? -??)-$I-t0ai-%/))T****** received valid address query ******R****** received valid ping request ******jZ?Querying Benthos address 50 with one ping in standard two-way mode.mBɢm)=)i m>ii)uc  BDAT read: Tx time:00:43:47.4243  $Ping request sent. v;4,X@AE)m>Ex ?Eab<ٱE UAHRS rotation from veh to nav: [[0.871727,-0.487500,-0.049348],[0.489796,0.864103,0.115875],[-0.013847,-0.125182,0.992037]]EH0?23߿@1D@X???[ľ?iE)m>IE,];AYmBym!IbD}VD}1y%D=ٔU:Q->9Y=jGyFP;E>Q 54aՄ?Q 94)BYy>Q I,@ܜDIW:i :4yRBɮ@]EQlX@AJfBRfBjz}>"!Q@,.9R)I<(@r!@/ ?σ˿rl?Zt0ab%/ACP@=`8@5@0)@z{ӳ*??KmZ?2A:B"~?*}BB“B>gO  addTargetRange:: Added new target pos. range: 71.599998 m, deltaT: 3.779105 s, deltaX: -2.599998 m, approachRate: -0.687993 m/s, rangeRepo size: 4 gO Added new target pos. range: 71.199402 m, bearing: 18.071686 deg, lat: 36.779279 deg, lon: -121.859524 deg, deltaT: 3.779105 s, deltaX: -2.582069 m, approachRate: -0.683249 m/s, posRepo size: 4 j!gO%DNOT Ignoring new targets: 71.20 m.R-Z)gO5 ProNav: ac range: 71.199402 m, nav range: 70.049286 m, bearing: 17.891673 deg, approach rate: 0.000000 m/s, LOS rate: -0.023548 deg/s, cmd heading: 29.278702 deg, new cmd heading: 29.259670 deg. B9gOEHeadingCmd: 0.510678 target range: 71.199402 and range: 71.60 m.EĻ?A*A"A AAIIIʎIQQjU`fQ@ZU f?Y颅Bɢz=) f>i)g<顉iXfiĻ?PIĻ?I9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250251ԙ^A*:ԹE  E E E "E m:*E :VE ZE a @a @a @a @A .AI I O > RB4, X@A2>2L?2i<ٱ2X :AHRS rotation from veh to nav: [[0.871242,-0.488637,-0.046588],[0.490646,0.864185,0.111579],[-0.014262,-0.120071,0.992663]]2H7?E߿@Rڧf?@h?x?@45?i2>I2];0YBByB!I DDHJAbDNVDNβyV%V\=ٔZ!:Q-Z>9Z ?YZ ?=ZjGyX^s,;E^>`Q 5f4b脊?Q 9f4bf)bBYhyj>Q Ij,@bDIbl:ibd:b4ylɮn@lP~B*** querying acoustic contact ***|checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501985 |jgODNOT Ignoring new targets: 71.20 m.RT׹ZT׹gO ProNav: ac range: 71.199402 m, nav range: 69.803406 m, bearing: 17.882567 deg, approach rate: -0.633201 m/s, LOS rate: -0.023532 deg/s, cmd heading: 29.259670 deg, new cmd heading: 29.241394 deg. BC,gOHeadingCmd: 0.510359 target range: 71.199402 and range: 71.60 m.ݦ?*" ʎjZX?颉ɢT=) >i)l<iiݦ?JPIݦ?Ix>i>B>BCB!IBBB =BCDBtDBe;BI'E9@ @@/@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753918^A- ?Bɺ1 Ay I I O >Q J~H4,#X@A2D>2;x?2w<ٱ2X :AHRS rotation from veh to nav: [[0.870905,-0.489391,-0.044954],[0.491219,0.864039,0.110184],[-0.015081,-0.118043,0.992894]]2Ht?,R߿D#p?4?@ 5?⎿ 8?i2D>I2J];2אCYBByB!IDLDLER ERER(EP"ER:*ERL_:VERc44ZEPBER<%8=ٔ?:Q->9Y=jGyF :E>Q 5%4?Q 9%4)!BY-'?Q E-:y-w>Q I-,@DI|;in;o4y=QBɮE@AjgO DNOT Ignoring new targets: 71.20 m.RwҹZwҹgO% ProNav: ac range: 71.199402 m, nav range: 69.510574 m, bearing: 17.872348 deg, approach rate: -0.656325 m/s, LOS rate: -0.023001 deg/s, cmd heading: 29.241396 deg, new cmd heading: 29.220871 deg. B%_()gOMHeadingCmd: 0.510000 target range: 71.199402 and range: 71.60 m.Mc?I*I"I IQQQUBʎYYYjYZ]?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006227%Bɢ-`=)) -ʣ>i))-ڥp<11i5іi=c?=0P=ԪfI=c?I99@ @@/@Yԉ ^A= Β{ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258248A ؟AI I O >N4, >X@A25>2p?2<ٱ2+> :AHRS rotation from veh to nav: [[0.870949,-0.489426,-0.043703],[0.491115,0.864157,0.109719],[-0.015933,-0.117022,0.993001]]2H@?R߿-`nn?-?? P-?i25>I2:];0Y@yDbDNVDN1yV%VW=ٔV;Q-Z>9Z"?YZ"?=ZjGyX^?E^>`Q 5f4b?Q 9f4bx)b#BYhyjc>Q Ij,@bDIb+;ibK,;b4ylɮr@r^EjgO DNOT Ignoring new targets: 71.20 m.R OݹZ OݹgO ProNav: ac range: 71.199402 m, nav range: 69.263565 m, bearing: 17.863692 deg, approach rate: -0.687654 m/s, LOS rate: -0.024185 deg/s, cmd heading: 29.220871 deg, new cmd heading: 29.203496 deg. B 1gO%HeadingCmd: 0.509697 target range: 71.199402 and range: 71.60 m.%{?!*!") )))11ʎ111j9Z==m?ɢp=) 7>i ) pt<  i Ki{?VOS I{?I!E1 E5E5"E1"E1*E5[:VE5(3ZE1aE@aE@aE@aE@@ @@/@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509840^Aq9Be <Ae <Bm տ>Bm CBm !IBm BBm =Bi Bm xDBm e;Bm `'Eԉ A1 IY I O >U4,RXX@A02A >2f?2P4<ٱ2K >AHRS rotation from veh to nav: [[0.871015,-0.489473,-0.041825],[0.490962,0.864388,0.108577],[-0.016992,-0.115107,0.993208]]2H[?S߿`%j k??˻? Sf w[?i2A >I2I];0YfByf!IIj)>)j>n=n=i]Mb@Mb@Mb@YYYY Y9]V-?zGếQ?Y]|?y] ׽]u<] A]@ ]?@)]l@YY] @bDuVDukyA%>=ٔ9Y=jGyFʹE>Q 54)?Q 94)'BY!?Q E:yK>Q I,@DI<:i:4yɮ*@jgODNOT Ignoring new targets: 71.20 m.R7Z7checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762064gO ProNav: ac range: 71.199402 m, nav range: 68.991951 m, bearing: 17.855025 deg, approach rate: -0.631847 m/s, LOS rate: -0.020241 deg/s, cmd heading: 29.203495 deg, new cmd heading: 29.186093 deg. B,gO HeadingCmd: 0.509393 target range: 71.199402 and range: 71.60 m. g? * "   ʎjZ%i*@ɢF=) ͝>i)Dx<iig?gOe5Ig?I ԑ9@ @@@EE EEEE$EA"EE:*EE=:VEE4ZEABEE'[4,j.rX@A6st>6?6"S<ٱ6 BAHRS rotation from veh to nav: [[0.871641,-0.488354,-0.041859],[0.489811,0.864709,0.111192],[-0.018105,-0.117423,0.992917]]6H`{?2A߿@nY?`?w?!j?i6st>I6ye];6֐CYJByJ!IbDRVDR1yZ4N=%ZY=ٔ^EA;Q-^>`9`Y`=bjGy`fcEf>hQ 5n4j;?Q 9n4j )j*BYpyr>Q Ir,@jDIj;ij;j(4yvRBɮv@vUEjgODNOT Ignoring new targets: 71.20 m.R%MZ%MgO5 ProNav: ac range: 71.199402 m, nav range: 68.753220 m, bearing: 17.847590 deg, approach rate: -0.630552 m/s, LOS rate: -0.019704 deg/s, cmd heading: 29.186092 deg, new cmd heading: 29.171172 deg. B5=gO=HeadingCmd: 0.509133 target range: 71.199402 and range: 71.60 m.=V?9*9"9 AAAAIʎIIIjIZUV/@}Bɢ}!=)y S>i) |<顁i>*iV?$OJIV?I59@1 @1@54@1%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269002^AUጹEU  EU EQ EQ "EU ;*EU VL:VEQ ZEQ a] @a] @a] @a] @Ii Iy O >a b4, X@A2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5178356ۤ>6T?6B<ٱ6 BAHRS rotation from veh to nav: [[0.872406,-0.486820,-0.043754],[0.488424,0.864841,0.116157],[-0.018707,-0.122707,0.992267]]6H?`(߿fWB?@Ƭ?x?'@i?i6ۤ>I6V];4Y^Byb!IbDjVDjyr%rH=ٔr:Q-r>9tYt=vjGyvFv}Ez>x9Q 5}4zfP?Q 9}4z )z.BYy>Q I,@z DIzӓi)%~BCB!IBBB =BByDBe;B'EBCBCB—CB =B =C(7@ @@4@qԑ^A-%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770725I I O > bEjE˻ 4rE˃/E]  E] E] &EY "E] m:*E] e:VE] 4ZEY BE] U2Z#?2 <ٱ2C FAHRS rotation from veh to nav: [[0.873375,-0.484922,-0.045459],[0.486642,0.865024,0.122119],[-0.019895,-0.128778,0.991474]]2H?߿@]F$%?G? ,C?i_`{'?i2皔>I2j];0YVByV!IAEAyiMb@Mb@Mb@ 9)\(?~jty&1?YG!?yĽ`e<A @ @)AAY@bDVD:y-H%-5=ٔ5,;Q-5>91Y9==jGy9=E=>AQ 5M4E g?Q 9M4E)E1BYU.#?Q EU:y>Q I,@EDIEC%iI)U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273878 2o4,wX@AFۭ>FԬ?F-%<ٱF\ RAHRS rotation from veh to nav: [[0.874243,-0.483228,-0.046810],[0.485055,0.865315,0.126295],[-0.020524,-0.133118,0.990888]]FH? 3޿q% ?? p*?D Z?iFۭ>IF:_];FאCYZByZ!IbDfVDfyjQ<%ne=ٔn7:Q-n>9pYp=rjGyrFvHEv>xQ 5z4zx?Q 9~4z)z3BY|y~">Q I~,@zDIz;iz;zg4y ɮ K@ WEj)gO5DNOT Ignoring new targets: 71.20 m.R5yZ5ygOE ProNav: ac range: 71.199402 m, nav range: 67.981514 m, bearing: 17.818478 deg, approach rate: -0.659086 m/s, LOS rate: -0.027045 deg/s, cmd heading: 29.131341 deg, new cmd heading: 29.112724 deg. BMEgOMHeadingCmd: 0.508113 target range: 71.199402 and range: 71.60 m.M?Q*Q"Q QQQYYʎYYajaZe @ɢ=) >iE- E-E-'E)"E->:*E-ga:VE-'4ZE)a=@a=@a=@a=@) ?)}%I}f_iyyyT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.q^AjbA A B5 ƿ>B5 CB5 !IB5 BB5 =B1 B5 wDB5 f;B5 'EIQ Ia Om >ԩ Rv4, X@AY|y~!IiMb@Mb@Mb@ 9Zd;?/$/$?Y?y<" A (@)XAYQAbD VD2yj%<=ٔQ->9Y=jGyE>iIA*DAT read: user:563> BDAT read: Tx time:00:43:51.2243 $Ping request sent.Q I,@'DI:i: !4y ɮ O@ UX@AJBRBj펠>%m?P@]px[-N\m'@r_?]lL˿rl?Zf_btbh9P@n!H?4@r'^g(@zB?.Rm?:l?2#A:ـB"qjÚ?*菙BBqjÚ?“VB.>gO] addTargetRange:: Added new target pos. range: 69.199997 m, deltaT: 3.779875 s, deltaX: -2.400002 m, approachRate: -0.634942 m/s, rangeRepo size: 4 gOm Added new target pos. range: 68.818710 m, bearing: 17.967409 deg, lat: 36.779278 deg, lon: -121.859524 deg, deltaT: 3.779875 s, deltaX: -2.380692 m, approachRate: -0.629833 m/s, posRepo size: 4 jigOmDNOT Ignoring new targets: 68.82 m.yR}ZygO ProNav: ac range: 68.818710 m, nav range: 67.669647 m, bearing: 17.813441 deg, approach rate: 0.000000 m/s, LOS rate: -0.027045 deg/s, cmd heading: 29.112725 deg, new cmd heading: 29.088859 deg. BgOHeadingCmd: 0.507696 target range: 68.818710 and range: 69.20 m.c?*" BʎjLQ@Z?ɢ>&=) Λ>i)<i`ic?I@O:Ic?IE9@A @A@A@AԡE% E%E%&E!"E%O:*E% H:VE%4ZE!BE% D|4,uX@ARPExceeded connect timeout, disconnecting.YfByf!Ij=j=n@AlbDzVDzyq%W=ٔQ- >9 Y = jGy FE>Q 5%4ࠅ?Q 9%4);BY!y!Q I%,@.DI;i|:'4y5QBɮ5@1jQgO]DNOT Ignoring new targets: 68.82 m.R]5%Ze5%gOm ProNav: ac range: 68.818710 m, nav range: 67.434593 m, bearing: 17.800059 deg, approach rate: -0.632076 m/s, LOS rate: -0.036109 deg/s, cmd heading: 29.088857 deg, new cmd heading: 29.062001 deg. Bu*gOuHeadingCmd: 0.507228 target range: 68.818710 and range: 69.20 m.u?y*y"y yyyʎjZ?颱ɢ-=) ~>i)0V<ini?(QOLoI?I1@1 @1@=0@9@E=@E=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502920Gx[AfA9x[AY^A^AuIIO>) E5  E5 E5 'E1 "E5 :*E5 ga:VE5 '4ZE1 aE @aE @aE @aE @Q /4,Z X@A"checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7546056t>6,?6<ٱ6D BAHRS rotation from veh to nav: [[0.875170,-0.481356,-0.048717],[0.483334,0.865366,0.132404],[-0.021575,-0.139423,0.989998]]6H`e?޿@z???` ?i6t>I6^];6֐CYJvByJ!IVPBattery below minimum, enabling chargingI bDfVDf!y %I=ٔ(;Q-%>9!Y!=%jGy!-8E->1Q 545紅?Q 945^)5?BYy>Q I,@56DI5BCB!IBBB =BBxDB#g;B*(EʎjZ ?)颉ɢ( =) >i)K<顙i͛i?%O%]I-?I)@ @@0@achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006509ԉ ^A] _D9 D= 4=A I Թ I O >4,`(X@A "@EF EFEF&ED"EF:*EFT:VEF4ZEDBEF*Z?Zb<ٱZA bAHRS rotation from veh to nav: [[0.875253,-0.481304,-0.047725],[0.483158,0.865552,0.131826],[-0.022140,-0.138440,0.990123]]ZH`? ޿ao???᫖@c`?iZ>IZ܄];XYnByn!Ii]Mb@Mb@Mb@YYYY Y9] r?㥛 Mb?Y]#?y]]<]K A]@ ]?@)]nAYY]AI!bD VD2yy=%:=ٔ<:Q->9Y=jGyF\E>Q 54ʅ?Q 94)BBY$?Q E:y[>Q I,@?DI:i:c64yɮ@jigOmDNOT Ignoring new targets: 68.82 m.RmXZuXgO ProNav: ac range: 68.818710 m, nav range: 66.898926 m, bearing: 17.765356 deg, approach rate: -0.647398 m/s, LOS rate: -0.047332 deg/s, cmd heading: 29.033358 deg, new cmd heading: 28.992315 deg. B?gOHeadingCmd: 0.506011 target range: 68.818710 and range: 69.20 m.?*" Bʎchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258633jZ`LA?%Bɢ-x=)) -y>i))-<<)1i5f3i]?]QO]W&I]?Ia-9@) @1@51@1 nManaging dock network, ignoring radio surface power off!^A SQ u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510905AA IQ Ia Om >_}4, BX@A 6_]>6?6<ٱ6 >AHRS rotation from veh to nav: [[0.875440,-0.481065,-0.046708],[0.482784,0.865782,0.131684],[-0.022909,-0.137832,0.990191]]6H?޿+꧿`?`|??uw`?i6_]>I6];6ՐCYFByF!IbDRVDRNyVYQ<%Z\=ٔZ;Q-Z>9XY\=^jGy^F^Eb>`Q 5f4bl݅?Q 9j4b)bDBYhyj!>Q Ij-@bGDIb:ib:b<4ylɮr@rYEjgO DNOT Ignoring new targets: 68.82 m.R `Z `gO ProNav: ac range: 68.818710 m, nav range: 66.660515 m, bearing: 17.747954 deg, approach rate: -0.670032 m/s, LOS rate: -0.049083 deg/s, cmd heading: 28.992316 deg, new cmd heading: 28.957387 deg. B%gO%HeadingCmd: 0.505402 target range: 68.818710 and range: 69.20 m.%b?!*)") )))11ʎ111jZ4?IɢMI=)Q >i)<顙iib?ŐIb?IqE EE*E"EO:*EV:VE(N4ZEa@a@a@a@9@ @@4@@[A@YAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762570ԹB5<A54=B=Ϳ>B9B=!IB=BB= =B9B9B=f;B= (E^AM 3Ae >Ae > Ay I I O >@4,[X@A2?>2?2c"<ٱ2 :AHRS rotation from veh to nav: [[0.875530,-0.481027,-0.045396],[0.482577,0.865965,0.131238],[-0.023818,-0.136810,0.990311]]2HV?%޿@>??f?@c`?i2?>I2];2ӐCYBByF!I\Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014562ieMb@Mb@Mb@aaaa a9e)\(?V-I +?YeG!?yehe99Y=jGyE>Q 54?Q 94N)HBYf"?Q E:yv>Q I-@PDI:i:qD4yPBɮ@ZEjgODNOT Ignoring new targets: 68.82 m.R[Z[gO ProNav: ac range: 68.818710 m, nav range: 66.387444 m, bearing: 17.727249 deg, approach rate: -0.630846 m/s, LOS rate: -0.048030 deg/s, cmd heading: 28.957386 deg, new cmd heading: 28.915805 deg. B̯gO HeadingCmd: 0.504676 target range: 68.818710 and range: 69.20 m. r2? * "     BʎjZq_@ɢ=) >i)<i으ir2?Oiu|Ir2?I@ @@/@DzD@AE= E9E="E9"E=:*E9VE=(3ZE9BE=8Ҝ4,uX@AY~yBy~!IbD VD ܲy%%%Q=ٔ%Q-->9)Y)=-jGy-F5E5>9Q 5E4=?Q 9E4=)=KBYAyAQ IM-@=XDI= :i=:=DK4yQɮUz@QjgODNOT Ignoring new targets: 68.82 m.R.^Z.^gO ProNav: ac range: 68.818710 m, nav range: 66.140678 m, bearing: 17.708391 deg, approach rate: -0.633093 m/s, LOS rate: -0.048562 deg/s, cmd heading: 28.915804 deg, new cmd heading: 28.877948 deg. BgOHeadingCmd: 0.504015 target range: 68.818710 and range: 69.20 m.%?*"   ʎ   jZ@=Bɢ==)A E˅>iA)E܎ԡ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7704764,nX@AF"(>Fi?F-<ٱF; NAHRS rotation from veh to nav: [[0.876519,-0.479231,-0.045295],[0.480687,0.866396,0.135273],[-0.025584,-0.140342,0.989772]]FHr ?޿0`??P?@2` 7?iF"(>IF!^;FՐCYVsByZ!II^>)^<^=^a=bAA`bDfVDfyj0%nO=ٔn;Q-n>9pYp=rjGypv1Ev>xQ 5z4zl?Q 9~4z?)zNBY|y~w>Q I~-@z`DIz;iz;z)R4y ɮ @ P%B*** querying acoustic contact ***! !j1gO5DNOT Ignoring new targets: 68.82 m.R=ZZ=ZgOM ProNav: ac range: 68.818710 m, nav range: 65.891502 m, bearing: 17.689630 deg, approach rate: -0.630629 m/s, LOS rate: -0.047660 deg/s, cmd heading: 28.877948 deg, new cmd heading: 28.840284 deg. BMrgOUHeadingCmd: 0.503358 target range: 68.818710 and range: 69.20 m.U?Q*Q"Q QYYYYʎaaajaZe@y颵Bɢ=) }>i) <项ii?2PЛI?IBÿ>BCB!IBBB =BBvDB7g;B.(E9@ @@/@ԩ]BDAT read: Rx Time:00:43:53.7173 eTRx dataTimestamp_ set to:1761698634.485349echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023826^A1A=ZAzA=[AI I O > E  E E $E "E :*E VL:VE 4ZE BE o%J>Jԇ<ٱJ VAHRS rotation from veh to nav: [[0.877455,-0.477368,-0.046817],[0.478929,0.866561,0.140351],[-0.026429,-0.145574,0.988994]]JH?1޿@sǦ?`޺??,*¿`ץ?iJ#>IJ$H^;HY^zBy^!IiEMb@Mb@Mb@AAAA A9E?V-y&1?YEf&?yAE`e9qYq=ujGyuF}bE}>Q 54.?Q 94s)PBYm'?Q E:yP>Q I-@iDI:i:Y4yRBɮ@QEjgODNOT Ignoring new targets: 68.82 m.RbZbgO ProNav: ac range: 68.818710 m, nav range: 65.616074 m, bearing: 17.668799 deg, approach rate: -0.652020 m/s, LOS rate: -0.049521 deg/s, cmd heading: 28.840286 deg, new cmd heading: 28.798448 deg. BAgOHeadingCmd: 0.502628 target range: 68.818710 and range: 69.20 m.6?*"  BʎjZ]2 @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2746771ɢ=`=)i uF>iq)uFe D5@ e l$>)e M@Ie l$a a e @Z?yR?r,(? e $m=?)e 67Ie @Xie l$a a  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.ԁ ̰4,WX@A2H>2>>2<ٱ2 :AHRS rotation from veh to nav: [[0.878901,-0.474595,-0.047882],[0.476236,0.867355,0.144550],[-0.027072,-0.149848,0.988338]]2H?`_޿ 񃨿z?_? ?`ݸ`9.ÿw?i2H>I2^;2אCYnnByn!IbDvVDvܲy~t%Q=ٔ:Q->9 Y = jGy  fE>Q 5=4B?Q 9E4)QBYIyU>Q IU-@qDI1LAdBP@us+ֶ5%@r?J]9?5 k|ʿČsv?Z@Xbl$vDSn#O@ BU4@_'%@zGT6 ?Hi?.?2A:yB"mš?*dB B菙“7BׂB%>E EE&E"EV:*E n:VE4ZEa@a@a@a@gO addTargetRange:: Added new target pos. range: 66.699997 m, deltaT: 3.779952 s, deltaX: -2.500000 m, approachRate: -0.661384 m/s, rangeRepo size: 4 gO5 Added new target pos. range: 66.331749 m, bearing: 17.903023 deg, lat: 36.779278 deg, lon: -121.859522 deg, deltaT: 3.779952 s, deltaX: -2.486961 m, approachRate: -0.657935 m/s, posRepo size: 4 j1gO=DNOT Ignoring new targets: 66.33 m.R=Z9gOm ProNav: ac range: 66.331749 m, nav range: 65.419945 m, bearing: 17.809468 deg, approach rate: 0.000000 m/s, LOS rate: -0.049521 deg/s, cmd heading: 28.798448 deg, new cmd heading: 28.755049 deg. BigOuHeadingCmd: 0.501870 target range: 66.331749 and range: 66.70 m.uz?q*y"y yyyʎj̬P@Z`~?Bɢ$ =) p>i)<i]iz?#Q^sI z?I ԁ9@ @@`0@*DAT read: user:564> BDAT read: Tx time:00:43:55.0242 $Ping request sent.BCB!IB{BB =BBuDBKh;B(EBCBCBǔCB =B =CǶ%6Ա^A Ia I O > 4,D0X@A:Y>:"0>:<ٱ:  BAHRS rotation from veh to nav: [[0.879874,-0.472955,-0.046217],[0.474421,0.868660,0.142669],[-0.027329,-0.147457,0.988691]]:H'?D޿ȩ\?? B?¿[?i:Y>I:&^;:ՐCYJiByJ!I%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250952i5Mb@Mb@Mb@1111 195E?ʡEQ?Y5&?y55u<5 A1 1)11Y5pAbDMVDMy]ü%]E=ٔ]!:Q-e>9aYa=ejGyeFmeEm>qQ 5}4uX?Q 9}4u7)uSBY}'?Q E:yR>Q I-@uzDIu~ ;iu;ug4yɮ@jgODNOT Ignoring new targets: 66.33 m.RkSZkSgO ProNav: ac range: 66.331749 m, nav range: 65.148193 m, bearing: 17.792555 deg, approach rate: -0.739375 m/s, LOS rate: -0.046210 deg/s, cmd heading: 28.755049 deg, new cmd heading: 28.721081 deg. B#gOHeadingCmd: 0.501277 target range: 66.331749 and range: 66.70 m.S?*" QQYY]BʎYaajaZe :v?ԱBɢ=) e>i) <i%iS?CQ0IS?I@ @@4@bEŞ4jE 4rE).0Eu EuEu%Eq"Eum:*Euga:VEu 4ZEqBEuTA >I I! O- >9 4, X@A2Eό>2 {>2<ٱ2D :AHRS rotation from veh to nav: [[0.880528,-0.471840,-0.045125],[0.473205,0.869585,0.141064],[-0.027320,-0.145564,0.988972]]2HJ-?`2޿H?`?d?`١¿?i2Eό>I29^;2ԐCYv^Byv!IbDVDk1y dN%O=ٔQ->9Y=jGy%yeE%>)Q 5-4-Xl?Q 954-)-TBY1y5>Q I5-@-DI-:i-:-n4yAɮE<@AjagOmDNOT Ignoring new targets: 66.33 m.Rm8Zm8gO} ProNav: ac range: 66.331749 m, nav range: 64.890114 m, bearing: 17.776694 deg, approach rate: -0.654245 m/s, LOS rate: -0.040366 deg/s, cmd heading: 28.721082 deg, new cmd heading: 28.689236 deg. BgOHeadingCmd: 0.500722 target range: 66.331749 and range: 66.70 m.K/?*" ʎjZ@?Bɢ`=) N>i)F<iJiK/?RIK/?I@ @@/@i1I1=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7561869^Au IIO->Eu EuEu#Eq"Eu:*Eu5:VEu3ZEqa@a@a@a@i  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0068594,*X@A:>:a>:4<ٱ:{w BAHRS rotation from veh to nav: [[0.881178,-0.470776,-0.043537],[0.471999,0.870670,0.138388],[-0.027243,-0.142494,0.989421]]:H2?/!޿`xJ:5??? 囿`<=¿U?i:>I:R(^;:ՐCYJaByN!IbDV VDV:2y^U<%^N=ٔ^JQ-b>9`Y`=bjGybFf?bEf>hQ 5n4j?Q 9n4j))jVBYlyn>Q Ir-@jDIjY;ij;juu4ytɮv@vSEPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 66.33 m.R5Z5gO- ProNav: ac range: 66.331749 m, nav range: 64.630402 m, bearing: 17.760951 deg, approach rate: -0.653456 m/s, LOS rate: -0.039771 deg/s, cmd heading: 28.689236 deg, new cmd heading: 28.657623 deg. B-gO5HeadingCmd: 0.500170 target range: 66.331749 and range: 66.70 m.5" ?1*1"1 1999AʎAAAjAZM$?Be>BeCBe!IBeqBBe =BeDDBesDBei;BeB)E Bɢ =) 5 R>i1)5<99i=riE" ?EvSE&$IE" ?IAQ9@ @@/@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258926^A-ԩ Aa Iq I O >Ee  Ee Ee &Ea "Ee :*Ee ;J:VEe 4ZEa BEe 2E>2<ٱ2bq :AHRS rotation from veh to nav: [[0.881652,-0.470087,-0.041330],[0.471129,0.871822,0.134029],[-0.026973,-0.137639,0.990115]]2H}6?޿@@)&??'?@'?i2Ǚ>I2p^^;2ԐCYF[ByF!IIJ=)J9Y=jGyE>Q 54d?Q 94)ZBY@%?Q E:ym>Q I-@DI:i/:|4yɮn@TEjgODNOT Ignoring new targets: 66.33 m.RZgO ProNav: ac range: 66.331749 m, nav range: 64.356247 m, bearing: 17.749161 deg, approach rate: -0.645067 m/s, LOS rate: -0.027859 deg/s, cmd heading: 28.657623 deg, new cmd heading: 28.633943 deg. BKgOHeadingCmd: 0.499757 target range: 66.331749 and range: 66.70 m.>*" Bʎ j Z %?=BɢE=)A E@D>iI)M<]iT]O,I]>IaEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.5320599@ @@/@^Aܪ&A I I! ! O5 > q u ƐC gG checking for new query: numPingsReceived=0, elapsed TxPingTime=1.783676 `]A A] 9] `]AYe LA24,DX@A2T>2>26<ٱ2 :AHRS rotation from veh to nav: [[0.881905,-0.469745,-0.039799],[0.470662,0.872517,0.131114],[-0.026865,-0.134362,0.990568]]2H8?M޿`R??Z?m2?i2T>I2.5^;2ՐCYZWByZ!IbDbVDb1yr%rU=ٔvaQ-v>9xYx=jGyF E>!Q 5-4%3?Q 954%R)%]BY1y5>Q I=-@%DI%V;i%'W;%4yIɮM@QjgODNOT Ignoring new targets: 66.33 m.RwZwgO ProNav: ac range: 66.331749 m, nav range: 64.105621 m, bearing: 17.738452 deg, approach rate: -0.635560 m/s, LOS rate: -0.027263 deg/s, cmd heading: 28.633943 deg, new cmd heading: 28.612441 deg. BGgOHeadingCmd: 0.499381 target range: 66.331749 and range: 66.70 m.>*" ʎjZ )@ Bɢ `=)E= E=E=$E9"E=:*E=L_:VE=4ZE9aE@aE@aE@aE@ 9>i)"<顱ii>iUä-I>I)m9@i @i@m0@iEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.034816iB}<A}<B}>B}CB}!IB}gBB} =ByByB}j;B})E^Ax/ԑ A I I O5 >E4,4^X@A:.>:>:w<ٱ:W FAHRS rotation from veh to nav: [[0.882273,-0.469122,-0.038961],[0.469943,0.872958,0.130756],[-0.027329,-0.133672,0.990649]]:H;?޿?@F? ? `(e?i:.>I:];:ӐCYNMByN!Ii%Mb@Mb@Mb@!!!! !9%K7?Mb rh?Y%)?y%%C<% A%"@ !)!!Y%AbD=VD=0yM>%MD=ٔMő:Q-M>9QiߑIߑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.287006ԡYQ=jGyE>Q 5 4%?Q 9 4)_BY {+?Q E5:y5>Q I5-@DI;il;A4y9ɮ=N@9jgODNOT Ignoring new targets: 66.33 m.RNZNgO ProNav: ac range: 66.331749 m, nav range: 63.815678 m, bearing: 17.727066 deg, approach rate: -0.654607 m/s, LOS rate: -0.025824 deg/s, cmd heading: 28.612441 deg, new cmd heading: 28.589565 deg. B =gOHeadingCmd: 0.498982 target range: 66.331749 and range: 66.70 m.z>*" BʎjZ @MBɢUp=<)Q UZ#>iQ)]YyVú3Iz>IEE EEEAEA"EE:*EE1]:VEAZEABEE4,)yX@A2c>21>2<ٱ2 :AHRS rotation from veh to nav: [[0.882201,-0.469358,-0.037736],[0.470079,0.873232,0.128416],[-0.027321,-0.131028,0.991002]]2H:?@ ޿`R@??o? J?i2c>I2"];2ՐCYBJByF|!I HHHJA N;N4<bDRVDR:yZc%ZJ=ٔZpQ-^>9\Y\=^jGy^FbK9Eb>dQ 5j4fՆ?Q 9j4fU)faBYhyj>Q In-@fDIf;if;f4ypɮr~@rUEj gO DNOT Ignoring new targets: 66.33 m.RZgO% ProNav: ac range: 66.331749 m, nav range: 63.558353 m, bearing: 17.716865 deg, approach rate: -0.696452 m/s, LOS rate: -0.027722 deg/s, cmd heading: 28.589565 deg, new cmd heading: 28.569080 deg. B%JgO-HeadingCmd: 0.498625 target range: 66.331749 and range: 66.70 m.-K>)*)") )q)ʎjZ @BɢS<)! %>i!)%hCmkWu>+IuK>Iq checking for new query: numPingsReceived=0, elapsed TxPingTime=2.790891%9@! @!@%4@!ԙE EE%E"E:*EVL:VE 4ZEa@a@a@a@^A9A I! I1 OE >  BDAT read: Rx Time:00:43:57.5141  TRx dataTimestamp_ set to:1761698638.285160 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0439314,hvX@A2zB>2F>2 <ٱ2 :AHRS rotation from veh to nav: [[0.881959,-0.469973,-0.035672],[0.470539,0.873593,0.124207],[-0.027212,-0.126331,0.991615]]2H9?` ޿@CO?@z?`̿?bݛ+ O?i2zB>I2i];2ԐCBF>BFCBF!IBFWBBF =BDBFrDBFk;BF3*EYRQByR!IbD^VD^yf0<%fI=ٔfQ-f>9hYh=jjGyhn֧:En>yQ 54}솊?Q 94})}dBYy>Q I-@}DI};i}!;}k4yɮ@PB*** querying acoustic contact *** j gO DNOT Ignoring new targets: 66.33 m.R5Z5gOE ProNav: ac range: 66.331749 m, nav range: 63.273380 m, bearing: 17.705389 deg, approach rate: -0.653529 m/s, LOS rate: -0.026435 deg/s, cmd heading: 28.569080 deg, new cmd heading: 28.546025 deg. BEAgOMHeadingCmd: 0.498222 target range: 66.331749 and range: 66.70 m.M>I*I"I IQYaaʎaaijiZm( @颽Bɢu<) &>i)1c<ici>OMXI>I9@ @@/4@ %checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2949999^A K'D =D <E  E E E "E :*E R:VE ZE BE '4,QX@A6>6e>6gm<ٱ6H >AHRS rotation from veh to nav: [[0.881536,-0.470926,-0.033527],[0.471344,0.873803,0.119599],[-0.027026,-0.121233,0.992256]]6H5?#޿@k* ~*?`1??Ь$ ?i6>I6];4Y^FBybw!IieMb@Mb@Mb@aaaa a9eL7A`?1ZdI +?Ye+'?ye"۽e99Y=jGyFg;E>Q 541DAT read: 00:43:57.5141 LVL= 32752, 32753, 27634, 32755, AGC= 70, IDX= 411,-0.02,-0.229,-1.690, 0.373,-0.235, PHS= 0.109,-1.410, 0.564, RAW= 162.7, 8.3, CAL= 162.4, 8.5, ROT= 347.6, -8.5 Ygot valid direction response: 00:43:57.5141 LVL= 32752, 32753, 27634, 32755, AGC= 70, IDX= 411,-0.02,-0.229,-1.690, 0.373,-0.235, PHS= 0.109,-1.410, 0.564, RAW= 162.7, 8.3, CAL= 162.4, 8.5, ROT= 347.6, -8.5 PDAT read: Bearing 182.2, -14.8 (Local) ~Local bearing/azimuth received: Bearing 182.2, -14.8 (Local) DAT read: Range 11 to 50 : 64.3 m (Round-trip 85.8 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.965944,-0.212377,0.147809]Fpublishing direction and range infoyqu ?bp)/˿%)k?YuBqqquk q)qIud;=iuzuNb?uּ5@uV>u g5@ u>)u"@Iuqquu9^ND?m{?}}:o? u+>?)uIut]iuqqT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.?Q 94Z)gBY })?Q E :y >Q I -@DI=i=4y5SBɮ5@=VEqusX@AJuBRuBju'>uF[-eN@du(+k#"@ru ?bp)/˿%)k?Zut]buuT0o^BN@s!`2@rvƈ"@zuV1RJ?d?D{&?2uA:urB"u%?*uBuBqq“qu{Bu4)>gO addTargetRange:: Added new target pos. range: 64.300003 m, deltaT: 3.800004 s, deltaX: -2.399994 m, approachRate: -0.631577 m/s, rangeRepo size: 4 gO Added new target pos. range: 63.938362 m, bearing: 16.889103 deg, lat: 36.779278 deg, lon: -121.859522 deg, deltaT: 3.800004 s, deltaX: -2.393387 m, approachRate: -0.629838 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 63.94 m.R%Z!gO ProNav: ac range: 63.938362 m, nav range: 62.997120 m, bearing: 17.699131 deg, approach rate: 0.000000 m/s, LOS rate: -0.026435 deg/s, cmd heading: 28.546026 deg, new cmd heading: 28.521511 deg. BgOHeadingCmd: 0.497794 target range: 63.938362 and range: 64.30 m.>*" Bʎj@3P@Z?UBɢ]|<)Y ]>iYa)<顡ii>/YO I>I99@ @@4@ԑ- *DAT read: user:565> 5 BDAT read: Tx time:00:43:58.8242 5 $Ping request sent.5 U4,YX@A6l͋>68y>86}<ٱ6 BAHRS rotation from veh to nav: [[0.881458,-0.471247,-0.030972],[0.471472,0.874293,0.115434],[-0.027320,-0.116352,0.992832]]6H4? (޿@,? 6??Eɽ H?i6l͋>I6֒];6ӐCYJ@ByJo!IbDVVDV!y^S%^:=ٔ^.:Q-b>9b ?Yb ?=bjGy`f9Ef>hQ 5n4j)?Q 9n4j)jkBYlyr>Q Ir-@jȝDIj:ij:j`4ytɮv-@zWEjgODNOT Ignoring new targets: 63.94 m.RZgO- ProNav: ac range: 63.938362 m, nav range: 62.707054 m, bearing: 17.692529 deg, approach rate: -0.758382 m/s, LOS rate: -0.017341 deg/s, cmd heading: 28.521511 deg, new cmd heading: 28.508246 deg. B-gO5HeadingCmd: 0.497563 target range: 63.938362 and range: 64.30 m.5>1*9"9 999AAʎAAAjIZM@?Bɢ<) =i)A<i i%>%Y%ؑ IE>IImchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251425ԡ9@ @@/@AYA]AABe>BeCBe!IBeMBBe =BaBesDBek;Bep*E^A%A1zA1 A9 IA IY Oe > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.5026114,aX@A:w>:CS>:<ٱ:9z NAHRS rotation from veh to nav: [[0.881591,-0.471011,-0.030738],[0.471216,0.874449,0.115306],[-0.027432,-0.116137,0.992854]]:H 5?@ %޿ y`e(?{?@?-@v?i:w>I:ί];:֐CpDqzDqE} E}EyEy"E}m:*E}g:VEyZEyBE}T9Y=jGyF!E>Q 54;4?Q 94 )oBY,?Q E:yZ>Q I-@ӝDI" ;i ;%4yɮ{@ j!gO-DNOT Ignoring new targets: 63.94 m.R- Z- gO= ProNav: ac range: 63.938362 m, nav range: 62.368546 m, bearing: 17.688733 deg, approach rate: -0.673872 m/s, LOS rate: -0.007598 deg/s, cmd heading: 28.508247 deg, new cmd heading: 28.500614 deg. B=x^gOEHeadingCmd: 0.497430 target range: 63.938362 and range: 64.30 m.E>A*" BʎjZy?颥Bɢ%o<) =i)5<顱iM i=>=ZEq IE>IAIchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.75480399@ @@/@@@WAa ^A ԑ 5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006703AIIQIaOu>5,qX@A6?>6 K>6?'<ٱ6d' BAHRS rotation from veh to nav: [[0.881623,-0.470969,-0.030490],[0.471161,0.874556,0.114709],[-0.027359,-0.115496,0.992931]]6H@6?[$޿8`'?]?@]?$?i6?>I6];4FCFffAiFIHJPJ5C 9=D99ECE _AIMD)IiI)u3CI}_Ayy yŅ3CŅ^AŁiŁʼniƵCƵr^A)Ƶz Ƶ3EIƹ ǽC)ǽO{AƹƹYYybD5VD5yEd%EA=ٔE4IQ-M>9iYi=mjGymFuEu>yQ 54}KK?Q 94})}rBYyM>Q I-@}ܝDI}Q>;i}?;}4yIBɮ@NEjgODNOT Ignoring new targets: 63.94 m.RG ZG gO- ProNav: ac range: 63.938362 m, nav range: 62.080173 m, bearing: 17.685492 deg, approach rate: -0.664286 m/s, LOS rate: -0.007501 deg/s, cmd heading: 28.500614 deg, new cmd heading: 28.494101 deg. B-[gO5HeadingCmd: 0.497316 target range: 63.938362 and range: 64.30 m.50>1*1"1 11999ʎ9AEm EmEm&Ei"Em:*Em?:VEm4ZEiau@au@au@au@yjyZ}@b?Bɢ<) =i)<i i0>Md[' I0>IyU9@Q @Q@U/@Quchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258626BM>BMCBMs!IBMCBBM =BMCDBMuDBMl;BM*EBCBCBB =B =C6ԡ^A] K' A ؟AI I O >P5, X@Ay}Ք>}@>}m<ٱ} AHRS rotation from veh to nav: [[0.881668,-0.470913,-0.030044],[0.471095,0.874788,0.113203],[-0.027026,-0.113962,0.993118]]}H 6?`n#޿Þ@m&?C? ? Ԭ@,`?i}Ք>I}$^;}ՐCchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510738Y50By5\!IAEAiMb@Mb@Mb@ 9NbX9?q= ףp/$?Y%?y뽙<bA )Y3A p<bDVD:y'%$=ٔA/Q->9"?Y"?=jGy(E>Q 5-4;e?Q 954)vBY5P(?Q E5:y5>Q I5-@DI;i:=4y9ɮE@EOEP]B*** querying acoustic contact ***Y YjgODNOT Ignoring new targets: 63.94 m.RZԩgO ProNav: ac range: 63.938362 m, nav range: 61.755943 m, bearing: 17.682171 deg, approach rate: -0.654560 m/s, LOS rate: -0.006740 deg/s, cmd heading: 28.494101 deg, new cmd heading: 28.487424 deg. BYEgOHeadingCmd: 0.497199 target range: 63.938362 and range: 64.30 m.>*" BʎjZ?DADE%=bEĻ 4jE( 4rEij/EM EMEM%EI"EM,:*EMga:VEM 4ZEIBEM<\I>IU9@Y @Y@Y@YU checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762764 ^A I I O >}5,P2X>2*<ٱ28 >AHRS rotation from veh to nav: [[0.881587,-0.471093,-0.029593],[0.471263,0.874886,0.111742],[-0.026750,-0.112457,0.993296]]2H@5?a&޿M*)?`?'?jd@ɼ?i2*>I2^;2ԐCY-6By5c!IbDEVDEyUB=%Ua=ٔUFQ-]>9YYY=]jGy]Fe:Ee>iQ 5u4m^x?Q 9u4m)myBYqyu>Q I}-@mDIm/;imA:m4yɮ#@jgODNOT Ignoring new targets: 63.94 m.RMZMgO ProNav: ac range: 63.938362 m, nav range: 61.516735 m, bearing: 17.679675 deg, approach rate: -0.674409 m/s, LOS rate: -0.007065 deg/s, cmd heading: 28.487425 deg, new cmd heading: 28.482413 deg. BNgOHeadingCmd: 0.497112 target range: 63.938362 and range: 64.30 m.s>*" ʎjZ@ Bɢ 8<)  =i )9<i*is>)\Is>I!Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015446ԡ9@ @@0@E EE$E"E*Eg:VE4ZEa@a@a@a@^A &I I O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266513B <A <B >B CB f!IB 9BB  =B DDB sDB +l;B *Ea5,VX@A:>:`k>:q<ٱ: BAHRS rotation from veh to nav: [[0.881537,-0.471085,-0.031168],[0.471395,0.874631,0.113171],[-0.026052,-0.114457,0.993086]]:H5??&޿ꟿV+???xM@]?i:>I:];:ӐCYJ3ByN`!IbDVVDVk2y^p%^U=ٔ^Q-b>9`Y`=bjGy`f+9Ef>hlQ 5n4j?Q 9r4j)j|BYpyrޣ>Q Ir-@jDIj(;ij*;jL4ytɮvQ@xjgODNOT Ignoring new targets: 63.94 m.RZgO- ProNav: ac range: 63.938362 m, nav range: 61.264774 m, bearing: 17.676968 deg, approach rate: -0.656242 m/s, LOS rate: -0.007080 deg/s, cmd heading: 28.482413 deg, new cmd heading: 28.476976 deg. B-ROgO5HeadingCmd: 0.497017 target range: 63.938362 and range: 64.30 m.5y>1*9"9 999AAʎAAAjIZM@ Bɢ5<)1 58=i1)=ԥ<99i=iEy>Etj]EIEy>II!@) @)@-o0@1uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.5214261^AiIIO>E  E E &E "E a:*E F:VE 4ZE BE (N>N=<ٱN| ZAHRS rotation from veh to nav: [[0.881389,-0.471250,-0.032811],[0.471693,0.874189,0.115319],[-0.025661,-0.117117,0.992786]]NH`W4?(޿̠ 80? \??Ff ?iN.>IN];LYb,BybW!IIf;>)fp;f=f=9iUMb@Mb@Mb@QQQQ Q9Uy&1?1Zd~jt?YU`%?yU"۽U9Y=jGyF]K:E>Q 54㢇?Q 94)BY'?Q E:y>Q I-@DIl;i':4yHBɮ@PEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770696jYgOeDNOT Ignoring new targets: 63.94 m.Re}Ze}gO ProNav: ac range: 63.938362 m, nav range: 60.984123 m, bearing: 17.670815 deg, approach rate: -0.629121 m/s, LOS rate: -0.013855 deg/s, cmd heading: 28.476976 deg, new cmd heading: 28.464615 deg. BʹgOHeadingCmd: 0.496801 target range: 63.938362 and range: 64.30 m.\>*" BʎjZ={@Bɢ%t<)! %=i!)%M_U ^]I]\>IYi@ @@;2@ԑEXGYqe¿9YAm BDAT read: Rx Time:00:44:01.3108 u TRx dataTimestamp_ set to:1761698642.065081u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023673^A} A zA I I O > r"5,AX@A2Yu>2"!>2Z<ٱ2 :AHRS rotation from veh to nav: [[0.880891,-0.472164,-0.033035],[0.472622,0.873663,0.115504],[-0.025675,-0.117360,0.992757]]2HB0?7޿@頿`o?? ??JF `?i2Yu>I2];2ѐCEb EbEb)E`"Eb:*Eb n:VEbFA4ZE`af@af@af@af@Yn BynH!IbDxVDxy5v%5O=ٔ58Q-=>99Y9==jGy9E /;EE>IQ 5U4My?Q 9U4MG)MBYYy]t>Q I]-@MDIM` ;iM~ ;M4yaɮe@eQEjgODNOT Ignoring new targets: 63.94 m.RZgO ProNav: ac range: 63.938362 m, nav range: 60.725716 m, bearing: 17.664840 deg, approach rate: -0.685686 m/s, LOS rate: -0.015923 deg/s, cmd heading: 28.464615 deg, new cmd heading: 28.452614 deg. BgOHeadingCmd: 0.496592 target range: 63.938362 and range: 64.30 m.HA>*" ԹʎjZ@o @ɢ<) N=i)<iiHA>tn^·ֻIHA>I 9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274781Bm>BiBmZ!IBm/BBm =BiBmtDBmk;BmZ*E^AuIIO>A (5,<-X@A*DAT read: 00:44:01.3107 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 409,-0.15,-1.486,-2.927,-0.935,-1.484, PHS= 0.100,-1.398, 0.505, RAW= 161.7, 9.2, CAL= 161.5, 9.7, ROT= 348.5, -9.7 2Ygot valid direction response: 00:44:01.3107 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 409,-0.15,-1.486,-2.927,-0.935,-1.484, PHS= 0.100,-1.398, 0.505, RAW= 161.7, 9.2, CAL= 161.5, 9.7, ROT= 348.5, -9.7 2PDAT read: Bearing 184.1, -13.6 (Local) 6~Local bearing/azimuth received: Bearing 184.1, -13.6 (Local) :DAT read: Range 11 to 50 : 61.8 m (Round-trip 82.5 ms) speed 0.6 m/s >R#Rx 1: Read range and direction messages.B^direction in FSK: [0.965915,-0.196518,0.168489]BFpublishing direction and range infoyW??~'ɿRV?Y3wB )BI=i񲿉G?4@l$>e4@ -\->)@I-\-(h}?kA?vg? :?)f#IMi-\-NT****** received valid address query ******RR****** received valid ping request ******RQuerying Benthos address 50 with one ping in standard two-way mode. ]o>]>]O<ٱ] AHRS rotation from veh to nav: [[0.879985,-0.473740,-0.034596],[0.474304,0.872415,0.118020],[-0.025729,-0.120265,0.992408]]]H(?Q޿@Z??6?`Xɾ ?i]o>I]^;]אCY#ByL!IE EE(E"E:*EV:VEc44ZEBE9Y=jGyF l;E >9Q 5E4҇?Q 9E4>)BYEH'?Q EE:yEs>Q IE-@DIe;i";4yQɮ}K@ySyX@AJuBRuBjۡ>n.M@>_y'(>.$@rW??~'ɿRV?ZMb-\-n_L@ZB2@!f$@zl6 ?8~?L>??2A:ffB"Ț?*X%BB}“ BqB3˝>gOu addTargetRange:: Added new target pos. range: 61.799999 m, deltaT: 3.781588 s, deltaX: -2.500004 m, approachRate: -0.661099 m/s, rangeRepo size: 4 gO Added new target pos. range: 61.455498 m, bearing: 18.112893 deg, lat: 36.779278 deg, lon: -121.859522 deg, deltaT: 3.781588 s, deltaX: -2.482864 m, approachRate: -0.656567 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 61.46 m.RZgO ProNav: ac range: 61.455498 m, nav range: 60.381706 m, bearing: 17.658039 deg, approach rate: 0.000000 m/s, LOS rate: -0.015923 deg/s, cmd heading: 28.452615 deg, new cmd heading: 28.434782 deg. BgOHeadingCmd: 0.496281 target range: 61.455498 and range: 61.80 m.}>*" Bʎj`fN@Z`?EBɢE<)A Mb=iI)m3u^}'$I}}>Iy*DAT read: user:566> BDAT read: Tx time:00:44:02.5741 $Ping request sent.9 ?Y ?=jGyE>Q 54燊?Q 94)BYyQ I-@DI:i :4y!ɮ%|@!PEB*** querying acoustic contact ***A AjIgOUDNOT Ignoring new targets: 61.46 m.RUpùZUpùagOm ProNav: ac range: 61.455498 m, nav range: 60.121422 m, bearing: 17.649966 deg, approach rate: -0.685661 m/s, LOS rate: -0.021358 deg/s, cmd heading: 28.434783 deg, new cmd heading: 28.418567 deg. BmYgOuHeadingCmd: 0.495998 target range: 61.455498 and range: 61.80 m.ue>q*q"q yyyʎjZv?ɢ<) F=i)}<iܞie>^.OIe>IE EE&E"E[:*EAr:VE4ZEa@a@a@a@u9@q @q@u/@qԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502758AAAAB%ɿ>B%CB%T!IB%*BB% =B%CDB%wDB%j;B%)E^AA ؟AI I O > C75,wX@ABz>BFn>BG<ٱB JAHRS rotation from veh to nav: [[0.877838,-0.477563,-0.036528],[0.478299,0.870076,0.119160],[-0.025124,-0.122075,0.992203]]BH??`d޿ͳ`q??@K?7 K@@ ?iBz>IB];BӐCYVByV:!IbD=VD=!yX%H=ٔ_Q->9"?Y%"?=%jGy%F51<E=>Q 54?Q 94s)BYyѰ>Q I-@$DI*" ʎjZ?uBɢu{<)y }w^^iI;>IE EE(E"E*EC:VEc44ZEBE~;aU9@Y @Y@Y@Y@y@}=)  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006902^A 3Y A II!O5> ]>5,>X@AYBy 3!IQiMb@Mb@Mb@ 9p= ף?I +Mb?Yy9<bA@ nA)AYAbDVDfyƼ%0=ٔQ->9Y=jGyE>Q 54x?Q 94)BY&?Q E:y>Q I-@-DI@:i:4yɮ@SEjgODNOT Ignoring new targets: 61.46 m.R{5Z{5gO- ProNav: ac range: 61.455498 m, nav range: 59.553898 m, bearing: 17.623511 deg, approach rate: -0.688953 m/s, LOS rate: -0.039666 deg/s, cmd heading: 28.398388 deg, new cmd heading: 28.365406 deg. B-/gO5HeadingCmd: 0.495070 target range: 61.455498 and range: 61.80 m.5y>1*1"9 9999E BʎAAAjAZM"?qɢun<)y }_^%I%y>I)Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259760ԁ9@ @@/@^AԩAE EE&E"E:*E:VE4ZEa@a@a@a@I IO%>  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510805?E5,%X@AB"ֿ>B"CB"A!IB"BB" =B B"xDB"j;B")Ez>zV?z<ٱz  AHRS rotation from veh to nav: [[0.873730,-0.485071,-0.036086],[0.485757,0.866300,0.116469],[-0.025234,-0.119292,0.992539]]zH ? h ߿y@?`?н?֙뉾 ?iz>Izw^;zҐCYBy$!II%=)%<-=-p=bD5VD5:yE%ES=ٔEє9Q-E>9IYI=MjGyMFUT<EU>YQ 5e4]4(?Q 9e4]O)]BYayed>Q Ie-@]5DI]:i]-:]4yqɮuS@qjgODNOT Ignoring new targets: 61.46 m.RDZDgO ProNav: ac range: 61.455498 m, nav range: 59.302731 m, bearing: 17.606941 deg, approach rate: -0.649777 m/s, LOS rate: -0.043049 deg/s, cmd heading: 28.365405 deg, new cmd heading: 28.332125 deg. BgOHeadingCmd: 0.494489 target range: 61.455498 and range: 61.80 m.->*" ʎ   j Z t?} Bɢ}<)y }Liy)±<顁ii->x\TIi@i @i@m0@i!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765455Q^A9A D D <E  E E E "E &:*E V:VE ZE BE `;y jK5,/X@ARҠ>RN?Rs4<ٱRϞ ^AHRS rotation from veh to nav: [[0.872289,-0.487710,-0.035371],[0.488323,0.865040,0.115093],[-0.025535,-0.117667,0.992725]]RH?6߿ @?g?v? %@if?iRҠ>IR5];RՐCYjByn!IiMb@Mb@Mb@ 9{Gz?ʡEMb?Y#?y-A@ )SAYAbDVD:yz%B=ٔ;:Q->9Y=jGy;E>Q 54w=?Q 94)BYe%?Q E:y >Q I-@=DI:i:8 4yɮ@TEjgODNOT Ignoring new targets: 61.46 m.RNZNgO- ProNav: ac range: 61.455498 m, nav range: 59.031834 m, bearing: 17.588016 deg, approach rate: -0.644154 m/s, LOS rate: -0.045206 deg/s, cmd heading: 28.332125 deg, new cmd heading: 28.294102 deg. B-wgO5HeadingCmd: 0.493825 target range: 61.455498 and range: 61.80 m.5>9*9"9 999AEBʎAAAjIZM`@Qyɢ}!<) 0i)g<顁iYi>Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014745(I19@ @@0@ԁ^Ag;A.AIIO>ԩu checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267925 QR5,ZIX@AJ>J_]?JeK<ٱJ RAHRS rotation from veh to nav: [[0.870919,-0.490133,-0.035638],[0.490757,0.863652,0.115166],[-0.025668,-0.117790,0.992707]]JH?X^߿?h? ?`{?`Ht' A?iJ>IJh];HYZBy^!!IbDf VDf:2ynv<%nZ=ٔn 9Q-r>9r ?Yr ?=rjGyrFvG;Ev>xQ 5~4zaP?Q 9~4zK)zBY|y>Q I-@zEDIz ;iz ;z4y ɮ q@ P-B*** querying acoustic contact ***) )j1gO5DNOT Ignoring new targets: 61.46 m.R=gXZ=gXgOM ProNav: ac range: 61.455498 m, nav range: 58.790604 m, bearing: 17.570355 deg, approach rate: -0.643407 m/s, LOS rate: -0.047299 deg/s, cmd heading: 28.294103 deg, new cmd heading: 28.258636 deg. BMgOUHeadingCmd: 0.493206 target range: 61.455498 and range: 61.80 m.U>Q*Q"Q QYYYaʎaaajaZm@颕 BɢѴ<) 0i)n<顙i0i>8YچVIE EE'E"E:*Ek:VE'4ZEa @a @a @a @Ա9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518945B!A!B->B-CB-4!IB-BB- =B)B-zDB-3j;B-)EBCBCBŖCB =B =Cf 7^A< A- ؟AI1 II OU >A X5,;cX@A=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773579>b? t<ٱ AHRS rotation from veh to nav: [[0.869990,-0.491691,-0.036849],[0.492387,0.862426,0.117373],[-0.025931,-0.120257,0.992404]]H@?w߿ݢD??( ?1ɾ?i>Ic];ӐCYBy!I iMb@Mb@Mb@ 9+?ʡEy&1?Yv?y`e<A A)AYGAbDVDk1yý%,=ٔ:Q->9"?Y"?=jGyF  ;E >Q 54og?Q 94K)BY%?Q E%:y%1>Q I%-@ODI:i ;4y-KBɮ5@5KEjQgO]DNOT Ignoring new targets: 61.46 m.R]wZ]wgOm ProNav: ac range: 61.455498 m, nav range: 58.495361 m, bearing: 17.544769 deg, approach rate: -0.621936 m/s, LOS rate: -0.054170 deg/s, cmd heading: 28.258636 deg, new cmd heading: 28.207205 deg. BmEƺgOuHeadingCmd: 0.492309 target range: 61.455498 and range: 61.80 m.u>q*y"y yyyBʎjZ@颱ɢ-)<) li)*<项i㝼i>W3VxIDzD?AbEMĞ4jEMY"4rEM١/E EE&E"E:*ET:VE4ZEBE ^5,x}X@AF>F31?F>C<ٱFL NAHRS rotation from veh to nav: [[0.869320,-0.492779,-0.038108],[0.493564,0.861468,0.119443],[-0.026030,-0.122643,0.992109]]FH`w?ఉ߿@Ⴃ?&? ̓?``e`\?iF>IFL];FՐCYVByXbDVDy%;%p=̗ٔ9Q-?9Y=jGy%;E%?)Q 554-w?Q 954-#)-BY1y5>Q I=-@-UDI-;i- ;-4yAɮE@AjigOmDNOT Ignoring new targets: 61.46 m.Rm}Zu}gO ProNav: ac range: 61.455498 m, nav range: 58.283772 m, bearing: 17.525969 deg, approach rate: -0.621583 m/s, LOS rate: -0.055429 deg/s, cmd heading: 28.207206 deg, new cmd heading: 28.169470 deg. BʺgOHeadingCmd: 0.491650 target range: 61.455498 and range: 61.80 m.>*" ʎjZ o @ɢR}<) xi)@<ii>SKIi9@ @@/@@=@=5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275658ԙ^Ak<E- E-E-'E)"E-:*E-&p:VE-'4ZE)aU@aU@aU@a]@ I I O% > DAT read: 00:44:05.0574 LVL= 32752, 32753, 25010, 32755, AGC= 69, IDX= 407, 0.25, 2.277, 0.828, 2.935, 2.257, PHS= 0.122,-1.384, 0.634, RAW= 164.1, 7.0, CAL= 163.6, 6.8, ROT= 346.4, -6.8  Ygot valid direction response: 00:44:05.0574 LVL= 32752, 32753, 25010, 32755, AGC= 69, IDX= 407, 0.25, 2.277, 0.828, 2.935, 2.257, PHS= 0.122,-1.384, 0.634, RAW= 164.1, 7.0, CAL= 163.6, 6.8, ROT= 346.4, -6.8 B >B B "!IB BB =B B B Xj;B )Eme5,X@A<VPDAT read: Bearing 182.6, -15.5 (Local) V~Local bearing/azimuth received: Bearing 182.6, -15.5 (Local) ^DAT read: Range 11 to 50 : 59.3 m (Round-trip 79.1 ms) speed 0.6 m/s ^R#Rx 1: Read range and direction messages.b^direction in FSK: [0.965124,-0.233488,0.118404]bFpublishing direction and range infoyXK?ѱDͿEO?Y3mBa )EI#=i&M"?-M7@5=36@ =)\w@IH0p?*ըa?p ? %'E?)IsiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.%>%X?%<ٱ%s =AHRS rotation from veh to nav: [[0.869016,-0.493250,-0.038927],[0.494087,0.860927,0.121177],[-0.026257,-0.124538,0.991867]]%H?@i߿=?ൌ?@s?-㚿῿`?i%>I%a^;%ӐCYBy IbD5VD5ky&%1=ٔ:Q->9Y=jGyF:E>Q 54T?Q 945)BYyG>Q I-@_DI:iN:'4yɮ@JX@AJkBRkBj> ;uL@[2rgr+-"@rXK?ѱDͿEO?Zsb9UqT K@ɕkA1@[C3@zܖxOe`?~}i?Aѫ?2A:_B"L ?*B,BȚ?菙“B9hB->gO addTargetRange:: Added new target pos. range: 59.299999 m, deltaT: 3.778415 s, deltaX: -2.500000 m, approachRate: -0.661653 m/s, rangeRepo size: 4 gO Added new target pos. range: 58.976852 m, bearing: 16.998135 deg, lat: 36.779279 deg, lon: -121.859522 deg, deltaT: 3.778415 s, deltaX: -2.478645 m, approachRate: -0.656001 m/s, posRepo size: 4 ԡjgODNOT Ignoring new targets: 58.98 m.bgOPowering the camera and arming the capture device at range: 59.30 m.2RZgO ProNav: ac range: 58.976852 m, nav range: 58.055912 m, bearing: 17.477384 deg, approach rate: 0.000000 m/s, LOS rate: -0.055429 deg/s, cmd heading: 28.169469 deg, new cmd heading: 28.117430 deg. BgOHeadingCmd: 0.490742 target range: 58.976852 and range: 59.30 m.B>*" 2    ʎj=`fM@Z=u?颅 Bɢw<) pi)<顉iGJiB> P*I &Changing to mode: 2iiIi*DAT read: user:567> BDAT read: Tx time:00:44:06.4241 $Ping request sent.l5,RX@A>Ș>>]:?><ٱ> FAHRS rotation from veh to nav: [[0.869244,-0.492779,-0.039808],[0.493682,0.860900,0.123000],[-0.026341,-0.126569,0.991608]]>H?߿@a|?~?|?0`h3@?i>Ș>I>f^;>ԐCYNՂByN IIR=)R9aYa=ejGyamEm>qQ 5}4u}?Q 9}4u[)uBYg&?Q E:y>Q I-@ugDIu3:iuH:uo.4yɮi@LEjgODNOT Ignoring new targets: 58.98 m.bgOPowering the camera and arming the capture device at range: 59.30 m.2RZ)gOu ProNav: ac range: 58.976852 m, nav range: 57.783833 m, bearing: 17.449673 deg, approach rate: -0.657667 m/s, LOS rate: -0.067299 deg/s, cmd heading: 28.117430 deg, new cmd heading: 28.061746 deg. BuTgO}HeadingCmd: 0.489770 target range: 58.976852 and range: 59.30 m.}>y*y"y 2BʎjZS?ɢ&S<) Tؽi)1<aie 휼im>mޔMmIq7@ @@@Y wm> G)MfA9YߤAy?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.492639ԙ^A <Ii Iy O >Ա E5  E5 E5 'E1 "E5 :*E5 VL:VE5 '4ZE1 a= @aE @aE @aE @ns5,X@A2X^>2?2d<ٱ2 :AHRS rotation from veh to nav: [[0.868679,-0.493693,-0.040801],[0.494671,0.860104,0.124583],[-0.026412,-0.128405,0.991370]]2H 7?@߿㤿?`?? oM?i2X^>I2^;0YhyhbDrVDr2ٔ~>9Q-~>9|Y|=jGyF?;E> Q 54 ?Q 94 ) Yy1>Q I-@ pDI ;i ; >54y!ɮ%k@%MEPEB*** querying acoustic contact ***A AjIgOUDNOT Ignoring new targets: 58.98 m.bQgOUPowering the camera and arming the capture device at range: 59.30 m.2QR]Z]gOm ProNav: ac range: 58.976852 m, nav range: 57.531929 m, bearing: 17.423482 deg, approach rate: -0.647191 m/s, LOS rate: -0.067584 deg/s, cmd heading: 28.061745 deg, new cmd heading: 28.009134 deg. Bm_gOuHeadingCmd: 0.488852 target range: 58.976852 and range: 59.30 m.uJ>q*q"q y2yyyʎjZ?颱ɢ3I<) @ؽi)E<项iiJ>J IԙU5@Q @Q@U0@Q@Y@]\AA@AA@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.745122B>BB !IBBBBBBi;B)E^Aue<IIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998816 y5,@X@AFF>F8y?FW+<ٱF NAHRS rotation from veh to nav: [[0.868763,-0.493494,-0.041401],[0.494512,0.859974,0.126106],[-0.026629,-0.130030,0.991152]]FH ?i߿2?`?@$?DѤ`?iFF>IF4^;DYZ҂ByZ Ii5Mb@Mb@Mb@1111 195?l:v?Y5 ?y55T<15@ 1)11Y5A IM<bDUVDUyeһ%e<ٔe:Q-e>9iYi=mjGyimEu>yQ 5}4}vˈ?Q 94})}BY&!?Q E:y>Q I-@}xDI}3:i}]:}<4yɮ@j1gO5DNOT Ignoring new targets: 58.98 m.b9gO=Powering the camera and arming the capture device at range: 59.30 m.29RE?ZE?gOM ProNav: ac range: 58.976852 m, nav range: 57.270222 m, bearing: 17.397409 deg, approach rate: -0.603822 m/s, LOS rate: -0.060433 deg/s, cmd heading: 28.009134 deg, new cmd heading: 27.956748 deg. Bu2ݺgO}HeadingCmd: 0.487937 target range: 58.976852 and range: 59.30 m.}>y*y"y y2yy܂BʎjZk?ɢN<) `i)#ģ<i/E EEE"E ;*EM:VEZEBEL5ׅG5NI9 3@ @@#0@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248530I ^AM }<AU YAzAU WAI I O >髀5, X@AB@ژ>BC?Bp<ٱBE NAHRS rotation from veh to nav: [[0.869172,-0.492712,-0.042128],[0.493793,0.860173,0.127556],[-0.026611,-0.131671,0.990936]]BHA?@߿̑ O??@S? ?࿵?iB@ژ>IB`];@YVƂByV IXXbD~VD~:y w% P=ٔ ;Q- >9Y=jGyF E>!Q 554%ވ?Q 9=4%q)%BYAyE>Q IE-@%DI%ڋ;i%;%jC4yYɮ]Z@eNEjgODNOT Ignoring new targets: 58.98 m.bgOPowering the camera and arming the capture device at range: 59.30 m.2RZgO ProNav: ac range: 58.976852 m, nav range: 57.023853 m, bearing: 17.372836 deg, approach rate: -0.639410 m/s, LOS rate: -0.064051 deg/s, cmd heading: 27.956748 deg, new cmd heading: 27.907390 deg. BpgOHeadingCmd: 0.487076 target range: 58.976852 and range: 59.30 m.b>*" 2ʎj Z `1?E BɢEC)<)A E& iI)MlDIb>Iep0@a @a@e4@aE  E E &E "E m:*E :VE 4ZE a@a@a@a@y^A D-<ԩ B >B CB IB ؂BB =B B {DB ci;B \)EI I! O- > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768630ֆ5,lX@A2{>2?2y<ٱ2 :AHRS rotation from veh to nav: [[0.870019,-0.491040,-0.044120],[0.492303,0.860453,0.131368],[-0.026544,-0.136013,0.990351]]2H`2?2m߿@ۖ?Ո??`h.h@?i2{>I26];2ҐC@Y^͂By^ IbDjVDj0yr=%rM=ٔr40Q-r>9tYt=vjGytvόEz>xQ 54z?Q 94zߛ)zBYy S>Q I -@zDIzY!;izU";z_J4yLBɮ@jgODNOT Ignoring new targets: 58.98 m.bgOPowering the camera and arming the capture device at range: 59.30 m.2RZgO ProNav: ac range: 58.976852 m, nav range: 56.774441 m, bearing: 17.348136 deg, approach rate: -0.613142 m/s, LOS rate: -0.060987 deg/s, cmd heading: 27.907390 deg, new cmd heading: 27.857773 deg. B-9ߺgO=HeadingCmd: 0.486210 target range: 58.976852 and range: 59.30 m.=>9*9"9 9299AAAʎAIIjIZMf@yɢ}=<)y }iy)<顁i_i>sA(II)XAԩ-;.@1 @1@5/@9@M>@M>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022856^A-7ƙ<E  E E %E "E :*E T:VE 4ZE BE w5,6X@A6>6XZ?6 <ٱ6 >AHRS rotation from veh to nav: [[0.870920,-0.489293,-0.045717],[0.490705,0.860841,0.134768],[-0.026586,-0.139806,0.989822]]6H`?P߿;hg??@?N9 & ?i6>I6];6ԐCYJByJ IliMb@Mb@Mb@ 9 r?ʡE{Gz?Y#?y#<A@ nA) AYfAbD5Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.272810VD5:2yUD%UC=ٔ])8Q-]>9aYa=ejGyeFeEe>iQ 5u4m?Q 9}4m!)iY}$?Q E}:y} >Q I}-@mDIm;im);mQ4yɮ'@jgODNOT Ignoring new targets: 58.98 m.bgOPowering the camera and arming the capture device at range: 59.30 m.2R2Z2gO ProNav: ac range: 58.976852 m, nav range: 56.505829 m, bearing: 17.322519 deg, approach rate: -0.666958 m/s, LOS rate: -0.063908 deg/s, cmd heading: 27.857773 deg, new cmd heading: 27.806297 deg. BgOHeadingCmd: 0.485311 target range: 58.976852 and range: 59.30 m.z>q*q"q q2qyyy}BʎjZ8@ɢ<) !i)<i 䚼iz>e>aI  +@ @@/@9checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524707^A 5%E  E E E "E :*E [:VE ZE a- @a- @a- @a- @f5,cPX@A2>2?2Q]<ٱ2 :AHRS rotation from veh to nav: [[0.872009,-0.487215,-0.047143],[0.488750,0.861352,0.138550],[-0.026897,-0.143858,0.989233]]2H ?.߿@)# G?`1??`Њi¿@˧?i2>I2t];2ѐCYBByB IJ=J=bDLVDLy %E<%O=ٔN:Q->9 ?Y ?=jGy%wE%>)Q 554-?Q 954-)-BY1y5>Q I5-@9-DI-1;i-3;-X4yIɮM@MOEPeB*** querying acoustic contact ***a ajqgOuDNOT Ignoring new targets: 58.98 m.bqgO}Powering the camera and arming the capture device at range: 59.30 m.2yR}EZEgO ProNav: ac range: 58.976852 m, nav range: 56.252438 m, bearing: 17.298677 deg, approach rate: -0.639483 m/s, LOS rate: -0.060443 deg/s, cmd heading: 27.806296 deg, new cmd heading: 27.758396 deg. B<ݺgOHeadingCmd: 0.484475 target range: 58.976852 and range: 59.30 m.) >*" 2ʎjZ@ Bɢk <) `i)>!<i{qi) >>; IBu<Au<B}ڿ>B}CB} IB}ɂBB} =ByB}yDB}i;B})E_)@ @@0@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.777485iԑ^Au<AE ؟AIq I O > BDAT read: Rx Time:00:44:08.9041 % TRx dataTimestamp_ set to:1761698649.6524805 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0346295,1@jX@Af>f ?fK!<ٱf, ~AHRS rotation from veh to nav: [[0.873249,-0.484848,-0.048560],[0.486526,0.862048,0.142006],[-0.026990,-0.147632,0.988674]]fH ?@߿ܨ=#?? @-?`M¿7?if>If];fҐCY By IԙiMb@Mb@Mb@ 9w/?~jty&1?Y&?y`e<1A@ &A)SAYbDVD1yu:%?=ٔ_e9Q->9"?Y"?=jGyFûE>IQ 5U4M[1?Q 9U4M)MBYU(?Q EU:y]!>Q I]-@MDIMK ;iM ;MN`4yaɮe@ePEjgODNOT Ignoring new targets: 58.98 m.bgOPowering the camera and arming the capture device at range: 59.30 m.2R͑Z͑gO ProNav: ac range: 58.976852 m, nav range: 55.964397 m, bearing: 17.270631 deg, approach rate: -0.651240 m/s, LOS rate: -0.063735 deg/s, cmd heading: 27.758396 deg, new cmd heading: 27.702017 deg. BHE EE$E"EO:*ET:VE4ZEBE *"  2 Bʎ!!j!Z%BQ @aɢm"<)) -.i))-ݞ<)1i5Y♼i50>=L8=FI9?i?=Z&@9 @A@E/@A@MZA@M[A]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280676^AE E5,&VX@A46@fr>f0?f 9<ٱf rAHRS rotation from veh to nav: [[0.874330,-0.482815,-0.049365],[0.484587,0.862827,0.143892],[-0.026879,-0.149731,0.988361]]fH?o޿mFx?G?`k?@Hc*ÿৠ?ifr>If];dYzByz IbD VD y[=%L=ٔQ->9% ?Y% ?=%jGy!-CE->1Q 5545#E?Q 9=45 )5BY9y=>Q I=-@5DI5;i5;5g4yIɮM=@IajqgOuDNOT Ignoring new targets: 58.98 m.bygO}Powering the camera and arming the capture device at range: 59.30 m.2yRZgO ProNav: ac range: 58.976852 m, nav range: 55.711208 m, bearing: 17.246301 deg, approach rate: -0.657122 m/s, LOS rate: -0.063434 deg/s, cmd heading: 27.702018 deg, new cmd heading: 27.653136 deg. B.gOHeadingCmd: 0.482638 target range: 58.976852 and range: 59.30 m.]>*" 2ʎjZQ@MDAT read: 00:44:08.9041 LVL= 28832, 32753, 32754, 32755, AGC= 62, IDX= 406, 0.27, 0.326,-1.098, 0.969, 0.299, PHS= 0.129,-1.352, 0.627, RAW= 164.0, 6.7, CAL= 163.4, 6.4, ROT= 346.6, -6.4 UYgot valid direction response: 00:44:08.9041 LVL= 28832, 32753, 32754, 32755, AGC= 62, IDX= 406, 0.27, 0.326,-1.098, 0.969, 0.299, PHS= 0.129,-1.352, 0.627, RAW= 164.0, 6.7, CAL= 163.4, 6.4, ROT= 346.6, -6.4 ]PDAT read: Bearing 181.2, -15.6 (Local) e~Local bearing/azimuth received: Bearing 181.2, -15.6 (Local) mDAT read: Range 11 to 50 : 56.9 m (Round-trip 75.9 ms) speed 0.5 m/s mR#Rx 1: Read range and direction messages.}^direction in FSK: [0.966713,-0.230304,0.111469]}Fpublishing direction and range infoy! Q?06zͿ -V:?YcBp )>I>iV ?07@|=6@ =)@I佩UG?!!? <1 ? D?)I|oi佩T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.颕BɢF <) i)ѝ<顙i di]>:?6ÄIԉEU EUEQEQ"EU>:*EUc:VEQZEQae@ae@ae@ae@m#@i @q@u,0@qԹB Կ>B CB IB BB =B B xDB k;B "*EBCBCBȔCB =B =Cȕ)6^A }U< *DAT read: user:568>  BDAT read: Tx time:00:44:10.1741  $Ping request sent. c5,X@A2>2J?2G<ٱ2{ :AHRS rotation from veh to nav: [[0.874837,-0.481928,-0.049040],[0.483674,0.863402,0.143514],[-0.026822,-0.149271,0.988432]]2H`?޿@?@?^?1wOÿ =?i2>I2@^;2ԐCYnByn IbDvVDvy%M=ٔQ->9 "?Y "?= jGy F -,E>Q 54tY?Q 9%4i)BY!y%}>Q I%-@DI/;ip:n4y-PBɮ5H@5GEaeDX@AJeZbBReZbBjeC>eǨ%ZK@)v*-;@re! Q?06zͿ -V:?Ze|obeeo9 J@w0@+G3@ze탆Kp?N8?Ǹci^?2eA:ePWB"e9|?*eFcBeBe%?eFc“eBe%_Be>gO} addTargetRange:: Added new target pos. range: 56.900002 m, deltaT: 3.804101 s, deltaX: -2.399998 m, approachRate: -0.630897 m/s, rangeRepo size: 4 gO Added new target pos. range: 56.587891 m, bearing: 16.663591 deg, lat: 36.779283 deg, lon: -121.859525 deg, deltaT: 3.804101 s, deltaX: -2.388962 m, approachRate: -0.627996 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 56.59 m.bgOPowering the camera and arming the capture device at range: 56.90 m.2RZgO ProNav: ac range: 56.587891 m, nav range: 55.786686 m, bearing: 16.786988 deg, approach rate: 0.000000 m/s, LOS rate: -0.063434 deg/s, cmd heading: 27.653136 deg, new cmd heading: 27.602290 deg. BgOHeadingCmd: 0.481751 target range: 56.587891 and range: 56.90 m. >*" 2ʎj@3sL@Zo?Bɢ;) 7i)<iy㘼i  > F4 `Iu`!@q @y@}4@y)echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2521961bEjET4rEǧ/E EE(E"E,:*ER:VEc44ZEBE5,ոX@A>h>>&?><ٱ> JAHRS rotation from veh to nav: [[0.875119,-0.481541,-0.047802],[0.483192,0.864178,0.140438],[-0.026317,-0.145998,0.988935]]>H?޿y`?X?@? ¿Z?i>h>I>^;<Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501858YZByZ Ii5Mb@Mb@Mb@1111 195 r?ʡE/$?Y5#?y55<5A5@ 5A)5jA1Y5AbDM VDMf2y]%eD=ٔe#Q-e>9m ?Ym ?=mjGyimEm>qQ 5}4uRn?Q 94u)uBY$?Q E:y>Q I-@uDIu;iu:uJu4yɮ9@jgODNOT Ignoring new targets: 56.59 m.bgOPowering the camera and arming the capture device at range: 56.90 m.2RIZIgO ProNav: ac range: 56.587891 m, nav range: 55.520164 m, bearing: 16.760032 deg, approach rate: -0.646432 m/s, LOS rate: -0.065696 deg/s, cmd heading: 27.602290 deg, new cmd heading: 27.548118 deg. 1BugO}HeadingCmd: 0.480805 target range: 56.587891 and range: 56.90 m.},>y*y"y y2yڂBʎjZ 4?ɢ;) XTi)C<iHi ,> Fh1 |]IAq @  @ @ /@ aUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753836ԙ^A- oM<AY Ii E  E E $E "E >:*E :VE 4ZE a @a @a @a @I O >Թ t5,X@A2>2,?2 <ٱ2Ʒ :AHRS rotation from veh to nav: [[0.875194,-0.481416,-0.047682],[0.483060,0.864308,0.140089],[-0.026230,-0.145638,0.988990]]2H?޿@it?h?r?ۚ G¿Υ?i2>I2^;2ӐCYBByF IHHbDNVDN1y=%O=ٔahQ->9Y=jGyF%ɹE%>)Q 554-?Q 954-0)-BY1y5>Q I5-@-ÞDI-W:i-U;--|4yAɮEu@EHEP]B*** querying acoustic contact ***Y YjigOmDNOT Ignoring new targets: 56.59 m.bigOuPowering the camera and arming the capture device at range: 56.90 m.2qR}Z}gO ProNav: ac range: 56.587891 m, nav range: 55.267609 m, bearing: 16.734292 deg, approach rate: -0.640226 m/s, LOS rate: -0.065549 deg/s, cmd heading: 27.548118 deg, new cmd heading: 27.496403 deg. BgOHeadingCmd: 0.479903 target range: 56.587891 and range: 56.90 m.ѵ>*" 2ʎjZ ?Bɢ;) 9i)T*<iȗiѵ>/IAABп>BCB IBBB =BBB9l;B*Ee\@a @a@a@achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006059^Ae<A?A> A I I O >} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2602809 ?5,XX@A2d>2?24<ٱ2g :AHRS rotation from veh to nav: [[0.875717,-0.480530,-0.047028],[0.482145,0.865154,0.138003],[-0.025628,-0.143526,0.989315]]2H?޿@v?W?@? *>_¿@w?i2d>I2^;2ҐCYBByF IiEMb@Mb@Mb@AAAA A9Ev/?+Zd;O?YEx)?yEEj9Y=jGy %E>Q 54ߗ?Q 94`)BY*?Q E:y>Q I-@̞DIJ;i`J;4yQBɮ@jgODNOT Ignoring new targets: 56.59 m.bgO Powering the camera and arming the capture device at range: 56.90 m.2 RdZdgO- ProNav: ac range: 56.587891 m, nav range: 54.989376 m, bearing: 16.705156 deg, approach rate: -0.657858 m/s, LOS rate: -0.069238 deg/s, cmd heading: 27.496404 deg, new cmd heading: 27.437837 deg. B-lEE EEEE)EA"EE:*EEe:VEEFA4ZEABEE*a*a"i i2iiiq}BʎyyyjZ%?颅Bɢ1;) Ki)a<顱i.i/>,FIEO@A @A@E/@I9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509829^AM q5,X@A2\>2?21<ٱ2 :AHRS rotation from veh to nav: [[0.875709,-0.480718,-0.045221],[0.482184,0.865793,0.133798],[-0.025168,-0.138973,0.989976]]2H?޿)'??O ?ř@?i2\>I2Ps^;0Y@y@bDNVDNyV):%VK=ٔVQ-Z>9Z"?YZ"?=ZjGyZF^8E^>`Q 5f4b?Q 9f4bQ =ftI)bBYdyj>Q Ij.@b՞DIb~ ;ib;b4ylɮn@ljgO DNOT Ignoring new targets: 56.59 m.b gO Powering the camera and arming the capture device at range: 56.90 m.2 RZZZgO% ProNav: ac range: 56.587891 m, nav range: 54.723549 m, bearing: 16.677096 deg, approach rate: -0.669091 m/s, LOS rate: -0.070971 deg/s, cmd heading: 27.437836 deg, new cmd heading: 27.381444 deg. B%gO-HeadingCmd: 0.477896 target range: 56.587891 and range: 56.90 m.-Ԯ>)*)]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761969") 2ʎjZSE@ԩ颵Bɢ;) NIi)m<项iʨiԮ>q)-}IE EE%E"E:*Ec:VE 4ZEa@a@a@a@1@ @@0@@@YABֿ>BB IBBBBBB m;B+E^A]< checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014093 A I I O% >) 5,!X@A2%>2^?2%<ٱ2 :AHRS rotation from veh to nav: [[0.876617,-0.479217,-0.043513],[0.480549,0.867206,0.130485],[-0.024796,-0.135295,0.990495]]2H? ? }޿XGP?'??d [Q"?i2%>I2֛b;2ѐCYFByF IbDNVDN:yV%VK=ٔV/rQ-V>9XYX=ZjGyX^RE^>`Q 5f4b?Q 9f4b)bBYdyf>Q If.@bݞDIb(:ib:b4ylɮn@]IEjgODNOT Ignoring new targets: 56.59 m.bgOPowering the camera and arming the capture device at range: 56.90 m.gOlFinal approach. Armed for intercept at range: 56.90 m.gO\Transitioning guidance mode to: FINAL_APPROACH:@RZgO ProNav: ac range: 56.587891 m, nav range: 54.456371 m, bearing: 16.649201 deg, approach rate: -0.631424 m/s, LOS rate: -0.066249 deg/s, cmd heading: 27.381443 deg, new cmd heading: 27.325379 deg. B|gOHeadingCmd: 0.476918 target range: 56.587891 and range: 56.90 m..>*:"33? ʎ  jZ@]Bɢe@|;)a eUii)m()33? (kpHeading = 0.700000I: (kiHeading = 0.001000_mI1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269797@ @@0@9E EE'E"E>:*EX:VE'4ZEBE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517810B95,;X@A 6b>6)?6<ٱ6% >AHRS rotation from veh to nav: [[0.877266,-0.478114,-0.042563],[0.479377,0.868132,0.128628],[-0.024549,-0.133245,0.990779]]6H?l޿ʥ? ?`v?Y#*`v?i6b>I6c;6ҐCiYBy I iMb@Mb@Mb@ 9L7A`? rhZd;O?Y+'?yCA A) AYzAbDVD0yo%=ٔ-Q->9Y=jGyFE>Q 54މ?Q 94(})BY,(?Q E:y>Q I.@DIz ;i ;4yRBɮ@JEj gODNOT Ignoring new targets: 56.59 m.bRZԙgO ProNav: ac range: 56.587891 m, nav range: 54.084621 m, bearing: 16.605138 deg, approach rate: -0.677476 m/s, LOS rate: -0.080852 deg/s, cmd heading: 27.325379 deg, new cmd heading: 27.236648 deg. BgOHeadingCmd: 0.475369 target range: 56.587891 and range: 56.90 m.c>*" BʎjZ@5Bɢ5 ;)9 E`iA}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769991)U<ibic>S'drI! 0@  @ @ /@ @ =@ =E  E E (E "E *E VE c44ZE a @a @a @a @ ^A k<B <A <B ݿ>B CB IB BB =B B yDB m;B c+E-BDAT read: Rx Time:00:44:12.6510 -TRx dataTimestamp_ set to:1761698653.4290125checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0227961AYIiIyO ?95,8N^X@AR~>Rn*>R) <ٱR* nAHRS rotation from veh to nav: [[0.878114,-0.476420,-0.044045],[0.477859,0.868722,0.130282],[-0.023806,-0.135449,0.990498]]RH?`}޿@?? ? ? ` gV`)?iR~>IR!c;RӐCrُCrs@itItvJvC v_AxxxzCz_AI~)|i|)~@CI~_A| @C^Aii  ]A)  EI )S{AYY%By% IbD]VD]ym%mL=ٔQ->9Y=jGyጻE>Q 54:?Q 94oz)BYy>Q I.@DI;i;4yɮT@KEPB*** querying acoustic contact *** j!gO%DNOT Ignoring new targets: 56.59 m.b!RMZMgO] ProNav: ac range: 56.587891 m, nav range: 53.820656 m, bearing: 16.573944 deg, approach rate: -0.639540 m/s, LOS rate: -0.075949 deg/s, cmd heading: 27.236648 deg, new cmd heading: 27.173953 deg. B] gOeHeadingCmd: 0.474275 target range: 56.587891 and range: 56.90 m.e+>a*a"a ʎjZn> @BɢX ;) %fia)e{}>'}QiI}1@ @@0@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276561) ^A 8k<E  E E #E "E ,:*E c:VE 3ZE BE tT5,wX@A6}>6)>6B<ٱ6X% >AHRS rotation from veh to nav: [[0.879063,-0.474411,-0.046711],[0.476145,0.869057,0.134262],[-0.023101,-0.140266,0.989844]]6HI!?`\޿@x꧿ *y?P?`|/? ȧ8 ά?i6}>I6'b;6ҐCYuByu IDAT read: 00:44:12.6510 LVL= 32752, 32753, 30066, 32755, AGC= 66, IDX= 406,-0.19,-1.374,-2.769,-0.723,-1.379, PHS= 0.108,-1.345, 0.612, RAW= 164.4, 7.2, CAL= 163.9, 7.0, ROT= 346.1, -7.0 Ygot valid direction response: 00:44:12.6510 LVL= 32752, 32753, 30066, 32755, AGC= 66, IDX= 406,-0.19,-1.374,-2.769,-0.723,-1.379, PHS= 0.108,-1.345, 0.612, RAW= 164.4, 7.2, CAL= 163.9, 7.0, ROT= 346.1, -7.0  PDAT read: Bearing 180.7, -15.9 (Local) ~Local bearing/azimuth received: Bearing 180.7, -15.9 (Local) DAT read: Range 11 to 50 : 54.6 m (Round-trip 72.8 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.%^direction in FSK: [0.963481,-0.238437,0.121869]-Fpublishing direction and range infoy?:οUM7P2?YfZBru )BI/=i(?7@>7@ 5=)xL@I5?Yi?TO2?#? 2F?)9 ?Y ?=jGy F ąE >Q 54 ?Q 9=47w)BYE8*?Q EE:yEW>Q IE.@DI-;i ;4yIɮM@Q`{X@AJ4YBR4YBj> (J@+ )v x@r?:οUM7P2?ZTlxb5ыI@\-@1(¡@zIe"S?mU%?\P q?2hA:LOB"29?*BېBL ?“,BVB0>gO= addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 3.779975 s, deltaX: -2.300003 m, approachRate: -0.608470 m/s, rangeRepo size: 4 gOM Added new target pos. range: 54.301525 m, bearing: 15.679860 deg, lat: 36.779284 deg, lon: -121.859525 deg, deltaT: 3.779975 s, deltaX: -2.286366 m, approachRate: -0.604863 m/s, posRepo size: 4 jIgOUDNOT Ignoring new targets: 54.30 m.bQRuZqgO ProNav: ac range: 54.301525 m, nav range: 53.656628 m, bearing: 16.471360 deg, approach rate: 0.000000 m/s, LOS rate: -0.075949 deg/s, cmd heading: 27.173954 deg, new cmd heading: 27.099780 deg. BgOHeadingCmd: 0.472980 target range: 54.301525 and range: 54.60 m.|*>*" BʎjLK@Z?UBɢUH[;)Y ]jiY)e4cz&aIe0@a @a@m_0@i *DAT read: user:569>  BDAT read: Tx time:00:44:13.9241  $Ping request sent. 5,X:X@AJ}>JN>J<ٱJ RAHRS rotation from veh to nav: [[0.880467,-0.471320,-0.051329],[0.473616,0.869461,0.140449],[-0.021567,-0.147971,0.988757]]JH,?*޿@GO?@?7?¿?iJ}>IJ{`;JԐCBjڿ>BjCBj IBjBBj =BhBhBjm;Bju+E Y%By- II5=)5=bD=VD=ymFB%uC=ٔuwQ-u>9yYy=}jGy}F}E}>Q 5 4!?Q 9 4it)BY y >Q I .@DIB:i9:R4ySBɮ1@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250883jIgOUDNOT Ignoring new targets: 54.30 m.bQRU7ZU7gOe ProNav: ac range: 54.301525 m, nav range: 53.377781 m, bearing: 16.440379 deg, approach rate: -0.685798 m/s, LOS rate: -0.076593 deg/s, cmd heading: 27.099780 deg, new cmd heading: 27.037494 deg. Bm, gOmHeadingCmd: 0.471893 target range: 54.301525 and range: 54.60 m.m>i*q"q qqqyyʎyyjZ`e?颩ɢW) }i)T<顱i/i>%fKI1U2@Q @Q@U4@Q@][A@][Aa^Aujb< checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505364A ؟Aԙ I I O >5,X@AJ>Je>J<ٱJL_ ^AHRS rotation from veh to nav: [[0.880577,-0.470989,-0.052475],[0.473442,0.869433,0.141205],[-0.020883,-0.149186,0.988589]]JH@-?$޿ݪ L?d??Ub ÿ?iJ>IJ_;JѐCYfwByfx IEr ErEr%Ep"Er>:*Er]t:VEr 4ZEpBEr9"?Y"?=jGy E>Q 54g5?Q 94q)BY#?Q E:y*>Q I.@ DI:i':,4yɮ@LEjgODNOT Ignoring new targets: 54.30 m.bRZgO  ProNav: ac range: 54.301525 m, nav range: 53.128899 m, bearing: 16.411831 deg, approach rate: -0.637370 m/s, LOS rate: -0.073453 deg/s, cmd heading: 27.037495 deg, new cmd heading: 26.980131 deg. BmgOHeadingCmd: 0.470892 target range: 54.301525 and range: 54.60 m.>*" !%Bʎ!!)j)Z-!?Bɢ\) i)(Y<ii>PZ%`YI)ԡ4@ @@/@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755225^A /C< AY Ia Iq O >z5,vX@ANS>N>N^<ٱN, VAHRS rotation from veh to nav: [[0.880195,-0.471702,-0.052475],[0.474174,0.869244,0.139908],[-0.020382,-0.148028,0.988773]]NH*? ^0޿ݪ`X? ??ޔ¿`?iNS>IN^;NԐCbchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006843Yf}Byf I n49|Y|=~jGy~F ;E> Q 54 \H?Q 94 no) BYy>Q I.@ DI :i : ֿ4y%`Bɮ%6@%CEjIgOMDNOT Ignoring new targets: 54.30 m.bIRU)ZU)gOe ProNav: ac range: 54.301525 m, nav range: 52.886734 m, bearing: 16.383586 deg, approach rate: -0.634843 m/s, LOS rate: -0.074383 deg/s, cmd heading: 26.980130 deg, new cmd heading: 26.923382 deg. Be!gOmHeadingCmd: 0.469902 target range: 54.301525 and range: 54.60 m.m>i*i"i iqqqqʎyyyjyZ݌?颭Bɢ) ]i)؋<顱ii>P$pIQU@@Q @Q@U/@QE EE#E"E*Ei:VE3ZEa@a@a@a@ԁAABѿ>BCB IBBB =BBxDBm;B+EBCBCBB =B =CY6^AhW<AZAzAuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258811ԩA .AI I! O- > 5,X@AV>Vr>V<ٱV#= fAHRS rotation from veh to nav: [[0.879500,-0.473007,-0.052393],[0.475470,0.868687,0.138961],[-0.020217,-0.147128,0.988911]]VH@$?E޿@Ӫ`n?I? |?¿`(?iV>IV,^;VӐCYrqByvq IbD~ VD~2y X% H=ٔMӹQ-M>9U ?YU ?=UjGyQ]g;E]>aQ 5m4e ]?Q 9m4el)eBYiymM>Q Iu.@eDIe;ie;e4y}aBɮ}@yPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 54.30 m.bRZgO ProNav: ac range: 54.301525 m, nav range: 52.622356 m, bearing: 16.352034 deg, approach rate: -0.634352 m/s, LOS rate: -0.076086 deg/s, cmd heading: 26.923381 deg, new cmd heading: 26.859961 deg. B? gOHeadingCmd: 0.468795 target range: 54.301525 and range: 54.60 m.>*" ʎjZ7?Bɢpݺ) ii ) /<  i ꑼi> $ʇI!=@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512734 @@/@@ =@ =QbEƻ 4jE4rE(90E EE%E"E:*Ega:VE 4ZEBE2} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.76276905,rX@AJ>J<ٱJ VAHRS rotation from veh to nav: [[0.878635,-0.474639,-0.052142],[0.477070,0.868001,0.137764],[-0.020129,-0.145920,0.989092]]JH?|`޿PQ?`?`A?@œ@~¿?iJ>IJ[^;JҐCY^jBy^h IiEMb@Mb@Mb@AAAA A9EK7A?Q뱿I +?YE "?yE\E949qYq=}jGy}F};E}>Q 54Lq?Q 94"j)BY#?Q E:y3>Q I.@&DI? ;i ;?4yɮo@DEjgODNOT Ignoring new targets: 54.30 m.bRZgO ProNav: ac range: 54.301525 m, nav range: 52.363831 m, bearing: 16.322045 deg, approach rate: -0.633789 m/s, LOS rate: -0.073883 deg/s, cmd heading: 26.859961 deg, new cmd heading: 26.799687 deg. B6gOHeadingCmd: 0.467743 target range: 54.301525 and range: 54.60 m.{>*" iimBʎqqqjqZu`H@Bɢ") Zi)<i5HiE{>Mi3#MIQԩ?@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014658^A] < E  E E &E "E [:*E T:VE 4ZE a @a @a @a @A ؟AI I O >6,SX@A2r>2B?2WN<ٱ2 :AHRS rotation from veh to nav: [[0.877292,-0.477285,-0.050572],[0.479532,0.867208,0.134164],[-0.020178,-0.141952,0.989668]]2H@?@Ջ޿@䩿? *?@E,?ox+¿ \?i2r>I2h^;2ӐCBFϿ>BDBF IBF}BBF =BDBFwDBFn;BF+ElYfByc I!%AAbD%VD%y5ҩ%5N=ٔ=9Q-=>9E"?YE"?=EjGyAE ;EM>IQ 5U4M?Q 9U4Mg)MBYYy]>Q I].@M.DIMr;iM;M+4yaɮm@ijgODNOT Ignoring new targets: 54.30 m.bR׮Z׮gO ProNav: ac range: 54.301525 m, nav range: 52.113056 m, bearing: 16.291923 deg, approach rate: -0.633259 m/s, LOS rate: -0.076429 deg/s, cmd heading: 26.799687 deg, new cmd heading: 26.739154 deg. B gOHeadingCmd: 0.466686 target range: 54.301525 and range: 54.60 m.>*" ʎjZt @BɢԚ) |i)?<i i>{c"}$Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.279636@@ @@4@ 9^Am<A?A ?AA  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.537579ԑ I I O >' 6,/2X@A2C>2 ?2"><ٱ2$ :AHRS rotation from veh to nav: [[0.875721,-0.480381,-0.048437],[0.482390,0.866317,0.129591],[-0.020292,-0.136851,0.990384]]2H?`޿̨`{? ߸?t?fǔX`9?i2C>I2-^;2ҐCYBkByBi IEb EbEb$E`"Ebm:*Eb՚:VEb4ZE`BEbT9Y=jGyFK;E>Q 54l?Q 94e)BY?Q E:y>Q I.@6DI>;i ;4y%bBɮ%m@%EEjagOmDNOT Ignoring new targets: 54.30 m.biRmMZuMgO ProNav: ac range: 54.301525 m, nav range: 51.852657 m, bearing: 16.265193 deg, approach rate: -0.602947 m/s, LOS rate: -0.062205 deg/s, cmd heading: 26.739154 deg, new cmd heading: 26.685424 deg. BgOHeadingCmd: 0.465749 target range: 54.301525 and range: 54.60 m.v>*"  BʎjZ@ח@EBɢM )I M8i)U9<顩iiv>?!HIie?@a @a@a@a@i@mZAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.782764 eWm>eCԡ G`]A 5Կ95`]AY5"A^A R5< A I I O% >6, LX@A2Q>2h~?2><ٱ2 :AHRS rotation from veh to nav: [[0.874577,-0.482662,-0.046402],[0.484431,0.865595,0.126775],[-0.021024,-0.133353,0.990846]]2H?޿?@?(:?p?i2Q>I2 ^;0YBdByF` IbDNVDNyVp"%V]=ٔV;Q-V>9XYX=ZjGyX^g;E^>`Q 5f4b ?Q 9f4bb)bBYdyf'>Q If.@b=DIb:ib:b4ylɮn@lBDAT read: Rx Time:00:44:16.3978  TRx dataTimestamp_ set to:1761698657.221361 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036039jgODNOT Ignoring new targets: 54.30 m.bR%Z%gO- ProNav: ac range: 54.301525 m, nav range: 51.627514 m, bearing: 16.241302 deg, approach rate: -0.623905 m/s, LOS rate: -0.066493 deg/s, cmd heading: 26.685424 deg, new cmd heading: 26.637435 deg. B5agO5HeadingCmd: 0.464911 target range: 54.301525 and range: 54.60 m.5>9*9"9 999AAʎAAIjIZMa @qԙɢ5L)1 =擾i9)=<99i=liiE>E5K E7IIE EE(E"E:*Ega:VEc44ZEa@a@a@a@ >@  @ @ /@ ByAyBҿ>BBs IBsBBBBxDBn;B+E^AM! x 6,deX@A>>>:?>Ƌ<ٱ>k FAHRS rotation from veh to nav: [[0.873826,-0.484292,-0.043473],[0.485756,0.865477,0.122440],[-0.021671,-0.128109,0.991523]]>Ha?޿&B??9X?1e ?i>>I>'^;9dYd=fjGyfFju;Ej>lQ 5r4nȾ?Q 9r4nf`)nBYpyv>Q Iv.@nEDIn-:inp:n4yzcBɮz.AzFEPB*** querying acoustic contact *** jgO%DNOT Ignoring new targets: 54.30 m.b!R%Z%gO5 ProNav: ac range: 54.301525 m, nav range: 51.377491 m, bearing: 16.214145 deg, approach rate: -0.617113 m/s, LOS rate: -0.067355 deg/s, cmd heading: 26.637434 deg, new cmd heading: 26.582856 deg. B5gOHeadingCmd: 0.463958 target range: 54.301525 and range: 54.60 m.>*" ʎjZ @]Bɢ]`)Y ]ia)e|m_!mbwIqDAT read: 00:44:16.3978 LVL= 32752, 32753, 28466, 32755, AGC= 68, IDX= 405,-0.08, 1.203,-0.170, 1.860, 1.213, PHS= 0.092,-1.339, 0.602, RAW= 164.7, 7.4, CAL= 164.2, 7.4, ROT= 345.8, -7.4 =@ @@/@Ygot valid direction response: 00:44:16.3978 LVL= 32752, 32753, 28466, 32755, AGC= 68, IDX= 405,-0.08, 1.203,-0.170, 1.860, 1.213, PHS= 0.092,-1.339, 0.602, RAW= 164.7, 7.4, CAL= 164.2, 7.4, ROT= 345.8, -7.4 )PDAT read: Bearing 181.9, -16.2 (Local) ~Local bearing/azimuth received: Bearing 181.9, -16.2 (Local) DAT read: Range 11 to 50 : 52.2 m (Round-trip 69.6 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.961371,-0.243264,0.128796]Fpublishing direction and range infoyQ ?2I#ϿOZ_|?YPB2o )DIj=iZd?7@ A>i7@  A>)!@I A3X?5ruO?@"+? fG?){9I}i A%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"Em:*E[:VE4ZEBEa2EaJEB;a:EC;aQ^A<AzAZAI I O >y  *DAT read: user:570>  BDAT read: Tx time:00:44:17.7741  $Ping request sent. F?F<ٱF" ^AHRS rotation from veh to nav: [[0.873635,-0.484952,-0.039798],[0.486066,0.866017,0.117279],[-0.022409,-0.121803,0.992301]]FH?`s ߿X`?i??ex.?iFUH>IF^;FӐCYfZByjT IiMb@Mb@Mb@ 9Cl?+I +?Yd?y94<pA?@ A) AYG AbD VD2yN%8=ٔM:Q- >9 Y = jGy OV:E>)Q 5=4-(Ԋ?Q 9=4-])-BYE?Q EE:yM%>Q IM.@-NDI-t;i-_;Y-4yedBɮeLAiIM{nX@AJMOBRMOBjMv?>MLOw1H@\fmA)S!@rMQ ?2I#ϿOZ_|?ZM}bM AM[˺H@q!6F6,@]JT7@zM]K|??yIc?d?2MaA:MEB"MwJ?*MRhBMvBM9|?I“MېBMfMBM>gOE addTargetRange:: Added new target pos. range: 52.200001 m, deltaT: 3.793895 s, deltaX: -2.399998 m, approachRate: -0.632595 m/s, rangeRepo size: 4 gOu Added new target pos. range: 51.913113 m, bearing: 15.918367 deg, lat: 36.779286 deg, lon: -121.859525 deg, deltaT: 3.793895 s, deltaX: -2.388412 m, approachRate: -0.629541 m/s, posRepo size: 4 jqgOuDNOT Ignoring new targets: 51.91 m.bqR}ZygO ProNav: ac range: 51.913113 m, nav range: 51.349716 m, bearing: 16.104396 deg, approach rate: 0.000000 m/s, LOS rate: -0.067355 deg/s, cmd heading: 26.582857 deg, new cmd heading: 26.519165 deg. BgOHeadingCmd: 0.462847 target range: 51.913113 and range: 52.20 m.@>*" BʎjJ@ZE)?5Bɢ5-)1 5Pi1)=Z|<99i=E܍iE@>EEIԁ]?@Y @Y@a@a@m=@m!>%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248948ԩE  E E E "E ;*E :VE ZE a @a @a @a @^A% <I I O > &6,_X@AB>BCBf IBiBB =BBzDBm;Bv+EBp>B'?Bؼ<ٱBOI JAHRS rotation from veh to nav: [[0.873473,-0.485522,-0.036232],[0.486326,0.866551,0.112141],[-0.023051,-0.115573,0.993032]]BH}?`߿󌢿?ɺ?@I?@`,?iBp>IB$^;BѐCYV]ByVX IbD^VD^02yf i<%f`=ٔj:Q-j>9hYh=njGynFnl\:En>pQ 5v4r劊?Q 9v4r[)rBYxyz2>Q Iz.@rUDIr:ir:r;4y|ɮ6Aj!gO-DNOT Ignoring new targets: 51.91 m.b)R-\Z-\gO= ProNav: ac range: 51.913113 m, nav range: 51.128902 m, bearing: 16.079037 deg, approach rate: -0.657033 m/s, LOS rate: -0.075781 deg/s, cmd heading: 26.519166 deg, new cmd heading: 26.468229 deg. BE gOEHeadingCmd: 0.461958 target range: 51.913113 and range: 52.20 m.E>I*I"I IIIQQʎQQYjYZ]?Bɢ) Ɨi ) y<  i (0i>:I1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500708Ա<@ @@ 0@^A<IyIO> - checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7519749 !I,6,X@A:#>:?:M8<ٱ:m FAHRS rotation from veh to nav: [[0.873347,-0.485861,-0.034694],[0.486550,0.866772,0.109430],[-0.023096,-0.112451,0.993389]]:H@v?W߿fá#? ?? ɼ`?i:#>I: ^;:ҐCEN ENEN$EL"EN>:*ENc:VEN4ZELBEN9 Y = jGyE:E>Q 5%4?Q 9%4X)BY% ?Q E-:y->Q I-.@^DI;i* ;4y5eBɮ5xA5GEjYgO]DNOT Ignoring new targets: 51.91 m.bYReɘZeɘgO ProNav: ac range: 51.913113 m, nav range: 50.860928 m, bearing: 16.049501 deg, approach rate: -0.602776 m/s, LOS rate: -0.066788 deg/s, cmd heading: 26.468230 deg, new cmd heading: 26.408846 deg. BugOHeadingCmd: 0.460921 target range: 51.913113 and range: 52.20 m.>*" ʎjZP? ]Bɢe ) ȝi)*t<顉iYi>ZZI}>@y @y@}0@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0088091a ^A} +O<A ?A ?I I O >,36, QX@A :|c>:?:M<ٱ:) BAHRS rotation from veh to nav: [[0.873509,-0.485540,-0.035116],[0.486233,0.866695,0.111434],[-0.023671,-0.114413,0.993151]]:H?߿o? ??@5=2J?i:|c>I:];:ѐCYJQByJJ IbDVVDVky^x%^b=ٔb:Q-b>9`Yd=fjGyfFfEf>hQ 5n4j ?Q 9r4jV)jBYpyr{>Q Ir.@jeDIj;ij;jP4ytɮvAxchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260176j!gO%DNOT Ignoring new targets: 51.91 m.b!R-Z-gO= ProNav: ac range: 51.913113 m, nav range: 50.643257 m, bearing: 16.025344 deg, approach rate: -0.599863 m/s, LOS rate: -0.066857 deg/s, cmd heading: 26.408846 deg, new cmd heading: 26.360326 deg. B=gOEHeadingCmd: 0.460074 target range: 51.913113 and range: 52.20 m.E>A*A"A AIIIIʎQQQjQZU`f?颅Bɢ~#) i)q<顉i4i>EKII)VA?@ @@4@@@WAqE EE%E"E*E1]:VE 4ZEa@a@a@a@A!A!B%>B%CB%Z IB%^BB% =B%BDB%{DB%m;B%5+Eԙ^A5<IIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511958 V96, ,X@A2Y>2?2<ٱ2+ :AHRS rotation from veh to nav: [[0.874247,-0.484056,-0.037169],[0.484844,0.866621,0.117873],[-0.024846,-0.121071,0.992333]]2H?޿?[?,?)q0?i2Y>I2^;0YBXByBR IPbDNVDNyV=%ZK=ٔZ?;Q-Z>9\Y\=^jGy\bEb>dQ 5j4f?Q 9j4fnT)fBYhyn>Q In.@flDIf:if;fZ 4yrfBɮrlArHEPB*** querying acoustic contact *** j gODNOT Ignoring new targets: 51.91 m.bRZgO ProNav: ac range: 51.913113 m, nav range: 50.400452 m, bearing: 15.998507 deg, approach rate: -0.604812 m/s, LOS rate: -0.067172 deg/s, cmd heading: 26.360326 deg, new cmd heading: 26.306393 deg. BgOHeadingCmd: 0.459133 target range: 51.913113 and range: 52.20 m.>*" ʎjZ&?MBɢM)I MiQ)0l<顑ii>IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.769261@ @@3@DzD@AE EE)E"E:*Ec:VEFA4ZEBE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016077>@6,BX@AFw6>F"?FE<ٱF NAHRS rotation from veh to nav: [[0.875510,-0.481533,-0.040093],[0.482485,0.866688,0.126728],[-0.026275,-0.130296,0.991127]]FH .?@q޿@?@? 8?皿O?iFw6>IF];DYnWBynQ I|i}Mb@Mb@Mb@yyyy y9}-?V-/$?Y}??y}h}<}A}l@ y)yyYy <p<bDVDy4B%:=ٔT;Q-]>9aYa=ejGyeFmEm>qQ 5}4u3?Q 9}4uQ)uBY}r?Q E:y>Q I.@uuDIu<:iu#:u[4ygBɮzAjgODNOT Ignoring new targets: 51.91 m.bRZgO ProNav: ac range: 51.913113 m, nav range: 50.132912 m, bearing: 15.965035 deg, approach rate: -0.579313 m/s, LOS rate: -0.072865 deg/s, cmd heading: 26.306393 deg, new cmd heading: 26.239092 deg. BYgOHeadingCmd: 0.457959 target range: 51.913113 and range: 52.20 m.y>*" Bʎ!!!j!Z%@$@颕Bɢb) i)h<顙iӉiy>rI)@@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267967Q^Am 6<Ai zAm \AE  E E &E "E >:*E [:VE 4ZE a @a @a @a @ԉ A I I O >B% ҿ>B% CB% S IB% YBB%  =B% CDB% xDB% l;B% +EBBB˕CB =B =C6iF6,?X@AYUByN IYbD-VD-2ymf"%mQ=ٔmQ-u>9qYq=ujGyq}E}>Q 54D?Q 94O)BYyQ I.@|DI:i6:4yiBɮA?EjgODNOT Ignoring new targets: 51.91 m.bRmZmgO ProNav: ac range: 51.913113 m, nav range: 49.914864 m, bearing: 15.937487 deg, approach rate: -0.590561 m/s, LOS rate: -0.074936 deg/s, cmd heading: 26.239092 deg, new cmd heading: 26.183756 deg. B$ gOHeadingCmd: 0.456993 target range: 51.913113 and range: 52.20 m.>*" ʎjZc@%Bɢ-r6)) -i))-d<))i5i5>=^=xI9}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520163ԉ]ei>ie!>Ա<@ @@@@>@>5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772646 ^A 8<bE]̞4jE]w4rE] 0E  E E "E "E :*E rN:VE (3ZE BE wuM6,+9X@A2K>2{?2<ٱ23 :AHRS rotation from veh to nav: [[0.876337,-0.479802,-0.042708],[0.480895,0.866310,0.135082],[-0.027814,-0.138915,0.989914]]2H ? ޿ ݥ?ϸ?\J?J{ @_?i2K>I2^;2ӐCYBXByBR IiMMb@Mb@Mb@IIII I9M333333?i|?5{Gz?YM?yMqMף9 ?Y ?=jGy°FRwE>Q 54[?Q 94L)BYl?Q E:y>Q I.@DI:i:/$4yjBɮA@EjgODNOT Ignoring new targets: 51.91 m.bRѺZѺgO ProNav: ac range: 51.913113 m, nav range: 49.630821 m, bearing: 15.894173 deg, approach rate: -0.597620 m/s, LOS rate: -0.091653 deg/s, cmd heading: 26.183756 deg, new cmd heading: 26.096632 deg. B'gOHeadingCmd: 0.455472 target range: 51.913113 and range: 52.20 m.3>*" BʎjZ) @颭Bɢbx) Օi)c`<项ii3>V  BIuBDAT read: Rx Time:00:44:20.2448 uTRx dataTimestamp_ set to:1761698661.006022}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026352 z>@ @@@!  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275970Q ^A A A ?E  E E %E "E m:*E [:VE 4ZE a @a @a @a @A=؟AIaԁIO?LV6,lZX@ABAB&>B&CB&M IB&TBB& =B$B&zDB&l;B&+Ez1>zn?z3<ٱz %AHRS rotation from veh to nav: [[0.876422,-0.479547,-0.043810],[0.480716,0.865956,0.137958],[-0.028219,-0.141970,0.989469]]zH` ? ޿Sn` ?@?@?圿@,¿`?iz1>IzC];zАCY}LBy}C IAAbDVD02yi6%=ٔJ:Q->9"?Y"?=jGyðF ƹE>Q 54s?Q 94AI)BYy>Q I.@DI:ip:W-4ykBɮAjgODNOT Ignoring new targets: 51.91 m.bR1ԺZ1ԺgO ProNav: ac range: 51.913113 m, nav range: 49.317543 m, bearing: 15.845837 deg, approach rate: -0.597381 m/s, LOS rate: -0.092757 deg/s, cmd heading: 26.096631 deg, new cmd heading: 25.999344 deg. B)gOHeadingCmd: 0.453774 target range: 51.913113 and range: 52.20 m.U>*"! !!!!)ʎ)))j1Z5@]Bɢ])Y eɠia)eYZmGqu=IuU>IqyyyyDAT read: 00:44:20.2448 LVL= 32752, 32753, 27698, 32755, AGC= 67, IDX= 406,-0.22, 0.027,-1.331, 0.668, 0.054, PHS= 0.075,-1.340, 0.570, RAW= 164.5, 8.1, CAL= 164.1, 8.4, ROT= 345.9, -8.4 %Ygot valid direction response: 00:44:20.2448 LVL= 32752, 32753, 27698, 32755, AGC= 67, IDX= 406,-0.22, 0.027,-1.331, 0.668, 0.054, PHS= 0.075,-1.340, 0.570, RAW= 164.5, 8.1, CAL= 164.1, 8.4, ROT= 345.9, -8.4 -PDAT read: Bearing 182.8, -16.8 (Local) -~Local bearing/azimuth received: Bearing 182.8, -16.8 (Local) =DAT read: Range 11 to 50 : 49.9 m (Round-trip 66.6 ms) speed 0.5 m/s =R#Rx 1: Read range and direction messages.E^direction in FSK: [0.959467,-0.241002,0.146083]MFpublishing direction and range infoyG(,??%ο/8ٲ?YGB2l )CI=i?7@>-M7@ Q >)/@IQ X?b  BDAT read: Tx time:00:44:21.5241  $Ping request sent. S]6,TwX@AR|>RW?R<ٱRc] jAHRS rotation from veh to nav: [[0.876143,-0.479995,-0.044468],[0.481217,0.865479,0.139199],[-0.028329,-0.143357,0.989266]]RH] ? >޿vĦ`D?`?`H?@VY¿ ?iR|>IR];RӐCYHBy> IqiMb@Mb@Mb@ 9A`"?&1Mb?Y?yP<AV@ )K AY AbDVDJyُ%/=ٔw9Q->9 ?Y ?=jGy:E>Q 54?Q 94Q I.@DI;i5;54yɮAae7`X@AJeFBReFBje󻇏>e[G@7Z'B^@reG(,??%ο/8ٲ?Zet{beQ eVG@gO addTargetRange:: Added new target pos. range: 49.900002 m, deltaT: 3.782084 s, deltaX: -2.299999 m, approachRate: -0.608130 m/s, rangeRepo size: 4 gO Added new target pos. range: 49.628151 m, bearing: 16.061864 deg, lat: 36.779286 deg, lon: -121.859525 deg, deltaT: 3.782084 s, deltaX: -2.284962 m, approachRate: -0.604154 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 49.63 m.bRZgO ProNav: ac range: 49.628151 m, nav range: 49.040268 m, bearing: 15.798409 deg, approach rate: 0.000000 m/s, LOS rate: -0.092757 deg/s, cmd heading: 25.999344 deg, new cmd heading: 25.908816 deg. BgOHeadingCmd: 0.452194 target range: 49.628151 and range: 49.90 m.>*" AeBʎaaijm@3H@Zm?颕Bɢ) *i)U<顙i i>!V=I>IiAIAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249853ԡEG]\Ai=@ſ9\AY=A @@/@@@\A^A Q< A ؟A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501951I I O% >e6d6,X@AN]+>N?N/<ٱN VAHRS rotation from veh to nav: [[0.875505,-0.481009,-0.046057],[0.482385,0.864470,0.141410],[-0.028204,-0.146022,0.988879]]NH #?޿ؔ@f?@??᜿ݰ¿?iN]+>IN];NҐCY^?Byb3 IbDjVDj:y:%X=ٔBQ->9"?Y%"?=%jGy%İF%7f;E%>)Q 554-?Q 954-C)-BY9y=>Q I=.@-DI-;i-;-<4yEmBɮEjAMAEPeB*** querying acoustic contact ***a ajigOuDNOT Ignoring new targets: 49.63 m.bqR}`Z}`gO ProNav: ac range: 49.628151 m, nav range: 48.815224 m, bearing: 15.759127 deg, approach rate: -0.629127 m/s, LOS rate: -0.110322 deg/s, cmd heading: 25.908817 deg, new cmd heading: 25.829890 deg. BIgOHeadingCmd: 0.450817 target range: 49.628151 and range: 49.90 m.p>*" ʎjZ#G?EY E]E]&EY"EY*E]T:VE]4ZEYae@ae@ae@ae@ɢt=) yi)NQ<iip>=Ip>IBuܿ>BuCBqBqBu =BqBuyDBu m;Bu#+E@ @@/@]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7533811^A9=A[AzAA .AI I O% >Y `j6,ۆX@A2'>2!?2#<ٱ2 :AHRS rotation from veh to nav: [[0.875101,-0.481625,-0.047274],[0.483110,0.863703,0.143607],[-0.028334,-0.148509,0.988505]]2H ?޿@[4E?s?a?@uWÿ`ա?i2'>I2];2ѐCYF8ByF* I HHbDRVDR1yZ%ZQ=ٔZx9Q-Z>9^ ?Y^ ?=^jGy\b ;Eb>dQ 5j4f?Q 9j4fQ Ij.@fDIf:if:fB4ypɮrApjgODNOT Ignoring new targets: 49.63 m.bR<Z<gO- ProNav: ac range: 49.628151 m, nav range: 48.582993 m, bearing: 15.717945 deg, approach rate: -0.591835 m/s, LOS rate: -0.105452 deg/s, cmd heading: 25.829890 deg, new cmd heading: 25.747133 deg. B-@gO5HeadingCmd: 0.449372 target range: 49.628151 and range: 49.90 m.5>1*1"9 999AAʎAAIjIZM j?%Bɢ%gCP)! -i))-;M<))i5 9iE>EM=IM>IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005949@ @@0@iE EE)E"E:*EVEFA4ZEBEԹ 'Lq6,&qX@A6~>6?6s<ٱ6 BAHRS rotation from veh to nav: [[0.874062,-0.483544,-0.046916],[0.485004,0.862948,0.141743],[-0.028053,-0.146646,0.988791]]6H P?c޿@cO ?E?$?`׹N¿@-?i6~>I6];6ҐCYJ3ByN% Ii-Mb@Mb@Mb@)))) )9-1Zd?~jt{Gz?Y-"?y--#<--A-l@ - A)))Y- AbDMVDMy]%]@=ٔ],Q-]>9e"?Ye"?=ejGyeŰFe7;Em>iQ 54m??Q 94mK>)iYv?Q E:y>Q I.@mDIm;*" BʎjZ`?!ɢ-er>)) -~i))-5H<)1i5i5!>=k =Qk"=I=!>I9?@ @@3@!checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510044Em EmEm#Ei"Em :*Emz:VEm3ZEia}@a}@a}@a}@^AE #=Aa Aa Bm >Bm CBm G IBm OBBm =Bi Bm {DBm m;Bm )+EIa Iq O} > Msw6,?X@A2>2/+?2X<ٱ2e :AHRS rotation from veh to nav: [[0.873162,-0.485183,-0.046751],[0.486660,0.862376,0.139534],[-0.027383,-0.144587,0.989113]]2H?; ߿刺`p%??@>? 5 ց¿Ц?i2>I2Ej];0Y^2Byb# IbDjVDjN2yrN%rS=ٔr]Q-r>9tYt=vjGytz$;Ez>|Q 5 4~$ҋ?Q 94~;)~BYy>Q I.@~DI~K:i~:%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761587~/Q4y-oBɮ-A-CEjQgOUDNOT Ignoring new targets: 49.63 m.bQR]Z]gOm ProNav: ac range: 49.628151 m, nav range: 48.096043 m, bearing: 15.616195 deg, approach rate: -0.618198 m/s, LOS rate: -0.131223 deg/s, cmd heading: 25.641114 deg, new cmd heading: 25.542602 deg. Bm&pgOuHeadingCmd: 0.445803 target range: 49.628151 and range: 49.90 m.u:@>q*q"q qyyyyʎjZv<@颱ɢq) Li) C<项iki:@> ,=I:@>Im=@i @q@u/@q^A3=A?A?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015839I I I O >E  E E 'E "E :*E V:VE '4ZE BE Bc?Bb<ٱB JAHRS rotation from veh to nav: [[0.872746,-0.485942,-0.046639],[0.487420,0.862098,0.138599],[-0.027143,-0.143695,0.989250]]BH? ߿᧿1?M?@?p˛d¿@?iB&>IBt];BϐCYR,ByR IIVi>)V>Z=Z=iEMb@Mb@Mb@AAAA A9EQ?A`"~jth?YE(?yEYED;ECAEAA A)EAAYEz AbD]VD]Nym%mB=ٔmQ-u>9qYq=ujGyuưFnManaging dock network, ignoring radio surface power off ;E >Q 54拊?Q 948)BY%?Q E%:y%:>Q I%.@DI:i:X4y)ɮ-A1jQgO]DNOT Ignoring new targets: 49.63 m.bYR]kZ]kgOm ProNav: ac range: 49.628151 m, nav range: 47.829609 m, bearing: 15.567393 deg, approach rate: -0.609556 m/s, LOS rate: -0.112273 deg/s, cmd heading: 25.542602 deg, new cmd heading: 25.444455 deg. BmxMgOuHeadingCmd: 0.444090 target range: 49.628151 and range: 49.90 m.}_>y*y"y yyy"BʎjZi@Bɢ(Y) pi)~><i]i_> ˥3=I_>II5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266218@@ @@@ԁ^A#'=IQ Ia Ou >Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5174476,kX@A2d>2A?2I<ٱ2 :AHRS rotation from veh to nav: [[0.872479,-0.486477,-0.046047],[0.487905,0.862060,0.137118],[-0.027010,-0.142099,0.989484]]2H Y? q"߿@w9?@??a`M0¿ک?i2d>I2];2АC`Yv$Byv IbD5VD5yE$%EM=ٔEQ-M>9IYI=MjGyIUþ:EU>YQ 5e4]?Q 9e4])6)]BYaym>Q Im.@]ǟDI]:i]V:]_4yupBɮudAqPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 49.63 m.bRZgO ProNav: ac range: 49.628151 m, nav range: 47.599480 m, bearing: 15.524647 deg, approach rate: -0.604618 m/s, LOS rate: -0.112850 deg/s, cmd heading: 25.444454 deg, new cmd heading: 25.358548 deg. BNgOHeadingCmd: 0.442590 target range: 49.628151 and range: 49.90 m.->*" ʎjZ@ɢ[) wƾi)c9<i ~i ->,j9=I->E= E=E=,E9"E=;*E=1]:VE=g4ZE9aE@aE@aE@aE@IB>BCB4 IB@BB =BB|DBl;B-+EM>@I @I@M/@I@Q@Q=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769561^AS,=I) I9 OU >A 6,,X@A6>6/?6-<ٱ6 >AHRS rotation from veh to nav: [[0.872222,-0.486965,-0.045762],[0.488371,0.861944,0.136187],[-0.026874,-0.141134,0.989626]]6H@>?m*߿nyA? ?n?܄`¿?i6>I6r];6ѐCYJByJ IbDR VDR:2yZ6%ZT=ٔZkQ-Z>9\Y\=^jGy^ǰFb(:Eb>dQ 5j4f ?Q 9j4f3)fBYhyj>Q In.@fϟDIfy:if:fAf4ypɮrApAjgODNOT Ignoring new targets: 49.63 m.bR!Z!gO ProNav: ac range: 49.628151 m, nav range: 47.366329 m, bearing: 15.480761 deg, approach rate: -0.580362 m/s, LOS rate: -0.109778 deg/s, cmd heading: 25.358547 deg, new cmd heading: 25.270345 deg. BHgO]HeadingCmd: 0.441051 target range: 49.628151 and range: 49.90 m.]f>Y*Y"Y YaaaaʎiiijiZm* @BDAT read: Rx Time:00:44:23.9916 TRx dataTimestamp_ set to:1761698664.786980checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0246129ɢ=I)A EԾiA)Et3dF?=If>Iq 8@ @@@Ee EeEe'Ea"Ee:*Ee[:VEe'4ZEaBEeiA IA M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273728 6,qFX@Aԡp>!e?l<ٱ %AHRS rotation from veh to nav: [[0.872746,-0.485951,-0.046550],[0.487440,0.862229,0.137707],[-0.026782,-0.142873,0.989379]]H?߿`է62?a?``?lI¿@?ip>I"];Y5ByI iMMb@Mb@Mb@IIII I9MzG?L7A`尿I +?YM ?yM+M949yYy=}jGyy} E>Q 54!?Q 940)BY?Q E:y>Q I.@؟DI ;i2 ;n4yqBɮADEjgODNOT Ignoring new targets: 49.63 m.bRZgO ProNav: ac range: 49.628151 m, nav range: 47.075748 m, bearing: 15.433950 deg, approach rate: -0.609220 m/s, LOS rate: -0.098749 deg/s, cmd heading: 25.270344 deg, new cmd heading: 25.176143 deg. B4gOHeadingCmd: 0.439407 target range: 49.628151 and range: 49.90 m.e>a*i"i iiiqu BʎqqqjyZ} | @ɢ) վi)g-<inyi>J@=I>IDAT read: 00:44:23.9916 LVL= 32752, 32753, 28114, 32755, AGC= 68, IDX= 407, 0.07,-0.968,-2.345,-0.258,-0.938, PHS= 0.071,-1.362, 0.635, RAW= 165.9, 7.4, CAL= 165.4, 7.3, ROT= 344.6, -7.3 Ygot valid direction response: 00:44:23.9916 LVL= 32752, 32753, 28114, 32755, AGC= 68, IDX= 407, 0.07,-0.968,-2.345,-0.258,-0.938, PHS= 0.071,-1.362, 0.635, RAW= 165.9, 7.4, CAL= 165.4, 7.3, ROT= 344.6, -7.3 PDAT read: Bearing 182.1, -17.9 (Local) ~Local bearing/azimuth received: Bearing 182.1, -17.9 (Local)  DAT read: Range 11 to 50 : 47.6 m (Round-trip 63.5 ms) speed 0.4 m/s  R#Rx 1: Read range and direction messages.^direction in FSK: [0.956281,-0.263403,0.127065]-Fpublishing direction and range infoypڙ?>=пBm )DIsh=iV\"?O9@ A>8@ w>)v@Iw1?ux?y[? M?)SqIiwUT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.?@ @@/@E] E]EYEY"E]m:*E]k:VEYZEYae@ae@ae@ae@B >B B  IB ,BB =B B B l;B +EBCBCBɔCB =B =C,~6^A 8=! A I I) O= >-36,dbX@A*DAT read: user:572> BDAT read: Tx time:00:44:25.3240 $Ping request sent.|?<ٱP% -AHRS rotation from veh to nav: [[0.874501,-0.482365,-0.050717],[0.484360,0.863046,0.143340],[-0.025371,-0.149917,0.988373]]H?޿`??X?`y0ÿ`?iM>I,7^;YByIbDVD0yN%F=ٔ|`Q->9Y=jGyȰF E>Q 544?Q 94.)BYy>Q I.@DI+;iH;v4ytBɮ|A;EwRX@AJ_=BR_=Bj>F@(Q@rpڙ?>=пgOM addTargetRange:: Added new target pos. range: 47.599998 m, deltaT: 3.780145 s, deltaX: -2.300003 m, approachRate: -0.608443 m/s, rangeRepo size: 4 gO] Added new target pos. range: 47.342915 m, bearing: 14.869936 deg, lat: 36.779288 deg, lon: -121.859527 deg, deltaT: 3.780145 s, deltaX: -2.285236 m, approachRate: -0.604537 m/s, posRepo size: 4 jYgO]DNOT Ignoring new targets: 47.34 m.bYReZagOu ProNav: ac range: 47.342915 m, nav range: 46.908237 m, bearing: 15.195549 deg, approach rate: 0.000000 m/s, LOS rate: -0.098749 deg/s, cmd heading: 25.176144 deg, new cmd heading: 25.094001 deg. BqgO}HeadingCmd: 0.437973 target range: 47.342915 and range: 47.60 m.}=>y*y"y yʎ  j G@Z e?1ɢ=Y)9A ==iY)epP'mqmK9=Im=>Iqu<@q @y@}0@y@@>ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250995^A] l;=ԡ bE!4jE!4rE 0E  E E %E "E a:*E :VE 4ZE BE (=6,G}X@AxY5By5IiMb@Mb@Mb@ 91Zd?#~jMb?Y"?y㥽<CAAA  A)K AYQ AbDVD y%O=ٔQ->9  ?Y  ?= jGyE>Q 5%4|G?Q 9%4+)BY%?Q E-:y->Q I-.@DI ;i ;|4y1ɮ5A1jYgO]DNOT Ignoring new targets: 47.34 m.bYRelZelgOu ProNav: ac range: 47.342915 m, nav range: 46.668381 m, bearing: 15.162661 deg, approach rate: -0.613498 m/s, LOS rate: -0.084552 deg/s, cmd heading: 25.094001 deg, new cmd heading: 25.027887 deg. BugO}HeadingCmd: 0.436819 target range: 47.342915 and range: 47.60 m.}>y*y" BʎjZ ?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503075ɢsɼ) ki)!<i|ti>e'g>=Ie>Ia!?@ @@4@I^A] X;=] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754883ԁ A ؟AI I O >~6, X@A2>2Z?2V<ٱ2jA >AHRS rotation from veh to nav: [[0.875688,-0.479848,-0.054002],[0.482256,0.863405,0.148194],[-0.024485,-0.155815,0.987483]]2H?ҵ޿0F?`?@?ÿ`u?i2>I2^^;0En EnEn&El"En:*EnL_:VEn4ZElar@ar@ar@ar@YB]>BYB] IB]BB] =B]BDB]}DB]m;B]<+EYByII=)4<==@AbDVD2y%;=ٔQ->9"?Y"?=jGyɰF%GE%>!Q 554%p\?Q 954%/))%BY1y5>Q I5.@%DI%;i%;%4yEvBɮEqAE*" ʎjZC ?ɢ&Yȼ) Mi)(I<iPqi>< :=I>IԉE@@I @I@M4@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007466Ա^A C;= A I I O >ᨫ6,}X@A>+ >>Z?><ٱ>\N& fAHRS rotation from veh to nav: [[0.876673,-0.477655,-0.057355],[0.480510,0.863548,0.152954],[-0.023531,-0.161650,0.986567]]>H ?޿]?.??@Ŀ?i>+ >I>];>АClnr@ilIlpp ppppttIt)tit)xIz_Axx x|||i||ir^A)h I ) O{A   Y YށByI%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259058bD=VD=yEW%Mm=ٔM4Q-M?9QYQ=UjGyQU E]?aQ 5e4em?Q 9m4e)')eBYiym>Q Im.@eDIe:ie:e4yqɮ}AyjgODNOT Ignoring new targets: 47.34 m.bRtZtԹgO ProNav: ac range: 47.342915 m, nav range: 46.192715 m, bearing: 15.098225 deg, approach rate: -0.607518 m/s, LOS rate: -0.082379 deg/s, cmd heading: 24.955331 deg, new cmd heading: 24.898344 deg. BgOHeadingCmd: 0.434558 target range: 47.342915 and range: 47.60 m.f~>*" ʎjZA? ɢ #)  i )Y<i?oif~>}(7=If~>II)WADDE EE(E"E:*E1]:VEc44ZEBE+@q @q@}/@y@@ II^Al;=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514334 \A9 u ɿ9u \AYu ӭAA I I O >9 6,X@A27>2>2Ӷ<ٱ2r. BAHRS rotation from veh to nav: [[0.877569,-0.475460,-0.061737],[0.478931,0.863326,0.159036],[-0.022316,-0.169133,0.985341]]2H ?@m޿ Ц?^? H[?ٖ"ſ ?i27>I2+^;2ϐCY=ہBy=IiMb@Mb@Mb@ 9Gz?~jt~jtx?Yp?yĽ;A  A)AYG AbDVDyG%@=ٔ`;Q->9Y=jGyʰFċE>Q 5 4?Q 94$)BYZ?Q E:y}>Q I.@DI_3;ic2;4y%wBɮ%A-=EjIgOMDNOT Ignoring new targets: 47.34 m.bIRUȗZUȗgOe ProNav: ac range: 47.342915 m, nav range: 45.928913 m, bearing: 15.070151 deg, approach rate: -0.619886 m/s, LOS rate: -0.066348 deg/s, cmd heading: 24.898345 deg, new cmd heading: 24.841874 deg. BegOmHeadingCmd: 0.433573 target range: 47.342915 and range: 47.60 m.m7>i*i"q qBʎjZ:?iɢm׼) 0i)F <i[cli7>*65=I7>IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.767024A<@ @@/@E EE&E"E:*Ee:VE4ZEa@a@a@a@B]>BYB]IB]BB] =BYBYB]m;B]x+Eq^A 4=A ZAzA ZAԙ I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019965I1 Oe >Ÿ6,X@AjG>jn>j^<ٱj[h4 rAHRS rotation from veh to nav: [[0.879319,-0.471617,-0.066146],[0.475815,0.864217,0.163492],[-0.019941,-0.175234,0.984325]]jH`b#?`.޿@s??K?@}k`nƿ?ijG>Ij[@^;hYҁByIbDVD 3yNA%K=ٔ/Q->9Y=jGyE>Q 54ߕ?Q 94")BYyŰ>Q I.@DIB:i: 4yxBɮ4Aj!gO-DNOT Ignoring new targets: 47.34 m.b)R-ÓZ5ÓgOE ProNav: ac range: 47.342915 m, nav range: 45.679142 m, bearing: 15.044329 deg, approach rate: -0.621386 m/s, LOS rate: -0.064592 deg/s, cmd heading: 24.841874 deg, new cmd heading: 24.789948 deg. BEkgOMHeadingCmd: 0.432666 target range: 47.342915 and range: 47.60 m.Mm>I*I"I IIIQQʎQQYjYaZ]w@颉ɢ)  i)x<顑iiim>S󺉨,=Im>I5?@1 @1@=/@9ԉMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270944^A];6=ԹE  E E (E "E :*E VE c44ZE BE ) 6,xX@AJG>J>J<ٱJ 4 VAHRS rotation from veh to nav: [[0.880271,-0.469748,-0.066784],[0.474105,0.865304,0.162710],[-0.018644,-0.174891,0.984411]]JH .+?`X޿W???V`bƿL?iJG>IJw/^;JАCY^ӁBy^IiEMb@Mb@Mb@AAAA A9E/$?&19qYq=}jGy}˰FE>Q 54?Q 94t )BY?Q E:yP>Q I.@DI;i;4yɮ-AjgODNOT Ignoring new targets: 47.34 m.bR؄Z؄gO ProNav: ac range: 47.342915 m, nav range: 45.438381 m, bearing: 15.021830 deg, approach rate: -0.618137 m/s, LOS rate: -0.058071 deg/s, cmd heading: 24.789948 deg, new cmd heading: 24.744711 deg. BԺgOHeadingCmd: 0.431877 target range: 47.342915 and range: 47.60 m.>*" i߹I߽Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.525543BʎjZ +J@yɢ})y  i)%;顁iP&gi>𺉨%*=I>It>i>e=@a @a@e0@a@m=@m=Ai ^A )=I I O >m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7749226,SX@A$ER ERER$EP"ER:*ERR:VER4ZEPaZ@aZ@aZ@aZ@^`O>^1>^[v<ٱ^)4 fAHRS rotation from veh to nav: [[0.881185,-0.467910,-0.067618],[0.472451,0.866275,0.162351],[-0.017390,-0.175008,0.984413]]^H2?>ݿ rO`I^^;\Y5ρBy5IbDEVDEyU%UL=ٔ]LQ-]>9aYa=ejGyaeEe>iQ 5u4m׼?Q 9u4mO)mBYyyX>Q I.@mDImy);im*;m4yzBɮXA>EjgODNOT Ignoring new targets: 47.34 m.bR݂Z݂gO ProNav: ac range: 47.342915 m, nav range: 45.190693 m, bearing: 14.999030 deg, approach rate: -0.618063 m/s, LOS rate: -0.057205 deg/s, cmd heading: 24.744712 deg, new cmd heading: 24.698862 deg. BbѺgOHeadingCmd: 0.431076 target range: 47.342915 and range: 47.60 m.>*" ʎjZ : @B>BBIBBB =BB|DB?m;BS+E1ɢ5 )1 5 i9)=;99i= diE>E2E/'=IE>IIq?@ @@4@BDAT read: Rx Time:00:44:27.7887 TRx dataTimestamp_ set to:1761698668.571032checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030888ԙ^AK'=IqIO> 6,&:2X@AL%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279297==>=R"<ٱ=Y0 MAHRS rotation from veh to nav: [[0.882099,-0.466267,-0.067062],[0.470793,0.867772,0.159139],[-0.016007,-0.171949,0.984976]]=H&:?`Qݿ*x!??@^?`dkƿ ?i=I=c'^;9Yy==bDVD1yX:%C=ٔMWQ-U>9QYQ=UjGyṴF]ME]>aQ 5m4e`Ҍ?Q 9m4e)eBYqy}G>Q I}.@e DIeJ;ieJ;e4y{BɮaA?EPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 47.34 m.bRrZrgO ProNav: ac range: 47.342915 m, nav range: 44.920998 m, bearing: 14.974637 deg, approach rate: -0.617078 m/s, LOS rate: -0.056149 deg/s, cmd heading: 24.698862 deg, new cmd heading: 24.649782 deg. BͺgOHeadingCmd: 0.430220 target range: 47.342915 and range: 47.60 m.E>*" ʎjZ@ @-Bɢ-85)1 5 i1)5*;11i5bbi=E>=麉=Y$=IEE>IQDDE EE#E"E*E[:VE3ZEBE] b6,%LX@ABf>Bx>Bt<ٱB31 ^AHRS rotation from veh to nav: [[0.882976,-0.464465,-0.068010],[0.469181,0.868622,0.159262],[-0.014897,-0.172534,0.984891]]BHWA?ɹݿ`i??b?ƿ:?iBf>IB? ^;BѐCYdydIiMb@Mb@Mb@ 9~jt?&1{Gz?Y?yף<;AAA )AYAbD-VD-y=:%=C=ٔ=-Q-E>9AYa=ejGyimEm>qQ 5}4ua挊?Q 9}4u)uBY}?Q E:y>Q I.@u(DIuR;ius;u4yɮ`A DX@AJ4BR4Bj.|>ަE@N ܇'Z +"@r%?"п -V:?ZԇbJ߭E@ښoi%@L_^@zj?[?f8`?2c.A:n-B"O,?*ڰ+B~BwJ?n“q2B蠂>gO5 addTargetRange:: Added new target pos. range: 45.400002 m, deltaT: 3.784298 s, deltaX: -2.199997 m, approachRate: -0.581349 m/s, rangeRepo size: 4 gOe Added new target pos. range: 45.154919 m, bearing: 14.110402 deg, lat: 36.779288 deg, lon: -121.859530 deg, deltaT: 3.784298 s, deltaX: -2.187996 m, approachRate: -0.578178 m/s, posRepo size: 4 jagOmDNOT Ignoring new targets: 45.15 m.biRmZigO ProNav: ac range: 45.154919 m, nav range: 44.611301 m, bearing: 14.618094 deg, approach rate: 0.000000 m/s, LOS rate: -0.056149 deg/s, cmd heading: 24.649782 deg, new cmd heading: 24.602488 deg. BgOHeadingCmd: 0.429394 target range: 45.154919 and range: 45.40 m.>*" Bʎj@3F@Z?%*DAT read: user:573> -BDAT read: Tx time:00:44:29.0740 -$Ping request sent.-H溉I!=I>I)@@ @@`4@@@E EE)E"E&:*ErN:VEFA4ZEa@a@a@a@ԩB<A<B>BBIB߁BB =BBBl;B +E^A "= m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.269974A .AI I O >'b6,[[gX@A2>2>2g<ٱ2=I3 :AHRS rotation from veh to nav: [[0.884345,-0.461712,-0.068957],[0.466618,0.869762,0.160567],[-0.014159,-0.174173,0.984613]]2HL?@ݿ.?? v?PKƿ?i2>I2 ^;0YDyDbDNVDNyV%VZ=ٔZQ-Z>9Z ?YZ ?=^jGy^ͰF^E^>`Q 5j4b?Q 9j4b)b BYhyj>Q Ij.@b/DIbB:ib-:b4yr}BɮroAr@Ej gODNOT Ignoring new targets: 45.15 m.bR~Z~gO- ProNav: ac range: 45.154919 m, nav range: 44.383995 m, bearing: 14.596823 deg, approach rate: -0.638995 m/s, LOS rate: -0.060104 deg/s, cmd heading: 24.602488 deg, new cmd heading: 24.559728 deg. B-ۺgO-HeadingCmd: 0.428648 target range: 45.154919 and range: 45.40 m.5w>1*1"1 11199ʎ99AjAZE`?ɢ͇) Si)Nt;i,]iw>=w㺉E=IEw>IA=@ @@/@1checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502699a^AC"=AzAE5  E5 E5 (E1 "E5 ;*E5 R:VE5 c44ZE1 BE5 /Nԉ >6, X@A6_>6 >6{^<ٱ64 >AHRS rotation from veh to nav: [[0.885750,-0.458922,-0.069546],[0.463962,0.870983,0.161643],[-0.013608,-0.175442,0.984396]]6H`X?@^ݿͱ???ދtƿ@+?i6_>I6H ^;6АCY^ЁBybI dddfAyiMb@Mb@Mb@ 9Zd;?Zd;O:v?Y?yj<A 9 A)xAYfAbDVDNy;%9=ٔhQ->uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7695539yYy=}jGyyֻE>Q 54?Q 94x)BY?Q E:yS>Q I.@8DI ;i ;$4yɮbAjgODNOT Ignoring new targets: 45.15 m.bRZgO ProNav: ac range: 45.154919 m, nav range: 44.106110 m, bearing: 14.565803 deg, approach rate: -0.607032 m/s, LOS rate: -0.068189 deg/s, cmd heading: 24.559728 deg, new cmd heading: 24.497297 deg. BgOHeadingCmd: 0.427558 target range: 45.154919 and range: 45.40 m.>*" BʎjZק?-Bɢ-)) - i1)5i;11i5Zi=>=ຉ=ִ=I=>IAԩ:@ @@@^Ar == checking for new query: numPingsReceived=0, elapsed TxPingTime=1.024249A  I I! O- >E=  E= E= !E9 "E= :*E= g:VE= c3ZE9 aM @aM @aM @aM @6i6,X@AB҅>Bo~>B3 Y<ٱBj5 JAHRS rotation from veh to nav: [[0.887157,-0.456150,-0.069853],[0.461278,0.872228,0.162610],[-0.013247,-0.176482,0.984215]]BHc?1ݿ᱿?I?@f?`2!ƿ~?iB҅>IB^;BϐCYbсBy`B>BCBIBځBB =BCDB{DBCm;BO+EBCBCBCB =B =Cw5bDnVDn 8ypY;%Q=ٔkrQ->9Y=jGyΰFE>Q 54=!?Q 94p)BYyϬ>Q I.@?DI;i;4y~Bɮ%iA!jagOmDNOT Ignoring new targets: 45.15 m.biRmZmgO ProNav: ac range: 45.154919 m, nav range: 43.874027 m, bearing: 14.540498 deg, approach rate: -0.592965 m/s, LOS rate: -0.064995 deg/s, cmd heading: 24.497296 deg, new cmd heading: 24.446419 deg. BgOHeadingCmd: 0.426670 target range: 45.154919 and range: 45.40 m.t>*" ʎjZ@ ?%Bɢ% )) - i))-ģ;顉iJXit>5ݺD=It>I%@@! @!@%/@!@-=@)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2747691^AM =A Ա I I O >ے6,ܼX@A>g>>:5>>S<ٱ>S7 FAHRS rotation from veh to nav: [[0.888317,-0.453793,-0.070465],[0.459050,0.873136,0.164031],[-0.012910,-0.178058,0.983935]]>Hm? ݿ a???pƿe|?i>g>I>1,^;9`Yd=fjGydfٻEf>hrchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.526768Q 5v4j3?Q 9v4j)jBYxyz>Q Iz.@jGDIjI;ij;jI4y~Bɮ~?AAEj!gO-DNOT Ignoring new targets: 45.15 m.b)R-iZ-igOE ProNav: ac range: 45.154919 m, nav range: 43.650623 m, bearing: 14.516594 deg, approach rate: -0.615423 m/s, LOS rate: -0.066186 deg/s, cmd heading: 24.446418 deg, new cmd heading: 24.398366 deg. BEAgOEHeadingCmd: 0.425832 target range: 45.154919 and range: 45.40 m.M>I*I"I IIIQQʎQQYjaZe?颉ɢ)  i)F;顑iUi>kۺ =I>IqbEž4jE 4rE0E  E E %E =?@9 @9@E4@A"E [:*E [:VE  4ZE BE  Tz6,OX@A2">2S>2S<ٱ28 :AHRS rotation from veh to nav: [[0.889570,-0.451316,-0.070558],[0.456616,0.874172,0.165302],[-0.012924,-0.179266,0.983716]]2H[w?@^ܿ`@19?@8?`(? w 0ƿz?i2">I2z ^;2АCYBՁByBIIF>)F>J=J=i]Mb@Mb@Mb@YYYY Y9]\(\?㥛 Mb?Y]?y]]=]A]A Y)YYY]AbDuVDuܲy&5%>=ٔ8Q->9"?Y"?=jGyϰFлE>Q 54G?Q 94 )'BY7?Q E:y&>Q I.@ODI:i:4yɮYA8EPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 45.15 m.bR кZ кgO ProNav: ac range: 45.154919 m, nav range: 43.390400 m, bearing: 14.477888 deg, approach rate: -0.607767 m/s, LOS rate: -0.090944 deg/s, cmd heading: 24.398366 deg, new cmd heading: 24.320489 deg. Bp&gOHeadingCmd: 0.424473 target range: 45.154919 and range: 45.40 m.yT>*"    BʎjZ@EBɢEt!)I Mr iI)M;IIiMCSiUyT>]>غ]==I]yT>IYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.030872 @  @ @ 4@E EEE"E:*E1]:VEZEa @a@a@a@BBBBB =BBBm;B+E^A C =) Aa Iq I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282536Y H6,N}X@AFl+>F>>FxIU<ٱF7 RAHRS rotation from veh to nav: [[0.890428,-0.449750,-0.069734],[0.454937,0.875172,0.164640],[-0.013018,-0.178324,0.983886]]FH`c~?ܿ`ڱ?`h?@?Sƿ{?iFl+>IF$^;FѐCYZByZIbDbVDbNyj=%nV=ٔnԀ9Q-r>9pYp=rjGypviEv>xQ 5~4zZ?Q 9~4z )z.BYy&>Q I/@zVDIzP;izm ;z{4y Bɮ A j1gO5DNOT Ignoring new targets: 45.15 m.b9R=κZ=κgOM ProNav: ac range: 45.154919 m, nav range: 43.158897 m, bearing: 14.443666 deg, approach rate: -0.606113 m/s, LOS rate: -0.090079 deg/s, cmd heading: 24.320489 deg, new cmd heading: 24.251678 deg. BM$gOUHeadingCmd: 0.423272 target range: 45.154919 and range: 45.40 m.U>Q*Q"Y YYYYaʎaaajaZm @额Bɢ ) i)u;顡i3Pi>!+ֺ)=I>I@ @@/@@@AYchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.535117^A5?=E-  E- E- 'E) "E- :*E- V:VE- '4ZE) BE- 27,shX@A0@R`]A\¿9`]AYsAY-ہBy-IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.786786iMb@Mb@Mb@ 91Zd?v/Q?Y"?yxi<  A)Y3AbDVD1y]Q%]-=ٔeQ-e>9aYi=mjGymаFmEm>qQ 5}4u'q?Q 9}4ԁu )u6BY?Q E:y>Q I/@u`DIu6;iu4;u4yBɮDA9EjgODNOT Ignoring new targets: 45.15 m.bRZgO ProNav: ac range: 45.154919 m, nav range: 42.865162 m, bearing: 14.389618 deg, approach rate: -0.601590 m/s, LOS rate: -0.111452 deg/s, cmd heading: 24.251678 deg, new cmd heading: 24.142842 deg. BKgOHeadingCmd: 0.421372 target range: 45.154919 and range: 45.40 m.>*" 'BʎjZ`@Bɢ% )! % i!)%VS;!)i-!Ni->5Һ5h[ =I5>I1>@ @@@ԩ^A G=  BDAT read: Rx Time:00:44:31.5356  TRx dataTimestamp_ set to:1761698672.365790 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.040726A I I E  E E &E "E *E R:VE 4ZE a @a @a @a @O- >i7,'X@AJ>Jl>J~'R<ٱJ~5BV>BTBVIBVBBV =BTBV|DBV$n;BV+E` fAHRS rotation from veh to nav: [[0.890583,-0.449569,-0.068922],[0.454641,0.875674,0.162777],[-0.012826,-0.176301,0.984253]]JH?ܿ@٤ ? ??D ƿ~?iJ>IJ>_;JϐCYrByrI ttxzAbD~VD~y K=% o=ٔ Q-?9Y=jGyfE ?!Q 5-4%?Q 9-4%)%;BY)y->Q I5/@%fDI%l:i%:%4y9ɮEAAjagOmDNOT Ignoring new targets: 45.15 m.biRmZugO ProNav: ac range: 45.154919 m, nav range: 42.668453 m, bearing: 14.353130 deg, approach rate: -0.603582 m/s, LOS rate: -0.112477 deg/s, cmd heading: 24.142842 deg, new cmd heading: 24.069529 deg. BMgOHeadingCmd: 0.420093 target range: 45.154919 and range: 45.40 m.^>*" ʎjZ`O[ @Bɢ^)9 i)8<;iKiU^>]к]=I]^>IY8@ @@/@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.290669^AV =A I I) O= >I  7,6X@A2d)>24>2R<ٱ2%3 :AHRS rotation from veh to nav: [[0.890437,-0.449960,-0.068248],[0.454925,0.875783,0.161393],[-0.012850,-0.174758,0.984527]]2H@v~?#ܿx |?j? ?@P`{^ƿ??i2d)>I2y`;2АCYBByBIbDNVDN02yV<%VQ=ٔVx8Q-V>9XYX=ZjGyZѰF^MU:E^>zDAT read: 00:44:31.5356 LVL= 32752, 32753, 32738, 32755, AGC= 67, IDX= 409,-0.12,-1.751,-3.123,-1.078,-1.717, PHS= 0.068,-1.360, 0.595, RAW= 165.1, 8.0, CAL= 164.7, 8.2, ROT= 345.3, -8.2 ~Ygot valid direction response: 00:44:31.5356 LVL= 32752, 32753, 32738, 32755, AGC= 67, IDX= 409,-0.12,-1.751,-3.123,-1.078,-1.717, PHS= 0.068,-1.360, 0.595, RAW= 165.1, 8.0, CAL= 164.7, 8.2, ROT= 345.3, -8.2 PDAT read: Bearing 179.5, -16.9 (Local)  ~Local bearing/azimuth received: Bearing 179.5, -16.9 (Local) DAT read: Range 11 to 50 : 43.1 m (Round-trip 57.5 ms) speed 0.5 m/s R#Rx 1: Read range and direction messages.%^direction in FSK: [0.957379,-0.251164,0.142629]-Fpublishing direction and range infoy`b3"vآ?e:пx0A?Ybf,B```b `)bCIbC=ib{bQ?b!k8@b5>b7@ bC>)b@IbC``b_ך'^?$8#r?X(? bI?)bIbJ\ibC``T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Q 54?Q 94a)BBYy>Q I/@nDI-:i:4yBɮA:E`b_7X@AJbw+BRbw+Bjbz>bT+D@%aK}t@rb3"vآ?e:пx0A?ZbJ\bbCbkr?|D@t$@Bm~@zbC?]?HI?2b#A:b#B"b ?*be;_BbB``“`b)Bbr>gOe addTargetRange:: Added new target pos. range: 43.099998 m, deltaT: 3.795674 s, deltaX: -2.300003 m, approachRate: -0.605954 m/s, rangeRepo size: 4 D=DR=E EEE"E[:*Ee:VEZEBE*"a aaaiiʎiiqjǔE@Zu X?颽Bɢ)  mi )2;izHiE6>E\̺M=IM6>IYy5>@1 @1@5/@1@==@9u*DAT read: user:574> }BDAT read: Tx time:00:44:32.8740 }$Ping request sent.}k7,TX@A>_>> >>"QN<ٱ>'2 FAHRS rotation from veh to nav: [[0.890251,-0.450400,-0.067778],[0.455297,0.875888,0.159766],[-0.012592,-0.173091,0.984825]]>H|?YܿY#? F?`2s?ɉ'ƿ?i>_>I>xa;>ѐCYNByNIi%Mb@Mb@Mb@!!!! !9%K?X9vy&1?Y%^?y%%`<%A%XA !)%A!Y%AbD=VD=kyMk<%M#=ٔUUQ-U>9U ?YU ?=UjGyUҰF]SY:E]>aQ 5m4uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250873e~?Q 9}4e<)eHBY}?Q E}:y}C>Q I}/@exDIej;iei;eQ4yɮAPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 42.87 m.bRW/ZW/gO ProNav: ac range: 42.866909 m, nav range: 42.133781 m, bearing: 14.235689 deg, approach rate: -0.613498 m/s, LOS rate: -0.153295 deg/s, cmd heading: 23.971491 deg, new cmd heading: 23.830568 deg. BEgOHeadingCmd: 0.415922 target range: 42.866909 and range: 43.10 m.>*" RBʎIjZeJ"?颵Bɢcw) i)I:项iFi>ʺ'=I>IE EE(E"E:*E:VEc44ZEa@a@a@a@BAAE<BM>BIBMIBMBBM =BIBM{DBMGn;BM+E}9@y @y@}/@q^A=ԡ- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503529Au ؟AIy I O > 7,nX@A:~>:*>:H<ٱ:0]0 FAHRS rotation from veh to nav: [[0.890147,-0.450673,-0.067316],[0.455508,0.876086,0.158069],[-0.012263,-0.171367,0.985131]]:H@|?ܿ; '??;?(]ſ@1?i:~>I:b;:ϐCYVځByVIIZ%=)Z^=^=bDfVDfyU%UK=ٔUdVQ-]>9e"?Ye"?=ejGyam&:Em>qQ 54u8?Q 94u)uMBYyU>Q I/@uDIuV;iu:ud4yBɮbA;EjgODNOT Ignoring new targets: 42.87 m.bR,Z,gO ProNav: ac range: 42.866909 m, nav range: 41.893353 m, bearing: 14.175209 deg, approach rate: -0.596320 m/s, LOS rate: -0.150867 deg/s, cmd heading: 23.830568 deg, new cmd heading: 23.708912 deg. B gOHeadingCmd: 0.413799 target range: 42.866909 and range: 43.10 m.h>*" ʎjZ?BɢҶ) _ i)%W:!!i%Di-h>-WǺ-W$=I-h>I1Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754741}DzD?AE EEE"E:*Ee:VEZEBE1#7,eX@A2bʂ>25v>2XF<ٱ2(- :AHRS rotation from veh to nav: [[0.889886,-0.451364,-0.066131],[0.456022,0.876329,0.155215],[-0.012106,-0.168281,0.985665]]2H@y?&ܿ x/? ??`ʈ<ſ?i2bʂ>I29m ?Ym ?=mjGyuӰFuМ:Eu>yQ 54}iӍ?Q 94}*)}PBY?Q E:y>Q I/@}DI}:i}E:} 4yBɮ+AjgODNOT Ignoring new targets: 42.87 m.bR GZ GgO ProNav: ac range: 42.866909 m, nav range: 41.606510 m, bearing: 14.091989 deg, approach rate: -0.595675 m/s, LOS rate: -0.174011 deg/s, cmd heading: 23.708912 deg, new cmd heading: 23.541325 deg. B:gOHeadingCmd: 0.410874 target range: 42.866909 and range: 43.10 m.^>*" SBʎjZ[w?额Bɢ )  i)}:顡i%Ai^>pº/=I^>I9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259521u>@y @y@}00@y E] E]E]$EY"E]:*E]T:VE]4ZEYae@ae@ae@ae@B>BBIBBBBB|DBNn;B+E^A C"=A A ؟AI I) O= >RN)7,-X@A2>2f>2iA<ٱ2s+ :AHRS rotation from veh to nav: [[0.889603,-0.451963,-0.065845],[0.456582,0.876290,0.153783],[-0.011805,-0.166869,0.985908]]2Hw? ܿ9۰8? ?`&?`-`[ſ?i2>I2a;2ϐCYBByBI J49b"?Yb"?=bjGy`b5:Ef>hQ 5j4j䍊?Q 9n4j)jRBYlynE>Q In/@jDIj :ij:jn4ypɮv;Atj gODNOT Ignoring new targets: 42.87 m.bRIZIgO% ProNav: ac range: 42.866909 m, nav range: 41.381302 m, bearing: 14.025632 deg, approach rate: -0.595218 m/s, LOS rate: -0.176333 deg/s, cmd heading: 23.541324 deg, new cmd heading: 23.407889 deg. B%Z)gO5HeadingCmd: 0.408545 target range: 42.866909 and range: 43.10 m.5,>1*1"1 99999ʎAAAjAZM? Bɢ!)  i)?:i>i,>%%7=I%,>I)1111Ya@i @i@mo0@iԉmchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762802E}  E} E} &Ey "E} [:*E} e:VE} 4ZEy BE} "17,X@A2!>2>2B?<ٱ2h^* >AHRS rotation from veh to nav: [[0.889586,-0.452064,-0.065384],[0.456619,0.876479,0.152591],[-0.011673,-0.165598,0.986124]]2H|w?`ܿ@ ?9?` ??`臿`P2ſT?i2!>I2a`a;0YV؁ByVI XXi]Mb@Mb@Mb@YYYY Y9]Zd;O?MbMbp?Y]j?y]];Y]A Y)]AYY]AbDuVDuܲy}%&=ٔQ->9Y=jGy԰Fm8E>Q 54k?Q 94)QBYn?Q E:y>Q I/@DI ;i] ;4yBɮAy*y"y y>BʎjZZ@Bɢ) i ) 4  i ;ig>WA@=Ig>IEi>iE>?@ @@4@ ^A 3=Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267341A) I1 IA OU >E  E E )E "E :*E c:VE FA4ZE a @a @a @a @A) A- AAB5 >B1 B5 IB5 BB5 =B1 B5 {DB5 (n;B5 +EC77,yX@AB=CB=CB9B= =B= =C=5 :>:>:y7<ٱ:D) BAHRS rotation from veh to nav: [[0.889651,-0.451946,-0.065317],[0.456504,0.876739,0.151432],[-0.011174,-0.164539,0.986307]]:H@x?ܿ@^7???#b?/↿ſ ԏ?i:>I:`;8YJ́ByNIbDVVDVNy^ k%^Y=ٔ=Q-=>9AYA=EjGyAMٯEM>QQ 5}4U ?Q 9}4U,)QYyy}>Q I}/@UDIU.;iU;U"4yɮAPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 42.87 m.bRlXZ lXgOE ProNav: ac range: 42.866909 m, nav range: 40.854805 m, bearing: 13.862371 deg, approach rate: -0.602542 m/s, LOS rate: -0.189213 deg/s, cmd heading: 23.226316 deg, new cmd heading: 23.079247 deg. BE#gOHeadingCmd: 0.402809 target range: 42.866909 and range: 43.10 m.<>*" ʎjZ @i Bɢ I()  i)i$8i<>/G=I<>I! checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519330@@ @@3@ԙ^A п8= I I O >s=7,kX@A.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7708076>6>6C.<ٱ6g( BAHRS rotation from veh to nav: [[0.889733,-0.451748,-0.065571],[0.456358,0.876920,0.150829],[-0.010636,-0.164121,0.986383]]6Hx?oܿCɰ 4??\N?Yȅ ſr?i6>I67wa;6ѐCHYNƁByNIbDVVDV2y^'%^I=ٔb괺Q-b>9`Y`=bjGyfհFfEf>hQ 5n4jz?Q 9n4ja)hYpyr>Q Ir/@jDIj:ij:j)4yvBɮv*Av=EjgODNOT Ignoring new targets: 42.87 m.bRD]ZD]gO- ProNav: ac range: 42.866909 m, nav range: 40.622494 m, bearing: 13.789041 deg, approach rate: -0.609352 m/s, LOS rate: -0.193445 deg/s, cmd heading: 23.079247 deg, new cmd heading: 22.931748 deg. B-gO5HeadingCmd: 0.400235 target range: 42.866909 and range: 43.10 m.5>1*9"9 999AAʎAAAjIZM 3p@uBɢuғ?)y }iy)}hqyyi}6i>7O=I>I)bE!4jEY"4rEp/Eu EuEu'Eq"Eu:*EuV:VEu'4ZEqBEu+! UD7,-X@A2m>2>2 <ٱ2h, :AHRS rotation from veh to nav: [[0.890230,-0.450451,-0.067706],[0.455406,0.876935,0.153593],[-0.009813,-0.167567,0.985812]]2H|?@2ܿ +U]%???``rſ`ŋ?i2m>I2Ra;2ϐCYBByFI)iEMb@Mb@Mb@AAAA A9En?~jth?YE?yE̼ED;E;AEnA EK A)AAYEAbDe VDe2ymy%u@=ٔuQ-u>9yYy=}jGyy}i%E>Q 542?Q 94)Y'?Q E:y>Q I/@DIG;im ;14yBɮA4EjgODNOT Ignoring new targets: 42.87 m.bR5Z5gO ProNav: ac range: 42.866909 m, nav range: 40.377575 m, bearing: 13.721830 deg, approach rate: -0.575648 m/s, LOS rate: -0.158928 deg/s, cmd heading: 22.931749 deg, new cmd heading: 22.796512 deg. BmgOHeadingCmd: 0.397874 target range: 42.866909 and range: 43.10 m.*>*" BʎjZ@ @-Bɢ->@7)) -I#i))5B 11i53i=*>==篺==R=I=*>IAIchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276247>@ @@/@@@IE EE%E"E:*E:VE 4ZEa@a@a@a@B>BCBIBBB =BBB m;B0+Ey^A<H=AzAIAIQOm>ԡ M DAT read: 00:44:35.3326 LVL= 29984, 32753, 28578, 32755, AGC= 67, IDX= 410, 0.45, 1.224,-0.163, 1.905, 1.192, PHS= 0.134,-1.309, 0.669, RAW= 165.1, 5.8, CAL= 164.4, 5.1, ROT= 345.6, -5.1 ] Ygot valid direction response: 00:44:35.3326 LVL= 29984, 32753, 28578, 32755, AGC= 67, IDX= 410, 0.45, 1.224,-0.163, 1.905, 1.192, PHS= 0.134,-1.309, 0.669, RAW= 165.1, 5.8, CAL= 164.4, 5.1, ROT= 345.6, -5.1 e PDAT read: Bearing 176.2, -15.8 (Local) e ~Local bearing/azimuth received: Bearing 176.2, -15.8 (Local) m DAT read: Range 11 to 50 : 40.8 m (Round-trip 54.4 ms) speed 0.4 m/s u R#Rx 1: Read range and direction messages.} ^direction in FSK: [0.964749,-0.247705,0.088894]} Fpublishing direction and range infoy! % ΋8?)iδϿ?Y% 3#B! % u! % o ! )! I% L7 >i% P% C+?! % 4Q=% 7@ % K=)% @I% K! ! % :s?0?lN6l? % VI?)% S νI% i% K! !  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.~J7,[ ,X@AR߁>Rȋ>R<ٱR. ZAHRS rotation from veh to nav: [[0.890730,-0.449266,-0.068996],[0.454445,0.877248,0.154646],[-0.008951,-0.169103,0.985558]]RHۀ?`ܿ?j? q?@T(ſ?iR߁>IRra;PY By }IbD%VD%y-%5N=ٔ5Q-5>9YYY=]jGy]ְFe\1Ee>iQ 5m4mD?Q 9u4mԁ)iYyy>Q I/@mDIm;im;m84yɮ AQU~)X@AJUP"BRUP"BjU,t>U C@Y$O @rU΋8?)iδϿ?ZUbUKU?@C@NIL#@"A!@zUh } ?aU?/?2U~A:UB"UE&?*Uu\`BUzBU?Q“UZBU BUs>gO addTargetRange:: Added new target pos. range: 40.799999 m, deltaT: 3.779870 s, deltaX: -2.299999 m, approachRate: -0.608486 m/s, rangeRepo size: 4 gO Added new target pos. range: 40.578331 m, bearing: 13.686425 deg, lat: 36.779288 deg, lon: -121.859530 deg, deltaT: 3.779870 s, deltaX: -2.288578 m, approachRate: -0.605465 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 40.58 m.bRZgO ProNav: ac range: 40.578331 m, nav range: 40.170715 m, bearing: 13.650043 deg, approach rate: 0.000000 m/s, LOS rate: -0.158928 deg/s, cmd heading: 22.796511 deg, new cmd heading: 22.659744 deg. BgOHeadingCmd: 0.395487 target range: 40.578331 and range: 40.80 m.J}>*" !!!ʎ!))jU`ffD@Z]?颥Bɢ<) +i)|i~/iJ}>5VU=IJ}>Iԩ?@ @@/@*DAT read: user:575> BDAT read: Tx time:00:44:36.6740 $Ping request sent.  ǿ9 Y AhQ7,GEX@A2ٶ>2b>2+M<ٱ2. :AHRS rotation from veh to nav: [[0.890880,-0.448806,-0.070045],[0.454169,0.877389,0.154655],[-0.007953,-0.169591,0.985482]]2H`?`<ܿ??? I+ſ`?i2ٶ>I2a;0YNByRpI}9Y=jGyDE>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250752Q 54rW?Q 94Y)RBQ A+:YQ E:yQ>Q I/@DI]$;i> >4y Bɮ iA 5Ej)gO5DNOT Ignoring new targets: 40.58 m.b1R=FZ=FgOM ProNav: ac range: 40.578331 m, nav range: 39.928482 m, bearing: 13.582441 deg, approach rate: -0.619443 m/s, LOS rate: -0.173922 deg/s, cmd heading: 22.659743 deg, new cmd heading: 22.523719 deg. BM%gOMHeadingCmd: 0.393113 target range: 40.578331 and range: 40.80 m.UF>Q*Q"Q QQYYYʎYaajaZee?颍BɢCY) 1i)F)顙i,iF>p\=IF>I <@  @ @ 1@^A5dO=1I&bCommunications Fault in component: RDI_PathfinderIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502741Y E  E E &E "E :*E L_:VE 4ZE a @a @a @a @B <A <B >B CB IB ՁBB =B B zDB l;B *ENW7,`X@AF?>F>F;ٱFM/ RAHRS rotation from veh to nav: [[0.891300,-0.447718,-0.071643],[0.453365,0.877684,0.155342],[-0.006670,-0.170937,0.985259]]FH`? kܿ3W? ?B?Q{Dſ>?iF?>IFka;FѐCYZByZaIab@Powering downbDVDkyUO%]2=ٔ]6Q-]>9aYa=ejGyeװFe[Ee>qQ 5u4ul?Q 9}4ui)uSBQ A} :YyQ E}m:y}>Q I}/@uɠDIu:iuZa?uIC4yɮAPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 40.58 m.bR:Z:gO ProNav: ac range: 40.578331 m, nav range: 39.665058 m, bearing: 13.508322 deg, approach rate: -0.575743 m/s, LOS rate: -0.163072 deg/s, cmd heading: 22.523720 deg, new cmd heading: 22.374497 deg. B8gOHeadingCmd: 0.390509 target range: 40.578331 and range: 40.80 m.>*" ʎjZ`U?Bɢ+*N) )8i),Tit)i%>%}̢%G*a=I%>I)checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755179A@@ @@4@@>@!>q^A &V=A ?A ?ԙ AU .AIa Iq } checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006791O >]7,JzX@A2>2x>2x;ٱ2a0 :AHRS rotation from veh to nav: [[0.891433,-0.447180,-0.073327],[0.453122,0.877769,0.155568],[-0.005202,-0.171905,0.985100]]2H?ܿ@Ų`?@? ?Ouƿ?i2>I2za;0YBByBWIbD~VD~βy N% t=ٔ }Q- ?9 ?Y ?=jGyXE?Q 5%4{?Q 9-4C)Q A-9Y)Q E-@:y->Q I-/@ϠDI ;i?eF4y=Bɮ=A9jYgOeDNOT Ignoring new targets: 40.58 m.baRmJ<ZmJ<gOu ProNav: ac range: 40.578331 m, nav range: 39.472363 m, bearing: 13.453541 deg, approach rate: -0.576233 m/s, LOS rate: -0.164615 deg/s, cmd heading: 22.374498 deg, new cmd heading: 22.264401 deg. B}gO}HeadingCmd: 0.388587 target range: 40.578331 and range: 40.80 m.}>*" ʎjZ%?颽Bɢ w) <=i)̕tiq&i>7IE  E E 'E "E ,:*E [:VE '4ZE BE  ud7,X@A6>6f:>6~;ٱ6ݱ1 BAHRS rotation from veh to nav: [[0.891926,-0.445977,-0.074654],[0.452165,0.878233,0.155734],[-0.003891,-0.172659,0.984974]]6H?ܿ`G? |?@? oƿ ?i6>I6ga;6͐CYJByJGIPPbDRVDRk2yZ%%ZQ=ٔ^#\Q-^>9b"?Yb"?=bjGybذFb{4Ef>dQ 5j4f?Q 9j4f)fTBQ An9YlQ En:yn->Q Ir/@fנDIf;if?fVI4ytɮvAtjgODNOT Ignoring new targets: 40.58 m.bR=Z=gO- ProNav: ac range: 40.578331 m, nav range: 39.247429 m, bearing: 13.389267 deg, approach rate: -0.575131 m/s, LOS rate: -0.165284 deg/s, cmd heading: 22.264402 deg, new cmd heading: 22.135117 deg. B->gO5HeadingCmd: 0.386331 target range: 40.578331 and range: 40.80 m.5">1*1"1 11999ʎAAAjAZE`3G?mBɢup,p)q ucDiq)u?yyi}`#i">d]i=I">IԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510951>@! @!@!@!E- E-E-#E)"E-:*E-V:VE-3ZE)a=@a=@a=@a=@BM>BMCBMIBMBBM =BIBM{DBMk;BM*E^A=<|^= A I & dClearing failed state for component RDI_Pathfinderq I O  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7627459 Mj7,ԭX@A2o>2>2#;ٱ21 :AHRS rotation from veh to nav: [[0.892567,-0.444496,-0.075818],[0.450909,0.878959,0.155278],[-0.002379,-0.172784,0.984957]]2H?rܿh@?@o ?)? }c ƿĄ?i2o>I2Qa;2ϐCY^}BybDIf:Expecting PD13 message formatbDvVDvydM%E=ٔ 'oQ- >9 Y=jGy^E>Q 54d?Q 94)VBQ A9YQ E9yt>Q I/@ߠDI:i@L4yBɮA6EjAgOEDNOT Ignoring new targets: 40.58 m.bARM<ZM<gO ProNav: ac range: 40.578331 m, nav range: 38.994621 m, bearing: 13.316670 deg, approach rate: -0.570404 m/s, LOS rate: -0.164861 deg/s, cmd heading: 22.135117 deg, new cmd heading: 21.988981 deg. BۖgOHeadingCmd: 0.383780 target range: 40.578331 and range: 40.80 m.~>*" ʎjZMO@ Bɢ%rId)! %Fi!)%ER!)i-i5~>5镺5l=I5~>I1<@ @@@@@[A%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0148699EM EIEM"EI"EM:*EIVEM(3ZEIBEM q7,X@A2v}>2.g>2Y@T:ٱ243 >AHRS rotation from veh to nav: [[0.893538,-0.442255,-0.077462],[0.448987,0.879827,0.155935],[-0.000810,-0.174113,0.984725]]2Hݗ?Mܿ Գ 2?'? ? JWIƿނ?i2v}>I2Ua;2͐CYF{ByFBIbDRVDRyZ;ֻ%ZO=ٔ^Q-^>9\Y\=^jGy^ٰFb޲Eb>dQ 5j4f?Q 9j4f)fWBQ Ano9YlQ En9yn\>Q In/@fDIf ;if@fM4yrBɮrAr7Ej gO DNOT Ignoring new targets: 40.58 m.bR}@Z}@gO% ProNav: ac range: 40.578331 m, nav range: 38.781635 m, bearing: 13.255456 deg, approach rate: -0.582338 m/s, LOS rate: -0.168286 deg/s, cmd heading: 21.988981 deg, new cmd heading: 21.865883 deg. B%gO-HeadingCmd: 0.381632 target range: 40.578331 and range: 40.80 m.-9e>)*1"1 11199ʎ999jAZEr@m Buchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266787ɢ}iB)y }Hiy)}8yii9e> il=I 9e>I)i2@ @@0@ԉ^Ac=% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518779Ia Iq O >Թ E=  E= E= $E9 "E= :*E= C:VE= 4ZE9 aE @aE @aE @aE @AI AI BU >BU CBU rIBU BBU =BQ BQ BU ml;BU *Ew7,+X@AJz>J>JւٱJ_6P ^AHRS rotation from veh to nav: [[0.894817,-0.439279,-0.079598],[0.446432,0.880709,0.158271],[0.000578,-0.177159,0.984182]]JHW?&ܿ `Y?.?7B?ZB?#ƿk~?iJz>IJJa;JϐCYmBy1I <bDVDkyl%+=ٔN>Q->9 Y = jGy ڰFûE>Q 5%4Ǝ?Q 9%4)YBQ A%B9Y!Q E%9y%>Q I-/@DI:i*9@O4y1ɮ5* A1PUB*** querying acoustic contact ***Q QjYgO]DNOT Ignoring new targets: 40.58 m.baRe>Ze>gOu ProNav: ac range: 40.578331 m, nav range: 38.506344 m, bearing: 13.176513 deg, approach rate: -0.575337 m/s, LOS rate: -0.166165 deg/s, cmd heading: 21.865882 deg, new cmd heading: 21.706867 deg. Bu gO}HeadingCmd: 0.378856 target range: 40.578331 and range: 40.80 m.}t>y*" ʎjZ@颽 Bɢ o) Oi)GлiGit>ʌ:-l=It>Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771535;@ @@0@^A I I! ! O- >= BDAT read: Rx Time:00:44:39.1298 E TRx dataTimestamp_ set to:1761698679.925119E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023780)~7,fX@Ajj"x>j>jKٱj7 zAHRS rotation from veh to nav: [[0.895861,-0.436827,-0.081340],[0.444329,0.881649,0.158953],[0.002278,-0.178541,0.983930]]|jH ?`ۿ@Ҵ`o?x6?X?ub?qƿ@Z|?ijj"x>IjtIa;jΐC  r@i I    _AI)i)!I%_A!! !%LC-^A)i))i)-^A)5 5EI1 1)5S{A119Y9YEpByE4I IIbD]VD]0ymp<%mh=ٔm]Q-m>9qYq=ujGyq}ڻE}>Q 54~֎?Q 94`)ZBQ A9YQ E9y>Q I/@DI:iO@P4yBɮ" A8EjgODNOT Ignoring new targets: 40.58 m.bR%>Z%>E EE&E"E[:*EVE4ZEBE;a :E>;agOU ProNav: ac range: 40.578331 m, nav range: 38.303749 m, bearing: 13.118411 deg, approach rate: -0.576602 m/s, LOS rate: -0.166238 deg/s, cmd heading: 21.706867 deg, new cmd heading: 21.590048 deg. B]gO]HeadingCmd: 0.376817 target range: 40.578331 and range: 40.80 m.e7>a*a"a aaaiiʎiiqjZ  @Bɢ") NOi)Qi+i7>ைD3k=I7>II)?@ @@4@@%>@>YiߑIߑchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274972^Ac=I1 IA OU >ԩ 7,t@X@A2ƥu>2~>2\Vwٱ2; :AHRS rotation from veh to nav: [[0.896933,-0.434133,-0.083902],[0.442150,0.882225,0.161809],[0.003774,-0.182229,0.983249]]2H ?`ۿ@z 0L? 0;?`)?n?JSǿ@v?i2ƥu>I26a;2ϐCYiBy+IbD-VD-y=%=M=ٔEvQ-E>9AYA=MjGyIMǻEM>QyQ 54U|莊?Q 94U)U\BQ A8YQ EY9y>Q I/@UDIUd9*9"9 999AAʎAAIjIZM`<@uBɢ}̂)y }Siy)}yiiܿ>hIܿ>IDAT read: 00:44:39.1298 LVL= 32752, 32753, 25762, 32755, AGC= 65, IDX= 414,-0.18,-2.642, 2.254,-1.945,-2.636, PHS= 0.096,-1.348, 0.647, RAW= 165.5, 6.8, CAL= 164.9, 6.6, ROT= 345.1, -6.6 Ygot valid direction response: 00:44:39.1298 LVL= 32752, 32753, 25762, 32755, AGC= 65, IDX= 414,-0.18,-2.642, 2.254,-1.945,-2.636, PHS= 0.096,-1.348, 0.647, RAW= 165.5, 6.8, CAL= 164.9, 6.6, ROT= 345.1, -6.6 -@@) @)@- 3@)]PDAT read: Bearing 177.0, -15.9 (Local) e~Local bearing/azimuth received: Bearing 177.0, -15.9 (Local) mDAT read: Range 11 to 50 : 38.7 m (Round-trip 51.7 ms) speed 0.5 m/s uR#Rx 1: Read range and direction messages.}^direction in FSK: [0.959972,-0.255429,0.114937]}Fpublishing direction and range infoyy}/m?ό/XпNZl?Y}By}y}d y)}AI}=ԩB>BCBYIBBB =BBzDBl;B+EE  E E $E "E :*E  n:VE 4ZE BE <2E <JE ;:E ;BCBCBĔCB =B =C5i}D}ˡ%?}8@}=}18@ }=)}~@I}뽩yy}QjD?g?,w? }WK?)})RI}%i}뽩yyT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A5c=IIO> % *DAT read: user:576> - BDAT read: Tx time:00:44:40.5240 - $Ping request sent.- Bv<>BRٱB'? NAHRS rotation from veh to nav: [[0.898012,-0.431397,-0.086437],[0.439941,0.882770,0.164829],[0.005198,-0.186045,0.982527]]BH?ۿ '????PJu?Uǿ@p?iBH!s>IBa;B͐CYrBy6I@AAAbDVDy'=%==ٔWQ->9!Y!=%jGy%۰F%vE%>)Q 5U4-?Q 9]4-4)-_BQ A]8YYQ E]09y]E>Q I]/@-DI-;i-@-R4yeBɮm! AiMX@AJBRBja>?;pyB@PtUa#B@r/m?ό/XпNZl?Z%bxB@ @"Ux@zulW?~"?"-?2A:(B"|>-?*zB.BE&?z“~BBZb>gO addTargetRange:: Added new target pos. range: 38.700001 m, deltaT: 3.797152 s, deltaX: -2.099998 m, approachRate: -0.553046 m/s, rangeRepo size: 4 gO% Added new target pos. range: 38.489403 m, bearing: 12.638915 deg, lat: 36.779289 deg, lon: -121.859532 deg, deltaT: 3.797152 s, deltaX: -2.088928 m, approachRate: -0.550130 m/s, posRepo size: 4 j!gO-DNOT Ignoring new targets: 38.49 m.b)RMZIgO] ProNav: ac range: 38.489403 m, nav range: 37.881447 m, bearing: 12.665167 deg, approach rate: 0.000000 m/s, LOS rate: -0.161147 deg/s, cmd heading: 21.457879 deg, new cmd heading: 21.317312 deg. BYgOeHeadingCmd: 0.372057 target range: 38.489403 and range: 38.70 m.eK~>a*a"a iʎjYC@Zt!?Bɢc|)A MOiI)MIIiMiUK~>U3~ULk=IUK~>IY:@ @!@%/@!checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251016bE-4jE4rET0E EE*E"E:*ET:VE(N4ZEa%@a%@a%@a%@1^A Y A1 I9 IQ O] >p)7,IIX@A2q>2p>2ٱ2? :AHRS rotation from veh to nav: [[0.898691,-0.429932,-0.086673],[0.438544,0.883486,0.164717],[0.005757,-0.186040,0.982525]]2H?`ۿ 30`?E?@u?w?`(ǿp?i2q>I2=a;2ΐCYBkByF.IIF=)DbDNVDN1yV%Vd=ٔZ̺Q-Z>9XYX=^jGy\^E^>`Q 5f4bH ?Q 9f4b)baBQ Aj8YhQ Ej9yjz>Q Ij/@b DIbG ;ib@bxS4ynBɮnM Ar/E~Q~Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL~QEntering USBL mode with 120.000000 count pings at 38.700001 m (mode 2.000000 count ).1jgODNOT Ignoring new targets: 38.49 m.bReKZ%eKgO ProNav: ac range: 38.489403 m, nav range: 37.674732 m, bearing: 12.604053 deg, approach rate: -0.598179 m/s, LOS rate: -0.177821 deg/s, cmd heading: 21.317312 deg, new cmd heading: 21.194412 deg. Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504828gOHeadingCmd: 0.369912 target range: 38.489403 and range: 38.70 m.$e>*" ʎjZ ]?)uBɢu )q uSiq)uvyyi}ɠ i$e>iwm=I$e>II)[A=;@9 @A@E/@AQ^AԁAzA checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754887A .AB A B >B CB MIB BB =B B B E  E E "E "E ;*E :VE (3ZE BE tTԩ kO7, bX@AZ/o>Zjn>ZٻٱZݱ> AHRS rotation from veh to nav: [[0.899549,-0.428119,-0.086747],[0.436769,0.884553,0.163702],[0.006648,-0.185147,0.982688]]ZH? Nfۿ5?BN?2?L;{?ǿ.r?iZ/o>IZ_a;XYnBy2IbD-VD-:y=;Z<%=B=ٔE Q-E>9E ?YE ?=MjGyMܰFM]EM>QQ 5]4Ua?Q 9]4Ua)UcBQ Ae8YaQ Ee8yeu>Q Ie/@UDIUj:iUd@UT4ymBɮmC Au0E^@1qjgODNOT Ignoring new targets: 38.49 m.bR1EZ1EgO ProNav: ac range: 38.489403 m, nav range: 37.432026 m, bearing: 12.532183 deg, approach rate: -0.578451 m/s, LOS rate: -0.172400 deg/s, cmd heading: 21.194412 deg, new cmd heading: 21.049741 deg. BgO HeadingCmd: 0.367387 target range: 38.489403 and range: 38.70 m. 0> * "  11119ʎ999j9ZE`:?颍BɢB.ԑ) Ri)ˇ顱ih i0>m9o=I0>Ie9@a @a@m/@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007282Թ^AA ؟AI I O% > w7,|X@A&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259031:n>:>:ٱ:J< BAHRS rotation from veh to nav: [[0.900154,-0.426915,-0.086403],[0.435504,0.885615,0.161314],[0.007653,-0.182836,0.983114]]:H?RۿK?V??`X?`.gǿu?i:n>I:a;:ѐCY^xBy^>I df;bDjVDjfyrF=%rQ=ٔr (Q-r>9v"?Yv"?=vjGyvݰFzjEz>xQ 54z1?Q 94z)zfBQ A[8YQ E8y>Q I /@zDIz ;iz@zT4yBɮ A)q-5P5B*** querying acoustic contact ***1 5xjAgOEDNOT Ignoring new targets: 38.49 m.bARMDZMDgO] ProNav: ac range: 38.489403 m, nav range: 37.206680 m, bearing: 12.465116 deg, approach rate: -0.574166 m/s, LOS rate: -0.171917 deg/s, cmd heading: 21.049741 deg, new cmd heading: 20.914796 deg. B]PgOeHeadingCmd: 0.365032 target range: 38.489403 and range: 38.70 m.e{>a*a"a aiiiiʎqqqjqE EEE"E:*Ei:VEZEa@a@a@a@Z`= ?=Bɢ=*j)A EPNiA)E'AAiMWiM{>M7eUCLr=Iu{>IymG\A?@ @@N0@9 \AYӥAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511502^A-h=I A I I O >G_7,UX@A6-Zm>6X>67ٱ6m8 >AHRS rotation from veh to nav: [[0.900455,-0.426408,-0.085774],[0.434855,0.886697,0.157063],[0.009082,-0.178728,0.983857]]6H`?FJۿ`E?@_?? ?ƿ{?i6-Zm>I6jb;6͐CYFByFTIbDNVDN:2yVڸ=%VN=ٔZkQ-Z>9XYX=^jGy\^E^>`Q 5f4b'C?Q 9f4b)bhBQ Aj18YhQ Ej8yjU>Q Ij/@b"DIb;ib@bT4ypɮroAp|~Q~Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL~Q~Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLj gO DNOT Ignoring new targets: 38.49 m.b R,GZ,GgO% ProNav: ac range: 38.489403 m, nav range: 36.977791 m, bearing: 12.396424 deg, approach rate: -0.576657 m/s, LOS rate: -0.174132 deg/s, cmd heading: 20.914796 deg, new cmd heading: 20.776562 deg. B%WgO-HeadingCmd: 0.362619 target range: 38.489403 and range: 38.70 m.-@>)*)") 11119ʎ999jAZE@((?Bɢ݅) Ei)1ipi@>9\w=I@>IQechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764660m>@i @i@m4@i@})>@}C>B>BCBSIBBB =BB{DBl;B*EE EE%E"Em:*E|:VE 4ZEBEU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0148667,hX@ARR\-ٱR 2 ZAHRS rotation from veh to nav: [[0.900437,-0.426621,-0.084900],[0.434858,0.887610,0.151812],[0.010592,-0.173617,0.984756]]RH@a?@Mۿ?Mg?n??`9ƿ?iR\m>IRy)b;R̐CYbByb_IbDjVDjyrE#=%vF=ٔvIpQ-v>9xYx=zjGyzްFzW7Ez>|Q 54~U?Q 9 4~)~kBQ A 8Y Q E u8y M>Q I /@~*DI~:i~@~+U4yBɮ9A1EjAgOEDNOT Ignoring new targets: 38.49 m.bARUIZ]IgO ProNav: ac range: 38.489403 m, nav range: 36.740871 m, bearing: 12.324426 deg, approach rate: -0.576400 m/s, LOS rate: -0.176294 deg/s, cmd heading: 20.776561 deg, new cmd heading: 20.631636 deg. BQgOHeadingCmd: 0.360090 target range: 38.489403 and range: 38.70 m.]>*" ʎjZ$@Bɢ;) Ai)6;iiU]>UmR]i|=I]]>IYԩ@@ @@3@echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266848^A0p=DD<E EE'E"E:*Ega:VE'4ZEa @a @a @a @A  I I! O- >2q7,B>X@A2m>2 l>2Hٱ2R) :AHRS rotation from veh to nav: [[0.900360,-0.427254,-0.082492],[0.434972,0.889024,0.142951],[0.012261,-0.164590,0.986286]]2H?"Xۿ5?r?:L?N?Dſ?i2m>I2b;2͐CYBByBdIJAAHbDNVDNyV<%VO=ٔVBQ-V>9XYX=ZjGyXZܴ9E^>`Q 5f4bg?Q 9f4b)bnBQ Af7YdQ EfF8yfP>Q If/@b2DIb:iby@bgU4ylɮnAlpjgO DNOT Ignoring new targets: 38.49 m.b R KZ KgO ProNav: ac range: 38.489403 m, nav range: 36.513222 m, bearing: 12.254338 deg, approach rate: -0.574493 m/s, LOS rate: -0.177975 deg/s, cmd heading: 20.631637 deg, new cmd heading: 20.490588 deg. BۢgOHeadingCmd: 0.357628 target range: 38.489403 and range: 38.70 m. >*" ʎchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519008jZ@/@UBɢU)Y ]/@iY)] FYYie:ie >eHmx=Im >Ii 0@  @ @ /@ )9^AmPz=u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770932a Aa Iq A A B >B B fIB BB =B B B l;B %+EI O >E  E E &E "E :*E :VE 4ZE BE 29>2I2pb;2ѐCYvByvtIbD~VD~Ny =% D=ٔ (Q->9!Y)=5jGAy5߰FErmEM>IQ 5U4Mz?Q 9]4M)MqBQ A]7YYQ E]!8y]>Q Ie/@M:DIM!;iM@MU4ymBɮmAm2EjgODNOT Ignoring new targets: 38.49 m.bRfNZfNgO ProNav: ac range: 38.489403 m, nav range: 36.270374 m, bearing: 12.178758 deg, approach rate: -0.575940 m/s, LOS rate: -0.180448 deg/s, cmd heading: 20.490588 deg, new cmd heading: 20.338415 deg. BgOHeadingCmd: 0.354972 target range: 38.489403 and range: 38.70 m.>*" ʎjZ`h @ɢę) 9i)8wOibi>>pۆ=I>I 7@ @@@@@iBDAT read: Rx Time:00:44:42.9765 TRx dataTimestamp_ set to:1761698683.721073checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023909^AuPڀ=AyzAyԙA I I O > {ž7,X@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2749516;l>6>6]dٱ6Y' BAHRS rotation from veh to nav: [[0.900879,-0.426031,-0.083155],[0.433847,0.889889,0.140977],[0.013938,-0.163080,0.986514]]6H?DۿI&?@y?@ ??Ŀ?i6;l>I6Ab;6АCYJByJIbDRVDRfyZ*=%ZP=ٔ^Q-^>9\Y\=bjGy`bEb>dQ 5j4fx?Q 9j4f)ftBQ Aj7YlQ En8yn>Q In/@fADIf;ifb@fU4yrBɮr]AtPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 38.49 m.bԙRGZGgO ProNav: ac range: 38.489403 m, nav range: 36.047668 m, bearing: 12.108834 deg, approach rate: -0.550943 m/s, LOS rate: -0.174049 deg/s, cmd heading: 20.338415 deg, new cmd heading: 20.197705 deg. BCgOHeadingCmd: 0.352516 target range: 38.489403 and range: 38.70 m. }>*"   ʎQyyjZa @Bɢv) 2i) iYi~E EE#E"E:*ET:VE3ZEa@a@a@a@i }>3=I }>I :@ @@/@DAT read: 00:44:42.9765 LVL= 32752, 32753, 27570, 32755, AGC= 62, IDX= 413,-0.25, 1.854, 0.505, 2.514, 1.847, PHS= 0.109,-1.297, 0.623, RAW= 165.0, 6.6, CAL= 164.4, 6.2, ROT= 345.6, -6.2  Ygot valid direction response: 00:44:42.9765 LVL= 32752, 32753, 27570, 32755, AGC= 62, IDX= 413,-0.25, 1.854, 0.505, 2.514, 1.847, PHS= 0.109,-1.297, 0.623, RAW= 165.0, 6.6, CAL= 164.4, 6.2, ROT= 345.6, -6.2 PDAT read: Bearing 176.7, -14.4 (Local) ~Local bearing/azimuth received: Bearing 176.7, -14.4 (Local) %DAT read: Range 11 to 50 : 36.3 m (Round-trip 48.5 ms) speed 0.4 m/s -R#Rx 1: Read range and direction messages.5^direction in FSK: [0.962918,-0.247235,0.107999]5Fpublishing direction and range infoy.49?;[gϿNiإ?Y3Bk )>Id;=i|?N8@=7@ k=)@Ikݽúa{?Mx?t=? H?)aIikݽUT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.^Au S=9 A I I O >U7,X@A2lj>2>2ceٱ2) :AHRS rotation from veh to nav: [[0.901643,-0.424343,-0.083506],[0.432254,0.890475,0.142164],[0.014034,-0.164277,0.986314]]2H B?n(ۿ` ? ~?@m2??`ſ@?i2lj>I2b;2ΐCY^BybI df4<bDjVDjky~I=%F=ٔ TsQ- >9 Y =jGyFϋE>Q 5%4I?Q 9%4)wBQ A-w7Y)Q E-7y->Q I-/@IDI]:i@U4y5’Bɮ5!A=3E\X@AJiBRiBj]>aA@v"!šjn1@r.49?;[gϿNiإ?Zbkݽ+UgA@.!6@Aօ43@zr^[@?L?SWL.?2A@:: B"tl?*xXBWB“.B<BuW>gO% addTargetRange:: Added new target pos. range: 36.299999 m, deltaT: 3.778856 s, deltaX: -2.400002 m, approachRate: -0.635113 m/s, rangeRepo size: 4 gO= Added new target pos. range: 36.103340 m, bearing: 12.368814 deg, lat: 36.779289 deg, lon: -121.859532 deg, deltaT: 3.778856 s, deltaX: -2.386063 m, approachRate: -0.631425 m/s, posRepo size: 4 j9gO=DNOT Ignoring new targets: 36.10 m.bAREZAgO ProNav: ac range: 36.103340 m, nav range: 35.809250 m, bearing: 12.033691 deg, approach rate: 0.000000 m/s, LOS rate: -0.174049 deg/s, cmd heading: 20.197704 deg, new cmd heading: 20.050823 deg. BgOHeadingCmd: 0.349953 target range: 36.103340 and range: 36.30 m.->*" ʎj`f&B@5*DAT read: user:577> =BDAT read: Tx time:00:44:44.2239 =$Ping request sent.="(=I->IB5>B1B5IB5BB5 =B1B5|DB5m;B5}+EAu3@q @q@}/@yE EEE"Em:*E[:VEZEBEU7,e1X@AJLh>J<>JtgٱJE@' VAHRS rotation from veh to nav: [[0.902536,-0.422620,-0.082589],[0.430382,0.891604,0.140764],[0.014147,-0.162590,0.986592]]JH`? 4 ۿ@$_?`?@? O?Ŀ *?iJLh>IJga;HY^āBy^IbDnVDnyp<%J=ٔϓQ->9  ?Y  ?= jGy E>Q 5%4?Q 9%4)zBQ A%H7Y!Q E%7y%>Q I-/@PDI ;i@AU4y5ĒBɮ5A1jYgO]DNOT Ignoring new targets: 36.10 m.bYRe^Ze^gOu ProNav: ac range: 36.103340 m, nav range: 35.578152 m, bearing: 11.960683 deg, approach rate: -0.612721 m/s, LOS rate: -0.194826 deg/s, cmd heading: 20.050823 deg, new cmd heading: 19.903859 deg. BuFgO}HeadingCmd: 0.347388 target range: 36.103340 and range: 36.30 m.}ܱ>y*y"y yʎjZ?1ɢ=˃)9 =*i9)=j99ԁi%\i-ܱ>-2*-ϊ=I-ܱ>I1I9)=ZA?@ @@'2@@%>@4>ԩUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502948^Aff=E EEE"E:*EP:VEZEa@a@a@a@A ؟AI I O > ۯ7,EKX@AY=ҁBy=IbDMVDMy]b=%]F=ٔeQ-e>9e"?Ye"?=mjGymFmEm>qQ 5}4uQď?Q 9}4u,)u~BQ A"7YQ E7yQ I/@uXDIu` ;iuAuV4yɮAjchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754934gODNOT Ignoring new targets: 36.10 m.bRTZTgO ProNav: ac range: 36.103340 m, nav range: 35.340439 m, bearing: 11.884571 deg, approach rate: -0.575299 m/s, LOS rate: -0.185440 deg/s, cmd heading: 19.903859 deg, new cmd heading: 19.750612 deg. BgOHeadingCmd: 0.344713 target range: 36.103340 and range: 36.30 m.@~>*" ʎjZ@?!ɢ%>t)! %s#i!)-fs))i-Di5@~>5q5J=I5@~>I9@ @@4@^Az=Q u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006941A I I O >BE <AA BI BM CBM IBM ՁBBM =BM BDBI BM -n;BM +EBCBCBB =B =C&'6E  E E &E "E I:*E rN:VE 4ZE BE 6C>6gٱ6. >AHRS rotation from veh to nav: [[0.904883,-0.417105,-0.084911],[0.425425,0.892836,0.147846],[0.014144,-0.169906,0.985359]]6H?ױڿ(:? ? ?`?|ſ?i6߮b>I6a;6ϐCYnԁBynIBAbDVDfy!<%O=ٔ" 7Q->9Y!=%jGy!%cE%>)Q 554-L֏?Q 954-г)-BQ A=7Y9Q E=`7y=>Q I=/@-_DI- ;i-/A-'V4yMǒBɮMAM4EjigOuDNOT Ignoring new targets: 36.10 m.bqRuPZuPgO ProNav: ac range: 36.103340 m, nav range: 35.113144 m, bearing: 11.812891 deg, approach rate: -0.575341 m/s, LOS rate: -0.182616 deg/s, cmd heading: 19.750612 deg, new cmd heading: 19.606323 deg. BgOHeadingCmd: 0.342195 target range: 36.103340 and range: 36.30 m.+4>*" ʎQQjYZ]??Bɢ;o) "i)k{iݻi+4> #=I+4>IQm7@i @i@m/@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258865ԁ^Ax=Ա A I I O >7,~X@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510865:|5_>:F>:Gbٱ:3@ vAHRS rotation from veh to nav: [[0.906325,-0.413727,-0.086049],[0.422354,0.893531,0.152379],[0.013844,-0.174448,0.984569]]:H?`zڿF?Η?@$?-Z?KTƿ ?i:|5_>I:b;:ΐCY~܁By~IbDVD:y5A=%5H=ٔ=@:Q-E>9IYI=MjGyMFUEU>aQ 5u4e 鏊?Q 9u4e`)eBQ Au6YyQ E}57y};>Q I}/@egDIeu;ieAe5V4yɮUAPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 36.10 m.bR KZ KbEu4jEuJ4rEu:0E5 E5E5(E1"E5:*E5i:VE5c44ZE1aE@aE@aE@aE@gO ProNav: ac range: 36.103340 m, nav range: 34.876560 m, bearing: 11.738613 deg, approach rate: -0.561594 m/s, LOS rate: -0.177513 deg/s, cmd heading: 19.606323 deg, new cmd heading: 19.456761 deg. BogOHeadingCmd: 0.339585 target range: 36.103340 and range: 36.30 m.ޭ>*" ʎjZ@?ɢ o)  i )5#11i5ػi=ޭ>=="=I=ޭ>IAMe>iM>ԩ5@ @@@@@ZAiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763068^AM Nw= A I I O >7,՘X@A2y[>2>2}Zٱ2 9 RAHRS rotation from veh to nav: [[0.907711,-0.410409,-0.087324],[0.419385,0.894002,0.157725],[0.013336,-0.179791,0.983614]]2H@ ?%Dڿ@Z2?ਜ਼?Q0?P?aǿy?i2y[>I29b;2͐CYZByZI|bDVDky<%L=ٔt:Q->9Y!=%jGy!%E%>)Q 554-+?Q 954- )-BQ A56Y9Q E=7y=>Q I=/@-nDI- ;i-A-@V4yE˒BɮEGAM+EjigOuDNOT Ignoring new targets: 36.10 m.bqRuUZuUgO ProNav: ac range: 36.103340 m, nav range: 34.647800 m, bearing: 11.667070 deg, approach rate: -0.591786 m/s, LOS rate: -0.186300 deg/s, cmd heading: 19.456760 deg, new cmd heading: 19.312729 deg. BygOHeadingCmd: 0.337071 target range: 36.103340 and range: 36.30 m.>*" ʎjZ 7@ɢy) i)…iIԻi>T1=I>I=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015669E;@A @I@M/@IB>BCBIBBB =BCDB{DBn;B,E!EE EEEE'EA"EEO:*EE:VEE'4ZEABEE a  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2671217,FX@ANV>N>N^ٱN<@ ZAHRS rotation from veh to nav: [[0.909847,-0.405166,-0.089551],[0.414722,0.894995,0.164285],[0.013585,-0.186613,0.982340]]NHv?`>ٿ`춿@ϊ?`̣?L?ҋ?ǿ`So?iNV>INLQb;NϐCYb݁BybI hj<bDjVDjNyrNռ%rM=ٔv#Q-v>9tYt=zjGyzFz8SEz>|Q 54~d ?Q 94~)~BQ A 6Y Q E 6y >Q I /@~vDI~3:i~z!A~JV4yɮqAAjgODNOT Ignoring new targets: 36.10 m.bR?FZ?FgO ProNav: ac range: 36.103340 m, nav range: 34.418251 m, bearing: 11.596300 deg, approach rate: -0.558461 m/s, LOS rate: -0.173322 deg/s, cmd heading: 19.312729 deg, new cmd heading: 19.170245 deg. BgOHeadingCmd: 0.334584 target range: 36.103340 and range: 36.30 m.N>*"  ʎjZ%@l[@iɢm_k) Ei)dc顑i ϻiN>׹1ڃ=IN>IiE3@I @I@I@IMDDAT read: Rx Time:00:44:46.3988 MTRx dataTimestamp_ set to:1761698686.997710UPDAT read: Bearing 176.1, -14.7 (Local) ]~Local bearing/azimuth received: Bearing 176.1, -14.7 (Local) mDAT read: Range 11 to 50 : 34.4 m (trip time 22.9 ms) speed 0.4 DAT read: 00:44:46.3988 LVL= 32752, 32753, 27986, 32755, AGC= 66, IDX= 417,-0.24,-0.437,-1.797, 0.220,-0.412, PHS= 0.077,-1.340, 0.589, RAW= 164.8, 7.8, CAL= 164.4, 7.9, ROT= 345.6, -7.9 Ygot valid direction response: 00:44:46.3988 LVL= 32752, 32753, 27986, 32755, AGC= 66, IDX= 417,-0.24,-0.437,-1.797, 0.220,-0.412, PHS= 0.077,-1.340, 0.589, RAW= 164.8, 7.8, CAL= 164.4, 7.9, ROT= 345.6, -7.9 R#Rx 1: Read range and direction messages.^direction in FSK: [0.959391,-0.246330,0.137445]Fpublishing direction and range infoyIMKdXT?_RĘϿyjȗ?YM BIIIMRm I)MBIM-=iMM?MX8@M'g >I M0 >)IIM0 IIԑMjz??K]Z?+gu? M]H?)M  IIiM0 IIchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.569185E EE%E"E:*E1]:VE 4ZEa@a@a@a@ CmG`]Aǿ9`]AYƬA^A A= .AII IY Oe >D7,X@AFT>F^">FiٱFXB RAHRS rotation from veh to nav: [[0.910515,-0.403402,-0.090712],[0.413229,0.895368,0.166006],[0.014253,-0.188636,0.981944]]FH`"?Uٿ8Yr?ڦ???0?@7%ȿ@l?iFT>IFYb;F͐CY^ہBy^IbDfVDfyn%nK=ٔr]ٺQ-r>9r ?Yr ?=rjGypvEv>xQ 5~4z?Q 9~4zc)zBQ Ab6YQ E6y/>Q I/@z}DIzN;iz'AzQV4y ΒBɮ A ,Ey}{ڿX@AJ}BR}Bj}XP>}6li@@6 RFx[?@r}KdXT?_RĘϿyjȗ?Zyb}0 }/on@@H1@t7[H@z}gS:?e}aNo?|w'?2}@:}pB"}?*}OΒB}5B}tl?y“y}B}BO>gO] addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 2.773340 s, deltaX: -1.899998 m, approachRate: -0.685094 m/s, rangeRepo size: 4 gOm Added new target pos. range: 34.212997 m, bearing: 11.689206 deg, lat: 36.779287 deg, lon: -121.859532 deg, deltaT: 2.773340 s, deltaX: -1.890343 m, approachRate: -0.681612 m/s, posRepo size: 4 jigOuDNOT Ignoring new targets: 34.21 m.bqRuZqgO ProNav: ac range: 34.212997 m, nav range: 33.975548 m, bearing: 11.596888 deg, approach rate: 0.000000 m/s, LOS rate: -0.173322 deg/s, cmd heading: 19.170246 deg, new cmd heading: 19.033783 deg. BgOHeadingCmd: 0.332202 target range: 34.212997 and range: 34.40 m.g>*" checking for new query: numPingsReceived=1, elapsed TxPingTime=2.771001ԡʎj@33A@Zwʻig>eƹ =Ig>Iqy ?@  @ @ 4@ @%>@%=^A=AAU DDAT read: Rx Time:00:44:46.8985 ] TRx dataTimestamp_ set to:1761698687.501687e PDAT read: Bearing 175.2, -14.1 (Local) e ~Local bearing/azimuth received: Bearing 175.2, -14.1 (Local) u DAT read: Range 11 to 50 : 33.9 m (trip time 22.6 ms) speed 0.4  DAT read: 00:44:46.8985 LVL= 31792, 32753, 25154, 32755, AGC= 64, IDX= 510, 0.04,-0.722,-2.105,-0.073,-0.722, PHS= 0.102,-1.338, 0.605, RAW= 164.5, 7.3, CAL= 164.0, 7.2, ROT= 346.0, -7.2  Ygot valid direction response: 00:44:46.8985 LVL= 31792, 32753, 25154, 32755, AGC= 64, IDX= 510, 0.04,-0.722,-2.105,-0.073,-0.722, PHS= 0.102,-1.338, 0.605, RAW= 164.5, 7.3, CAL= 164.0, 7.2, ROT= 346.0, -7.2  R#Rx 2: Read range and direction messages. ^direction in FSK: [0.962645,-0.240014,0.125333] Fpublishing direction and range infoyQ U oi:?!ȸοcK ?YU BQ U 0|Q U Bb Q )U @IU `=iU CU H?U 7@U w>U 07@ U >)U ,>@IU Q Q U yO?5ߩ9?^~7? U F?)U tIU 5ziU Q Q  checking for new query: numPingsReceived=2, elapsed TxPingTime=3.040544A A ?AB ؿ>B CB IB BB =B B xDB jo;B N,EE  E E $E "E m:*E g:VE 4ZE BE U(7,iX@Ab;S>bI>b!yٱb7F jAHRS rotation from veh to nav: [[0.911184,-0.401410,-0.092807],[0.411718,0.895474,0.169156],[0.015205,-0.192342,0.981210]]bHk(? ٿ@/·Y???#?`ȿf?ib;S>Ib+b;bΐCY]فBy]IbDmVDmN2yB%;=ٔQ->9"?Y"?=jGyFiwE>Q 5%44?Q 9%4֧)BQ A%76Y!Q E%6y-\>Q I-/@DI:i.AXV4yUђBɮUAU-EX@AJBRBj4T>d4:@@K_/ ~7@roi:?!ȸοcK ?Z5zbRg(6@@ wR@2Nб@z0?Q7??2@:B"gO addTargetRange:: Added new target pos. range: 33.900002 m, deltaT: 0.503977 s, deltaX: -0.500000 m, approachRate: -0.992109 m/s, rangeRepo size: 4 gO Added new target pos. range: 33.714119 m, bearing: 11.895284 deg, lat: 36.779287 deg, lon: -121.859531 deg, deltaT: 0.503977 s, deltaX: -0.498878 m, approachRate: -0.989883 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 33.71 m.bRZgOM ProNav: ac range: 33.714119 m, nav range: 33.740364 m, bearing: 11.680523 deg, approach rate: 0.000000 m/s, LOS rate: -0.173322 deg/s, cmd heading: 19.033782 deg, new cmd heading: 18.876364 deg. BIgOUHeadingCmd: 0.329455 target range: 33.714119 and range: 33.90 m.UI>Q*Q"Q YYYYaʎaaaje@3@@Zm+?ɢEp) } i)`i).ŻiI>=II>Ichecking for new query: numPingsReceived=2, elapsed TxPingTime=3.275555!=@ @@4@Q^A =y A I I O > DDAT read: Rx Time:00:44:47.3984  TRx dataTimestamp_ set to:1761698688.009595 PDAT read: Bearing 176.6, -14.5 (Local)  ~Local bearing/azimuth received: Bearing 176.6, -14.5 (Local)  DAT read: Range 11 to 50 : 33.8 m (trip time 22.5 ms) speed 0.4  DAT read: 00:44:47.3984 LVL= 32752, 32753, 27154, 32755, AGC= 65, IDX= 509, 0.25, 1.455, 0.053, 2.106, 1.486, PHS= 0.071,-1.387, 0.577, RAW= 164.3, 8.4, CAL= 164.0, 8.7, ROT= 346.0, -8.7  Ygot valid direction response: 00:44:47.3984 LVL= 32752, 32753, 27154, 32755, AGC= 65, IDX= 509, 0.25, 1.455, 0.053, 2.106, 1.486, PHS= 0.071,-1.387, 0.577, RAW= 164.3, 8.4, CAL= 164.0, 8.7, ROT= 346.0, -8.7  R#Rx 3: Read range and direction messages. ^direction in FSK: [0.959131,-0.239138,0.151261] Fpublishing direction and range infoy  @05c4?&Z&οni\?Y 3B nn8,-X@Aj )AIsh=i7F?^7@Q > |>)I|H`?lS=q"?(? 9F?)cIi|Fchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.567459DlzDlEr ErEpEp"Er:*Er:VEpZEpav@av@az@az@5%Q>5>>5邼ٱ5J eAHRS rotation from veh to nav: [[0.912010,-0.399094,-0.094662],[0.409856,0.895707,0.172414],[0.015980,-0.196042,0.980465]]5H@0/?Šٿ`;;?@?@?`]?ɿ_?i5%Q>I5Rb;1YρByIԙ@AbDVDk1y]^/%e8=ٔeQ-e>9iYi=mjGyim]E>Q 54H?Q 94C)BQ A6YQ E}6yX>Q I/@DI:i(6A]V4yIɮUAQ4X@AJuBRuBjRX>Eu%@@d˼ 3UxV@r@05c4?&Z&οni\?Zb|D@@̔1@v≽.N@zvc c?xV=?:Z?2@:B"j 8ܚ?*BB?“=BEBdQ>gO addTargetRange:: Added new target pos. range: 33.799999 m, deltaT: 0.507908 s, deltaX: -0.100002 m, approachRate: -0.196891 m/s, rangeRepo size: 4 gO  Added new target pos. range: 33.614662 m, bearing: 12.103964 deg, lat: 36.779283 deg, lon: -121.859531 deg, deltaT: 0.507908 s, deltaX: -0.099457 m, approachRate: -0.195817 m/s, posRepo size: 4 j gODNOT Ignoring new targets: 33.61 m.bRZgOU ProNav: ac range: 33.614662 m, nav range: 33.068169 m, bearing: 11.748229 deg, approach rate: 0.000000 m/s, LOS rate: -0.173322 deg/s, cmd heading: 18.876363 deg, new cmd heading: 18.716815 deg. BQgO]HeadingCmd: 0.326670 target range: 33.614662 and range: 33.80 m.]LA>Y*Y"a aaʎj`f@@Z8?ɢFw) [%i) /  i oiLA>P=ILA>I?@ @@@ checking for new query: numPingsReceived=3, elapsed TxPingTime=3.780759^A b$=! I I) O5 >w 8,X@A:N>:$>:⊼ٱ:I BAHRS rotation from veh to nav: [[0.913002,-0.396808,-0.094720],[0.407604,0.896933,0.171378],[0.016953,-0.195077,0.980641]]:HO7?Keٿ`?-???%\?Fȿ ja?i:N>I:eb;:ːCYNByNIbDVVDV y^ᄽ%bW=ٔb(Q-b>9`Yd=fjGyfFfyԻEf>hQ 5n4jY?Q 9r4j%)jBQ Ar5YpQ ErM6yr>Q Ir/@jDIj:ijA*A"A AAIIIʎIQQjQZU?}DDAT read: Rx Time:00:44:47.8981 TRx dataTimestamp_ set to:1761698688.509793PDAT read: Bearing 174.3, -13.7 (Local) ~Local bearing/azimuth received: Bearing 174.3, -13.7 (Local) DAT read: Range 11 to 50 : 33.3 m (trip time 22.2 ms) speed 0.5 DAT read: 00:44:47.8981 LVL= 32752, 32753, 26402, 32755, AGC= 65, IDX= 507,-0.34,-2.375, 2.521,-1.729,-2.392, PHS= 0.119,-1.326, 0.619, RAW= 164.3, 6.8, CAL= 163.7, 6.5, ROT= 346.3, -6.5 B>BBBB =BByDBo;Bj,E颡Ygot valid direction response: 00:44:47.8981 LVL= 32752, 32753, 26402, 32755, AGC= 65, IDX= 507,-0.34,-2.375, 2.521,-1.729,-2.392, PHS= 0.119,-1.326, 0.619, RAW= 164.3, 6.8, CAL= 163.7, 6.5, ROT= 346.3, -6.5 R#Rx 4: Read range and direction messages.^direction in FSK: [0.965304,-0.235316,0.113203]Fpublishing direction and range infoɢs) +i)uig庻yy}81?{ο5?Y}3Byyy}"g y)yI}F=i}^}v?y}=}6@ }V=)}i@I}V轩yy}d[?;;G4?}hqa5? } F?)};I}Tti}V轩yychecking for new query: numPingsReceived=4, elapsed TxPingTime=4.077187E  E E &E "E :*E rN:VE 4ZE BE \ Mk$Mi=IM>IIIY)YA<@ @@/@@@\Ai^A z=A [AzA = checking for new query: numPingsReceived=4, elapsed TxPingTime=4.284903ԡ I I O >2 8,d[7X@A~8K>~>~ٱ~ G  AHRS rotation from veh to nav: [[0.914155,-0.394039,-0.095155],[0.404942,0.898402,0.169984],[0.018507,-0.193924,0.980842]]~H@?7ٿ\?? ??ȿc?i~8K>I~b;~͐CYByIbD-VD-1y=]N%=C=ٔErQ-E>9AYI=MjGyIMFEM>QQ 5]4Ul?Q 9]4UĠ)UBQ Ae5YaQ Ee&6ye>Q Ie/@UDIU/:iUBAUdV4yiɮmAqqs X@AJxBRxBjP>ݛ?@V.,>* @r81?{ο5?ZTtbV >?@ZS@~?@zF?o?jW?2@:A"Z?*BGBZ?“pBP>gO addTargetRange:: Added new target pos. range: 33.299999 m, deltaT: 0.500198 s, deltaX: -0.500000 m, approachRate: -0.999604 m/s, rangeRepo size: 4 gO Added new target pos. range: 33.117809 m, bearing: 11.643676 deg, lat: 36.779283 deg, lon: -121.859531 deg, deltaT: 0.500198 s, deltaX: -0.496853 m, approachRate: -0.993312 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 33.12 m.bRZgO ProNav: ac range: 33.117809 m, nav range: 32.609493 m, bearing: 11.643633 deg, approach rate: 0.000000 m/s, LOS rate: -0.192296 deg/s, cmd heading: 18.584453 deg, new cmd heading: 18.421559 deg. BgOHeadingCmd: 0.321517 target range: 33.117809 and range: 33.30 m.۝>*" ʎj `f@@Z @?1ɢ5H`)9 =1i9)=x99i=ƵiE۝>E8dE~=IE۝>II>@ @@@DDAT read: Rx Time:00:44:48.3980 ԡTRx dataTimestamp_ set to:1761698689.015096PDAT read: Bearing 175.9, -14.2 (Local) ~Local bearing/azimuth received: Bearing 175.9, -14.2 (Local) DAT read: Range 11 to 50 : 33.2 m (trip time 22.1 ms) speed 0.4 EDAT read: 00:44:48.3980 LVL= 32752, 32753, 24930, 32755, AGC= 65, IDX= 505,-0.12,-2.342, 2.570,-1.702,-2.325, PHS= 0.085,-1.343, 0.579, RAW= 164.3, 7.9, CAL= 163.9, 8.0, ROT= 346.1, -8.0 UYgot valid direction response: 00:44:48.3980 LVL= 32752, 32753, 24930, 32755, AGC= 65, IDX= 505,-0.12,-2.342, 2.570,-1.702,-2.325, PHS= 0.085,-1.343, 0.579, RAW= 164.3, 7.9, CAL= 163.9, 8.0, ROT= 346.1, -8.0 R#Rx 5: Read range and direction messages.^direction in FSK: [0.961270,-0.237890,0.139173]Fpublishing direction and range infoyD=D<E% E%E%%E!"E%m:*E%P:VE% 4ZE!a-@a-@a-@a-@2:W?j/sοH@l?YBba )I{=im竿X9?0 >7@ 5>)xL@I5.;A|?=Bm%?K? F?)J ITlxi5mchecking for new query: numPingsReceived=5, elapsed TxPingTime=4.597094^AI1IAOM> = checking for new query: numPingsReceived=5, elapsed TxPingTime=4.786831G&8,gQX@A21cH>2n>2椼ٱ2G :AHRS rotation from veh to nav: [[0.915415,-0.390914,-0.095932],[0.402009,0.899842,0.169334],[0.020128,-0.193576,0.980879]]2H`K?`ٿ???@?ȿ[c?i21cH>I2Wa;2ϐCYjByjI prbDvVDvy-,/%-J=ٔ-mQ-->91Y1=5jGy5F5iE=>AQ 5M4E?Q 9M4E~)EBQ AM5YIQ EM6yM>Q IM/@EDIE:iEJIAEgV4y]גBɮ]E A].EԹU@X@AJBRBjAN>2kR?@K]AkpĎa@r2:W?j/sοH@l?ZTlxb5\=?@ʌ@\4a@zT?*z֢?A4?2@:yA"횊?*ȷSBB횊?e<+“B[BqN>gO addTargetRange:: Added new target pos. range: 33.200001 m, deltaT: 0.505303 s, deltaX: -0.099998 m, approachRate: -0.197898 m/s, rangeRepo size: 4 gO Added new target pos. range: 33.018356 m, bearing: 11.540629 deg, lat: 36.779283 deg, lon: -121.859531 deg, deltaT: 0.505303 s, deltaX: -0.099453 m, approachRate: -0.196818 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 33.02 m.bRZgOU ProNav: ac range: 33.018356 m, nav range: 32.339512 m, bearing: 11.551023 deg, approach rate: 0.000000 m/s, LOS rate: -0.192296 deg/s, cmd heading: 18.421558 deg, new cmd heading: 18.245534 deg. BQgO]HeadingCmd: 0.318445 target range: 33.018356 and range: 33.20 m.]- >Y*Y"Y YYaaaʎj@@Z}?qɢur.)y }5iy)}yyiHۯi- >g0&=I- >IU5@Y @Y@Y@Y@m@m@m@mDDAT read: Rx Time:00:44:48.8977 TRx dataTimestamp_ set to:1761698689.520183PDAT read: Bearing 178.7, -14.6 (Local) ~Local bearing/azimuth received: Bearing 178.7, -14.6 (Local) DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.4 BAB>BCBIBBB =BB{DB;o;BG,EEDAT read: 00:44:48.8977 LVL= 32752, 32753, 28370, 32755, AGC= 64, IDX= 502,-0.03,-1.743,-3.069,-1.131,-1.672, PHS= 0.031,-1.352, 0.497, RAW= 164.0, 9.9, CAL= 163.9, 10.8, ROT= 346.1, -10.8 UYgot valid direction response: 00:44:48.8977 LVL= 32752, 32753, 28370, 32755, AGC= 64, IDX= 502,-0.03,-1.743,-3.069,-1.131,-1.672, PHS= 0.031,-1.352, 0.497, RAW= 164.0, 9.9, CAL= 163.9, 10.8, ROT= 346.1, -10.8 ]R#Rx 6: Read range and direction messages.e^direction in FSK: [0.953522,-0.235973,0.187381]mFpublishing direction and range infoy5 xA?qU\4ο0i?YBn )@I07@;0> A>)IA[B-?I*\?]" ? D?)MO1IiA checking for new query: numPingsReceived=6, elapsed TxPingTime=5.088788E  E E &E "E >:*E R:VE 4ZE BE ?A8,kX@A2D>2$>2֯ٱ2'4G :AHRS rotation from veh to nav: [[0.917093,-0.386870,-0.096290],[0.398095,0.901654,0.168939],[0.021463,-0.193266,0.980912]]2HX?{ؿ`|cz?`Y?̟?i?ȿc?i2D>I2a;2ΐCY^Byb|IbDj VDj2yr(%rQ=ٔr_Q-v>9tYt=vjGytzk2Ez>|Q 54~?Q 94~R)~BQ A5YQ E5y ¼>Q I /@~DI~ ;i~OA~iV4yڒBɮ A/EJaX@AJBRBjFgS>Y} ?@3rEZ3c`@r5 xA?qU\4ο0i?ZbA>|>@c*P@M>\@ @zڱS?g?g?2@:A"]涚?*BvBBgO addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 0.505087 s, deltaX: -0.500000 m, approachRate: -0.989928 m/s, rangeRepo size: 4 gO Added new target pos. range: 32.522606 m, bearing: 11.828636 deg, lat: 36.779281 deg, lon: -121.859531 deg, deltaT: 0.505087 s, deltaX: -0.495750 m, approachRate: -0.981515 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 32.52 m.bRZgO ProNav: ac range: 32.522606 m, nav range: 31.968361 m, bearing: 11.571323 deg, approach rate: 0.000000 m/s, LOS rate: -0.192296 deg/s, cmd heading: 18.245534 deg, new cmd heading: 18.109401 deg. BgO%HeadingCmd: 0.316069 target range: 32.522606 and range: 32.70 m.%ӡ>!*!"! )))199ʎ9AAjEY@@ZM+?颁ɢ)!< 7i)☩顑i Tiӡ>j=Iӡ>Ichecking for new query: numPingsReceived=6, elapsed TxPingTime=5.291021;@ @@0@IQiIO>>ԉ DDAT read: Rx Time:00:44:49.3976  TRx dataTimestamp_ set to:1761698690.022563 PDAT read: Bearing 176.9, -13.9 (Local)  ~Local bearing/azimuth received: Bearing 176.9, -13.9 (Local)  DAT read: Range 11 to 50 : 32.6 m (trip time 21.7 ms) speed 0.4  DAT read: 00:44:49.3976 LVL= 32752, 32753, 26018, 32755, AGC= 64, IDX= 501, 0.13, 0.000,-1.383, 0.630, 0.034, PHS= 0.069,-1.372, 0.552, RAW= 164.0, 8.7, CAL= 163.7, 9.1, ROT= 346.3, -9.1 - Ygot valid direction response: 00:44:49.3976 LVL= 32752, 32753, 26018, 32755, AGC= 64, IDX= 501, 0.13, 0.000,-1.383, 0.630, 0.034, PHS= 0.069,-1.372, 0.552, RAW= 164.0, 8.7, CAL= 163.7, 9.1, ROT= 346.3, -9.1 5 R#Rx 7: Read range and direction messages.= ^direction in FSK: [0.959321,-0.233857,0.158158]E Fpublishing direction and range infoy   /k?Y Ϳ@\~>?Y fB e ) I O=i O ? |> 6@ ">) i@I " m?X4u(!?sh`? kD?) ͝I Tti "  checking for new query: numPingsReceived=7, elapsed TxPingTime=5.572015 EM  EM EM $EI "EM ,:*EM k:VEM 4ZEI aU @aU @aU @aU @)!8,rX@A25a?>2r\>2n ٱ2I :AHRS rotation from veh to nav: [[0.918867,-0.382316,-0.097557],[0.393920,0.903032,0.171350],[0.022587,-0.195878,0.980368]]2H[g?wؿ@5?`?@?,!?ɿ-_?i25a?>I2a;0Y~By~pIbD VD yQ4%%F=ٔ%2Q-%>9)Y)=-jGy-F-p4E->1Q 5}45?Q 9}45)5BQ AO5YQ E5yt>Q I/@5DI5G&?@d^TN @r /k?Y Ϳ@\~>?ZTtb"pE﫮>@-pe"@kcB@zUp.?8?V0{?2@:A"%ך?*BBj 8ܚ?“BkA"M>gO= addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.502380 s, deltaX: -0.100002 m, approachRate: -0.199057 m/s, rangeRepo size: 4 gOM Added new target pos. range: 32.423145 m, bearing: 11.466821 deg, lat: 36.779281 deg, lon: -121.859531 deg, deltaT: 0.502380 s, deltaX: -0.099461 m, approachRate: -0.197979 m/s, posRepo size: 4 jIgOuDNOT Ignoring new targets: 32.42 m.bqRqZqgO ProNav: ac range: 32.423145 m, nav range: 31.677589 m, bearing: 11.520209 deg, approach rate: 0.000000 m/s, LOS rate: -0.192296 deg/s, cmd heading: 18.109401 deg, new cmd heading: 17.951318 deg. BgOHeadingCmd: 0.313310 target range: 32.423145 and range: 32.60 m.j>ԑ*" ʎjL@@Zf? ɢ-*l)1 5y=Xո=ǂ=IEj>IA%2@! @!@%0@)IIOD>checking for new query: numPingsReceived=7, elapsed TxPingTime=5.795133 1 T'8,X@A2u :>2>2ٱ2 N :AHRS rotation from veh to nav: [[0.920886,-0.377049,-0.099012],[0.389123,0.904386,0.175127],[0.023513,-0.199799,0.979555]]2H@w?`!ؿXc??`j?? ɿX?i2u :>I2a;2ːCYnBynaIttmDDAT read: Rx Time:00:44:49.8973 uTRx dataTimestamp_ set to:1761698690.527448PDAT read: Bearing 176.4, -13.9 (Local) ~Local bearing/azimuth received: Bearing 176.4, -13.9 (Local) B>BCBIBBB =BBB3o;BE,EBeCBeCBaBe =Be =Ce6DAT read: Range 11 to 50 : 32.1 m (trip time 21.4 ms) speed 0.5 bDzVDz1y=\%=9=ٔE Q-E>9AYA=MjGyIMtAEM>QQ 5]4U?Q 9]4U)UBQ Ae(5YaQ Ee5yeз>Q Ie/@UDIU:iU2]AUlV4DAT read: 00:44:49.8973 LVL= 32752, 32753, 27250, 32755, AGC= 64, IDX= 498, 0.21,-0.540,-1.919, 0.090,-0.512, PHS= 0.073,-1.362, 0.557, RAW= 164.0, 8.5, CAL= 163.7, 8.9, ROT= 346.3, -8.9 Ygot valid direction response: 00:44:49.8973 LVL= 32752, 32753, 27250, 32755, AGC= 64, IDX= 498, 0.21,-0.540,-1.919, 0.090,-0.512, PHS= 0.073,-1.362, 0.557, RAW= 164.0, 8.5, CAL= 163.7, 8.9, ROT= 346.3, -8.9 R#Rx 8: Read range and direction messages.^direction in FSK: [0.959851,-0.233987,0.154710]Fpublishing direction and range infoyݒBɮG A0EE EE(E"E:*ER:VEc44ZEBE\ q u>)qIuqquIv?T3K?bZ? u D?)uT.Iqiuqqchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.129043gO ProNav: ac range: 32.423145 m, nav range: 31.422249 m, bearing: 11.446043 deg, approach rate: -0.582601 m/s, LOS rate: -0.170595 deg/s, cmd heading: 17.951318 deg, new cmd heading: 17.801783 deg. BgOHeadingCmd: 0.310700 target range: 32.423145 and range: 32.60 m. >*" !AAʎIIIjM @@ZU ?颙ɢ.>) Bi)Zi%i >kT}=I >I9]?@Y @Y@]4@YAeZAzAaA.AIIO> checking for new query: numPingsReceived=8, elapsed TxPingTime=6.299145a }-8,^X@AF4>F&>FҪȼٱFNP RAHRS rotation from veh to nav: [[0.922786,-0.372107,-0.100014],[0.384534,0.905855,0.177651],[0.024493,-0.202393,0.978998]]FH@v?׿4?@?C??`ɿS?iF4>IFa;FΐCY^By^_IbDjVDjy% `=ٔ 30Q- >9 ?Y ?=jGyF5\E=>9Q 5E4=ʐ?Q 9M4=)=BQ AM5YIQ EMh5yMJ>Q IM/@=áDI=Q:i=cA=mV4yyɮ}U AyX@AJhARhAjkC>ܿ>@rd@r{?;GͿj?ZbAS>@ )@DE5ed@z9Cw?W,?#>u?2@:A"Y0ٚ?*xBŏBY0ٚ?ȷS“ŏBcAlJ>gO addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.504885 s, deltaX: -0.500000 m, approachRate: -0.990325 m/s, rangeRepo size: 4 gO5 Added new target pos. range: 31.925987 m, bearing: 10.915499 deg, lat: 36.779281 deg, lon: -121.859531 deg, deltaT: 0.504885 s, deltaX: -0.497158 m, approachRate: -0.984696 m/s, posRepo size: 4 j9gO=DNOT Ignoring new targets: 31.93 m.b9REZAgOu ProNav: ac range: 31.925987 m, nav range: 31.173502 m, bearing: 11.350665 deg, approach rate: 0.000000 m/s, LOS rate: -0.170595 deg/s, cmd heading: 17.801783 deg, new cmd heading: 17.676436 deg. BqgO}HeadingCmd: 0.308512 target range: 31.925987 and range: 32.10 m.}I>y*y"y yyʎjZ 2s?ɢy) qCi)'iNiI> @-u=I-I>I)y}DDAT read: Rx Time:00:44:50.3972 TRx dataTimestamp_ set to:1761698691.032476PDAT read: Bearing 176.8, -13.6 (Local) ~Local bearing/azimuth received: Bearing 176.8, -13.6 (Local) DAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed 0.5 DAT read: 00:44:50.3972 LVL= 32752, 32753, 31410, 32755, AGC= 63, IDX= 497, 0.17, 2.070, 0.689, 2.687, 2.105, PHS= 0.067,-1.371, 0.539, RAW= 163.7, 8.9, CAL= 163.5, 9.4, ROT= 346.5, -9.4 Ygot valid direction response: 00:44:50.3972 LVL= 32752, 32753, 31410, 32755, AGC= 63, IDX= 497, 0.17, 2.070, 0.689, 2.687, 2.105, PHS= 0.067,-1.371, 0.539, RAW= 163.7, 8.9, CAL= 163.5, 9.4, ROT= 346.5, -9.4 %R#Rx 9: Read range and direction messages.-^direction in FSK: [0.959313,-0.230311,0.163326]-Fpublishing direction and range infoyui?OzͿ$vz?YBz )?IL7=i| ?6@>6@ '>)@I'˳?i?;? DZC?)lI4Fqi'Mchecking for new query: numPingsReceived=9, elapsed TxPingTime=6.579821D=DC=bE-4jEw4rE١/E% E%E%'E!"E%:*E%F:VE%'4ZE!a]@a]@a]@a]@ԡ( =@  @ @ 3@  checking for new query: numPingsReceived=9, elapsed TxPingTime=6.802885 ^AI A}؟AIIO?E68,nX@A6T/>6.V>86Mμٱ6`R BAHRS rotation from veh to nav: [[0.924869,-0.366820,-0.100302],[0.379447,0.907662,0.179357],[0.025248,-0.203940,0.978658]]6H?y׿]`H? ? (?ڙ?ʿ)Q?i6T/>I6֩a;4YNByNXIbDfVDf0yj%n!=ٔnwúQ-n>9r"?Yr"?=rjGyrFrD3Ev>tQ 5z4vaᐊ?Q 9~4v)vBQ A~4Y|Q E~<5y~|>Q I~/@v̡DIvi ;iv!kAvnV4yBɮ  A aeX@AJeAReAjeC>e>ʂ>@lQpm@reui?OzͿ$vz?Ze4Fqbe'eMvg>@`cu@Pbi@ze]$? lp•?MM*l?2e@:e=A"eˎ㚊?*eBeBBae“eBeAeBH>gO addTargetRange:: Added new target pos. range: 32.000000 m, deltaT: 0.505028 s, deltaX: -0.099998 m, approachRate: -0.198006 m/s, rangeRepo size: 4 gO Added new target pos. range: 31.826530 m, bearing: 10.916679 deg, lat: 36.779281 deg, lon: -121.859531 deg, deltaT: 0.505028 s, deltaX: -0.099457 m, approachRate: -0.196933 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 31.83 m.bRZgO ProNav: ac range: 31.826530 m, nav range: 30.879110 m, bearing: 11.237849 deg, approach rate: 0.000000 m/s, LOS rate: -0.170595 deg/s, cmd heading: 17.676436 deg, new cmd heading: 17.509248 deg. BgO HeadingCmd: 0.305594 target range: 31.826530 and range: 32.00 m.-v>)*)") )1111ʎ999j=@@Z=|?颡ɢ#) Fi)顱iiv>Q57o=Iv>IԩH<5DDAT read: Rx Time:00:44:50.8969 AEAAAEAAB]>B]CB]IB]ЁBB] =BYBYB]Ao;B]H,E}TRx dataTimestamp_ set to:1761698691.535360PDAT read: Bearing 173.5, -12.5 (Local) ~Local bearing/azimuth received: Bearing 173.5, -12.5 (Local) DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.5 DAT read: 00:44:50.8969 LVL= 31296, 32753, 26034, 32755, AGC= 62, IDX= 510, 0.19, 0.558,-0.865, 1.188, 0.520, PHS= 0.141,-1.339, 0.624, RAW= 163.7, 6.5, CAL= 163.0, 6.2, ROT= 347.0, -6.2 Ygot valid direction response: 00:44:50.8969 LVL= 31296, 32753, 26034, 32755, AGC= 62, IDX= 510, 0.19, 0.558,-0.865, 1.188, 0.520, PHS= 0.141,-1.339, 0.624, RAW= 163.7, 6.5, CAL= 163.0, 6.2, ROT= 347.0, -6.2 T#Rx 10: Read range and direction messages.^direction in FSK: [0.968671,-0.223635,0.107999]Fpublishing direction and range infoy9=p6Z?5̿Niإ?Y=A9=@z9=e 9)=>I=Nb>i=Zd=w?9=V==6@ =k=)=&@I=kݽ99=!G??EF"? =C?)=I=Vhi=kݽ995checking for new query: numPingsReceived=10, elapsed TxPingTime=7.089482M?@Q @Q@U4@QE EE%E"Em:*E n:VE 4ZEBEU  checking for new query: numPingsReceived=10, elapsed TxPingTime=7.3068775<8,5X@A6q*>6>6AԼٱ6Q BAHRS rotation from veh to nav: [[0.926653,-0.362433,-0.099780],[0.375024,0.909583,0.178931],[0.025907,-0.203227,0.978789]]6H$?`2׿'b?`M?:?`a?Xʿ=R?i6q*>I6a;6ːCYNByRaIlbDXVDXy<%;=ٔºQ-%>9QYY=ejGya,E>Q 54?Q 94)BQ A4YQ E5y >աDI uX>@@y\t@1R@zu ;?;jY?0S! s?2u@:uA"uB?*uPBuBqu“quAuxB>gO addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.502884 s, deltaX: -0.500000 m, approachRate: -0.994265 m/s, rangeRepo size: 4 gO Added new target pos. range: 31.328865 m, bearing: 10.488249 deg, lat: 36.779281 deg, lon: -121.859533 deg, deltaT: 0.502884 s, deltaX: -0.497665 m, approachRate: -0.989623 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 31.33 m.bRZgO ProNav: ac range: 31.328865 m, nav range: 30.582518 m, bearing: 10.881245 deg, approach rate: 0.000000 m/s, LOS rate: -0.170595 deg/s, cmd heading: 17.509248 deg, new cmd heading: 17.346941 deg. BgOHeadingCmd: 0.302761 target range: 31.328865 and range: 31.50 m.>*" ʎj?@ZJ? ɢr̖) Bi)ļi:i>O8i=I>IMDDAT read: Rx Time:00:44:51.3968 ]TRx dataTimestamp_ set to:1761698692.039448mPDAT read: Bearing 173.8, -12.5 (Local) m~Local bearing/azimuth received: Bearing 173.8, -12.5 (Local) }DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.5 DAT read: 00:44:51.3968 LVL= 32752, 32753, 25970, 32755, AGC= 63, IDX= 509, 0.13, 2.503, 1.071, 3.131, 2.471, PHS= 0.134,-1.355, 0.616, RAW= 163.6, 6.9, CAL= 163.0, 6.6, ROT= 347.0, -6.6 Ygot valid direction response: 00:44:51.3968 LVL= 32752, 32753, 25970, 32755, AGC= 63, IDX= 509, 0.13, 2.503, 1.071, 3.131, 2.471, PHS= 0.134,-1.355, 0.616, RAW= 163.6, 6.9, CAL= 163.0, 6.6, ROT= 347.0, -6.6 T#Rx 11: Read range and direction messages.Ա^direction in FSK: [0.967913,-0.223460,0.114937]Fpublishing direction and range infoyQU' $?O5X̿NZl?YU3AQUQUre Q)U?IUL7 >iUpU-?U36@UϢ=Q U=)QIU뽩QQU2Xi?Κn?V? UB?)UIQiU뽩QQE Ga9YhAE EE'E"E*ET:VE'4ZEa@a@a@a@I[A) checking for new query: numPingsReceived=11, elapsed TxPingTime=7.588849 @  @ @ z3@ ^AA?A?checking for new query: numPingsReceived=11, elapsed TxPingTime=7.812346AAIQIyO? E8,CYX@AZ%>Zr>ZۼٱZ+P bAHRS rotation from veh to nav: [[0.928412,-0.358007,-0.099407],[0.370583,0.911542,0.178210],[0.026813,-0.202290,0.978958]]ZH@?ֿr`?Z+??t? ɿS?iZ%>IZa;ZΐCYvByveI aa aa aa aa aa iMb@Mb@Mb@ 9/$?/$X9v?Y?y1< #A@ A) AYAbDVDy,<%=ٔ"ѺQ->9Y=jGyF E>Q 54??Q 94 )BQ AT:Y ?Q E:y7>Q I/@DI;i;`4yBɮ A(E!Ա%QX@AJ%AR%Aj%7>%<2:>@HZV! @r%' $?O5X̿NZl?Z!b%%8y4>@ط@ZB@z%B F? @0v?pê?2%]@:%A"%$?*%}B%B%ˎ㚊?%x“%ŏB%A%?>gO addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.504088 s, deltaX: -0.100000 m, approachRate: -0.198379 m/s, rangeRepo size: 4 gO Added new target pos. range: 31.229408 m, bearing: 10.283506 deg, lat: 36.779282 deg, lon: -121.859534 deg, deltaT: 0.504088 s, deltaX: -0.099457 m, approachRate: -0.197300 m/s, posRepo size: 4 jgO%DNOT Ignoring new targets: 31.23 m.b!R!Z)gO5 ProNav: ac range: 31.229408 m, nav range: 30.342430 m, bearing: 10.715007 deg, approach rate: 0.000000 m/s, LOS rate: -0.170595 deg/s, cmd heading: 17.346941 deg, new cmd heading: 17.154847 deg. B9gO=HeadingCmd: 0.299409 target range: 31.229408 and range: 31.40 m.=L>9*A"A AAAIMBʎIIQjU`ff?@ZU@?}Bɢ}Ŏ)y  Ai)˼顁i1iL>W8NYf=IL>IDDAT read: Rx Time:00:44:51.8965 TRx dataTimestamp_ set to:1761698692.543063 PDAT read: Bearing 174.9, -12.6 (Local)  ~Local bearing/azimuth received: Bearing 174.9, -12.6 (Local) DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed 0.5 EDAT read: 00:44:51.8965 LVL= 32752, 32753, 27858, 32755, AGC= 63, IDX= 506, 0.05, 2.496, 1.075, 3.110, 2.489, PHS= 0.109,-1.369, 0.576, RAW= 163.3, 7.8, CAL= 162.9, 7.9, ROT= 347.1, -7.9 MYgot valid direction response: 00:44:51.8965 LVL= 32752, 32753, 27858, 32755, AGC= 63, IDX= 506, 0.05, 2.496, 1.075, 3.110, 2.489, PHS= 0.109,-1.369, 0.576, RAW= 163.3, 7.8, CAL= 162.9, 7.9, ROT= 347.1, -7.9 UT#Rx 12: Read range and direction messages.]^direction in FSK: [0.965510,-0.221131,0.137445]]Fpublishing direction and range infoy0ȕu?N̿yjȗ?YAl )Id;=id;t?ih6@'g >5@ 0 >)r@I0 _?mÌ]?/Yo? rA?) Ifi0 }checking for new query: numPingsReceived=12, elapsed TxPingTime=8.081113B>BCBIBBB =BBzDBo;B.,E@@ @@4@E EE%E"E*Eg:VE 4ZEBEa2EaJE.;a:E.;a ^A h=A I! 1 I9 OE >K8,{2X@A*checking for new query: numPingsReceived=12, elapsed TxPingTime=8.314888: >:>:oٱ:P BAHRS rotation from veh to nav: [[0.930184,-0.353445,-0.099173],[0.366044,0.913461,0.177769],[0.027759,-0.201659,0.979062]]:H@?@מֿhcBm?;?`?`l?ɿzT?i: >I:^ja;8!YBy[IbD VD βy%*=ٔ%Q-%>9!Y!=-jGy)-6&E->1Q 5=45,?Q 9=45)5BYAyE2>Q IE/@5DI56:i5y:5th4yIɮM AI9="X@AJ=qAR=qAj=U9>=P.=@A.[V@H=@r=0ȕu?N̿yjȗ?Z=fb=0 =zB=@@x_^{@z=U?tT~?F:\?2=@:=2A"=?*=B=MB=B?=P“=MB=A=;>gO addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.503615 s, deltaX: -0.299999 m, approachRate: -0.595692 m/s, rangeRepo size: 4 gO Added new target pos. range: 30.930368 m, bearing: 10.352891 deg, lat: 36.779283 deg, lon: -121.859535 deg, deltaT: 0.503615 s, deltaX: -0.299040 m, approachRate: -0.593787 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 30.93 m.bRZgO ProNav: ac range: 30.930368 m, nav range: 30.196356 m, bearing: 10.495536 deg, approach rate: 0.000000 m/s, LOS rate: -0.170595 deg/s, cmd heading: 17.154847 deg, new cmd heading: 17.000115 deg. BgOHeadingCmd: 0.296708 target range: 30.930368 and range: 31.10 m.>*" ʎj?@Z ? ɢ ) Di)YѼi@i>%X9%6_=I%>I!I>@ @@4@ DDAT read: Rx Time:00:44:52.3963 TRx dataTimestamp_ set to:1761698693.045892PDAT read: Bearing 176.5, -12.3 (Local) ~Local bearing/azimuth received: Bearing 176.5, -12.3 (Local) -DAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed 0.7 UDAT read: 00:44:52.3963 LVL= 32752, 32753, 28386, 32755, AGC= 62, IDX= 504,-0.05, 1.901, 0.506, 2.473, 1.916, PHS= 0.087,-1.364, 0.513, RAW= 162.5, 9.0, CAL= 162.3, 9.5, ROT= 347.7, -9.5 ]Ygot valid direction response: 00:44:52.3963 LVL= 32752, 32753, 28386, 32755, AGC= 62, IDX= 504,-0.05, 1.901, 0.506, 2.473, 1.916, PHS= 0.087,-1.364, 0.513, RAW= 162.5, 9.0, CAL= 162.3, 9.5, ROT= 347.7, -9.5 eT#Rx 13: Read range and direction messages.m^direction in FSK: [0.963646,-0.210109,0.165048]mFpublishing direction and range infoy  }50?c@dʿG ?Y fA    n ) >I -=i  S? 5@ | > uJ5@ )>) <1@I )   kPe>M?$Z;NZ?U  ? Q=?)  I [i )  checking for new query: numPingsReceived=13, elapsed TxPingTime=8.583285y D D <E  E E #E "E [:*E R:VE 3ZE a @a @a @a @^A c=ԩ A I1 IA OM >TS8,MX@AvZ>v>vٱvHN ~AHRS rotation from veh to nav: [[0.933825,-0.343504,-0.099883],[0.356380,0.917546,0.176361],[0.031067,-0.200286,0.979245]]vH ? տ@? \?`?П? ɿU?ivZ>Iv`;v͐CIM~r@iIIIIQ QQQQY]_AIY)YiY)]LCIaaa aŁō^AʼniʼnʼniƉƕj^A)ƕ ƕܱEIƑ Ǒ)ǑƙƙƙYmchecking for new query: numPingsReceived=13, elapsed TxPingTime=8.819054ԁYBylIi%Mb@Mb@Mb@!!!! !9%x?HzG~jt?Y%K?y%= %=!%A %A)%K A!Y!bDVDyUb=%],=ٔ]Q-]>9YYa=ejGyeFeȱEe>iQ 54mC?Q 94m)mBY?Q E:y>Q I/@mDIm:im:mp4yBɮq A)EԩAEBX@AJEAREAjE_e>>E Rd=@ゾt9@rE}50?c@dʿG ?ZE[bE)Ed>UE=@P,@h@zExPh?EAk?8?2E1@:E*A"El暊?*E*BEBAA“AEGAEd;>gO addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.502829 s, deltaX: -0.300001 m, approachRate: -0.596627 m/s, rangeRepo size: 4 gO Added new target pos. range: 30.632004 m, bearing: 10.653209 deg, lat: 36.779283 deg, lon: -121.859535 deg, deltaT: 0.502829 s, deltaX: -0.298365 m, approachRate: -0.593372 m/s, posRepo size: 4 j!gOEDNOT Ignoring new targets: 30.63 m.bARIZIgO] ProNav: ac range: 30.632004 m, nav range: 29.909981 m, bearing: 10.510490 deg, approach rate: 0.000000 m/s, LOS rate: -0.170595 deg/s, cmd heading: 17.000114 deg, new cmd heading: 16.823906 deg. BYgOeHeadingCmd: 0.293633 target range: 30.632004 and range: 30.80 m.W>*" Bʎj>@Z`? ɢ c|)  =i )׼i5L{iW>.9H=IW>IA @@  @ @ 4@ % DDAT read: Rx Time:00:44:52.8960 % TRx dataTimestamp_ set to:1761698693.549929- PDAT read: Bearing 175.4, -11.8 (Local) 5 ~Local bearing/azimuth received: Bearing 175.4, -11.8 (Local) E DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.5 } DAT read: 00:44:52.8960 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501,-0.07, 0.746,-0.661, 1.317, 0.738, PHS= 0.111,-1.354, 0.535, RAW= 162.4, 8.3, CAL= 162.0, 8.6, ROT= 348.0, -8.6  Ygot valid direction response: 00:44:52.8960 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501,-0.07, 0.746,-0.661, 1.317, 0.738, PHS= 0.111,-1.354, 0.535, RAW= 162.4, 8.3, CAL= 162.0, 8.6, ROT= 348.0, -8.6  T#Rx 14: Read range and direction messages.B A <B >B B IB BB B B B n;B +E ^direction in FSK: [0.967150,-0.205574,0.149535] Fpublishing direction and range infoy! % l?sAZ@PʿS&r#?Y% fA! ! ! %  ! )% =I% S=i% O% ?% g5@% V>% 4@ % `>)% \@I% `! ! % (0f?ֿB(T?kΣw? % X9=?)% CI% TwVi% `! !  checking for new query: numPingsReceived=14, elapsed TxPingTime=9.095321E  E E &E "E :*E z:VE 4ZE BE 9 ?Y ?=jGyFE>!Q 5-4%Y?Q 9-4%s)% BY)y)Q I5/@%DI%k;i%N;%Xx4yBɮ A*E!% 2cX@AJ%AR%Aj%@>%a %=@ ^2܏\@r%l?sAZ@PʿS&r#?Z%TwVb%`%5{<@I%g&@&VL<@z%i4*?|&ӱY?Q;?2%@:%'A"%%zܚ?*%S~B%B!!“!%1A%<>gO] addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.504037 s, deltaX: -0.500000 m, approachRate: -0.991991 m/s, rangeRepo size: 4 gOe Added new target pos. range: 30.134771 m, bearing: 10.772028 deg, lat: 36.779283 deg, lon: -121.859535 deg, deltaT: 0.504037 s, deltaX: -0.497232 m, approachRate: -0.986500 m/s, posRepo size: 4 jigODNOT Ignoring new targets: 30.13 m.bRZgO ProNav: ac range: 30.134771 m, nav range: 29.649273 m, bearing: 10.524355 deg, approach rate: 0.000000 m/s, LOS rate: -0.170595 deg/s, cmd heading: 16.823905 deg, new cmd heading: 16.669626 deg. BgOHeadingCmd: 0.290940 target range: 30.134771 and range: 30.30 m.>*" ʎjL>@Z@V? MBɢU()Q U=iQ)UFݼQYi]Mpi]>eP9em)U=Ie>I?@ @@4@9^AG= DDAT read: Rx Time:00:44:53.3959  TRx dataTimestamp_ set to:1761698694.055202 PDAT read: Bearing 175.4, -11.4 (Local) % ~Local bearing/azimuth received: Bearing 175.4, -11.4 (Local) 5 DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.5 ] DAT read: 00:44:53.3959 LVL= 32752, 32753, 32066, 32755, AGC= 60, IDX= 500,-0.06, 1.430, 0.019, 1.991, 1.421, PHS= 0.111,-1.357, 0.526, RAW= 162.1, 8.4, CAL= 161.8, 8.8, ROT= 348.2, -8.8 e Ygot valid direction response: 00:44:53.3959 LVL= 32752, 32753, 32066, 32755, AGC= 60, IDX= 500,-0.06, 1.430, 0.019, 1.991, 1.421, PHS= 0.111,-1.357, 0.526, RAW= 162.1, 8.4, CAL= 161.8, 8.8, ROT= 348.2, -8.8 e T#Rx 15: Read range and direction messages.m ^direction in FSK: [0.967345,-0.202089,0.152986]m Fpublishing direction and range infoy  |?y$ ɿ8C ?Y A B} ) <I i - ? D5@ Q > {4@ nF>) x@I nF Dbv{?99?S? m"xb8,\X@Azp >> ٱM AHRS rotation from veh to nav: [[0.937005,-0.334387,-0.101027],[0.347625,0.921039,0.175626],[0.034323,-0.199682,0.979259]]H@?fտ@ܹ}??@&y?@z?`?+ɿV?izp >I`;̐CIYByIi-Mb@Mb@Mb@)))) )9-S?i|?5~jt?Y-?y-)-~"A-AA -A)- Aechecking for new query: numPingsReceived=15, elapsed TxPingTime=9.826883)Y)bDmVDmyP[=%<ٔqٻQ->9Y=jGyE>Q 54Lr?Q 94) BY?Q E%:y%5>Q I%/@DIKE8 =@DxG Ba@rE|?y$ ɿ8C ?ZE4RbEnFEIz'<@D&D@)GS@zEt@? MMD?xIvS?2E!@:EQA"Eg^X욊?*EEJ;BE!BEg^X욊?EEJ;“EBE6AE]:>gO addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.505273 s, deltaX: -0.099998 m, approachRate: -0.197910 m/s, rangeRepo size: 4 gOM Added new target pos. range: 30.035318 m, bearing: 10.462872 deg, lat: 36.779283 deg, lon: -121.859535 deg, deltaT: 0.505273 s, deltaX: -0.099453 m, approachRate: -0.196830 m/s, posRepo size: 4 jIgOUDNOT Ignoring new targets: 30.04 m.bQRQZYgO ProNav: ac range: 30.035318 m, nav range: 29.276449 m, bearing: 10.462837 deg, approach rate: 0.000000 m/s, LOS rate: -0.170595 deg/s, cmd heading: 16.669626 deg, new cmd heading: 16.501381 deg. BgOHeadingCmd: 0.288003 target range: 30.035318 and range: 30.20 m.0u>*" 1Bʎj@33>@Z T7?ɢEv)A E0iA)E+IIiMgiU0u>UPt9U?=IU0u>IQԡ @  @ @ 4@  DDAT read: Rx Time:00:44:53.8957  TRx dataTimestamp_ set to:1761698694.557739% PDAT read: Bearing 174.8, -10.8 (Local) % ~Local bearing/azimuth received: Bearing 174.8, -10.8 (Local) = DAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed 0.4 ] DAT read: 00:44:53.8957 LVL= 32752, 32753, 32018, 32755, AGC= 60, IDX= 497,-0.03,-0.554,-1.988, 0.001,-0.582, PHS= 0.130,-1.361, 0.538, RAW= 161.8, 8.1, CAL= 161.4, 8.2, ROT= 348.6, -8.2 Bu >Bq Bu IBu ƁBBq Bq Bq Bu m;Bu +Ee Ygot valid direction response: 00:44:53.8957 LVL= 32752, 32753, 32018, 32755, AGC= 60, IDX= 497,-0.03,-0.554,-1.988, 0.001,-0.582, PHS= 0.130,-1.361, 0.538, RAW= 161.8, 8.1, CAL= 161.4, 8.2, ROT= 348.6, -8.2  T#Rx 16: Read range and direction messages. ^direction in FSK: [0.970249,-0.195636,0.142629] Fpublishing direction and range infoy  cwG ?y^* ɿx0A?Y A    }  ) I >i ?5 ^ ? {4@ > I4@  C>) @I C   ZN ?x&?fUI3?  E:?) I Ki C   checking for new query: numPingsReceived=16, elapsed TxPingTime=10.100801E  E E %E "E m:*E ]t:VE 4ZE BE UB*>B.ٱBN ZAHRS rotation from veh to nav: [[0.938513,-0.329820,-0.102043],[0.343355,0.922559,0.176046],[0.036077,-0.200258,0.979079]]BHK? տ?? ?x?`ɿT?iB>IBa;@YnBynIbDvVDvܲy|<%D=ٔ Q->9!Y!=%jGy%F-2E->QQ 5]4U?Q 9]4U)U1BYaye51>Q Ie/@U DIU;iU;U44yɮ AaeX@AJeMAReMAjea;>eZn<@cf@recwG ?y^* ɿx0A?ZeKbeCeV;_<@z<@C@ze7?|?X K^?2e@:eA"eޚ?*eBe\Bel暊?a“aeAeZ;>gO addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.502537 s, deltaX: -0.500000 m, approachRate: -0.994952 m/s, rangeRepo size: 4 gO Added new target pos. range: 29.537966 m, bearing: 10.484609 deg, lat: 36.779282 deg, lon: -121.859535 deg, deltaT: 0.502537 s, deltaX: -0.497353 m, approachRate: -0.989684 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 29.54 m.bRZgO ProNav: ac range: 29.537966 m, nav range: 28.951174 m, bearing: 10.492558 deg, approach rate: 0.000000 m/s, LOS rate: -0.170595 deg/s, cmd heading: 16.501382 deg, new cmd heading: 16.372745 deg. BgOHeadingCmd: 0.285758 target range: 29.537966 and range: 29.70 m.N>*" ʎ   j @3=@Z@2?Yɢ]dchecking for new query: numPingsReceived=16, elapsed TxPingTime=10.331135)Y .i)}S顁iw^iN>G9::=IN>I@ @@3@@\A@\AA^A5 C;=E DDAT read: Rx Time:00:44:54.3956 E TRx dataTimestamp_ set to:1761698695.062281M PDAT read: Bearing 183.8, -7.4 (Local) U ~Local bearing/azimuth received: Bearing 183.8, -7.4 (Local) e DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.5 i  nManaging dock network, ignoring radio surface power off DAT read: 00:44:54.3956 LVL= 32752, 32753, 31698, 32755, AGC= 61, IDX= 512, 0.00, 1.908, 0.410, 2.244, 1.961, PHS= 0.048,-1.506, 0.239, RAW= 155.7, 14.6, CAL= 156.3, 16.6, ROT= 353.7, -16.6  Ygot valid direction response: 00:44:54.3956 LVL= 32752, 32753, 31698, 32755, AGC= 61, IDX= 512, 0.00, 1.908, 0.410, 2.244, 1.961, PHS= 0.048,-1.506, 0.239, RAW= 155.7, 14.6, CAL= 156.3, 16.6, ROT= 353.7, -16.6  T#Rx 17: Read range and direction messages. ^direction in FSK: [0.952535,-0.105161,0.285688] Fpublishing direction and range infoyA E -+{?GѼ뺿WԷH?YE AA A A E { A )E =IE D=iE E jt>E '-@E w>E .@ E V>)E @IE VA A E Cm$?0TZ?j? E ?)E 9IE i0iE VA A E checking for new query: numPingsReceived=17, elapsed TxPingTime=10.617247D D 4=E  E E &E "E >:*E ga:VE 4ZE a @a @a @a @Iq I O > 6r8,,FX@Alޖ>Fw>tٱ[M -AHRS rotation from veh to nav: [[0.939860,-0.325828,-0.102465],[0.339473,0.924206,0.174935],[0.037700,-0.199199,0.979234]]H`U?@^Կ`%;??Hd?dM?@YɿU?iޖ>I?a;ːCYǁByI==i Mb@Mb@Mb@     9 Zd;O?+η{Gz?Y j?y v #=  #A A A) 9 A Y zA!!bD-VD-y= 3=%==ٔ=N@Q-=>9AYA=EjGyAMdEM>QQ 5]4Us?Q 9]4U )UHBY]?Q E]:y]W>Q Ie/@UDIU2*;iU);U͑4yBɮn AiX@AJARAjc>=R <@. &D @r-+{?GѼ뺿WԷH?Zi0bV #s:@9B @軞#@z4&d?b?X?2A:A"n\?*C:BBޚ?*“!BPA5?>gO addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.504542 s, deltaX: -0.100000 m, approachRate: -0.198200 m/s, rangeRepo size: 4 %checking for new query: numPingsReceived=17, elapsed TxPingTime=10.834940gOM Added new target pos. range: 29.438511 m, bearing: 17.053261 deg, lat: 36.779281 deg, lon: -121.859534 deg, deltaT: 0.504542 s, deltaX: -0.099455 m, approachRate: -0.197119 m/s, posRepo size: 4 jIgOMDNOT Ignoring new targets: 29.44 m.bQRQZQgO ProNav: ac range: 29.438511 m, nav range: 28.539310 m, bearing: 10.698612 deg, approach rate: 0.000000 m/s, LOS rate: -0.170595 deg/s, cmd heading: 16.372745 deg, new cmd heading: 16.189862 deg. BgOHeadingCmd: 0.282566 target range: 29.438511 and range: 29.60 m.> * " 99AQ}M98=I>I @  @ @ 4@ a  DDAT read: Rx Time:00:44:54.8953  TRx dataTimestamp_ set to:1761698695.565715 PDAT read: Bearing 177.2, -10.9 (Local)  ~Local bearing/azimuth received: Bearing 177.2, -10.9 (Local)  DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed 0.4 A @AA @AB ҿ>B CB IB ځBB =B B xDB l;B +EBCBCBB =B =C<6M DAT read: 00:44:54.8953 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 509, 0.00,-0.135,-1.565, 0.395,-0.110, PHS= 0.078,-1.410, 0.462, RAW= 161.2, 10.2, CAL= 161.2, 11.1, ROT= 348.8, -11.1 U Ygot valid direction response: 00:44:54.8953 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 509, 0.00,-0.135,-1.565, 0.395,-0.110, PHS= 0.078,-1.410, 0.462, RAW= 161.2, 10.2, CAL= 161.2, 11.1, ROT= 348.8, -11.1 U T#Rx 18: Read range and direction messages.] ^direction in FSK: [0.962604,-0.190601,0.192522]e Fpublishing direction and range infoy  :!c?VoeȿM?Y A  ) I w=i z D> 4@ԑ K6> 4@ aF>) @I aF ۰?e?A_L? 8?) 5I 4+Hi aF  checking for new query: numPingsReceived=18, elapsed TxPingTime=11.115758^A%Q9=A)zA)Em EmEm(Ei"Em:*Em H:VEmc44ZEiBEm ~y8,[X@AU4=U>U(ٱUI eAHRS rotation from veh to nav: [[0.942022,-0.319217,-0.103415],[0.333006,0.927255,0.171185],[0.041247,-0.195698,0.979796]]UH` %?nԿiy@O??c?S? ɿ~Z?iU4=IUSa;U̐CY%΁By%IbD=VD=ym=%m>=ٔm6Q-m>9qYq=ujGyuF}E}>Q 54q?Q 94)ZBYypP>Q I/@ DIp:i:c4yBɮO A,Equ4X@AJuARuAju<>u1 ;@]E"g.CSI@ru:!c?VoeȿM?Zu4+HbuaFuM_fm;@f_ߣv@%Py@zucSS?❏?S2?2u@:ukA"uo?*uw|Bu.Bu%zܚ?uEJ;“quAu;>gOM addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.503434 s, deltaX: -0.500000 m, approachRate: -0.993179 m/s, rangeRepo size: 4 gO Added new target pos. range: 28.940109 m, bearing: 10.565628 deg, lat: 36.779281 deg, lon: -121.859535 deg, deltaT: 0.503434 s, deltaX: -0.498402 m, approachRate: -0.990004 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 28.94 m.bRZgO ProNav: ac range: 28.940109 m, nav range: 28.230434 m, bearing: 10.506634 deg, approach rate: 0.000000 m/s, LOS rate: -0.170595 deg/s, cmd heading: 16.189862 deg, new cmd heading: 16.041857 deg. BgOHeadingCmd: 0.279983 target range: 28.940109 and range: 29.10 m.Y>*"   ʎ jU=@Z]U?颡ɢj) $i)؟顩iNiY>&֦9*=IY>Ichecking for new query: numPingsReceived=18, elapsed TxPingTime=11.339331@ @@/@!^A 8=Q Ii I O >a8,LX@A  DDAT read: Rx Time:00:44:55.3952  TRx dataTimestamp_ set to:1761698696.069537PDAT read: Bearing 175.6, -10.1 (Local) ~Local bearing/azimuth received: Bearing 175.6, -10.1 (Local) -DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.4 MDAT read: 00:44:55.3952 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 508, 0.05, 1.485, 0.014, 2.021, 1.471, PHS= 0.116,-1.411, 0.506, RAW= 161.1, 9.0, CAL= 160.9, 9.5, ROT= 349.1, -9.5 UYgot valid direction response: 00:44:55.3952 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 508, 0.05, 1.485, 0.014, 2.021, 1.471, PHS= 0.116,-1.411, 0.506, RAW= 161.1, 9.0, CAL= 160.9, 9.5, ROT= 349.1, -9.5 eT#Rx 19: Read range and direction messages.m^direction in FSK: [0.968492,-0.186502,0.165048]mFpublishing direction and range infoy  ;w?;vKǿG ?Y A     ) <I h=i  7? P3@ | > 3@ )>) g@I )   F? I*??2-`? 7?) m!I tBi )  checking for new query: numPingsReceived=19, elapsed TxPingTime=11.607467YByIbDVDyt=%X=ٔQ->9bE-» 4jE-4rE-/E EE#E"E:*EVL:VE3ZEa@a@a@a@9Y=jGyE>Q 547Α?Q 94K)lBYyQ I/@(DI;i;4yɮAi  KsX@AJ AR Aj +<> 碓;@`UR @r ;w?;vKǿG ?Z tBb ) w;@ @~y@z n Ǎ?L{l7?qЉ{?2 @: LA" Cޚ?* dB B ޚ? “ B A Xl;>gO5 addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.503822 s, deltaX: -0.100000 m, approachRate: -0.198484 m/s, rangeRepo size: 4 gOe Added new target pos. range: 28.840658 m, bearing: 10.550439 deg, lat: 36.779281 deg, lon: -121.859535 deg, deltaT: 0.503822 s, deltaX: -0.099451 m, approachRate: -0.197393 m/s, posRepo size: 4 jigOmDNOT Ignoring new targets: 28.84 m.biRiZqgO ProNav: ac range: 28.840658 m, nav range: 28.003481 m, bearing: 10.486875 deg, approach rate: 0.000000 m/s, LOS rate: -0.170595 deg/s, cmd heading: 16.041857 deg, new cmd heading: 15.872250 deg. BgOHeadingCmd: 0.277023 target range: 28.840658 and range: 29.00 m.Ս>*" ʎ9j==@Z=@3?颁ɢV) i)顙iHiՍ>,;96=IՍ>II)[Aԑchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.8439125 9@9  @9 @E /@A @e =@e =Թ ^Au )=I I O>78,X@AtY%By%II9)=<=A=AiMb@Mb@Mb@ 9On?㥛 y&1?Y?y`< $AAA A) AYA ;bD VD2y=%.=ٔ Q- >9 Y=jGyFE>Q 5%4~㑊?Q 9-4){BY-?Q E-:y-jj>Q I-/@0DI8;iA;#4y5Bɮ5xA=-EPUB*** querying acoustic contact ***Q QmDDAT read: Rx Time:00:44:55.8949 mTRx dataTimestamp_ set to:1761698696.573778uPDAT read: Bearing 177.5, -10.3 (Local) Bο>BCBIBBB =BBwDBdl;B*E~Local bearing/azimuth received: Bearing 177.5, -10.3 (Local) DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.5 DAT read: 00:44:55.8949 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 505, 0.09, 0.202,-1.238, 0.716, 0.228, PHS= 0.076,-1.421, 0.444, RAW= 160.7, 10.5, CAL= 160.8, 11.5, ROT= 349.2, -11.5 Ygot valid direction response: 00:44:55.8949 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 505, 0.09, 0.202,-1.238, 0.716, 0.228, PHS= 0.076,-1.421, 0.444, RAW= 160.7, 10.5, CAL= 160.8, 11.5, ROT= 349.2, -11.5 T#Rx 20: Read range and direction messages.^direction in FSK: [0.962568,-0.183619,0.199368]Fpublishing direction and range infoyimX}Z?׀ǿi?YmAiiii i)m=Im㥛=imT㵿mS>m3@mf;>m3@ mM>)m@ImMiigO  addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.504241 s, deltaX: -0.500000 m, approachRate: -0.991589 m/s, rangeRepo size: 4 j gO DNOT Ignoring new targets: 28.84 m.b R|Z|mFS*a|?T}?zqnm? m6?)m~q*q"q yyyy}gBʎj<@Z ñ?ɢ) i)ikAid>9gl8=Id>IAA2@ @@@5 checking for new query: numPingsReceived=20, elapsed TxPingTime=12.350279q ^A ;6=ԙ AII)O=>8,=X@A2{=261>2<ٱ2F :AHRS rotation from veh to nav: [[0.943617,-0.313617,-0.105975],[0.327816,0.929815,0.167276],[0.046076,-0.192585,0.980198]]2H2?`MԿ ,!? ?Ni? R? ȿ]?i2{=I2=Da;2͐CYZByZIbDbVDbyjV=%n?=ٔnV9Q-n>9lYp=rjGyrFr9PEr>tQ 5z4vs?Q 9~4vB)vBY|y~d>Q I~/@v9DIvh;iv;v4yBɮ  A .EǸ$X@AJARAj>>T-H;@5[ĒG@rX}Z?׀ǿi?ZAbMɴ:@ZV}2@g ;?1@zZl;?6? ˛?2@:7A"!Ț?* {qBB!Ț?d“.BA·=>jqgO}DNOT Ignoring new targets: 28.84 m.byRoZogO ProNav: ac range: 28.840658 m, nav range: 27.489674 m, bearing: 10.440731 deg, approach rate: -0.613178 m/s, LOS rate: -0.052413 deg/s, cmd heading: 15.822668 deg, new cmd heading: 15.779105 deg. BؿgOHeadingCmd: 0.275397 target range: 28.840658 and range: 28.50 m.>*" ʎjZ?ԉ颱ɢ2)  i)i|项i9ӂ(=I>I DDAT read: Rx Time:00:44:56.3948 TRx dataTimestamp_ set to:1761698697.078994PDAT read: Bearing 174.5, -9.0 (Local) ~Local bearing/azimuth received: Bearing 174.5, -9.0 (Local) DAT read: Range 11 to 50 : 28.4 m (trip time 18.9 ms) speed 0.4 IG5DAT read: 00:44:56.3948 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.16, 1.551, 0.084, 2.062, 1.507, PHS= 0.146,-1.378, 0.511, RAW= 160.5, 8.3, CAL= 160.2, 8.6, ROT= 349.8, -8.6 9m:@i @i@m/@i`9Y6cAYgot valid direction response: 00:44:56.3948 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.16, 1.551, 0.084, 2.062, 1.507, PHS= 0.146,-1.378, 0.511, RAW= 160.5, 8.3, CAL= 160.2, 8.6, ROT= 349.8, -8.6 T#Rx 21: Read range and direction messages.^direction in FSK: [0.973130,-0.175094,0.149535]Fpublishing direction and range infoym0#?AxiƿS&r#?Y3A );I>iNb?G3@V>2@ `>)|]@I`X8b?s3W*?[ә? 4?)UIK6i`checking for new query: numPingsReceived=21, elapsed TxPingTime=12.642976E% E%E%#E!"E%:*E%1]:VE%3ZE!a5@a5@a5@a5@Թ^A8=A ؟AI I O >U DDAT read: Rx Time:00:44:56.8945 e TRx dataTimestamp_ set to:1761698697.332947u checking for new query: numPingsReceived=21, elapsed TxPingTime=12.857471 8,_WX@Av>p=vǪ>v&BٱvF AHRS rotation from veh to nav: [[0.943817,-0.312621,-0.107134],[0.327036,0.930174,0.166804],[0.047507,-0.192469,0.980152]]vH3?Կ@ m'??Y?R?բȿh]?iv>p=Iv`;tY-By-Ii=Mb@Mb@Mb@9999 99=^I +?Mb rh?Y=X?y=@=C<=!A=A =A)=" A9Y=zAbDUVDUܲy]<%e4=ٔeNQ-e>9e"?Y"?=jGyE>Q 54?Q 94`)BY?Q E:y>Q I/@AADI]>;8 |;@l]@rm0#?AxiƿS&r#?ZK6b`;@~g1_@5/X@zg+? r? &?2@:EA" ?*0jB̎B {q“AG>>gO= addTargetRange:: Added new target pos. range: 28.400000 m, deltaT: 0.505216 s, deltaX: -0.100000 m, approachRate: -0.197936 m/s, rangeRepo size: 4 gO Added new target pos. range: 28.243441 m, bearing: 10.669010 deg, lat: 36.779279 deg, lon: -121.859534 deg, deltaT: 1.009457 s, deltaX: -0.597218 m, approachRate: -0.591623 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 28.24 m.bRZgO ProNav: ac range: 28.243441 m, nav range: 26.972914 m, bearing: 10.635048 deg, approach rate: 0.000000 m/s, LOS rate: -0.052413 deg/s, cmd heading: 15.779105 deg, new cmd heading: 15.727746 deg. BgO HeadingCmd: 0.274501 target range: 28.243441 and range: 28.40 m. d> * "  9=vBʎ9AAjE`ff<@ZEhW?颉ɢj)  i)v顙iI%8id>e9]+=Id>I{>i!>QPDAT read: Bearing 176.2, -9.6 (Local) ~Local bearing/azimuth received: Bearing 176.2, -9.6 (Local) DAT read: Range 11 to 50 : 27.9 m (trip time 18.6 ms) speed 0.7 DAT read: 00:44:56.8945 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 501, 0.22, 0.928,-0.511, 1.440, 0.929, PHS= 0.101,-1.396, 0.467, RAW= 160.7, 9.7, CAL= 160.6, 10.4, ROT= 349.4, -10.4 Ygot valid direction response: 00:44:56.8945 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 501, 0.22, 0.928,-0.511, 1.440, 0.929, PHS= 0.101,-1.396, 0.467, RAW= 160.7, 9.7, CAL= 160.6, 10.4, ROT= 349.4, -10.4 T#Rx 22: Read range and direction messages.BA<Bʿ>BBIBBBBBBl;B*E=^direction in FSK: [0.966787,-0.180929,0.180519]=Fpublishing direction and range infoy)z?JH(ǿlE@?Y3A )>I=i!>3@-\->Ud3@ 9>)K$@I9-u,I?N.?i)Ac? 5?)-Iq=i9]checking for new query: numPingsReceived=22, elapsed TxPingTime=13.127278]0@a @a@e/@a@i@iE5 E5E5&E1"E5O:*E5|:VE54ZE1BE5 R8,tX@A^DDAT read: Rx Time:00:44:57.3943 fTRx dataTimestamp_ set to:1761698697.845764rPDAT read: Bearing 174.3, -8.9 (Local) v~Local bearing/azimuth received: Bearing 174.3, -8.9 (Local) DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.5 5Z#Rx 23: Read range message, but no direction.y`YbA`Mchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.384689 }>=}>}Gٱ}E AHRS rotation from veh to nav: [[0.943800,-0.312407,-0.107907],[0.326930,0.930377,0.165880],[0.048572,-0.191836,0.980224]]}H 3?{ӿ͟k?@?;?`qި?@ȿ]?i}>=I}~`;}̐CYByI 99E=Ea=bDUVDUk2ypC%!=ٔ Q->9Y=jGyFFE=>AQ 5M4E'?Q 9M4EO})EBYQyU >Q IU/@EKDIE:iEF:E4y}ْBɮ}A`b vX@AJbARbAjbbm%w::@ܷFܸ@rb)z?JH(ǿlE@?Zbq=bb9b:@D @#qd@zbbHb?EU?j-?2b@:b}A"b-ػ?*b8!Bb0B`b8!“b0BbTAbW<>gO  addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.766770 s, deltaX: -0.799999 m, approachRate: -1.043337 m/s, rangeRepo size: 4 9gOE Added new target pos. range: 27.447664 m, bearing: 10.599412 deg, lat: 36.779279 deg, lon: -121.859535 deg, deltaT: 0.766770 s, deltaX: -0.795776 m, approachRate: -1.037829 m/s, posRepo size: 4 jAgOEDNOT Ignoring new targets: 27.45 m.bARIZIgO ProNav: ac range: 27.447664 m, nav range: 26.666155 m, bearing: 10.538163 deg, approach rate: 0.000000 m/s, LOS rate: -0.052413 deg/s, cmd heading: 15.727747 deg, new cmd heading: 15.676734 deg. BgOHeadingCmd: 0.273611 target range: 27.447664 and range: 27.60 m.>*" ʎ j ;@Z  H3?颍Bɢ↉)  i)G顙i3e3i>Y9&-=I>IauDAT read: 00:44:57.3943 LVL= 31664, 32753, 30450, 32755, AGC= 62, IDX= 500,-0.49,-1.726, 3.108,-1.213,-1.769, PHS= 0.145,-1.361, 0.512, RAW= 160.6, 8.2, CAL= 160.3, 8.5, ROT= 349.7, -8.5 }Ygot valid direction response: 00:44:57.3943 LVL= 31664, 32753, 30450, 32755, AGC= 62, IDX= 500,-0.49,-1.726, 3.108,-1.213,-1.769, PHS= 0.145,-1.361, 0.512, RAW= 160.6, 8.2, CAL= 160.3, 8.5, ROT= 349.7, -8.5 }Z#Rx 24: Read direction message, but no range.^direction in FSK: [0.973078,-0.176838,0.147809]yIM0Nt#?p)+ƿ%)k?IM{IMv I)IIMz>iM?5Mo?MUd3@MC>M3@ M>)M0O@IMIMK5?M?JW? M5?)M<IMT8iMchecking for new query: numPingsReceived=24, elapsed TxPingTime=13.6253032@ @@/@D zD E  E E E "E [:*E V:VE ZE a @a @a @a @ԙ ^Au .=AIIO>i8,q̓X@A(6=6ڪ>6oLٱ6D ^AHRS rotation from veh to nav: [[0.943660,-0.312499,-0.108861],[0.327135,0.930547,0.164512],[0.049891,-0.190856,0.980349]]6Hu2?ӿ`T޻?@ ??@D?`mȿ_?i6=I6`;6ʐC=DDAT read: Rx Time:00:44:57.8941 ETRx dataTimestamp_ set to:1761698698.349800PDAT read: Bearing 174.3, -9.2 (Local) ~Local bearing/azimuth received: Bearing 174.3, -9.2 (Local) Y ByIDAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed 0.5 mZ#Rx 25: Read range message, but no direction.y9Y=fA9uchecking for new query: numPingsReceived=25, elapsed TxPingTime=13.910867ԁiuMb@Mb@Mb@qqqq q9un?~jtI +?Yu?yuu949!Y!=%jGy!%!9E->)Q 5]4-K@?Q 9]4-'{)-BY][?Q E]:y] >Q I]/@-UDI-;i-l;-4ymےBɮmAm/E9= cX@AJ=1AR=1Aj=Q<>=fk:@oB4I|v< @r=0Nt#?p)+ƿ%)k?Z=T8b==3 .R9@dW@IWr@z=O9:?ߘ?hTf?2=@:=A"=PϵΚ?*=B=_B=PϵΚ?= {q“=B=}A=;>gOe addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.504036 s, deltaX: -0.300001 m, approachRate: -0.595198 m/s, rangeRepo size: 4 gO Added new target pos. range: 27.149319 m, bearing: 10.537007 deg, lat: 36.779279 deg, lon: -121.859534 deg, deltaT: 0.504036 s, deltaX: -0.298346 m, approachRate: -0.591913 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 27.15 m.bԱRZgO ProNav: ac range: 27.149319 m, nav range: 26.436098 m, bearing: 10.499680 deg, approach rate: 0.000000 m/s, LOS rate: -0.052413 deg/s, cmd heading: 15.676734 deg, new cmd heading: 15.621601 deg. BgOHeadingCmd: 0.272648 target range: 27.149319 and range: 27.30 m.>*" BʎjL;@Z@`?-BɢMn)I MJiQ)UuQQiUc3/i]>]i9]r1=I]>IaBÿ>BCB IB,BB =BBvDBl;B*E DAT read: 00:44:57.8941 LVL= 30320, 32753, 30578, 32755, AGC= 61, IDX= 497,-0.22, 2.295, 0.832, 2.828, 2.258, PHS= 0.138,-1.381, 0.526, RAW= 161.1, 8.3, CAL= 160.7, 8.5, ROT= 349.3, -8.5 % Ygot valid direction response: 00:44:57.8941 LVL= 30320, 32753, 30578, 32755, AGC= 61, IDX= 497,-0.22, 2.295, 0.832, 2.828, 2.258, PHS= 0.138,-1.381, 0.526, RAW= 161.1, 8.3, CAL= 160.7, 8.5, ROT= 349.3, -8.5 % Z#Rx 26: Read direction message, but no range.- ^direction in FSK: [0.971820,-0.183627,0.147809]y%?ǿ%)k?pvrw )=IO >iİ?P3@V>3@ )@I+fJ?Dcb?Ɔe? Ơ7?)It;?iE checking for new query: numPingsReceived=26, elapsed TxPingTime=14.134608M ;@I  @I @M /@I E%  E% E! E! "E% :*E% VL:VE! ZE! BE% .X8, ʳX@Aj'=j>jHWٱj;|]DDAT read: Rx Time:00:44:58.3939 eTRx dataTimestamp_ set to:1761698698.853694PDAT read: Bearing 178.4, -12.2 (Local) ~Local bearing/azimuth received: Bearing 178.4, -12.2 (Local)  AHRS rotation from veh to nav: [[0.942710,-0.315258,-0.109138],[0.329426,0.931331,0.155247],[0.052701,-0.182306,0.981829]]jH`*?/-Կ vO?`v?@!?`?Uǿ#k?ij'=Ij`;jΐCuDAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.4 YByIIC=)<bDVD뱝DAT read: 00:44:58.3939 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 512,-0.06,-1.918, 2.963,-1.322,-1.824, PHS= 0.008,-1.451, 0.458, RAW= 163.0, 11.4, CAL= 163.2, 12.8, ROT= 346.8, -12.8 Ygot valid direction response: 00:44:58.3939 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 512,-0.06,-1.918, 2.963,-1.322,-1.824, PHS= 0.008,-1.451, 0.458, RAW= 163.0, 11.4, CAL= 163.2, 12.8, ROT= 346.8, -12.8 T#Rx 27: Read range and direction messages.m^direction in FSK: [0.949385,-0.222676,0.221548]mFpublishing direction and range infoyY]3\a? E̿@|[?Y]AY]Y] Y)YI]o]6@]%K>]K6@ ]d>)]@I]dYY]a\?V&g?L3G? ]B@?)]KI]kyҼ%4=ٔAͻQ->9Y=jGyFش;E>i]dYYchecking for new query: numPingsReceived=27, elapsed TxPingTime=14.458620Q 54V?Q 94;y)BYy.>Q I/@]DI6:i:!4yEݒBɮEAM0EY]좶X@AJ]AR]Aj]z>]}9@Av3s@r]3\a? E̿@|[?Z]kb]d]O_GD9@Sm@ӴJ @z]Dy45?V s?"?2]+p@:]"A"]<=?*]B]B]!Ț?Y“]0B]A]#,;>gO addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.503894 s, deltaX: -0.299999 m, approachRate: -0.595362 m/s, rangeRepo size: 4 gO Added new target pos. range: 26.850481 m, bearing: 8.447901 deg, lat: 36.779279 deg, lon: -121.859534 deg, deltaT: 0.503894 s, deltaX: -0.298838 m, approachRate: -0.593057 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 26.85 m.bRZgO5 ProNav: ac range: 26.850481 m, nav range: 26.100912 m, bearing: 10.472841 deg, approach rate: 0.000000 m/s, LOS rate: -0.052413 deg/s, cmd heading: 15.621602 deg, new cmd heading: 15.571414 deg. B9gOEHeadingCmd: 0.271772 target range: 26.850481 and range: 27.00 m.E%>A*A"A IIIyyʎyyj;@Z'?ɢ,)  i ) õ))i-`+i5%>56:=I<=I=%>I9I=@ @@@checking for new query: numPingsReceived=27, elapsed TxPingTime=14.623116EE  EE EE $EA "EE :*EE P:VEE 4ZEA aM @aM @aM @aM @y ^A y 1=ԩ IIO>i8,sX@A2]!=23t>2?[ٱ2L7 :AHRS rotation from veh to nav: [[0.942457,-0.316245,-0.108460],[0.330018,0.931911,0.150430],[0.053502,-0.177568,0.982653]]2H (?Z=ԿĻ`?8?`LA?d?ƿ q?i2]!=I2`;2ʐCYB ByBIi Mb@Mb@Mb@     9 S?{GzMb`?Y ?y # ;  A  GA)  A Y ADDAT read: Rx Time:00:44:58.8936 %TRx dataTimestamp_ set to:1761698699.358186EPDAT read: Bearing 178.4, -9.7 (Local) Q]~Local bearing/azimuth received: Bearing 178.4, -9.7 (Local) bDVDβyx.=%3=ٔQ- >9 Y = jGy FI:E>Q 5%4Dl?Q 9%4%DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.5 Lw)BYe?Q Ee:ym\>Q Im/@fDI%Iq=iz>Ud3@+H>3@ k]>)@Ik] Zs?Lgp?q/? 5?)xbGIAik]gODNOT Ignoring new targets: 26.85 m.b!R%Z%gO5 ProNav: ac range: 26.850481 m, nav range: 25.828485 m, bearing: 10.418665 deg, approach rate: -0.634435 m/s, LOS rate: -0.127496 deg/s, cmd heading: 15.571414 deg, new cmd heading: 15.461921 deg. B5TigO=HeadingCmd: 0.269861 target range: 26.850481 and range: 27.00 m.=G+>=checking for new query: numPingsReceived=28, elapsed TxPingTime=14.9452379*" iBʎj:@Z໔?]Bɢ]x)Y ]ia)e aaie-'imG+>mpC:mrC=ImG+>Iqy51@1 @1@5/@9ԡ checking for new query: numPingsReceived=28, elapsed TxPingTime=15.126936A A ?AB Կ>B CB 4 IB @BB  =B B wDB l;B +EE  E E &E "E :*E xv:VE 4ZE BE ;8,,JX@A2=2>2U_ٱ2n2 :AHRS rotation from veh to nav: [[0.942098,-0.317461,-0.108023],[0.330890,0.932336,0.145812],[0.054424,-0.173114,0.983397]]2H%?FQԿl@N-?@??ݫ?@(ƿw?i2=I2)a;2̐CY\y\bDfVDfkٔn4Q-r?9pYp=rjGypv2:;Ev?xQ 5~4z|?Q 9~4zu)zBY|y~΋>Q I/@zmDIz3;izQ;zS4y ޒBɮ A Y]X@AJ]AR]Aj]@>]˙wa9@z]%߸@r]5z.?Plǿh`r|?Z]Ab]k]]?.8@]R@@8[8@z]=Fn ?_?>W?2]ʖ@:]A"]W#?*]LB]B]-ػ?]“Y]A]I;>gO] addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.504492 s, deltaX: -0.400000 m, approachRate: -0.792876 m/s, rangeRepo size: 4 gOm Added new target pos. range: 26.453676 m, bearing: 10.744620 deg, lat: 36.779277 deg, lon: -121.859534 deg, deltaT: 0.504492 s, deltaX: -0.396805 m, approachRate: -0.786543 m/s, posRepo size: 4 jigOuDNOT Ignoring new targets: 26.45 m.bqR}ZygO ProNav: ac range: 26.453676 m, nav range: 25.479687 m, bearing: 10.479296 deg, approach rate: 0.000000 m/s, LOS rate: -0.127496 deg/s, cmd heading: 15.461921 deg, new cmd heading: 15.381501 deg. BgOHeadingCmd: 0.268458 target range: 26.453676 and range: 26.60 m.Ns>*" ʎjZ?Bɢ:AJ=INs>IԹ]@@Y @a@m4@i5DDAT read: Rx Time:00:44:59.3935 MTRx dataTimestamp_ set to:1761698699.863088mPDAT read: Bearing 178.4, -9.5 (Local) u~Local bearing/azimuth received: Bearing 178.4, -9.5 (Local) %DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.4 DAT read: 00:44:59.3935 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 508, 0.39,-2.753, 2.132,-2.255,-2.711, PHS= 0.060,-1.396, 0.412, RAW= 160.6, 11.1, CAL= 160.7, 12.3, ROT= 349.3, -12.3 Ygot valid direction response: 00:44:59.3935 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 508, 0.39,-2.753, 2.132,-2.255,-2.711, PHS= 0.060,-1.396, 0.412, RAW= 160.6, 11.1, CAL= 160.7, 12.3, ROT= 349.3, -12.3 T#Rx 29: Read range and direction messages.^direction in FSK: [0.960057,-0.181405,0.213030]Fpublishing direction and range infoy9==xʸ?YE8ǿAzUmD?Y=3A9999 9)9I=u=i=!=>9=aF>=3@ =[>)=@I=[99=?l?:Y \|8,X;X@A.checking for new query: numPingsReceived=29, elapsed TxPingTime=15.630765YByI bD!VD!y5<%=<ٔ=Q-=>99YA=EjGyEFEEE>IQ 5U4M?Q 9]4Mt)MBYYyYQ I]/@MuDIM:iM-:M4yeBɮeWAm1EaeeV̕49@ KxL_@re=xʸ?YE8ǿAzUmD?Zet;?be[eOک]8@ Dį@F=@ze/"Ũ ?Cc>S?FJ?2e@:eE EE$E"E*E[:VE4ZEa@a@a@a@gO addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.504902 s, deltaX: -0.200001 m, approachRate: -0.396118 m/s, rangeRepo size: 4 gO Added new target pos. range: 26.254776 m, bearing: 10.827873 deg, lat: 36.779276 deg, lon: -121.859534 deg, deltaT: 0.504902 s, deltaX: -0.198900 m, approachRate: -0.393938 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 26.25 m.bRZgO ProNav: ac range: 26.254776 m, nav range: 25.073730 m, bearing: 10.493001 deg, approach rate: 0.000000 m/s, LOS rate: -0.127496 deg/s, cmd heading: 15.381501 deg, new cmd heading: 15.275189 deg. BgOHeadingCmd: 0.266602 target range: 26.254776 and range: 26.40 m.>*"  ʎj`ff:@Z?B)ɢ-㌽)) -i1)5L 11i5 !i=>=p:=bO=I=>Ia;@ @ @ 4@Q5DDAT read: Rx Time:00:44:59.8932 =TRx dataTimestamp_ set to:1761698700.365838]PDAT read: Bearing 177.8, -9.5 (Local) e~Local bearing/azimuth received: Bearing 177.8, -9.5 (Local) DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.4 Z#Rx 30: Read range message, but no direction.y1Y5A1checking for new query: numPingsReceived=30, elapsed TxPingTime=15.907607ԁ ^A BJ=I I O% >8,N X@A,R=R<>R'fٱR0 bAHRS rotation from veh to nav: [[0.941991,-0.317421,-0.109071],[0.330872,0.932783,0.142970],[0.056358,-0.170765,0.983699]]RH$? PԿ컿-?Z?@L?`ڬ?ſuz?iR=IRa;PYByIiMb@Mb@Mb@ 9 +?)\(9Y=jGy %38E >Q 54?Q 94tr)BYu?Q E%:y%K~>Q I%/@}DIs:i#:4y)ɮ-}A)gO] addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.502750 s, deltaX: -0.400000 m, approachRate: -0.795623 m/s, rangeRepo size: 4 jYgOeDNOT Ignoring new targets: 26.25 m.baReκZeκgO} ProNav: ac range: 26.254776 m, nav range: 24.821613 m, bearing: 10.455003 deg, approach rate: -0.593305 m/s, LOS rate: -0.090327 deg/s, cmd heading: 15.275189 deg, new cmd heading: 15.198422 deg. B}O%gOHeadingCmd: 0.265263 target range: 26.254776 and range: 26.00 m.}Ї>*" SBʎj:@Z`]?BɢP) iBQBUCBUA IBUJBBU =BQBUxDBUl;BU+EBCBCԁBB =B =Cn6DAT read: 00:44:59.8932 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 506,-0.36, 0.898,-0.502, 1.406, 0.931, PHS= 0.070,-1.387, 0.432, RAW= 160.8, 10.6, CAL= 160.9, 11.7, ROT= 349.1, -11.7 Ygot valid direction response: 00:44:59.8932 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 506,-0.36, 0.898,-0.502, 1.406, 0.931, PHS= 0.070,-1.387, 0.432, RAW= 160.8, 10.6, CAL= 160.9, 11.7, ROT= 349.1, -11.7 Z#Rx 31: Read direction message, but no range.^direction in FSK: [0.961556,-0.185166,0.202787]yim^~{?Ta$ǿ ?iiii i)m?Im)\=im7m/>m3@mq=>m3@ mQ>)mg@ImQimX?f?nh]h? ms6?)m}=ImtBimQchecking for new query: numPingsReceived=31, elapsed TxPingTime=16.145554)7_ii}Ї>V$:,S=I}Ї>IE EE'E"E:*EX:VE'4ZEBE' DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.4  DAT read: 00:45:00.3932 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 505,-0.15, 1.703, 0.260, 2.231, 1.677, PHS= 0.128,-1.372, 0.510, RAW= 161.1, 8.6, CAL= 160.8, 8.9, ROT= 349.2, -8.9  Ygot valid direction response: 00:45:00.3932 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 505,-0.15, 1.703, 0.260, 2.231, 1.677, PHS= 0.128,-1.372, 0.510, RAW= 161.1, 8.6, CAL= 160.8, 8.9, ROT= 349.2, -8.9  T#Rx 32: Read range and direction messages. ^direction in FSK: [0.970460,-0.185125,0.154710] Fpublishing direction and range infoyA E +?<.ǿj?YA A A A A A )A IE o>iE E \?E P3@E `>E 3@ E >)E @IE A A E p 1??ʑ? E 7?)E IE AiE A A % checking for new query: numPingsReceived=32, elapsed TxPingTime=16.4200318,w9X@A\v=v>vkٱv50 AHRS rotation from veh to nav: [[0.942185,-0.316492,-0.110090],[0.330122,0.933064,0.142865],[0.057505,-0.170949,0.983600]]vH`a&?`iAԿ. ??`iI?@Mq?ſy?iv=IvW0b;tY ByIbDVDy@%M=ٔ=Q->9Y=jGyFnE>Q 54ɸ?Q 94p)BYy}>Q I/@DIm;i;4y%Bɮ%A%2Ey}7X@AJ}AR}Aj}&3>}9@r%YDfh@r}+?<.ǿj?Z}Ab}}x8@ȴmV@`ڌ@z}[Ԗ?b2?nL?2}r@:}A"}Dۚ?*}TB}nByy“y}A}7:>gO addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.503588 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gOE Added new target pos. range: 25.857336 m, bearing: 10.068933 deg, lat: 36.779276 deg, lon: -121.859534 deg, deltaT: 1.006338 s, deltaX: -0.397440 m, approachRate: -0.394937 m/s, posRepo size: 4 jAgOMDNOT Ignoring new targets: 25.86 m.bIRuZqgO ProNav: ac range: 25.857336 m, nav range: 24.587481 m, bearing: 10.419442 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 15.198423 deg, new cmd heading: 15.123445 deg. BgOHeadingCmd: 0.263954 target range: 25.857336 and range: 26.00 m.$>*" ʎjZ?EBɢm=)i m ii)m#bqqiu=iu$>}-:} iT=I}$>Iyi>i%>5@ @@/@@=@=checking for new query: numPingsReceived=32, elapsed TxPingTime=16.639324bE]-4jEYrE]/E EE%E"E:*EL_:VE 4ZEa@a@a@a@Q ^Am cU=A .AI I O >b8,UX@AXi9I=AeDDAT read: Rx Time:00:45:00.8929 uTRx dataTimestamp_ set to:1761698701.375541PDAT read: Bearing 177.4, -9.5 (Local) ~Local bearing/azimuth received: Bearing 177.4, -9.5 (Local) DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.5  DAT read: 00:45:00.8929 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 502,-0.09, 1.433, 0.033, 1.950, 1.464, PHS= 0.071,-1.385, 0.443, RAW= 161.1, 10.4, CAL= 161.1, 11.4, ROT= 348.9, -11.4 Ygot valid direction response: 00:45:00.8929 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 502,-0.09, 1.433, 0.033, 1.950, 1.464, PHS= 0.071,-1.385, 0.443, RAW= 161.1, 10.4, CAL= 161.1, 11.4, ROT= 348.9, -11.4 T#Rx 33: Read range and direction messages.^direction in FSK: [0.961933,-0.188724,0.197657]Fpublishing direction and range infoyim>'?&(ȿg4L?YmAiiii i)iImsh=imGm>im9>mP3@ m%K>)m@Im%KiimM1?U'cS?/\*? m~7?)m]:ImaFim%Kii}checking for new query: numPingsReceived=33, elapsed TxPingTime=16.965298YByII<)<ԙonly read 0 of 1 data item for BIT error. Device response is::TS,00050504332152,35.0, +10.6, 0.0,10 a@a a@a a@a a@a bD%VD%:y<%=ٔQ->9 ?Y ?=jGyE>Q 5%4!Ғ?Q 9%4n)BQ A-+:Y)Q E-:y)Q I5/@DI>m" e8@' ,n$̳ @rm>'?&(ȿg4L?ZmaFbm%KmW }7@q6@6Qo@zmZg7?铨ʸ?_'0 ?2m@:mA"m>[?*m=*Bm^BimT“im$Am6>gOE addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.506115 s, deltaX: -0.500000 m, approachRate: -0.987918 m/s, rangeRepo size: 4 gOu Added new target pos. range: 25.360081 m, bearing: 10.188102 deg, lat: 36.779276 deg, lon: -121.859535 deg, deltaT: 0.506115 s, deltaX: -0.497255 m, approachRate: -0.982495 m/s, posRepo size: 4 jygO}DNOT Ignoring new targets: 25.36 m.byRZgO ProNav: ac range: 25.360081 m, nav range: 24.267609 m, bearing: 10.237305 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 15.123446 deg, new cmd heading: 15.025485 deg. BAgOMHeadingCmd: 0.262244 target range: 25.360081 and range: 25.50 m.MD>Q*Q"Q QQQYYʎYYYje9@Ze? Bɢ~) i)iIiD>Պ7:&Y=ID>IBؿ>BCBG IBOBB =BBBm;checking for new query: numPingsReceived=33, elapsed TxPingTime=17.144958B!+E] 4@a  @a @e /@a E=  E= E= $E9 "E= m:*E= g:VE= 4ZE9 BE= TIbo=ib%bt>bUd3@b D>b3@ b^ Z>)b@Ib^ Z``b?,l?ޙt4f? b75?)bjDIbt;?ib^ Z``=checking for new query: numPingsReceived=34, elapsed TxPingTime=17.447725=3>/GtٱU0 MAHRS rotation from veh to nav: [[0.942935,-0.313706,-0.111636],[0.327600,0.934025,0.142389],[0.059603,-0.170836,0.983495]]H`,?Կ4e?`?9?C?`ſx?i=I[c;ʐCYuBy} I 4<p;bDVDk1yu<%u'=ٔuQ-}>9yYy=}jGԡyFʮE>Q 54P钊?Q 94"m)BQ A :YQ Ek:yz>Q I/@DI;iŁ?4yɮ@A`bm6xX@AJb~ARb~Ajb<>bƺ8@wq<.14B/@rbR#Ż?w<:ǿ\ ?Zbt;?bb^ Zb}7@TKɐ@]^k@zbЌ ?dmm?l?2b@:b@A"b/G?*boBbB`bL“bBbAb;>gOE addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.502781 s, deltaX: -0.299999 m, approachRate: -0.596680 m/s, rangeRepo size: 4 gOU Added new target pos. range: 25.061663 m, bearing: 10.570717 deg, lat: 36.779276 deg, lon: -121.859533 deg, deltaT: 0.502781 s, deltaX: -0.298418 m, approachRate: -0.593535 m/s, posRepo size: 4 jqgO}DNOT Ignoring new targets: 25.06 m.byRyZgO ProNav: ac range: 25.061663 m, nav range: 24.009068 m, bearing: 10.511181 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 15.025486 deg, new cmd heading: 14.938204 deg. BgOHeadingCmd: 0.260721 target range: 25.061663 and range: 25.20 m.4}>*" ʎj@339@Zz?U"BɢU6?)]A8 ]!iY)]gYYi]3ie4}>e@:mU=Im4}>IiXGE-9IYMiAUchecking for new query: numPingsReceived=34, elapsed TxPingTime=17.647758e3@i @i@m$3@iD zD E  E E &E "E ,:*E ga:VE 4ZE a @a @a @a @ ^AM &V=1 AIIO>R8,TX@ADDAT read: Rx Time:00:45:01.8924  TRx dataTimestamp_ set to:1761698702.382086-PDAT read: Bearing 176.8, -9.1 (Local) -~Local bearing/azimuth received: Bearing 176.8, -9.1 (Local) 1EDAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.4 eDAT read: 00:45:01.8924 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 497, 0.00, 2.005, 0.601, 2.519, 2.026, PHS= 0.081,-1.380, 0.449, RAW= 161.0, 10.2, CAL= 161.0, 11.0, ROT= 349.0, -11.0 mYgot valid direction response: 00:45:01.8924 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 497, 0.00, 2.005, 0.601, 2.519, 2.026, PHS= 0.081,-1.380, 0.449, RAW= 161.0, 10.2, CAL= 161.0, 11.0, ROT= 349.0, -11.0 W=T#Rx 35: Read range and direction messages.-^direction in FSK: [0.963592,-0.187303,0.190809]A>ٓzٱ93Fpublishing direction and range infoy֫?] KǿP@ml?Y3A )=IT=iףT>3@K6>3@  D>)@I DyfX?͒H@?aS? 7?)5IDi D AHRS rotation from veh to nav: [[0.943451,-0.311411,-0.113683],[0.325827,0.934284,0.144743],[0.061138,-0.173599,0.982917]]H`0?)ӿ@ZW???{M?@|8ƿt?iW=I~d;ːCYByI checking for new query: numPingsReceived=35, elapsed TxPingTime=17.961601iaa aa aa aa iMb@Mb@Mb@ 9Q?Zd;O{Gz?Y(?yj#<A(@ A)SAY AbD-VD-:yEL%M=ٔM5Q-M>9QYQ=UjGy}F}ZE}>Q 54?Q 94wk)BQ AT:Y?Q E:y?>Q I/@DI&:i; 4yBɮlA*EtX@AJARAj2>O7@7kNHAv@r֫?] KǿP@ml?ZDb D'jk7@SvfC@J2@z; ?|C?[R??2@:[A" ?*B,BB>[?T“^BA5>gOM addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.503764 s, deltaX: -0.300001 m, approachRate: -0.595519 m/s, rangeRepo size: 4 gO} Added new target pos. range: 24.763309 m, bearing: 9.989915 deg, lat: 36.779277 deg, lon: -121.859535 deg, deltaT: 0.503764 s, deltaX: -0.298353 m, approachRate: -0.592248 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 24.76 m.bRZgO ProNav: ac range: 24.763309 m, nav range: 23.708740 m, bearing: 10.156566 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 14.938204 deg, new cmd heading: 14.841194 deg. BgOHeadingCmd: 0.259028 target range: 24.763309 and range: 24.90 m.H>*" Bʎj`f8@Z?=#BɢEx)E EiA)E"AIiM9imH>uJ:uFU=IuH>IqԉB=>B=CB9B9B= =B9B=zDB=m;B=-+Echecking for new query: numPingsReceived=35, elapsed TxPingTime=18.151772% <@)  @) @- 4@) @1 @1 E  E E %E "E :*E H:VE 4ZE BE @@4Q>b@@p ?)Db@Ir$?BlE"?[w&FD? g?)}ϾIjʾizchecking for new query: numPingsReceived=36, elapsed TxPingTime=18.432222Yqy}IbDVDyuAb%u"=ٔ}Q-}>9}"?Y}"?=}jGyyE>Q 54?Q 94i))BYyQ I/@DI:i:t4yBɮ~A+EAX@AJQARQAj6(,=.4y 2@J}(+@r!xÚj?V7k_mԿI?ZjʾbpDv2@C?/$0@zp+?C?Ʈe?2H?: A">@?*[UB\B=*“4A4>gO addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.504099 s, deltaX: -0.100000 m, approachRate: -0.198374 m/s, rangeRepo size: 4 gO Added new target pos. range: 24.664658 m, bearing: 2.408172 deg, lat: 36.779277 deg, lon: -121.859535 deg, deltaT: 0.504099 s, deltaX: -0.098652 m, approachRate: -0.195699 m/s, posRepo size: 4 j gO DNOT Ignoring new targets: 24.66 m.b R ZgO ProNav: ac range: 24.664658 m, nav range: 23.400854 m, bearing: 10.126596 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 14.841195 deg, new cmd heading: 14.753299 deg. B!gO-HeadingCmd: 0.257494 target range: 24.664658 and range: 24.80 m.-5փ>)*)") )))11ʎ119j=8@Z=[ ?e%Bɢm)i md ii)m-$qqiu?iu5փ>}T:}![=I}5փ>Iy>@ @!@%24@!Ychecking for new query: numPingsReceived=36, elapsed TxPingTime=18.655424D =D <E  E E 'E "E :*E VL:VE '4ZE a% @a% @a% @a% @q ^A `T=I I) O5 >8,X@A,:=:>:ٱ:8H8 bAHRS rotation from veh to nav: [[0.945277,-0.303886,-0.118765],[0.319540,0.935817,0.148796],[0.065925,-0.178604,0.981710]]:H??@rӿ^gXs?6? ?t? }ƿ +j?i:=I:~f;:͐CY By  IMDDAT read: Rx Time:00:45:02.8920 UTRx dataTimestamp_ set to:1761698703.387405]PDAT read: Bearing 175.4, -9.6 (Local) ]~Local bearing/azimuth received: Bearing 175.4, -9.6 (Local) mDAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.5 DAT read: 00:45:02.8920 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 509, 0.04,-2.668, 2.156,-2.093,-2.654, PHS= 0.088,-1.428, 0.517, RAW= 162.1, 9.3, CAL= 161.9, 10.0, ROT= 348.1, -10.0 Ygot valid direction response: 00:45:02.8920 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 509, 0.04,-2.668, 2.156,-2.093,-2.654, PHS= 0.088,-1.428, 0.517, RAW= 162.1, 9.3, CAL= 161.9, 10.0, ROT= 348.1, -10.0 T#Rx 37: Read range and direction messages.^direction in FSK: [0.963643,-0.203071,0.173648]Fpublishing direction and range infoyIM{Kw*? š<ɿٖNs:?YMfAIIII I)M=IMX9=iMȶMZ?MD5@M6&>M4@ M¸2>)Mmj@IM¸2IIMB%l?e+-?~ި? M@.9Y=jGyF9vE>Q 545?Q 94h):BY?Q E:y,>Q I/@DI:is:#4yBɮ%AIM>X@AJMVARMVAjMgo>M$TI7@ɩ|0\W@rM{Kw*? š<ɿٖNs:?ZMTbM¸2M%7@9< @x @zMGGv?x6e?I̕L?2ML^@:MA"Mǚ?*Mfm BM/BIMB,“IMAM3>gO addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.501220 s, deltaX: -0.500000 m, approachRate: -0.997566 m/s, rangeRepo size: 4 gO Added new target pos. range: 24.167385 m, bearing: 8.585144 deg, lat: 36.779277 deg, lon: -121.859536 deg, deltaT: 0.501220 s, deltaX: -0.497272 m, approachRate: -0.992124 m/s, posRepo size: 4 jgOEDNOT Ignoring new targets: 24.17 m.bARIZIgO ProNav: ac range: 24.167385 m, nav range: 23.125492 m, bearing: 10.019402 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 14.753299 deg, new cmd heading: 14.671559 deg. BgOHeadingCmd: 0.256067 target range: 24.167385 and range: 24.30 m.7>*" Թ)BʎjL8@Z?-&Bɢ- )1 5siQ)U4QYi]8 i]7>e,]:ekI=Ie7>IaB >B CB M IB TBB =B B B m;B 0+E checking for new query: numPingsReceived=37, elapsed TxPingTime=19.159021 EM  EM EM &EI "EM [:*EM rN:VEM 4ZEI BEM ȿ$vz?YAp|"~ )IS=i񲿉S?e4@>,4@ '>)6@I'C-X?ʔ[v?2e? Fu9?)fGIIi'checking for new query: numPingsReceived=38, elapsed TxPingTime=19.441076iIIO%?8,FX@AB=B >BMٱB)R9 nAHRS rotation from veh to nav: [[0.945679,-0.301854,-0.120726],[0.317917,0.936289,0.149304],[0.067967,-0.179575,0.981394]]BHC?Qӿ羿X??@h?Af?Oƿg?iB=IB1g;B̐CYv*Byv IIz=)z;bDUVDU:y%=%=ٔ-nQ-->91Y1=5jGy156AE=>9Q 5E4=Q?Q 9m4=Kg)=PBYiym*>Q Im/@=DI=;i=6;=%4y}Bɮ}A},E X@AJARAj >Iȿ$vz?ZIb'eK)6@  @ꡳ@zq1Q?='!wR?tF8?2h@:A"cSqߚ?*ZBB ?Z“ByA#>gOM addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503955 s, deltaX: -0.099998 m, approachRate: -0.198427 m/s, rangeRepo size: 4 gO] Added new target pos. range: 24.068310 m, bearing: 8.995887 deg, lat: 36.779277 deg, lon: -121.859539 deg, deltaT: 0.503955 s, deltaX: -0.099075 m, approachRate: -0.196596 m/s, posRepo size: 4 jYgO]DNOT Ignoring new targets: 24.07 m.bYRZgO ProNav: ac range: 24.068310 m, nav range: 22.809290 m, bearing: 9.165457 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 14.671559 deg, new cmd heading: 14.569225 deg. BgOHeadingCmd: 0.254281 target range: 24.068310 and range: 24.20 m.1>*" ʎj@338@Z`ka?'Bɢcn)9 =i9)EhAAiEiM1>Mt*g:MvL=IM1>IQchecking for new query: numPingsReceived=38, elapsed TxPingTime=19.662977E EEE"E:*ET:VEZEa@a@a@a@A  @!  @! @- 0@) q iI II U DDAT read: Rx Time:00:45:03.8916 ] TRx dataTimestamp_ set to:1761698704.393965e PDAT read: Bearing 172.1, -7.8 (Local) e ~Local bearing/azimuth received: Bearing 172.1, -7.8 (Local) u DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.5  DAT read: 00:45:03.8916 LVL= 30576, 32753, 31218, 32755, AGC= 62, IDX= 505, 0.07,-2.402, 2.422,-1.848,-2.472, PHS= 0.172,-1.344, 0.581, RAW= 161.6, 6.8, CAL= 161.0, 6.5, ROT= 349.0, -6.5  Ygot valid direction response: 00:45:03.8916 LVL= 30576, 32753, 31218, 32755, AGC= 62, IDX= 505, 0.07,-2.402, 2.422,-1.848,-2.472, PHS= 0.172,-1.344, 0.581, RAW= 161.6, 6.8, CAL= 161.0, 6.5, ROT= 349.0, -6.5  T#Rx 39: Read range and direction messages. ^direction in FSK: [0.975317,-0.189583,0.113203] Fpublishing direction and range infoyQ U hh:5?j6>Dȿ5?YU AQ U pwQ U y Q )U >IU 0>iU 1U j?U J4@U =U 3@ U V=)U @IU V轩Q Q U ~?ebR?O;=? U :?)U yIU DiU V轩Q Q checking for new query: numPingsReceived=39, elapsed TxPingTime=19.955198^A<H=IIO?'9,X@A =S>k풽ٱkU8 }AHRS rotation from veh to nav: [[0.946495,-0.298193,-0.123403],[0.314658,0.937651,0.147652],[0.071680,-0.178582,0.981310]]H`I?ӿ^@[#?`<?F? Y?ƿ@f?i=Ii;ːCY-By IiMb@Mb@Mb@ 9S?J +/$?YyȽ<A@ A)=AYz A p<<bD-VD-y=<%==ٔ=XݻQ-=>9AYA=EjGyEFIMɻEM>QQ 5]4Um?Q 9]4Ue)UgBYe?Q Ee:ye+>Q Ie0@UʢDIU;iU;U/4yɮA9=6X@AJ=AR=Aj=B}>=B>6@Q}4X@r=hh:5?j6>Dȿ5?Z=Db=V=}d.6@n!>b @n0A@z=(p?4` ?*[?2=\@:=A"=^:<뚊?*=j B=NB=ǚ?=j “=/B=شA=S>gO addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.502605 s, deltaX: -0.500000 m, approachRate: -0.994817 m/s, rangeRepo size: 4 gOM Added new target pos. range: 23.571030 m, bearing: 8.588172 deg, lat: 36.779279 deg, lon: -121.859541 deg, deltaT: 0.502605 s, deltaX: -0.497280 m, approachRate: -0.989405 m/s, posRepo size: 4 jIgOUDNOT Ignoring new targets: 23.57 m.bQRQZQgO ProNav: ac range: 23.571030 m, nav range: 22.605705 m, bearing: 8.746979 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 14.569224 deg, new cmd heading: 14.471191 deg. BgOHeadingCmd: 0.252570 target range: 23.571030 and range: 23.70 m.P>*" "BʎB>BCBZ IB^BBBB{DBl;B+Ej@37@Z`?echecking for new query: numPingsReceived=39, elapsed TxPingTime=20.167063颍(Bɢ:_) Xi)+顑iS0iP>Oq:4G=IP>IqE EE'E"E:*EL_:VE'4ZEBE+iM )>ԡ 4@  @ @ /@  DDAT read: Rx Time:00:45:04.3916  TRx dataTimestamp_ set to:1761698704.897694% PDAT read: Bearing 172.7, -7.9 (Local) - ~Local bearing/azimuth received: Bearing 172.7, -7.9 (Local) = DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.5  DAT read: 00:45:04.3916 LVL= 31072, 32753, 30706, 32755, AGC= 60, IDX= 504, 0.02,-0.497,-1.947, 0.059,-0.550, PHS= 0.155,-1.353, 0.565, RAW= 161.7, 7.3, CAL= 161.2, 7.2, ROT= 348.8, -7.2 Ygot valid direction response: 00:45:04.3916 LVL= 31072, 32753, 30706, 32755, AGC= 60, IDX= 504, 0.02,-0.497,-1.947, 0.059,-0.550, PHS= 0.155,-1.353, 0.565, RAW= 161.7, 7.3, CAL= 161.2, 7.2, ROT= 348.8, -7.2 T#Rx 40: Read range and direction messages.^direction in FSK: [0.973220,-0.192703,0.125333]Fpublishing direction and range infoy ^A L= b0)$?3lȿcK ?Y ̼A  `y  w  ) <I R>i / ף? 4@ w> 4@  >) @I    n=?#jqO? x>?  .]:?) uJI 4+Hi  IIIYOe?9,DN>X@A9>checking for new query: numPingsReceived=40, elapsed TxPingTime=20.510929Lz=zm>z^ٱzO7 5AHRS rotation from veh to nav: [[0.946897,-0.296300,-0.124868],[0.312942,0.938442,0.146265],[0.073843,-0.177574,0.981333]]zHL?ҿQ???и?@Y?ƿg?iz=IzLk;xY8By* I bDVDk2y@=%2=ٔQ->9Y=jGyF{E>Q 54n?Q 94d)zBYy)>Q I0@ӢDI:i:74ymBɮmAm-E9=s9X@AJ=ƻAR=ƻAj=>=I6@rLj@r=b0)$?3lȿcK ?Z=4+Hb==s\6@k @b|@z=?h|.?ylR?2=cU@:=ҴA"=@x#?*=:e B=B=cSqߚ?=:e “=B=A=>gO addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.503729 s, deltaX: -0.100000 m, approachRate: -0.198520 m/s, rangeRepo size: 4 gO- Added new target pos. range: 23.471729 m, bearing: 8.391341 deg, lat: 36.779281 deg, lon: -121.859542 deg, deltaT: 0.503729 s, deltaX: -0.099300 m, approachRate: -0.197131 m/s, posRepo size: 4 j)gO-DNOT Ignoring new targets: 23.47 m.b)R1Z1gOe ProNav: ac range: 23.471729 m, nav range: 22.592897 m, bearing: 8.486603 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 14.471192 deg, new cmd heading: 14.386747 deg. BagOmHeadingCmd: 0.251096 target range: 23.471729 and range: 23.60 m.m>i*i"i qqqqqʎyyyj}7@Z`?)Bɢu) i)Ib!ii>$y:G=I>I echecking for new query: numPingsReceived=40, elapsed TxPingTime=20.671633y@y @y@}O1@y^AUG=IIE EE%E"E:*EV:VE 4ZEa@a@a@a@Oh> 9,&XX@AbDDAT read: Rx Time:00:45:04.8913 bTRx dataTimestamp_ set to:1761698705.401776fPDAT read: Bearing 175.8, -8.8 (Local) j~Local bearing/azimuth received: Bearing 175.8, -8.8 (Local) rDAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.5 DAT read: 00:45:04.8913 LVL= 32752, 32753, 32114, 32755, AGC= 59, IDX= 501,-0.05,-1.735, 3.130,-1.185,-1.712, PHS= 0.079,-1.396, 0.483, RAW= 161.8, 9.8, CAL= 161.7, 10.5, ROT= 348.3, -10.5  Ygot valid direction response: 00:45:04.8913 LVL= 32752, 32753, 32114, 32755, AGC= 59, IDX= 501,-0.05,-1.735, 3.130,-1.185,-1.712, PHS= 0.079,-1.396, 0.483, RAW= 161.8, 9.8, CAL= 161.7, 10.5, ROT= 348.3, -10.5 T#Rx 41: Read range and direction messages.^direction in FSK: [0.962826,-0.199392,0.182236]Fpublishing direction and range infoy`bxw?Tɿm~S?Yb̸A`b`br} `)b;Ibʡ=ib!bK>b{4@b%/>b4@ bf;>)b@Ibf;``bv?}?!D%[? b:?1@=/>dٱ6)b.IbQibf;``checking for new query: numPingsReceived=41, elapsed TxPingTime=20.950706 AHRS rotation from veh to nav: [[0.947488,-0.293697,-0.126524],[0.310597,0.939347,0.145453],[0.076131,-0.177113,0.981242]]HQ?`ҿ@1`?!?5?`W}?ƿTf?i@=I0l;͐CY%GBy%= I5=5=aimMb@Mb@Mb@iiii i9mS?J +I +?Yiyim99 Y = jGy  AE>1Q 5=45?Q 9E45Lc)5BYE?Q EE:yE'>Q IE0@5ݢDI5;i5:5z@4yUBɮUAU.E`bYX@AJb˷ARb˷Ajb3U>bX6@kR $>@rbxw?Tɿm~S?ZbQbbf;bcMD5@hӱMi @ej@zbyg T?3_Hv?sNe?2bJK@:b2A"bȚ?*bBb|B``“`bHAbt>gO5 addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.504082 s, deltaX: -0.500000 m, approachRate: -0.991902 m/s, rangeRepo size: 4 gOE Added new target pos. range: 22.974447 m, bearing: 8.299653 deg, lat: 36.779281 deg, lon: -121.859542 deg, deltaT: 0.504082 s, deltaX: -0.497282 m, approachRate: -0.986510 m/s, posRepo size: 4 jAgOMDNOT Ignoring new targets: 22.97 m.bIRIZqgO} ProNav: ac range: 22.974447 m, nav range: 22.285383 m, bearing: 8.474385 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 14.386747 deg, new cmd heading: 14.295398 deg. BgOHeadingCmd: 0.249502 target range: 22.974447 and range: 23.10 m.d}>*" -Bʎj7@Z ?*Bɢ ݉)  -i))-;#11i5~Zi5d}>=:=ؑD=I=d}>I9ԑB>BCBl IBnBB =BBDB}DBl;B+EBCBCBǕCB =B =Cw6uchecking for new query: numPingsReceived=41, elapsed TxPingTime=21.1754112@ @@N0@E  E E &E "E :*E Ar:VE 4ZE BE iFF?F3@F>FG3@ FV>)F2@IFVDDqYVByO IFy^?>rҶ?z!? Fv6?)FcIFt;iFVDDchecking for new query: numPingsReceived=42, elapsed TxPingTime=21.475149bDVDy}[=%}<=ٔ}Q->9Y=jGyFE>Q 54Գ?Q 94-b)BYyQ I0@DI4:iM: H4yMBɮMAIDFyX@AJFjARFjAjF@#>FX N]6@'Nt[ S0 @rFkt"?^6ǿ'ЌCz?ZFt;bFVF)05@*\Dd @B}"w@zFB&?4HRVۯ?i&J?2F8_@:FA"FNOך?*FoBFBDFj “FBF@AF>gO] addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503914 s, deltaX: -0.300001 m, approachRate: -0.595342 m/s, rangeRepo size: 4 gO Added new target pos. range: 22.677212 m, bearing: 9.134332 deg, lat: 36.779281 deg, lon: -121.859541 deg, deltaT: 0.503914 s, deltaX: -0.297235 m, approachRate: -0.589854 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 22.68 m.bRZԡgO ProNav: ac range: 22.677212 m, nav range: 22.031366 m, bearing: 8.610602 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 14.295398 deg, new cmd heading: 14.213302 deg. BgOHeadingCmd: 0.248069 target range: 22.677212 and range: 22.80 m.~>*" ʎj6@Z ?M+BɢMV)I MվiQ)U$QQiUji}~>}#":}I=I~>I5@ @@,1@5checking for new query: numPingsReceived=42, elapsed TxPingTime=21.679020bE ɞ4jE 4rE ɳ/E  E E E "E *E ]t:VE ZE a @a @a @a @ ^A= -B=Ai I I QOe>Ɔ%9,-X@A``~cR=~u>~5ٱ~VF9 AHRS rotation from veh to nav: [[0.948830,-0.287837,-0.129894],[0.305534,0.940731,0.147219],[0.079820,-0.179373,0.980538]]~H\?kҿZ@?`x??o?ƿ`?i~cR=I~7n;~ʐCuDDAT read: Rx Time:00:45:05.8908 }TRx dataTimestamp_ set to:1761698706.409668PDAT read: Bearing 174.1, -7.3 (Local) ~Local bearing/azimuth received: Bearing 174.1, -7.3 (Local) DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.5 DAT read: 00:45:05.8908 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496, 0.03,-3.060, 1.757,-2.531,-3.088, PHS= 0.130,-1.393, 0.513, RAW= 160.9, 8.6, CAL= 160.7, 9.0, ROT= 349.3, -9.0 Ygot valid direction response: 00:45:05.8908 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496, 0.03,-3.060, 1.757,-2.531,-3.088, PHS= 0.130,-1.393, 0.513, RAW= 160.9, 8.6, CAL= 160.7, 9.0, ROT= 349.3, -9.0 T#Rx 43: Read range and direction messages.^direction in FSK: [0.970515,-0.183381,0.156434]Fpublishing direction and range infoyqu[Iu?F]Kyǿp ?Yu3Aqqqq q)u;Iu>iuMuS?qu`>u3@ u| >)u@Iu| qquB7;9?z8?D5oC7? uy6?)usOIut;?iu| qq%checking for new query: numPingsReceived=43, elapsed TxPingTime=21.953318 Y^ByY II%%=)%49QYQ=UjGyUF]E]>Q 54?ӓ?Q 94`)BY?Q E:yT>Q I0@DI:i:S4yBɮA/Equ8X@AJuuhY5@aWo @ru[Iu?F]Kyǿp ?Zut;?bu| upZC=5@P.W5 @`0MF5@zu˲?"U?>(G?2uQ@:uA"u- њ?*u BuBuNOך?q“qu}Aue>gO- addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.503978 s, deltaX: -0.400000 m, approachRate: -0.793685 m/s, rangeRepo size: 4 gO5 Added new target pos. range: 22.279366 m, bearing: 8.768453 deg, lat: 36.779280 deg, lon: -121.859541 deg, deltaT: 0.503978 s, deltaX: -0.397846 m, approachRate: -0.789412 m/s, posRepo size: 4 j9BM>BMCBM IBMBBM =BIBM~DBMel;BM*EgO=DNOT Ignoring new targets: 22.28 m.bYRaZagOu ProNav: ac range: 22.279366 m, nav range: 21.561148 m, bearing: 8.589295 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 14.213303 deg, new cmd heading: 14.105955 deg. BqgO}HeadingCmd: 0.246195 target range: 22.279366 and range: 22.40 m.}|>y*" +Bʎj`ff6@ZwE?% checking for new query: numPingsReceived=43, elapsed TxPingTime=22.182962,Bɢ- )1 5 ;i1 9 )5 &Y a ie miu |>E  E E %E "E 2:*E 1]:VE 4ZE BE $*=I |>I 5 7@1  @9 @= /@9 i ԙ^Am\J=DDAT read: Rx Time:00:45:06.3907 TRx dataTimestamp_ set to:1761698706.915193PDAT read: Bearing 174.0, -7.6 (Local) ~Local bearing/azimuth received: Bearing 174.0, -7.6 (Local)  DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed 0.6 5DAT read: 00:45:06.3907 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511, 0.00,-1.970, 2.853,-1.432,-1.987, PHS= 0.119,-1.398, 0.511, RAW= 161.2, 8.8, CAL= 161.0, 9.3, ROT= 349.0, -9.3 =Ygot valid direction response: 00:45:06.3907 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511, 0.00,-1.970, 2.853,-1.432,-1.987, PHS= 0.119,-1.398, 0.511, RAW= 161.2, 8.8, CAL= 161.0, 9.3, ROT= 349.0, -9.3 =T#Rx 44: Read range and direction messages.M^direction in FSK: [0.968724,-0.188301,0.161604]MFpublishing direction and range infoyÌ=?UJ4@ȿo?YA )IF=i񲿉?4@nF>3@ 6&>)@I6&>3?? X 8?)&IDi6&checking for new query: numPingsReceived=44, elapsed TxPingTime=22.458858AIIO?.9, X@A±µ^r@i±I±±ù ĹùùùĹI)i)I iin^A)n I )O{AYYMsByMs I m>C!9bDQVDi؈9YlAyX=%%=y?AٔQ->9Y=jGy E >Q 5=4쓊?Q 9=4|^)BY9y9Q I=0@DI;iu;[4yIɮMAIX@AJARAj9> D:c5@p5x{w @rÌ=?UJ4@ȿo?ZDb6&0ue5@X$F1 @;I3@zMy?F,A?4q@?2I@:;A"E'ؚ?*T BZBT “BAA>gO addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.505525 s, deltaX: -0.199999 m, approachRate: -0.395626 m/s, rangeRepo size: 4 gO  Added new target pos. range: 22.080757 m, bearing: 8.517502 deg, lat: 36.779280 deg, lon: -121.859541 deg, deltaT: 0.505525 s, deltaX: -0.198608 m, approachRate: -0.392876 m/s, posRepo size: 4 j gO5DNOT Ignoring new targets: 22.08 m.b1R1Z9gOE ProNav: ac range: 22.080757 m, nav range: 21.259066 m, bearing: 8.519238 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 14.105955 deg, new cmd heading: 14.012651 deg. BIgOMHeadingCmd: 0.244567 target range: 22.080757 and range: 22.20 m.checking for new query: numPingsReceived=44, elapsed TxPingTime=22.686687Moz>*" ʎj@336@Z@-?I颩ɢ7) i)Q(顱ixioz>X:E=Ioz>ID-%=D-<E= E=E=$E9"E=>:*E=X:VE=4ZE9aE@aE@aE@aE@2@ @@@ԁ ^A l;=ԩ m DDAT read: Rx Time:00:45:06.8904 u TRx dataTimestamp_ set to:1761698707.417750} PDAT read: Bearing 177.2, -8.1 (Local) } ~Local bearing/azimuth received: Bearing 177.2, -8.1 (Local)  DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.5  DAT read: 00:45:06.8904 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508,-0.06,-3.133, 1.747,-2.630,-3.079, PHS= 0.049,-1.412, 0.405, RAW= 160.7, 11.5, CAL= 160.9, 12.8, ROT= 349.1, -12.8  Ygot valid direction response: 00:45:06.8904 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508,-0.06,-3.133, 1.747,-2.630,-3.079, PHS= 0.049,-1.412, 0.405, RAW= 160.7, 11.5, CAL= 160.9, 12.8, ROT= 349.1, -12.8  T#Rx 45: Read range and direction messages.%^direction in FSK: [0.957556,-0.184396,0.221548]%Fpublishing direction and range infoyi m bhM?/Jǿ@|[?Ym fAi i i i i )m :Im 9H=im jm )\>m 3@m M>m 3@ m d>)m g@Im di i m oV{?}$$n?OMy? m ޣ5?)m ,MIm tBim di i Echecking for new query: numPingsReceived=45, elapsed TxPingTime=22.967031IIO>Z 79,kX@ABh=B>B ٱBD JAHRS rotation from veh to nav: [[0.952392,-0.274013,-0.133667],[0.293435,0.942836,0.157973],[0.082740,-0.189675,0.978355]]BH`y?lѿ?@+?x8?l.?FGȿ N?iBh=IBn;BːCYwByx IiMb@Mb@Mb@ 9v?DlI +?Y?yOZA@ A)Y AbDVDAyE|<%M"=ٔM»Q-M>9QYQ=UjGyUFUWҼEU>Q 54?Q 94\)BY?Q E:yD>Q I0@DI:i:d4yBɮA0E15jX@AJ5vAR5vAj5>5V> :4@/pfW97@r5bhM?/Jǿ@|[?Z5tBb5d5_C:4@lmr;@YQ@z5TP+?Pu31?b.?259E@:5ҡA"5M?*5I B5ѐB5- њ?1“5ZB5A54>Be>BaBe IBeBBe =BaBe}DBepl;Be*EgO} addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.502557 s, deltaX: -0.400002 m, approachRate: -0.795933 m/s, rangeRepo size: 4 gO Added new target pos. range: 21.682903 m, bearing: 8.662355 deg, lat: 36.779280 deg, lon: -121.859541 deg, deltaT: 0.502557 s, deltaX: -0.397854 m, approachRate: -0.791659 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 21.68 m.bRZgO ProNav: ac range: 21.682903 m, nav range: 20.881916 m, bearing: 8.516368 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 14.012651 deg, new cmd heading: 13.923322 deg. BgOHeadingCmd: 0.243008 target range: 21.682903 and range: 21.80 m. x>*" 9Bʎj5@Z?M-BɢMj]checking for new query: numPingsReceived=45, elapsed TxPingTime=23.190987)q uiq)uŷ)yyi}p#i x>;q:Y+ =I x>IiE EE'E"E:*EAr:VE'4ZEBE 3@PwV>P3@ :Fq>)@I:Fqu;Ƴ?XXyeq?`ޭ?  26?)VIaFi:Fqchecking for new query: numPingsReceived=46, elapsed TxPingTime=23.458937IIOl>9,cX@A^J=u>>AuٱE AHRS rotation from veh to nav: [[0.953939,-0.268579,-0.133662],[0.288251,0.944046,0.160278],[0.083135,-0.191424,0.977980]]H?@d0ѿ r?5??\H?ȿ`K?i^J=INn;̐C)Yu}By} I bDVD02yT<%<=ٔnQ->9Y=jGyF0LE>Q 5 4?Q 94[)BYy?>Q I0@ DI;i;l4yBɮ%A%1EvX@AJ߫AR߫Aj >̕4@9]Vgk@r Z?xAǿ%E?ZaFb:Fq^93@9 T@  @zٖP޼?k_?KP7Y?2:@:A"1B?* B?B“A>gO addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.503848 s, deltaX: -0.199999 m, approachRate: -0.396943 m/s, rangeRepo size: 4 gO Added new target pos. range: 21.483887 m, bearing: 8.309671 deg, lat: 36.779280 deg, lon: -121.859541 deg, deltaT: 0.503848 s, deltaX: -0.199017 m, approachRate: -0.394993 m/s, posRepo size: 4 jgO%DNOT Ignoring new targets: 21.48 m.b!R!Z!gO5 ProNav: ac range: 21.483887 m, nav range: 20.627586 m, bearing: 8.489527 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 13.923323 deg, new cmd heading: 13.844258 deg. B1gO]HeadingCmd: 0.241628 target range: 21.483887 and range: 21.60 m.]Mmw>a*a"a aaaiiʎiiiju5@Zu Ua:W=IMmw>It>i>Y9@ @@/@checking for new query: numPingsReceived=46, elapsed TxPingTime=23.695007^Am"=IIO>Em EmEm%Ei"Em:*EmL_:VEm 4ZEiau@au@au@a}@ԁԱ ;TE9,YX@Aҏ=>[)ٱKE AHRS rotation from veh to nav: [[0.955373,-0.263769,-0.132999],[0.283363,0.945525,0.160277],[0.083478,-0.190811,0.978071]]Hi?п"?A??^?}lȿ[L?iҏ=In;ʐCYBy I}DDAT read: Rx Time:00:45:07.8900 }TRx dataTimestamp_ set to:1761698708.429859PDAT read: Bearing 173.6, -6.9 (Local) ԉ~Local bearing/azimuth received: Bearing 173.6, -6.9 (Local) DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.5 DAT read: 00:45:07.8900 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 504, 0.01,-2.850, 1.953,-2.344,-2.872, PHS= 0.125,-1.413, 0.485, RAW= 160.3, 9.2, CAL= 160.1, 9.8, ROT= 349.9, -9.8 iUMb@Mb@Mb@QQQQ Q9UA`"?S㥫 rh?YU?yU/]UCbDVD0y=%:=ٔMQ->i}/ݴ}Q>}3@}l$>}[2@ }%/>)}k@I}%/yy}/?MzFl?g? }3?)} %I}T4i}%/yychecking for new query: numPingsReceived=47, elapsed TxPingTime=24.0000659YYY=ejGyam8Em>yQ 54}?0?Q 94}KZ)} BY?Q E:yQ>Q I0@}DI};i};}s4yBɮ(Ay}ςX@AJ}AR}Aj}>}`@t4@Hy& iDE\ @r}R!] ?ّƿrl?Z}T4b}%/}jC14@eT ji@fh0@z}]-8Id?S?.o?2}K;@:}7A"}ǚ?*}{R B}dB}ǚ?}I “}dB}A}18>gO addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.508261 s, deltaX: -0.400000 m, approachRate: -0.786996 m/s, rangeRepo size: 4 gO Added new target pos. range: 21.086037 m, bearing: 8.313488 deg, lat: 36.779279 deg, lon: -121.859541 deg, deltaT: 0.508261 s, deltaX: -0.397850 m, approachRate: -0.782767 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 21.09 m.bԹRZgO ProNav: ac range: 21.086037 m, nav range: 20.247608 m, bearing: 8.461171 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 13.844258 deg, new cmd heading: 13.762079 deg. BgO HeadingCmd: 0.240194 target range: 21.086037 and range: 21.20 m. Ou> * "  4Bʎj%@335@Z%? /Bɢ })  i)*,iP\-iOu>Fa:* =IOu>I!2@ @@@B>BCB IBBB =BCDB|DBl;B!+E checking for new query: numPingsReceived=47, elapsed TxPingTime=24.198950E}  E} Ey Ey "E} :*E} rN:VEy ZEy BE} +K9,NB2X@A2=2CԐ>2ٱ2tA :AHRS rotation from veh to nav: [[0.956870,-0.259010,-0.131579],[0.278127,0.947572,0.157328],[0.083931,-0.187138,0.978741]]2H`?п?R? O#?`|?!ǿQ?i2=I2Um;2ȐCYBByB I HJ;bDNVDNβyV=%Vv=ٔVȳQ-V?9XYX=ZjGyZF^E^ ?`Q 5f4b??Q 9f4bRY)bBYdyfK>Q If0@bDIbS:ib):byy4ylɮnAlPB*** querying acoustic contact *** j1gO=DNOT Ignoring new targets: 21.09 m.bARuZugO ProNav: ac range: 21.086037 m, nav range: 20.060581 m, bearing: 8.433678 deg, approach rate: -0.568065 m/s, LOS rate: -0.084284 deg/s, cmd heading: 13.762079 deg, new cmd heading: 13.706580 deg. B?gOHeadingCmd: 0.239225 target range: 21.086037 and range: 21.20 m.ct>*" ʎjZ%@Q?m0Bɢu?)q uӑiq)u,qyi}0i}ct>2:_IuDDAT read: Rx Time:00:45:08.3899 }TRx dataTimestamp_ set to:1761698708.930949PDAT read: Bearing 179.0, -8.6 (Local) ~Local bearing/azimuth received: Bearing 179.0, -8.6 (Local) DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed 0.5 DAT read: 00:45:08.3899 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503, 0.01,-1.262,-2.677,-0.770,-1.152, PHS=-0.008,-1.481, 0.337, RAW= 160.3, 13.7, CAL= 160.9, 15.8, ROT= 349.1, -15.8 Ygot valid direction response: 00:45:08.3899 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503, 0.01,-1.262,-2.677,-0.770,-1.152, PHS=-0.008,-1.481, 0.337, RAW= 160.3, 13.7, CAL= 160.9, 15.8, ROT= 349.1, -15.8 T#Rx 48: Read range and direction messages.^direction in FSK: [0.944858,-0.181951,0.272280]Fpublishing direction and range infoyquCңGquGt>u3@ u0>)ug@Iu0qquRj#?d?ıI? u4?)uٞtIutBiu0qqchecking for new query: numPingsReceived=48, elapsed TxPingTime=24.499245^AW=IaIyOZ>Iq  checking for new query: numPingsReceived=48, elapsed TxPingTime=24.702925 R9, LX@A2Zr=2>2 ٱ2ڰ? :AHRS rotation from veh to nav: [[0.958412,-0.254024,-0.130073],[0.272833,0.949252,0.156473],[0.083724,-0.185453,0.979080]]2HN? Aп;v?E`?J?`n?ǿ@T?i2Zr=I2m;2͐CYNByR IIV=)V=bDZVDZyvK<%vG=ٔv:Q-v>9xYx=zjGyxz\E~>Q 5 4S?Q 9 4X))BY y "F>Q I 0@#DI:i:4EM EMEM)EI"EM:*EM:VEMFA4ZEIaU@a]@a]@a]@yBɮA2E;X@AJARAjQ >3@T)f(k@rCңGgOm addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.501090 s, deltaX: -0.200001 m, approachRate: -0.399131 m/s, rangeRepo size: 4 gO Added new target pos. range: 20.886318 m, bearing: 7.931832 deg, lat: 36.779276 deg, lon: -121.859542 deg, deltaT: 0.501090 s, deltaX: -0.199718 m, approachRate: -0.398568 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 20.89 m.bRZgO ProNav: ac range: 20.886318 m, nav range: 19.495958 m, bearing: 8.383065 deg, approach rate: 0.000000 m/s, LOS rate: -0.084284 deg/s, cmd heading: 13.706580 deg, new cmd heading: 13.637540 deg. BgOHeadingCmd: 0.238020 target range: 20.886318 and range: 21.00 m.s>*" ʎ j5@Z?}1Bɢ}i }) Gi)-顁i%H5is>H:I:@! @!@-w3@)DDAT read: Rx Time:00:45:08.8896 TRx dataTimestamp_ set to:1761698709.433810PDAT read: Bearing 179.7, -8.5 (Local) ~Local bearing/azimuth received: Bearing 179.7, -8.5 (Local) DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.5 DAT read: 00:45:08.8896 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 500, 0.07,-2.457, 2.419,-1.981,-2.330, PHS=-0.025,-1.490, 0.305, RAW= 159.9, 14.5, CAL= 160.7, 16.8, ROT= 349.3, -16.8 Ygot valid direction response: 00:45:08.8896 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 500, 0.07,-2.457, 2.419,-1.981,-2.330, PHS=-0.025,-1.490, 0.305, RAW= 159.9, 14.5, CAL= 160.7, 16.8, ROT= 349.3, -16.8 T#Rx 49: Read range and direction messages.^direction in FSK: [0.940674,-0.177742,0.289032]Fpublishing direction and range infoy-? LBƿ\.?Y̤A )I̼iR(>)2@>3@ Q >)@IQ n?@A&??? fy2?)It;?iQ checking for new query: numPingsReceived=49, elapsed TxPingTime=24.975351^AE K= Aq Iy I O >,Y9, |fX@A2'\=20>2ɪٱ2|k= :AHRS rotation from veh to nav: [[0.959926,-0.249182,-0.128256],[0.267588,0.950954,0.155187],[0.083296,-0.183288,0.979524]]2H?2Ͽ j ( ?`7n?,?R?uǿBX?i2'\=I2fm;2ʐCYZByZ IBU<AU<B]>BYB] IB]؂BB] =BYBYB]l;B]+EiMb@Mb@Mb@ 9Q?A`"~jtx?Y(?yY;A@ A)Yp AbDVD0yi<%;=ٔ:Q->9Y=jGyFLE>Q 54j?Q 94V)8BY?Q E:y@>Q I0@,DI/;i/;M4yɮAim[X@AJmARmAchecking for new query: numPingsReceived=49, elapsed TxPingTime=25.206713jm{>mrGCE3@! /" v@rm-? LBƿ\.?Zmt;?bmQ m=>2@)r@l͛% @zm WW ?bMS?' 8?2m>'@:m0A"miց?*m(y BmʒBm1B?m “m?BmAm>ԩgO addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.502861 s, deltaX: -0.400000 m, approachRate: -0.795448 m/s, rangeRepo size: 4 gO Added new target pos. range: 20.488605 m, bearing: 7.976673 deg, lat: 36.779276 deg, lon: -121.859542 deg, deltaT: 0.502861 s, deltaX: -0.397713 m, approachRate: -0.790900 m/s, posRepo size: 4 j gO DNOT Ignoring new targets: 20.49 m.b RZgO ProNav: ac range: 20.488605 m, nav range: 19.208164 m, bearing: 8.161623 deg, approach rate: 0.000000 m/s, LOS rate: -0.084284 deg/s, cmd heading: 13.637540 deg, new cmd heading: 13.565612 deg. B!gOUHeadingCmd: 0.236765 target range: 20.488605 and range: 20.60 m.Ukrr>Q*Q"Q QYYY]9Bʎaj4@ZZ?E  E E %E "E :*E C:VE  4ZE BE w;a:E >;a52Bɢ5z)1 5Ui1)=.99iE[:iMkrr>M0K:ML.IQ3@ @@/@^A< A! I) I9 OE >E DDAT read: Rx Time:00:45:09.3894 M TRx dataTimestamp_ set to:1761698709.937738U PDAT read: Bearing 178.3, -8.1 (Local) U ~Local bearing/azimuth received: Bearing 178.3, -8.1 (Local) e DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed 0.5  DAT read: 00:45:09.3894 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498, 0.21,-2.889, 1.945,-2.410,-2.789, PHS= 0.002,-1.505, 0.335, RAW= 159.8, 13.7, CAL= 160.4, 15.7, ROT= 349.6, -15.7  Ygot valid direction response: 00:45:09.3894 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498, 0.21,-2.889, 1.945,-2.410,-2.789, PHS= 0.002,-1.505, 0.335, RAW= 159.8, 13.7, CAL= 160.4, 15.7, ROT= 349.6, -15.7  T#Rx 50: Read range and direction messages. ^direction in FSK: [0.946876,-0.173784,0.270600] Fpublishing direction and range infoyI M ?L??1>ƿRlyQ?YM fAI I I I I )M :IM o;iM ףM >M 2@M Gt>M $+3@ M K>)M @@IM KI I M )4?ud?>? M >1?)M DtIM 9iM KI I  checking for new query: numPingsReceived=50, elapsed TxPingTime=25.474779) ,`9,8LX@A9=>ɸٱDrB %AHRS rotation from veh to nav: [[0.962186,-0.240640,-0.127636],[0.259512,0.952213,0.161070],[0.082777,-0.188102,0.978655]]H:?Fο@bV֛? x? ?@0? ȿ@$Q?i9=Il;ːCY=By= IMAAIbDuVDuβy}w<%>=ٔS:Q->9Y=jGy E>Q 54.?Q 94U)GBYy8>Q I0@4DIu:il:4 y-Bɮ-tA53Ey}|X@AJ}AR}Aj}? >}:3@  ;ڱ@r}?L??1>ƿRlyQ?Z}9b}K}o̬ͮ2@&S`@<[@z} B#c?i?ȣ?2} @:}UA"}`H?*}‡B}ّB}gҠ?}uQ“}ّB}TA}fp >gO addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.503928 s, deltaX: -0.300001 m, approachRate: -0.595325 m/s, rangeRepo size: 4 gO Added new target pos. range: 20.190226 m, bearing: 7.679496 deg, lat: 36.779274 deg, lon: -121.859544 deg, deltaT: 0.503928 s, deltaX: -0.298380 m, approachRate: -0.592108 m/s, posRepo size: 4 jgO DNOT Ignoring new targets: 20.19 m.b R ZgO ProNav: ac range: 20.190226 m, nav range: 18.791380 m, bearing: 7.857974 deg, approach rate: 0.000000 m/s, LOS rate: -0.084284 deg/s, cmd heading: 13.565612 deg, new cmd heading: 13.492236 deg. B!gOEHeadingCmd: 0.235484 target range: 20.190226 and range: 20.30 m.M"q>I*I"I IIIQQʎQQYj]L4@Z]?颭3Bɢy) i)ƹ/顱i#*?i"q>tӟ:׶Ichecking for new query: numPingsReceived=50, elapsed TxPingTime=25.7116499}4@y @y@y@yE% E%E%#E!"E% :*E%X:VE%3ZE!a-@a-@a-@a-@a ^A <ԙ ] DDAT read: Rx Time:00:45:09.8891 ] TRx dataTimestamp_ set to:1761698710.441670e PDAT read: Bearing 178.9, -8.2 (Local) m ~Local bearing/azimuth received: Bearing 178.9, -8.2 (Local) } DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed 0.4 A I I O >-f9,X@A&DAT read: 00:45:09.8891 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 495, 0.32, 2.015, 0.575, 2.480, 2.130, PHS=-0.013,-1.510, 0.306, RAW= 159.5, 14.4, CAL= 160.2, 16.6, ROT= 349.8, -16.6 *Ygot valid direction response: 00:45:09.8891 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 495, 0.32, 2.015, 0.575, 2.480, 2.130, PHS=-0.013,-1.510, 0.306, RAW= 159.5, 14.4, CAL= 160.2, 16.6, ROT= 349.8, -16.6 BT#Rx 51: Read range and direction messages.F^direction in FSK: [0.943177,-0.169704,0.285688]JFpublishing direction and range infoy)-"=.?ФU߸ſWԷH?Y-fA)))) ))-9I-Ti-G->-)2@->-2@ -V>)-|]@I-V))-!Ԝ&?VUmS?H4U? -X0?)-jI-K6i-V))Vchecking for new query: numPingsReceived=51, elapsed TxPingTime=25.997261YBy I== i5Mb@Mb@Mb@1111 195l?v/~jtx?Y5?y5xi15A5@ 5xA)11Y5AbDMVDMyU =%]+=ٔ]Q-]>9aY=jGyFE>Q 54`?Q 94ET)WBYB?Q E:y.>Q I0@=DIhA 4E)-RDX@AJ-AR-Aj-X>-w"2@x] C@r-"=.?ФU߸ſWԷH?Z-K6b-V-?*1@*;Z@ 9)6@z-&).?/.?.Nd?2-"@:-A"-ҡ?*-ZB- B-`H?)“- B-A-"z >gO addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.503932 s, deltaX: -0.500000 m, approachRate: -0.992197 m/s, rangeRepo size: 4 gO Added new target pos. range: 19.692930 m, bearing: 8.063414 deg, lat: 36.779274 deg, lon: -121.859544 deg, deltaT: 0.503932 s, deltaX: -0.497295 m, approachRate: -0.986830 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 19.69 m.bRZgO% ProNav: ac range: 19.692930 m, nav range: 18.439720 m, bearing: 7.860102 deg, approach rate: 0.000000 m/s, LOS rate: -0.084284 deg/s, cmd heading: 13.492236 deg, new cmd heading: 13.412306 deg. B!gO-HeadingCmd: 0.234089 target range: 19.692930 and range: 19.80 m.-o>)*)") )))155B9ʎQYYj]3@Z]3?颭4Bɢ2q) ~i)Դ0顱i-Eio>k: IB>BB !IBBB =BB{DBl;B+EBCBCBŔCB =B =Cp6Uchecking for new query: numPingsReceived=51, elapsed TxPingTime=26.215189]?@Y @Y@Y@Y@e=@e=^A-ԅym9,ܶX@Ax =>ΧٱN AHRS rotation from veh to nav: [[0.963840,-0.233441,-0.128525],[0.253603,0.951649,0.173346],[0.081844,-0.199672,0.976439]]H`?@aͿ@~s;?s?@00? ?֎ɿ>?ix =Il;ʐCY By  IbD%VD%fiyub<%uZ=ٔ}#;Q-}>9yYy=}jGyy/E>DDAT read: Rx Time:00:45:10.3890 TRx dataTimestamp_ set to:1761698710.945698PDAT read: Bearing 177.8, -7.9 (Local) ~Local bearing/azimuth received: Bearing 177.8, -7.9 (Local) DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed 0.5 DAT read: 00:45:10.3890 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 511,-0.40, 1.201,-0.253, 1.662, 1.295, PHS= 0.008,-1.503, 0.323, RAW= 159.3, 13.8, CAL= 159.9, 15.8, ROT= 350.1, -15.8 Ygot valid direction response: 00:45:10.3890 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 511,-0.40, 1.201,-0.253, 1.662, 1.295, PHS= 0.008,-1.503, 0.323, RAW= 159.3, 13.8, CAL= 159.9, 15.8, ROT= 350.1, -15.8 T#Rx 52: Read range and direction messages. ^direction in FSK: [0.947890,-0.165433,0.272280] Fpublishing direction and range infoy?FU? ,ſ ^ m?YA ):Io1@Ϣv>)2@ 0>)a@I0RT? ︕?[יIx? /?)3vI40i0-checking for new query: numPingsReceived=52, elapsed TxPingTime=26.4826839Q 5=4=?Q 9E4=ES)=dBYaye(>Q Ie0@=EDI=;i=6;=4yqɮu(AqQX@AJARAjfV>"gPA2@V W .?V@r?FU? ,ſ ^ m?Z40b0D1@8f@Rdr@z_RZ?6Ҩ?LCB2?24#@:ƏA"!?*^2BxB!?“#A+ >gOm addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.504028 s, deltaX: -0.099998 m, approachRate: -0.198399 m/s, rangeRepo size: 4 gO Added new target pos. range: 19.593277 m, bearing: 8.076103 deg, lat: 36.779273 deg, lon: -121.859544 deg, deltaT: 0.504028 s, deltaX: -0.099653 m, approachRate: -0.197714 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 19.59 m.bRZgO ProNav: ac range: 19.593277 m, nav range: 18.142509 m, bearing: 7.868415 deg, approach rate: 0.000000 m/s, LOS rate: -0.084284 deg/s, cmd heading: 13.412306 deg, new cmd heading: 13.345214 deg. BgOHeadingCmd: 0.232918 target range: 19.593277 and range: 19.70 m. n>*" !!ʎ!!!j-@33@Z-`ʇ?颕5Bɢwԙ) >{i)(1iIi n>:VII 2@ @@@e checking for new query: numPingsReceived=52, elapsed TxPingTime=26.719051bEe˻ 4jEe˙4rEe/E  E E E "E *E g:VE ^A ZE a @a @a @a @A%.AIIIyO>*u9,aX@A8 $n= ق> _զٱ P MAHRS rotation from veh to nav: [[0.964312,-0.231646,-0.128230],[0.251955,0.951685,0.175539],[0.081372,-0.201583,0.976086]] H@?@Ϳi ? 4t?x?Դ?xɿmg1@iMb@Mb@Mb@ 9Zd;?S㥫Mb?Y?y/]mr>m2@ mr>)m@Imriim'N??1o? mr.?)mIm%/imriichecking for new query: numPingsReceived=53, elapsed TxPingTime=27.009325<Af@  A)AAYA p<4<bD%VD%Nyz=% =ٔT:Q->9 ?Y ?=jGyF@E>Q 54ǔ?Q 94Q)xBY}?Q E:y .>Q I0@PDI;i0;4yBɮAim\X@AJm[ARm[Ajm>m<:2@84V1 @rm j@zm"i'3?:wA?ʏ?2m#@:mڌA"ml?*mTqtBmBml?mZ“mّBm5AmAz >gO addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.504214 s, deltaX: -0.300001 m, approachRate: -0.594988 m/s, rangeRepo size: 4 gOm Added new target pos. range: 19.294901 m, bearing: 8.267828 deg, lat: 36.779273 deg, lon: -121.859543 deg, deltaT: 0.504214 s, deltaX: -0.298376 m, approachRate: -0.591765 m/s, posRepo size: 4 jigOuDNOT Ignoring new targets: 19.29 m.bqRyZygO ProNav: ac range: 19.294901 m, nav range: 17.775883 m, bearing: 7.916081 deg, approach rate: 0.000000 m/s, LOS rate: -0.084284 deg/s, cmd heading: 13.345215 deg, new cmd heading: 13.249844 deg. BgOHeadingCmd: 0.231253 target range: 19.294901 and range: 19.40 m.l>*" Bʎj`ff3@Z*5?-6Bɢ-Wh)) -Zfi))51211i5JPi=l>=ä:IA A AAB >B CB !IB BB =B B zDB 8m;B =+E 5 1@1  @1 @1 @1 @9 @9  checking for new query: numPingsReceived=53, elapsed TxPingTime=27.223442E  E E E "E :*E :VE ZE BE =>Z.>>@ٱ>&L FAHRS rotation from veh to nav: [[0.964685,-0.231060,-0.126464],[0.250707,0.952704,0.171761],[0.080795,-0.197400,0.976988]]>H ?@`Ϳ / ?|? B?? kDɿ{C?i>=I>l;>̐CYNƂByN IbDZVDZJybm<%bS=ٔb>:Q-b>9f"?Yf"?=fjGydj\Ej>lQ 5r4nڔ?Q 9r4nP)nBYpyr,>Q Ir0@nWDIn:inW:n4yzBɮzAz5EP B*** querying acoustic contact ***  jgODNOT Ignoring new targets: 19.29 m.b!R%qZ%qgO5 ProNav: ac range: 19.294901 m, nav range: 17.548071 m, bearing: 7.893477 deg, approach rate: -0.641257 m/s, LOS rate: -0.064452 deg/s, cmd heading: 13.249844 deg, new cmd heading: 13.204049 deg. B5gO=HeadingCmd: 0.230454 target range: 19.294901 and range: 19.40 m.=+k>9*9"A AAAAIʎIIIjQZU?}7Bɢ}x) ai)%3顁iuTi+k>ɥ:}IiIA%DDAT read: Rx Time:00:45:11.3887 -TRx dataTimestamp_ set to:1761698711.955389=PDAT read: Bearing 177.6, -8.0 (Local) E~Local bearing/azimuth received: Bearing 177.6, -8.0 (Local) ]DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.5 DAT read: 00:45:11.3887 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507,-0.07, 1.206,-0.247, 1.669, 1.302, PHS= 0.006,-1.504, 0.324, RAW= 159.3, 13.8, CAL= 160.0, 15.8, ROT= 350.0, -15.8 Ygot valid direction response: 00:45:11.3887 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507,-0.07, 1.206,-0.247, 1.669, 1.302, PHS= 0.006,-1.504, 0.324, RAW= 159.3, 13.8, CAL= 160.0, 15.8, ROT= 350.0, -15.8 T#Rx 54: Read range and direction messages.^direction in FSK: [0.947600,-0.167087,0.272280]Fpublishing direction and range infoy!%üR?7X cſ ^ m?Y%A!!!! !)!I%;i%%T>%1@%Ϣv>%¸2@ %0>)%z@I%0!!%ĤӅ?U? Ľۀ? %/?)%evI%2i%0!!checking for new query: numPingsReceived=54, elapsed TxPingTime=27.508846 &;AayO9YIhA 9@ @@@!  checking for new query: numPingsReceived=54, elapsed TxPingTime=27.727112^A5 }<D9 zD= ?AEE  EE EE )EA "EE :*EE k:VEE FA4ZEA aM @aM @aM @aM @I A I I O > L9,7X@A=۬==y>=ٱ=tF MAHRS rotation from veh to nav: [[0.964919,-0.231015,-0.124756],[0.249912,0.953805,0.166732],[0.080475,-0.192061,0.978078]]=H?Ϳ??@}W??wȿiL?i=۬=I=Ol;=ȐCiY͂By IbDVD0y{<%"=uDDAT read: Rx Time:00:45:11.8884 uTRx dataTimestamp_ set to:1761698712.460005PDAT read: Bearing 178.5, -7.7 (Local) ~Local bearing/azimuth received: Bearing 178.5, -7.7 (Local) DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4 DAT read: 00:45:11.8884 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504, 0.02, 1.309,-0.142, 1.752, 1.411, PHS= 0.000,-1.508, 0.297, RAW= 158.8, 14.3, CAL= 159.5, 16.5, ROT= 350.5, -16.5 Ygot valid direction response: 00:45:11.8884 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504, 0.02, 1.309,-0.142, 1.752, 1.411, PHS= 0.000,-1.508, 0.297, RAW= 158.8, 14.3, CAL= 159.5, 16.5, ROT= 350.5, -16.5 T#Rx 55: Read range and direction messages.^direction in FSK: [0.945670,-0.158251,0.284015]Fpublishing direction and range infoyqu&B?RAĿHN-?YufAqqqq q)u9Iuiu%ub>ua1@ur>u)2@ ur>)u@IurqqunA'?\YJp?wM? uy-?)u!Iu)iurqqchecking for new query: numPingsReceived=55, elapsed TxPingTime=27.997202ٔu:Q-u>9yYy=}jGyFE>ԑQ 543?Q 943O)BYy+>Q I0@bDI;i;4y-Bɮ-zA-,EqupX@AJuARuAju>uLF1@\ҫ%U=@ru&B?RAĿHN-?Zu)bqu1@zE@Ҥ@zuʲ`gOu addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 1.010093 s, deltaX: -0.600000 m, approachRate: -0.594005 m/s, rangeRepo size: 4 gO Added new target pos. range: 18.697525 m, bearing: 8.267182 deg, lat: 36.779273 deg, lon: -121.859543 deg, deltaT: 1.010093 s, deltaX: -0.597376 m, approachRate: -0.591407 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 18.70 m.bRZgO ProNav: ac range: 18.697525 m, nav range: 17.230675 m, bearing: 7.991103 deg, approach rate: 0.000000 m/s, LOS rate: -0.064452 deg/s, cmd heading: 13.204049 deg, new cmd heading: 13.122083 deg. B9gOEHeadingCmd: 0.229024 target range: 18.697525 and range: 18.80 m.E'j>A*I"I IIIQQʎQQQj]2@Z]P?Թ8Bɢ2?b)  Ti)G4iQ]i'j>:I!B} >B} CB} .!IB} BB} =By B} {DB} m;B} +E  checking for new query: numPingsReceived=55, elapsed TxPingTime=28.230968E I E  E E 'E "E :*E [:VE '4ZE BE 1@d{>)2@ Ð>)a@IÐ ?H)?x? ,/?)'?{I40iÐchecking for new query: numPingsReceived=56, elapsed TxPingTime=28.526836qA.AIIO/?P9,`BX@AV =VA>VDٱVT8 nAHRS rotation from veh to nav: [[0.965227,-0.231911,-0.120639],[0.248987,0.956183,0.154008],[0.079637,-0.178691,0.980677]]VH#?FͿ`7⾿? ??c? Vƿa?iV =IV k;VʐCYvނByv I ||~=~=iMb@Mb@Mb@ 9$C?333333Mb?Y?y-A9@  A)l@YAbD%VD%kyu}@=%u<ٔu:Q-}>9} ?Y} ?=}jGy}FUκE>Q 54J?Q 94M)BYQ?Q E:yL>Q I0@nDI:i:4yBɮA-Eԩaeǜ=X@AJeAReAjes>eo֐*1@ oF TǪ)@re ɕE?t"ſ?Ze40beÐe)$(1@jlZ @]6M@ze. ^?_;?4?oV8?2e]@:eGA"e9M?*e莔BeBaa“exBeކAe>gO] addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.502689 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 18.697947 m, bearing: 7.488827 deg, lat: 36.779273 deg, lon: -121.859543 deg, deltaT: 0.502689 s, deltaX: 0.000422 m, approachRate: 0.000839 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 18.70 m.bRZgO ProNav: ac range: 18.697947 m, nav range: 16.858524 m, bearing: 8.000391 deg, approach rate: 0.000000 m/s, LOS rate: -0.064452 deg/s, cmd heading: 13.122083 deg, new cmd heading: 13.046685 deg. BgOHeadingCmd: 0.227708 target range: 18.697947 and range: 18.80 m./,i>*" !Bʎ j Z p?QɢU_)Y ]3iY)]5yyi di/,i>̩:ϘIchecking for new query: numPingsReceived=56, elapsed TxPingTime=28.735048E EE%E"E:*EV:VE 4ZEa@a@a@a@ 0@  @ @ 0@ A 5 DDAT read: Rx Time:00:45:12.8880 = TRx dataTimestamp_ set to:1761698713.465615E PDAT read: Bearing 179.1, -8.1 (Local) E ~Local bearing/azimuth received: Bearing 179.1, -8.1 (Local) U DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.5 } DAT read: 00:45:12.8880 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 500, 0.31, 2.473, 1.020, 2.938, 2.593, PHS=-0.018,-1.528, 0.301, RAW= 159.4, 14.6, CAL= 160.1, 16.9, ROT= 349.9, -16.9  Ygot valid direction response: 00:45:12.8880 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 500, 0.31, 2.473, 1.020, 2.938, 2.593, PHS=-0.018,-1.528, 0.301, RAW= 159.4, 14.6, CAL= 160.1, 16.9, ROT= 349.9, -16.9  T#Rx 57: Read range and direction messages. ^direction in FSK: [0.941986,-0.167793,0.290702] Fpublishing direction and range infoy1 5 QY̿$?ET5AzſTcݚ?Y5 fA1 1 1 1 1 )5 :I5 ti5 ÿ5 >5 / 2@5 w>5 [2@ 5 >)5 k@I5 1 1 5 U?Xѧ??E? 5 0?)5 KI5 T4i5 1 1 checking for new query: numPingsReceived=57, elapsed TxPingTime=29.035709^AuB<+ٱB0 ZAHRS rotation from veh to nav: [[0.965328,-0.232672,-0.118345],[0.248766,0.957348,0.146972],[0.079101,-0.171317,0.982035]]BH?/ͿK?`????`ſl?iBH =IBGk;BΐCYbByb IqB<A<B5>B1B5G!IB5 BB5 =B1B1B5yn;B5+EiUMb@Mb@Mb@QQQQ Q9Ux?sh|? rh?YUK?yUUC9"?Y"?=jGyFܹE>Q 542?Q 94L)BY?Q E:y=Q I0@yDIj:i;4y Bɮ A.E]X@AJARAj>_A%1@} pn )@rQY̿$?ET5AzſTcݚ?ZT4bjw0@U@t.=M@zh/??8jͽ?q??2@:A"G?* B BQ?“,BRA%B>gO addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.502921 s, deltaX: -0.500000 m, approachRate: -0.994192 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=57, elapsed TxPingTime=29.238970gO Added new target pos. range: 18.200689 m, bearing: 7.259386 deg, lat: 36.779273 deg, lon: -121.859543 deg, deltaT: 0.502921 s, deltaX: -0.497257 m, approachRate: -0.988738 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 18.20 m.bRZgO ProNav: ac range: 18.200689 m, nav range: 16.540329 m, bearing: 8.015723 deg, approach rate: 0.000000 m/s, LOS rate: -0.064452 deg/s, cmd heading: 13.046685 deg, new cmd heading: 12.973430 deg. BgOHeadingCmd: 0.226429 target range: 18.200689 and range: 18.30 m.g>9*A"A AAAIMBʎIIIjUL2@ZU@1?ԙ59Bɢ5t\EE EEEE&EA"EEI:*EER:VEE4ZEABEEΫ:PNIu3@y @y@}0@  DDAT read: Rx Time:00:45:13.3878  TRx dataTimestamp_ set to:1761698713.970326 PDAT read: Bearing 178.8, -7.8 (Local)  ~Local bearing/azimuth received: Bearing 178.8, -7.8 (Local)  DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.5  DAT read: 00:45:13.3878 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 499,-0.41, 0.173,-1.281, 0.633, 0.278, PHS=-0.004,-1.515, 0.311, RAW= 159.3, 14.2, CAL= 160.0, 16.4, ROT= 350.0, -16.4  Ygot valid direction response: 00:45:13.3878 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 499,-0.41, 0.173,-1.281, 0.633, 0.278, PHS=-0.004,-1.515, 0.311, RAW= 159.3, 14.2, CAL= 160.0, 16.4, ROT= 350.0, -16.4  T#Rx 58: Read range and direction messages. ^direction in FSK: [0.944740,-0.166583,0.282341] Fpublishing direction and range infoy  GmO;?iܖRſIx?Y A ) I o^A1 i d;> 1@ }> ¸2@ C>) z@I C  z?ĖC?8Y? /?) a}I 2i C } checking for new query: numPingsReceived=58, elapsed TxPingTime=29.522856!A.AIIO >N9,{X@Al=>4uٱZ#& =AHRS rotation from veh to nav: [[0.965727,-0.233385,-0.113587],[0.247934,0.958954,0.137611],[0.076808,-0.161056,0.983952]]H =?ͿJ??8? ? }Ŀ|?il=Ij;ʐCYMBym!IIu%=)u;>bDVD0yy=%.=ٔj;Q->9 ?Y ?=jGyE>Q 5-4II?Q 9M4L)BYIyU=Q IU0@DI$gO addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504711 s, deltaX: -0.299999 m, approachRate: -0.594398 m/s, rangeRepo size: 4 gO Added new target pos. range: 17.902319 m, bearing: 7.029527 deg, lat: 36.779276 deg, lon: -121.859544 deg, deltaT: 0.504711 s, deltaX: -0.298370 m, approachRate: -0.591171 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 17.90 m.bR!Z!gO5 ProNav: ac range: 17.902319 m, nav range: 16.505962 m, bearing: 7.601855 deg, approach rate: 0.000000 m/s, LOS rate: -0.064452 deg/s, cmd heading: 12.973430 deg, new cmd heading: 12.913502 deg. B1gO=HeadingCmd: 0.225383 target range: 17.902319 and range: 18.00 m.=f>9*9"9 9aaaaʎiiijm2@ZmT?%checking for new query: numPingsReceived=58, elapsed TxPingTime=29.742966aɢeZ)a eii)m8g6iiimoriuf>uZ:u[IyI)ZAyE EE$E"E:*E[:VE4ZEa@a@a@a@=@ @@K4@@[A@ZAԩ^A5 D-< DDAT read: Rx Time:00:45:13.8876 = TRx dataTimestamp_ set to:1761698714.484715 PDAT read: Bearing 180.8, -7.9 (Local)  ~Local bearing/azimuth received: Bearing 180.8, -7.9 (Local) Ա  DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.4 A ؟AI I! O- >b9,KX@A2DAT read: 00:45:13.8876 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 496,-0.32, 0.106,-1.314, 0.542, 0.246, PHS=-0.038,-1.515, 0.252, RAW= 158.8, 15.7, CAL= 159.8, 18.3, ROT= 350.2, -18.3 6Ygot valid direction response: 00:45:13.8876 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 496,-0.32, 0.106,-1.314, 0.542, 0.246, PHS=-0.038,-1.515, 0.252, RAW= 158.8, 15.7, CAL= 159.8, 18.3, ROT= 350.2, -18.3 6T#Rx 59: Read range and direction messages.Z^direction in FSK: [0.935571,-0.161601,0.313992]^Fpublishing direction and range infoyp:]3?;[lYĿv9s?YA )Ii%>a1@K>2@ Ƈ>)@IƇmZ?HfN?l0E? ^-?)}勾I%/iƇZD=Zzt>ZqٱZ& rAHRS rotation from veh to nav: [[0.965896,-0.233079,-0.112777],[0.247548,0.958960,0.138256],[0.075924,-0.161459,0.983955]]ZH?Ϳ@޼?ͯ?`? o?பĿ@|?iZD=IZaj;ZǐCYzByz"!I5checking for new query: numPingsReceived=59, elapsed TxPingTime=30.078423iMb@Mb@Mb@ 9x?Zd;OMb?Yyj<GA  A)@YzAbD5VD5k2y=o=%E9=ٔET;Q-E>9"?Y"?=jGyF0rE>Q 54`?Q 94LK)BY,?Q E:ԩya=Q I0@DIhSvAx0@10y)*@rp:]3?;[lYĿv9s?Z%/bƇE3@/@ck|@VG'@z }J?Ćr?rC]1?2>@:*A"3䟚?*7LBNB7L“܁A>gO addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.514389 s, deltaX: -0.299999 m, approachRate: -0.583215 m/s, rangeRepo size: 4 gO  Added new target pos. range: 17.603947 m, bearing: 7.548157 deg, lat: 36.779276 deg, lon: -121.859544 deg, deltaT: 0.514389 s, deltaX: -0.298372 m, approachRate: -0.580052 m/s, posRepo size: 4 j gODNOT Ignoring new targets: 17.60 m.bRZgOM ProNav: ac range: 17.603947 m, nav range: 16.232883 m, bearing: 7.479993 deg, approach rate: 0.000000 m/s, LOS rate: -0.064452 deg/s, cmd heading: 12.913501 deg, new cmd heading: 12.853269 deg. BIgOUHeadingCmd: 0.224332 target range: 17.603947 and range: 17.70 m.U@e>Q*Q"Q QYB>BCBZ!IB/BB =BBzDB'n;B+EBʎj@31@Z*?ɢS) ݽi1)=699i=5FxiE@e>E:EjȣIIechecking for new query: numPingsReceived=59, elapsed TxPingTime=30.248348>@ @@4@E EE%E"E:*EP:VE 4ZEBE29,DX@A2d=2>2ٱ2& >AHRS rotation from veh to nav: [[0.966265,-0.232254,-0.111312],[0.246542,0.959121,0.138939],[0.074492,-0.161695,0.984025]]2H?{Ϳ ~ ?`??`?lĿ`"}?i2d=I2mj;2ɐCZDDAT read: Rx Time:00:45:14.3875 ^TRx dataTimestamp_ set to:1761698714.979950bPDAT read: Bearing 179.5, -8.0 (Local) f~Local bearing/azimuth received: Bearing 179.5, -8.0 (Local) rDAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.4 eDAT read: 00:45:14.3875 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 511,-0.16, 0.745,-0.700, 1.203, 0.863, PHS=-0.016,-1.518, 0.295, RAW= 159.2, 14.6, CAL= 160.0, 16.9, ROT= 350.0, -16.9 YBy@!IbDYgot valid direction response: 00:45:14.3875 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 511,-0.16, 0.745,-0.700, 1.203, 0.863, PHS=-0.016,-1.518, 0.295, RAW= 159.2, 14.6, CAL= 160.0, 16.9, ROT= 350.0, -16.9 T#Rx 60: Read range and direction messages.^direction in FSK: [0.942277,-0.166149,0.290702]Fpublishing direction and range infoVDyXZ{Z#'?ն\DſTcݚ?YŽAXXXX X)XIZoiZM¿Z= >Z1@Zw>Z¸2@ Z>)Zz@IZXXZ\>1?M?ʢ'? ZG/?)ZIZ2iZXXchecking for new query: numPingsReceived=60, elapsed TxPingTime=30.541233yU=%U9=ٔUT;Q-]>9YYY=]jGyYes!Ee>Q 54u?Q 94J)BYyD=Q I0@DI:i:Y4yBɮ@XZX@AJZARZAjZ=Zr`~0@:U$D ;Z@rZ{Z#'?ն\DſTcݚ?ZZ2bZZ\F 0@Z_?Y@zZxQXU?L?v ?2Z?:Z^A"Z?*Zt7mBZBZ &;?Z “ZBZyAZ>gO addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.495235 s, deltaX: -0.100000 m, approachRate: -0.201925 m/s, rangeRepo size: 4 gO Added new target pos. range: 17.504030 m, bearing: 7.048331 deg, lat: 36.779277 deg, lon: -121.859545 deg, deltaT: 0.495235 s, deltaX: -0.099916 m, approachRate: -0.201756 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 17.50 m.bRZgO ProNav: ac range: 17.504030 m, nav range: 16.059427 m, bearing: 7.274079 deg, approach rate: 0.000000 m/s, LOS rate: -0.064452 deg/s, cmd heading: 12.853269 deg, new cmd heading: 12.797772 deg. B!gO%HeadingCmd: 0.223363 target range: 17.504030 and range: 17.60 m.%Vd>)*)") )))11ʎ119j=1@Z= 6?ɢG) `yi ) 7  i 3~i%Vd>%u:%I)@ @@4@Mchecking for new query: numPingsReceived=60, elapsed TxPingTime=30.751059QD =D =E  E E E "E :*E e:VE ZE a @a @a @a @^A ԅ!޵9,cX@A2<2> >2Dٱ2$5% :AHRS rotation from veh to nav: [[0.966560,-0.231950,-0.109370],[0.245850,0.959444,0.137932],[0.072941,-0.160209,0.984384]]2H@?Ϳ x?ó?@ŧ?H?`Ŀ?i29hYh=jjGyjFnEn>pQ 5v4ra?Q 9v4rJ)rBYtyv=Q Iv0@rDIr:ir:r4y|ɮ~@|PB*** querying acoustic contact *** ԙjgODNOT Ignoring new targets: 17.50 m.bR:Z:gO ProNav: ac range: 17.504030 m, nav range: 15.838245 m, bearing: 7.295714 deg, approach rate: -0.595130 m/s, LOS rate: 0.059025 deg/s, cmd heading: 12.797772 deg, new cmd heading: 12.841645 deg. B :gOHeadingCmd: 0.224129 target range: 17.504030 and range: 17.60 m.e>*"5DDAT read: Rx Time:00:45:14.8873 =TRx dataTimestamp_ set to:1761698715.488995EPDAT read: Bearing 181.0, -7.7 (Local) M~Local bearing/azimuth received: Bearing 181.0, -7.7 (Local) eDAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.4  ʎjZ?DAT read: 00:45:14.8873 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508,-0.10, 0.436,-0.990, 0.862, 0.572, PHS=-0.034,-1.517, 0.246, RAW= 158.5, 15.7, CAL= 159.4, 18.3, ROT= 350.6, -18.3 Ygot valid direction response: 00:45:14.8873 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508,-0.10, 0.436,-0.990, 0.862, 0.572, PHS=-0.034,-1.517, 0.246, RAW= 158.5, 15.7, CAL= 159.4, 18.3, ROT= 350.6, -18.3 T#Rx 61: Read range and direction messages.!M^direction in FSK: [0.936677,-0.155066,0.313992]MFpublishing direction and range infoy15ӈA?2ÿv9s?Y5̈A1111 1)1I5C i5-¿5m{>5 1@5K>5/ 2@ 5Ƈ>)5@I5Ƈ115r?;Tx-?\R? 51,?)5Tɢ%ޅ?)a eia)mL7iiimiׁiue>uȱ:uIyI5'i5Ƈ11checking for new query: numPingsReceived=61, elapsed TxPingTime=31.063192]1@Y @Y@]/@YAABؿ>BCBs!IBCBB =BByDBm;B+EBCBCBB =B =C6^A} R5<A ?A ? checking for new query: numPingsReceived=61, elapsed TxPingTime=31.259224 E%  E% E! E! "E% s:*E% 1]:VE! ZE! BE% h0)9,X@A2^<2c~>2Iuٱ2" :AHRS rotation from veh to nav: [[0.966823,-0.231834,-0.107267],[0.245251,0.959883,0.135925],[0.071452,-0.157723,0.984895]]2H6?`Ϳ@ubd?`]?f?J?F0Ŀ`B?i2^9Y=jGySE>!Q 5-4%|?Q 9-4%I)%BY-:?Q E-:y5>Q I50@%DI%;i%u;%[4y= Bɮ=@=0E!%KX@AJ% AR% Aj%Z >% /@{^\@r%ӈA?2ÿv9s?Z%'b%Ƈ%uF .@gO addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.509045 s, deltaX: -0.500000 m, approachRate: -0.982231 m/s, rangeRepo size: 4 gO Added new target pos. range: 17.006338 m, bearing: 7.749992 deg, lat: 36.779277 deg, lon: -121.859545 deg, deltaT: 0.509045 s, deltaX: -0.497692 m, approachRate: -0.977698 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 17.01 m.bRZgO ProNav: ac range: 17.006338 m, nav range: 15.549843 m, bearing: 7.296198 deg, approach rate: 0.000000 m/s, LOS rate: 0.059025 deg/s, cmd heading: 12.841645 deg, new cmd heading: 12.896743 deg. BgOHeadingCmd: 0.225091 target range: 17.006338 and range: 17.10 m.)~f>*" 9AAE&BʎIIIjM1@ZM@?频ɢ<3) b:IDDAT read: Rx Time:00:45:15.3872 TRx dataTimestamp_ set to:1761698715.991360PDAT read: Bearing 178.6, -8.2 (Local)  ~Local bearing/azimuth received: Bearing 178.6, -8.2 (Local) -DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.5 eDAT read: 00:45:15.3872 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 507, 0.04, 2.124, 0.647, 2.604, 2.227, PHS=-0.001,-1.535, 0.333, RAW= 159.7, 13.8, CAL= 160.3, 15.9, ROT= 349.7, -15.9 uYgot valid direction response: 00:45:15.3872 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 507, 0.04, 2.124, 0.647, 2.604, 2.227, PHS=-0.001,-1.535, 0.333, RAW= 159.7, 13.8, CAL= 160.3, 15.9, ROT= 349.7, -15.9 T#Rx 62: Read range and direction messages.^direction in FSK: [0.946243,-0.171961,0.273959]Fpublishing direction and range infoy_/G? p ƿψ.?YA )<IoizĿ~>b2@Ϣv>3@ q>)0O@IqE91?fo?i? F)1?)|wIT8iq=2@9 @A@I@Ichecking for new query: numPingsReceived=62, elapsed TxPingTime=31.553179 1 ^A (<I I O > 9, X@ABBٱB! JAHRS rotation from veh to nav: [[0.966993,-0.231971,-0.105421],[0.245064,0.959991,0.135503],[0.069771,-0.156865,0.985152]]BH? 9Ϳ>^? ??(X?zܱ?(Ŀ^?iBQ I0@MDIM)*)") )))DzD@AbE!jE%4rE%Ÿ/E EE#E"E,:*Ek:VE3ZEa@a@a@a@ʎj1@ZM?AɢEs-)A E=iA)M(6IIii{;g>%:GII6@ @@/@y5 DDAT read: Rx Time:00:45:15.8869 E TRx dataTimestamp_ set to:1761698716.501677e PDAT read: Bearing 181.2, -7.8 (Local) } ~Local bearing/azimuth received: Bearing 181.2, -7.8 (Local)  DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.5  DAT read: 00:45:15.8869 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.03, 2.150, 0.709, 2.579, 2.287, PHS=-0.034,-1.532, 0.248, RAW= 158.5, 15.7, CAL= 159.4, 18.3, ROT= 350.6, -18.3 ^A < Ygot valid direction response: 00:45:15.8869 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.03, 2.150, 0.709, 2.579, 2.287, PHS=-0.034,-1.532, 0.248, RAW= 158.5, 15.7, CAL= 159.4, 18.3, ROT= 350.6, -18.3  T#Rx 63: Read range and direction messages. ^direction in FSK: [0.936677,-0.155066,0.313992] Fpublishing direction and range infoy1 5 ӈA?2ÿv9s?Y5 A1 1 1 1 1 )5 ;I5 C i5 Ŀ5 }>5 1@5 K>5 / 2@ 5 Ƈ>)5 @I5 Ƈ1 1 5 ]6 ?qi*?n checking for new query: numPingsReceived=63, elapsed TxPingTime=32.077568ԙ O89,ګ&X@A2L <2j}>2yٱ2! :AHRS rotation from veh to nav: [[0.967193,-0.231773,-0.104013],[0.244677,0.960024,0.135968],[0.068341,-0.156957,0.985238]]2H@??ͿQ? ? gg?~?*Ŀ?i2L 9Y=jGyyE>Q 54ƕ?Q 94G):BY?Q E:yS=Q I0@DIs:i#:4yɮe@aez X@AJeFAReFAjeM >e,a.@{'H[g|(@reӈA?2ÿv9s?Ze'beƇeIS-@:M%@"؋@zee?rt }?Շj:t?2e/@:enA"eYɯ?*e*BecBae7L“aeqAe>gO  addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.510317 s, deltaX: -0.500000 m, approachRate: -0.979783 m/s, rangeRepo size: 4 BϿ>BCB!IBbBB =BBwDB-n;B+EgO= Added new target pos. range: 16.409624 m, bearing: 7.704738 deg, lat: 36.779277 deg, lon: -121.859544 deg, deltaT: 0.510317 s, deltaX: -0.497261 m, approachRate: -0.974416 m/s, posRepo size: 4 j9gOEDNOT Ignoring new targets: 16.41 m.bARAZAgOU ProNav: ac range: 16.409624 m, nav range: 15.117811 m, bearing: 7.501365 deg, approach rate: 0.000000 m/s, LOS rate: 0.059025 deg/s, cmd heading: 12.938123 deg, new cmd heading: 12.986255 deg. BYgO]HeadingCmd: 0.226653 target range: 16.409624 and range: 16.50 m.]h>a*a"a aaaim#BʎiiԱj0@Zk?=8Bɢ=Y&)9 Ek=iA)Ew6AAiEzimh>ml=:m-Iqy]checking for new query: numPingsReceived=63, elapsed TxPingTime=32.267952!@! @)@-0@)@5\A@5[AE EE$E"E:*E=:VE4ZEBE DDAT read: Rx Time:00:45:16.3868  TRx dataTimestamp_ set to:1761698716.998883- PDAT read: Bearing 174.3, -6.1 (Local) - ~Local bearing/azimuth received: Bearing 174.3, -6.1 (Local) 1 E DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.5 9,@X@A&DAT read: 00:45:16.3868 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 503, 0.23, 2.119, 0.618, 2.563, 2.099, PHS= 0.122,-1.436, 0.420, RAW= 158.6, 10.4, CAL= 158.6, 11.3, ROT= 351.4, -11.3 .Ygot valid direction response: 00:45:16.3868 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 503, 0.23, 2.119, 0.618, 2.563, 2.099, PHS= 0.122,-1.436, 0.420, RAW= 158.6, 10.4, CAL= 158.6, 11.3, ROT= 351.4, -11.3 .T#Rx 64: Read range and direction messages.V^direction in FSK: [0.969589,-0.146637,0.195946]ZFpublishing direction and range infoy9=k?\¿>x_?Y=3A9999 9)=:I=#=i=η== >=m(1@=9>=m(1@ =I>)=?B@I=I99=Ǚ??8 ? =Ct,?)=l9I=ti=I99 checking for new query: numPingsReceived=64, elapsed TxPingTime=32.564018Y]iBy]!IbDmVDmk !!Gy=%;=lj9YInAٔQ->9Y=jGy FE>Q 5%4dݕ?Q 9-4F)LBY)yIQ IM0@DIJ;i; 4y]Bɮ]U@Y9=?X@AJ=zAR=zAj=_>=ט,/@`&"}b @r=k?\¿>x_?Z=tb=I=pV/@[@Hk@z=ӹq?_것?͊;?2=@:=ExA"=?*=}B=B=?=*“=cB=2oA=}>gO- addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.497206 s, deltaX: -0.100000 m, approachRate: -0.201125 m/s, rangeRepo size: 4 gO5 Added new target pos. range: 16.309757 m, bearing: 7.372751 deg, lat: 36.779278 deg, lon: -121.859544 deg, deltaT: 0.497206 s, deltaX: -0.099867 m, approachRate: -0.200856 m/s, posRepo size: 4 j9gO=DNOT Ignoring new targets: 16.31 m.b9RAZAgOu ProNav: ac range: 16.309757 m, nav range: 14.949892 m, bearing: 7.636938 deg, approach rate: 0.000000 m/s, LOS rate: 0.059025 deg/s, cmd heading: 12.986255 deg, new cmd heading: 13.041612 deg. BqgO}HeadingCmd: 0.227619 target range: 16.309757 and range: 16.40 m.}i>y*y"y yʎj`ff0@Z?ɢ<) |=i!)%l6!!i% i-i>-Lx:-M|I1A1@ @@00@]checking for new query: numPingsReceived=64, elapsed TxPingTime=32.770912DD4=E EE%E"E:*E1]:VE 4ZEa@a@a@a@i ^A% <ԙ Am .AIy I O >&9,u]X@AeDDAT read: Rx Time:00:45:16.8865 uTRx dataTimestamp_ set to:1761698717.506343PDAT read: Bearing 181.3, -7.2 (Local) ~Local bearing/azimuth received: Bearing 181.3, -7.2 (Local) DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.5 MUb<]DAT read: 00:45:16.8865 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 500, 0.12,-3.104, 1.735,-2.703,-2.980, PHS=-0.021,-1.523, 0.233, RAW= 157.7, 15.8, CAL= 158.6, 18.3, ROT= 351.4, -18.3 mYgot valid direction response: 00:45:16.8865 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 500, 0.12,-3.104, 1.735,-2.703,-2.980, PHS=-0.021,-1.523, 0.233, RAW= 157.7, 15.8, CAL= 158.6, 18.3, ROT= 351.4, -18.3 mT#Rx 65: Read range and direction messages.M|>M ZٱMn# AHRS rotation from veh to nav: [[0.967573,-0.231252,-0.101608],[0.243935,0.959882,0.138281],[0.065554,-0.158583,0.985167]]MH\?@ͿD9?[?`3?@,Ȱ?tLĿ}?iMUb ?jz+,¿v9s?Ymf~Aiiii i)m9Im1im¿mn>m'0@m0>i mƇ>)iImƇiim3>_?l ?Uy^? mf(?)m䷌IiimƇiYuBy!Iichecking for new query: numPingsReceived=65, elapsed TxPingTime=33.082291i]Mb@Mb@Mb@YYYY Y9]S?V-I +?Y]/?y]h]9<]A]@ ]SA)]@YY]AbDVDJy3=%=ٔ;Q->9  ?Y  ?= jGy  F]κE>!Q 5E4?Q 9M4E)_BY]T?Q E:y >Q I0@ģDIm ! -@s+@rm?f> ?jz+,¿v9s?ZibmƇṃ'&0,@El8@tٕ@zmNJx?nl?G-?2m @:m fA"m\o?*mX BmBm&?m}“mBmhAm >gO addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.507460 s, deltaX: -0.500000 m, approachRate: -0.985299 m/s, rangeRepo size: 4 BA<BBB!IBBBBBB n;B+EgO Added new target pos. range: 15.812509 m, bearing: 8.515393 deg, lat: 36.779277 deg, lon: -121.859544 deg, deltaT: 0.507460 s, deltaX: -0.497249 m, approachRate: -0.979878 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 15.81 m.bRZgO ProNav: ac range: 15.812509 m, nav range: 14.535659 m, bearing: 7.765402 deg, approach rate: 0.000000 m/s, LOS rate: 0.059025 deg/s, cmd heading: 13.041612 deg, new cmd heading: 13.104805 deg. BgO%HeadingCmd: 0.228722 target range: 15.812509 and range: 15.90 m.%6j>!*)") )))15-BʎQQYj]/@Z]h?颥7Bɢ) =i)5顩il(i6j>P·:7eIIZA)Ichecking for new query: numPingsReceived=65, elapsed TxPingTime=33.275822 2@  @ @ /@ EM  EM EM &EI "EM :*EM A:VEM 4ZEI BEM ~Local bearing/azimuth received: Bearing 179.3, -8.3 (Local) FDAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.6 VDAT read: 00:45:17.3863 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498, 0.26, 1.687, 0.205, 2.153, 1.794, PHS=-0.005,-1.544, 0.315, RAW= 159.2, 14.2, CAL= 159.9, 16.4, ROT= 350.1, -16.4 ZYgot valid direction response: 00:45:17.3863 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498, 0.26, 1.687, 0.205, 2.153, 1.794, PHS=-0.005,-1.544, 0.315, RAW= 159.2, 14.2, CAL= 159.9, 16.4, ROT= 350.1, -16.4 ^T#Rx 66: Read range and direction messages.b^direction in FSK: [0.945029,-0.164934,0.282341]bFpublishing direction and range infoy46̭=?լſIx?Y6yA4444 4)6:I6 ףi6ˡſ6G>61@6}>6)2@ 6C>)6a@I6C4465|+?A6ȡ?J3r? 6n/?)6+~I640i6C44}checking for new query: numPingsReceived=66, elapsed TxPingTime=33.563183ԑ<Y}>l܁ٱa# AHRS rotation from veh to nav: [[0.967667,-0.231717,-0.099634],[0.244141,0.959699,0.139190],[0.063366,-0.159014,0.985241]]H!?Ϳ@??ٵ??8?ZĿ?i95"?Y5"?=5jGy1=9E=>AQ 5m4E?Q 9m4ED)EqBYiyu >Q Iu0@EΣDIE;iE;E4y}Bɮ}@}3E46bX@AJ6:xAR6:xAj6M=6ܛR-@d8rxk@r6̭=?լſIx?Z640b6C6[,@< #?4@z6?Tu{?ivnP?26?:6eA"6kȚ?*6_B6֎B6kȚ?6*“6B6gA6>gOM addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.499684 s, deltaX: -0.299999 m, approachRate: -0.600378 m/s, rangeRepo size: 4 gOU Added new target pos. range: 15.514173 m, bearing: 6.890717 deg, lat: 36.779279 deg, lon: -121.859544 deg, deltaT: 0.499684 s, deltaX: -0.298336 m, approachRate: -0.597049 m/s, posRepo size: 4 jYgO]DNOT Ignoring new targets: 15.51 m.bYRZgO ProNav: ac range: 15.514173 m, nav range: 14.469477 m, bearing: 7.557109 deg, approach rate: 0.000000 m/s, LOS rate: 0.059025 deg/s, cmd heading: 13.104805 deg, new cmd heading: 13.158373 deg. BgOHeadingCmd: 0.229657 target range: 15.514173 and range: 15.60 m./+k>*" ʎj@33/@Z?E6BɢEh )A M$>iI)MK5IIiMѫiU/+k>Uʸ:U8^Iy0@ @@0@checking for new query: numPingsReceived=66, elapsed TxPingTime=33.779572Da zDa Em  Em Ei Ei "Em :*Em rN:VEi ZEi au @au @au @au @! ^A] a<A .AI I O >9,X@A2գ<42Cl}>2-ٱ2Q## >AHRS rotation from veh to nav: [[0.967651,-0.232287,-0.098460],[0.244489,0.959674,0.138750],[0.062259,-0.158334,0.985421]]2H?Ϳ4nK?`??s?@FDĿ@?i2գ DDAT read: Rx Time:00:45:17.8860 TRx dataTimestamp_ set to:1761698718.5137855PDAT read: Bearing 181.1, -8.6 (Local) =~Local bearing/azimuth received: Bearing 181.1, -8.6 (Local) mDAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.5 9 ?Y ?=jGy F%I:E%>9Q 5E4=]'?Q 9M4=C)=BYIyM.>Q IM0@=ףDI=:i=:=#4eDAT read: 00:45:17.8860 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 495, 0.26, 1.082,-0.368, 1.529, 1.222, PHS=-0.038,-1.546, 0.263, RAW= 158.9, 15.6, CAL= 159.9, 18.2, ROT= 350.1, -18.2 mYgot valid direction response: 00:45:17.8860 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 495, 0.26, 1.082,-0.368, 1.529, 1.222, PHS=-0.038,-1.546, 0.263, RAW= 158.9, 15.6, CAL= 159.9, 18.2, ROT= 350.1, -18.2 mT#Rx 67: Read range and direction messages.ԑyɮ@^direction in FSK: [0.935826,-0.163328,0.312335]Fpublishing direction and range infoy  wJ?'gĿIK?Y 3sA     ) I i Tſ > 5~1@ 'g>  >) I    PS?<ĉ_?z+"'? -?) 늾I i   X@AJ qAR qA  checking for new query: numPingsReceived=67, elapsed TxPingTime=34.102459j > J,@Z&@r wJ?'gĿIK?Z b  9+@"֙?^@z jT*5?ˈ񩂊?w'??2 F?: \A" u?*  B pB \o? “ pB _A ?_ >gO] addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.507758 s, deltaX: -0.400001 m, approachRate: -0.787778 m/s, rangeRepo size: 4 gOm Added new target pos. range: 15.116373 m, bearing: 7.205492 deg, lat: 36.779276 deg, lon: -121.859544 deg, deltaT: 0.507758 s, deltaX: -0.397799 m, approachRate: -0.783443 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 15.12 m.bRZgO ProNav: ac range: 15.116373 m, nav range: 13.939179 m, bearing: 7.686367 deg, approach rate: 0.000000 m/s, LOS rate: 0.059025 deg/s, cmd heading: 13.158372 deg, new cmd heading: 13.212787 deg. BgOMHeadingCmd: 0.230607 target range: 15.116373 and range: 15.20 m.M%$l>I*Q"Q QQQYYʎYYYje`ff.@Ze@?颱ɢI) (C>i)̎4项iri%$l>ӹ:WIB5Ϳ>B1B5!IB5BB1B1B1B5l;B5+EU6@Q @Q@U0@Q checking for new query: numPingsReceived=67, elapsed TxPingTime=34.283737 E  E E $E "E *E VL:VE 4ZE BE P9,X@AB%B3zٱB5# ZAHRS rotation from veh to nav: [[0.967463,-0.233464,-0.097519],[0.245511,0.959405,0.138802],[0.061155,-0.158227,0.985507]]BHt?*Ϳl?r?A? O? @Ŀ F?iB%9Y=jGy15&$;E5>9Q 5M4=Q IM0@=ߣDI=';i=&;=*4y]Bɮ]@]4EPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 15.12 m.bR*Z*gO ProNav: ac range: 15.116373 m, nav range: 13.691477 m, bearing: 7.672284 deg, approach rate: -0.644156 m/s, LOS rate: -0.037284 deg/s, cmd heading: 13.212787 deg, new cmd heading: 13.184112 deg. BwgOHeadingCmd: 0.230106 target range: 15.116373 and range: 15.20 m.k>*" [Bʎ j Z  T7?]5Bɢ]w)a eQ>ia)m3iiim*iuk>u:uٸmDDAT read: Rx Time:00:45:18.3858 TRx dataTimestamp_ set to:1761698719.013854PDAT read: Bearing 179.4, -9.1 (Local) ~Local bearing/azimuth received: Bearing 179.4, -9.1 (Local) DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.5 -DAT read: 00:45:18.3858 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 510, 0.42, 1.287,-0.208, 1.776, 1.405, PHS=-0.016,-1.569, 0.327, RAW= 159.8, 14.3, CAL= 160.5, 16.5, ROT= 349.5, -16.5 5Ygot valid direction response: 00:45:18.3858 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 510, 0.42, 1.287,-0.208, 1.776, 1.405, PHS=-0.016,-1.569, 0.327, RAW= 159.8, 14.3, CAL= 160.5, 16.5, ROT= 349.5, -16.5 5T#Rx 68: Read range and direction messages.=^direction in FSK: [0.942764,-0.174731,0.284015]EFpublishing direction and range infoyݍ{+?^I]ƿHN-?YfnA )Ioiȿl>2@r>G3@ r>)2@IrP1?u(fY?K~q? 1?)`~It;irchecking for new query: numPingsReceived=68, elapsed TxPingTime=34.558990I >@ @@4@9 ^A1 A= ZAzA9  checking for new query: numPingsReceived=68, elapsed TxPingTime=34.787727I I O >e9, oX@A$$FlB=F^h>FwٱF<" NAHRS rotation from veh to nav: [[0.967292,-0.234507,-0.096703],[0.246394,0.959228,0.138460],[0.060291,-0.157758,0.985636]]FH`?Uο@ډ?@?@?fޮ?`m1ĿS?ER EREPEP"ER:*ERT:VEPZEPaZ@aZ@aZ@aZ@iFlB=IFcPj;FǐCYbByb!IbDjVDjNyrd=%v\=ٔv;Q-v>9xYx=zjGyz FzQ#;E~> Q 5-4 sN?Q 954 A) BY9yE/>Q IE0@ DI @;i ; )14yiɮm@q)-X@AJ-mAR-mAj-"6=-L+@TPQؿ@r-ݍ{+?^I]ƿHN-?Z-t;b-r-!m+@b(0ͨ?A^@z-52?|]?#[Q?2-F?:-i[A"- Қ?*-6B-uB-kȚ?- “-֎B-N[A-=gOE addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.500069 s, deltaX: -0.300000 m, approachRate: -0.599918 m/s, rangeRepo size: 4 QgOu Added new target pos. range: 14.817989 m, bearing: 6.412524 deg, lat: 36.779279 deg, lon: -121.859545 deg, deltaT: 0.500069 s, deltaX: -0.298384 m, approachRate: -0.596685 m/s, posRepo size: 4 jqgOuDNOT Ignoring new targets: 14.82 m.bqR}ZygO ProNav: ac range: 14.817989 m, nav range: 13.706653 m, bearing: 7.019773 deg, approach rate: 0.000000 m/s, LOS rate: -0.037284 deg/s, cmd heading: 13.184113 deg, new cmd heading: 13.152808 deg. BgOHeadingCmd: 0.229560 target range: 14.817989 and range: 14.90 m.k>*" ʎj-@Zm?1ɢ5m)1 5g>i1)5{)399i=iEk>Eѻ:E[~I9@ @@f4@!ԁ-DDAT read: Rx Time:00:45:18.8855 5TRx dataTimestamp_ set to:1761698719.522687UPDAT read: Bearing 181.4, -8.6 (Local) ]~Local bearing/azimuth received: Bearing 181.4, -8.6 (Local) DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.5 =DAT read: 00:45:18.8855 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 507, 0.39, 0.344,-1.115, 0.784, 0.484, PHS=-0.038,-1.554, 0.257, RAW= 158.7, 15.7, CAL= 159.7, 18.3, ROT= 350.3, -18.3 EYgot valid direction response: 00:45:18.8855 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 507, 0.39, 0.344,-1.115, 0.784, 0.484, PHS=-0.038,-1.554, 0.257, RAW= 158.7, 15.7, CAL= 159.7, 18.3, ROT= 350.3, -18.3 ET#Rx 69: Read range and direction messages.u^direction in FSK: [0.935852,-0.159968,0.313992]uFpublishing direction and range infoy)-3?q;יyĿv9s?Y-ffA)))) ))-9I-i-yƿ->-E1@-K>-b2@ -Ƈ>)-@I-Ƈ))- ?FVG?(H? -r -?)-(I-4\-i-Ƈ))checking for new query: numPingsReceived=69, elapsed TxPingTime=35.102242ԩ ^A zl<II IY Oe >A A @AB% ˿>B! B% "IB% ǃBB! B! B! B% k;B% }*EЏ9,LX@A6P=6>6G;sٱ6!@ FAHRS rotation from veh to nav: [[0.967163,-0.235447,-0.095708],[0.247129,0.959132,0.137816],[0.059348,-0.156943,0.985823]]6H?#ο@J@?@5?@?b?Ŀ܋?i6P=I6'(j;4YNBy^!IiMb@Mb@Mb@ 9Gz?Mb9Y=jGy:E>Q 54e?Q 94o@)BY?Q E:yj7>Q I0@DI&>]%*@r/ةS@r]3?q;יyĿv9s?Z]4\-b]Ƈ]F'EU$*@E)?Y@z]95?ZZ?P?2]?:]"QA"]S1?*]{B]B]\o?Y“]B]RA]kE=ԩE EEE"ED:*E:VEZEBE1 * " AQUWBʎYj,@Z1? 4Bɢ) >i)42iieWj>e!:e6Ia?@ @@3@ DDAT read: Rx Time:00:45:19.3854  TRx dataTimestamp_ set to:1761698720.021628 PDAT read: Bearing 180.8, -9.3 (Local) % ~Local bearing/azimuth received: Bearing 180.8, -9.3 (Local) 5 DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.5 U DAT read: 00:45:19.3854 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 506, 0.49, 0.833,-0.617, 1.306, 0.975, PHS=-0.040,-1.547, 0.287, RAW= 159.6, 15.2, CAL= 160.5, 17.7, ROT= 349.5, -17.7 ] Ygot valid direction response: 00:45:19.3854 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 506, 0.49, 0.833,-0.617, 1.306, 0.975, PHS=-0.040,-1.547, 0.287, RAW= 159.6, 15.2, CAL= 160.5, 17.7, ROT= 349.5, -17.7 ] T#Rx 70: Read range and direction messages.e ^direction in FSK: [0.936709,-0.173609,0.304033]m Fpublishing direction and range infoy  B7?8ƿz0Gu?Y dA     ) I #i ƿ > aF2@ ԇ> G3@  2+>) 2@I 2+   p{?A;?q?  1?) (I t;i 2+   checking for new query: numPingsReceived=70, elapsed TxPingTime=35.563297Ա ^A] oM<I I O >:,<X@A2 =2>2Uqٱ2U :AHRS rotation from veh to nav: [[0.966960,-0.236481,-0.095206],[0.248019,0.959040,0.136856],[0.058942,-0.155948,0.986005]]2H W?Eοj_`?s?@?-?ÿZ?i2 =I2-i;2ɐCxYmBym!Iu=up=bD}VD}0y䚻%2=ٔj:Q->9Y=jGy F;E>Q 54&}?Q 94?)BYyP8>Q I0@DI;i;1A4yBɮ@5E!ZbX@AJcARcAjt=N!l*@ ^>m}K@rB7?8ƿz0Gu?Zt;b2+[]A*@pq?pл@z#1_?f򮀻?aU0s?2?:PA"'ɚ?*BBkȚ?“֎B8RA=gOM addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.498941 s, deltaX: -0.099999 m, approachRate: -0.200423 m/s, rangeRepo size: 4 gO] Added new target pos. range: 14.221217 m, bearing: 6.675822 deg, lat: 36.779279 deg, lon: -121.859546 deg, deltaT: 0.498941 s, deltaX: -0.099449 m, approachRate: -0.199320 m/s, posRepo size: 4 jYgOeDNOT Ignoring new targets: 14.22 m.baRaZagOu ProNav: ac range: 14.221217 m, nav range: 13.138875 m, bearing: 6.677580 deg, approach rate: 0.000000 m/s, LOS rate: -0.037284 deg/s, cmd heading: 13.121906 deg, new cmd heading: 13.088724 deg. BqgO}HeadingCmd: 0.228441 target range: 14.221217 and range: 14.30 m.}i>*" ʎj,@Z?颹ɢм) }>i)p1iVTii>::-Ichecking for new query: numPingsReceived=70, elapsed TxPingTime=35.794888EE EEEE%EA"EE>:*EEVL:VEE 4ZEAaM@aM@aM@aM@}5@ @@/@Qy ^A <A ?A ?II Ia O} >:,!X@A2DDAT read: Rx Time:00:45:19.8851 :TRx dataTimestamp_ set to:1761698720.530463NPDAT read: Bearing 180.3, -8.7 (Local) R~Local bearing/azimuth received: Bearing 180.3, -8.7 (Local) jDAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed 0.5 QDAT read: 00:45:19.8851 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 504,-0.44,-1.740, 3.096,-1.288,-1.621, PHS=-0.017,-1.521, 0.288, RAW= 159.1, 14.8, CAL= 159.9, 17.1, ROT= 350.1, -17.1 -Ygot valid direction response: 00:45:19.8851 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 504,-0.44,-1.740, 3.096,-1.288,-1.621, PHS=-0.017,-1.521, 0.288, RAW= 159.1, 14.8, CAL= 159.9, 17.1, ROT= 350.1, -17.1 5T#Rx 71: Read range and direction messages.=^direction in FSK: [0.941561,-0.164329,0.294040]=Fpublishing direction and range infoy46/C!?`>ſ?Y6\A4444 4)68I6Ci6!¿6t>6g1@6 A>6)2@ 6Θ>)6a@I6Θ446hG9? ]?''N? 6e.?)6w僾I640i6Θ44checking for new query: numPingsReceived=71, elapsed TxPingTime=36.123379* =A1>4 pٱ* AHRS rotation from veh to nav: [[0.966671,-0.237835,-0.094770],[0.249231,0.958873,0.135819],[0.058570,-0.154912,0.986191]]H?\qοB??`b? ?(ÿߎ?i* =I\i;ʐC%Mr@i!I!!a iiiiiiIq)qiq)qIqqq yyyyiyyiơơ)ƥO ƥEIơ ǩ)ǭS{AƩƩƩYԁYBy "IBEǿ>BECBE5"IBEBBE =BABABEak;BE=*EB CB CB œCB  =B  =C @5iMb@Mb@Mb@ 9+?~jtMb?Y?yD<bA@ &A)@YGAbDVDk2y;=%*=ٔ-K:Q->9Y=jGyF{(;E>!Q 5-4%╖?Q 9-4%=)%BY5D ?Q E5:y5{8>Q IU0@%DI%;i%>;%I4y] Bɮ]@e6E46!X@AJ6[AR6[Aj6<_>6i)@,_u Hr6$@r6/C!?`>ſ?Z640b6Θ6iJJ)@(?)eW@z6-T|?ҫz?{|?26?:6RJA"6v?*6k]tB6B6v?6 “6B6KA6,=gO addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.508835 s, deltaX: -0.500000 m, approachRate: -0.982637 m/s, rangeRepo size: 4 gOU Added new target pos. range: 13.723845 m, bearing: 7.238741 deg, lat: 36.779278 deg, lon: -121.859545 deg, deltaT: 0.508835 s, deltaX: -0.497372 m, approachRate: -0.977471 m/s, posRepo size: 4 jQgO]DNOT Ignoring new targets: 13.72 m.bYRYZagO ProNav: ac range: 13.723845 m, nav range: 12.736258 m, bearing: 6.859112 deg, approach rate: 0.000000 m/s, LOS rate: -0.037284 deg/s, cmd heading: 13.088724 deg, new cmd heading: 13.052130 deg. BgOHeadingCmd: 0.227803 target range: 13.723845 and range: 13.80 m.Ei>*"ԩ MBʎj+@Z`P?checking for new query: numPingsReceived=71, elapsed TxPingTime=36.299191M3BɢU?ؼ)Q U^>iQ)U+K0YYi]Oi]Ei>eQ:eM1IE]  E] E] 'EY "E] ,:*E] g:VE] '4ZEY BE] ;0@%>1@ #>)v@I#ڋҶ 9?*كb5?Lc?? +?)0Il$i#%checking for new query: numPingsReceived=72, elapsed TxPingTime=36.567909AIIO ?:,5DX@A8R=RÁ>R$oٱR zAHRS rotation from veh to nav: [[0.966406,-0.238888,-0.094829],[0.250313,0.958524,0.136288],[0.058339,-0.155447,0.986120]]RH?@οF@!? ;? q?`ޭ?@ÿK?iR=IR"Ii;PY y "IbD%VD%1yUE;%U==ٔ] :Q-]>9YYa=ejGyae8+;Em>iQ 5u4m򫖊?Q 9}4mp<)mBYyy}9>Q I}0@m DIm:im):mQ4yɮ@quAX@AJuYARuYAju>u)G:q)@T[:PN)a4@ru(?Aÿ+0?Zul$bu#ut `= )@O']?9WE@zuj=A i?\~g?}v,?2u?:uYHA"ua%˚?*u|U BuBu'ɚ?uk]t“uuBuIAu{=gO5 addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.500342 s, deltaX: -0.100000 m, approachRate: -0.199864 m/s, rangeRepo size: 4 gOe Added new target pos. range: 13.624396 m, bearing: 8.058531 deg, lat: 36.779279 deg, lon: -121.859544 deg, deltaT: 0.500342 s, deltaX: -0.099449 m, approachRate: -0.198762 m/s, posRepo size: 4 jagOmDNOT Ignoring new targets: 13.62 m.biRiZqԡgO ProNav: ac range: 13.624396 m, nav range: 12.594643 m, bearing: 7.106509 deg, approach rate: 0.000000 m/s, LOS rate: -0.037284 deg/s, cmd heading: 13.052130 deg, new cmd heading: 13.020355 deg. BgOHeadingCmd: 0.227248 target range: 13.624396 and range: 13.70 m.h>*" ʎj`ff+@Z`F?)ɢ-$Ƽ)) -4>i1)5V]/11i5ni]h>] R:]Ia7@ @@/@checking for new query: numPingsReceived=72, elapsed TxPingTime=36.803211D%=D<bEijEmǻ 4rEm//E  E E %E "E O:*E R:VE  4ZE a=@a=@aE@aE@^A < A ؟AI I O >1:,I-^X@AdYÃBy"IADDAT read: Rx Time:00:45:20.8847 TRx dataTimestamp_ set to:1761698721.5377355PDAT read: Bearing 180.8, -8.4 (Local) =~Local bearing/azimuth received: Bearing 180.8, -8.4 (Local) DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.5 bD}VD}y5$<%5/=ٔ5Q-5>9="?Y="?==jGy=FEEE>]DAT read: 00:45:20.8847 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500,-0.42,-2.547, 2.296,-2.114,-2.430, PHS=-0.015,-1.513, 0.272, RAW= 158.6, 15.0, CAL= 159.4, 17.3, ROT= 350.6, -17.3 mYgot valid direction response: 00:45:20.8847 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500,-0.42,-2.547, 2.296,-2.114,-2.430, PHS=-0.015,-1.513, 0.272, RAW= 158.6, 15.0, CAL= 159.4, 17.3, ROT= 350.6, -17.3 IQ 5u4M Ė?Q 9u4M;)MBYyyyQ I}0@MDIM;iM;M+Y4y4Bɮ @7ET#Rx 73: Read range and direction messages.^direction in FSK: [0.941940,-0.155937,0.297375]Fpublishing direction and range infoy  +C`$?<-Կÿ+0?Y 3SA     ) 8I ui  C> m(1@  > / 2@ ) @I     @jbX@AJ RAR RAj *d > "%(@yXG`Ť:@r +C`$?<-Կÿ+0?Z 'b  s #(@30?T/e@z 8+Mk?sCgO addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.506930 s, deltaX: -0.500000 m, approachRate: -0.986329 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=73, elapsed TxPingTime=37.183018gO Added new target pos. range: 13.127156 m, bearing: 7.855300 deg, lat: 36.779278 deg, lon: -121.859544 deg, deltaT: 0.506930 s, deltaX: -0.497240 m, approachRate: -0.980885 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 13.13 m.bRZgOE ProNav: ac range: 13.127156 m, nav range: 12.193799 m, bearing: 7.208465 deg, approach rate: 0.000000 m/s, LOS rate: -0.037284 deg/s, cmd heading: 13.020355 deg, new cmd heading: 12.983952 deg. BAgOMHeadingCmd: 0.226613 target range: 13.127156 and range: 13.20 m.M) h>I*I"I IQQQQʎYYYj]`ff*@Z?BA<Bɿ>BBN"IBBB =BBBk;B*Eɢ˼) >i)%9.iBɳi) h>%d:%I!8@ @@/@ checking for new query: numPingsReceived=73, elapsed TxPingTime=37.307564I E  E E (E "E :*E H:VE c44ZE BE \ %a1@% A>%aF2@ %Θ>)%E@I%Θ!!%Ǵ ?l%h^?N `T? %(-?)%I%+i%Θ!!Uchecking for new query: numPingsReceived=74, elapsed TxPingTime=37.636005YA aep;bDmVDm:y};%} =ԙٔYQ-]>9] ?Ye ?=ejGyaaEe>iQ 5u4m3?Q 94m9)mBY!?Q E:y >Q I0@mDIm(%r.(@@>[fmz-@r%5(?"ƜgĿ?Z%+b%Θ%c|'@!2 I?Jn@z%ܐ/ ]x??zkk?2%H?:%=A"%glÚ?*%-o$B%AB%glÚ?%-o$“%B%>A%)>gO addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.505017 s, deltaX: -0.300000 m, approachRate: -0.594040 m/s, rangeRepo size: 4 gO Added new target pos. range: 12.828871 m, bearing: 7.618691 deg, lat: 36.779278 deg, lon: -121.859543 deg, deltaT: 0.505017 s, deltaX: -0.298285 m, approachRate: -0.590644 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 12.83 m.bRZgO  ProNav: ac range: 12.828871 m, nav range: 11.919882 m, bearing: 7.618680 deg, approach rate: 0.000000 m/s, LOS rate: -0.037284 deg/s, cmd heading: 12.983951 deg, new cmd heading: 12.944024 deg. B gO5HeadingCmd: 0.225916 target range: 12.828871 and range: 12.90 m.5{Vg>1*1"1 1999=OBʎAAAjE)@ZM`?ɢ.\̼) 3>i),ihi{Vg> : I  checking for new query: numPingsReceived=74, elapsed TxPingTime=37.810955 =@  @ @ @ D zD ?AE  E E $E "E O:*E g:VE 4ZE aE @aE @aE @aE @Y ^A 6nlٱ6 >AHRS rotation from veh to nav: [[0.965698,-0.241926,-0.094334],[0.253173,0.957956,0.134997],[0.057709,-0.154249,0.986345]]6H?jοD&3??G?`?oÿ#?i6-=I6g;6ːCYJÃByJ"IbD%VD%fUDDAT read: Rx Time:00:45:21.8842 eTRx dataTimestamp_ set to:1761698722.545301yPDAT read: Bearing 180.0, -8.7 (Local) ~Local bearing/azimuth received: Bearing 180.0, -8.7 (Local) y-i%B=ٔ:Q->9"?Y"?=jGyF;DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.6 E>)Q 54-?Q 94-8)-BYy >Q I0@-'DI-]1@]r>])2@ ]r>)]a@I]rYY]\ 7?>|?);ה? ]7+/?)]~I]40i]rYYuchecking for new query: numPingsReceived=75, elapsed TxPingTime=38.169098ԙgO addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.502549 s, deltaX: -0.400000 m, approachRate: -0.795942 m/s, rangeRepo size: 4 jgODNOT Ignoring new targets: 12.83 m.bR=Z=gOM ProNav: ac range: 12.828871 m, nav range: 11.634885 m, bearing: 7.587314 deg, approach rate: -0.618580 m/s, LOS rate: -0.069748 deg/s, cmd heading: 12.944024 deg, new cmd heading: 12.879754 deg. BMKgOUHeadingCmd: 0.224794 target range: 12.828871 and range: 12.50 m.Un0f>Q*Q"q qyyyyʎj)@Z@s?Bſ>BBZ"IBBB =BBvDBj;B)Eɢ`¼)Q U(>iQ)]+YYi]ien0f>e:eIi;@ @@/@checking for new query: numPingsReceived=75, elapsed TxPingTime=38.315037Ee  Ee Ee )Ea "Ee :*Ee n:VEe FA4ZEa BEe .:,=ѾX@AB=BY]>BrkٱBR NAHRS rotation from veh to nav: [[0.965661,-0.242036,-0.094431],[0.253345,0.957796,0.135808],[0.057575,-0.155068,0.986225]]BH ? ο@,6?B?*b?@z?Gÿ&?iB=IBg;BʐCYV̓ByV"IimMb@Mb@Mb@iiii i9mZd;?ˡE{Gz?Ym?ym什m#9 ?Y ?=jGy*9E>Q 54h?Q 947) BY` ?Q E:y>Q I0@0DIH:i:r4yɮ@DDAT read: Rx Time:00:45:22.3841 TRx dataTimestamp_ set to:1761698723.045757PDAT read: Bearing 179.8, -9.6 (Local)  ~Local bearing/azimuth received: Bearing 179.8, -9.6 (Local) DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.6 =DAT read: 00:45:22.3841 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509, 0.47,-0.995,-2.427,-0.503,-0.875, PHS=-0.018,-1.507, 0.328, RAW= 160.2, 14.1, CAL= 160.9, 16.3, ROT= 349.1, -16.3 EYgot valid direction response: 00:45:22.3841 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509, 0.47,-0.995,-2.427,-0.503,-0.875, PHS=-0.018,-1.507, 0.328, RAW= 160.2, 14.1, CAL= 160.9, 16.3, ROT= 349.1, -16.3 MT#Rx 76: Read range and direction messages.U^direction in FSK: [0.942489,-0.181495,0.280667]UFpublishing direction and range infoynp"(?W07;ǿrwkq?Y )Iti`>2@d{>3@ >)g@I슳?! ?l3? 3?)jn{ItBiuchecking for new query: numPingsReceived=76, elapsed TxPingTime=38.583313gO addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.500456 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jgODNOT Ignoring new targets: 12.83 m.bR+^9Z+^9gO ProNav: ac range: 12.828871 m, nav range: 11.365947 m, bearing: 7.592163 deg, approach rate: -0.657742 m/s, LOS rate: 0.012140 deg/s, cmd heading: 12.879754 deg, new cmd heading: 12.889682 deg. B9gOHeadingCmd: 0.224967 target range: 12.828871 and range: 12.50 m.]f>*" .BʎjZ3?ɢH) >i)*ii]f>#:=I!-l>i-!>2@ @@@A  checking for new query: numPingsReceived=76, elapsed TxPingTime=38.819279^A 8<A ?A E  E E %E "E :*E F:VE 4ZE a- @a- @a- @a- @AM ؟AIQ Ia i Ou > 5:,X@A2ۙ=2>2jٱ2! >AHRS rotation from veh to nav: [[0.965612,-0.242196,-0.094525],[0.253598,0.957536,0.137162],[0.057291,-0.156417,0.986028]]2HJ?JϿ2`:?"?? BU?vĿ?i2ۙ=I2g;2ȐCYFȃByF"ILN@AbDRVDRy~N%~R=ٔ~@:Q->9"?Y"?=jGyF -:E >Q 54"?Q 946)BYyA>Q I%0@7DI:i:x4y-=Bɮ-M@-9EX@AJFARFAj@=.쌝n'@-ϗ }a @rnp"(?W07;ǿrwkq?ZtBb$n@'@mB?sz@z ?m?/?2 ?:z8A"u@?*BB“B1Ab>jqgOuDNOT Ignoring new targets: 12.83 m.bqR}Q9Z}Q9gO ProNav: ac range: 12.828871 m, nav range: 11.123620 m, bearing: 7.596347 deg, approach rate: -0.647581 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.889682 deg, new cmd heading: 12.898233 deg. BH9gOHeadingCmd: 0.225117 target range: 12.828871 and range: 12.50 m.f>*" ʎjZWt?ɢ3J) >i)*iûif>J :qI!E1@A @A@M0@IDDAT read: Rx Time:00:45:22.8838  TRx dataTimestamp_ set to:1761698723.5542785PDAT read: Bearing 178.5, -9.6 (Local) E~Local bearing/azimuth received: Bearing 178.5, -9.6 (Local) DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.5 Y DAT read: 00:45:22.8838 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 506, 0.39,-1.637,-3.064,-1.135,-1.540, PHS= 0.005,-1.479, 0.361, RAW= 160.5, 13.1, CAL= 161.0, 15.0, ROT= 349.0, -15.0 Ygot valid direction response: 00:45:22.8838 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 506, 0.39,-1.637,-3.064,-1.135,-1.540, PHS= 0.005,-1.479, 0.361, RAW= 160.5, 13.1, CAL= 161.0, 15.0, ROT= 349.0, -15.0 T#Rx 77: Read range and direction messages.^direction in FSK: [0.948179,-0.184307,0.258819]%Fpublishing direction and range infoy  {W?@8UcǿV!}?Y @A     ) 5I  ף;i O Ը> G3@  j> 3@  >) @I    =~ G3?>?|6? 4?) 5jI Di   ^Amm<checking for new query: numPingsReceived=77, elapsed TxPingTime=39.153690y A A AAB ȿ>B B `"IB BB  =B B wDB j;B )EA I I O >[<:,X@A&checking for new query: numPingsReceived=77, elapsed TxPingTime=39.3228150:8=:?>:iٱ:# FAHRS rotation from veh to nav: [[0.965751,-0.241541,-0.094782],[0.253136,0.957293,0.139687],[0.056994,-0.158896,0.985649]]:Hm?οC_3?%?E?`O.?VĿo?i:8=I:9qYq=}jGy}F}@E}>ԉQ 54ARE>AjEy=E|{&@슏`@rE{W?@8UcǿV!}?ZEDbE E.U&@h,& ?,!'@zES-?#x??٨?2EY?:E2A"E<隊?*EC=BE݋BEa%˚?A“EABE.AE`>gOU addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.508521 s, deltaX: -0.500000 m, approachRate: -0.983244 m/s, rangeRepo size: 4 gO] Added new target pos. range: 11.933821 m, bearing: 6.084182 deg, lat: 36.779279 deg, lon: -121.859543 deg, deltaT: 1.511526 s, deltaX: -0.895050 m, approachRate: -0.592150 m/s, posRepo size: 4 jagOeDNOT Ignoring new targets: 11.93 m.bRZgO ProNav: ac range: 11.933821 m, nav range: 10.906930 m, bearing: 7.601591 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.898233 deg, new cmd heading: 12.909270 deg. BgOHeadingCmd: 0.225309 target range: 11.933821 and range: 12.00 m.yf>*"  Bʎj(@ZGW?Yɢ]) >i)(iȻiyf>3:g.I Թ5@ @@/@DDAT read: Rx Time:00:45:23.3837  TRx dataTimestamp_ set to:1761698724.054991PDAT read: Bearing 180.1, -10.8 (Local) ~Local bearing/azimuth received: Bearing 180.1, -10.8 (Local) -DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.5 UDAT read: 00:45:23.3837 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 505, 0.35, 0.188,-1.240, 0.720, 0.336, PHS=-0.046,-1.531, 0.340, RAW= 161.3, 14.3, CAL= 161.9, 16.7, ROT= 348.1, -16.7 eYgot valid direction response: 00:45:23.3837 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 505, 0.35, 0.188,-1.240, 0.720, 0.336, PHS=-0.046,-1.531, 0.340, RAW= 161.3, 14.3, CAL= 161.9, 16.7, ROT= 348.1, -16.7 eT#Rx 78: Read range and direction messages.u^direction in FSK: [0.937238,-0.197507,0.287361]uFpublishing direction and range infoy  Yq~?=0{Gɿgd?Y f>A     ) 7I j ,4@ r> 4@ ;>) mj@I ;   >M?cr?I.? a8?) >!I Ti ;   checking for new query: numPingsReceived=78, elapsed TxPingTime=39.611965 ^A 8<A ZAzA  A)I1IAOU>C:,RX@A2|=24L>23gٱ2go$ :AHRS rotation from veh to nav: [[0.965749,-0.241624,-0.094589],[0.253233,0.957149,0.140495],[0.056589,-0.159636,0.985553]]2H j?`ο64???/?nĿॉ?i2|=I2mXg;2ǐCYVăByV"IbDbVDbyj%nU=ٔnw:Q-n>9lYp=rjGypr79Er>tQ 5z4vhP?Q 9~4v5)v2BY|y~5=Q I~1@vIDIv;iv;v4yDBɮ@ 9=X@AJ=Y=AR=Y=Aj===.&@74 @r=Yq~?=0{Gɿgd?Z=Tb=;= o%@Ѱy?`g0h@z= &?]+?~o?2=P?:=F/A"=Or뚊?*=CB=xB=<隊?=“=B=/A=a=]checking for new query: numPingsReceived=78, elapsed TxPingTime=39.827000gOe addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.500713 s, deltaX: -0.100000 m, approachRate: -0.199716 m/s, rangeRepo size: 4 gOu Added new target pos. range: 11.834372 m, bearing: 5.471552 deg, lat: 36.779282 deg, lon: -121.859545 deg, deltaT: 0.500713 s, deltaX: -0.099449 m, approachRate: -0.198615 m/s, posRepo size: 4 jqgO}DNOT Ignoring new targets: 11.83 m.byRyZygO ProNav: ac range: 11.834372 m, nav range: 10.995702 m, bearing: 6.473221 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.909270 deg, new cmd heading: 12.918037 deg. BgOHeadingCmd: 0.225462 target range: 11.834372 and range: 11.90 m.f>*" ʎj'@E EE%E"E:*ER:VE 4ZEa@a@a@a@Z j?颉ɢ'导) >i)U'顑iO̻if>3: sI]2@Y @Y@]0@YA- DDAT read: Rx Time:00:45:23.8834 - TRx dataTimestamp_ set to:1761698724.5612885 PDAT read: Bearing 179.5, -10.6 (Local) = ~Local bearing/azimuth received: Bearing 179.5, -10.6 (Local) M DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.5  DAT read: 00:45:23.8834 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 502, 0.30,-0.182,-1.607, 0.344,-0.051, PHS=-0.029,-1.512, 0.351, RAW= 161.1, 13.9, CAL= 161.7, 16.1, ROT= 348.3, -16.1  Ygot valid direction response: 00:45:23.8834 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 502, 0.30,-0.182,-1.607, 0.344,-0.051, PHS=-0.029,-1.512, 0.351, RAW= 161.1, 13.9, CAL= 161.7, 16.1, ROT= 348.3, -16.1  T#Rx 79: Read range and direction messages.^A < ^direction in FSK: [0.940817,-0.194834,0.277315] Fpublishing direction and range infoy) - +?puSȿ/?Y- f6A) ) ) ) ) )- 6I- hi- 7- F>- P3@y - Ulx>- 4@ - ޏ>)- @I- ޏ) ) - Mtef?c3y]o?ԄGI%? - g7?)- wI- Qi- ޏ) ) A .AI I O > checking for new query: numPingsReceived=79, elapsed TxPingTime=40.161560"J:,*X@Abg=b>bfٱb_$ jAHRS rotation from veh to nav: [[0.965949,-0.240975,-0.094198],[0.252532,0.957322,0.140578],[0.056302,-0.159580,0.985578]]bH ?@Hοd})?a?w?Ӭ? mĿ@ۉ?ibg=Ibg;`YrփByr("IBEɿ>BABABABE =BABABE:k;BE+*Ei-Mb@Mb@Mb@)))) )Y9-S?v/9 ?Y ?=jGyF̺E>Q 5%4h?Q 9%44)CBY%k?Q E-:y-=Q IM1@RDI;iQ;E4yYɮ]@aae%#X@AJed5ARed5Aje==eoU%@i5􄿊& @re+?puSȿ/?ZeQbeޏe|·%@)"U?4@zeމZ?O}2 ?C?2e?:e(A"e ?*eBeBaeC=“exBe-+Ae_=gO addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.506297 s, deltaX: -0.500000 m, approachRate: -0.987563 m/s, rangeRepo size: 4 gO% Added new target pos. range: 11.337157 m, bearing: 5.533025 deg, lat: 36.779282 deg, lon: -121.859546 deg, deltaT: 0.506297 s, deltaX: -0.497214 m, approachRate: -0.982061 m/s, posRepo size: 4 j!gOEDNOT Ignoring new targets: 11.34 m.bARIZIgO] ProNav: ac range: 11.337157 m, nav range: 10.698674 m, bearing: 6.151254 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.918037 deg, new cmd heading: 12.929297 deg. BYgOeHeadingCmd: 0.225659 target range: 11.337157 and range: 11.40 m.eg>mchecking for new query: numPingsReceived=79, elapsed TxPingTime=40.330940a*" Bʎj &@Z,?ԉE EE(E"E>:*EF:VEc44ZEBEi)&顡iлig>:Iu0@q @q@u00@qԩ = DDAT read: Rx Time:00:45:24.3833 = TRx dataTimestamp_ set to:1761698725.064625M PDAT read: Bearing 180.3, -10.6 (Local) M ~Local bearing/azimuth received: Bearing 180.3, -10.6 (Local) ] DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed 0.5  DAT read: 00:45:24.3833 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 501, 0.24, 1.843, 0.417, 2.363, 1.988, PHS=-0.042,-1.525, 0.332, RAW= 161.0, 14.4, CAL= 161.7, 16.8, ROT= 348.3, -16.8  Ygot valid direction response: 00:45:24.3833 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 501, 0.24, 1.843, 0.417, 2.363, 1.988, PHS=-0.042,-1.525, 0.332, RAW= 161.0, 14.4, CAL= 161.7, 16.8, ROT= 348.3, -16.8  T#Rx 80: Read range and direction messages. ^direction in FSK: [0.937429,-0.194133,0.289032] Fpublishing direction and range infoy9 = cL#k?9Vȿ\.?Y= 4A9 9 9 9 9 )= 7I= 1,i= 33ÿ= >= 3@= >9 = Q >)9 I= Q 9 9 =   f?h|j1S?? = J7?)= ?I9 i= Q 9 9  checking for new query: numPingsReceived=80, elapsed TxPingTime=40.604099^A m<A!I)IAOM?R:,JX@AzPExceeded connect timeout, disconnecting.YUۃByU."I YYbDmVDmyx<%0=ٔQ->9Y=jGyE>Q 54?Q 94c4)SBYyQ I1@[DI:i::4yGBɮ@;Equ"DX@AJu3ARu3Aju=u\ 0%@_s{e @rucL#k?9Vȿ\.?ZqbuQ u%/V$@"hYjt?SF@zu߽?{m?ʺ߿?2u?:uT&A"u욊?*uVBu$BuOr뚊?uV“u$Bu 'Au=gO addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.503337 s, deltaX: -0.099999 m, approachRate: -0.198673 m/s, rangeRepo size: 4 gO Added new target pos. range: 11.237709 m, bearing: 5.649809 deg, lat: 36.779282 deg, lon: -121.859547 deg, deltaT: 0.503337 s, deltaX: -0.099448 m, approachRate: -0.197578 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 11.24 m.bRZgO ProNav: ac range: 11.237709 m, nav range: 10.439720 m, bearing: 5.653396 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.929297 deg, new cmd heading: 12.939554 deg. BgOHeadingCmd: 0.225838 target range: 11.237709 and range: 11.30 m.Bg>*" ʎ!))j-&@Z-@F$?颽2Bɢ ) >i)y%ij%ջiBg>)g:6Ichecking for new query: numPingsReceived=80, elapsed TxPingTime=40.835365E EE%E"Em:*EP:VE 4ZEa@a@a%@a%@)?@ @@ 2@A ^A U\Y:,CgX@A DAT read: 00:45:24.8831 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 498, 0.23, 0.994,-0.434, 1.491, 1.121, PHS=-0.025,-1.510, 0.327, RAW= 160.4, 14.2, CAL= 161.1, 16.5, ROT= 348.9, -16.5 5Ygot valid direction response: 00:45:24.8831 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 498, 0.23, 0.994,-0.434, 1.491, 1.121, PHS=-0.025,-1.510, 0.327, RAW= 160.4, 14.2, CAL= 161.1, 16.5, ROT= 348.9, -16.5 5T#Rx 81: Read range and direction messages.=^direction in FSK: [0.940883,-0.184594,0.284015]=Fpublishing direction and range infoyǼf(?E*ƠǿHN-?Y,A )6I̼iGl>$+3@}>P3@ r>)@IrQ ?tL?'=Ab? 4?)}IaFirchecking for new query: numPingsReceived=81, elapsed TxPingTime=41.200314\=>Ocٱqi AHRS rotation from veh to nav: [[0.966481,-0.239659,-0.092073],[0.250648,0.958435,0.136299],[0.055580,-0.154808,0.986380]]Hj?!ο@ ??`BBf"IB BBBBvDB@k;BBCBCBB =B =Ca5YUڃByU-"IiMb@Mb@Mb@ 9A`"?T㥛 rh?Y?yC< )@Yp@  bD  VD 2ye8F%e=ٔe:Q-m>9m"?Ym"?=mjGymFul`Eu>Q 54?Q 943)hBY?Q E:yT=Q I1@fDI:iZ:N4yJBɮ@:*E&p:VE(3ZEBEa2EaJEu;a:Ev;agO% addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.502633 s, deltaX: -0.500000 m, approachRate: -0.994762 m/s, rangeRepo size: 4 gO5 Added new target pos. range: 10.740352 m, bearing: 6.008711 deg, lat: 36.779282 deg, lon: -121.859547 deg, deltaT: 0.502633 s, deltaX: -0.497357 m, approachRate: -0.989504 m/s, posRepo size: 4 j1gO=DNOT Ignoring new targets: 10.74 m.b9R9Z9AgOm ProNav: ac range: 10.740352 m, nav range: 10.060687 m, bearing: 5.763299 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.939554 deg, new cmd heading: 12.953946 deg. BqgOuHeadingCmd: 0.226089 target range: 10.740352 and range: 10.80 m.ug>y*y"y yyyBʎj%@Z@?1Bɢf) ݨ>i) #! ! i% ڻi- g>- :- GI) 7@  @ @ /@ q  DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed 0.5 DAT read: 00:45:25.3829 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 496, 0.29, 0.875,-0.558, 1.368, 1.004, PHS=-0.027,-1.517, 0.320, RAW= 160.2, 14.3, CAL= 160.9, 16.7, ROT= 349.1, -16.7 %Ygot valid direction response: 00:45:25.3829 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 496, 0.29, 0.875,-0.558, 1.368, 1.004, PHS=-0.027,-1.517, 0.320, RAW= 160.2, 14.3, CAL= 160.9, 16.7, ROT= 349.1, -16.7 %T#Rx 82: Read range and direction messages.-^direction in FSK: [0.940542,-0.181120,0.287361]5Fpublishing direction and range infoy  {?M͊.ǿgd?Y (A ) I /ݼi -¿ ף> 2@ r> 3@ ;>) g@I ; +??:A? O3?) PI tBi ; Mchecking for new query: numPingsReceived=82, elapsed TxPingTime=41.603477ԙ^A} <AyzA}YAAIIO?c:,qX@A nManaging dock network, ignoring radio surface power off6Q=6р>6bٱ6n >AHRS rotation from veh to nav: [[0.966699,-0.239144,-0.091122],[0.249864,0.958958,0.134045],[0.055326,-0.152349,0.986777]]6H2?Fο@S@? ȯ?@_(?`S?*ÿ`?i6Q=I63f;4YJByJ9"IbDRVDRk1yZ<=%Z>=ٔZ-:Q-^>9\Y\=^jGy^FbEb>dQ 5j4f_?Q 9n4f3)fwBYlyn/;f4yrNBɮv@v=EcbX@AJ'AR'Aj=4m#@EuBΏE@r{?M͊.ǿgd?ZtBb;id?X#@և=?U-V@zxF?q+?o*>?2q?:A"5}⚊?*%BzB_`䚊?“AH=gO addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.501247 s, deltaX: -0.300000 m, approachRate: -0.598508 m/s, rangeRepo size: 4 gO Added new target pos. range: 10.442008 m, bearing: 6.151522 deg, lat: 36.779282 deg, lon: -121.859547 deg, deltaT: 0.501247 s, deltaX: -0.298344 m, approachRate: -0.595203 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 10.44 m.bRZgO ProNav: ac range: 10.442008 m, nav range: 9.753468 m, bearing: 5.867764 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.953946 deg, new cmd heading: 12.962575 deg. BgOHeadingCmd: 0.226240 target range: 10.442008 and range: 10.50 m.%\g>!*)") )))11ʎ111j=%@Z=?ɢd[j) >i)y"i޻i\g>b:uI!DDAT read: Rx Time:00:45:25.8826 TRx dataTimestamp_ set to:1761698726.325634PDAT read: Bearing 177.8, -10.1 (Local) ~Local bearing/azimuth received: Bearing 177.8, -10.1 (Local) 5checking for new query: numPingsReceived=82, elapsed TxPingTime=41.8559722@ @@0@bEjE4rE\00E5 E5E5%E1"E5:*E5:VE5 4ZE1ae@ae@ae@ae@Qy ^A < DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.5  DAT read: 00:45:25.8826 LVL= 32752, 32753, 30818, 32755, AGC= 53, IDX= 510,-0.46,-2.989, 1.870,-2.461,-2.901, PHS= 0.014,-1.467, 0.396, RAW= 161.2, 12.4, CAL= 161.6, 14.1, ROT= 348.4, -14.1  Ygot valid direction response: 00:45:25.8826 LVL= 32752, 32753, 30818, 32755, AGC= 53, IDX= 510,-0.46,-2.989, 1.870,-2.461,-2.901, PHS= 0.014,-1.467, 0.396, RAW= 161.2, 12.4, CAL= 161.6, 14.1, ROT= 348.4, -14.1  T#Rx 83: Read range and direction messages. ^direction in FSK: [0.950063,-0.195020,0.243615] Fpublishing direction and range infoyq u ;f?PY+iȿ .?Yu !Aq q q u bx q )u 5Iu B`eu 4@u k]>u J4@ u d{>)u Q@Iu d{q q u [֞?O?ri? u + 8?)u ]Iu 4QOiu d{q q 5 checking for new query: numPingsReceived=83, elapsed TxPingTime=42.119495A I I O >i:,QX@A =>>Naٱ7 AHRS rotation from veh to nav: [[0.966843,-0.238947,-0.090107],[0.249383,0.959407,0.131704],[0.054979,-0.149808,0.987185]]H`?͕ο@?v??:&?,ÿ?i =Ie;YByQ"II4=)<AB¿>BCBm"IBBB =BBBj;B)EIieMb@Mb@Mb@aaaa a9el?rh|?Ye?yee91Y1=5jGy1=jE=>aQ 5m4eϗ?Q 9m4e3)eBYm?Q Em:ym`=Q Im1@eyDIe:ieo:e4yɮ[@IMYX@AJM ARM AjMh=M|-#@u=>?HWC@rM;f?PY+iȿ .?ZM4QObMd{MB"@0S?na} @zMqM.?t#??2MR?:MA"M*VE?*MUoBMpBII“MBMAM@=gO addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.504026 s, deltaX: -0.400000 m, approachRate: -0.793609 m/s, rangeRepo size: 4 gO Added new target pos. range: 10.044152 m, bearing: 4.963296 deg, lat: 36.779282 deg, lon: -121.859547 deg, deltaT: 0.504026 s, deltaX: -0.397856 m, approachRate: -0.789356 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 10.04 m.bR)Z)DDAT read: Rx Time:00:45:26.3826 TRx dataTimestamp_ set to:1761698726.828871PDAT read: Bearing 180.2, -10.1 (Local) ~Local bearing/azimuth received: Bearing 180.2, -10.1 (Local) checking for new query: numPingsReceived=83, elapsed TxPingTime=42.357700gOE ProNav: ac range: 10.044152 m, nav range: 9.414357 m, bearing: 5.965987 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.962575 deg, new cmd heading: 12.975294 deg. BIgOeHeadingCmd: 0.226462 target range: 10.044152 and range: 10.10 m.eg>i*i" E EE'E"E:*Exv:VE'4ZEBEwia) 顩iig> :eۡI E 1@A  @A @E 0@A ) E DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.4 u m>u C^A X< XG )EDAT read: 00:45:26.3826 LVL= 32752, 32753, 32322, 32755, AGC= 54, IDX= 509,-0.34,-1.933, 2.936,-1.428,-1.805, PHS=-0.026,-1.497, 0.333, RAW= 160.6, 14.1, CAL= 161.3, 16.3, ROT= 348.7, -16.3 ]>9YY]iAmYgot valid direction response: 00:45:26.3826 LVL= 32752, 32753, 32322, 32755, AGC= 54, IDX= 509,-0.34,-1.933, 2.936,-1.428,-1.805, PHS=-0.026,-1.497, 0.333, RAW= 160.6, 14.1, CAL= 161.3, 16.3, ROT= 348.7, -16.3 mT#Rx 84: Read range and direction messages.u^direction in FSK: [0.941199,-0.188070,0.280667]}Fpublishing direction and range infoy) - 'ǹM?ԓȿrwkq?Y) ) ) ) - B~ ) )- 6I- Լi- - ~>- Ud3@- d{>- ,4@ - >)- 6@I- ) ) - T g?i|:?RJP}? - 5?)- X{I- IYi- ) ) checking for new query: numPingsReceived=84, elapsed TxPingTime=42.674889AIIO?0r:,jX@ARWC =RO>Ro_ٱR zAHRS rotation from veh to nav: [[0.967007,-0.238501,-0.089525],[0.248838,0.959587,0.131426],[0.054562,-0.149367,0.987275]]RH?`4ο@붿?`??@?rÿ—?iRWC =IR_e;RɐCYBy\"IbD=VD=yM$=%M>=ٔm#:Q-m>9qYq=ujGyuF}E}>Q 54嗊?Q 942)BYyG^=Q I1@DI;i_;%4yQBɮ@X@AJRj2=͸b7"@}x0\9?hn@r'ǹM?ԓȿrwkq?ZIbvR"@ҫ ?& . @z׾?\43?ɂ_?2i?:oA"澱?*YB*B욊?“zBA &=gOu addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.504115 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ԉgO Added new target pos. range: 10.044152 m, bearing: 5.566352 deg, lat: 36.779282 deg, lon: -121.859547 deg, deltaT: 0.504115 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 10.04 m.bRZgO ProNav: ac range: 10.044152 m, nav range: 9.240928 m, bearing: 5.991118 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.975294 deg, new cmd heading: 12.985347 deg. BgOHeadingCmd: 0.226637 target range: 10.044152 and range: 10.10 m.h>*" ʎjZ_Z?e/Bɢm!)my m>ii)m/ziqiuRiuh>}O:}tIy DDAT read: Rx Time:00:45:26.8823 TRx dataTimestamp_ set to:1761698727.3347135PDAT read: Bearing 179.1, -10.1 (Local) =~Local bearing/azimuth received: Bearing 179.1, -10.1 (Local) eDAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.5 Z#Rx 85: Read range message, but no direction.y Y A checking for new query: numPingsReceived=85, elapsed TxPingTime=42.874901Թ2@ @@M0@D==D9EM EMEM$EI"EMO:*EMx:VEM4ZEIaU@aU@aU@aU@^AU R5<  DAT read: 00:45:26.8823 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 506,-0.19,-3.107, 1.756,-2.588,-2.998, PHS=-0.007,-1.484, 0.366, RAW= 161.0, 13.2, CAL= 161.5, 15.2, ROT= 348.5, -15.2  Ygot valid direction response: 00:45:26.8823 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 506,-0.19,-3.107, 1.756,-2.588,-2.998, PHS=-0.007,-1.484, 0.366, RAW= 161.0, 13.2, CAL= 161.5, 15.2, ROT= 348.5, -15.2  Z#Rx 86: Read direction message, but no range. ^direction in FSK: [0.945643,-0.192393,0.262189]y  )B?wKYȿ;f$?  ) 5I B`i 󽿉 Zd> 3@ k> e4@ ԇ>) @I ԇ Wp?do?8:F?? F$7?) lI Mi ԇ checking for new query: numPingsReceived=86, elapsed TxPingTime=43.119583AI Iq I O >y:,aX@A) = X> [ٱ . EAHRS rotation from veh to nav: [[0.967209,-0.237992,-0.088693],[0.248245,0.959648,0.132099],[0.053676,-0.149785,0.987261]] H`?vο?o??`{?#,ÿ?i =I %e; YUByUm"IBʿ>BCB"IBBBBBwDBi;B)EiMb@Mb@Mb@ 9 +?|?5^:v?Y?yҽ< AA)9@Y@bDVD2yE=%=ٔ:Q->9Y=jGyE>Q 5 4?Q 9 41)BY7?Q E:y^=Q I1@DIcM;iL;4y%TBɮ-b@->EQy}kX@AJ}AR}Aj}g=} f"@4'cm@r})B?wKYȿ;f$?Z}Mb}ԇ}k0!@*Ã?"0V8 @z}CCH?ؒ?N?2}&O?:}'A"}Rֵ?*}B}B}*VE?}Y“}*B}A} =gOU addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.258067 s, deltaX: -0.500000 m, approachRate: -1.937481 m/s, rangeRepo size: 4 gOe Added new target pos. range: 9.547073 m, bearing: 5.167711 deg, lat: 36.779283 deg, lon: -121.859547 deg, deltaT: 0.258067 s, deltaX: -0.497079 m, approachRate: -1.926162 m/s, posRepo size: 4 jagOeBNOT Ignoring new targets: 9.55 m.bagO6Short final. Range: 9.60 m.gOVTransitioning guidance mode to: SHORT_FINAL:@@RZgO% ProNav: ac range: 9.547073 m, nav range: 8.938220 m, bearing: 5.667095 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.985347 deg, new cmd heading: 12.997469 deg. UDDAT read: Rx Time:00:45:27.3822 ]TRx dataTimestamp_ set to:1761698727.838013PDAT read: Bearing 180.7, -9.2 (Local) ~Local bearing/azimuth received: Bearing 180.7, -9.2 (Local) DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed 0.4 Z#Rx 87: Read range message, but no direction.yQYUAQBgO|HeadingCmd: 0.226849 target range: 9.547073 and range: 9.60 m.Mchecking for new query: numPingsReceived=87, elapsed TxPingTime=43.390751Kh>YE EE'E"E:*ErN:VE'4ZEBE\ i!)%C!!i%?i-Kh>-_G:-!I1I= [A)= [Aԩ 4@  @ @ /@  DAT read: 00:45:27.3822 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 505,-0.11,-1.696,-3.113,-1.229,-1.579, PHS=-0.014,-1.489, 0.307, RAW= 159.6, 14.3, CAL= 160.3, 16.6, ROT= 349.7, -16.6 Ygot valid direction response: 00:45:27.3822 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 505,-0.11,-1.696,-3.113,-1.229,-1.579, PHS=-0.014,-1.489, 0.307, RAW= 159.6, 14.3, CAL= 160.3, 16.6, ROT= 349.7, -16.6 Z#Rx 88: Read direction message, but no range. ^direction in FSK: [0.942879,-0.171350,0.285688]y   ,?qEſWԷH? ) I B`ei /> aF2@ r> 3@ V>) 0O@I V \?9%+ ?,w8m? $1?) }I T8i V-checking for new query: numPingsReceived=88, elapsed TxPingTime=43.6169139^Au<A%.AaIIO?7:,~ X@A2A=2ͫ>2nYٱ2 :AHRS rotation from veh to nav: [[0.967219,-0.238197,-0.088030],[0.248322,0.959695,0.131612],[0.053132,-0.149157,0.987385]]2Hu?=}ο?ҵ??%4?`ÿ?i2A=I2e;0YF"ByF"I HHJ=Ja=bDNVDN02yV=%Z,=ٔZ:Q-Z>9^ ?Y^ ?=^jGy^F^C9E^>dQ 5f4fh?Q 9j4fY1)fBYhyjs=Q Ij1@fDIf:ify:f4ynXBɮra@r?E!%X@AJ%)AR%)Aj%=%l D!@*y WC@r% ,?qEſWԷH?Z%T8b%V%MP&!@I8?廢 @z% ֕{3?;w?5e5?2%?:%9 A"%?*%bB%B%Rֵ?!“%B%W A%z8=gO5 addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.503300 s, deltaX: -0.100000 m, approachRate: -0.198689 m/s, rangeRepo size: 4 gOE Added new target pos. range: 9.447624 m, bearing: 6.597740 deg, lat: 36.779283 deg, lon: -121.859547 deg, deltaT: 0.503300 s, deltaX: -0.099449 m, approachRate: -0.197594 m/s, posRepo size: 4 jAbIgOMzIgnoring new targets. Set target to previous: 9.45 m. 9.55 m.RQZQgO] ProNav: ac range: 9.547073 m, nav range: 8.656436 m, bearing: 5.691791 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.997469 deg, new cmd heading: 13.008199 deg. BagO|HeadingCmd: 0.227036 target range: 9.547073 and range: 9.50 m.|h>*" ʎjZ?e-Bɢe`D)a e(>ii)moiiimiu|h>u$:qIu|h>IyDDAT read: Rx Time:00:45:27.8819  TRx dataTimestamp_ set to:1761698728.342086-PDAT read: Bearing 180.1, -10.0 (Local) 5~Local bearing/azimuth received: Bearing 180.1, -10.0 (Local) ]1@a @i@m0@qDAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed 0.4 Z#Rx 89: Read range message, but no direction.yYAchecking for new query: numPingsReceived=89, elapsed TxPingTime=43.898613D1zD5@AEE EEEE&EA"EE:*EE:VEE4ZEAaU@aU@aU@aU@ ^A1 A ؟AI I O >i߉ I߉  DAT read: 00:45:27.8819 LVL= 32752, 32753, 31170, 32755, AGC= 52, IDX= 502, 0.03,-1.975, 2.879,-1.468,-1.854, PHS=-0.019,-1.505, 0.342, RAW= 160.6, 13.8, CAL= 161.2, 16.0, ROT= 348.8, -16.0  Ygot valid direction response: 00:45:27.8819 LVL= 32752, 32753, 31170, 32755, AGC= 52, IDX= 502, 0.03,-1.975, 2.879,-1.468,-1.854, PHS=-0.019,-1.505, 0.342, RAW= 160.6, 13.8, CAL= 161.2, 16.0, ROT= 348.8, -16.0  Z#Rx 90: Read direction message, but no range. ^direction in FSK: [0.942955,-0.186710,0.275637]y  ,?\F ǿ ? y ) 4I 㥛i ף > Ud3@ Ϣv> 4@ 5>) @I 5 z?i:?IP? ۃ5?) rwI 4+Hi 55 checking for new query: numPingsReceived=90, elapsed TxPingTime=44.132603fW:,A.'X@Am%=m>m*"Wٱmذ AHRS rotation from veh to nav: [[0.967243,-0.238310,-0.087466],[0.248366,0.959642,0.131917],[0.052499,-0.149320,0.987394]]mH?@ο)dv?b?? ?ÿ?im%=Impe;mǐCY2By"IIB]Կ>B]CB]"IB]7BB] =BYB]xDB]h;B](Ei5Mb@Mb@Mb@1111 195n?MbX9Q?Y5?y5ʡ5<5A5+@ 1)5f@1Y5@ up9"?Y"?= jGy F _8E >Q 54 3?Q 94L0)BY%?Q E%:y%>Q I%1@DI;iF;f4yE[BɮE@M@EIMX@AJM5ARM5AjM=M*OO @_'QѰ@rM,?\F ǿ ?ZM4+HbM5M'@- @YX,?-yz @zM8?Xd? ^?2MeQ?:MA"M1Z?*M,~BMtBIM,~“MBM>AM=gO addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.504073 s, deltaX: -0.500000 m, approachRate: -0.991920 m/s, rangeRepo size: 4 gO Added new target pos. range: 8.950652 m, bearing: 5.597354 deg, lat: 36.779283 deg, lon: -121.859547 deg, deltaT: 1.007373 s, deltaX: -0.596421 m, approachRate: -0.592056 m/s, posRepo size: 4 jbgO zIgnoring new targets. Set target to previous: 8.95 m. 9.55 m.R Z gO= ProNav: ac range: 9.547073 m, nav range: 8.337895 m, bearing: 5.634018 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 13.008199 deg, new cmd heading: 13.020823 deg. BAԁgO|HeadingCmd: 0.227256 target range: 9.547073 and range: 9.00 m.۵h>*" %DDAT read: Rx Time:00:45:28.3818 =TRx dataTimestamp_ set to:1761698728.846927]PDAT read: Bearing 180.6, -9.6 (Local) e~Local bearing/azimuth received: Bearing 180.6, -9.6 (Local) 2BʎDAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed 0.5 j"@Z?EU EUEU(EQ"EU:*EU H:VEUc44ZEQBEU Mp:ݗI5 Ygot valid direction response: 00:45:28.3818 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 501, 0.14,-0.417,-1.857, 0.073,-0.296, PHS=-0.019,-1.516, 0.324, RAW= 160.1, 14.2, CAL= 160.8, 16.4, ROT= 349.2, -16.4 5 T#Rx 91: Read range and direction messages.= ^direction in FSK: [0.942322,-0.179757,0.282341]= Fpublishing direction and range infoy)-ޚE'?`JǿIx?Y-fA)))- )ԩ ))I)i-J ¿-T>-[2@-}>-3@ -C>)-@I-C))-קӻ?AF]?Y_YBQٱB6j JAHRS rotation from veh to nav: [[0.967433,-0.238018,-0.086144],[0.247935,0.959603,0.133003],[0.051007,-0.150029,0.987365]]BH@6?@^wο Q?@?<??)4ÿ`~?iB<=IBBe;BɐCYVDByV"IbDzVDzy%=%-=ٔ56.;Q-=>9IYI=UjGyYeYEm>DDAT read: Rx Time:00:45:28.8815 TRx dataTimestamp_ set to:1761698729.350643PDAT read: Bearing 181.5, -11.3 (Local) ~Local bearing/azimuth received: Bearing 181.5, -11.3 (Local) QDAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed 0.4 Q 54N?Q 944/)BYyW>Q I1@DI9=iI:C4yRBɮ@6EE EE'E"E[:*E1]:VE'4ZEa@a@a@a@ 46X@AJ AR Aj=,yܘm @iu/@rޚE'?`JǿIx?ZAbC[ow @ܫ?x @zzZ?8]C?jtp%ʤ?2_?:A"\?*p:BB澱?Y“BA=DAT read: 00:45:28.8815 LVL= 32752, 32753, 30770, 32755, AGC= 53, IDX= 498, 0.27,-1.187,-2.600,-0.646,-1.019, PHS=-0.066,-1.536, 0.330, RAW= 161.6, 14.8, CAL= 162.3, 17.4, ROT= 347.7, -17.4 Ygot valid direction response: 00:45:28.8815 LVL= 32752, 32753, 30770, 32755, AGC= 53, IDX= 498, 0.27,-1.187,-2.600,-0.646,-1.019, PHS=-0.066,-1.536, 0.330, RAW= 161.6, 14.8, CAL= 162.3, 17.4, ROT= 347.7, -17.4 T#Rx 92: Read range and direction messages. ^direction in FSK: [0.932336,-0.203282,0.299041] Fpublishing direction and range infoy51?$ʿ-{#?YfA2x )5I+iĿ>J4@ A>uJ5@ |>)<1@I|{8!?s'(|?tW?gO% addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.504841 s, deltaX: -0.100000 m, approachRate: -0.198083 m/s, rangeRepo size: 4 gO5 Added new target pos. range: 8.851200 m, bearing: 6.056866 deg, lat: 36.779284 deg, lon: -121.859547 deg, deltaT: 1.512214 s, deltaX: -0.695873 m, approachRate: -0.460169 m/s, posRepo size: 4 j1b1gO5zIgnoring new targets. Set target to previous: 8.85 m. 9.55 m.R9Z9gOm ProNav: ac range: 9.547073 m, nav range: 8.006255 m, bearing: 5.569920 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 13.020822 deg, new cmd heading: 13.034768 deg. BigOu|HeadingCmd: 0.227500 target range: 9.547073 and range: 8.90 m.uh>q*q"q qyy 9?)m2I[i|checking for new query: numPingsReceived=92, elapsed TxPingTime=44.962902ʎj @Z@ɺ?y*Bɢ`)  ?i)ii h> B: IԡM checking for new query: numPingsReceived=92, elapsed TxPingTime=45.119061] ( @@  @ @ 4@ B) A- <B5 п>B1 B5 "IB5 UBB5  =B1 B1 B5 h;B5 (E^ADDAT read: Rx Time:00:45:29.3814 -TRx dataTimestamp_ set to:1761698729.854365}PDAT read: Bearing 181.3, -8.9 (Local) ~Local bearing/azimuth received: Bearing 181.3, -8.9 (Local) DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.5 )I9EU EUEU%EQ"EUm:*EUrN:VEU 4ZEQBEUT5Κ1@5w>52@ 5>)5@I5115_VM?y ?El&? 5[.?)5靂I5%/i5115checking for new query: numPingsReceived=93, elapsed TxPingTime=45.458778Y=[By="IiMb@Mb@Mb@ 9Zd;O?&1I +?Yj?yP9<AA@ V@)9@YG@@AbDEVDEyU=%U<ٔ]Q-]>9YYY=jGyFE>Q 54p?Q 94U-)BY?Q E:y1>Q I1@DI':i :4yYBɮ@8E15vX@AJ5AR5Aj5=5Ғ`{!@$5FV2@r5?+?6-OĿTcݚ?Z5%/b55n @w?()K@z5(]踳?Ψ? ?25pu?:5@"5:<?*5B5KB5:<?5p:“5B5@59=gO addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 1.007438 s, deltaX: -0.599999 m, approachRate: -0.595570 m/s, rangeRepo size: 4 gO Added new target pos. range: 8.254424 m, bearing: 7.150395 deg, lat: 36.779283 deg, lon: -121.859546 deg, deltaT: 2.519652 s, deltaX: -1.292649 m, approachRate: -0.513027 m/s, posRepo size: 4 jbgOzIgnoring new targets. Set target to previous: 8.25 m. 9.55 m.RZgO ProNav: ac range: 9.547073 m, nav range: 7.595507 m, bearing: 5.332646 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 13.034768 deg, new cmd heading: 13.049424 deg. BQgO}|HeadingCmd: 0.227755 target range: 9.547073 and range: 8.30 m.}8i>y*y"y yVBʎj @Z`?)Bɢ') )?i)iEai8i>:<I8i>I!!=checking for new query: numPingsReceived=93, elapsed TxPingTime=45.622925A U 7@Q  @Q @U 0@Q y  DDAT read: Rx Time:00:45:29.8811 TRx dataTimestamp_ set to:1761698730.358109=PDAT read: Bearing 180.6, -9.4 (Local) E~Local bearing/azimuth received: Bearing 180.6, -9.4 (Local) DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.5 D9zD=?AEE EEEE'EA"EE:*EE1]:VEE'4ZEAaM@aM@aM@aM@eDAT read: 00:45:29.8811 LVL= 32752, 32753, 30898, 32755, AGC= 51, IDX= 510,-0.20, 1.386,-0.059, 1.862, 1.500, PHS=-0.012,-1.515, 0.318, RAW= 159.7, 14.2, CAL= 160.4, 16.4, ROT= 349.6, -16.4 mYgot valid direction response: 00:45:29.8811 LVL= 32752, 32753, 30898, 32755, AGC= 51, IDX= 510,-0.20, 1.386,-0.059, 1.862, 1.500, PHS=-0.012,-1.515, 0.318, RAW= 159.7, 14.2, CAL= 160.4, 16.4, ROT= 349.6, -16.4 mT#Rx 94: Read range and direction messages.ԙ^A'<^direction in FSK: [0.943554,-0.173174,0.282341]Fpublishing direction and range infoy1?(*ƿIx?Y@x )IiТ>b2@}>$+3@ C>)@@IC)?}?Go#X? C{1?)YX}I9iCII)O=?:,wX@A2=2~$>2-Jٱ2h^checking for new query: numPingsReceived=94, elapsed TxPingTime=45.941750 bAHRS rotation from veh to nav: [[0.967664,-0.237590,-0.084724],[0.247372,0.959539,0.134503],[0.049339,-0.151112,0.987284]]2H?[iο z@?? h7?`C?Wÿ՗?i2=I2e;2ʐCY kBy "IbDMVDMJy4=%,=ٔf;Q->9Y=jGyFE>Q 54?Q 94 ,)BYy?1>Q I1@DI:i::4yɮ@Y]BX@AJ]:@R]:@j]H=]x~F@VU~Ōx@r]1?(*ƿIx?Z]9b]C]lk@Ti3?@z]^6?BV?UZ~?2]P?:]@"]l蚊?*]B]߉BY]b“]tBԉ]@]F=gO addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.503744 s, deltaX: -0.500000 m, approachRate: -0.992568 m/s, rangeRepo size: 4 gO Added new target pos. range: 7.757169 m, bearing: 6.452975 deg, lat: 36.779283 deg, lon: -121.859546 deg, deltaT: 3.023396 s, deltaX: -1.789904 m, approachRate: -0.592018 m/s, posRepo size: 4 jbgOzIgnoring new targets. Set target to previous: 7.76 m. 9.55 m.RZgOm ProNav: ac range: 9.547073 m, nav range: 7.310961 m, bearing: 5.153798 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 13.049424 deg, new cmd heading: 13.059961 deg. BigOu|HeadingCmd: 0.227939 target range: 9.547073 and range: 7.80 m.uhi>q*y"y yyyʎj@33@Z@`s?(Bɢ;) 9!?i)Pii%hi>%w:%xI)echecking for new query: numPingsReceived=94, elapsed TxPingTime=46.127537Թ>@ @@4@B- ̿>B- CB- "IB- tBB-  =B) B- wDB- Jh;B- (EBCBCBȔCB =B =CO6^A t<I I O > ܵ:,OX@ArDDAT read: Rx Time:00:45:30.3810 zTRx dataTimestamp_ set to:1761698730.862510PDAT read: Bearing 178.7, -10.9 (Local) ~Local bearing/azimuth received: Bearing 178.7, -10.9 (Local) mDAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed 0.5 DAT read: 00:45:30.3810 LVL= 32752, 32753, 27058, 32755, AGC= 50, IDX= 509,-0.01, 2.058, 0.618, 2.607, 2.168, PHS=-0.008,-1.505, 0.395, RAW= 161.6, 12.8, CAL= 162.0, 14.7, ROT= 348.0, -14.7 E EE%E"Em:*E:VE 4ZEBEa%2Ea%JE F0?ٱ }AHRS rotation from veh to nav: [[0.967969,-0.237118,-0.082534],[0.246698,0.959340,0.137139],[0.046660,-0.153107,0.987107]]H ?@Yο ˓??ƍ? ?ÿ@b?i=I-f;Ivoivףvq=>vJ4@vd>v4@ vG\>)v \@IvG\ttvuS?fgB ?Ibr? v9?)v[eIvTwVivG\ttchecking for new query: numPingsReceived=95, elapsed TxPingTime=46.444344Y{ByE"IiMb@Mb@Mb@ 9V-?QMb?Y|?y<jA+@ ?@)O@Y@ 15bD5VD5:ye-x=%m=ٔm;Q-m>9qYq=ujGyuFuEE>Q 54?Q 94C*)BY?Q E:yR>Q I1@ˤDI:i:4y]Bɮ@tv]3X@AJv @Rv @jv18=va"Q@("yף>lK?rv9F?*`@ڽɿN=?ZvTwVbvG\v/@,=_r?@zvYǗJ)?KE?ن?2v?:v@"v(2?*vPBvwBtvp:“vKBvD@v=gO addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.504401 s, deltaX: -0.100000 m, approachRate: -0.198256 m/s, rangeRepo size: 4 gO Added new target pos. range: 7.657642 m, bearing: 4.566303 deg, lat: 36.779283 deg, lon: -121.859546 deg, deltaT: 3.527797 s, deltaX: -1.889431 m, approachRate: -0.535584 m/s, posRepo size: 4 jbgOzIgnoring new targets. Set target to previous: 7.66 m. 9.55 m.RZgO ProNav: ac range: 9.547073 m, nav range: 6.982520 m, bearing: 4.840035 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 13.059961 deg, new cmd heading: 13.072113 deg. BgO|HeadingCmd: 0.228151 target range: 9.547073 and range: 7.70 m.i>*" lBʎj@Z1?aɢe;)i m)?ii)N顉iT ii>Y:6Iuchecking for new query: numPingsReceived=95, elapsed TxPingTime=46.631695E ?@A  @A @E 4@I a i ^A <I I O>(:,MX@A2V<2B>2L9ٱ2 :AHRS rotation from veh to nav: [[0.968094,-0.236932,-0.081596],[0.246450,0.959150,0.138902],[0.045352,-0.154580,0.986939]]2H?Sο@r㴿 ?Z??`_8?Eÿ?i2VQ Iu1@5ѤDI5;i5<54-DDAT read: Rx Time:00:45:30.8807 =TRx dataTimestamp_ set to:1761698731.366157]PDAT read: Bearing 178.2, -11.4 (Local) e~Local bearing/azimuth received: Bearing 178.2, -11.4 (Local) DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed 0.5 DAT read: 00:45:30.8807 LVL= 32752, 32753, 27314, 32755, AGC= 50, IDX= 506, 0.13, 1.060,-0.383, 1.626, 1.169, PHS=-0.007,-1.507, 0.413, RAW= 162.0, 12.5, CAL= 162.4, 14.4, ROT= 347.6, -14.4 Ygot valid direction response: 00:45:30.8807 LVL= 32752, 32753, 27314, 32755, AGC= 50, IDX= 506, 0.13, 1.060,-0.383, 1.626, 1.169, PHS=-0.007,-1.507, 0.413, RAW= 162.0, 12.5, CAL= 162.4, 14.4, ROT= 347.6, -14.4 T#Rx 96: Read range and direction messages.^direction in FSK: [0.945988,-0.207989,0.248690]Fpublishing direction and range infoy15>AE?`cʿl?Y5f@1115j 1)1I5B`i5`5t>54@5f_>5 g5@ 5>)5"@I5115fG뮌5?,Z?e? 5;?)5wW`I5t]i511checking for new query: numPingsReceived=96, elapsed TxPingTime=46.909573y`BɮC@9E15oX@AJ5!@R5!@j5Ž=5 7@ g .E}?r5>AE?`cʿl?Z5t]b55ór@ ??o[@z5⧽;?g9t?h?25>:5{@"5YN?*5'\B5B11bE€'4jE{4rE x/Ee EeEe'Ea"Ee[:*EeP:VEe'4ZEaam@am@am@au@“5߉B5@5P=gO addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.503647 s, deltaX: -0.500000 m, approachRate: -0.992759 m/s, rangeRepo size: 4 gO Added new target pos. range: 7.160393 m, bearing: 4.128140 deg, lat: 36.779283 deg, lon: -121.859546 deg, deltaT: 4.031444 s, deltaX: -2.386681 m, approachRate: -0.592016 m/s, posRepo size: 4 jbgOzIgnoring new targets. Set target to previous: 7.16 m. 9.55 m.RZgO  ProNav: ac range: 9.547073 m, nav range: 6.786902 m, bearing: 4.638985 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 13.072114 deg, new cmd heading: 13.080424 deg. B gO |HeadingCmd: 0.228296 target range: 9.547073 and range: 7.20 m.i>*" ʎj5@Z5@:!IE<@A @A@M4@I checking for new query: numPingsReceived=96, elapsed TxPingTime=47.134991Q ^Au }U<Aa Ae @ABm ÿ>Bm CBm #IBm BBm  =Bi Bm vDBm h;Bm (EA I I O >w:,HX@A@Y=By=#IiMb@Mb@Mb@ 91Zd?y&1y&1?Y"?y`弙`e<A@ )|@YbDVD2yi=%&=ٔQ->9Y=jGyFE>1Q 5M45̘?Q 9U45')50BYW?Q E:yT>Q I]1@5ڤDI5=i5=5 4DDAT read: Rx Time:00:45:31.3806 ԱTRx dataTimestamp_ set to:1761698731.870646PDAT read: Bearing 178.9, -11.5 (Local) ~Local bearing/azimuth received: Bearing 178.9, -11.5 (Local) DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed 0.4 y1ɮ5]@1-DAT read: 00:45:31.3806 LVL= 32752, 32753, 30450, 32755, AGC= 49, IDX= 505, 0.28, 2.422, 0.982, 2.980, 2.544, PHS=-0.020,-1.518, 0.391, RAW= 161.8, 13.1, CAL= 162.3, 15.1, ROT= 347.7, -15.1 uYgot valid direction response: 00:45:31.3806 LVL= 32752, 32753, 30450, 32755, AGC= 49, IDX= 505, 0.28, 2.422, 0.982, 2.980, 2.544, PHS=-0.020,-1.518, 0.391, RAW= 161.8, 13.1, CAL= 162.3, 15.1, ROT= 347.7, -15.1 }T#Rx 97: Read range and direction messages.^direction in FSK: [0.943311,-0.205675,0.260505]Fpublishing direction and range infoyv$/?S SʿQfJ0?Y3@vX@AJ@R@jR!=hR< a@>SS{4@ j>uJ5@ V>)<1@IVZ%m;??/Bq ? :?)jnjI[iV]checking for new query: numPingsReceived=97, elapsed TxPingTime=47.448147gOe Added new target pos. range: 7.060797 m, bearing: 4.339992 deg, lat: 36.779283 deg, lon: -121.859547 deg, deltaT: 4.535933 s, deltaX: -2.486276 m, approachRate: -0.548129 m/s, posRepo size: 4 jybygOzIgnoring new targets. Set target to previous: 7.06 m. 9.55 m.RZgO ProNav: ac range: 9.547073 m, nav range: 6.493487 m, bearing: 4.310488 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 13.080424 deg, new cmd heading: 13.091938 deg. BgO|HeadingCmd: 0.228497 target range: 9.547073 and range: 7.10 m.:i>*"  {BʎIjM`ff@ZM@d%c:%eI)=@ @@4@ cG  9 Y oA- checking for new query: numPingsReceived=97, elapsed TxPingTime=47.638908^A <9 A .AII!O5>:,X@AYBy#I%AA!1bD-VD-yE =%E+=ٔAQ-E>9M ?YM ?=MjGyIQEU>YQ 5e4]䘊?Q 9e4]&)];BYayaQ Im1@]DI]:i]Q:]4yudBɮu@u:EJRjhR< a@>SS*" ʎjZVD?AɢM<)Q ]5?iY)O$顉iDDAT read: Rx Time:00:45:31.8804 TRx dataTimestamp_ set to:1761698732.374680PDAT read: Bearing 177.3, -12.6 (Local) ~Local bearing/azimuth received: Bearing 177.3, -12.6 (Local) DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.4 EDAT read: 00:45:31.8804 LVL= 32752, 32753, 28450, 32755, AGC= 50, IDX= 503,-0.49,-0.744,-2.163,-0.139,-0.631, PHS=-0.011,-1.487, 0.449, RAW= 163.1, 12.0, CAL= 163.4, 13.6, ROT= 346.6, -13.6 MYgot valid direction response: 00:45:31.8804 LVL= 32752, 32753, 28450, 32755, AGC= 50, IDX= 503,-0.49,-0.744,-2.163,-0.139,-0.631, PHS=-0.011,-1.487, 0.449, RAW= 163.1, 12.0, CAL= 163.4, 13.6, ROT= 346.6, -13.6 MT#Rx 98: Read range and direction messages.U^direction in FSK: [0.945500,-0.225250,0.235142]UFpublishing direction and range infoy1WA?e̿#?Y@aie]>amNIi"o )2IX94iVT>8/6@PwV>6@ s>)@IshO7?#!zh?f? @?)UI|oischecking for new query: numPingsReceived=98, elapsed TxPingTime=47.924686DzDE EE$E"E:*E H:VE4ZEa @a @a @a @=2@9 @9@=/@Aԉ^A] }U<Թ ] checking for new query: numPingsReceived=98, elapsed TxPingTime=48.142921A ؟AI I O >8:,*X@AN=NF>N.ٱN7# fAHRS rotation from veh to nav: [[0.967898,-0.238171,-0.080293],[0.247702,0.958070,0.144037],[0.042621,-0.159302,0.986309]]NH ?g|ο?`?o?eҥ?@dĿ؏?iN=INf;NǐCYBy  #IbDeVDeky*v%>=ٔ ;Q->9"?Y"?=jGyFg=;E>Q 54?Q 94$)EBYyU>Q I1@DI=i=4ygBɮ~@-;EX@AJf@Rf@jT$a=D]Z@av3_P4q?r1WA?e̿#?Z|obsF#@ m_ݞ?%p@Bǿ>BB;#IBBB =BBwDBi;B[)Ez6e? ª?K}?2>:@".Af?*PBB(2?P“9B@rn=gO addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.504034 s, deltaX: -0.300000 m, approachRate: -0.595197 m/s, rangeRepo size: 4 gO Added new target pos. range: 6.762454 m, bearing: 3.149336 deg, lat: 36.779285 deg, lon: -121.859548 deg, deltaT: 5.039967 s, deltaX: -2.784619 m, approachRate: -0.552507 m/s, posRepo size: 4 jbgOzIgnoring new targets. Set target to previous: 6.76 m. 9.55 m.RZQ9gO% ProNav: ac range: 9.547073 m, nav range: 5.947485 m, bearing: 3.608414 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.369867 deg, new cmd heading: 12.380950 deg. B%H9gO-|HeadingCmd: 0.216088 target range: 9.547073 and range: 6.80 m.-CF]>)*)") 111119ʎYYYje@33@Ze ?AɢMkH<)Q 74?i)ZQUDDAT read: Rx Time:00:45:32.3802 ]TRx dataTimestamp_ set to:1761698732.876813ePDAT read: Bearing 176.6, -13.4 (Local) e~Local bearing/azimuth received: Bearing 176.6, -13.4 (Local) uDAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed 0.5 DAT read: 00:45:32.3802 LVL= 32752, 32753, 26946, 32755, AGC= 50, IDX= 501,-0.34,-0.795,-2.196,-0.157,-0.675, PHS=-0.017,-1.476, 0.474, RAW= 164.0, 11.6, CAL= 164.2, 13.2, ROT= 345.8, -13.2 Ygot valid direction response: 00:45:32.3802 LVL= 32752, 32753, 26946, 32755, AGC= 50, IDX= 501,-0.34,-0.795,-2.196,-0.157,-0.675, PHS=-0.017,-1.476, 0.474, RAW= 164.0, 11.6, CAL= 164.2, 13.2, ROT= 345.8, -13.2 T#Rx 99: Read range and direction messages.^direction in FSK: [0.943832,-0.238826,0.228351]Fpublishing direction and range infoyQUͰ"3?sۑο :?YU@QQQUBi Q)QIUCiUU!>U07@U4QO>Ui7@ Uk>)U!@IUkQQU>{"? b??? UD?)U!OIU}iUkQQchecking for new query: numPingsReceived=99, elapsed TxPingTime=48.414673iBiCF]>:#IiE EE)E"E:*EL_:VEFA4ZEBE#,:,DX@ABXe=B>B1,ٱBR& NAHRS rotation from veh to nav: [[0.967707,-0.238911,-0.080399],[0.248548,0.957505,0.146311],[0.042027,-0.161569,0.985966]]BH`u?`ο@ o??S?@? OĿ?iBXe=IBf;BŐCYfByf #Iychecking for new query: numPingsReceived=99, elapsed TxPingTime=48.646935i-Mb@Mb@Mb@)))) )9-Gz?Q{Gzt?Y-p?y--ף;-jA-@ ))-9@)Y-@bDeVDek1y%8=ٔR:Q->9Y=jGy+;E>Q 54?Q 940#)MBY?Q E:ytQ>Q I1@DI;i;#4y%kBɮ%@!8X@AJ@R@j)= dcyg@iokk(?rͰ"3?sۑο :?Z}bk}@)sbD?|)$a?z 5w?!?b"(j?2#>:@"ͩ?*BzB0?P“B@#+H=gO addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.502133 s, deltaX: -0.300000 m, approachRate: -0.597452 m/s, rangeRepo size: 4 gO Added new target pos. range: 6.464129 m, bearing: 2.365028 deg, lat: 36.779287 deg, lon: -121.859548 deg, deltaT: 5.542100 s, deltaX: -3.082944 m, approachRate: -0.556277 m/s, posRepo size: 4 jbgOzIgnoring new targets. Set target to previous: 6.46 m. 9.55 m.R)Z)gO= ProNav: ac range: 9.547073 m, nav range: 5.683878 m, bearing: 3.229519 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.380950 deg, new cmd heading: 12.390207 deg. B9gO=|HeadingCmd: 0.216250 target range: 9.547073 and range: 6.50 m.Ep]>A*A"A AaiimpBʎiqqju@Zus?ԡɢTU<) 3?i)L iаip]>U:]I5@ @@/@@=@=U DDAT read: Rx Time:00:45:32.8799 ] TRx dataTimestamp_ set to:1761698733.378029e PDAT read: Bearing 176.5, -14.4 (Local) m ~Local bearing/azimuth received: Bearing 176.5, -14.4 (Local) } DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.5  DAT read: 00:45:32.8799 LVL= 32752, 32753, 26450, 32755, AGC= 49, IDX= 498,-0.26,-1.346,-2.725,-0.675,-1.209, PHS=-0.035,-1.471, 0.490, RAW= 165.0, 11.5, CAL= 165.1, 13.2, ROT= 344.9, -13.2  Ygot valid direction response: 00:45:32.8799 LVL= 32752, 32753, 26450, 32755, AGC= 49, IDX= 498,-0.26,-1.346,-2.725,-0.675,-1.209, PHS=-0.035,-1.471, 0.490, RAW= 165.0, 11.5, CAL= 165.1, 13.2, ROT= 344.9, -13.2  V#Rx 100: Read range and direction messages. ^direction in FSK: [0.939964,-0.253622,0.228351] Fpublishing direction and range infoyY ] W.?H2!W;п :?Y] f@Y Y Y ] Rg Y )] 1I] )\i] I] H>] N8@] M>] !k8@ Y )] @IY Y Y ] ,?C=)?U ՞? ] H?)] [NI] ZiY Y Y  checking for new query: numPingsReceived=100, elapsed TxPingTime=48.915474E  E E %E "E >:*E ga:VE 4ZE a @a @a @a @^A A I I) O= >۷:,W_`X@AxH =3c>|)ٱj( =AHRS rotation from veh to nav: [[0.967408,-0.240056,-0.080588],[0.249814,0.956803,0.148732],[0.041403,-0.164016,0.985588]]H?)ο@j?!? ?@2?{Ŀ?iH =I.^f;ǐCYBy#I <bDVDy%1=ٔt:Q->9Y=jGyFchecking for new query: numPingsReceived=100, elapsed TxPingTime=49.150936j4;E>!Q 5-4%(?Q 9-4%!)%UBY)y5R>Q I51@%DI%:i%':%_+4y9ɮ=@91XX@AJN@RN@j<p3{.@aa;Ru?rW.?H2!W;п :?ZZbA{y@y?Q%?zM(9u?^+t?z?2$>:̻@"ײ?*[cBQBײ?“B@D'=gO addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.501216 s, deltaX: -0.300000 m, approachRate: -0.598545 m/s, rangeRepo size: 4 gO Added new target pos. range: 6.165785 m, bearing: 1.571542 deg, lat: 36.779287 deg, lon: -121.859548 deg, deltaT: 6.043316 s, deltaX: -3.381289 m, approachRate: -0.559509 m/s, posRepo size: 4 jbgOzIgnoring new targets. Set target to previous: 6.17 m. 9.55 m.RZgO ProNav: ac range: 9.547073 m, nav range: 5.396042 m, bearing: 2.768815 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.390206 deg, new cmd heading: 12.400776 deg. BgO|HeadingCmd: 0.216434 target range: 9.547073 and range: 6.20 m.]>*" ʎj@Z >?!ɢ%sw<)! %2?i))519i=Fi]>r:IQ0BA@ @@@B̿>BCBA#IBBB =BBxDBi;Bs)Eԁ } DDAT read: Rx Time:00:45:33.3798  TRx dataTimestamp_ set to:1761698733.881974 PDAT read: Bearing 174.4, -16.3 (Local)  ~Local bearing/azimuth received: Bearing 174.4, -16.3 (Local)  DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed 0.5 ^A  DAT read: 00:45:33.3798 LVL= 32752, 32753, 24306, 32755, AGC= 48, IDX= 497,-0.13,-0.542,-1.905, 0.228,-0.398, PHS=-0.042,-1.462, 0.582, RAW= 167.3, 10.2, CAL= 167.3, 11.3, ROT= 342.7, -11.3  Ygot valid direction response: 00:45:33.3798 LVL= 32752, 32753, 24306, 32755, AGC= 48, IDX= 497,-0.13,-0.542,-1.905, 0.228,-0.398, PHS=-0.042,-1.462, 0.582, RAW= 167.3, 10.2, CAL= 167.3, 11.3, ROT= 342.7, -11.3  V#Rx 101: Read range and direction messages.= ^direction in FSK: [0.936253,-0.291610,0.195946]= Fpublishing direction and range infoyy } tf?6ҿ>x_?Y} @y y y } ^ y )} 0I} 1,i} "} ?} ;:@} K6>} ;:@ } I>)} Yf@I} Iy y } X?fu@(?Lmq? } wS?)} $ 6I} i} Iy y  checking for new query: numPingsReceived=101, elapsed TxPingTime=49.440750E  E E &E "E m:*E V:VE 4ZE BE T:,~9~X@AfT=f>f&ٱf?7' AHRS rotation from veh to nav: [[0.967154,-0.241368,-0.079720],[0.250908,0.956742,0.147272],[0.040725,-0.162437,0.985878]]fH?!οh`? ?`?`٤?Ŀ`P?ifT=Ife;fƐC!%-r@i)I))) -_A)1111I1)1iy)yIyyy ŁŁŁŁiŁŁiƉƉ)ƍh ƉIƉ ǕC)ǕX{AƑƑƑYY%By% #IԑiEMb@Mb@Mb@AAAA A9EGz?:vYAyETEE AE@ A)AAYE@bD}VD}0yt;%1=ٔ;:Q->9Y=jGyF!;E>Q 54R??Q 94_ )]BY?Q E:y.>Q I1@DId;i:;M34yoBɮ@x_?ZbIat k@JAY?zR|?ǹ ./?2 :[@"ɒ+"?*-"BBͩ?“zB @{<gO addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.503945 s, deltaX: -0.200000 m, approachRate: -0.396868 m/s, rangeRepo size: 4 gO Added new target pos. range: 5.967002 m, bearing: 359.091680 deg, lat: 36.779287 deg, lon: -121.859548 deg, deltaT: 6.547261 s, deltaX: -3.580071 m, approachRate: -0.546804 m/s, posRepo size: 4 jbchecking for new query: numPingsReceived=101, elapsed TxPingTime=49.654984gOzIgnoring new targets. Set target to previous: 5.97 m. 9.55 m.RZgO% ProNav: ac range: 9.547073 m, nav range: 5.118457 m, bearing: 2.387177 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.400776 deg, new cmd heading: 12.411327 deg. B!gO-|HeadingCmd: 0.216619 target range: 9.547073 and range: 6.00 m.-?]>)*)") 11115~Bʎ999j]@Ze?颩ɢe<) 2?i)fy顱iv#i?]>:/II)ZAu/@q @y@y@y^A <  DDAT read: Rx Time:00:45:33.8795  TRx dataTimestamp_ set to:1761698734.385956 PDAT read: Bearing 175.2, -17.6 (Local)  ~Local bearing/azimuth received: Bearing 175.2, -17.6 (Local)  DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed 0.5  DAT read: 00:45:33.8795 LVL= 32752, 32753, 28818, 32755, AGC= 48, IDX= 510,-0.10,-1.336,-2.671,-0.526,-1.155, PHS=-0.079,-1.471, 0.585, RAW= 168.4, 10.6, CAL= 168.5, 12.0, ROT= 341.5, -12.0  Ygot valid direction response: 00:45:33.8795 LVL= 32752, 32753, 28818, 32755, AGC= 48, IDX= 510,-0.10,-1.336,-2.671,-0.526,-1.155, PHS=-0.079,-1.471, 0.585, RAW= 168.4, 10.6, CAL= 168.5, 12.0, ROT= 341.5, -12.0  V#Rx 102: Read range and direction messages. ^direction in FSK: [0.927601,-0.310371,0.207912] Fpublishing direction and range infoy  %*R?jӿhٜ?Y 3@ p ) I ʡi I ? <@ q=> `7<@ PwV>) ƺ@I PwV ޼?Ia?{;P? uX?) >I JQi PwV e checking for new query: numPingsReceived=102, elapsed TxPingTime=49.931915E  E E E "E :*E T:VE ZE a@a@a@a@AIIaIO>:,2X@ALUl=UXȂ>UٱUd! eAHRS rotation from veh to nav: [[0.966869,-0.243823,-0.075593],[0.252487,0.957052,0.142483],[0.037606,-0.156849,0.986906]]UH?5Ͽ Z(?+?@9yYy=jGym;E>Q 54WV?Q 94 )dBYy&0>Q I1@DI:i:);4yrBɮY@=Ey}X@AJ}6@R}6@j}@}3@nĆ?r}%*R?jӿhٜ?Z}JQb}PwV}W紧P@ݚƙwǿS?z}VOT?vyz?2}c=:}@"}ƃb?*}#B}ćB}ƃb?}[c“}QB}@}C-K<gO addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 0.503982 s, deltaX: -0.400000 m, approachRate: -0.793679 m/s, rangeRepo size: 4 gO Added new target pos. range: 5.569202 m, bearing: 358.012176 deg, lat: 36.779287 deg, lon: -121.859549 deg, deltaT: 7.051243 s, deltaX: -3.977871 m, approachRate: -0.564138 m/s, posRepo size: 4 jbgOzIgnoring new targets. Set target to previous: 5.57 m. 9.55 m.RZgO ProNav: ac range: 9.547073 m, nav range: 4.843705 m, bearing: 1.960881 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.411327 deg, new cmd heading: 12.421592 deg. BgO |HeadingCmd: 0.216798 target range: 9.547073 and range: 5.60 m. 6^> * "   ʎj`ff@Z= F?e(Bɢmˈ<)i mr2?ii)msiqiuA&iu6^>}:}KIchecking for new query: numPingsReceived=102, elapsed TxPingTime=50.159649E3@A @A@E0@A! B ʿ>B B B B  =B B wDB i;B e)E^A= <AI zAM ZAAU .AI I O >F:,ŮX@A2 =2+`>2ٱ2# :AHRS rotation from veh to nav: [[0.967151,-0.243297,-0.073660],[0.251740,0.956928,0.144620],[0.035301,-0.158412,0.986742]]2H`?[$Ͽ[۲?(?@??FĿc?i2 =I2c;2ǐCNDDAT read: Rx Time:00:45:34.3794 NTRx dataTimestamp_ set to:1761698734.889701VPDAT read: Bearing 176.2, -18.9 (Local) V~Local bearing/azimuth received: Bearing 176.2, -18.9 (Local) ^DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.5 nDAT read: 00:45:34.3794 LVL= 32752, 32753, 32338, 32755, AGC= 47, IDX= 509,-0.06, 0.895,-0.426, 1.749, 1.119, PHS=-0.122,-1.500, 0.587, RAW= 169.5, 11.3, CAL= 169.6, 13.0, ROT= 340.4, -13.0 vYgot valid direction response: 00:45:34.3794 LVL= 32752, 32753, 32338, 32755, AGC= 47, IDX= 509,-0.06, 0.895,-0.426, 1.749, 1.119, PHS=-0.122,-1.500, 0.587, RAW= 169.5, 11.3, CAL= 169.6, 13.0, ROT= 340.4, -13.0 vV#Rx 103: Read range and direction messages.z^direction in FSK: [0.917913,-0.326854,0.224951]zFpublishing direction and range infoyLNI_?xz-Կ:/2?YN̬@LLLNR~ L)N/IN#iNNE?NTU=@NI>Nq=@ NVh>)N@INVhLLNAOHO`?ט?qz%? N;]?)NK:IIN%iNVhLLchecking for new query: numPingsReceived=103, elapsed TxPingTime=50.426517Y%By%#IE EE'E"E:*ErN:VE'4ZEBEw9 ?Y ?=jGy FVԺE>Q 54o?Q 94 )nBYx?Q E:y>Q I1@DIp;i;C4yɮ @ LNX@AJN٫@RN٫@jNh@N"@=l7D,T?rNI_?xz-Կ:/2?ZN%bNVhNw \!l@\,*п6GN?zN<' =l?@E_,}?2N1:Na@"NQ?*NG%BNӇBLN-"“NBN9@N@gO addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.503745 s, deltaX: -0.200000 m, approachRate: -0.397026 m/s, rangeRepo size: 4 gO Added new target pos. range: 5.370283 m, bearing: 357.039449 deg, lat: 36.779287 deg, lon: -121.859551 deg, deltaT: 7.554988 s, deltaX: -4.176791 m, approachRate: -0.552852 m/s, posRepo size: 4 jbgOzIgnoring new targets. Set target to previous: 5.37 m. 9.55 m.RZgO ProNav: ac range: 9.547073 m, nav range: 4.549062 m, bearing: 1.608813 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.421592 deg, new cmd heading: 12.432537 deg. BgO |HeadingCmd: 0.216989 target range: 9.547073 and range: 5.40 m. I2^> * ") ))115[Bʎ199j=@Z=`k?颁ɢ6\o<) 0?i)顱i)iI2^>}p:LIiMchecking for new query: numPingsReceived=103, elapsed TxPingTime=50.663414e0@a @a@e/@aԑ ^A% )< AYIIO> |:,X@AFO =FU>F~ٱFv& RAHRS rotation from veh to nav: [[0.967749,-0.241528,-0.071592],[0.249797,0.956816,0.148673],[0.032591,-0.161762,0.986292]]FH? aοS]?`=??ί?Ŀ@?iFO =IFgc;FȐCYZByZ#IbDfVDf2yj$?<%n\=ٔn(;Q-n>-DDAT read: Rx Time:00:45:34.8791 5TRx dataTimestamp_ set to:1761698735.397784=PDAT read: Bearing 177.1, -21.0 (Local) ]~Local bearing/azimuth received: Bearing 177.1, -21.0 (Local) DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed 0.5 DAT read: 00:45:34.8791 LVL= 32752, 32753, 32754, 32755, AGC= 44, IDX= 506,-0.03,-0.017,-1.308, 0.908, 0.266, PHS=-0.182,-1.529, 0.598, RAW= 171.2, 11.9, CAL= 171.3, 14.1, ROT= 338.7, -14.1 Ygot valid direction response: 00:45:34.8791 LVL= 32752, 32753, 32754, 32755, AGC= 44, IDX= 506,-0.03,-0.017,-1.308, 0.908, 0.266, PHS=-0.182,-1.529, 0.598, RAW= 171.2, 11.9, CAL= 171.3, 14.1, ROT= 338.7, -14.1 V#Rx 104: Read range and direction messages.^direction in FSK: [0.903621,-0.352307,0.243615]Fpublishing direction and range infoy)-;/>w?E2ֿ .?Y-@)))- ))-,I-5^:i-Fÿ-?-t;?@-ȭT>- X?@ -d{>)-p*@I-d{))-U:?o- k?!7$\q? -Kd?)-UI-Vi-d{))checking for new query: numPingsReceived=104, elapsed TxPingTime=50.945160DYD]4=Ee EeEe%Ea"Ee:*EeL_:VEe 4ZEaau@au@au@au@9pY=jGyiE>Q 54ڄ?Q 94B)vBYy >Q I 1@!DIR;i;K4yuvBɮ}@}>E)-KuX@AJ-@R-@j-ƃ@-9I`@yqщFa?r-;/>w?E2ֿ .?Z-Vb-d{- )@%׿>*N?z-o4%?&=Sd?2-T:-@"-}3?*-6'B-ˇB)-#“-ӇB-@-^Y@gO} addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.508083 s, deltaX: -0.400000 m, approachRate: -0.787273 m/s, rangeRepo size: 4 gO Added new target pos. range: 4.972484 m, bearing: 355.439287 deg, lat: 36.779287 deg, lon: -121.859551 deg, deltaT: 8.063071 s, deltaX: -4.574590 m, approachRate: -0.567351 m/s, posRepo size: 4 jbgOzIgnoring new targets. Set target to previous: 4.97 m. 9.55 m.RZ)gO5 ProNav: ac range: 9.547073 m, nav range: 4.289954 m, bearing: 1.265707 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.432537 deg, new cmd heading: 12.442990 deg. B1gO=|HeadingCmd: 0.217171 target range: 9.547073 and range: 5.00 m.=b^>9*9"A AAAiiʎiiiju@Zu?颽)Bɢh^<) a1?i)i$,ib^>V:mIx>i>}5@y @y@}/@Qchecking for new query: numPingsReceived=104, elapsed TxPingTime=51.171066ԉ ^A <Am AAAm AAB ÿ>B CB ;#IB BB  =B B B 0i;B $)EBCBCB̓CB =BC 6A1IQIyO>:,X@AD=,>ٱc^( AHRS rotation from veh to nav: [[0.968396,-0.239655,-0.069099],[0.247623,0.956973,0.151280],[0.029871,-0.163610,0.986073]]H`?ο ??%]??@)Ŀ?iD=Izc;YMByM"IeDDAT read: Rx Time:00:45:35.3791 mTRx dataTimestamp_ set to:1761698735.901813uPDAT read: Bearing 175.0, -22.7 (Local) }~Local bearing/azimuth received: Bearing 175.0, -22.7 (Local) DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.5 DAT read: 00:45:35.3791 LVL= 32752, 32753, 30562, 32755, AGC= 43, IDX= 505, 0.08, 1.505, 0.225, 2.529, 1.801, PHS=-0.194,-1.530, 0.685, RAW= 173.2, 10.8, CAL= 173.2, 12.5, ROT= 336.8, -12.5 Ygot valid direction response: 00:45:35.3791 LVL= 32752, 32753, 30562, 32755, AGC= 43, IDX= 505, 0.08, 1.505, 0.225, 2.529, 1.801, PHS=-0.194,-1.530, 0.685, RAW= 173.2, 10.8, CAL= 173.2, 12.5, ROT= 336.8, -12.5 V#Rx 105: Read range and direction messages.^direction in FSK: [0.897348,-0.384604,0.216440]Fpublishing direction and range infoyim"T?|}ZؿK?Ym@iiimbw i)m+ImFim ÿm)\/?m\wA@mA>m\wA@ mf_>)m@Imf_iim)d? 1o#,?<ǢL? m'm?)mk@Im:QϾimf_iichecking for new query: numPingsReceived=105, elapsed TxPingTime=51.443462ieMb@Mb@Mb@aaaa a9e"~j?|?5^~jt?YeS#?yeҽeD9yYy=}jGy!FXE>Q 54@?Q 94i)BYx%?Q E:y=Q I1@,DI:i#:.T4yϓBE EE$E"EO:*E;J:VE4ZEBE (M'OG?Tβw7f?2m8 :m@"m?*ms*BmiBmQ?mG%“mˇBm@m @gO addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.504029 s, deltaX: -0.200000 m, approachRate: -0.396802 m/s, rangeRepo size: 4 gO Added new target pos. range: 4.773509 m, bearing: 353.183240 deg, lat: 36.779288 deg, lon: -121.859552 deg, deltaT: 8.567100 s, deltaX: -4.773564 m, approachRate: -0.557197 m/s, posRepo size: 4 jbgOzIgnoring new targets. Set target to previous: 4.77 m. 9.55 m.RZgO ProNav: ac range: 9.547073 m, nav range: 3.952392 m, bearing: 0.907559 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.442989 deg, new cmd heading: 12.454500 deg. B!gO-|HeadingCmd: 0.217372 target range: 9.547073 and range: 4.80 m.-Ɩ^>)*)"1 1119=FBʎ999jE@33@Zeh?颩ɢBq<) &-?i)6顱i"/iƖ^>Ƶ:xI!u4@q @y@y@yi I  checking for new query: numPingsReceived=105, elapsed TxPingTime=51.675320I ^A <A ?A ?q A ؟AI I O >;,X@A<~>޼ٱ'  AHRS rotation from veh to nav: [[0.969021,-0.237990,-0.066023],[0.245479,0.957495,0.151468],[0.027169,-0.162983,0.986255]]H8?qvο氿 k?@ͣ?`Pc?@қ?@Ŀf?i9"?Y"?=jGy"E>DDAT read: Rx Time:00:45:35.8788 TRx dataTimestamp_ set to:1761698736.405682%PDAT read: Bearing 176.7, -24.8 (Local) %~Local bearing/azimuth received: Bearing 176.7, -24.8 (Local) 5DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.5 ]DAT read: 00:45:35.8788 LVL= 32752, 32753, 30450, 32755, AGC= 44, IDX= 502, 0.13, 0.822,-0.422, 1.924, 1.197, PHS=-0.273,-1.574, 0.683, RAW= 175.0, 11.8, CAL= 175.0, 14.2, ROT= 335.0, -14.2 eYgot valid direction response: 00:45:35.8788 LVL= 32752, 32753, 30450, 32755, AGC= 44, IDX= 502, 0.13, 0.822,-0.422, 1.924, 1.197, PHS=-0.273,-1.574, 0.683, RAW= 175.0, 11.8, CAL= 175.0, 14.2, ROT= 335.0, -14.2 eV#Rx 106: Read range and direction messages.m^direction in FSK: [0.878616,-0.409705,0.245307]mFpublishing direction and range infoyJ؞?feh8ڿ/;f?Y̌@v ),IƋixɿ.?zC@BR>zC@ }>)k@I}?? &??pF? _u?) SIf߾i}checking for new query: numPingsReceived=106, elapsed TxPingTime=51.942757Q 54$?Q 94)BYyC=Q I1@5DI|:i:[4yԓBɮ@?EX@AJ@R@j P@otݯ@ XD,?rJ؞?feh8ڿ/;f?Zf߾b}*"    ʎ jU@ZUA?*Bɢ8|<) ,?i)޼ie2i ]^>-J:5ژI1I1@ @@/@ checking for new query: numPingsReceived=106, elapsed TxPingTime=52.179092q ^A :_<ԡA.AI B>BCB5#IBBB =BDDBsDBh;B(EIIO?u ;,9C4X@A<nx>V汼ٱG, AHRS rotation from veh to nav: [[0.970403,-0.233656,-0.061012],[0.240512,0.957836,0.157176],[0.021715,-0.167198,0.985684]]H ? rͿ<?`?V?@XD@ q>)_@IqչV?MZf~? sf? <{?)kfIiqUchecking for new query: numPingsReceived=107, elapsed TxPingTime=52.446587y]<%]<ٔ](9e ?Ye ?=ejGye"FmwEm>qQ 5}4uә?Q 9}4u\)uBY}b?Q E:y8=Q I1@u?DIuo:iu:ud4yٓBɮ@@E28:X@AJw@Rw@j8@HiQ+ @7C6} ?r= ?קEۿψ.?ZbqQ @7lV|?zFl?8]n^0ĿBU ?2$:o@"?*~_F,BBX@?s*“B1s@(@E EE%E"E:*ER:VE 4ZEBE2*" RBʎj`ff@ZA ?+Bɢ<) 2?i)ټi4i -^> x^: QI19 }m>Cԑ2@ @@/@ gG) A u 9q Yu hA checking for new query: numPingsReceived=107, elapsed TxPingTime=52.683022Թ ^A ]<A؟AI)IIO}?;,TX@Amm>1ٱm- }AHRS rotation from veh to nav: [[0.971089,-0.231483,-0.058319],[0.237964,0.958081,0.159542],[0.018943,-0.168808,0.985467]]mH)? @Ϳܭ@u??@k?e?@~ſ?im9"?Y"?=jGy#F=E>Q 541뙊?Q 94 )BYy.=Q I1@HDI::i:l4yɮ@PB*** querying acoustic contact *** ԉjbgOzIgnoring new targets. Set target to previous: 9.55 m. 9.55 m.R Z DDAT read: Rx Time:00:45:36.8783 TRx dataTimestamp_ set to:1761698737.413801PDAT read: Bearing 178.7, -28.4 (Local) ~Local bearing/azimuth received: Bearing 178.7, -28.4 (Local) DAT read: Range 11 to 50 : 3.6 m (trip time 2.4 ms) speed 0.5 DAT read: 00:45:36.8783 LVL= 32752, 32753, 29170, 32755, AGC= 44, IDX= 497, 0.29, 0.726,-0.434, 1.961, 1.223, PHS=-0.395,-1.612, 0.694, RAW= 178.2, 13.1, CAL= 178.2, 16.4, ROT= 331.8, -16.4 Ygot valid direction response: 00:45:36.8783 LVL= 32752, 32753, 29170, 32755, AGC= 44, IDX= 497, 0.29, 0.726,-0.434, 1.961, 1.223, PHS=-0.395,-1.612, 0.694, RAW= 178.2, 13.1, CAL= 178.2, 16.4, ROT= 331.8, -16.4  V#Rx 108: Read range and direction messages.^direction in FSK: [0.845447,-0.453325,0.282341]Fpublishing direction and range infoy ?|@+EݿIx?Yff@q ),Iq=ʾiVο1?" G@ j>" G@ C>)O@IC+ q?y8{?g ?gO- ProNav: ac range: 9.547073 m, nav range: 3.074478 m, bearing: 0.197894 deg, approach rate: -0.665326 m/s, LOS rate: -0.486525 deg/s, cmd heading: 12.476882 deg, new cmd heading: 12.067432 deg. B-^gO5|HeadingCmd: 0.210616 target range: 9.547073 and range: 4.10 m.5իW>1*1"9 9999AʎAA ?)iIjiC}checking for new query: numPingsReceived=108, elapsed TxPingTime=52.960083j @Z?E EE$E"E[:*EL_:VE4ZEa@a@a@a@颵,Bɢ <) K1?i)d'Լ项i07iիW>:%^I!Թ5@ @@/@e checking for new query: numPingsReceived=108, elapsed TxPingTime=53.187096^A m< A) IQ B <A <B >B CB B B  =B B rDB B (EI9O]>O+;, sX@Ah5k<5at>5kĆٱ5E, EAHRS rotation from veh to nav: [[0.971484,-0.230548,-0.055369],[0.236532,0.958550,0.158853],[0.016450,-0.167419,0.985749]]5H`f?ͿCY@F?@q?GU?[ؐ? mſ@?i5k9 Y = jGyE>Q 5%4 ?Q 9%4)BY-#?Q E-:y-X=Q I-1@UDI:i:~w4y5ݓBɮ5c@=AEJzX@AJ^@R^@j|@ "@__>kq?r ?|@+EݿIx?ZjbCo˦W @o 忐H?z ?c`]Hȿ[7J?2):J@"?*ZK+B'BC+“mBI@W@gO addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 1.007696 s, deltaX: -0.600000 m, approachRate: -0.595418 m/s, rangeRepo size: 4 gO Added new target pos. range: 3.480347 m, bearing: 348.226913 deg, lat: 36.779286 deg, lon: -121.859555 deg, deltaT: 10.582663 s, deltaX: -6.066726 m, approachRate: -0.573270 m/s, posRepo size: 4 jbgOzIgnoring new targets. Set target to previous: 3.48 m. 9.55 m.RZQ9gO ProNav: ac range: 9.547073 m, nav range: 2.684242 m, bearing: 359.784989 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.067432 deg, new cmd heading: 12.081148 deg. BH9gO|HeadingCmd: 0.210856 target range: 9.547073 and range: 3.50 m.W>*" @Bʎj @ZF?.Bɢg6<) 4?i)qͼiS9iW>) B:Z,I% 2@!  @! @% /@! Y ] checking for new query: numPingsReceived=109, elapsed TxPingTime=53.690845^AE <ԁ AqIIO?o$;,-X@A|=<~s>Rmٱp) AHRS rotation from veh to nav: [[0.971643,-0.230486,-0.052777],[0.236006,0.959036,0.156685],[0.014501,-0.164698,0.986237]]H?Ϳ r5?@m?@B?沍? ſA?i=99Y9==jGyE$FE@EE>IQ 5U4M!!?Q 9U4M()MBYQyU#V=Q I]1@M]DIM^;iM;MZ~4yeBɮe@ajbgOzIgnoring new targets. Set target to previous: 9.55 m. 9.55 m.R˅Z˅gO ProNav: ac range: 9.547073 m, nav range: 2.434479 m, bearing: 359.455218 deg, approach rate: -0.642791 m/s, LOS rate: -0.935771 deg/s, cmd heading: 12.081148 deg, new cmd heading: 11.353983 deg. BּgO|HeadingCmd: 0.198164 target range: 9.547073 and range: 3.50 m.J>*" ʎjZ=?/Bɢ<) p=IJ>IDDAT read: Rx Time:00:45:37.8780 TRx dataTimestamp_ set to:1761698738.443845PDAT read: Bearing 182.7, -34.4 (Local)  ~Local bearing/azimuth received: Bearing 182.7, -34.4 (Local) 5DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.4 E EEE"E[:*ErN:VEZEa@a@a@a@1@ @@0@ DAT read: 00:45:37.8780 LVL= 30064, 27105, 19346, 32755, AGC= 41, IDX= 510,-0.08,-2.940, 2.369,-1.469,-2.223, PHS=-0.615,-1.646, 0.710, RAW= 184.1, 15.0, CAL= 184.1, 19.7, ROT= 325.9, -19.7 Ygot valid direction response: 00:45:37.8780 LVL= 30064, 27105, 19346, 32755, AGC= 41, IDX= 510,-0.08,-2.940, 2.369,-1.469,-2.223, PHS=-0.615,-1.646, 0.710, RAW= 184.1, 15.0, CAL= 184.1, 19.7, ROT= 325.9, -19.7 V#Rx 110: Read range and direction messages.%^direction in FSK: [0.779594,-0.527825,0.337095]%Fpublishing direction and range infoyo?yk{M?YL@puiK ))Ipi!ҿ5?EM@ >EM@ x >)S@Ix MOwU?>!?_hp+? O??)yI=\ix checking for new query: numPingsReceived=110, elapsed TxPingTime=54.0188229^A  checking for new query: numPingsReceived=110, elapsed TxPingTime=54.214893!*;,ԭX@A2 <2[t>2Hٱ2U# :AHRS rotation from veh to nav: [[0.971589,-0.231483,-0.049294],[0.236356,0.959788,0.151472],[0.012249,-0.158819,0.987232]]2HB?`8Ϳ=@??nc?? 1TĿf?i2 9Y=jGyo:E>B>BCBH#IBBB =BBtDBh;B(EQ 545?Q 94)BY!y-2V=Q I-1@eDI;i<4yBɮj@BE9=gX@AJ=K@ԉR=K@j=P@=ݫ@yh)?r=o?yk{M?Z==\b=x =]@@w:?z=lnɝ?ӿ\ѿEo6 ZF?2=\:=/@"=ݑ=?*=0B=gB=?=ZK+“=iB=0@=@gO addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.526469 s, deltaX: -0.300000 m, approachRate: -0.569834 m/s, rangeRepo size: 4 gO Added new target pos. range: 3.182134 m, bearing: 342.550032 deg, lat: 36.779287 deg, lon: -121.859555 deg, deltaT: 11.109132 s, deltaX: -6.364939 m, approachRate: -0.572947 m/s, posRepo size: 4 jbgO%zIgnoring new targets. Set target to previous: 3.18 m. 9.55 m.R-Z-Q9gO= ProNav: ac range: 9.547073 m, nav range: 2.189129 m, bearing: 359.057757 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 11.353983 deg, new cmd heading: 11.364909 deg. B=H9gO=|HeadingCmd: 0.198355 target range: 9.547073 and range: 3.20 m.=K>A*A"A IIIIQʎQQQjU @Z] ?额0Bɢ<<) .@?i)N¼顱ic>iK>;MI>i!>%DDAT read: Rx Time:00:45:38.3779 %TRx dataTimestamp_ set to:1761698738.949307=PDAT read: Bearing 190.2, -38.3 (Local) =~Local bearing/azimuth received: Bearing 190.2, -38.3 (Local) UDAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.4 E EE%E"E:*E1]:VE 4ZEBEo%%BR@ %f>)%Ud@I%f߾!!%a)nPx?f $u?[v? %?)%\I%-\-i%f߾!!checking for new query: numPingsReceived=111, elapsed TxPingTime=54.525738^A- V< AY Ii Iy O >1;,X@Ab^b(ٱb8 jAHRS rotation from veh to nav: [[0.971518,-0.232471,-0.045943],[0.236746,0.960582,0.145715],[0.010257,-0.152442,0.988259]]bH?Ϳ`مM?`?˦??5ÿџ?ib^9YYY=]jGy]%FeLc:Ee>iQ 5u4mL?Q 9u4mI)mBY} ?Q E}:y}ݘ=Q I}1@mnDIm:imZ:m4yɮ#@QUrX@AJU>@RU>@jU@Uf@q@RXd#,?rUR,? 4,⿬]y- ?ZU-\-bUf߾Uu@_z<~gl~i?zUiЏ? o]X@  %?) @I %   M_츜?D?f!?  {?) ׺I @Ci %  ] checking for new query: numPingsReceived=112, elapsed TxPingTime=55.046974A I I O >B8;,&X@A2z <2 u>27uٱ2b{ BAHRS rotation from veh to nav: [[0.971460,-0.233286,-0.042939],[0.237067,0.961025,0.142234],[0.008084,-0.148354,0.988901]]2H2?PͿ@6X?@?4??@¿`?i2z BmCBmZ#IBmτBBm =BiBmuDBm\h;Bm(E^A<A I II O] >t>;DDAT read: Rx Time:00:45:39.3776 "TRx dataTimestamp_ set to:1761698739.955081*PDAT read: Bearing 215.2, -41.5 (Local) .~Local bearing/azimuth received: Bearing 215.2, -41.5 (Local) JDAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.4 ZDAT read: 00:45:39.3776 LVL= 32752, 23729, 19522, 32755, AGC= 42, IDX= 507,-0.30, 2.897, 2.758,-1.879,-2.134, PHS=-1.150,-1.347, 0.210, RAW= 203.4, 28.8, CAL= 199.8, 41.5, ROT= 310.2, -41.5 ^Ygot valid direction response: 00:45:39.3776 LVL= 32752, 23729, 19522, 32755, AGC= 42, IDX= 507,-0.30, 2.897, 2.758,-1.879,-2.134, PHS=-1.150,-1.347, 0.210, RAW= 203.4, 28.8, CAL= 199.8, 41.5, ROT= 310.2, -41.5 bV#Rx 113: Read range and direction messages.Ef EfEf&Ed"Efm:*EfAr:VEf4ZEdBEfT13c@?-_@ }l9?)?@I}l9d\P ?'Ep?pN-? .(?)DI-^i}l9-checking for new query: numPingsReceived=113, elapsed TxPingTime=55.540047eȺe:V»ٱe uAHRS rotation from veh to nav: [[0.971483,-0.233669,-0.040237],[0.237034,0.961338,0.140160],[0.005931,-0.145700,0.989311]]eH d?ͿW?`G??Jx?N¿o?ieȺ9Y=jGy&FݕE>Q 54y?Q 94)BYU?Q E:y=Q I1@DI:is:e4y-Bɮ-R@-DE X@AJy%@Ry%@j@}\?Ci\si?rW?6g:NЃ.4?Z-^b}l9 ?70Ud~?zXns?:տ n?2b:׾?"j"K?*f/BB“‡Bi@o,@gO addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.503818 s, deltaX: -0.100000 m, approachRate: -0.198485 m/s, rangeRepo size: 4 gO Added new target pos. range: 2.585561 m, bearing: 329.293495 deg, lat: 36.779287 deg, lon: -121.859557 deg, deltaT: 0.503818 s, deltaX: -0.099365 m, approachRate: -0.197224 m/s, posRepo size: 4 jb*" uBʎAAAjE@ZMmP?颕4Bɢ<) K?i)Cز顙iXmDi9;bXF;,X@A<fDDAT read: Rx Time:00:45:39.8773 jTRx dataTimestamp_ set to:1761698740.462376rPDAT read: Bearing 212.9, -48.8 (Local) r~Local bearing/azimuth received: Bearing 212.9, -48.8 (Local) zDAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.4 EE EEEE'EA"EE:*EEVL:VEE'4ZEAaM@aM@aM@aM@DAT read: 00:45:39.8773 LVL= 32752, 32753, 19122, 32755, AGC= 42, IDX= 504,-0.04,-0.592,-0.572, 1.284, 0.837, PHS=-1.326,-1.364, 0.403, RAW= 208.9, 24.8, CAL= 206.5, 36.2, ROT= 303.5, -36.2 Ygot valid direction response: 00:45:39.8773 LVL= 32752, 32753, 19122, 32755, AGC= 42, IDX= 504,-0.04,-0.592,-0.572, 1.284, 0.837, PHS=-1.326,-1.364, 0.403, RAW= 208.9, 24.8, CAL= 206.5, 36.2, ROT= 303.5, -36.2 V#Rx 114: Read range and direction messages.^direction in FSK: [0.445391,-0.672913,0.590606]Fpublishing direction and range infoydfk eJ?S@=?Yff@ddffJ d)dIf^iffV>fWi@fk>ff@ f?!?)f@If?!ddf0~? ?c*? f?)fbݾIfq|if?!ddchecking for new query: numPingsReceived=114, elapsed TxPingTime=56.021053YuքByuc#I yybD*VD3yyB=%?=ٔQ->9Y=jGy'F E >qQ 5}4u?Q 9}4ux)uBYyQ I1@uDIu:iu:u4yBɮ@ԩdfX@AJf@Rf@jfG@fD?8.{H3?rfk eJ?S@=?Zfq|bf?!fi\d?Cڠ:c1/?zfS?^(XݿzCXV?2f%u:fW?"f:?*fn0BfBf<*?fn0“df;?f[@gO= addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.507295 s, deltaX: -0.500000 m, approachRate: -0.985620 m/s, rangeRepo size: 4 gOm Added new target pos. range: 2.088338 m, bearing: 320.995498 deg, lat: 36.779285 deg, lon: -121.859557 deg, deltaT: 0.507295 s, deltaX: -0.497223 m, approachRate: -0.980146 m/s, posRepo size: 4 jibiqq*q"q qqqyyʎyyj@Z ?M6BɢMh=)I UP?iQ)U㬼QQiUFiYeg;eRB CB m#IB ߄BB  =B CDB vDB fg;B @(EBmCBmCBmʕCBm =Bm =Cmw6^A <1 AI Iq I O >1tM;,m8X@A><>ts>>ݶ7ٱ>T8 FAHRS rotation from veh to nav: [[0.971763,-0.233529,-0.033786],[0.235960,0.961736,0.139234],[-0.000022,-0.143275,0.989683]]>H ?GͿlL3?@? m? V¿{?i>-b;>ŐCYRByRo#Ii%Mb@Mb@Mb@!!!! !9%Zd;?Q뱿/$?Y%?y%\%<%A%@ %O@)%@!Y%@bDE6VDE3yUNG=%UQ=ٔUy9YYY=]jGyY]:Ee>aQ 5u4eL?Q 9u4e)eBYu ?Q Eu:yu>Q I}1@eDIe;ie*;e4yABɮ@PB*** querying acoustic contact *** jb}DDAT read: Rx Time:00:45:40.3774 TRx dataTimestamp_ set to:1761698740.962847DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.3 \#Rx 115: Read range message, but no direction.yyY}3@ychecking for new query: numPingsReceived=115, elapsed TxPingTime=56.487862*" ~Bʎj`ff@Z?E  E E &E "E >:*E [:VE 4ZE BE UT;,+RX@A2G<2 r>2:ٱ27 >AHRS rotation from veh to nav: [[0.972174,-0.231955,-0.032795],[0.234256,0.961534,0.143447],[-0.001739,-0.147138,0.989115]]2H ? Ϳʠ?? w\?\@h¿Ӧ?i2G9\Y\=^jGy^(F%ᑻE%>aQ 54eD?Q 94e)eBYyx>Q I1@eDIe`~?Y@ppDbi #|)'IٿiNbd;_`@aF2?q]@ `?)=O@I`ֿ?>UP5?%? 4?)y2IVi`=checking for new query: numPingsReceived=116, elapsed TxPingTime=57.075462Ա ^AE )<AM [AzAI Au .AI I O >٣Z;,lX@A><>e.p>>7b;ٱ>= JAHRS rotation from veh to nav: [[0.972613,-0.230362,-0.030948],[0.232406,0.961862,0.144251],[-0.003462,-0.147493,0.989057]]Nchecking for new query: numPingsReceived=116, elapsed TxPingTime=57.238995>H?|Ϳ@̰y??v? C]l ¿Z?i>:a;9r ?Yr ?=rjGypr\Er>tQ 5z4vΚ?Q 9~4v)vBY|y~>Q I~1@vDIv;iv;v4yɮ@ qu]X@AJu?Ru?ju@uSA?.tZP*|?ruS5fh?:=3U޿>?ZuVbu`u N]?FJ;߿4d?zuiv?gϿƘBu?2u:u?"uH-"?*u!g!Bu8Bqq“uBu?u9@gOe addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.502885 s, deltaX: -0.300000 m, approachRate: -0.596558 m/s, rangeRepo size: 4 gO} Added new target pos. range: 1.988954 m, bearing: 333.947079 deg, lat: 36.779285 deg, lon: -121.859557 deg, deltaT: 1.003356 s, deltaX: -0.099384 m, approachRate: -0.099052 m/s, posRepo size: 4 jyb*" ʎj@Z2?u;Bɢ}J)=)y }X?iy)}yyirLivQ;BCB#IBBB =BBBdf;B'EiI@I @Q@]0@Yԑ]DDAT read: Rx Time:00:45:41.3770 ]TRx dataTimestamp_ set to:1761698741.970539^Ae <PDAT read: Bearing 255.7, -45.8 (Local) ~Local bearing/azimuth received: Bearing 255.7, -45.8 (Local) DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 E EE'E"EO:*ET:VE'4ZEBE >.ёB|>l?Y]?Y]]] ])]+I]i]7]7]]@]bJ?] @ ]hl?)]˖@I]hlYY]64cbԿ}a;,irX@A:{q:î;ٱ:ZGdp ƅ9 Y]gA =AHRS rotation from veh to nav: [[0.972999,-0.228978,-0.029003],[0.230751,0.962264,0.144232],[-0.005117,-0.147030,0.989119]]:H"?@)OͿ@`@??@0v?`t¿`ܦ?i:{q9qYy=}jGy})F}ztE}>Q 54:嚊?Q 94)BY3?Q E:y>Q I1@DI;i;4yNBɮ@FEP~X@AJe?Re?j{@mR J>@&eGa0Q?r*z>>.ёB|>l?Zɿbhle/?F96 ?z7bY?<̰ݿJ?2H:vF>"?*Ō(BBj"K?f/“|?ZF@gO addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504807 s, deltaX: -0.300000 m, approachRate: -0.594286 m/s, rangeRepo size: 4 gO Added new target pos. range: 1.690603 m, bearing: 283.880449 deg, lat: 36.779284 deg, lon: -121.859556 deg, deltaT: 0.504807 s, deltaX: -0.298351 m, approachRate: -0.591019 m/s, posRepo size: 4 jb*"   Bʎ j@33?Z?==BɢE=)A EW?iA)MhIIiMSNiQUJ ;Ut DDAT read: Rx Time:00:45:41.8770  TRx dataTimestamp_ set to:1761698742.485782 PDAT read: Bearing 250.2, -50.2 (Local)  ~Local bearing/azimuth received: Bearing 250.2, -50.2 (Local)  DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 E  E E &E "E :*E ?:VE 4ZE a @a @a @a @ DAT read: 00:45:41.8770 LVL= 32688, 24097, 24290, 32755, AGC= 42, IDX= 501, 0.17, 2.665,-2.842,-1.558,-1.338, PHS=-2.178,-1.459,-0.263, RAW= 231.8, 39.5, CAL= 234.7, 48.5, ROT= 275.3, -48.5 % Ygot valid direction response: 00:45:41.8770 LVL= 32688, 24097, 24290, 32755, AGC= 42, IDX= 501, 0.17, 2.665,-2.842,-1.558,-1.338, PHS=-2.178,-1.459,-0.263, RAW= 231.8, 39.5, CAL= 234.7, 48.5, ROT= 275.3, -48.5 - V#Rx 118: Read range and direction messages.5 ^direction in FSK: [0.061206,-0.659787,0.748956]5 Fpublishing direction and range infoy  [qV?{ʠғq?Y  !^ ^ ) *I Zd i 𧆾 (v@ |0? @ 8X?) @I 8X 19I~]ҿ=h?aU? ?) F0I 8i 8X M checking for new query: numPingsReceived=118, elapsed TxPingTime=58.025410ʰg;,AX@A|^<Dm>L;ٱC AHRS rotation from veh to nav: [[0.973257,-0.227991,-0.028132],[0.229632,0.962178,0.146569],[-0.006348,-0.149109,0.988800]]H@$?`.Ϳ@Μd?)?@?zÿ@?i^9Y=jGy=HE>Q 54V?Q 94)BYy>Q I1@DI;i;24yTBɮ@GE X@AJRj @6b}?V$EMB?r[qV?{ʠғq?Z8b8Xq?C)IǮ?z2.?Xp%Z࿃8z?2(]:>">@?*|)BB|)“B.]?DV@gO addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.515243 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 1.690603 m, bearing: 290.290068 deg, lat: 36.779284 deg, lon: -121.859554 deg, deltaT: 0.515243 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jgOTStarting intercept timer at range: 1.70 m.b   * "  1111ʎ999j9Z=?颅?Bɢu"=) 8U?i)Jai PiQ5 ;CBCB#IBBB =BDDBuDBe;Bh'E^A <A ?A ?ԑ A ؟AI9 Ia Om >m;,{OX@AYBy t#I IiMb@Mb@Mb@ 9?~jtI +?Y ?yD94<=A@ O@)@YbDVD2y ɼ% A=ٔQ->9"?Y"?=jGy*FE>!Q 5-4%^?Q 9-4%Q =-tI)%BY5~ ?Q E5:y5U">Q I52@%DI%;i%;%4y9ɮ=@AmDDAT read: Rx Time:00:45:42.3772 mTRx dataTimestamp_ set to:1761698742.989788uPDAT read: Bearing 261.7, -56.8 (Local) }~Local bearing/azimuth received: Bearing 261.7, -56.8 (Local) DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed -0.2 E EEE"E[:*EA:VEZEBE~]i?Ym@immm i)m.ImVim+mLm[`@m?m@ mf;?)mV@Imf;iim %tۿe! 7?P8? m`@)mzʎj@Z u?ImCҿimf;iichecking for new query: numPingsReceived=119, elapsed TxPingTime=58.566719UABɢU=)Q U|Q?iQ)]xYYi]1Qiae" ;eku;,X@A>Z0<>x]j>>-<ٱ>Jj! FAHRS rotation from veh to nav: [[0.973885,-0.225412,-0.027152],[0.226870,0.961535,0.154858],[-0.008800,-0.156974,0.987563]]>H@*?`J̿͛` ? ?d?Ŀ?i>Z0a;>ŐCYNByN{#IbDVVDVk2y^P<%^Z=ٔb;Q-b>9b ?Yf ?=fjGydfEf>hQ 5n4j!?Q 9n4j)jBYpyr>Q Ir2@jDIj:ij:j$4yvYBɮv@x)-XX@AJ-?R-?j-f@-p@!K?r-f0>]i?Z-Cҿb-f;-ae?37YI3:?z-BvM?z㿐E?2-J:->>"-<1?*-1B-B->@?)“)-Tu?-@1gOE addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504006 s, deltaX: 0.300000 m, approachRate: 0.595231 m/s, rangeRepo size: 4 gOU Added new target pos. range: 1.988913 m, bearing: 278.536370 deg, lat: 36.779287 deg, lon: -121.859554 deg, deltaT: 0.504006 s, deltaX: 0.298310 m, approachRate: 0.591878 m/s, posRepo size: 4 jUgOUTStarting intercept timer at range: 2.00 m.bYYY*Y"Y YYaaaʎaiijiZms?颕CBɢ?=) S?i)顡iASik ;-:bԱ +{;,X@A62Acoustic response timeoutB߼B"<ٱB % RAHRS rotation from veh to nav: [[0.974132,-0.224401,-0.026669],[0.225761,0.961194,0.158547],[-0.009944,-0.160467,0.986991]]BH,?-̿O`?? EK?] +Ŀn?iB߼9e"?Ye"?=ejGye+FeU0Em>iQ 5u4m7?Q 9}4m)m BYyy}>Q I}2@mȥDIm ;im ;m4yWBɮ@?EԙgO addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.503581 s, deltaX: -0.200000 m, approachRate: -0.397156 m/s, rangeRepo size: 4 jb*" ʎj?Z?A@AAB>BCBBB =BBrDBe;B;'EEBɢ%H#=)! %P?i!)%z!)i-;Ui)5` ;5 ;,pX@Aff%8<ٱf& =AHRS rotation from veh to nav: [[0.974312,-0.223752,-0.025523],[0.224923,0.961176,0.159846],[-0.011234,-0.161480,0.986812]]fH-?̿@"E??u?cĿ?if9Y=jGyE>Q 54Q?Q 94)#BY5?Q E:yA>Q I2@ѥDIr;i;4y\Bɮ@gO addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.506026 s, deltaX: 0.300000 m, approachRate: 0.592855 m/s, rangeRepo size: 4 jgORStopped intercept timer at range: 2.10 m.b*" Bʎj@Z0?!5HBɢUE=)Y ]K?iY)]T*tYYi]gViaem ;m- ʡ- X@- MQ>- @ - >)- |y@I- 侩) ) - Z6H%,*$?MtR? - :@)- sI- 9\i- 侩) ) M 2Acoustic response timeoutU Querying Benthos address 50 with 120 pings in terminal homing one-way mode.^A5 U<ԩI I!O->;,<(X@A2W<2'g>28H<ٱ2$ JAHRS rotation from veh to nav: [[0.974419,-0.223431,-0.024228],[0.224409,0.961445,0.158947],[-0.012220,-0.160318,0.986990]]2Ho.?e̿Ϙ`k?`(?aX?LĿk?i2W9Y=jGy,FCE>!Q 5-4%e?Q 9-4% )%$BY1y5>Q I52@%٥DI%k;i%;%4yQɮ]@Y X@AJ@R@jl,@Y, `x-?r)wf `4J?Z9\bbd󿉨3\hSze?z}$@ڃTW+?2rο:%"?*N38B_B“]?}@gO addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.502304 s, deltaX: 0.300000 m, approachRate: 0.597248 m/s, rangeRepo size: 4 gO Added new target pos. range: 2.386548 m, bearing: 233.074783 deg, lat: 36.779287 deg, lon: -121.859554 deg, deltaT: 1.511911 s, deltaX: 0.397635 m, approachRate: 0.263002 m/s, posRepo size: 4 jb*" !!!ʎ!))jM@33@ZMi?颕JBɢ|x1=) 3D?i):{k顙iU,Xiԩ%M;-ϱB%CB%#IB%BB% =B!B!B%e;B%B'E ^A) I I O >e DDAT read: Rx Time:00:45:44.3777 e TRx dataTimestamp_ set to:1761698745.005655m PDAT read: Bearing 316.8, -30.4 (Local) u ~Local bearing/azimuth received: Bearing 316.8, -30.4 (Local)  DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed -0.5 E  E E #E "E ;*E :VE 3ZE BE PQYgot valid direction response: 00:45:44.3777 LVL= 23408, 13585, 10450, 22803, AGC= 39, IDX= 508,-0.06,-0.381, 1.580, 0.722, 1.346, PHS=-1.625, 0.279,-0.668, RAW= 299.8, 23.4, CAL= 299.8, 29.4, ROT= 210.2, -29.4 >R#Rx 1: Read range and direction messages.B`direction in FSK: [-0.752968,-0.438238,0.490904]BFpublishing direction and range infoypߥP& ܿxފj?Y,@p[5( Y)'Iпiَ> +p@>p@ G\?)j@IG\8`y]rf?bDb_? ,H@)о <!h>uT<ٱo! AHRS rotation from veh to nav: [[0.974333,-0.223952,-0.022808],[0.224736,0.961873,0.155863],[-0.012967,-0.156988,0.987515]]H-?t̿@ [@*??P?@0Ŀ?i 9Y!=%jGy!%<:E%>1Q 5=45~?Q 9=45 )5(BY=?Q E=:y==Q IE2@5DI5:i5#:5O4yMbBɮMr@m@E\@X@AJ+@R+@j~t@~8,tT]*U| ǐ?rpߥP& ܿxފj?ZT'bG\. r&BD.3?z:uk&Atԁ1/?2:=޿"w$뚊?*31BчB?31“чBe@]x@gO addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503956 s, deltaX: 0.300000 m, approachRate: 0.595290 m/s, rangeRepo size: 4 gO- Added new target pos. range: 2.684831 m, bearing: 218.490838 deg, lat: 36.779285 deg, lon: -121.859557 deg, deltaT: 0.503956 s, deltaX: 0.298283 m, approachRate: 0.591883 m/s, posRepo size: 4 j1b111*1"1 1199=Bʎ9AAjE@ZeM?颵MBɢ =) >?i)~_项iqYi0.;鸖;,2\X@A J JM_<ٱJ VAHRS rotation from veh to nav: [[0.974114,-0.225007,-0.021757],[0.225644,0.962010,0.153694],[-0.013652,-0.154624,0.987879]]JH+?̿ `G?@?:?ÿ`?iJ %P@ %>)%Le@E EE!E"E:*Ec:VEc3ZEa@a@a@a@I%;!!%[pGeFof縿a4? %B)%WI%iw,i%;!!2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.OBɢ$m2=) Z8?i)XiZi 0;B 2Acoustic response timeout B% >B! B% g#IB% ڄBB%  =B! B! B% e;B% Z'EBCBCBB =BCʒ6;,vX@APM $MV'l<ٱM} AHRS rotation from veh to nav: [[0.973985,-0.225637,-0.020995],[0.226153,0.961940,0.153385],[-0.014413,-0.154143,0.987943]]MH*?̿?5?? ÿ;?iM $9Y=jGy.F:E>Q 5-4 ?Q 9-4f )-BY-?Q E-:y-=Q I-2@DI:if:4y=hBɮ=$@=AEIM`X@AJM8@RM8@jMU e?2Me:M,"Mb?*M2BM\BIM1“MBM@Mq@gO addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.504334 s, deltaX: 0.200000 m, approachRate: 0.396563 m/s, rangeRepo size: 4 gO Added new target pos. range: 2.883691 m, bearing: 215.071412 deg, lat: 36.779285 deg, lon: -121.859557 deg, deltaT: 0.504334 s, deltaX: 0.198860 m, approachRate: 0.394302 m/s, posRepo size: 4 jbkOXTarget missed at range: 2.90 m. Rolling out.2gONTransitioning guidance mode to: ROLLOUT:@*;"L? 2}Bʎj@33@ZJ?RBV'l<) 1?i)&ME EE(E"E:*EV:VEc44ZEBE)-Sf@I-ɾ))-5߭@䶿Ln? -C)-I-+i-ɾ))2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.f!fRz<ٱf M nAHRS rotation from veh to nav: [[0.974040,-0.225466,-0.020296],[0.225861,0.961855,0.154345],[-0.015278,-0.154923,0.987809]]fH`U+?̿@lȔ?`?@? J ÿ ?if׫9YYY=]jGyYe8Ee>mRemoving expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -24.00 mm.uRemoving expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 22.43 mm.yQ 5}4}?Q 94} )}0BYyJ=Q I2@}DI}<;i};}\ 4ymBɮ@BE1SAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourseq'SEntering Midcourse tracking update period 60.000000 s sec at 2.900000 m (mode 5.000000 count ).qcRAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR1RResuming normal ranging with 1.000000 count pings 2.900000 m (mode 5.000000 count ).1q!%߀X@AJ%R@R%R@j%p@%~:f:-?r%CFs)ڿcK?Z%+b%ɾ%[:.lJ~8?z%cۻ >{l{࿏+{%?2%Wڿ:%"%f?*%7B%B%b?%2“%B%2@%Ym@gO addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.503673 s, deltaX: 0.400000 m, approachRate: 0.794166 m/s, rangeRepo size: 4 gO% Added new target pos. range: 3.281441 m, bearing: 215.725274 deg, lat: 36.779284 deg, lon: -121.859557 deg, deltaT: 0.503673 s, deltaX: 0.397750 m, approachRate: 0.789700 m/s, posRepo size: 4 gO-BNOT Ignoring new targets: 3.28 m.11*1"1 129IQQQqU#JUAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancyUCJ]@Uninitialize Buoyancy Component.Yaje`ff @Ze?uRz<) ?i9)顝!4 ɉ@ PwV>) XZ@I PwV   r獬K,q/ѿƏzx? &`7) j6I ]7i PwV  52Acoustic response timeout=Querying Benthos address 50 with 120 pings in terminal homing one-way mode.A^A <A zA A A q iߡ Iߡ  2Acoustic response timeoutA} I ԙ I O >=;,CWX@AB>BCBH#IBBB =BBsDB_f;B'EB*B<ٱBK! JAHRS rotation from veh to nav: [[0.973878,-0.226213,-0.019719],[0.226475,0.961367,0.156466],[-0.016438,-0.156844,0.987487]]BH*?̿*1#??@?ՐyĿ`}?iB*9EYE=EjGyAM:EM>QQ 5]4Un՛?Q 9]4U )U3BYYy]=Q I]2@UDIU:iU>:U4ysBɮ@BN@?q:X@AJ^@R^@j`g@J8 zF8uze '?ro&" пhٜ?Z]7bPwVnLa-;<ª6?zC!뿤S5\/ۿv?R?2:?"Cؚ?*J1BBf?“_B@C@j@gOM addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.505536 s, deltaX: 0.200000 m, approachRate: 0.395620 m/s, rangeRepo size: 4 gO] Added new target pos. range: 3.480412 m, bearing: 206.806764 deg, lat: 36.779284 deg, lon: -121.859557 deg, deltaT: 0.505536 s, deltaX: 0.198971 m, approachRate: 0.393584 m/s, posRepo size: 4 gO]BNOT Ignoring new targets: 3.48 m.Ya*" 2j @Z!?!??@=M<)Q U~?i}9)顅+4 DAT read: 20 :unknown deviceResponse_: 20 DAT read: Ok :unknown deviceResponse_: Ok *DAT read: user:579> BDAT read: Tx time:00:45:46.8236 $Ping request sent.- Cԁ G \A ׂ9 \AY aA^A I I O >w;,X@A0checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247523Yy<#Ii5Mb@Mb@Mb@1111 195}?5^I?:v{Gz?Y5M"?y5Խ15A5@ 5@)5@1Y5@ M49iYi=mjGyiuEu>yQ 5}4}?Q 94}b )}7BY~$?Q E:y=Q I2@}DI}:i}:}Y4)y1ɮ=@9JIU1U"QUUgOmBNOT Ignoring new targets: 3.48 m.ii*i"i i2iiqquBqyjyZ}?~$?~$?@=) \?i9)页w4}W;,_`X@ABs.Bs<ٱBD JAHRS rotation from veh to nav: [[0.973841,-0.226502,-0.018159],[0.226741,0.963411,0.142928],[-0.014879,-0.143306,0.989567]]BH`)?̿J?B?uK?xW¿`?iBs.9 Y = jGy .1:E>Q 54O?Q 9%4):BY!y%=Q I%2@DI:i6:D!4y5yBɮ5 @5CERA1ESMtCompleted lineCaptureHoming:UpdatePingUpdateRate_Midcourse1MSMAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse*IUgRUCompleted lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRUcRUAggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATRgOeBNOT Ignoring new targets: 3.48 m.aa*a"a a2iiiqqqqjqZ}L?Ԍ=s<) 5?i9)页iiB)B-5#IB-BB- =B)B-rDB-f;B-'E/#@ @@/@ԑ^A<I I O- > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003489E5  E5 E1 E1 "E5 :*E5 [:VE1 ZE1 BE5 "X@A2j<2$i>23x<ٱ241 :AHRS rotation from veh to nav: [[0.974081,-0.225558,-0.017048],[0.225692,0.964070,0.140116],[-0.015168,-0.140332,0.989988]]2H +?̿!uz??O?@`c ?i2j9Y=jGy$E>Q 54?Q 94)@BY[?Q E:yy;,נ X@A>xv;>Sg>>!~<ٱ> FAHRS rotation from veh to nav: [[0.974475,-0.223948,-0.015696],[0.223961,0.964937,0.136889],[-0.015510,-0.136910,0.990462]]>H.?U̿@@ª? ?`?ÏAݱ?i>xv;I>_;>ƐC^checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507595D)zD-?AE5 E5E5&E1"E5:*E5c:VE54ZE1a=@a=@a=@a=@YEByE#IQU@AbD]VD]ymg%mD=ٔuV:Q-u>9qYq=ujGyq}nE}>Q 54R0?Q 94)GBYyBe CBe "#IBe BBe  =Ba Be pDBe g;Be 'E )@  @ @ 4@ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011465E EE'E"E:*Ee:VE'4ZEBE2<ٱ2Y >AHRS rotation from veh to nav: [[0.974709,-0.223020,-0.014310],[0.222922,0.965770,0.132640],[-0.015762,-0.132475,0.991061]]2H0? ̿ PN?`? Y?#Ŷ?i2;I2_;0YDyF#II~;>)~4=)iMb@Mb@Mb@ 9Cl?`"?Y?y<=A@ O@)Y@bDVDyG%=ٔ9Q->9Y=jGyE>Q 54K?Q 94_)PBYN?Q E:ygk;,y _X@A2M;2fe>2B<ٱ2RB :AHRS rotation from veh to nav: [[0.974955,-0.221984,-0.013656],[0.221852,0.966378,0.129979],[-0.015656,-0.129753,0.991423]]2H 2?`i̿`e??#?%@@?i2M;I23-_;2ŐCYFByF#IbDnVDn1yr%vQ=ٔvJQ-v>9xYx=zjGyx~7E~>|Q 54~^?Q 9 4~B)~VBY y Ӝ^;,vyX@AQME;;Mc>M3|<ٱM AHRS rotation from veh to nav: [[0.975264,-0.220675,-0.012735],[0.220503,0.967248,0.125732],[-0.015428,-0.125430,0.991983]]MH ]5??̿@ u9? ?`?@Ԙ R?iME;;IMq _;MƐCY By #Ionly read 2 of 4 data items for water velocity. Device response is::WS,-3268,-32768,V a@a a@a a@a a@a bDVDkyb<%"=ٔQ->9Y=jGyr4E>Q 54w?Q 94 )^BQ A+:YQ E:yG7;,X@A2 @;2Zb>2`u<ٱ2 :AHRS rotation from veh to nav: [[0.975559,-0.219421,-0.011773],[0.219226,0.968241,0.120205],[-0.014976,-0.119848,0.992679]]2H7?̿``??@ž?`ѫb@?i2 @;I21_;2ĐCYBByF$#I HHbDNVDN0yVQ<%Vm=ٔZQ-Z?9XYX=^jGy\^xE^?`Q 5f4bӇ?Q 9f4b h)bdBQ Aj :YhQ Ejr:yjd:;^? eE)eXIe0(ie+HaaMchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.587776Q ^A <I I O >Z;,䟯X@AB|:B9a>B)Dj<ٱB-@ RAHRS rotation from veh to nav: [[0.975809,-0.218355,-0.010825],[0.218155,0.969288,0.113534],[-0.014298,-0.113149,0.993475]]BH9?˿ +`?`g??CH X`?iB|:IB_;BŐCY^Byb#IbDnVDnyz@%zG=ٔ~#غ9Q-~>9QYQ=UjGyQ]*E]>aQ 5m4eJ?Q 9m4e)ejBQ Am9YiQ EmD:ymh!)!>iڭ?rOk뿍-D߿I:?Z0(b+H8S k ?z[F2>MGh#?2XK:b"zq?*N[BcBb?7“B@checking for new query: numPingsReceived=3, elapsed TxPingTime=3.775829\_@gO addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.504875 s, deltaX: 0.400000 m, approachRate: 0.792275 m/s, rangeRepo size: 4 gO Added new target pos. range: 4.772610 m, bearing: 221.904599 deg, lat: 36.779284 deg, lon: -121.859560 deg, deltaT: 1.008826 s, deltaX: 0.596577 m, approachRate: 0.591357 m/s, posRepo size: 4 gOBNOT Ignoring new targets: 4.77 m.*" 2j@33@Z?-)Dj<)) -) ?i-9)1B}o>B}܍CByByB} =B}EDB}mDB}f;B}'EB=CB=CB=–CB= =B= =C=655)i)i11= = Ygot valid direction response: 00:45:50.4588 LVL= 27888, 29089, 32562, 32755, AGC= 62, IDX= 508,-0.24,-2.391,-0.368,-1.727,-1.372, PHS=-0.916, 1.050,-0.398, RAW= 315.3, 3.0, CAL= 313.0, 0.2, ROT= 197.0, -0.2 E R#Rx 4: Read range and direction messages.M `direction in FSK: [-0.956299,-0.292370,0.003491]M Fpublishing direction and range infoy  *Ǥ0ҿQC1ml?Y @ l q 2 ) >I ~ji ff? ˾ @ PwV= Ϯ@ d;)  \@I d KfGwoпm" ? 7) /iXI 6i d m checking for new query: numPingsReceived=4, elapsed TxPingTime=4.059256 aC;,~X@A2D[:2k3`>2 a<ٱ2ݽ :AHRS rotation from veh to nav: [[0.976035,-0.217379,-0.010124],[0.217181,0.970097,0.108371],[-0.013736,-0.107973,0.994059]]2H`;? ˿? ?9?!T?i2D[:I2EO_;0YnByn%#Iԙa%a% a%a- a-a- a-a- i-Mb@Mb@Mb@)))) )9-K7?A`"{Gz?Y- ?y-ٽ-ף<-A-X@ -9@)))Y-@y}AAbDVDy<%2=ٔQ->9Y=jGyE>Q 54尜?Q 94)pBQ AT:Yx ?Q E:y)Z?checking for new query: numPingsReceived=4, elapsed TxPingTime=4.279800)9 9@  @ @ 4@ !  DDAT read: Rx Time:00:45:50.9590  TRx dataTimestamp_ set to:1761698751.557709 PDAT read: Bearing 347.7, -9.4 (Local)  ~Local bearing/azimuth received: Bearing 347.7, -9.4 (Local)  DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed -0.4  DAT read: 00:45:50.9590 LVL= 24880, 28529, 32754, 32755, AGC= 60, IDX= 510,-0.36,-1.911, 0.106,-1.438,-1.007, PHS=-0.802, 1.158,-0.476, RAW= 321.1, 1.3, CAL= 319.4, -1.6, ROT= 190.6, 1.6  Ygot valid direction response: 00:45:50.9590 LVL= 24880, 28529, 32754, 32755, AGC= 60, IDX= 510,-0.36,-1.911, 0.106,-1.438,-1.007, PHS=-0.802, 1.158,-0.476, RAW= 321.1, 1.3, CAL= 319.4, -1.6, ROT= 190.6, 1.6  R#Rx 5: Read range and direction messages. bdirection in FSK: [-0.982552,-0.183880,-0.027922] Fpublishing direction and range infoy  lq{C_ǿ|p}Y @ 0a qo  ) <I OMi X9? F V@ ޹< b@ ) T@I < ڥ&g*M;׿r? i1bEyjE}w4rE}/E  E E (E "E :*E P:VE c44ZE a @a @a @a @) I 8=i <  checking for new query: numPingsReceived=5, elapsed TxPingTime=4.551005I^AD-<IIO>;,lX@Ae3 @e^>eO<ٱeʽ AHRS rotation from veh to nav: [[0.976326,-0.216118,-0.008946],[0.215930,0.971385,0.098922],[-0.012689,-0.098512,0.995055]]eH>?ྩ˿`^R??@R?8}?ie3 @Ie,`;eƐCYyI =) C=bDVD:2ym!i%m*=ٔuQ-u>9qYq=ujGyq}#/E}>Q 54ǜ?Q 94)vBYyB5B11“5cB5f@5unh@gO- addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.500903 s, deltaX: 0.300000 m, approachRate: 0.598919 m/s, rangeRepo size: 4 gOe Added new target pos. range: 5.269638 m, bearing: 203.175224 deg, lat: 36.779292 deg, lon: -121.859567 deg, deltaT: 0.500903 s, deltaX: 0.298282 m, approachRate: 0.595488 m/s, posRepo size: 4 gOmBNOT Ignoring new targets: 5.27 m.ii*i"q q2qqyj@33@ZL?<5O<)Y ] ?i]?9)Ye5aiaiaimBۍCBBB! =BBlDBf;B'EeJ9  9@!  @! @% 4@- A  DDAT read: Rx Time:00:45:51.4591  TRx dataTimestamp_ set to:1761698752.061688 PDAT read: Bearing 347.4, -5.8 (Local)  ~Local bearing/azimuth received: Bearing 347.4, -5.8 (Local) 5 DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed -0.4 } DAT read: 00:45:51.4591 LVL= 31600, 17969, 32754, 32755, AGC= 61, IDX= 510, 0.45,-1.653, 0.316,-1.307,-0.814, PHS=-0.736, 1.175,-0.536, RAW= 324.5, 1.1, CAL= 323.1, -1.9, ROT= 186.9, 1.9 E  E E %E "E :*E :VE 4ZE BE K"<,wX@Ae%k2;c2B3 9`]AYAYe̬@aep{e1Fa a)e=IejE7^B<ٱEL UAHRS rotation from veh to nav: [[0.976821,-0.213897,-0.008294],[0.213728,0.972440,0.093166],[-0.011863,-0.092779,0.995616]]EH B?`˿ 3t[? ;?@ٷ?Kc?iE@IE9Y=jGyqE>Q 54rᜊ?Q 94)}BY ?Q E :y a;Q I 2@jDI:io:j4yBɮAaeX@AJeΫ@ReΫ@jec^@e_ORJ 俈bƿre%k2;c2B3ZeZAbe=e#>A^C`(!ëzeo%/ݵ~1>տDBٮ2e:e"ey6?*e?b6BeBaa“eBeS@ef@gOe addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.503979 s, deltaX: 0.100000 m, approachRate: 0.198421 m/s, rangeRepo size: 4 gOu Added new target pos. range: 5.368994 m, bearing: 199.386047 deg, lat: 36.779292 deg, lon: -121.859567 deg, deltaT: 0.503979 s, deltaX: 0.099356 m, approachRate: 0.197143 m/s, posRepo size: 4 gOuBNOT Ignoring new targets: 5.37 m.yqy*y" _Bj@Z??M ?M ?M(A@MDa;]7^B<)a e?iee9)ae}5aiaiiim` <,(X@Af@fZ>xfn8<ٱf~볽 AHRS rotation from veh to nav: [[0.977220,-0.212093,-0.007637],[0.211931,0.973303,0.088122],[-0.011257,-0.087733,0.996080]]fH`bE?%˿BH ?`M%?'? `u?if@If9a;d ))m`Amҽiiqu`Aiu$IqqIyi}f`A }^y)yy Ӆ`A҅ ҁҁӁӅoAIӉ)!i)))I-`A-u) )15`A5i11i=ُC9)9 9I9Y9YmBym #IbD}VD}y6o<%U=ٔκQ->9Y=jGyڜE>Q 544?Q 94|)BYy;Q I2@pDI:il:}q4yBɮ*AIE5$X@AJ@R@j_@c43OJ|뿖K|-"?rF6::s~sv¿.='?Zn?bl$:FA ?zg` xV+ֿ8Ny[R?2 :"Bh#?*e=<B_By6?d>“@a@gO addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.504089 s, deltaX: 0.500000 m, approachRate: 0.991888 m/s, rangeRepo size: 4 gO Added new target pos. range: 5.866123 m, bearing: 200.310123 deg, lat: 36.779290 deg, lon: -121.859563 deg, deltaT: 0.504089 s, deltaX: 0.497129 m, approachRate: 0.986193 m/s, posRepo size: 4 gOBNOT Ignoring new targets: 5.87 m.*"    j@Z% W?qqquD;n8<) ( ?i9)顭5iigp<,ZAX@Ag@`iY>9(<ٱ %AHRS rotation from veh to nav: [[0.977494,-0.210829,-0.007549],[0.210713,0.973960,0.083674],[-0.010288,-0.083381,0.996465]]HG?sʿ~?*? k?}X ?ig@IHa;EDDAT read: Rx Time:00:45:52.4595 ETRx dataTimestamp_ set to:1761698753.069790MPDAT read: Bearing 348.0, -1.8 (Local) Q]~Local bearing/azimuth received: Bearing 348.0, -1.8 (Local) mDAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed -0.4 DAT read: 00:45:52.4595 LVL= 26416, 15137, 28818, 32755, AGC= 64, IDX= 2, 0.10,-1.622, 0.312,-1.408,-0.871, PHS=-0.649, 1.228,-0.581, RAW= 328.2, 0.0, CAL= 327.0, -2.9, ROT= 183.0, 2.9 Ygot valid direction response: 00:45:52.4595 LVL= 26416, 15137, 28818, 32755, AGC= 64, IDX= 2, 0.10,-1.622, 0.312,-1.408,-0.871, PHS=-0.649, 1.228,-0.581, RAW= 328.2, 0.0, CAL= 327.0, -2.9, ROT= 183.0, 2.9 R#Rx 8: Read range and direction messages.bdirection in FSK: [-0.997351,-0.052269,-0.050593]Fpublishing direction and range infoyAEiKRª|rQ穿YE@AE0gE!;Ep AE EE'E"E:*Ec:VE'4ZEBEyףt<A@ @)@Y@ԁbDVDk1y'%%(=ٔ%dQ-%>9!Y)=-jGy)-(E->1Q 5]45?Q 9]451)5BYe>Q Ee:yeF=Q Ie2@5wDI5;i5;5y4yiɮmLAqAEpwDX@AJE@RE@jEBZ@Ef@sVӿ PӿrEiKRª|rQ穿ZEEbE4QO=EOR7s}R.+U˿zE޳UGIп:3'S2Eʿ:E"EE:T!?*E0BE.BE.?Ee=<“EBE_@E_@gO addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.504013 s, deltaX: 0.100000 m, approachRate: 0.198407 m/s, rangeRepo size: 4 gO Added new target pos. range: 5.965552 m, bearing: 195.394669 deg, lat: 36.779290 deg, lon: -121.859562 deg, deltaT: 0.504013 s, deltaX: 0.099429 m, approachRate: 0.197275 m/s, posRepo size: 4 gOBNOT Ignoring new targets: 5.97 m.*" B!!j%@Z%?e>e>eN@e)F=9(<) ?iR9)5ii#IY:<,DR^X@A8B@BxX>Bh`#<ٱB JAHRS rotation from veh to nav: [[0.977691,-0.209910,-0.007689],[0.209814,0.974196,0.083187],[-0.009972,-0.082944,0.996504]]BH=I? Tʿ~`.?@,?K?k ;]?iB@IBf`;BĐCY-By-#IbDEVDE:yUs%U=ٔUQ-U ?9YYY=]jGyYeh<Ee ?aQ 5u4e?Q 9u4e)eBYqyuB=Q Iu2@e|DIe;ie;e4yBɮAJEgOBNOT Ignoring new targets: 5.97 m.*" jZ?YYY])B=h`#<) w?i*9)顕6iiiLIRih?# @x@ PwV)ɼJ@IPwV=Vϭx,߿Bet_ ()2:IbGiPwV=-checking for new query: numPingsReceived=9, elapsed TxPingTime=6.5842861@9 @9@=/@9^A] a<Ii Iy O >  checking for new query: numPingsReceived=9, elapsed TxPingTime=6.799572B A B i>B B B B =B B B Yf;B 'E^<,<xX@ApY%By%#IbDVD2y<%?=ٔ-Q-->99YA=EjGyIUE]>qQ 5}4u=$?Q 9}4u)uBYyyyQ I}2@uDIu:iu:u%4yɮ_AIMdX@AJMq@RMq@jMƉX@Mظ1+jĿ>i ԿrMEzٮĚyoU˪ZMbGbMPwV=MBD.NHo_ e* пzM ZF @Nrο9~2M׿:Mt"M=+$?*M ).BMBM=+$?M?b6“MBM@M[@gO addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.503996 s, deltaX: 0.300000 m, approachRate: 0.595243 m/s, rangeRepo size: 4 gO Added new target pos. range: 6.263822 m, bearing: 193.855061 deg, lat: 36.779288 deg, lon: -121.859559 deg, deltaT: 0.503996 s, deltaX: 0.298270 m, approachRate: 0.591811 m/s, posRepo size: 4 gOBNOT Ignoring new targets: 6.26 m.*i"i iqqqqyyj@33@Z?yyyy)! -; ?i-h9)1569i9i  QO4@ ԑ i I  checking for new query: numPingsReceived=10, elapsed TxPingTime=7.304207^AUhW<IIO?&<,HRX@AJQ@JFU>J<ٱJ稽 RAHRS rotation from veh to nav: [[0.978358,-0.206705,-0.009371],[0.206768,0.974929,0.082219],[-0.007859,-0.082377,0.996570]]JH@N?Quʿ`0 bw?2?P ? @?iJQ@IJ<_;HY^By^#IIb<)by什#<XA@ @)@Y\@ p<<bDVDy%=ٔ)sQ->9Y=jGy˴E>Q 54\:?Q 94)BYI>Q E:y; =Q I2@DI~ ;i;4yBɮAKEX@AJRjU_W@=1ehg;ð4g׿r)!u<hCg]ZGdHbs=Uf;1Ӿ~ 4Կ!z'|)X̿fͩ2򏱿:4"P8?*'*BB0“.BI@$X@gOE addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.503904 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gOU Added new target pos. range: 6.263822 m, bearing: 192.811391 deg, lat: 36.779288 deg, lon: -121.859557 deg, deltaT: 0.503904 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gO]BNOT Ignoring new targets: 6.26 m.YY*Y"Y YaaamzBiijiZmPk?I>I>j@; ==<)9 E?iE9)AE`6AiAiIIM!B ڍCB B B B B kDB e;B 'E^A NJN<I I O >-<,ԸX@AYBy #IbD)VD)y=%E7=ٔEQ-E>9IYI=MjGyIMEM>QQ 5]4UK?Q 9]4UP)UBYayaQ Ie2@UDIU:iU:UĘ4yiɮmAq15'LX@AJ5Y@R5Y@j5VvU@5l3m?&^'ؿr5^7)/9,?ᢔZ5MG@b5d=5?R|Xp[տz5}n\F𰟝ȿDcl}'F25l:5 "5<ۇ?*5kK(B5B5Bh#?5 ).“5B5H@5W@gO addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.505083 s, deltaX: 0.500000 m, approachRate: 0.989936 m/s, rangeRepo size: 4 gO Added new target pos. range: 6.760889 m, bearing: 191.101347 deg, lat: 36.779288 deg, lon: -121.859556 deg, deltaT: 0.505083 s, deltaX: 0.497066 m, approachRate: 0.984128 m/s, posRepo size: 4 gOUBNOT Ignoring new targets: 6.76 m.QQ*Q"Q QQQYYYaje@33@Ze?) g ?i9)"6iiBN&5<,X@Aj@j,S>j;ٱj+ã -AHRS rotation from veh to nav: [[0.978794,-0.204572,-0.010619],[0.204763,0.975587,0.079385],[-0.005880,-0.079876,0.996787]]jHGR? l/ʿ`D@5?@8?R?x r?ij@IjĚ`;jŐCYBy #IYiMb@Mb@Mb@ 9+?Q뱿y&1|?Y>y\`;nA @)@Y@bDVD:yVg<%=ٔ?yQ->9Y=jGy4E>1Q 5=45_?Q 9=45)5BYE>Q EE:yE^I=Q IE2@5DI5/:i5:54yMBɮU$AYaeΨX@AJe@Re@jemsU@eqLc:0Ř?0 ڿreS*UP!ב?Cg]ZeG@bes=eht*fW\SN׿zeT[Z_G/ȿ䶋2e:e"e6")?*e 0(BeуBe=+$?e'*“eBe@e%V@gO addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.505655 s, deltaX: 0.100000 m, approachRate: 0.197763 m/s, rangeRepo size: 4 gO Added new target pos. range: 6.860313 m, bearing: 191.091163 deg, lat: 36.779288 deg, lon: -121.859554 deg, deltaT: 0.505655 s, deltaX: 0.099425 m, approachRate: 0.196626 m/s, posRepo size: 4 gO-BNOT Ignoring new targets: 6.86 m.))*)") 1111=wB99j=@Z= ?>>@)^I=;)  ?ik9),6ii)¢?W7) ߑY-3@)--o- ))-AI-i-?-= 7- @-=-z@ -5)-YF@E EE#E"E:*Ec:VE3ZEa@a@a@a@I-5<))-hN>uΊE؟? -$)-I-YF@i-5<))checking for new query: numPingsReceived=13, elapsed TxPingTime=8.583219Ա 9a @a  @a @e 4@a  checking for new query: numPingsReceived=13, elapsed TxPingTime=8.815517B b>B B #IB BB " =B B B d;B &EBۍCBڍCB͓CB! =B! =ĆS5 ^Aeh%<IqIO?=<,\X@A&@@!R>;ٱb AHRS rotation from veh to nav: [[0.979008,-0.203517,-0.011149],[0.203765,0.975980,0.077092],[-0.004808,-0.077746,0.996962]]H`T? ʿIՆ?9;?O?`s"糿 ?i&@I `;ƐCYBy #I ==bD VD ye%&=ٔ%Q-%>9!Y!=-jGy)-E->1Q 5=45q?Q 9=45)5BYAyED=Q IE2@5DI5:i5:5t4yMBɮMVAULEqX@AJ@R@jS@d6Hlq?^퉿rTW@!qv>¢?W7) ߑZYF@b5< D<,иX@A2PExceeded connect timeout, disconnecting.YrByv#I%checking for new query: numPingsReceived=14, elapsed TxPingTime=9.319390i}Mb@Mb@Mb@yyyy y9}Q?l񲿺I +?Y}\>y}}94<}A}@ y)yyY}\@bDVDy?D%S=ٔQ->9Y=jGyE>Q 54?Q 94)BY>Q E;y>`G@Q<) ?i9)7@6iil;III-x?)-o?I ZA) @ @@@@[A@[ADDAT read: Rx Time:00:45:55.9606 TRx dataTimestamp_ set to:1761698756.597777PDAT read: Bearing 345.0, 2.8 (Local) ~Local bearing/azimuth received: Bearing 345.0, 2.8 (Local) DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed -0.3  DAT read: 00:45:55.9606 LVL= 32752, 24737, 32754, 32755, AGC= 67, IDX= 509, 0.38, 2.432,-2.075, 2.458, 3.123, PHS=-0.588, 1.131,-0.709, RAW= 333.4, 1.9, CAL= 332.4, -0.9, ROT= 177.6, 0.9 % Ygot valid direction response: 00:45:55.9606 LVL= 32752, 24737, 32754, 32755, AGC= 67, IDX= 509, 0.38, 2.432,-2.075, 2.458, 3.123, PHS=-0.588, 1.131,-0.709, RAW= 333.4, 1.9, CAL= 332.4, -0.9, ROT= 177.6, 0.9 ) E T#Rx 15: Read range and direction messages.bEȻ 4jE4rEȌ0EU  EU EU *EQ "EU ;*EU g:VEU (N4ZEQ a] @a] @a] @a] @ `direction in FSK: [-0.999000,0.041870,-0.015707] Fpublishing direction and range infoyvK p?y&Y@` )CI+iĐ?54@=@ )aF@I<G꿡"vῤ٠? #)IaF@i<U checking for new query: numPingsReceived=15, elapsed TxPingTime=9.620869^A I I O >Y J<,A-X@A2@2O>2Y;;ٱ2= :AHRS rotation from veh to nav: [[0.979442,-0.201321,-0.012783],[0.201706,0.976479,0.076176],[-0.002854,-0.077189,0.997012]]2HW?ɿ-@?Q??I?`g ³?i2@I2:b;2ŐCYnByn"IbDzVDzk2y N% T=ٔQ->99Y9=EjGyAEEM>QQ 5}4U?Q 94U)UBYynB9B= #IB=BB= =B9B9B= d;B=X&E9e9@a @i@m/@qԁԡ ^A Β;I I1 O] > DDAT read: Rx Time:00:45:56.4607  TRx dataTimestamp_ set to:1761698757.106007 ! ) Ee  Ee Ee $Ea "Ee m:*Ee [:VEe 4ZEa BEe S%w:ٱ% uAHRS rotation from veh to nav: [[0.979798,-0.199506,-0.013918],[0.199984,0.976823,0.076311],[-0.001630,-0.077553,0.996987]]%HZ?fɿ̀?@"B?@$? Z`ڳ Q?i%@I%b;!Iyiҝ?+'+F¹@ 5z)_(F@I5z=jAVῨO) #)(y 㥽 ; A @ @) @A Y @bDeVDe0yu5R%u$=ٔ!Q->9Y=jGyPhE>Q 54ѝ?Q 94)BY>Q E;y.;Q I%2@DIg>@D/;5w:)1 5\?i59)9= S69i9iAAEL;IAiIIchecking for new query: numPingsReceived=16, elapsed TxPingTime=10.327557ԡ 5 9 9@  @ @ /@ DDAT read: Rx Time:00:45:56.9609 TRx dataTimestamp_ set to:1761698757.605712PDAT read: Bearing 351.1, 8.9 (Local) ~Local bearing/azimuth received: Bearing 351.1, 8.9 (Local) DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed -0.3 DAT read: 00:45:56.9609 LVL= 32752, 23201, 32754, 32755, AGC= 68, IDX= 512, 0.20,-0.140, 1.678,-0.330, 0.288, PHS=-0.326, 1.435,-0.662, RAW= 338.6, -4.6, CAL= 338.2, -7.6, ROT= 171.8, 7.6 Ygot valid direction response: 00:45:56.9609 LVL= 32752, 23201, 32754, 32755, AGC= 68, IDX= 512, 0.20,-0.140, 1.678,-0.330, 0.288, PHS=-0.326, 1.435,-0.662, RAW= 338.6, -4.6, CAL= 338.2, -7.6, ROT= 171.8, 7.6 T#Rx 17: Read range and direction messages.`direction in FSK: [-0.981082,0.141376,-0.132256]Fpublishing direction and range infoyEq=eܚ?) YAZ )DIy馾i?x)$@l@ E EEE"E:*E]t:VEZEa@a @a @a @)?@I>ܔ>迦)Ϋ 9)=I?@i>checking for new query: numPingsReceived=17, elapsed TxPingTime=10.621450^A;II1O= ?vZ<,g`jX@AYsBy"IbDVDy % (=ٔQ->9Y=jGyE>!Q 5M4%?Q 9M4%x)%BYIyIQ IU2@%DI%X;i%:%4y]Bɮ]^AYfX@AJ@R@jYyM@6r?28rEq=eܚ?) Z?@b>oZ.l^Zr[kʃzNpP9'u󂬚¿2 :`"?*B4BZE"?('%“̃B@^R@gOU addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.499705 s, deltaX: 0.300000 m, approachRate: 0.600355 m/s, rangeRepo size: 4 gO Added new target pos. range: 7.953985 m, bearing: 183.949904 deg, lat: 36.779288 deg, lon: -121.859552 deg, deltaT: 0.499705 s, deltaX: 0.298275 m, approachRate: 0.596902 m/s, posRepo size: 4 gOBNOT Ignoring new targets: 7.95 m.*" j @Z{?)  ?i[9)%\6!i!i99=d;I9IABBB"IBBchecking for new query: numPingsReceived=17, elapsed TxPingTime=10.831683BBBB^c;B&E@ @@0@ 9 ^A ;I! I1 O= >`<,%X@AuDDAT read: Rx Time:00:45:57.4610 TRx dataTimestamp_ set to:1761698758.112839DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed -0.3 Z#Rx 18: Read range message, but no direction.yyY}Aychecking for new query: numPingsReceived=18, elapsed TxPingTime=11.093703E EE(E"E[:*EP:VEc44ZEBE}y`e<A )@YG@@AbD VD:2yv%2=ٔQ->9Y=jGyE>Q 54?Q 94)BY>Q E ;yuQ I2@DI] ;i;%4yĔBɮANEgO% addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.507127 s, deltaX: 0.100000 m, approachRate: 0.197190 m/s, rangeRepo size: 4 gO-BNOT Ignoring new targets: 7.95 m.))*)") ))115jB19j=@33 @Z=`e?]>]>]f@]eU@i)q u?iuG9)qud6qiqiyyyII@ @@g3@q checking for new query: numPingsReceived=18, elapsed TxPingTime=11.335583ԩ ^AE +;Iy I O >x$g<,'X@A@J[@J`H>J0ٱJ jAHRS rotation from veh to nav: [[0.980842,-0.194019,-0.017460],[0.194785,0.978042,0.074107],[0.002698,-0.076088,0.997097]]JH`c?ȿ`?L??@f?z8?iJ[@IJe;JĐCYvqByv"I xxbDVDy 3<%=ٔtaQ-?9Y=jGy%E% ?)Q 5-4- ǝ?Q 954-)-BY1y5Q I52@-DI-P:i-:-4yAɮEAAgOmBNOT Ignoring new targets: 7.95 m.ii*i"i iqqqqyyjyZ}@?(@0) r?i9)页Jl6 B g>B B "IB yBB B B lDB c;B %Ei I A% checking for new query: numPingsReceived=19, elapsed TxPingTime=11.839797Nm<,зX@ABS@BG>BuٱBP NAHRS rotation from veh to nav: [[0.981012,-0.193088,-0.018239],[0.193906,0.978401,0.071641],[0.004012,-0.073817,0.997264]]BH sd?@ȿ+? O?@W?np? 岿?iBS@IBf;BÐCaYmiByu"IbDVDNy5 %E9=ٔ]AQ-e>9Y=jGyE>Q 54g՝?Q 94)BYykQ I2@ƦDI};i%;4yɔBɮAFX@AJARAj1Q@#櫪 t qN?Ͽr H? qY? `ZCE@b<Z9-I Fc)uJԿz%Ik?7 np2:B"?*$BƃB ?aV$“ƃBA R@gO addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.500849 s, deltaX: 0.299999 m, approachRate: 0.598981 m/s, rangeRepo size: 4 gO Added new target pos. range: 8.351712 m, bearing: 187.915023 deg, lat: 36.779288 deg, lon: -121.859552 deg, deltaT: 1.007976 s, deltaX: 0.397727 m, approachRate: 0.394580 m/s, posRepo size: 4 gOBNOT Ignoring new targets: 8.35 m.*" j @Z;?o @I%u)I M >iMz9)QUu6U/y Bt<,X@A2I@2F>2,ٱ2{ɕ :AHRS rotation from veh to nav: [[0.981244,-0.191812,-0.019193],[0.192699,0.978708,0.070699],[0.005224,-0.073072,0.997313]]2HYf?Lȿt`^?Q?\?eu?ٴ?i2I@I2f;2ĐCY^nBy^"Ii=Mb@Mb@Mb@9999 99=rh|?EԸ9qYq=ujGyquYE}>Q 54ᝊ?Q 94)BY i>Q E  ;y ~Q I 2@˦DI:i:K4yɮA9X@AJRji>@G@i},)y }\?i}l9)顅9~6;,@@>bE>>ѻٱ>: FAHRS rotation from veh to nav: [[0.981460,-0.190609,-0.020125],[0.191561,0.978999,0.069750],[0.006407,-0.072312,0.997362]]>H@h?eȿ?S?` ۱?1>z?b?i>,@@I>g;>ŐCYReByR"IIV=)Vp;bD^VD^yb%b%=ٔfQ-f>9hYh=jjGyhjEn>lQ 5r4n?Q 9r4nU)nBYtyvہQ Iv2@nѦDIn&:in;n4yzϔBɮ~NA~OEIM X@AJMf ARMf AjMk[Q@MN.?!HT?&T.׿rMO)? ۷pZM:D@bM+=M$|!!vsBNݿzM~N62M玿:M "M'?*MA@#BMzBM'?MA@#“MzBM4 AMk[Q@gOE addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.499784 s, deltaX: 0.300000 m, approachRate: 0.600260 m/s, rangeRepo size: 4 gOU Added new target pos. range: 8.649988 m, bearing: 187.426220 deg, lat: 36.779288 deg, lon: -121.859551 deg, deltaT: 0.499784 s, deltaX: 0.298276 m, approachRate: 0.596810 m/s, posRepo size: 4 gO]BNOT Ignoring new targets: 8.65 m.YY*Y"Y Yaaaaiijm`ff!@Zm z?k@ѻ)  ?i9)顥6BۍCB"IBoBB =BBB)c;B%Euchecking for new query: numPingsReceived=21, elapsed TxPingTime=12.848164yi@i @q@u/@yԑ^AqIIO>E DDAT read: Rx Time:00:45:59.4614 U TRx dataTimestamp_ set to:1761698760.130350u PDAT read: Bearing 346.7, 4.3 (Local) } ~Local bearing/azimuth received: Bearing 346.7, 4.3 (Local) E  E E 'E "E :*E Ar:VE '4ZE BE BoٱB JAHRS rotation from veh to nav: [[0.981544,-0.190094,-0.020880],[0.191089,0.979211,0.068044],[0.007511,-0.070778,0.997464]]BHh?Tȿqau?U?Rk?~?@9?iB?<@IBg;BĐCY`By"IiMb@Mb@Mb@ 9 ףp= ?zGếQ?YQ>y ׽u<A @)@Y@bDVD:y%.=ٔQ->9Y=jGyE>!Q 5M4%?Q 9M4%)%BYU'>Q EU ;yUQ IU2@%צDI%};i%;%4yYɮ]tAaWX@AJRj&P@O,P9!ho4?㓅.ݿrl￁}?ʾ7Z%D@bk]=HVm#!*u𿲏Lvzd_l,qz42: "'f-?*!B8BP9#“UB A:P@gO  addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.507911 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 8.650054 m, bearing: 186.844763 deg, lat: 36.779288 deg, lon: -121.859551 deg, deltaT: 0.507911 s, deltaX: 0.000066 m, approachRate: 0.000130 m/s, posRepo size: 4 gO%BNOT Ignoring new targets: 8.65 m.!!*!"I IIQQUVBQYjYZ]?'>'>@<@o) ?i9)S6yQ N*<,q&X@A28@2 qD>2 ٱ2~ :AHRS rotation from veh to nav: [[0.981620,-0.189629,-0.021535],[0.190656,0.979426,0.066142],[0.008549,-0.069032,0.997578]]2Hmi?Eȿ@- mg?@uW??.?@(?i28@I2Vg;2ŐCYj_BrDDAT read: Rx Time:00:45:59.9616 vTRx dataTimestamp_ set to:1761698760.629854zPDAT read: Bearing 346.4, 5.0 (Local) ~~Local bearing/azimuth received: Bearing 346.4, 5.0 (Local)  DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed -0.4 -DAT read: 00:45:59.9616 LVL= 32752, 27025, 32754, 32755, AGC= 67, IDX= 503, 0.47, 1.894,-2.635, 1.825, 2.494, PHS=-0.498, 1.199,-0.712, RAW= 335.9, 0.1, CAL= 335.2, -2.8, ROT= 174.8, 2.8 5Ygot valid direction response: 00:45:59.9616 LVL= 32752, 27025, 32754, 32755, AGC= 67, IDX= 503, 0.47, 1.894,-2.635, 1.825, 2.494, PHS=-0.498, 1.199,-0.712, RAW= 335.9, 0.1, CAL= 335.2, -2.8, ROT= 174.8, 2.8 =T#Rx 23: Read range and direction messages.E`direction in FSK: [-0.994695,0.090524,-0.048850]EFpublishing direction and range infoE] E]E]$EY"E]:*E]P:VE]4ZEYa@a@a@a@ytvא r,?s!DYvAttvit t)vCIvivx?vE6v@v:v6@ v+H)v@C@Iv+H=ttvSn]!֏&QL6ca? v )v! Iv@C@iv+H=ttchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.631411yj"I)bDVDyuwǻ%u@=ٔ}"Q-}>9yYy=jGyE>Q 54t ?Q 94)BYy⵽Q I2@ܦDI:i:~4y!ɮ%~A!tvO(X@AJv,ARv,AjvO@vv4>! !'?Aۿrvא r,?s!DZv@C@bv+H=v^pN!i5dpLʲ-zvĝP4¢9bǭ7{@2vn:v"v*!?*v+BvBB"IBjBBBBBnc;B&EBڍCBۍCBB =B =Cǹ5checking for new query: numPingsReceived=23, elapsed TxPingTime=13.856365ԉ ^A I I O ><,pB@X@A024@2`C>2l9ٱ2x >AHRS rotation from veh to nav: [[0.981699,-0.189148,-0.022131],[0.190203,0.979622,0.064530],[0.009474,-0.067559,0.997670]]2H`j?@6ȿ@sX?Y??g? K`?i24@I20h;0YE]ByE"I IIbD]VD]ym,%m]=ٔm8$Q-m>9qYq=}jGyy}_E}>Q 54?Q 94p)BYyQ I2@DI<;i;4yԔBɮAPEgO}BNOT Ignoring new targets: 8.95 m.yy*" ԑjZ@]?DDAT read: Rx Time:00:46:00.4616 %TRx dataTimestamp_ set to:1761698761.137983E EE)E"E:*EL_:VEFA4ZEBE "><,/ZX@A`P,@B>,ٱ AHRS rotation from veh to nav: [[0.981887,-0.188076,-0.022907],[0.189175,0.979888,0.063508],[0.010502,-0.066691,0.997718]]Hk?ȿt6?@=[? B??@O?iP,@Ig;ÐC r@iI _AI) i ) I  iiM^A)-2 EI !)%S{A!!!Y!Y5bBy="IiMb@Mb@Mb@ 9gfffff?:vyԽt<XA @ @)@YQ@bDVDy<%B=ٔQ->9Y=jGy"E>Q 54%?Q 9 4)BY +>Q E ;y w½Q I 2@DIL ;i?; 4yɮAAEHX@AJARAjE7O@E>.2r!* x?N_qrE5<)?Cg]ZAbEs=E$j6!jIn # %zE=k-Z¬imux]2E[l:E "EQ]9?*E BEBE)?E!“Eu+>uѿ@u@,) = ?i9)顭6":ii5؎IIDDAT read: Rx Time:00:46:00.9618 TRx dataTimestamp_ set to:1761698761.637719 PDAT read: Bearing 346.5, 5.8 (Local)  ~Local bearing/azimuth received: Bearing 346.5, 5.8 (Local) %DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed -0.4 EDAT read: 00:46:00.9618 LVL= 32752, 27025, 32754, 32755, AGC= 66, IDX= 506, 0.09,-2.442,-0.697,-2.548,-1.862, PHS=-0.478, 1.210,-0.731, RAW= 336.9, -0.0, CAL= 336.2, -2.9, ROT= 173.8, 2.9 UYgot valid direction response: 00:46:00.9618 LVL= 32752, 27025, 32754, 32755, AGC= 66, IDX= 506, 0.09,-2.442,-0.697,-2.548,-1.862, PHS=-0.478, 1.210,-0.731, RAW= 336.9, -0.0, CAL= 336.2, -2.9, ROT= 173.8, 2.9 UT#Rx 25: Read range and direction messages.]`direction in FSK: [-0.992878,0.107861,-0.050593]]Fpublishing direction and range infoyg ɜ?|rQ穿YAi )IjiH?";)@bE4jE4rE+0Eu EqEu$Eq"Eu:*EqVEu4ZEqa@a@a@a@Ļ@ 4QO)"B@I4QO=HzH'q4㿣`Z) X)(J9I"B@i4QO=checking for new query: numPingsReceived=25, elapsed TxPingTime=14.632256m99 y @y  @y @ /@ @ @ i BAB!B!B%"IB%eBB!B!B!B%c;B%(&Echecking for new query: numPingsReceived=25, elapsed TxPingTime=14.863482^AvтIIO]?<,*szX@A9%@B><ٱĆ AHRS rotation from veh to nav: [[0.982029,-0.187236,-0.023690],[0.188376,0.980112,0.062412],[0.011533,-0.065753,0.997769]]Hl?Wǿ@2B?]? s?ஞ?.հ?i%@Iyf;ĐCYm\Bym"I y}bDVD y%&=ٔ Q->9Y=jGy׺E>Q 544?Q 94E)BYyLĽQ I2@DI:i:4yٔBɮAQEchX@AJARAj|N@c1\"mQ?wݿrg ɜ?|rQ穿Z"B@b4QO=b"[\´hlzN@\/4]c2G:"P.?*ەBB'f-? “8BAEYO@gO addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.499736 s, deltaX: 0.300000 m, approachRate: 0.600317 m/s, rangeRepo size: 4 gO Added new target pos. range: 9.246644 m, bearing: 184.857494 deg, lat: 36.779289 deg, lon: -121.859550 deg, deltaT: 0.499736 s, deltaX: 0.298299 m, approachRate: 0.596913 m/s, posRepo size: 4 gOBNOT Ignoring new targets: 9.25 m.*" j"@ZC?aiiim@<) ]?iV9)額Ǚ6iiIIDDAT read: Rx Time:00:46:01.4619 5TRx dataTimestamp_ set to:1761698762.146852UPDAT read: Bearing 347.1, 7.5 (Local) ]~Local bearing/azimuth received: Bearing 347.1, 7.5 (Local) E EE'E"E2:*Ee:VE'4ZEBE"*<, X@A!@A>7EٱNb AHRS rotation from veh to nav: [[0.982113,-0.186726,-0.024231],[0.187905,0.980189,0.062619],[0.012059,-0.066053,0.997743]]Hxm?ǿ"ИH ?@]????谿`?i!@I,e;CԑY[By"IMonly read 0 of 1 data item for BIT error. Device response is::TS,00050504342242,35.0, +10.6, 0.0,1492.2RA, 0.00, 80.50, 74.73, 77.79, 77.45 a@a a@a a@a a@a bDVDyb%$=ٔcQ->9Y=jGy[{E> Q 54 C?Q 94 ) BQ A+:YQ E:yBŽQ I2@ DI ;i ? 4y!ɮ%A)fX@AJ AR AjL@*C"M9?$tsr3n￾Wka?.xAZ<@@b5z=ێx"LT࿐zl$Rw9&2M:c"+?*mBςB+“BAeN@gOu addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.509133 s, deltaX: 0.200000 m, approachRate: 0.392824 m/s, rangeRepo size: 4 gOU Added new target pos. range: 9.445497 m, bearing: 183.170835 deg, lat: 36.779289 deg, lon: -121.859550 deg, deltaT: 0.509133 s, deltaX: 0.198853 m, approachRate: 0.390571 m/s, posRepo size: 4 gO]BNOT Ignoring new targets: 9.45 m.YY*Y"Y YYYaaaajm#@ZmX?7E) ?i9){6Yii\IIԱ@ @@0@DDAT read: Rx Time:00:46:01.9621 TRx dataTimestamp_ set to:1761698762.646137PDAT read: Bearing 347.2, 7.9 (Local) ~Local bearing/azimuth received: Bearing 347.2, 7.9 (Local) DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed -0.4 DAT read: 00:46:01.9621 LVL= 32752, 23537, 32754, 32755, AGC= 65, IDX= 509,-0.13,-2.587,-0.856,-2.771,-2.059, PHS=-0.426, 1.247,-0.756, RAW= 338.8, -0.7, CAL= 338.3, -3.6, ROT= 171.7, 3.6 Ygot valid direction response: 00:46:01.9621 LVL= 32752, 23537, 32754, 32755, AGC= 65, IDX= 509,-0.13,-2.587,-0.856,-2.771,-2.059, PHS=-0.426, 1.247,-0.756, RAW= 338.8, -0.7, CAL= 338.3, -3.6, ROT= 171.7, 3.6 T#Rx 27: Read range and direction messages.`direction in FSK: [-0.987573,0.144071,-0.062791]Fpublishing direction and range infoyM3 ̄Y p?֏ YA[ )AIھi?7A8@+HE EE%E"E:*E:VE 4ZEa @a @a @a@>@ )n?@I=~oyD iL )iJ 05<,3X@A6d@6@>6 Rٱ6 BAHRS rotation from veh to nav: [[0.982226,-0.186045,-0.024866],[0.187261,0.980344,0.062124],[0.012820,-0.065677,0.997759]]6H@fn? Rǿ@v+?^?ί? )A?-а`?i6d@I6c;6ŐCY^_Byb"IbDjVDjyr<%ru=ٔrsQ-r?9tYt=vjGytvEz?xQ 5~4zN?Q 94z )zBQ A :YQ E:yƽQ I2@zDIz ;iz[U?z4yɮAOZX@AJARAjL@e>#u??rM3 ̄Y p?֏ Zn?@b=Ђr=.e#qc9ݿnzgV12l^? 2q:)"?*Kq=BB+?ە“BA*N@gOe addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.499285 s, deltaX: 0.300000 m, approachRate: 0.600860 m/s, rangeRepo size: 4 gOm Added new target pos. range: 9.743775 m, bearing: 182.737908 deg, lat: 36.779289 deg, lon: -121.859548 deg, deltaT: 0.499285 s, deltaX: 0.298279 m, approachRate: 0.597412 m/s, posRepo size: 4 gOuBNOT Ignoring new targets: 9.74 m.qq*q"q qyyyj#@Z ? R) ?i9)顽96IiiDIIB=p>B=܍CB="IB=jBB= =B9B=mDB=ec;B=&Echecking for new query: numPingsReceived=27, elapsed TxPingTime=15.875026)A@I @I@U/@Q@u\A@q9^AUSIaIqO{>i  DDAT read: Rx Time:00:46:02.4621  TRx dataTimestamp_ set to:1761698763.154522 PDAT read: Bearing 347.8, 9.3 (Local)  ~Local bearing/azimuth received: Bearing 347.8, 9.3 (Local) E5  E5 E5 #E1 "E5 [:*E5 [:VE5 3ZE1 BE5 }@I`=nˮݰ俠2m* ')EY@i`=Echecking for new query: numPingsReceived=28, elapsed TxPingTime=16.220814@ @>N[ٱ2 }AHRS rotation from veh to nav: [[0.982207,-0.186100,-0.025246],[0.187324,0.980412,0.060853],[0.013426,-0.064499,0.997827]]H`ymȽm9Y=jGy 9E>Q 54']?Q 94k )BQ AT:YA>Q E;yQ I3@DI ;i ;4'4yޔBɮAX@AJRj}J@^;&#L+yv?`r qA^?]1Z>@b`=3g$c#˿KzGC^ᅯn–)7U2]:"SK,?*bBuBSK,?m“ςBLARL@gOu addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.508385 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 9.743883 m, bearing: 181.279939 deg, lat: 36.779289 deg, lon: -121.859546 deg, deltaT: 0.508385 s, deltaX: 0.000108 m, approachRate: 0.000212 m/s, posRepo size: 4 gOBNOT Ignoring new targets: 9.74 m.*" jZY/?A>A>u_@@-N[)) -= ?i-9)15-65ۼi1i9Y]IIYIaDDAT read: Rx Time:00:46:02.9624 -TRx dataTimestamp_ set to:1761698763.405638Mchecking for new query: numPingsReceived=28, elapsed TxPingTime=16.384268ԙ@ @@%1@! ^AU &tIa Iq O >G<,BX@A:s@:*A>:bٱ:"| FAHRS rotation from veh to nav: [[0.982166,-0.186264,-0.025605],[0.187505,0.980403,0.060428],[0.013847,-0.064151,0.997844]]:H`m?@ǿ 8,?@v_?k?\?@9lV?i:s@I:b;:ÐCLYRiByR"IbDZVDZ:yb*=%b=ٔfHQ-f?9dYh=jjGyhj:Ej?lQ 5r4nf?Q 9v4n )nBYtyvQ Iv3@nDIn:in:n,4yxɮzA|gO%BNOT Ignoring new targets: 9.74 m.!!*!"! !!))))1j1Z5 U?QQQUQ@mPDAT read: Bearing 355.6, -2.2 (Local) m~Local bearing/azimuth received: Bearing 355.6, -2.2 (Local) }DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.3 DAT read: 00:46:02.9624 LVL= 32752, 22417, 32754, 32755, AGC= 65, IDX= 512,-0.33, 0.507, 1.900, 0.705, 0.896, PHS=-0.287, 1.049,-0.235, RAW= 328.1, -8.1, CAL= 327.7, -11.3, ROT= 182.3, 11.3 Ygot valid direction response: 00:46:02.9624 LVL= 32752, 22417, 32754, 32755, AGC= 65, IDX= 512,-0.33, 0.507, 1.900, 0.705, 0.896, PHS=-0.287, 1.049,-0.235, RAW= 328.1, -8.1, CAL= 327.7, -11.3, ROT= 182.3, 11.3 T#Rx 29: Read range and direction messages.bdirection in FSK: [-0.979825,-0.039354,-0.195946]Fpublishing direction and range infoyY]KCZ/0&>x_ɿY]3#AYY]WY Y)YI]i]E?]ףp]>@]]@ ]I)]K@I]I>YY][ m} ݿ`¿ ]7))]>I](~Fi]I>YYchecking for new query: numPingsReceived=29, elapsed TxPingTime=16.641891D=D<E EE)E"E:*ER:VEFA4ZEa@a@a@a@}b)y } ?i}9)y顅6iik,II I)A1A5AAB=y>B=ݍCB9B9B= =B=DDB=nDB=b;B=%EI@Q @Q@U/@Q DDAT read: Rx Time:00:46:03.4624 % TRx dataTimestamp_ set to:1761698763.9063155 DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.0 5 Z#Rx 30: Read range message, but no direction.y Y  E checking for new query: numPingsReceived=30, elapsed TxPingTime=16.885845! ^Aq I I O >U<,dX@A2G@2`@>2mdjٱ2ނ :AHRS rotation from veh to nav: [[0.982232,-0.185864,-0.025975],[0.187124,0.980499,0.060058],[0.014306,-0.063851,0.997857]]2H rn?aǿ!`?>`?㿮? LL?Xq?i2G@I2a;2ŐCYBcByF"IXbDrVDryz%zC=ٔzcQ-z>9|Y|=~jGy|~@rE>Q 5 4s?Q 94 )BYy{Q I3@DI;i;34yBɮ%A%REX@AJD"ARD"AjX@yL#*1#+ٿlZrKCZ/0&>x_ɿZ(~FbI>NE#j:;z}f9Ϳuʿ2:("GG?*RHB0B“BAL@gOm addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.751793 s, deltaX: 0.400000 m, approachRate: 0.532061 m/s, rangeRepo size: 4 gO} Added new target pos. range: 10.141802 m, bearing: 193.820356 deg, lat: 36.779289 deg, lon: -121.859546 deg, deltaT: 0.751793 s, deltaX: 0.397919 m, approachRate: 0.529293 m/s, posRepo size: 4 gODNOT Ignoring new targets: 10.14 m.*" j`ff$@Z`d?}@mdj) Y ?i9)m6ii»II@ @@/@ =checking for new query: numPingsReceived=30, elapsed TxPingTime=17.133629@U=@U=E EE%E"E:*EC:VE 4ZEBE Q  DDAT read: Rx Time:00:46:03.9625  TRx dataTimestamp_ set to:1761698764.412981 PDAT read: Bearing 347.5, 11.7 (Local)  ~Local bearing/azimuth received: Bearing 347.5, 11.7 (Local) 5 checking for new query: numPingsReceived=30, elapsed TxPingTime=17.394787|<,/5X@A1e@e{@>eOuٱe! AHRS rotation from veh to nav: [[0.982275,-0.185556,-0.026544],[0.186846,0.980580,0.059587],[0.014972,-0.063491,0.997870]]eH n?Lǿ@n.? `?2? ?@@?ie@Ie_;aYy"IIC=)=iMb@Mb@Mb@ 9-?/$Q?Y?>yu<9@ @)@Y@bD5VD5JyEi%E*=ٔMQ-M>9IYI=UjGyQUxEU>YQ 5e4]0?Q 9e4], )]BYmp>Q Em;ym,Q Im3@]DI]/;i]T;]W<4yqɮuAqgODNOT Ignoring new targets: 10.14 m.*" cBjZv?p>p>J@@aUOu)a e?ie9)im˳6iiiiqquɻIqIy9@ @@0@EDAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.4 eDAT read: 00:46:03.9625 LVL= 32128, 24145, 24866, 32755, AGC= 71, IDX= 1, 0.31,-2.454,-0.823,-2.774,-2.015, PHS=-0.337, 1.237,-0.803, RAW= 342.6, -1.1, CAL= 342.2, -4.0, ROT= 167.8, 4.0 mYgot valid direction response: 00:46:03.9625 LVL= 32128, 24145, 24866, 32755, AGC= 71, IDX= 1, 0.31,-2.454,-0.823,-2.774,-2.015, PHS=-0.337, 1.237,-0.803, RAW= 342.6, -1.1, CAL= 342.2, -4.0, ROT= 167.8, 4.0 uT#Rx 31: Read range and direction messages.}`direction in FSK: [-0.975035,0.210810,-0.069756]}Fpublishing direction and range infoy15vb|3.?&k۱Y5(A15}5Q^5"a 1)5GI5Di5V?5hM5 X@5nF5@ԉ 55)55o;@I55=115WOp翭v U@ 5(})5Թ <,5X@A2e@2 )@>2{ٱ29 :AHRS rotation from veh to nav: [[0.982328,-0.185227,-0.026882],[0.186535,0.980656,0.059310],[0.015376,-0.063277,0.997878]]2H;o?ǿ d?`a?]?}?2?i2e@I2^;2ĐCYNjByR"IbDZ VDZ:2yv8=%v{=ٔvQ-v ?9xYx=zjGyxz}E~ ?Q 54'?Q 9 4N )BY y L.Q I 3@ DI:i: B4yɮAB>BCB"IBoBB =BBpDBHb;B%EԙDDAT read: Rx Time:00:46:04.4625 TRx dataTimestamp_ set to:1761698764.918034PDAT read: Bearing 347.4, 11.0 (Local) ~Local bearing/azimuth received: Bearing 347.4, 11.0 (Local) DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.4 %Z#Rx 32: Read range message, but no direction.yYim_C*X@AJm 'ARm 'AjmƺG@mI0)\$$@;\BNrmvb|3.?&k۱Zm5o;@bm5=m*${v?bg\zmAV↑0V6?&M2m{]>checking for new query: numPingsReceived=32, elapsed TxPingTime=17.920429:m6&"mc ?*mfDBm^Bm+?mKq=“muBmA$AmgK@gO addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 1.011719 s, deltaX: 0.300000 m, approachRate: 0.296525 m/s, rangeRepo size: 4 gOM Added new target pos. range: 10.440653 m, bearing: 178.807220 deg, lat: 36.779289 deg, lon: -121.859545 deg, deltaT: 0.754047 s, deltaX: 0.298851 m, approachRate: 0.396329 m/s, posRepo size: 4 gOMDNOT Ignoring new targets: 10.44 m.IQ*Q"Q QQQYYYYj%@Z ??B@{) ?i9)b6iiTһII9@ @@@e DAT read: 00:46:04.4625 LVL= 32752, 20609, 32754, 32755, AGC= 66, IDX= 498,-0.24, 1.030, 2.696, 0.727, 1.494, PHS=-0.362, 1.247,-0.811, RAW= 342.0, -0.8, CAL= 341.5, -3.7, ROT= 168.5, 3.7 u Ygot valid direction response: 00:46:04.4625 LVL= 32752, 20609, 32754, 32755, AGC= 66, IDX= 498,-0.24, 1.030, 2.696, 0.727, 1.494, PHS=-0.362, 1.247,-0.811, RAW= 342.0, -0.8, CAL= 341.5, -3.7, ROT= 168.5, 3.7 } Z#Rx 33: Read direction message, but no range. `direction in FSK: [-0.977882,0.198952,-0.064532]yA E `oJP9Ew?P0A E E PE  A )E BIE XE  E E %E "E y:*E &p:VE 4ZE BE <,PX@Az[)@zB>z6ٱzr AHRS rotation from veh to nav: [[0.981886,-0.187574,-0.026772],[0.188807,0.980461,0.055202],[0.015895,-0.059257,0.998116]]zH`k?lȿ &j*?_?rC?`F?V?iz[)@Izd^;zÐCY5lBy5"Ii=Mb@Mb@Mb@9999 99=!rh?ˡEy=什=t<=A=O@ =@)=?@9Y=3@bD]VD]Nym<%m)=ٔmQ-u>9qYq=ujGyq};E}>Q 54љ?Q 94 )BYڬ>Q E;y'WQ I3@DI ;i;xJ4yBɮASE  :X@AJ R j ʞH@  ak$ @or `oJP9Ew?P0Z `7<@b A= d$ ]?>bĦz ZBᅭvׂ%|?Yx|2 =: W&" -?* B B SK,? b“  &A '"J@gODNOT Ignoring new targets: 10.44 m.*" BjZ@7?ڬ>ڬ>3@a@-6)1 5g>i5m9)1561i1i99=WIIADDAT read: Rx Time:00:46:04.9627 TRx dataTimestamp_ set to:1761698765.423317PDAT read: Bearing 347.5, 12.6 (Local) 5~Local bearing/azimuth received: Bearing 347.5, 12.6 (Local) 5DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed -0.3 U9@Q @Q@U4@Q@q@u[ADAT read: 00:46:04.9627 LVL= 32752, 23953, 32754, 32755, AGC= 68, IDX= 500, 0.03,-2.433,-0.822,-2.794,-2.009, PHS=-0.322, 1.233,-0.829, RAW= 343.7, -0.9, CAL= 343.2, -3.8, ROT= 166.8, 3.8 Ygot valid direction response: 00:46:04.9627 LVL= 32752, 23953, 32754, 32755, AGC= 68, IDX= 500, 0.03,-2.433,-0.822,-2.794,-2.009, PHS=-0.322, 1.233,-0.829, RAW= 343.7, -0.9, CAL= 343.2, -3.8, ROT= 166.8, 3.8 T#Rx 34: Read range and direction messages.`direction in FSK: [-0.971438,0.227849,-0.066274]Fpublishing direction and range infoyR-�M%*?{SY,A] )DI/ݤiҝ?X9TS@֭@ ԇ)AQ:@Iԇ= u'Yw|Cbh揿 N)5 "<,9jX@Achecking for new query: numPingsReceived=34, elapsed TxPingTime=18.643593EV EVEV'ET"EV~ ;*EVi:VEV'4ZETa^@a^@a^@a^@z3@zC>z3ٱz'm AHRS rotation from veh to nav: [[0.981635,-0.188862,-0.026915],[0.190078,0.980298,0.053730],[0.016237,-0.057859,0.998193]]zHi?,ȿ~|T?^??V?Ÿ1?iz3@Iz"^;zCYhBy"I !!%=%=bD5VD50yE¼%E`=ٔEvQ-E>9IYI=MjGyIUi;EU>QQ 5e4U#?Q 9e4U )U BYaye>RQ Im3@UDIU:iU:UP4yqɮuAqԙ)-[X@AJ-+AR-+Aj-:F@->!N$5^)@ ĈYr-R-�M%*?{SZ-AQ:@b-ԇ=-v^%Mc(?dwWz-] ;/-?2$Y2-C>:-*"-)?*-B-]B)-“-^B-(A-H@gO addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.505283 s, deltaX: 0.300000 m, approachRate: 0.593727 m/s, rangeRepo size: 4 gO Added new target pos. range: 10.738957 m, bearing: 177.976510 deg, lat: 36.779289 deg, lon: -121.859540 deg, deltaT: 0.762955 s, deltaX: 0.298305 m, approachRate: 0.390986 m/s, posRepo size: 4 gODNOT Ignoring new targets: 10.74 m.*" j%@Zm?]k@3) >ir9)*6ii!!%XI)I)@ @@/@B>BߍCB"IBtBBBBoDB?b;B%EBݍCBݍCBƕCB =B =CƯ6 DDAT read: Rx Time:00:46:05.4628 TRx dataTimestamp_ set to:1761698765.928081-PDAT read: Bearing 346.4, 12.1 (Local) e~Local bearing/azimuth received: Bearing 346.4, 12.1 (Local) DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed -0.4 Z#Rx 35: Read range message, but no direction.yY0Achecking for new query: numPingsReceived=35, elapsed TxPingTime=18.931837^A- I1 II OU > G <,\X@AY~lBy~"IbDVDk1y5<%5K=ٔ=Q-=>9AYA=EjGyAEEM>IQ 5U4M?Q 9U4M )MBYYyYQ I]3@MDIM';iMD;MW4yaɮeAigO addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.504764 s, deltaX: 0.200000 m, approachRate: 0.396224 m/s, rangeRepo size: 4 gODNOT Ignoring new targets: 10.74 m.*" j&@Z?) g>i9)6iiindIIE EE%E"E:*En:VE 4ZEBE  DDAT read: Rx Time:00:46:05.9630  TRx dataTimestamp_ set to:1761698766.428827% PDAT read: Bearing 347.4, 12.8 (Local) - ~Local bearing/azimuth received: Bearing 347.4, 12.8 (Local) U DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed -0.4 ԁ  Z#Rx 37: Read range message, but no direction.y Y 4A 4<,9X@Anchecking for new query: numPingsReceived=37, elapsed TxPingTime=19.429972v?@v@NE>vеٱvyh EAHRS rotation from veh to nav: [[0.981345,-0.190216,-0.027913],[0.191462,0.980108,0.052247],[0.017420,-0.056616,0.998244]]vH`.g?XȿGՁ?@ ]??~֑?`?iv?@Ivb^;vÐCQYjBy"IiUMb@Mb@Mb@QQQQ Q9Uv/?+I +?YUx>yUU949Y=jGya5;E>Q 54'?Q 94 )BY4>Q E;yQ I3@DI:iV:`4yBɮATE15qX@AJ53AR53Aj5*CG@5=a_%E@-AmOr5H.3,ᅮ.:T?99Z5:@b59=5Nmf&vA)?pM!gz5cɱ16Cq?$25H>:533"5X?*5$B5B5c ?5fD“15/A55G@gO addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.500746 s, deltaX: 0.300000 m, approachRate: 0.599106 m/s, rangeRepo size: 4 gO  Added new target pos. range: 11.235945 m, bearing: 178.388938 deg, lat: 36.779288 deg, lon: -121.859538 deg, deltaT: 1.005510 s, deltaX: 0.496987 m, approachRate: 0.494264 m/s, posRepo size: 4 gO DNOT Ignoring new targets: 11.24 m. *" Bj%&@Z%%?E4>E4>E@E?@]е)Y ]>i]9)aeh6aiaiiimTIiIqI}[A)}\AԁmDAT read: 00:46:05.9630 LVL= 31216, 21489, 32754, 32755, AGC= 69, IDX= 503,-0.28, 1.933,-2.772, 1.572, 2.357, PHS=-0.322, 1.200,-0.829, RAW= 343.9, -0.5, CAL= 343.4, -3.5, ROT= 166.6, 3.5 }Ygot valid direction response: 00:46:05.9630 LVL= 31216, 21489, 32754, 32755, AGC= 69, IDX= 503,-0.28, 1.933,-2.772, 1.572, 2.357, PHS=-0.322, 1.200,-0.829, RAW= 343.9, -0.5, CAL= 343.4, -3.5, ROT= 166.6, 3.5 Z#Rx 38: Read direction message, but no range.`direction in FSK: [-0.970961,0.231316,-0.061049]yAEa-tE?.xAAEyESA A)EEIE/ݤiE?EX9TE@E5Enʿ@ E5z)E:@IE5z=AE0rd/^e E2 )E0/ K^<,#X@AB:y>B:ݍCB:"IB:yBB: =B8B:nDB:b;B:%EL@`F>,tٱJm eAHRS rotation from veh to nav: [[0.981028,-0.191750,-0.028571],[0.193052,0.979735,0.053388],[0.017755,-0.057891,0.998165]]H`d?Dȿ@A?Y?U?F.?㣭?iL@Igh^;DDAT read: Rx Time:00:46:06.4630 TRx dataTimestamp_ set to:1761698766.933126PDAT read: Bearing 346.6, 12.8 (Local) ~Local bearing/azimuth received: Bearing 346.6, 12.8 (Local) 5DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed -0.1 EZ#Rx 39: Read range message, but no direction.yY]checking for new query: numPingsReceived=39, elapsed TxPingTime=19.927271 с)ѕ`AЕ`弩ББљѝ"aAiѝYIљљIҡiҥ`A ҥ+ѥE)ҡҡ ӭ`AҭYҩҩөӭoAԱIө)ӱiӹ)ԹIԽ`Aӽjӽ F Թ`AļiȉCA) IYYnBy"IIp=)=AbDVDk1y̺<%X=ٔgQ->9Y=jGyD;E>Q 54Ȟ?Q 94* )BYyQ I3@#DI:il:mg4yɮA)VX@AJ3AR3AjF@ٕ%|:^@{1 ra-tE?.xAZ:@b5z=Nɼ\&"S?`(uztmFNӳgd?{#p2>:2"ֹ?*B`B)?$“`B2A;9G@gO addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.504299 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 11.235612 m, bearing: 177.932673 deg, lat: 36.779288 deg, lon: -121.859537 deg, deltaT: 0.504299 s, deltaX: -0.000333 m, approachRate: -0.000660 m/s, posRepo size: 4 gO DNOT Ignoring new targets: 11.24 m.  * "  jZ ^,?@,t) Y>i9)6ii\II mm>i@ @@@G^AUO9U^AY]T4Ay*?%A u DAT read: 00:46:06.4630 LVL= 32752, 26609, 32754, 32755, AGC= 68, IDX= 503,-0.09, 1.386, 2.970, 1.017, 1.833, PHS=-0.346, 1.181,-0.860, RAW= 344.0, 0.3, CAL= 343.6, -2.7, ROT= 166.4, 2.7  Ygot valid direction response: 00:46:06.4630 LVL= 32752, 26609, 32754, 32755, AGC= 68, IDX= 503,-0.09, 1.386, 2.970, 1.017, 1.833, PHS=-0.346, 1.181,-0.860, RAW= 344.0, 0.3, CAL= 343.6, -2.7, ROT= 166.4, 2.7  Z#Rx 40: Read direction message, but no range. `direction in FSK: [-0.970882,0.234881,-0.047106]yI M ('wsFm?P7VI M M gI I )M DIM &iM +?M (\M 7 @M ;M @ M A)M 9@IM A=I M 8.Ѽ; 䒰s? M )M IM 9@iM A= checking for new query: numPingsReceived=40, elapsed TxPingTime=20.169266E  E E E "E :*E T:VE ZE BE 9 WF<,X@ARvU@R@ H>RѕٱRYo ^AHRS rotation from veh to nav: [[0.980815,-0.192732,-0.029270],[0.194083,0.979505,0.053872],[0.018287,-0.058519,0.998119]]RH`b?tȿ?X?????iRvU@IRb^;RCYkBy"IiMb@Mb@Mb@ 9"~? rh~jt?Y>yC<AO@ @)AYbDVDy%X=ٔQ->9!Y!=%jGy!-3;E->1Q 5=45Ҟ?Q 9=45C )5!BY=Q>Q E=2;y=PQ IE3@5'DI5y;i5#;5#n4yuBɮu5AygODNOT Ignoring new targets: 11.24 m.*" !-B19jAZM.?DDAT read: Rx Time:00:46:06.9632 TRx dataTimestamp_ set to:1761698767.436933PDAT read: Bearing 346.6, 12.5 (Local) ~Local bearing/azimuth received: Bearing 346.6, 12.5 (Local) DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed -0.1 DAT read: 00:46:06.9632 LVL= 32752, 26465, 32754, 32755, AGC= 65, IDX= 505, 0.07,-2.831,-1.244, 3.095,-2.375, PHS=-0.354, 1.177,-0.857, RAW= 343.7, 0.4, CAL= 343.3, -2.6, ROT= 166.7, 2.6 Ygot valid direction response: 00:46:06.9632 LVL= 32752, 26465, 32754, 32755, AGC= 65, IDX= 505, 0.07,-2.831,-1.244, 3.095,-2.375, PHS=-0.354, 1.177,-0.857, RAW= 343.7, 0.4, CAL= 343.3, -2.6, ROT= 166.7, 2.6 T#Rx 41: Read range and direction messages.`direction in FSK: [-0.972177,0.229813,-0.045363]Fpublishing direction and range infoy| Qj?99Y9AagQ>Q>ª@: @ѕ) >i).6ii   I I9 )AI}?i?Zd[S@;!@ 9)4:@I9=H+翐_{Hz? :6)ֻI4:@i9=Uchecking for new query: numPingsReceived=41, elapsed TxPingTime=20.4617929@ @@/@i ^A5 Β{II u checking for new query: numPingsReceived=41, elapsed TxPingTime=20.662609I O >ԑ <,SX@ADD =E EE E "E:*E n:VE ZE a@a@a@a@>Z@> H>>~ٱ>pm FAHRS rotation from veh to nav: [[0.980695,-0.193259,-0.029807],[0.194626,0.979436,0.053150],[0.018922,-0.057925,0.998142]]>H@a?`ȿ?W?6?D`?e?i>Z@I>KK^;9aYa=ejGya\:E>Q 54۞?Q 94[ )'BY!y%EQ I-3@*DIO;i;t4y1ɮ99X@AJ8AR8AjF@ ֦ m&i4@ށB'r| Qj?99Z4:@b9=$d& ?SJjz>ZκyP"?\2>:7"އz?*4BBֹ?4“B6AF@gO addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.503807 s, deltaX: 0.300000 m, approachRate: 0.595466 m/s, rangeRepo size: 4 gO- Added new target pos. range: 11.533903 m, bearing: 178.076532 deg, lat: 36.779287 deg, lon: -121.859537 deg, deltaT: 0.503807 s, deltaX: 0.298291 m, approachRate: 0.592074 m/s, posRepo size: 4 gO-DNOT Ignoring new targets: 11.53 m.))*)"1 111199yj}@33'@Z J ?P @ ~) i}9)顽O6iiN9IIBv>BBBB =BBBLc;B&E)@ @@0@@@\AmDDAT read: Rx Time:00:46:07.4633 }TRx dataTimestamp_ set to:1761698767.941879PDAT read: Bearing 346.6, 13.3 (Local) ~Local bearing/azimuth received: Bearing 346.6, 13.3 (Local) DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed -0.4 DAT read: 00:46:07.4633 LVL= 29424, 23857, 32754, 32755, AGC= 69, IDX= 505, 0.23, 2.857,-1.864, 2.467,-2.991, PHS=-0.334, 1.171,-0.869, RAW= 344.7, 0.4, CAL= 344.2, -2.6, ROT= 165.8, 2.6 Ygot valid direction response: 00:46:07.4633 LVL= 29424, 23857, 32754, 32755, AGC= 69, IDX= 505, 0.23, 2.857,-1.864, 2.467,-2.991, PHS=-0.334, 1.171,-0.869, RAW= 344.7, 0.4, CAL= 344.2, -2.6, ROT= 165.8, 2.6 T#Rx 42: Read range and direction messages.`direction in FSK: [-0.968447,0.245055,-0.045363]Fpublishing direction and range infoyqufmZ ]?99Yu3;Aquru1]q q)uEIu iuT?uv^uM@qu<@ q)uL39@IqqqubQ=O|0XFKy? u<0)uZʻIuL39@iqqqchecking for new query: numPingsReceived=42, elapsed TxPingTime=20.965572Y ^A "I I O >Uw=,B&X@A02a@2I>2ٱ2vj :AHRS rotation from veh to nav: [[0.980504,-0.194147,-0.030304],[0.195525,0.979304,0.052294],[0.019524,-0.057200,0.998172]]2HJ`?`ȿ``?`tV?`Pƪ?` ?MI?i2a@I2 u^;2ÐCYfiByf"I hhbDrVDr 3yz%z<ٔz̺Q-z>9|Y|=~jGy|#;E> Q 54 (垊?Q 94 q ) ,BYyQ I3@ .DI :i S: ({4y!ɮ%CA!GX@AJ!:AR!:AjE@LF&!d@nrfmZ ]?99ZL39@b̀+'d?Lz =V8x紨?.!r<2?:X9"?*BB?“Bu9AF@gOu addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.504946 s, deltaX: 0.099999 m, approachRate: 0.198040 m/s, rangeRepo size: 4 gO Added new target pos. range: 11.633220 m, bearing: 177.225603 deg, lat: 36.779287 deg, lon: -121.859536 deg, deltaT: 0.504946 s, deltaX: 0.099317 m, approachRate: 0.196688 m/s, posRepo size: 4 gODNOT Ignoring new targets: 11.63 m.*" j`ff'@Zj?J@) &>i9)A6iid:IIchecking for new query: numPingsReceived=42, elapsed TxPingTime=21.165344Em EmEm#Ei"Emm:*EmL_:VEm3ZEiԑBEmS  DDAT read: Rx Time:00:46:07.9634  TRx dataTimestamp_ set to:1761698768.445072 PDAT read: Bearing 346.3, 13.4 (Local)  ~Local bearing/azimuth received: Bearing 346.3, 13.4 (Local)  DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.1  Z#Rx 43: Read range message, but no direction.y Y f>A  checking for new query: numPingsReceived=43, elapsed TxPingTime=21.434315=, X@A2g@2WJ>23ٱ2;i :AHRS rotation from veh to nav: [[0.980341,-0.194875,-0.030906],[0.196277,0.979178,0.051818],[0.020165,-0.056866,0.998178]]2H`^?@ȿ ?nU?凪??|?i2g@I2|^;2CYBcByB"I\iMb@Mb@Mb@ 9M?p= ף:v?Yn>yT<|@ @)V@Y@bDVDy%;=ٔ Q->9Y=jGy:E> Q 54 ?Q 94  ) 1BYP>Q E4;y`Q I3@ 2DI ?;i e; ͂4y!ɮ%xA)gO] addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.503193 s, deltaX: 0.200000 m, approachRate: 0.397461 m/s, rangeRepo size: 4 gO]DNOT Ignoring new targets: 11.63 m.YY*Y"Y aaaamBiijm'@Zm@33?P>P>"@{P@3) )>i'9)6ii    :IaIi@ @@ @ DAT read: 00:46:07.9634 LVL= 32752, 22113, 32754, 32755, AGC= 69, IDX= 506, 0.37, 3.121,-1.620, 2.730,-2.724, PHS=-0.336, 1.149,-0.873, RAW= 344.9, 0.7, CAL= 344.4, -2.3, ROT= 165.6, 2.3  Ygot valid direction response: 00:46:07.9634 LVL= 32752, 22113, 32754, 32755, AGC= 69, IDX= 506, 0.37, 3.121,-1.620, 2.730,-2.724, PHS=-0.336, 1.149,-0.873, RAW= 344.9, 0.7, CAL= 344.4, -2.3, ROT= 165.6, 2.3  Z#Rx 44: Read direction message, but no range.`direction in FSK: [-0.967803,0.248489,-0.040132]y=S?.='aV )I1io?|_@+H<hY@ l$)8@Il$=ŒkrF? )R?I8@il$=-checking for new query: numPingsReceived=44, elapsed TxPingTime=21.676937DYzD]AAEe EeEe(Ea"Ee:*Ee;J:VEec44ZEaam@am@am@au@^A 0::I I O >A B- t>B) =,?9X@ABYBYB] =BYB]mDB]c;B]N&E!]DDAT read: Rx Time:00:46:08.4634 mTRx dataTimestamp_ set to:1761698768.949604PDAT read: Bearing 346.9, 12.5 (Local) ~Local bearing/azimuth received: Bearing 346.9, 12.5 (Local) DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.2 Ek@EJ>EFYٱE[]iUDAT read: 00:46:08.4634 LVL= 32752, 20929, 32754, 32755, AGC= 68, IDX= 507,-0.48, 0.318, 1.917,-0.052, 0.768, PHS=-0.348, 1.194,-0.864, RAW= 343.9, 0.2, CAL= 343.5, -2.7, ROT= 166.5, 2.7 ]Ygot valid direction response: 00:46:08.4634 LVL= 32752, 20929, 32754, 32755, AGC= 68, IDX= 507,-0.48, 0.318, 1.917,-0.052, 0.768, PHS=-0.348, 1.194,-0.864, RAW= 343.9, 0.2, CAL= 343.5, -2.7, ROT= 166.5, 2.7 eT#Rx 45: Read range and direction messages.m`direction in FSK: [-0.971290,0.233186,-0.047106]mFpublishing direction and range infoya AHRS rotation from veh to nav: [[0.980236,-0.195298,-0.031559],[0.196735,0.979090,0.051745],[0.020793,-0.056931,0.998162]]EH ^?ȿ@p(@.?T?F~? J? &?iEk@IE^;EŐCY^By"Ie9eᅥb ?P7VYaaaeQa a)eDIe-ieԘ?e/]e@ed;eؿ@ eA)ew9@IeA=aae_$ 翯4激l? eP)e`Iew9@ieA=aachecking for new query: numPingsReceived=45, elapsed TxPingTime=21.969711 bDVDy{%<=ٔQ->9Y=kGy9:E>Q 54.?Q 94 )6BYyQ I3@6DI%:e<"e?*e3BewBae3“ae=AeF@gO- addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.504532 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO= Added new target pos. range: 11.832015 m, bearing: 178.000037 deg, lat: 36.779287 deg, lon: -121.859536 deg, deltaT: 1.007725 s, deltaX: 0.198795 m, approachRate: 0.197271 m/s, posRepo size: 4 gO}DNOT Ignoring new targets: 11.83 m.*" jZ&?FT@eFY)a e>ie9)am6iiiiiqu_C;IqIq)@) @1@5/@1@==@==checking for new query: numPingsReceived=45, elapsed TxPingTime=22.172239Em  Em Em $Ei "Em D:*Em R:VEm 4ZEi BEm 1O=,5SX@ABq@BK>BүٱBh ZAHRS rotation from veh to nav: [[0.980073,-0.196008,-0.032221],[0.197476,0.978958,0.051434],[0.021461,-0.056772,0.998156]]BH\?@ɿ7F?S?U? ?;?iBq@IB^;BÐCYbdByf"IIz=)z=iiMb@Mb@Mb@ 9 rh?L7A`尿~jt?YC>y+D<O@ (@)l@Y(@bDVDβy<%]=ٔQ-?9Y=kGyn;E?Q 54c?Q 94 ):BYo>Q E=;yQ I3@9DI:i:ܐ4yɮA gODNOT Ignoring new targets: 11.83 m.*" BjZ6? o> o> q@ F@iIIMAmDDAT read: Rx Time:00:46:08.9636 uTRx dataTimestamp_ set to:1761698769.454414PDAT read: Bearing 346.5, 12.3 (Local) ~Local bearing/azimuth received: Bearing 346.5, 12.3 (Local) ԙDAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0 DAT read: 00:46:08.9636 LVL= 32752, 22065, 32754, 32755, AGC= 70, IDX= 509,-0.39, 1.645,-3.056, 1.286, 2.107, PHS=-0.360, 1.165,-0.866, RAW= 343.8, 0.7, CAL= 343.4, -2.3, ROT= 166.6, 2.3 ү)  >i9)6ii   U/;I I]Ygot valid direction response: 00:46:08.9636 LVL= 32752, 22065, 32754, 32755, AGC= 70, IDX= 509,-0.39, 1.645,-3.056, 1.286, 2.107, PHS=-0.360, 1.165,-0.866, RAW= 343.8, 0.7, CAL= 343.4, -2.3, ROT= 166.6, 2.3 eT#Rx 46: Read range and direction messages.m`direction in FSK: [-0.971992,0.231561,-0.040132]mFpublishing direction and range infoyim%uw+ˣ?.='Ym3CAiim1Vi i)mFImQim?m-]m@m+H checking for new query: numPingsReceived=46, elapsed TxPingTime=22.675598=,mX@AE EEE"E[:*ErN:VEZEa@a@a@a@:u@:L>:ٱ:+h FAHRS rotation from veh to nav: [[0.979966,-0.196399,-0.033067],[0.197912,0.978876,0.051312],[0.022291,-0.056829,0.998135]]:H [?`#ɿ#@1U?@R?E?@YӖ??i:u@I:_;8YNbByN"IbDVVDVy^9-%b_=ٔb Q-b>9dYd=fkGydfH:Ef>hQ 5r4j ?Q 9r4j )j>BYtyvQ Iv3@j=DIj=;ij>;jH4y|ɮ~A|]X@AJBARBAj F@p#Ĕ'JpOx@ۮI'߿r%uw+ˣ?.='Z:@bl$=NC .(T٪?W/zg =䁠?d}t+2=>:pA"[:=?*BB“B@AKF@gO addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.504810 s, deltaX: 0.300000 m, approachRate: 0.594283 m/s, rangeRepo size: 4 gO5 Added new target pos. range: 12.130301 m, bearing: 178.147203 deg, lat: 36.779287 deg, lon: -121.859536 deg, deltaT: 0.504810 s, deltaX: 0.298286 m, approachRate: 0.590889 m/s, posRepo size: 4 gO=DNOT Ignoring new targets: 12.13 m.99*9"9 9AAAAIIjM`ff(@ZM@I?@) >i9)6iiND;II9@ @@O0@Bx>BB"IBtBB =BBnDB d;Br&E}DDAT read: Rx Time:00:46:09.4636 TRx dataTimestamp_ set to:1761698769.957515PDAT read: Bearing 346.5, 12.0 (Local) ~Local bearing/azimuth received: Bearing 346.5, 12.0 (Local) DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed -0.3 DAT read: 00:46:09.4636 LVL= 30624, 20961, 32754, 32755, AGC= 69, IDX= 509,-0.32, 0.163, 1.767,-0.192, 0.634, PHS=-0.369, 1.177,-0.870, RAW= 343.6, 0.7, CAL= 343.1, -2.3, ROT= 166.9, 2.3 Ygot valid direction response: 00:46:09.4636 LVL= 30624, 20961, 32754, 32755, AGC= 69, IDX= 509,-0.32, 0.163, 1.767,-0.192, 0.634, PHS=-0.369, 1.177,-0.870, RAW= 343.6, 0.7, CAL= 343.1, -2.3, ROT= 166.9, 2.3 T#Rx 47: Read range and direction messages.`direction in FSK: [-0.973191,0.226469,-0.040132]Fpublishing direction and range infoyPH b$0?.='YwQ )EIi?R^@@ )m:@1Iz2.\51I? b)PBIm:@i]checking for new query: numPingsReceived=47, elapsed TxPingTime=22.960163^A"5;IIO>q !=,PoX@A2z@2`L>2)ٱ2i :AHRS rotation from veh to nav: [[0.979830,-0.196939,-0.033887],[0.198495,0.978765,0.051173],[0.023089,-0.056867,0.998115]]2H Z?O5ɿY@Jh? R? Y3? ?@?i2z@I2<`_;2CY^_Byb"If@Af@AbDjVDj1yp%F=ٔQ- >9 Y = kGy :E>Q 5%4?Q 9%4 )CBY!y%Q I-3@@DIl:iy:4y5Bɮ5A5VEG}X@AJBARBAj]G@R I'e3@ݯ(߿rPH b$0?.='Zm:@bXS .(^ޫP?Iy1Ezb0 ?X$M2*>:wA"?*rJxBB4“BAF@gO addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.503101 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 12.130446 m, bearing: 178.481033 deg, lat: 36.779287 deg, lon: -121.859537 deg, deltaT: 0.503101 s, deltaX: 0.000145 m, approachRate: 0.000288 m/s, posRepo size: 4 gODNOT Ignoring new targets: 12.13 m.*" jZ;?@)) >i9)46ii~d;IIychecking for new query: numPingsReceived=47, elapsed TxPingTime=23.179676E= E=E=&E9"E=m:*E=[:VE=4ZE9BE=S DDAT read: Rx Time:00:46:09.9638  TRx dataTimestamp_ set to:1761698770.460057 PDAT read: Bearing 346.6, 12.1 (Local)  ~Local bearing/azimuth received: Bearing 346.6, 12.1 (Local)  DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.6  DAT read: 00:46:09.9638 LVL= 30896, 22433, 32754, 32755, AGC= 69, IDX= 511,-0.30, 0.855, 2.450, 0.498, 1.322, PHS=-0.365, 1.174,-0.868, RAW= 343.7, 0.6, CAL= 343.2, -2.3, ROT= 166.8, 2.3  Ygot valid direction response: 00:46:09.9638 LVL= 30896, 22433, 32754, 32755, AGC= 69, IDX= 511,-0.30, 0.855, 2.450, 0.498, 1.322, PHS=-0.365, 1.174,-0.868, RAW= 343.7, 0.6, CAL= 343.2, -2.3, ROT= 166.8, 2.3  T#Rx 48: Read range and direction messages. `direction in FSK: [-0.972795,0.228167,-0.040132] Fpublishing direction and range infoy  P-"!R14?.='Y HA x W ) I HẾi E? ?5^ S@ +< ֭@ ) AQ:@I A$rz.Ql.? G) ku9I AQ:@i E checking for new query: numPingsReceived=48, elapsed TxPingTime=23.491926Z'=,TX@A2e|@2 L>2yCu<f@ ?@)V@Yz@bD]VD]!ye%m5=ٔKQ->9Y=kGy:E>Q 54?Q 94 )IBYω>Q EE;yWQ I3@DDI;i;p4yɮAqX@AJFARFAjDG@R&d.(faeį@grO"߿rP-"!R14?.='ZAQ:@b(dm:?7EIzeC,P_I?FZ~2Ա>:4F"&a ?*jBsB“BDAFF@gO addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.502542 s, deltaX: 0.300000 m, approachRate: 0.596965 m/s, rangeRepo size: 4 gO Added new target pos. range: 12.428737 m, bearing: 178.393989 deg, lat: 36.779287 deg, lon: -121.859537 deg, deltaT: 0.502542 s, deltaX: 0.298290 m, approachRate: 0.593563 m/s, posRepo size: 4 gODNOT Ignoring new targets: 12.43 m.*" !%B!)j-)@Z-1?mω>mω>mE@m`@}i9)顥6iiФm;IIchecking for new query: numPingsReceived=48, elapsed TxPingTime=23.684217EM EMEM'EI"EM:*EM1]:VEM'4ZEIaU@aU@aU@aU@Y@Y @Y@]4@Y! ^A} yb];I I O >B n>B ܍CB "IB oBB  =B B mDB c;B (&EBBB˓CB =B =Cت5.=,-X@A%DDAT read: Rx Time:00:46:10.4638 -TRx dataTimestamp_ set to:1761698770.9617955PDAT read: Bearing 346.4, 11.1 (Local) 5~Local bearing/azimuth received: Bearing 346.4, 11.1 (Local) EDAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.1 mDAT read: 00:46:10.4638 LVL= 32400, 21041, 32754, 32755, AGC= 68, IDX= 511,-0.24,-1.135, 0.466,-1.455,-0.649, PHS=-0.383, 1.160,-0.850, RAW= 342.8, 0.8, CAL= 342.3, -2.1, ROT= 167.7, 2.1 uYgot valid direction response: 00:46:10.4638 LVL= 32400, 21041, 32754, 32755, AGC= 68, IDX= 511,-0.24,-1.135, 0.466,-1.455,-0.649, PHS=-0.383, 1.160,-0.850, RAW= 342.8, 0.8, CAL= 342.3, -2.1, ROT= 167.7, 2.1 uT#Rx 49: Read range and direction messages.}`direction in FSK: [-0.976389,0.212887,-0.036644]}Fpublishing direction and range infoy!%FI>??(א¢Y!!%~%1R! !)%DI%ľi%z?%Y%t@%d<%'-@ %Q )%R;@I%Q =!!%?HwN忬Ά+3? %9)%hI%R;@i%Q =!!checking for new query: numPingsReceived=49, elapsed TxPingTime=23.955738~@-M>lǼٱi =AHRS rotation from veh to nav: [[0.979702,-0.197345,-0.035203],[0.198973,0.978673,0.051079],[0.024372,-0.057047,0.998074]]HY?Bɿ&w?JQ?'? ?358?i~@I /_;ĐCYQBy"IbDIVDy %+=ٔQ->9Y=kGy:E>Q 54*?Q 94? )OBYyVQ I3@HDI;iu;®4y ɮUA!% X@AJ%FAR%FAj%mGH@%콖E(֗N*@%ݿr%FI>??(א¢Z%R;@b%Q =%S,"(_h?B z%q"wCЮ(?3tN2%F>:%QF"%??*%hBB%B%??%j“%B%eFA%i9)顥Q6ii{;III@I @Q@U4@Qchecking for new query: numPingsReceived=49, elapsed TxPingTime=24.188402EM  EM EM +EI "EM O:*EM e:VEM [4ZEI BEM >5=,\sX@A$6|@6 L>6v˼ٱ6j >AHRS rotation from veh to nav: [[0.979736,-0.197086,-0.035690],[0.198744,0.978716,0.051155],[0.024848,-0.057211,0.998053]]6H@Z?`:ɿ@Eop?@Q? 0? q?`J` ?i6|@I6)^;6CYbKByb"IiMMb@Mb@Mb@IIII I9MMb?DlI +?YM>yMOM94Q EK;yԆQ I3@eKDDDAT read: Rx Time:00:46:10.9640 TRx dataTimestamp_ set to:1761698771.465765 PDAT read: Bearing 19.5, 38.6 (Local)  ~Local bearing/azimuth received: Bearing 19.5, 38.6 (Local) DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.2 EDAT read: 00:46:10.9640 LVL= 30672, 22465, 32754, 32755, AGC= 71, IDX= 513,-0.22,-2.414,-1.778, 2.629, 2.829, PHS= 1.143, 1.722,-0.244, RAW= 13.3, -27.9, CAL= 14.2, -28.7, ROT= 135.8, 28.7 MYgot valid direction response: 00:46:10.9640 LVL= 30672, 22465, 32754, 32755, AGC= 71, IDX= 513,-0.22,-2.414,-1.778, 2.629, 2.829, PHS= 1.143, 1.722,-0.244, RAW= 13.3, -27.9, CAL= 14.2, -28.7, ROT= 135.8, 28.7 UT#Rx 50: Read range and direction messages.U`direction in FSK: [-0.628835,0.611516,-0.480224]]Fpublishing direction and range infoyVOk A3?KTa޿YIAwW )GIM?ij?#y,m>Q}> ;)@I;?*4п(ݿIe~`I@i;?checking for new query: numPingsReceived=50, elapsed TxPingTime=24.464041X@AJrHARrHAjz[%@UQ  ڤ@XPrVOk A3?KTa޿Z@b;? %!"Qv@PՍz{5~ ?Ucn2@:7";?*yxB nB“GAl7G@gO] addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.503970 s, deltaX: 0.100000 m, approachRate: 0.198425 m/s, rangeRepo size: 4 gO Added new target pos. range: 12.527870 m, bearing: 148.035575 deg, lat: 36.779287 deg, lon: -121.859537 deg, deltaT: 0.503970 s, deltaX: 0.099428 m, approachRate: 0.197290 m/s, posRepo size: 4 gODNOT Ignoring new targets: 12.53 m.*" yBj@33)@Z@֭?e>e>(z@@v˼) >i9)%6!i!iIQUQk;IQIQԩ@ @@/@  checking for new query: numPingsReceived=50, elapsed TxPingTime=24.691578^A% q;bE-4jE(4rEF1E-  E- E- 2E) "E- V:*E- 1]:VE- 4ZE) a= @a= @a= @a= @I I O >4;=,aX@A YMNByM"IIU<)U<bD]VD]ym<%uM=ٔuQ-u>9yYy=}kGyy}E}>Q 54:?Q 94 )WBYyQ I3@NDI:i:n4yɮAgODNOT Ignoring new targets: 12.53 m.*" jZ? )  >>i 9)x6iizm;II!A9@ @@/@Bb>BڍCB"IBjBB =BEDBkDBec;B&EuDDAT read: Rx Time:00:46:11.4640 }TRx dataTimestamp_ set to:1761698771.969669PDAT read: Bearing 335.8, 10.4 (Local) ~Local bearing/azimuth received: Bearing 335.8, 10.4 (Local) DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.3 DAT read: 00:46:11.4640 LVL= 32752, 25585, 32754, 32755, AGC= 70, IDX= 513,-0.26, 2.868,-1.796, 2.548,-2.699, PHS=-0.614, 0.949,-1.079, RAW= 342.7, 8.1, CAL= 342.6, 8.3, ROT= 167.4, -8.3 Ygot valid direction response: 00:46:11.4640 LVL= 32752, 25585, 32754, 32755, AGC= 70, IDX= 513,-0.26, 2.868,-1.796, 2.548,-2.699, PHS=-0.614, 0.949,-1.079, RAW= 342.7, 8.1, CAL= 342.6, 8.3, ROT= 167.4, -8.3 T#Rx 51: Read range and direction messages.^direction in FSK: [-0.965695,0.215858,0.144356]Fpublishing direction and range infoyqu0$ d5??'ЌCz?Yqquucq q)uFIu/iur?uuYf@u>u X@ uV>)u:@IuVqqu%4"vM/xu忱]? u]n)ugeIu:@iuVqqchecking for new query: numPingsReceived=51, elapsed TxPingTime=24.959377^A=rg;IIIaOm>! u gG +9 Y gA rB=,A X@A2s@2@K>2mмٱ2`k :AHRS rotation from veh to nav: [[0.979931,-0.196006,-0.036282],[0.197706,0.978912,0.051410],[0.025440,-0.057552,0.998018]]2H[?@ɿ@@mN?@S?uR? ? nw ?i2s@I2e-^;0Y^LBy^"IbDjVDjyrp%rU=ٔrKʺQ-r>9tYt=vkGytz[4Ez>|xQ 54zB?Q 94z )z[BY y Q I 3@zRDIzB:iz:z"4yɮAX@AJpHARpHAjEG@fJ2(@*H?r0$ d5??'ЌCz?Z:@bV( uJ?vN8v?z?6Ƕ￾x?L!>i?2V>:5G".)?*MnBB?rJx“ JA@FG@checking for new query: numPingsReceived=51, elapsed TxPingTime=25.195429gO addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.503904 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 12.527473 m, bearing: 178.397511 deg, lat: 36.779287 deg, lon: -121.859537 deg, deltaT: 0.503904 s, deltaX: -0.000397 m, approachRate: -0.000787 m/s, posRepo size: 4 gO%DNOT Ignoring new targets: 12.53 m.!!*!"! )))))E EE'E"Es:*Ec:VE'4ZEBEf0iE-9)AE6AiAiIIM -;IQIQ@ @!@%/@!Y DDAT read: Rx Time:00:46:11.9641  TRx dataTimestamp_ set to:1761698772.473671 PDAT read: Bearing 345.4, 11.3 (Local)  ~Local bearing/azimuth received: Bearing 345.4, 11.3 (Local)  DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.1  DAT read: 00:46:11.9641 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 2,-0.25,-1.454, 0.118,-1.783,-0.957, PHS=-0.395, 1.120,-0.870, RAW= 343.2, 1.6, CAL= 342.7, -1.3, ROT= 167.3, 1.3  Ygot valid direction response: 00:46:11.9641 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 2,-0.25,-1.454, 0.118,-1.783,-0.957, PHS=-0.395, 1.120,-0.870, RAW= 343.2, 1.6, CAL= 342.7, -1.3, ROT= 167.3, 1.3  T#Rx 52: Read range and direction messages. `direction in FSK: [-0.975283,0.219790,-0.022687] Fpublishing direction and range infoy  Q5ᅴ۰"?NGY;Y LAԁ  ) GI q=ʾi )\? R^ ֭@ < Yf@ ޹) ;:@I ޹< {TPVjekYx&? ) ;I ;:@i ޹<  checking for new query: numPingsReceived=52, elapsed TxPingTime=25.497141^A y;I) I9 OM >H=,$X@AB,m@BK>B(<ӼٱByl JAHRS rotation from veh to nav: [[0.980087,-0.195170,-0.036583],[0.196888,0.979077,0.051417],[0.025783,-0.057596,0.998007]]BH \? Vȿ`3?T?ZS?@f?`=}`?iB,m@IB ^;BÐCYVyt<A V@)?@Y@AAbDVD:y%;=ٔFMQ->9Y=kGySE>Q 54L?Q 9 4 )aBY ?>Q E S;y ۽Q I 3@UDI:i:4yɮ#APX@AJKARKAjG@I(ZxZ|`@ۺ}zҿrQ5ᅴ۰"?NGY;Z;:@b޹<S2af)fn?B˝zy ·?k2]>:3K"?*tְBB?Mn“GKA?G@gO addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.504002 s, deltaX: 0.200000 m, approachRate: 0.396823 m/s, rangeRepo size: 4 gO Added new target pos. range: 12.726322 m, bearing: 178.736941 deg, lat: 36.779288 deg, lon: -121.859538 deg, deltaT: 0.504002 s, deltaX: 0.198849 m, approachRate: 0.394540 m/s, posRepo size: 4 gODNOT Ignoring new targets: 12.73 m.*"  tBj)@Z (~?U?>U?>U+@U@m(<Ӽ)i u>iuc9)qu6qiqi ;IIԉchecking for new query: numPingsReceived=52, elapsed TxPingTime=25.700489@ @@0@E EE%E"E>:*E~:VE 4ZEa@a@a@a@Ա^AM qZ;IQ Ii Ou >B _>B ٍCB "IB `BB " =B B B c;B H&E kN=,=X@A&DDAT read: Rx Time:00:46:12.4641 &TRx dataTimestamp_ set to:1761698772.977569*PDAT read: Bearing 346.0, 10.9 (Local) .~Local bearing/azimuth received: Bearing 346.0, 10.9 (Local) 6DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.1 FDAT read: 00:46:12.4641 LVL= 26032, 23969, 32754, 32755, AGC= 70, IDX= 498,-0.27,-2.892,-1.290, 3.067,-2.401, PHS=-0.389, 1.157,-0.859, RAW= 342.9, 1.0, CAL= 342.4, -1.9, ROT= 167.6, 1.9 JYgot valid direction response: 00:46:12.4641 LVL= 26032, 23969, 32754, 32755, AGC= 70, IDX= 498,-0.27,-2.892,-1.290, 3.067,-2.401, PHS=-0.389, 1.157,-0.859, RAW= 342.9, 1.0, CAL= 342.4, -1.9, ROT= 167.6, 1.9 NT#Rx 53: Read range and direction messages.R`direction in FSK: [-0.976135,0.214617,-0.033155]RFpublishing direction and range infoy$&=*&)ּٱi AHRS rotation from veh to nav: [[0.980141,-0.194865,-0.036760],[0.196572,0.979182,0.050619],[0.026131,-0.056839,0.998041]]HP]?`Sȿ`:ҢI)? uU??š?` @?ij@IȒ^;Y@By"I 99bDEVDENy<%:=ٔOQ->9Y=kGy >?E->1Q 5=45QU?Q 9=45^ )5hBY9y=VܽQ I=3@5YDI5:i5:54ymBɮm$Ai$&~>X@AJ&KAR&KAj&ZG@&GFN(;`o@(OC ۿr&=*&:&K"&㟿'?*&5~B&sB&㟿'?&tְ“$&"KA&,G@gO addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.503898 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO  Added new target pos. range: 12.726178 m, bearing: 179.047042 deg, lat: 36.779289 deg, lon: -121.859538 deg, deltaT: 0.503898 s, deltaX: -0.000144 m, approachRate: -0.000286 m/s, posRepo size: 4 gO DNOT Ignoring new targets: 12.73 m.*" j!Z%`y?@)ּ) S>i-9)6iif):II9@ @@2@checking for new query: numPingsReceived=53, elapsed TxPingTime=26.203585 E EE#E"E:*E:VE3ZEBE+cU=,WX@ARb@R@I>RؼٱRk  AHRS rotation from veh to nav: [[0.980319,-0.193887,-0.037173],[0.195637,0.979334,0.051293],[0.026460,-0.057556,0.997992]]RH^?Gȿ \ ?V?C?R?w ?iRb@IR^;RŐCYMy<A|@ ?@)V@Y@bDVD1y%Ϭ%-H=ٔ-RQ-->91Y1=5kGy1=kE=>9Q 5E4=]?Q 9M4= )=nBYM>]DDAT read: Rx Time:00:46:12.9643 eTRx dataTimestamp_ set to:1761698773.482310mPDAT read: Bearing 345.2, 10.8 (Local) u~Local bearing/azimuth received: Bearing 345.2, 10.8 (Local) DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed -0.1 DAT read: 00:46:12.9643 LVL= 30704, 23457, 32754, 32755, AGC= 71, IDX= 500,-0.31,-1.270, 0.327,-1.594,-0.759, PHS=-0.409, 1.131,-0.878, RAW= 342.9, 1.7, CAL= 342.4, -1.2, ROT= 167.6, 1.2 Ygot valid direction response: 00:46:12.9643 LVL= 30704, 23457, 32754, 32755, AGC= 71, IDX= 500,-0.31,-1.270, 0.327,-1.594,-0.759, PHS=-0.409, 1.131,-0.878, RAW= 342.9, 1.7, CAL= 342.4, -1.2, ROT= 167.6, 1.2 T#Rx 54: Read range and direction messages.`direction in FSK: [-0.976458,0.214688,-0.020942]Fpublishing direction and range infoyae7%?\z5z?_2qYeQAaewe[a a)eGIeshѾieĐ?e`ae Iaie:eO"edo?*esBeBaa“eBeLAeG@gO addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.504741 s, deltaX: 0.300000 m, approachRate: 0.594365 m/s, rangeRepo size: 4 AgOM Added new target pos. range: 13.024448 m, bearing: 178.958426 deg, lat: 36.779289 deg, lon: -121.859538 deg, deltaT: 0.504741 s, deltaX: 0.298270 m, approachRate: 0.590937 m/s, posRepo size: 4 gOUDNOT Ignoring new targets: 13.02 m.QQ*Q"Q QYYY]oBj@33*@Z ?>> @ x@ؼ) >i>9)6ii*:II}9@y @y@}4@y@=@=q checking for new query: numPingsReceived=54, elapsed TxPingTime=26.710581^A ԡ I I E  E E %E "E >:*E V:VE 4ZE a @a @a @a @O >[=,qX@ANW@N`LH>NܼٱN1y ZAHRS rotation from veh to nav: [[0.980577,-0.192398,-0.038113],[0.194289,0.979433,0.054431],[0.026857,-0.060778,0.997790]]NH@`?{ȿ@t? W?`Xޫ?E?W?iNW@INwt^;NCYb8Byb"IbDjVDjyrڞ%vt=ٔvwQ-v?9xYx=zkGyxzEz?|Q 54~d?Q 9 4~ )~sBY y 8Q I 3@~_DI~:i~:~u4yɮbAgOEDNOT Ignoring new targets: 13.02 m.AA*A"A AAIIIIQjQZU@?qqqun@ܼ) {>i9)  7 i i15aI1I9Y@ @@/@B1A5<BIBIBM"IBMUBBIBIBIBMyd;BM&E^Arg:II1O]3>ԁiAIAMDDAT read: Rx Time:00:46:13.4643 MTRx dataTimestamp_ set to:1761698773.986255]PDAT read: Bearing 345.0, 11.4 (Local) e~Local bearing/azimuth received: Bearing 345.0, 11.4 (Local) uDAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed -0.1 DAT read: 00:46:13.4643 LVL= 32752, 29553, 32754, 32755, AGC= 72, IDX= 500,-0.33,-2.585,-1.016,-2.928,-2.087, PHS=-0.396, 1.116,-0.885, RAW= 343.6, 1.8, CAL= 343.1, -1.1, ROT= 166.9, 1.1 Ygot valid direction response: 00:46:13.4643 LVL= 32752, 29553, 32754, 32755, AGC= 72, IDX= 500,-0.33,-2.585,-1.016,-2.928,-2.087, PHS=-0.396, 1.116,-0.885, RAW= 343.6, 1.8, CAL= 343.1, -1.1, ROT= 166.9, 1.1 T#Rx 55: Read range and direction messages.`direction in FSK: [-0.973796,0.226610,-0.019197]Fpublishing direction and range infoyIM0"W)￲P%?]~YIIMMqsI I)MHIMʾiMَ?M\bM@M=M@ MnF)Mm:@IMnF2&޼ٱ2 :AHRS rotation from veh to nav: [[0.980845,-0.190931,-0.038594],[0.192896,0.979620,0.056001],[0.027115,-0.062373,0.997685]]2H c?`jpȿ£ΰ? Y? 6?Û?`ﯿ ?i2K@I2,l^;2ÐCYf9BydIjC=)j=lnAbDrVDryzV ;%zJ=ٔ~&Q-~>9|Y|=kGy2eE> Q 54 m?Q 94 :) yBYyQ I3@ bDI ;i ; 4y!ɮ%^A!y}X@AJyRyj}F@}@ ]) -@qޗпr}0"W)￲P%?]~Z}m:@b}nF<}Bt)\A?D [z}Y?7?㏮2}>:}O"}ɑ&?*}qB}B}ɑ&?y“y}OA}vG@gOu addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.503945 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 13.024453 m, bearing: 178.101204 deg, lat: 36.779289 deg, lon: -121.859538 deg, deltaT: 0.503945 s, deltaX: 0.000005 m, approachRate: 0.000009 m/s, posRepo size: 4 gODNOT Ignoring new targets: 13.02 m.*" checking for new query: numPingsReceived=55, elapsed TxPingTime=27.211689jZ`?id@&޼) >i9)]7iiVfIIE} E}E}&Ey"E}:*E}T:VE}4ZEyBE} u DDAT read: Rx Time:00:46:13.9645 } TRx dataTimestamp_ set to:1761698774.494260 PDAT read: Bearing 344.8, 11.8 (Local)  ~Local bearing/azimuth received: Bearing 344.8, 11.8 (Local)  DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed -0.1  DAT read: 00:46:13.9645 LVL= 32752, 24145, 32754, 32755, AGC= 72, IDX= 502,-0.31,-1.270, 0.280,-1.623,-0.780, PHS=-0.388, 1.105,-0.888, RAW= 343.9, 1.9, CAL= 343.5, -1.0, ROT= 166.5, 1.0  Ygot valid direction response: 00:46:13.9645 LVL= 32752, 24145, 32754, 32755, AGC= 72, IDX= 502,-0.31,-1.270, 0.280,-1.623,-0.780, PHS=-0.388, 1.105,-0.888, RAW= 343.9, 1.9, CAL= 343.5, -1.0, ROT= 166.5, 1.0  T#Rx 56: Read range and direction messages. `direction in FSK: [-0.972222,0.233410,-0.017452] Fpublishing direction and range infoyy }  pwu_?W7) ߑY} fVAy y } Q^y y )y I} ƾi} p?} Sc} @} =} ؿ@ } 5)} w9@I} 59? } )} I} w9@i} 52߼ٱ28;{ >AHRS rotation from veh to nav: [[0.980988,-0.190199,-0.038552],[0.192133,0.979831,0.054911],[0.027331,-0.061274,0.997747]]2HAd?pXȿ%͗?Z?Q? ?\_?i2E@I2WN^;2CYyiEMb@Mb@Mb@AAAA A9ES㥛?+:v?YE$>yAET9qYq=ukGyq}ҺE}>Q 54x?Q 94)BY>Q EA;yQ I3@fDI ;i ;4y BɮAXEX@AJ)UAR)UAjoF@z)? ;n@W4Ϳr pwu_?W7) ߑZw9@b5<S*T u? Dgz䧪0￯G/?B׭2 ?:T"?*b3B?“BSAnG@gO addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.508005 s, deltaX: 0.299999 m, approachRate: 0.590544 m/s, rangeRepo size: 4 gO Added new target pos. range: 13.322722 m, bearing: 177.649177 deg, lat: 36.779288 deg, lon: -121.859538 deg, deltaT: 0.508005 s, deltaX: 0.298269 m, approachRate: 0.587138 m/s, posRepo size: 4 gODNOT Ignoring new targets: 13.32 m.*" qBj*@Z '?=>=>=vͿ@= @M߼)I M>iM9)QU7QiQiYY]KIYIa-checking for new query: numPingsReceived=56, elapsed TxPingTime=27.732254E EE(E"E:*E]t:VEc44ZEa@a@a@a@9@ @@/@@@Ai ^A B= e>B= ڍCB= "IB= KBB= =B9 B9 B= d;B= Z&EI I O ><#o=,}X@A 2=@2E>2ٱ2=9p >AHRS rotation from veh to nav: [[0.981169,-0.189363,-0.038071],[0.191197,0.980157,0.052298],[0.027412,-0.058593,0.997906]]2He? =ȿ ~`%y? s]?ƪ???i2=@I2m^;FDDAT read: Rx Time:00:46:14.4645 JTRx dataTimestamp_ set to:1761698775.009768NPDAT read: Bearing 345.9, 11.2 (Local) N~Local bearing/azimuth received: Bearing 345.9, 11.2 (Local) VDAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed -0.2 jDAT read: 00:46:14.4645 LVL= 30192, 32481, 32754, 32755, AGC= 70, IDX= 502,-0.26,-2.767,-1.177,-3.106,-2.290, PHS=-0.375, 1.158,-0.861, RAW= 343.3, 0.9, CAL= 342.9, -2.1, ROT= 167.1, 2.1 ~Ygot valid direction response: 00:46:14.4645 LVL= 30192, 32481, 32754, 32755, AGC= 70, IDX= 502,-0.26,-2.767,-1.177,-3.106,-2.290, PHS=-0.375, 1.158,-0.861, RAW= 343.3, 0.9, CAL= 342.9, -2.1, ROT= 167.1, 2.1 T#Rx 57: Read range and direction messages.`direction in FSK: [-0.974107,0.223100,-0.036644] Fpublishing direction and range infoyDF-+,V?(א¢YDDFuF~D D)FFIFiFX9?Fj\F!@F9Y=kGyE>Q 54 ?Q 94)BYy=Q I3@jDI:i :=4yɮADF X@AJF*UARF*UAjFnG@F(I)f\^@Х>߿rF-+,V?(א¢ZF :@bFQ =FT@*9?`yFzFžDV+$>? 52F>:FrT"FSG%#?*F#BF"BFSG%#?F#“DFTAFnG@gOu addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.515508 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 13.322938 m, bearing: 178.246488 deg, lat: 36.779288 deg, lon: -121.859538 deg, deltaT: 0.515508 s, deltaX: 0.000216 m, approachRate: 0.000418 m/s, posRepo size: 4 gODNOT Ignoring new targets: 13.32 m.*" jZ@? @) >i9)7ii!!%-I)I)ԙ@ @@0@=checking for new query: numPingsReceived=57, elapsed TxPingTime=28.235563E EE%E"Em:*EV:VE 4ZEBES"v=,iX@AL]2@]`C>]ٱ]y㥽`e<nAO@ V@)?@Yz@bDVD1y޻%V=ٔӚQ->9Y=kGytE>Q 54犟?Q 94)BY>Q E<;yʽQ I3@mDIZ:i:4y ɮ AgO=DNOT Ignoring new targets: 13.32 m.99*9"9 999AEXBIIjIZM?DDAT read: Rx Time:00:46:14.9646 TRx dataTimestamp_ set to:1761698775.513762PDAT read: Bearing 345.6, 11.0 (Local) ~Local bearing/azimuth received: Bearing 345.6, 11.0 (Local) DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.1 DAT read: 00:46:14.9646 LVL= 32752, 23281, 32754, 32755, AGC= 70, IDX= 503,-0.25,-2.951,-1.379, 3.006,-2.467, PHS=-0.382, 1.132,-0.855, RAW= 343.1, 1.2, CAL= 342.7, -1.7, ROT= 167.3, 1.7 Ygot valid direction response: 00:46:14.9646 LVL= 32752, 23281, 32754, 32755, AGC= 70, IDX= 503,-0.25,-2.951,-1.379, 3.006,-2.467, PHS=-0.382, 1.132,-0.855, RAW= 343.1, 1.2, CAL= 342.7, -1.7, ROT= 167.3, 1.7 T#Rx 58: Read range and direction messages.`direction in FSK: [-0.975105,0.219749,-0.029666]Fpublishing direction and range infoyK4޹ ? `YXAZ )Iþi`?HZ@<Yf@ );:@I<TOUbp{l)#? )"I;:@i<Mchecking for new query: numPingsReceived=58, elapsed TxPingTime=28.512096e>e>eܳ@el@})y }>i}09)顥97ii|IIq@q @q@}0@y ^A "5I I O >E checking for new query: numPingsReceived=58, elapsed TxPingTime=28.739922E  E E 'E "E :*E e:VE '4ZE a @a @a @a @l5|=,4X@A2/@2PC>2mٱ2c :AHRS rotation from veh to nav: [[0.981480,-0.187761,-0.037992],[0.189508,0.980641,0.049287],[0.028003,-0.055574,0.998062]]2H Hh?ȿ s`A?ja?`$:&V",+?*`BUB“WA G@gO addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.503994 s, deltaX: 0.100000 m, approachRate: 0.198416 m/s, rangeRepo size: 4 gO Added new target pos. range: 13.422363 m, bearing: 178.320274 deg, lat: 36.779288 deg, lon: -121.859538 deg, deltaT: 0.503994 s, deltaX: 0.099425 m, approachRate: 0.197275 m/s, posRepo size: 4 gODNOT Ignoring new targets: 13.42 m.*" j+@ZG?o@m) >i19)  7 i i~II!@ @@/@@=@AA@A)BABABE"IBEFBBE =BABABE5c;BE%EBڍCBڍCBB =B =CË5DDAT read: Rx Time:00:46:15.4646 TRx dataTimestamp_ set to:1761698776.017714PDAT read: Bearing 345.2, 11.6 (Local) ~Local bearing/azimuth received: Bearing 345.2, 11.6 (Local) DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.3 DAT read: 00:46:15.4646 LVL= 31888, 27313, 32754, 32755, AGC= 71, IDX= 503,-0.22, 2.916,-1.787, 2.558,-2.883, PHS=-0.382, 1.141,-0.887, RAW= 343.8, 1.4, CAL= 343.4, -1.5, ROT= 166.6, 1.5 Ygot valid direction response: 00:46:15.4646 LVL= 31888, 27313, 32754, 32755, AGC= 71, IDX= 503,-0.22, 2.916,-1.787, 2.558,-2.883, PHS=-0.382, 1.141,-0.887, RAW= 343.8, 1.4, CAL= 343.4, -1.5, ROT= 166.6, 1.5 T#Rx 59: Read range and direction messages.`direction in FSK: [-0.972443,0.231668,-0.026177]Fpublishing direction and range infoyZ?[g6 O?P!ΚY|j )GIiJ ?oc@+<nʿ@ Pwּ):@IPw< /(ҤIZU?Q C)NʼI:@iPw<checking for new query: numPingsReceived=59, elapsed TxPingTime=29.039268^AUvтIYIqO}>ԁ t=, X@A2'@2@SB>2ٱ2sc :AHRS rotation from veh to nav: [[0.981652,-0.186795,-0.038311],[0.188558,0.980831,0.049157],[0.028394,-0.055479,0.998056]]2Hi?ǿ@w@"?b?(+?P?g@?i2'@I2b^;2ĐCYn'Byn"IbDvVDv:y~6%M=ٔQ->9 Y = kGy  E >Q 5%4i?Q 9%4)BY!y%^ͽQ I-3@tDID";i";4y1ɮ5<A1Y:"X@AJVARVAjyTF@ڙ*8T@H~i|ֿrZ?[g6 O?P!ΚZ:@bPw<KR2*3[aI?tzx6^^|Z̥?@ 2N?:V"4?*1B]Bɑ&?q“]BXAF@gO addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.503952 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 13.422358 m, bearing: 177.554219 deg, lat: 36.779289 deg, lon: -121.859537 deg, deltaT: 0.503952 s, deltaX: -0.000006 m, approachRate: -0.000011 m/s, posRepo size: 4 gODNOT Ignoring new targets: 13.42 m.*" jZq?b@)  >i 9)a 7iichecking for new query: numPingsReceived=59, elapsed TxPingTime=29.243608IIE] E]E]&EY"E]:*E]Ar:VE]4ZEYBE]ulI 9@i Q =  checking for new query: numPingsReceived=60, elapsed TxPingTime=29.525187 G=,N&X@A2F@2@@>2Fٱ2Oj :AHRS rotation from veh to nav: [[0.981912,-0.185360,-0.038616],[0.187186,0.981012,0.050770],[0.028472,-0.057080,0.997964]]2Hk?޹ǿţ ?`rd?z?'? 9@Q?i2F@I2^;2CYb"Byb"IIf=)fpyEt<@ ?@)Y@bDVD1yb%@=ٔ@Q->Թ9Y=kGyAVE>Q 54쥟?Q 94)BY>Q EE;y4Q I3@wDI ;i ;S4yBɮAbEc!X@AJ[AR[Aj F@2Fg*R @T?r Ֆi?(א¢Z9@bQ =6qT+k{?S2 z&Ă@3բ9?-# ೿2$?:Z"c z&?*F/BBc z&?1“UBZAOF@gO5 addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.503989 s, deltaX: 0.300000 m, approachRate: 0.595251 m/s, rangeRepo size: 4 gOE Added new target pos. range: 13.720633 m, bearing: 177.306794 deg, lat: 36.779289 deg, lon: -121.859536 deg, deltaT: 0.503989 s, deltaX: 0.298275 m, approachRate: 0.591828 m/s, posRepo size: 4 gOEDNOT Ignoring new targets: 13.72 m.AI*I"I IIIQUZBQYj]+@Z]@?}>}>}<@}8^@F) >i9) 7ii4ûII!@ @@@ checking for new query: numPingsReceived=60, elapsed TxPingTime=29.748146DazDe@AbEjE4rE5/Em EmEm%Ei"Em:*EmrN:VEm 4ZEia}@a}@a}@a}@^ASI Ii O >B c>B B "IB ABB B B B Yb;B %E9 U2=,@X@A2DDAT read: Rx Time:00:46:16.4647 6TRx dataTimestamp_ set to:1761698777.025579:PDAT read: Bearing 346.0, 11.9 (Local) :~Local bearing/azimuth received: Bearing 346.0, 11.9 (Local) BDAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed -0.4 ^DAT read: 00:46:16.4647 LVL= 30640, 23857, 32754, 32755, AGC= 70, IDX= 505,-0.11,-2.712,-1.145,-3.076,-2.260, PHS=-0.350, 1.160,-0.860, RAW= 344.0, 0.6, CAL= 343.6, -2.4, ROT= 166.4, 2.4 bYgot valid direction response: 00:46:16.4647 LVL= 30640, 23857, 32754, 32755, AGC= 70, IDX= 505,-0.11,-2.712,-1.145,-3.076,-2.260, PHS=-0.350, 1.160,-0.860, RAW= 344.0, 0.6, CAL= 343.6, -2.4, ROT= 166.4, 2.4 fT#Rx 61: Read range and direction messages.f`direction in FSK: [-0.971108,0.234936,-0.041876]jFpublishing direction and range infoy02H-QmR5a? ۷pY23[A02w21]0 0)2FI233i2z?2(\27 @2+<0 2+)0I2+=002z "'oSm?c? 2)2.I0i2+=00vchecking for new query: numPingsReceived=61, elapsed TxPingTime=30.017508 @ @?> ٱ Tq 5AHRS rotation from veh to nav: [[0.982150,-0.184039,-0.038860],[0.185935,0.981148,0.052687],[0.028431,-0.058972,0.997855]] Hm?@ǿ@z壿? e??`? 1m?i @I ^; ÐCY](By]"IbDuVDuyc<%M=ٔ8Q->9Y=kGyQE>Q 54?Q 94)BYyZQ I3@{DIl:i:4yIɮUAQ02AX@AJ2YAR2YAj2E@2At*U4mΙ @L@r2H-QmR5a? ۷pZ0b2+=2>`+ܼ?.\$z2}0￿bq? O22u&?:2X"2S8?*2iB2B2,+?0“2"B2[A2x>F@gO= addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.503876 s, deltaX: -0.100000 m, approachRate: -0.198462 m/s, rangeRepo size: 4 gOU Added new target pos. range: 13.621161 m, bearing: 177.254279 deg, lat: 36.779289 deg, lon: -121.859536 deg, deltaT: 0.503876 s, deltaX: -0.099472 m, approachRate: -0.197414 m/s, posRepo size: 4 gOUDNOT Ignoring new targets: 13.62 m.QY*Y"Y YYYaa }wm>}CXGE/&9AYE AaIjM`ff+@ZMsa?U@) >ix9) 7i9i!AE IAIA@ @@@@@checking for new query: numPingsReceived=61, elapsed TxPingTime=30.251822Eu EuEu&Eq"Eua:*Eue:VEu4ZEqBEu(Թ ]=,pZX@A= @=>>=dٱ=%q eAHRS rotation from veh to nav: [[0.982257,-0.183378,-0.039288],[0.185299,0.981273,0.052611],[0.028905,-0.058957,0.997842]]=H@n? xǿ@߷?`f??@>?`/@R?i= @I=];=CY}$By}"IiMb@Mb@Mb@ 9Mb?(\µ~jt?Y>y<A|@ AA)Y@bDUVDUye %e<=ٔm6Q-m>9qYq=ukGyqu úEu>yQ 54}?Q 94ԉ})}BYs>Q ED;yQ I3@}~DI}N3;i}B2;}4yBɮAcEgODNOT Ignoring new targets: 13.62 m.*" lBjZ5#?s>s>;@&@d) R>i9)%7!i!i))- I)I1uDDAT read: Rx Time:00:46:16.9649 uTRx dataTimestamp_ set to:1761698777.529724}PDAT read: Bearing 345.4, 11.3 (Local) ~Local bearing/azimuth received: Bearing 345.4, 11.3 (Local) DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed -0.3 DAT read: 00:46:16.9649 LVL= 32752, 24801, 32754, 32755, AGC= 70, IDX= 507,-0.08,-0.292, 1.293,-0.639, 0.188, PHS=-0.378, 1.150,-0.871, RAW= 343.5, 1.1, CAL= 343.1, -1.8, ROT= 166.9, 1.8 MYgot valid direction response: 00:46:16.9649 LVL= 32752, 24801, 32754, 32755, AGC= 70, IDX= 507,-0.08,-0.292, 1.293,-0.639, 0.188, PHS=-0.378, 1.150,-0.871, RAW= 343.5, 1.1, CAL= 343.1, -1.8, ROT= 166.9, 1.8 UT#Rx 62: Read range and direction messages.]`direction in FSK: [-0.973495,0.226540,-0.031411]eFpublishing direction and range infoyquNU&OD\@?IzYu`Aquu`q q)qIu7iu33?u^uؿ@unF checking for new query: numPingsReceived=62, elapsed TxPingTime=30.755554E}  E} E} %Ey "E} >:*E} xv:VE} 4ZEy a @a @a @a @ t=,B|tX@A2~@2@=>2ٱ2r :AHRS rotation from veh to nav: [[0.982432,-0.182390,-0.039523],[0.184332,0.981444,0.052808],[0.029158,-0.059166,0.997822]]2H@p?XǿU<-?@g?` ? ۝?J)?i2~@I2w];2CY^'Byb"I ``f=fa=bDjVDj0yr-<%rg=ٔv;Q-v>9tYt=zkGyxzN6Ez>|Q 54~u?Q 94~;)~BY y Q I 3@~DI~=:i~:~ %4yɮAaX@AJ^AR^AjPjF@Sn:+rΪQ9 @_iiۿrNU&OD\@?IzZm:@b=Q;+?"]?8xIz9/xMP H?e2?:]":/?*"BB:/?“B'^A`&F@gOU addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.504145 s, deltaX: 0.300000 m, approachRate: 0.595067 m/s, rangeRepo size: 4 gOu Added new target pos. range: 13.919434 m, bearing: 177.630597 deg, lat: 36.779290 deg, lon: -121.859536 deg, deltaT: 0.504145 s, deltaX: 0.298273 m, approachRate: 0.591641 m/s, posRepo size: 4 gODNOT Ignoring new targets: 13.92 m.*" )19jE,@ZMj?Bd>BB"IBi+9)顅7iikII!Y@Y @Y@e0@aDDAT read: Rx Time:00:46:17.4649 TRx dataTimestamp_ set to:1761698778.034873PDAT read: Bearing 345.3, 12.1 (Local) ~Local bearing/azimuth received: Bearing 345.3, 12.1 (Local) DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed -0.2 DAT read: 00:46:17.4649 LVL= 29856, 23393, 32754, 32755, AGC= 70, IDX= 507,-0.03,-0.939, 0.609,-1.308,-0.477, PHS=-0.360, 1.131,-0.875, RAW= 344.3, 1.2, CAL= 343.9, -1.8, ROT= 166.1, 1.8 Ygot valid direction response: 00:46:17.4649 LVL= 29856, 23393, 32754, 32755, AGC= 70, IDX= 507,-0.03,-0.939, 0.609,-1.308,-0.477, PHS=-0.360, 1.131,-0.875, RAW= 344.3, 1.2, CAL= 343.9, -1.8, ROT= 166.1, 1.8 T#Rx 63: Read range and direction messages.`direction in FSK: [-0.970238,0.240109,-0.031411]Fpublishing direction and range infoy_fp/ ᅦ?IzYta[ )IQiĐ?`K@<@ )9@I@iX9Y1ܔ? G)6禼I9@iechecking for new query: numPingsReceived=63, elapsed TxPingTime=31.036066I ^A I I O >Pk=,TWX@A2@2`S=>2svٱ2Br >AHRS rotation from veh to nav: [[0.982533,-0.181812,-0.039657],[0.183758,0.981559,0.052672],[0.029349,-0.059040,0.997824]]2Hp?EǿM^? h?? ?`p:,?i2@I2];2CYf*Byf"IbDrVDr02yzb<%zJ=ٔzQ-z>9|Y|=~kGy|fE> Q 54 ɟ?Q 94 ) BYySQ I3@ DI :i B: !,4y!ɮ%A!\;X@AJRj{E@`}+ϼ @ vmۿr_fp/ ᅦ?IzZ9@b+݁%?a1zzg￳)É?uzE2F?:]"t9?*ץ3BB4?i“B^A E@gOu addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.505149 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 13.919465 m, bearing: 176.795968 deg, lat: 36.779290 deg, lon: -121.859536 deg, deltaT: 0.505149 s, deltaX: 0.000031 m, approachRate: 0.000062 m/s, posRepo size: 4 gODNOT Ignoring new targets: 13.92 m.*" jZ?=@sv) >i9checking for new query: numPingsReceived=63, elapsed TxPingTime=31.259638)7ii\IIE EE#E"E[:*EX:VE3ZEBE} DDAT read: Rx Time:00:46:17.9651  TRx dataTimestamp_ set to:1761698778.537661 PDAT read: Bearing 344.3, 11.3 (Local)  ~Local bearing/azimuth received: Bearing 344.3, 11.3 (Local) ԩ  DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.3  DAT read: 00:46:17.9651 LVL= 32752, 32657, 32754, 32755, AGC= 68, IDX= 509,-0.02, 1.300, 2.872, 0.951, 1.805, PHS=-0.404, 1.112,-0.898, RAW= 343.7, 2.1, CAL= 343.2, -0.8, ROT= 166.8, 0.8  Ygot valid direction response: 00:46:17.9651 LVL= 32752, 32657, 32754, 32755, AGC= 68, IDX= 509,-0.02, 1.300, 2.872, 0.951, 1.805, PHS=-0.404, 1.112,-0.898, RAW= 343.7, 2.1, CAL= 343.2, -0.8, ROT= 166.8, 0.8  T#Rx 64: Read range and direction messages. `direction in FSK: [-0.973484,0.228328,-0.013962] Fpublishing direction and range infoy  &`un9?4Y dA   ) DI ξi V? Te S@ Q = ֭@ d) AQ:@I d< >i$ؠW? P) I AQ:@i d<  checking for new query: numPingsReceived=64, elapsed TxPingTime=31.528019h=,6X@A2i@2)=>2ٱ2rlp :AHRS rotation from veh to nav: [[0.982562,-0.181670,-0.039599],[0.183601,0.981610,0.052279],[0.029373,-0.058638,0.997847]]2H%q?`@ǿ OFyEvE9Y=kGywE>Q 54ҟ?Q 94/)BY>Q ET;yFQ I3@DIew;iw;,44y"BɮAdE iX@AJ{cAR{cAj2F@Ou+Es @7Ժhɿr&`un9?4ZAQ:@bd<̓%\,i1mR?zpz0qgəHަ?[]砬2"?:b"'?*{BB:/?“aAE@gO5 addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.502788 s, deltaX: 0.300000 m, approachRate: 0.596673 m/s, rangeRepo size: 4 gOE Added new target pos. range: 14.217739 m, bearing: 177.435911 deg, lat: 36.779290 deg, lon: -121.859536 deg, deltaT: 0.502788 s, deltaX: 0.298274 m, approachRate: 0.593240 m/s, posRepo size: 4 gOMDNOT Ignoring new targets: 14.22 m.II*I"I IQQQUQBYYj],@Z] ]?>>kм@@)ԩ  >i9)顽7ii6VIIchecking for new query: numPingsReceived=64, elapsed TxPingTime=31.764297a@a @a@a@aE EE"E"E:*Ec:VE(3ZEa@a@a@a@B b>B B B B =B B B a;B -%E^A I I1 OE >J}=, X@A&DDAT read: Rx Time:00:46:18.4651 *TRx dataTimestamp_ set to:1761698779.041746.PDAT read: Bearing 344.3, 11.9 (Local) .~Local bearing/azimuth received: Bearing 344.3, 11.9 (Local) 6DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.0 JDAT read: 00:46:18.4651 LVL= 32752, 22001, 32754, 32755, AGC= 68, IDX= 509, 0.05, 1.092, 2.633, 0.729, 1.583, PHS=-0.389, 1.095,-0.898, RAW= 344.2, 2.2, CAL= 343.8, -0.8, ROT= 166.2, 0.8 NYgot valid direction response: 00:46:18.4651 LVL= 32752, 22001, 32754, 32755, AGC= 68, IDX= 509, 0.05, 1.092, 2.633, 0.729, 1.583, PHS=-0.389, 1.095,-0.898, RAW= 344.2, 2.2, CAL= 343.8, -0.8, ROT= 166.2, 0.8 NT#Rx 65: Read range and direction messages.R`direction in FSK: [-0.971040,0.238510,-0.013962]VFpublishing direction and range infoy$&ecP??4Y$$$&U$ $)$I&+Ǿi&(?$&<@&nF=&@ $)&9@I$$$&uV'M;m N\]?l &)&YI&9@i$$$vchecking for new query: numPingsReceived=65, elapsed TxPingTime=32.036144z@z <>zٱzh AHRS rotation from veh to nav: [[0.982609,-0.181533,-0.039053],[0.183379,0.981747,0.050453],[0.029182,-0.056737,0.997963]]zHq?y<ǿ x?xj?ԩ?? @O?iz@Izh];zCY&By"II%<)%=!!bD5VD5yEE%Ed=ٔE? :Q-E>9IYI=MkGyIMH&EU>QQ 5]4UNڟ?Q 9e4U)UBYaye0GQ Ie3@UDIUU;iU):Ul:4yiɮuAq$&X@AJ$R$j&E@&-;+]C @!͝ihɿr&ecP??4Z&9@b$&AX,Lp2?\fcz&ZbKDplL[?څ)2&I?:&b"&/?*&B&B&/?$“&B&cA&E@gOm addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.504085 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 14.217675 m, bearing: 176.820143 deg, lat: 36.779290 deg, lon: -121.859536 deg, deltaT: 0.504085 s, deltaX: -0.000064 m, approachRate: -0.000127 m/s, posRepo size: 4 gODNOT Ignoring new targets: 14.22 m.*" jiZu>?Z@) >i9)顭7iidIIA@A @I@M/@I9checking for new query: numPingsReceived=65, elapsed TxPingTime=32.267624E EE'E"E>:*EX:VE'4ZEBEa =,X@Av,@v<>v ٱv] AHRS rotation from veh to nav: [[0.982619,-0.181593,-0.038532],[0.183334,0.981885,0.047855],[0.029144,-0.054087,0.998111]]vHq? n>ǿ|zw?k?@s?ם?Y?iv,@Iv];vCY/By"I1iMb@Mb@Mb@ 9Zd;?~jtyĽt<A@ )Yz@bDVD0y#=%A=ٔ8Q->9Y=kGyE>Q 54u㟊?Q 94-)BY>Q EI;y@Q I3@DI ;ia;A4yɮAgODNOT Ignoring new targets: 14.22 m.*" UDDAT read: Rx Time:00:46:18.9653 UTRx dataTimestamp_ set to:1761698779.545874ePDAT read: Bearing 344.1, 12.4 (Local) e~Local bearing/azimuth received: Bearing 344.1, 12.4 (Local) uDAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.1 DAT read: 00:46:18.9653 LVL= 32752, 30129, 32754, 32755, AGC= 70, IDX= 511, 0.07, 2.350,-2.380, 1.957, 2.845, PHS=-0.392, 1.104,-0.931, RAW= 344.8, 2.4, CAL= 344.3, -0.5, ROT= 165.7, 0.5 Ygot valid direction response: 00:46:18.9653 LVL= 32752, 30129, 32754, 32755, AGC= 70, IDX= 511, 0.07, 2.350,-2.380, 1.957, 2.845, PHS=-0.392, 1.104,-0.931, RAW= 344.8, 2.4, CAL= 344.3, -0.5, ROT= 165.7, 0.5 T#Rx 66: Read range and direction messages.`direction in FSK: [-0.968979,0.246990,-0.008727]Fpublishing direction and range infoyQU݄ᅬ[?B7߁YUiAQQUuQ Q)UFIU9ȾiUO?UVnU@U+=UK@ U5)U9@IU5>)@@ ) >i(9)B7iiIIq@q @q@q@q@y@yԉ^A HI Թ I O > checking for new query: numPingsReceived=66, elapsed TxPingTime=32.771549E  E E $E "E :*E :VE 4ZE a @a @a @a @Ѽ=,X@A2\@2<>2ٱ2X :AHRS rotation from veh to nav: [[0.982658,-0.181422,-0.038332],[0.183116,0.981985,0.046623],[0.029183,-0.052834,0.998177]]2H@q?8ǿOYp?ll? ߧ?@?@ `?i2\@I2];2ÐCYB-ByF"IbDNVDNNyVc»%V`=ٔVQ-V>9XYX=ZkGyXZE^>`Q 5b4b[럊?Q 9f4b)bBYdyjU@Q Ij3@bDIb\(;ib);b5H4ypɮvAtX@AJAhARAhAjD@/^!,G} @F6r݄ᅬ[?B7߁ԙZ9@b5<WC, Y<_ ?eF>z2HMs?YS2lp?:zg"%:(?*2BB:/?“BsfAcE@gOM addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.504128 s, deltaX: 0.300000 m, approachRate: 0.595087 m/s, rangeRepo size: 4 gO Added new target pos. range: 14.515948 m, bearing: 176.285844 deg, lat: 36.779290 deg, lon: -121.859535 deg, deltaT: 0.504128 s, deltaX: 0.298273 m, approachRate: 0.591661 m/s, posRepo size: 4 BMd>BIBM"IBMABBM =BIBIBM=a;BM$EgODNOT Ignoring new targets: 14.52 m.*" jZ`?999=/ @U)Q U>iU9)Y]7YiYiaaeIaI=9@A @A@E/@AiiIi}DDAT read: Rx Time:00:46:19.4653 TRx dataTimestamp_ set to:1761698780.052372PDAT read: Bearing 341.8, 12.0 (Local) ~Local bearing/azimuth received: Bearing 341.8, 12.0 (Local) DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.1 DAT read: 00:46:19.4653 LVL= 32752, 28897, 32754, 32755, AGC= 71, IDX= 511, 0.09, 1.653,-3.122, 1.290, 2.186, PHS=-0.430, 1.021,-0.939, RAW= 344.5, 4.0, CAL= 344.1, 1.7, ROT= 165.9, -1.7 Ygot valid direction response: 00:46:19.4653 LVL= 32752, 28897, 32754, 32755, AGC= 71, IDX= 511, 0.09, 1.653,-3.122, 1.290, 2.186, PHS=-0.430, 1.021,-0.939, RAW= 344.5, 4.0, CAL= 344.1, 1.7, ROT= 165.9, -1.7 T#Rx 67: Read range and direction messages.^direction in FSK: [-0.969445,0.243508,0.029666]Fpublishing direction and range infoyy}/±￧FD+? `?Yyyy}py y)}GI}(ܾi}!?}Nbp}g@}5=}.@ }<)}O9@I}yy}*"@ _濳=ɲJֱ? }B])}ώI}O9@i}yy checking for new query: numPingsReceived=67, elapsed TxPingTime=33.045391^A I I O >! =,8X@A6@6;>6!ٱ6,yW >AHRS rotation from veh to nav: [[0.982791,-0.180669,-0.038490],[0.182364,0.982139,0.046337],[0.029431,-0.052559,0.998184]]6H s?@' ǿ󴣿W? m?|?#? 調?i6@I6^;6CY^:By^"I ``f=f=bDjVDjβyrXy=%rF=ٔvQ-v>9tYt=zkGyxzYEz>|Q 54~A?Q 94~-)~BY y &AQ I 3@~DI~:i~4:~gO4y'BɮdAeEZX@AJRjD@B7%,Co/G @iβ?r/±￧FD+? `?ZO9@bQ,>ƞ՛?ſz07[^Q?Nk2l?:g"/?*UBB/?ץ3“B0hA5E@gOe addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.506498 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gOu Added new target pos. range: 14.515990 m, bearing: 176.345145 deg, lat: 36.779290 deg, lon: -121.859535 deg, deltaT: 0.506498 s, deltaX: 0.000042 m, approachRate: 0.000083 m/s, posRepo size: 4 gO}DNOT Ignoring new targets: 14.52 m.yy*y"y yjZ?@!) >i9)n7ii Ichecking for new query: numPingsReceived=67, elapsed TxPingTime=33.279804I1E] E]E]'EY"E]>:*E]L_:VE]'4ZEYBEYam2EYamJE];au:E];au@ @@4@i^AII1O=>ԉ DDAT read: Rx Time:00:46:19.9654  TRx dataTimestamp_ set to:1761698780.557233 DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed -0.3  Z#Rx 68: Read range message, but no direction.y Y 3kA  checking for new query: numPingsReceived=68, elapsed TxPingTime=33.534920Թ =,{)X@A2H@2;>2ٱ2eU :AHRS rotation from veh to nav: [[0.982857,-0.180355,-0.038252],[0.182027,0.982219,0.045966],[0.029282,-0.052141,0.998210]]2H`s?ǿѕ@L?Un?刧??`CV?i2H@I2m];2CYN0ByR"Ii]Mb@Mb@Mb@YYYY Y9]"~j?J +Zd;O?Y]Sc>y]Ƚ]j<]nAY ]?@)]@YY]@bDuVDuk1yEH%A=ٔ9Q->9Y=kGy2TE>Q 54?Q 94)BYy>Q EY;yjQ I3@DIf:i :V4yɮAgO addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504861 s, deltaX: 0.099999 m, approachRate: 0.198073 m/s, rangeRepo size: 4 gODNOT Ignoring new targets: 14.52 m.*" cBj`ff-@Z ?y>y>S»@T@-)) ->i5Y9)1571i1i99=$IAIAII)MZAԑ@ @@4@@=@=checking for new query: numPingsReceived=68, elapsed TxPingTime=33.783566Em EmEm%Ei"Em:*Em1]:VEm 4ZEiau@au@au@au@Թ^A & BA BA BE "IBE FBBA BA BA BE a;BE $EBBBB =B =CY4I I O > j=,.UCX@A&DDAT read: Rx Time:00:46:20.4654 *TRx dataTimestamp_ set to:1761698781.061803.PDAT read: Bearing 325.6, 9.5 (Local) .~Local bearing/azimuth received: Bearing 325.6, 9.5 (Local) 6DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.0 JDAT read: 00:46:20.4654 LVL= 32752, 25473, 32754, 32755, AGC= 70, IDX= 512, 0.06,-2.044,-0.832,-2.240,-1.345, PHS=-0.597, 0.558,-0.939, RAW= 342.6, 14.3, CAL= 343.0, 17.9, ROT= 167.0, -17.9 NYgot valid direction response: 00:46:20.4654 LVL= 32752, 25473, 32754, 32755, AGC= 70, IDX= 512, 0.06,-2.044,-0.832,-2.240,-1.345, PHS=-0.597, 0.558,-0.939, RAW= 342.6, 14.3, CAL= 343.0, 17.9, ROT= 167.0, -17.9 NT#Rx 69: Read range and direction messages.R^direction in FSK: [-0.927205,0.214062,0.307357]VFpublishing direction and range infoy(*LVOq df?uY?Y(((*c( ()*FI*i*?(* X@*r>*=@ *>)*q:@I*((*)k鮩K r*ar? *|)*_/I*q:@i*((vchecking for new query: numPingsReceived=69, elapsed TxPingTime=34.056431r@r ;>rԎٱr@IU AHRS rotation from veh to nav: [[0.982935,-0.179948,-0.038170],[0.181613,0.982299,0.045877],[0.029239,-0.052026,0.998218]]rH4t?ǿ?? n?)}??' f?ir@Ir`];rCYE>ByM"IIU=)U;QUAbD]VD]1ymg[=%m=ٔuL8Q-u>9qYy=}kGyy}OE}>Q 542?Q 94)BYykQ I3@DI:i:`4yɮDA(*CX@AJ*iAR*iAj*$WE@*]+犧d @Pc@r*LVOq df?uY?Z*q:@b**Lm,6*C.?%f@z*kGQ?M0?2*tQ?:*`"*f?**0 B*B(*“*B*kA*d(E@gO addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504570 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 14.615423 m, bearing: 176.668302 deg, lat: 36.779290 deg, lon: -121.859535 deg, deltaT: 1.009431 s, deltaX: 0.099433 m, approachRate: 0.098504 m/s, posRepo size: 4 gODNOT Ignoring new targets: 14.62 m.*"     jZ2?999=ͷ@Ԏ) g>i9)7iia*IIchecking for new query: numPingsReceived=69, elapsed TxPingTime=34.288357Eu EuEu$Eq"Eu;*EuS:VEu4ZEqBEu@Y=,R^X@A2@2`:>2ٱ2ʞ] :AHRS rotation from veh to nav: [[0.982958,-0.179767,-0.038445],[0.181506,0.982223,0.047895],[0.029152,-0.054057,0.998112]]2Hct?`ǿ@;?^n??@ڝ?``?i2@I2z];2C @)@B̼@@DF/aAiFIFFDIHiJ`A JԼH)HL N`ANLLLRoAIP)PiP)PIPPT TVCTTiXXiXX)X \I\Y\Yb:Byb"IiMMb@Mb@Mb@IIII I9MS?Zd;OI +?YM/]>yMjM9Q Ema;ym]Q Im3@=DI=;i=;=e4yyɮ}dAyDDAT read: Rx Time:00:46:20.9656 TRx dataTimestamp_ set to:1761698781.565800PDAT read: Bearing 340.7, 11.2 (Local) ~Local bearing/azimuth received: Bearing 340.7, 11.2 (Local) DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed -0.2 DAT read: 00:46:20.9656 LVL= 32752, 26881, 32754, 32755, AGC= 73, IDX= 2,-0.00, 1.450, 3.004, 1.107, 2.029, PHS=-0.477, 1.020,-0.966, RAW= 343.7, 4.8, CAL= 343.3, 2.9, ROT= 166.7, -2.9 Ygot valid direction response: 00:46:20.9656 LVL= 32752, 26881, 32754, 32755, AGC= 73, IDX= 2,-0.00, 1.450, 3.004, 1.107, 2.029, PHS=-0.477, 1.020,-0.966, RAW= 343.7, 4.8, CAL= 343.3, 2.9, ROT= 166.7, -2.9 T#Rx 70: Read range and direction messages.^direction in FSK: [-0.971933,0.229755,0.050593]Fpublishing direction and range infoy\￴߆h?|rQ?YpAi )IIX9i\?KwS@=!@ 4QO=)4:@I4QO_/:_濴 I? H)I4:@i4QO checking for new query: numPingsReceived=70, elapsed TxPingTime=34.5558056dX@AJnARnAjE@~,푐wi @6ϳ%?r\￴߆h?|rQ?Z4:@b4QO- U9:?pZ?zഩᅨ<0'v?N.?2QE?:In"Zca&?*BB“BlAE@gO addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.503997 s, deltaX: 0.300000 m, approachRate: 0.595242 m/s, rangeRepo size: 4 gO Added new target pos. range: 14.913697 m, bearing: 177.037340 deg, lat: 36.779290 deg, lon: -121.859535 deg, deltaT: 0.503997 s, deltaX: 0.298274 m, approachRate: 0.591817 m/s, posRepo size: 4 gODNOT Ignoring new targets: 14.91 m.*" }Bj.@Zm?-vq>-vq>-O-@-#@e)a eq>ie9)am7iiiiiqu?+IqIq9@ @@/@AY ^A= ܪ&IA IY e checking for new query: numPingsReceived=70, elapsed TxPingTime=34.796520Ou >bE=ʻ 4jE=ʻ 4rE=J/E  E E 'E "E >:*E P:VE '4ZE a @a @a @a @=,xX@AJ@Jz:>JٱJ+sg jAHRS rotation from veh to nav: [[0.983049,-0.179200,-0.038762],[0.181027,0.982192,0.050288],[0.029060,-0.056452,0.997982]]JH"u? ƿ@أ+?@n?U?? T笿x?iJ@IJf];JCY@By"IB<A<B5h>B5ۍCB5"IB5KBB5 =B1B5lDB5xa;B5%EbD VD y<%B=ٔe9Q->9Y=kGyE>Q 54|?Q 94)BYy]Q I3@DIl:i:m4y+BɮWAgODNOT Ignoring new targets: 14.91 m.*" !!j!Z%?IIIM!@e)a e>ie9)aie 7iiiiqquP2IyIy9@ @@/@@@DDAT read: Rx Time:00:46:21.4656 TRx dataTimestamp_ set to:1761698782.073542PDAT read: Bearing 341.7, 12.2 (Local) ~Local bearing/azimuth received: Bearing 341.7, 12.2 (Local) DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0  DAT read: 00:46:21.4656 LVL= 32752, 29137, 32754, 32755, AGC= 70, IDX= 498,-0.06,-0.774, 0.745,-1.147,-0.237, PHS=-0.435, 1.027,-0.954, RAW= 344.6, 4.1, CAL= 344.2, 1.9, ROT= 165.8, -1.9 Ygot valid direction response: 00:46:21.4656 LVL= 32752, 29137, 32754, 32755, AGC= 70, IDX= 498,-0.06,-0.774, 0.745,-1.147,-0.237, PHS=-0.435, 1.027,-0.954, RAW= 344.6, 4.1, CAL= 344.2, 1.9, ROT= 165.8, -1.9 T#Rx 71: Read range and direction messages.^direction in FSK: [-0.968912,0.245173,0.033155]Fpublishing direction and range infoy/]T~-a?B3?Yq )FIR޾it?X9tv@C=<@ =)L39@It V]ڬlc-$^? 4)IL39@i=checking for new query: numPingsReceived=71, elapsed TxPingTime=35.062893ԙG5,99Y=A^Am +Iq I O > e=,"qX@A2@2 :>28ٱ2 j :AHRS rotation from veh to nav: [[0.983128,-0.178774,-0.038707],[0.180621,0.982226,0.051072],[0.028889,-0.057202,0.997945]]2Hu? ƿ`eѣ? en?`&?@?`I)?i2@I2kp];2CL%checking for new query: numPingsReceived=71, elapsed TxPingTime=35.299358Y%ABy) 11bD=VD=:2yM:%Ma=ٔU9Q-U>9QYQ=UkGyQ]E]>aQ 5m4eW?Q 9m4e)eBYiyu^Q Iu4@eDIe:ie):eYs4E EEE"E:*EVL:VEZEBE i=9)AE"7AiAiIIM7IIIQ@ @@@DDAT read: Rx Time:00:46:21.9658 TRx dataTimestamp_ set to:1761698782.578127PDAT read: Bearing 340.8, 11.7 (Local) ~Local bearing/azimuth received: Bearing 340.8, 11.7 (Local) DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed -0.1 % DAT read: 00:46:21.9658 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 500,-0.19, 0.925, 2.452, 0.570, 1.486, PHS=-0.459, 1.011,-0.960, RAW= 344.2, 4.6, CAL= 343.8, 2.7, ROT= 166.2, -2.7 - Ygot valid direction response: 00:46:21.9658 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 500,-0.19, 0.925, 2.452, 0.570, 1.486, PHS=-0.459, 1.011,-0.960, RAW= 344.2, 4.6, CAL= 343.8, 2.7, ROT= 166.2, -2.7 - T#Rx 72: Read range and direction messages.5 ^direction in FSK: [-0.970056,0.238269,0.047106]5 Fpublishing direction and range infoyV6 ?P7V?YtA )GI ish?u<@l=@ A=)9@IA)W47aLU? ۽)I!I9@iAU checking for new query: numPingsReceived=72, elapsed TxPingTime=35.567905! ^A 0I I O >Տ=,LX@A2@2`9>2'ٱ2Ȝi :AHRS rotation from veh to nav: [[0.983170,-0.178570,-0.038592],[0.180405,0.982276,0.050874],[0.028823,-0.056980,0.997959]]2H v?cƿL£?n? ?@ԃ?p,H?i2@I2C];2CYRHByV"I|iMb@Mb@Mb@ 9NbX9?ˡEI +?YE>y什 A)@YbDVDy=%@=ٔ 9Q->9 Y = kGy !E>!Q 5-4%#?Q 9-4%)%BY5W>Q E5{;y5\Q I54@%DI%`F;i%E;%z4yAɮEAI  X@AJ dsAR dsAj E@ Ff-$ @UO?r V6 ?P7V?Z 9@b A z].,5t?bP?z Uufuw@t? pkv?2 Co?: r" 1:$?* [B sB  [“ sB W>4@n(@') q>i9) $7iiQ:I5checking for new query: numPingsReceived=72, elapsed TxPingTime=35.8035391I9E EE(E"E:*ER:VEc44ZEa@a@a@a@9@ @@0@YB-j>B)B-"IB-UBB- =B-DDB)B-a;B-[%E^A% *:I1 IA OM >ԁ  DDAT read: Rx Time:00:46:22.4658  TRx dataTimestamp_ set to:1761698783.081672 PDAT read: Bearing 340.7, 10.9 (Local)  ~Local bearing/azimuth received: Bearing 340.7, 10.9 (Local)  DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 - DAT read: 00:46:22.4658 LVL= 32752, 31665, 32754, 32755, AGC= 70, IDX= 500,-0.33,-0.815, 0.727,-1.141,-0.238, PHS=-0.475, 1.009,-0.947, RAW= 343.4, 4.7, CAL= 343.0, 2.9, ROT= 167.0, -2.9 5 Ygot valid direction response: 00:46:22.4658 LVL= 32752, 31665, 32754, 32755, AGC= 70, IDX= 500,-0.33,-0.815, 0.727,-1.141,-0.238, PHS=-0.475, 1.009,-0.947, RAW= 343.4, 4.7, CAL= 343.0, 2.9, ROT= 167.0, -2.9 5 T#Rx 73: Read range and direction messages.= ^direction in FSK: [-0.973122,0.224663,0.050593]= Fpublishing direction and range infoy  j1;#ᅭ?|rQ?Y { ) FI 33i &? nr nʿ@ = =@ 4QO=) q:@I 4QO ".>4C{? j) Ĩw=,)%X@AIq:@i4QOchecking for new query: numPingsReceived=73, elapsed TxPingTime=36.0753216_@6`:>6'ٱ6}#f BAHRS rotation from veh to nav: [[0.983131,-0.178791,-0.038570],[0.180599,0.982284,0.050011],[0.028946,-0.056133,0.998004]]6Hu?ƿ?n?@ ?@?`z@?i6_@I6&];6CYJ>ByJ"IbDRVDRܲyZ\R%Zb=ٔ^Q-^>9\Y\=bkGy`b:Eb>dQ 5j4f)?Q 9j4f)fBYhyn\Q In4@fDYIf:ifi9)顽v%7ii96IIԉ9@ @@4@@@@@=checking for new query: numPingsReceived=73, elapsed TxPingTime=36.307652ԱDzD?AE EE&E"E:*EC:VE4ZEBE =,X@AB@B :>B ٱBa NAHRS rotation from veh to nav: [[0.983012,-0.179462,-0.038486],[0.181228,0.982233,0.048742],[0.029055,-0.054888,0.998070]]BH@t?ƿ nw2?sn?`?@?R/?iB@IBCI^;BÐCYVLByV"IIZ<)Z=i5Mb@Mb@Mb@1111 195Mb?V-/$?Y5@>y5h5<5A5@ 5AA)5(@1Y5 @ IM4<bDMVDMy]t=%e?=ٔeFQ-e>9aYi=mkGyim:Em>ԱQ 5431?Q 94V) BYN>Q E;y|2Q I4@DI:i#:܈4y 0Bɮ #A fEgOUDNOT Ignoring new targets: 15.21 m.QY*Y"Y YYYaeBaajaZm?DDAT read: Rx Time:00:46:22.9658 TRx dataTimestamp_ set to:1761698783.585659PDAT read: Bearing 341.4, 11.0 (Local) ~Local bearing/azimuth received: Bearing 341.4, 11.0 (Local) DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 DAT read: 00:46:22.9658 LVL= 32752, 27169, 32754, 32755, AGC= 72, IDX= 500, 0.36, 1.136, 2.682, 0.802, 1.701, PHS=-0.463, 1.026,-0.944, RAW= 343.5, 4.3, CAL= 343.2, 2.2, ROT= 166.8, -2.2 Ygot valid direction response: 00:46:22.9658 LVL= 32752, 27169, 32754, 32755, AGC= 72, IDX= 500, 0.36, 1.136, 2.682, 0.802, 1.701, PHS=-0.463, 1.026,-0.944, RAW= 343.5, 4.3, CAL= 343.2, 2.2, ROT= 166.8, -2.2 T#Rx 74: Read range and direction messages.^direction in FSK: [-0.972861,0.228182,0.038388]Fpublishing direction and range infoy!z5?.?Y!j )HIViS?qؿ@`=֭@ nF=)AQ:@InFa-!翚?>[SCT? l)ǚIAQ:@inFchecking for new query: numPingsReceived=74, elapsed TxPingTime=36.595520N>N>@{@ ) >iU9)顕&7ii-II9@ @@4@IIOc> E checking for new query: numPingsReceived=74, elapsed TxPingTime=36.811520E  E E E "E %;*E h:VE ZE a @a @a @a @9 =,X@Ar9@rC;>rƧٱr~\ AHRS rotation from veh to nav: [[0.982904,-0.180050,-0.038488],[0.181780,0.982191,0.047498],[0.029251,-0.053683,0.998129]]rH`s? ǿ`D?n?@Q??@I|@?ir9@Ir^;rCYMDByM"IAAAABg>BB"IB[BB =BEDBBpb;B%EbDVD:2y- %->=ٔ5Q-5>91Y1=5kGy9=c:E=>AQ 5M4E8?Q 9M4E)EBYiym2Q Iu4@EDIE;iE;E4yyɮ}_Ayp{X@AJdsARdsAj%E@V}>-֧ @V[ί?r!z5?.?ZAQ:@bnFN3c.|zv3?0^M؝z+4V1#?`S;c21??:s"; 7?*0B1B“sB4vAlE@gO- addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503987 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO= Added new target pos. range: 15.212142 m, bearing: 177.185885 deg, lat: 36.779289 deg, lon: -121.859537 deg, deltaT: 0.503987 s, deltaX: -0.000101 m, approachRate: -0.000201 m/s, posRepo size: 4 gO=DNOT Ignoring new targets: 15.21 m.99*9"A AAAiiiijiZuiep9)am(7iiiiiqugE&IqIqADDAT read: Rx Time:00:46:23.4658 TRx dataTimestamp_ set to:1761698784.090383PDAT read: Bearing 342.6, 10.1 (Local) ~Local bearing/azimuth received: Bearing 342.6, 10.1 (Local) DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed -0.1 9@ @@/@IAUDAT read: 00:46:23.4658 LVL= 32752, 30417, 32754, 32755, AGC= 71, IDX= 500, 0.15,-0.479, 1.126,-0.791, 0.093, PHS=-0.470, 1.078,-0.928, RAW= 342.6, 3.6, CAL= 342.1, 1.0, ROT= 167.9, -1.0 ]Ygot valid direction response: 00:46:23.4658 LVL= 32752, 30417, 32754, 32755, AGC= 71, IDX= 500, 0.15,-0.479, 1.126,-0.791, 0.093, PHS=-0.470, 1.078,-0.928, RAW= 342.6, 3.6, CAL= 342.1, 1.0, ROT= 167.9, -1.0 eT#Rx 75: Read range and direction messages.m^direction in FSK: [-0.977634,0.209587,0.017452]mFpublishing direction and range infoyּHjb?W7) ߑ?YvIQO^> )GIףi?hm X@=@ 5<)͋;@I54D.Avpy? ))!1~I͋;@i5checking for new query: numPingsReceived=75, elapsed TxPingTime=37.107143iԑ >,X@A2)@2A;>22ٱ2gY :AHRS rotation from veh to nav: [[0.982899,-0.180055,-0.038608],[0.181771,0.982226,0.046812],[0.029493,-0.053029,0.998157]]2Hs? ǿkģED?@en??@g3?&?i2)@I28k^;2CYvBByv"Ichecking for new query: numPingsReceived=75, elapsed TxPingTime=37.315571bD VD yv%^=ٔ,Q->9!Y!=%kGy!-֭E->1Q 5545,>?Q 9=45 )5BY9yE(2Q IE4@5DI5;i5 ;54yIɮMmAIX@AJRj4G@E EE'E"E:*Ee:VE'4ZEBE)::s"$=?*u BB~6?l7“1BtAE@gO addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504724 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 15.212142 m, bearing: 178.339316 deg, lat: 36.779290 deg, lon: -121.859538 deg, deltaT: 0.504724 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gODNOT Ignoring new targets: 15.21 m.  * "   !!j!Z%`k?q~@e2)q }>i}W9)W)7ii))5z'I1IaԡI)\Aq@y @y@}/@yIIO>i߱I߱DDAT read: Rx Time:00:46:23.9660 TRx dataTimestamp_ set to:1761698784.594001PDAT read: Bearing 344.5, 10.2 (Local) ~Local bearing/azimuth received: Bearing 344.5, 10.2 (Local) DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.1  DAT read: 00:46:23.9660 LVL= 32752, 24929, 32754, 32755, AGC= 71, IDX= 502, 0.04,-0.419, 1.199,-0.738, 0.112, PHS=-0.430, 1.132,-0.895, RAW= 342.7, 2.1, CAL= 342.2, -0.8, ROT= 167.8, 0.8  Ygot valid direction response: 00:46:23.9660 LVL= 32752, 24929, 32754, 32755, AGC= 71, IDX= 502, 0.04,-0.419, 1.199,-0.738, 0.112, PHS=-0.430, 1.132,-0.895, RAW= 342.7, 2.1, CAL= 342.2, -0.8, ROT= 167.8, 0.8  T#Rx 76: Read range and direction messages. `direction in FSK: [-0.977321,0.211304,-0.013962] Fpublishing direction and range infoyہ5Fᅳ ?4YyAaa )I(ܾi`?eYf@Q =@ d)5o;@Id<Mw Ή7#:? jl)I5o;@id<= checking for new query: numPingsReceived=76, elapsed TxPingTime=37.584568 >,-X@A6\@6 h;>6Jٱ6zW BAHRS rotation from veh to nav: [[0.982861,-0.180196,-0.038900],[0.181913,0.982221,0.046363],[0.029854,-0.052645,0.998167]]6Hs?`ǿꣿH?Zn?`輧??`I?i6\@I6 ];6CY^IBy^"I ``f=f=iuMb@Mb@Mb@qqqq q9u&1?MbQ?YuP>yuuu9Y=kGyu9E>Q 54E?Q 94T)BYy[>Q Ew;yQ I4@DIIW;ic2;4yqɮ:A&X@AJ*xAR*xAj2G@M~x:Q.^q%8 @6˿rہ5Fᅳ ?4Z5o;@bd<nWF.`D{?؊zv 6bsϝ? 8ū20>:w"A<0-?*t BBA<0-?0“xA`E@gO addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503618 s, deltaX: 0.300000 m, approachRate: 0.595690 m/s, rangeRepo size: 4 gO5 Added new target pos. range: 15.510420 m, bearing: 178.329288 deg, lat: 36.779289 deg, lon: -121.859538 deg, deltaT: 0.503618 s, deltaX: 0.298278 m, approachRate: 0.592270 m/s, posRepo size: 4 gO5DNOT Ignoring new targets: 15.51 m.11*9"9 999AEBAAjE@33/@ZM?y[>y[>zU@I@J) >i9)顽*7ii#3%II-checking for new query: numPingsReceived=76, elapsed TxPingTime=37.8228659@ @@/@E EE%E"E:*E H:VE 4ZEa@a@a@a@Bj>BBBBBBBTb;B%E1 ^A XI I O > DDAT read: Rx Time:00:46:24.4660  TRx dataTimestamp_ set to:1761698785.101656 PDAT read: Bearing 342.7, 9.8 (Local)  ~Local bearing/azimuth received: Bearing 342.7, 9.8 (Local)  DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 - DAT read: 00:46:24.4660 LVL= 32752, 24481, 32754, 32755, AGC= 70, IDX= 502,-0.07, 2.647,-2.049, 2.347,-3.069, PHS=-0.465, 1.065,-0.911, RAW= 342.4, 3.5, CAL= 342.0, 1.0, ROT= 168.0, -1.0 5 Ygot valid direction response: 00:46:24.4660 LVL= 32752, 24481, 32754, 32755, AGC= 70, IDX= 502,-0.07, 2.647,-2.049, 2.347,-3.069, PHS=-0.465, 1.065,-0.911, RAW= 342.4, 3.5, CAL= 342.0, 1.0, ROT= 168.0, -1.0 5 T#Rx 77: Read range and direction messages.= ^direction in FSK: [-0.977999,0.207880,0.017452]= Fpublishing direction and range infoy  R)_K*^ϛ?W7) ߑ?Y _ ) FI {i Q? L7i t;@ 5z= C@ 5<) f;@I 5 ꡓ[MC忄mzM? ) zb>,mGX@AIf;@i5checking for new query: numPingsReceived=77, elapsed TxPingTime=38.095901:@:-;>:ٱ:&W fAHRS rotation from veh to nav: [[0.982890,-0.179958,-0.039282],[0.181693,0.982267,0.046254],[0.030262,-0.052600,0.998157]]:Hs?ǿA?n?@??l?i:@I:];:ÐCY]:By]"IbDmVDmP)3yM%G=ٔQ->9Y=kGy}E>Q 54aM?Q 94)#BYy Q I4@DI):iy:q4yɮAFX@AJRjNPG@LV.U)h @6S?rR)_K*^ϛ?W7) ߑ?Zf;@b5g[J/\h!c?ֿza.￧4<? WwB2>:x""-3?*)yBB"-3?t “BxAW'G@QgO addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.507655 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 15.510497 m, bearing: 178.434890 deg, lat: 36.779290 deg, lon: -121.859542 deg, deltaT: 0.507655 s, deltaX: 0.000077 m, approachRate: 0.000152 m/s, posRepo size: 4 gODNOT Ignoring new targets: 15.51 m.*" jZ-O?iiimG@}) >i9)顥+7ii(IIy@ @@/@Echecking for new query: numPingsReceived=77, elapsed TxPingTime=38.328285E EEE"ED:*Ee:VEZEBE1c>,PaX@A@^@^M;>^v ٱ^!oW jAHRS rotation from veh to nav: [[0.982849,-0.180048,-0.039890],[0.181809,0.982253,0.046085],[0.030884,-0.052547,0.998141]]^H@s? ǿ nl@E?n?`s? %?m窿?i^@I^];^CYr?Byr"IiMb@Mb@Mb@ 9Cl?i|?5Q?Yd;>yqA@ XA)(@Y@bDVDy<%L=ٔV˺Q->9Y=kGyU9E>Q 54{S?Q 94)'BY}E>Q E;yQ I4@DI:i,:4y4BɮAgEgO%DNOT Ignoring new targets: 15.51 m.!!*!"! !))))11j1Z5l?U}E>U}E>U@UP @mv )i m>im9)qu-7qiqiyy}N&IyIyDDAT read: Rx Time:00:46:24.9662 TRx dataTimestamp_ set to:1761698785.605830PDAT read: Bearing 344.1, 9.1 (Local) ~Local bearing/azimuth received: Bearing 344.1, 9.1 (Local) DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.1 DAT read: 00:46:24.9662 LVL= 31296, 24641, 32754, 32755, AGC= 72, IDX= 504,-0.15, 1.754,-2.881, 1.467, 2.319, PHS=-0.463, 1.128,-0.897, RAW= 341.7, 2.5, CAL= 341.2, -0.3, ROT= 168.8, 0.3 Ygot valid direction response: 00:46:24.9662 LVL= 31296, 24641, 32754, 32755, AGC= 72, IDX= 504,-0.15, 1.754,-2.881, 1.467, 2.319, PHS=-0.463, 1.128,-0.897, RAW= 341.7, 2.5, CAL= 341.2, -0.3, ROT= 168.8, 0.3 T#Rx 78: Read range and direction messages.`direction in FSK: [-0.980942,0.194232,-0.005236]Fpublishing direction and range infoycޕ?sNruYf~A@zA` )HIViNb?ˡe_׾@¸2=⏾@ ))<@I;ԩnWIlH忿[e3? o)5I)<@i; checking for new query: numPingsReceived=78, elapsed TxPingTime=38.627541@ @@0@ ^A% &I) U checking for new query: numPingsReceived=78, elapsed TxPingTime=38.832661IY O >EY  E] EY EY "EY *E] :VEY ZEY ae @ae @ae @ae @>,1{X@Al=@=;>=bٱ=VB]l>B]܍CB]"IB]UBB] =B]DDBYB]+b;B]r%EB-ۍCB-ۍCB)B- =B- =C-M5 UAHRS rotation from veh to nav: [[0.982762,-0.180397,-0.040445],[0.182177,0.982201,0.045746],[0.031473,-0.052326,0.998134]]=H`r?`>ǿ@DQ?0n? l?=?tʪ?i=@I=];=CY6By"IbDVDNy=%L=ٔJQ->9Y=kGynv:E>Q 54Y?Q 94),BYyYQ I4@DI;i;4yɮAfX@AJ|AR|AjMH@$it/5k@0rcޕ?sNruZ)<@b;76|/&&|?Rgz'"kܔ:?.=F¯2?>:|"(='?*/BBu “BzAG@gO- addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504174 s, deltaX: 0.299999 m, approachRate: 0.595031 m/s, rangeRepo size: 4 gO= Added new target pos. range: 15.808869 m, bearing: 179.321421 deg, lat: 36.779290 deg, lon: -121.859542 deg, deltaT: 0.504174 s, deltaX: 0.298372 m, approachRate: 0.591804 m/s, posRepo size: 4 gOEDNOT Ignoring new targets: 15.81 m.AA*A"A AIIIQQQjU/@ZUL?qqqu @b) 6>i9)顕C.7ii!II 9@  @ @ 3@DDAT read: Rx Time:00:46:25.4662 TRx dataTimestamp_ set to:1761698786.109912PDAT read: Bearing 344.0, 8.5 (Local) ~Local bearing/azimuth received: Bearing 344.0, 8.5 (Local) DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.1 DAT read: 00:46:25.4662 LVL= 30640, 24625, 32754, 32755, AGC= 71, IDX= 504,-0.25,-0.704, 0.960,-0.976,-0.125, PHS=-0.477, 1.130,-0.894, RAW= 341.3, 2.6, CAL= 340.8, -0.2, ROT= 169.2, 0.2 Ygot valid direction response: 00:46:25.4662 LVL= 30640, 24625, 32754, 32755, AGC= 71, IDX= 504,-0.25,-0.704, 0.960,-0.976,-0.125, PHS=-0.477, 1.130,-0.894, RAW= 341.3, 2.6, CAL= 340.8, -0.2, ROT= 169.2, 0.2 T#Rx 79: Read range and direction messages.`direction in FSK: [-0.982281,0.187380,-0.003491]Fpublishing direction and range infoyY n-?QC1mlYw1` )GIX9iף?/d-@9=V@ d)<@Id;Z?aT追RKΫ^ ? ))hY %>,X@A2@2<>2ٱ2U :AHRS rotation from veh to nav: [[0.982666,-0.180754,-0.041169],[0.182562,0.982144,0.045427],[0.032223,-0.052156,0.998119]]2Hr?"ǿ-^?@m?@DB?`?.@?i2@I2];2CYR9ByR"I checking for new query: numPingsReceived=79, elapsed TxPingTime=39.3367089D]=D]4=bDZVDZy<%M=ٔbQ->9Y=kGy/:E>Q 54v`?Q 94])1BYy Q I 4@DI:i :H4yE EE$E"E:*Ega:VE4ZEBEie{9)ae/7aiaiiiuIqIqԙDDAT read: Rx Time:00:46:25.9664 TRx dataTimestamp_ set to:1761698786.614709PDAT read: Bearing 344.6, 8.1 (Local) ~Local bearing/azimuth received: Bearing 344.6, 8.1 (Local) DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.3  DAT read: 00:46:25.9664 LVL= 27952, 24689, 32754, 32755, AGC= 71, IDX= 505, 0.49, 1.394, 3.070, 1.133, 1.966, PHS=-0.470, 1.149,-0.877, RAW= 340.9, 2.2, CAL= 340.4, -0.7, ROT= 169.6, 0.7  Ygot valid direction response: 00:46:25.9664 LVL= 27952, 24689, 32754, 32755, AGC= 71, IDX= 505, 0.49, 1.394, 3.070, 1.133, 1.966, PHS=-0.470, 1.149,-0.877, RAW= 340.9, 2.2, CAL= 340.4, -0.7, ROT= 169.6, 0.7  T#Rx 80: Read range and direction messages.% `direction in FSK: [-0.983498,0.180506,-0.012217]% Fpublishing direction and range infoy7l`xą?I:) @)  @) @5 4@1 YA0mq` )Iףio?`d@nF=@ +H)q=@I+H<9B'-促fwK? /S)eIq=@i+H< checking for new query: numPingsReceived=80, elapsed TxPingTime=39.614853 ^AU &Ia I O >X+>,X@A(6'@6`A<>6#ٱ6V >AHRS rotation from veh to nav: [[0.982617,-0.180866,-0.041848],[0.182711,0.982114,0.045496],[0.032871,-0.052352,0.998088]]6Hq?@&ǿ(mc?`ym?@PK?}Ԡ?ͪ`U?i6'@I6^;6CYJ5ByJ"IiMb@Mb@Mb@ 9&1?Q뱿y\t<A@ A)@YbD1VD1y=(%E<=ٔEúQ-E>9IYI=MkGyIU9EU>QQ 5]4Uh?Q 9e4U)U5BYe ]>Q Eeu;ye{Q I4@U§DIUr}]hti7=2:D:"w?*KBxBA<0-?/“B=~AM7H@gO addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.504797 s, deltaX: 0.300001 m, approachRate: 0.594301 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=80, elapsed TxPingTime=39.839783gO Added new target pos. range: 16.107151 m, bearing: 180.170662 deg, lat: 36.779289 deg, lon: -121.859545 deg, deltaT: 0.504797 s, deltaX: 0.298282 m, approachRate: 0.590894 m/s, posRepo size: 4 gODNOT Ignoring new targets: 16.11 m.*" )15B9Yje@330@Ze`E?ԁbEÞ4jET4rEb/E EE&E"E:*Ek:VE4ZEa@a@a@a@u ]>u ]>u|@uk@#) >i9)顥07Bm>BB"IBPBB =BBBb;B`%Ei)iiquYIqIqԩ@ @@\4@ } DDAT read: Rx Time:00:46:26.4664  TRx dataTimestamp_ set to:1761698787.117709 PDAT read: Bearing 344.0, 7.8 (Local)  ~Local bearing/azimuth received: Bearing 344.0, 7.8 (Local)  DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.3  DAT read: 00:46:26.4664 LVL= 31072, 21393, 32754, 32755, AGC= 70, IDX= 505, 0.23, 0.620, 2.289, 0.373, 1.211, PHS=-0.489, 1.123,-0.882, RAW= 340.7, 2.7, CAL= 340.2, -0.1, ROT= 169.8, 0.1  Ygot valid direction response: 00:46:26.4664 LVL= 31072, 21393, 32754, 32755, AGC= 70, IDX= 505, 0.23, 0.620, 2.289, 0.373, 1.211, PHS=-0.489, 1.123,-0.882, RAW= 340.7, 2.7, CAL= 340.2, -0.1, ROT= 169.8, 0.1  T#Rx 81: Read range and direction messages. `direction in FSK: [-0.984194,0.177084,-0.001745] Fpublishing direction and range infoyy } ;խ~pm?n p\Yy y } `y} Sy y )} FI} 5^i} w?} a} dH@} A=} @ } )} =@I} :y y } 5S?Pd3 ^? } )} ,CI} =@ Ci} :y y = checking for new query: numPingsReceived=81, elapsed TxPingTime=40.113068] Gy 9 Y A^A I I) O} >'2>,ûX@A@b@h<>! ٱ]|X AHRS rotation from veh to nav: [[0.982570,-0.180963,-0.042528],[0.182854,0.982072,0.045821],[0.033473,-0.052799,0.998044]]H6q?)ǿ.ƥ g?`!m?u?h#?p?ib@I(W^;CY(By "I ===@A9bDEVDE0yU o%U8=ٔUıQ-U>9yYy=}kGyy9E>Q 54p?Q 94):BYyRQ I4@ŧDI;i5;4y9BɮAhEX@AJRjwtI@䂴/;u@Ѻ:vɜr;խ~pm?n p\Z=@b:A):Z0Z-?K#z2\%￲', yğዦ2^ʽ:"%$?*BB(='?x“pAʪH@gO addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.503000 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ԹgO Added new target pos. range: 16.107149 m, bearing: 180.351836 deg, lat: 36.779289 deg, lon: -121.859546 deg, deltaT: 0.503000 s, deltaX: -0.000002 m, approachRate: -0.000004 m/s, posRepo size: 4 gODNOT Ignoring new targets: 16.11 m.*" jZ`9?AAAEFm@]! )Y ]s>i]9)Y]27aiaiaimTIiIchecking for new query: numPingsReceived=81, elapsed TxPingTime=40.344856)@) @)@-/@1E EE#E"E:*Ec:VE3ZEBE8>,aX@A6@6r<>6ׅ ٱ6Z BAHRS rotation from veh to nav: [[0.982544,-0.180945,-0.043204],[0.182888,0.982044,0.046268],[0.034057,-0.053362,0.997994]]6Hp?@7)ǿ@`h?l?g?o?6R?i6@I6^;4-DDAT read: Rx Time:00:46:26.9664 -TRx dataTimestamp_ set to:1761698787.6216625PDAT read: Bearing 344.3, 8.0 (Local) =~Local bearing/azimuth received: Bearing 344.3, 8.0 (Local) 9MDAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.3 uDAT read: 00:46:26.9664 LVL= 28224, 22737, 32754, 32755, AGC= 70, IDX= 506, 0.07, 0.108, 1.787,-0.151, 0.693, PHS=-0.483, 1.139,-0.887, RAW= 340.9, 2.5, CAL= 340.4, -0.3, ROT= 169.6, 0.3 }Ygot valid direction response: 00:46:26.9664 LVL= 28224, 22737, 32754, 32755, AGC= 70, IDX= 506, 0.07, 0.108, 1.787,-0.151, 0.693, PHS=-0.483, 1.139,-0.887, RAW= 340.9, 2.5, CAL= 340.4, -0.3, ROT= 169.6, 0.3 }T#Rx 82: Read range and direction messages.`direction in FSK: [-0.983558,0.180517,-0.005236]Fpublishing direction and range infoy)-WNy0 +?sNruY))-@n-X) )))I-Ki-ʑ?-oc-d@-¸2=-@ -)-q=@I-;))-xs-/:w=}2~? -2l)-e4I-q=@i-;))checking for new query: numPingsReceived=82, elapsed TxPingTime=40.612259iYBy"IimMb@Mb@Mb@iiii i9mMbX?MbX9I +?YmJ>ymʡm949Y=kGyH8E>Q 54y?Q 94)@BYZ>Q Ex;yKFQ I4@ɧDIG ;im ;4yɮA)-OX@AJ)R)j->I@-1zC/̹B@r-WNy0 +?sNruZ-q=@b-;-S,0!_|R5>fz-\Z>@@Uׅ )Y ]>i].9)Ye37aiachecking for new query: numPingsReceived=82, elapsed TxPingTime=40.848499iIIE=  E= E= !E9 "E= ,:*E= [:VE= c3ZE9 aE @aE @aE @aM @ 9@  @ @ /@ B r>B B "IB FBB  =B B mDB a;B _%E ^AMIYIiOu?aA>,X@AJ&@J`!=>JzEٱJ+Y RAHRS rotation from veh to nav: [[0.982374,-0.181544,-0.044540],[0.183534,0.981956,0.045590],[0.035459,-0.052961,0.997967]]JHo?<ǿͦ@ ~?@.l?@W?'? X?iJ&@IJ^;JCZCZ_AiXIX\I\i^KUA \\)\b3C b"s@```fCdId)did)jCIhhh hnYCn^Anhin FlirfCr^A)r r\EIpYpYz$Byz"IbDDDAT read: Rx Time:00:46:27.4664 TRx dataTimestamp_ set to:1761698788.125772%PDAT read: Bearing 345.0, 8.2 (Local) %~Local bearing/azimuth received: Bearing 345.0, 8.2 (Local) 5DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.2 ]DAT read: 00:46:27.4664 LVL= 28208, 22209, 32754, 32755, AGC= 70, IDX= 506,-0.04,-2.010,-0.319,-2.277,-1.444, PHS=-0.464, 1.170,-0.877, RAW= 341.0, 1.9, CAL= 340.5, -1.0, ROT= 169.5, 1.0 eYgot valid direction response: 00:46:27.4664 LVL= 28208, 22209, 32754, 32755, AGC= 70, IDX= 506,-0.04,-2.010,-0.319,-2.277,-1.444, PHS=-0.464, 1.170,-0.877, RAW= 341.0, 1.9, CAL= 340.5, -1.0, ROT= 169.5, 1.0 ԡT#Rx 83: Read range and direction messages.`direction in FSK: [-0.983105,0.182208,-0.017452]Fpublishing direction and range infoyNcuҪR?W7) ߑY0nV )Ihi•?`Is@=+@ 5)TU=@I5<4#e\[俐8A? xD)ITU=@i5< checking for new query: numPingsReceived=83, elapsed TxPingTime=41.131561VDܲy<%V=ٔlqQ->9Y=kGyZ:E>Q 549?Q 94)DBY y EQ I 4@̧DI4;i;4yɮA X@AJRj5I@6m/[t/`z@(ѿrNcuҪR?W7) ߑZTU=@b5<02;+ ѷ`z0AhD˖b洯2Q:"Z5?*, B%Bm-?d“B[A.I@gOe addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.504110 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gOm Added new target pos. range: 16.107384 m, bearing: 180.132533 deg, lat: 36.779289 deg, lon: -121.859548 deg, deltaT: 0.504110 s, deltaX: 0.000235 m, approachRate: 0.000465 m/s, posRepo size: 4 gODNOT Ignoring new targets: 16.11 m.*" jZU?R@=zE)9 =E>i=9)9E47AiAiAIM IIIq@ @@ @ checking for new query: numPingsReceived=83, elapsed TxPingTime=41.352306E  E E %E "E :*E F:VE 4ZE BE )G>,X@Az@z>>z6ٱzjV =AHRS rotation from veh to nav: [[0.982180,-0.182458,-0.045070],[0.184442,0.981828,0.044672],[0.036100,-0.052189,0.997985]]zH n?@Zǿn˛?!k?@<ߦ?{?y@}?iz@Iz A^;zCY!By"II-C=)-=iMb@Mb@Mb@ 9n?Zd;Oyjt<@ )Y@bDVDy%L%%E=ٔ-ʺQ-->91Y1=5kGy15;E=>9Q 5E4=?Q 9E4=)=IBYMj>Q EMh;yMj>ʻ@@5DDAT read: Rx Time:00:46:27.9666 =TRx dataTimestamp_ set to:1761698788.629833EPDAT read: Bearing 344.4, 7.9 (Local) E~Local bearing/azimuth received: Bearing 344.4, 7.9 (Local) UDAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.2 }DAT read: 00:46:27.9666 LVL= 27312, 22801, 32754, 32755, AGC= 70, IDX= 508,-0.11,-1.387, 0.281,-1.639,-0.808, PHS=-0.477, 1.134,-0.876, RAW= 340.8, 2.4, CAL= 340.3, -0.5, ROT= 169.7, 0.5 Ygot valid direction response: 00:46:27.9666 LVL= 27312, 22801, 32754, 32755, AGC= 70, IDX= 508,-0.11,-1.387, 0.281,-1.639,-0.808, PHS=-0.477, 1.134,-0.876, RAW= 340.8, 2.4, CAL= 340.3, -0.5, ROT= 169.7, 0.5 T#Rx 84: Read range and direction messages.`direction in FSK: [-0.983848,0.178795,-0.008727]Fpublishing direction and range infoy15 {Sx?B7߁Y5A15j5Y1 1)1I5X9i5&?5A`5V@5+=53@ 55)5=@I55<115@ĺX3P;mrv 6}? 5d{)5+I5=@i55<11checking for new query: numPingsReceived=84, elapsed TxPingTime=41.6236086) >i9)67ii]III@ @@/@i^A pI I O >ԙ  checking for new query: numPingsReceived=84, elapsed TxPingTime=41.856270E=  E= E= &E9 "E= s:*E= ;J:VE= 4ZE9 aU @aU @M>,0g9X@Aa@a@k@i>>vٱiT AHRS rotation from veh to nav: [[0.982098,-0.182759,-0.045640],[0.184756,0.981789,0.044226],[0.036726,-0.051867,0.997979]]HXm?dǿ^?@j?Ҥ?͢?`Gp?ik@I^;Y Byw"IbD=VD=k2yM/a%UY=ٔUmٺQ-U>9YYY=]kGyY]ua:Ee>aiBw>BݍCB"IB7BB =BBnDBKb;B%EQ 54e?Q 94e!)eMBYyhQ I4@eѧDIeeim99)imJ77iiiiqq}yIyIyԙ@ @@0@=DDAT read: Rx Time:00:46:28.4666 =TRx dataTimestamp_ set to:1761698789.133675MPDAT read: Bearing 344.4, 8.2 (Local) M~Local bearing/azimuth received: Bearing 344.4, 8.2 (Local) ]DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.0 DAT read: 00:46:28.4666 LVL= 26656, 21905, 32754, 32755, AGC= 71, IDX= 508,-0.15,-2.790,-1.139,-3.052,-2.216, PHS=-0.472, 1.122,-0.880, RAW= 341.1, 2.5, CAL= 340.6, -0.3, ROT= 169.4, 0.3 Ygot valid direction response: 00:46:28.4666 LVL= 26656, 21905, 32754, 32755, AGC= 71, IDX= 508,-0.15,-2.790,-1.139,-3.052,-2.216, PHS=-0.472, 1.122,-0.880, RAW= 341.1, 2.5, CAL= 340.6, -0.3, ROT= 169.4, 0.3 T#Rx 85: Read range and direction messages.`direction in FSK: [-0.982922,0.183949,-0.005236]Fpublishing direction and range infoy9=t6.PD?sNruY99= h=U9 9)=GI=i=?=Ga=@=¸2==:@ =)=8=@I=;99=wo忹!? =!)=5I=8=@i=;99checking for new query: numPingsReceived=85, elapsed TxPingTime=42.124283^A I I O > T>,5SX@AJ~@J`=>JeٱJ!W RAHRS rotation from veh to nav: [[0.982192,-0.182111,-0.046209],[0.184163,0.981870,0.044883],[0.037198,-0.052594,0.997923]]JH n?iOǿ༨঒?{k?@? ? ?iJ~@IJ'^;JCY] By]h"IbDmVDm02y}%}Y=ٔQ->9Y=kGy:ѺE>Q 54?Q 94)QBYyiQ I4@ԧDIo;i};4y=Bɮ Achecking for new query: numPingsReceived=85, elapsed TxPingTime=42.359699qu"HX@AJqRqjuUI@u50 0О$@|$%(rut6.PD?sNruZu8=@bu;uT Zb0uazu$YDh>@Y2u+:u"ul1?*u)BuZBum8-?u“uZBujAuI@E  E E E "E [:*E C:VE ZE BE }i59)15g871i1i99=,IaIa%9@! @!@-4@)@A@A@A@A) M DDAT read: Rx Time:00:46:28.9667 U TRx dataTimestamp_ set to:1761698789.637654] PDAT read: Bearing 343.4, 8.6 (Local) ] ~Local bearing/azimuth received: Bearing 343.4, 8.6 (Local) u DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.2  DAT read: 00:46:28.9667 LVL= 32752, 28033, 32754, 32755, AGC= 72, IDX= 510,-0.24,-1.486, 0.148,-1.765,-0.902, PHS=-0.483, 1.095,-0.907, RAW= 341.6, 3.3, CAL= 341.1, 0.6, ROT= 168.9, -0.6  Ygot valid direction response: 00:46:28.9667 LVL= 32752, 28033, 32754, 32755, AGC= 72, IDX= 510,-0.24,-1.486, 0.148,-1.765,-0.902, PHS=-0.483, 1.095,-0.907, RAW= 341.6, 3.3, CAL= 341.1, 0.6, ROT= 168.9, -0.6  T#Rx 86: Read range and direction messages. ^direction in FSK: [-0.981239,0.192512,0.010472] Fpublishing direction and range infoyQ U :Nf￰7?/;r?YU fAQ U U mQ Q )U HIU KiU (?U '1hU ɾ@U k=U @ U +<)U <@IU +Q Q U gF_іB5&p_?-? U =)U ^iIU <@iU +Q Q  checking for new query: numPingsReceived=86, elapsed TxPingTime=42.627438I I O- >a Z>,YLmX@A@=>h`ٱn^ AHRS rotation from veh to nav: [[0.982212,-0.181804,-0.046974],[0.183955,0.981838,0.046424],[0.037681,-0.054240,0.997817]]HHn?^Eǿ ً?6k?ħ?J?Gū`?i@Ih^;CYByq"I 5=1i5Mb@Mb@Mb@1111 195Fx?A`"Mb?Y5K>y5ٽ5<5A1 5A)11Y5QAbDMVDM:y]=%].=ٔeQ-e>9aYa=mkGyimpEm>qQ 5}4u?Q 9}4uv)uXBYvg>Q Ej;yÚQ I4@uקDIu:iu:u/4yɮZ AaeShX@AJeAReAjeX|H@eB/ d0$<Χݹ @.`\2c?re:Nf￰7?/;r?Ze<@be+eĦ.0zHت m?G2e>:e"e?*edBeւBae, “ae7Ae9H@gO addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.503979 s, deltaX: 0.299999 m, approachRate: 0.595261 m/s, rangeRepo size: 4 gO Added new target pos. range: 16.704216 m, bearing: 179.484147 deg, lat: 36.779289 deg, lon: -121.859548 deg, deltaT: 0.503979 s, deltaX: 0.298288 m, approachRate: 0.591867 m/s, posRepo size: 4 gODNOT Ignoring new targets: 16.70 m.*" j0@Z@q?%vg>%vg>%ff@%c@h`) ]>iG9)97ii$ IIchecking for new query: numPingsReceived=86, elapsed TxPingTime=42.863712E EE'E"E:*E n:VE'4ZEa@a@a%@a%@I9@ @@r4@IqIO>BqAu4=B}p>B}܍CB}"IB}-BB} =ByB}mDB}Pb;B}%Ei a>,X@A0:;@:C=>:8ٱ:` BAHRS rotation from veh to nav: [[0.982247,-0.181437,-0.047671],[0.183644,0.981874,0.046892],[0.038299,-0.054814,0.997762]]:H@n?S9ǿUh ?k?7?웣?@?i:;@I:1^;:CYJByJe"IbDVVDVyb|%b=ٔbYQ-b ?9dYd=fkGydfƁEj ?lQ 5n4n3?Q 9r4n)n]BYpyr뚾Q Ir4@nڧDIn:in:n4ytDDAT read: Rx Time:00:46:29.4667 TRx dataTimestamp_ set to:1761698790.141809 PDAT read: Bearing 343.9, 9.7 (Local) ~Local bearing/azimuth received: Bearing 343.9, 9.7 (Local) %DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.3 EDAT read: 00:46:29.4667 LVL= 25280, 21889, 32754, 32755, AGC= 72, IDX= 510,-0.47,-0.327, 1.285,-0.649, 0.224, PHS=-0.450, 1.105,-0.918, RAW= 342.8, 2.9, CAL= 342.3, 0.0, ROT= 167.7, -0.0 MYgot valid direction response: 00:46:29.4667 LVL= 25280, 21889, 32754, 32755, AGC= 72, IDX= 510,-0.47,-0.327, 1.285,-0.649, 0.224, PHS=-0.450, 1.105,-0.918, RAW= 342.8, 2.9, CAL= 342.3, 0.0, ROT= 167.7, -0.0 UT#Rx 87: Read range and direction messages.]^direction in FSK: [-0.977046,0.213030,0.000000]]Fpublishing direction and range infoy˧ C D?YbU )Iffip? kt@4QO='-@ )R;@I-Lhv翎e+忱ll?ɮz Aq K)tOIR;@ichecking for new query: numPingsReceived=87, elapsed TxPingTime=43.135597fX@AJARAj'G@9DR0Kw @r˧ C D?ZR;@b2M!0`J?fO>z,.~￰RTt?:#2Z>:i"v&?*YBdBஓ*?“AH@gO addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.504155 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 16.703835 m, bearing: 178.293677 deg, lat: 36.779289 deg, lon: -121.859548 deg, deltaT: 0.504155 s, deltaX: -0.000381 m, approachRate: -0.000757 m/s, posRepo size: 4 gODNOT Ignoring new targets: 16.70 m.*" iiiqqjqZu^?"a@ԁ8) i>i<9)顕:7iitII 9@ @@/@IIOI>Աchecking for new query: numPingsReceived=87, elapsed TxPingTime=43.367504D =D <E%  E% E% $E! "E% :*E% VL:VE% 4ZE! BE% ,`ȠX@ABX@B'=>BٱBRb ZAHRS rotation from veh to nav: [[0.982250,-0.181290,-0.048163],[0.183535,0.981880,0.047183],[0.038736,-0.055185,0.997724]]`BHn?@4ǿǨ`~? k?@_(?:գ?`6A[?iBX@IBM];@Yu Byui"IbDVD yM#K<%u4=ٔ}yQ->9Y=kGybsE>Q 54?Q 94)dBYyQ I4@ݧDI:ij:4yɮ AgODNOT Ignoring new targets: 16.70 m.*"   j Z?)))-D`@E)A EJ>iE9)AE;7IiIiQQUGIQIQi I DDAT read: Rx Time:00:46:29.9668 %TRx dataTimestamp_ set to:1761698790.6466455PDAT read: Bearing 341.9, 9.5 (Local) 5~Local bearing/azimuth received: Bearing 341.9, 9.5 (Local) MDAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed -0.1 }DAT read: 00:46:29.9668 LVL= 32752, 24721, 32754, 32755, AGC= 71, IDX= 511, 0.21,-1.749,-0.135,-2.064,-1.156, PHS=-0.490, 1.067,-0.952, RAW= 342.6, 4.1, CAL= 342.2, 2.0, ROT= 167.8, -2.0 Ygot valid direction response: 00:46:29.9668 LVL= 32752, 24721, 32754, 32755, AGC= 71, IDX= 511, 0.21,-1.749,-0.135,-2.064,-1.156, PHS=-0.490, 1.067,-0.952, RAW= 342.6, 4.1, CAL= 342.2, 2.0, ROT= 167.8, -2.0 T#Rx 88: Read range and direction messages.^direction in FSK: [-0.976820,0.211196,0.034899]Fpublishing direction and range infoyy BQ=lx?Xޡ?YA` )GIHiu?Fs X@C=@ 5=)5o;@I5 }翐I^y? [v)^I5o;@i5checking for new query: numPingsReceived=88, elapsed TxPingTime=43.6415569@ @@@IIO+>A  checking for new query: numPingsReceived=88, elapsed TxPingTime=43.873394E=  E= E= &E9 "E= :*E= 1]:VE= 4ZE9 aU @Im>,ΨX@Aa@a@a@m@m.=>mٱma AHRS rotation from veh to nav: [[0.982235,-0.181309,-0.048396],[0.183559,0.981885,0.046983],[0.039001,-0.055032,0.997723]]mH@wn? 5ǿaǨ`~?k? ??`-W?im@Im|];iYByc"II<)<AB9B9B="IB=(BB= =B9B9B=Rb;B=%EB܍CB܍CBB =B =C6i]Mb@Mb@Mb@YYYY Y9]K7?"~j~jt?Y]I>y]S㽙]9Y=kGy8E>Q 54?Q 94 )jBY\h>Q Ei;yQ I4@DI:i: 4yBBɮ AiEIMbX@AJM8ARM8AjM )G@M1#e͂0Lp& @2p?rMy BQ=lx?Xޡ?ZM5o;@bM5MZn'J0MA=?20пzM~yq#k?,2M?:M%"M .$?*MrbBMBMv&?Md“MdBMAM./H@gO addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.504836 s, deltaX: 0.200001 m, approachRate: 0.396170 m/s, rangeRepo size: 4 gO Added new target pos. range: 16.902744 m, bearing: 178.297561 deg, lat: 36.779289 deg, lon: -121.859547 deg, deltaT: 0.504836 s, deltaX: 0.198910 m, approachRate: 0.394009 m/s, posRepo size: 4 gODNOT Ignoring new targets: 16.90 m.*" lBj 1@Z ?E\h>E\h>Ep@EN@])Y ]>i]q9)Ye<7aiiIIA=9@9 @9@=/@9%DDAT read: Rx Time:00:46:30.4668 %TRx dataTimestamp_ set to:1761698791.1501195PDAT read: Bearing 340.9, 10.1 (Local) 5~Local bearing/azimuth received: Bearing 340.9, 10.1 (Local) EDAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed -0.1 mDAT read: 00:46:30.4668 LVL= 32752, 28529, 32754, 32755, AGC= 72, IDX= 511, 0.14,-2.570,-0.994,-2.900,-1.978, PHS=-0.490, 1.030,-0.965, RAW= 343.2, 4.8, CAL= 342.8, 2.9, ROT= 167.2, -2.9 uYgot valid direction response: 00:46:30.4668 LVL= 32752, 28529, 32754, 32755, AGC= 72, IDX= 511, 0.14,-2.570,-0.994,-2.900,-1.978, PHS=-0.490, 1.030,-0.965, RAW= 343.2, 4.8, CAL= 342.8, 2.9, ROT= 167.2, -2.9 uT#Rx 89: Read range and direction messages.}^direction in FSK: [-0.973901,0.221265,0.050593]Fpublishing direction and range infoy!%M{q1*gR?|rQ?Y!!!%qo! !)%HI!i% ׃?%= w%֭@%=%t@ %4QO=)%:@I%4QO!!%~A翁^%Bhԙ Lt>, |X@A2@2.=>2 ٱ2` :AHRS rotation from veh to nav: [[0.982225,-0.181307,-0.048594],[0.183558,0.981897,0.046735],[0.039241,-0.054824,0.997725]]2Hcn?5ǿYᨿ~?k??`k? \?i2@I2];2CY Byj"IbD-VD-!yE=%Eb=ٔM{-Q-M>9QYQ=]kGyY]/6Ee>iQ 5u4mK?Q 9}4mH!)mqBYyQ I4@mDImK;im];m24yɮ AY]X@AJYRYj]HrF@]-*v0m{ @ 3Qw]?r]M{q1*gR?|rQ?Z]:@b]4QO]4K}0 ;;?4b?z](5I<?!^ !?2]0?:]"]+?*])B] BY]rb“]ւB]A]G@gO addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.503474 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 16.902744 m, bearing: 177.658467 deg, lat: 36.779289 deg, lon: -121.859544 deg, deltaT: 0.503474 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gODNOT Ignoring new targets: 16.90 m.*" !!!!j)Z-?DDAT read: Rx Time:00:46:30.9669 TRx dataTimestamp_ set to:1761698791.404459PDAT read: Bearing 309.1, -0.3 (Local) Թ~Local bearing/azimuth received: Bearing 309.1, -0.3 (Local) DzD@AE EE%E"E*ErN:VE 4ZEBEi9)!M>7IiIiQQQIQIQ@ @@O0@9 ^A I I O >= DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.4 ] DAT read: 00:46:30.9669 LVL= 32752, 30849, 32754, 32755, AGC= 70, IDX= 512, 0.06, 1.890,-2.774, 1.856,-2.921, PHS=-1.370, 0.192,-1.550, RAW= 335.4, 30.2, CAL= 334.7, 35.3, ROT= 175.3, -35.3 e Ygot valid direction response: 00:46:30.9669 LVL= 32752, 30849, 32754, 32755, AGC= 70, IDX= 512, 0.06, 1.890,-2.774, 1.856,-2.921, PHS=-1.370, 0.192,-1.550, RAW= 335.4, 30.2, CAL= 334.7, 35.3, ROT= 175.3, -35.3 m T#Rx 90: Read range and direction messages.u ^direction in FSK: [-0.813393,0.066873,0.577858]u Fpublishing direction and range infoy) - GGQ[c?c<}?Y- ̈A) ) - x) ) )- FI- )\i- D>- ffƿ- R@- V?- @ - ϸ?)- C@I- ϸ) ) -  t΍$QC#? - Ç!)- I- C@i- ϸ) )  checking for new query: numPingsReceived=90, elapsed TxPingTime=44.640297Y W{>,cX@A2@2L=>2!ٱ2X_ >AHRS rotation from veh to nav: [[0.982194,-0.181421,-0.048800],[0.183667,0.981896,0.046320],[0.039513,-0.054458,0.997734]]2H"n?8ǿ@Lj? k?L? ;?᫿o?i2@I2]];2CYNByNq"IiMb@Mb@Mb@ 9K7?A`"{Gz?Yyٽף<A@ A)(@Yf@bDVD02yh<% >=ٔ  &Q- >9Y=kGyD9E>Q 5%4?Q 9-4")xBY-e>Q E-l;y-לQ I-4@DIT ;i ;4y9ɮ= A9QUX@AJUARUAjU>fM@UN"+1?f{P#@rUGGQ[c?c<}?ZUC@bUϸUp_,,goc"@zUخr*hͦM?2Uw:UMd"U:?*U6h;BUuBQQ“UBUMAU)F@gO addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.502352 s, deltaX: 0.100000 m, approachRate: 0.199064 m/s, rangeRepo size: 4 gO Added new target pos. range: 17.002172 m, bearing: 183.883090 deg, lat: 36.779289 deg, lon: -121.859544 deg, deltaT: 0.502352 s, deltaX: 0.099428 m, approachRate: 0.197925 m/s, posRepo size: 4 gODNOT Ignoring new targets: 17.00 m.*" ))5^B11j51@Z=а?ue>ue>uC@uiB@!) 4>i9)页|?7ii IaIiDDAT read: Rx Time:00:46:31.4669 TRx dataTimestamp_ set to:1761698791.910251PDAT read: Bearing 312.1, 5.5 (Local) ~Local bearing/azimuth received: Bearing 312.1, 5.5 (Local) bE}Ż 4jE}( 4rE}/E EEE"E;*Eą:VEZEa@a@a%@a%@59@1 @9@=4@9Uchecking for new query: numPingsReceived=90, elapsed TxPingTime=44.905392YA-@AA-?AB5l>B1B5"IB5#BB5 =B1B5lDB5b;B5%Eԁ ^A  I I O >>,<0X@A4ZGzDAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.4 =DAT read: 00:46:31.4669 LVL= 32752, 29233, 32754, 32755, AGC= 70, IDX= 512, 0.04, 0.051, 1.826,-0.269, 1.523, PHS=-1.370, 0.348,-1.836, RAW= 341.7, 26.9, CAL= 341.1, 31.8, ROT= 168.9, -31.8 EYgot valid direction response: 00:46:31.4669 LVL= 32752, 29233, 32754, 32755, AGC= 70, IDX= 512, 0.04, 0.051, 1.826,-0.269, 1.523, PHS=-1.370, 0.348,-1.836, RAW= 341.7, 26.9, CAL= 341.1, 31.8, ROT= 168.9, -31.8 MT#Rx 91: Read range and direction messages.M^direction in FSK: [-0.833993,0.163623,0.526956]UFpublishing direction and range infoypr, ehd?GW?Ypppr1rp p)pIpir->r 뿩r_׾@rva>r@ rq?)r<@Irqppr P b6k5? rI)rQIr<@irqppchecking for new query: numPingsReceived=91, elapsed TxPingTime=45.153175@!9Y A2@=>D"ٱE^] AHRS rotation from veh to nav: [[0.982155,-0.181646,-0.048756],[0.183870,0.981881,0.045830],[0.039547,-0.053976,0.997759]]Hm?,@ǿ|`?k?v?`??̢?i2@ICt];CYByd"I bD%VD%y5@%59=ٔ5̣Q-5>99Y9==kGy9E9EE>AԉQ 54Eɠ?Q 94E")EBYyœQ I4@EDIE0i 9)@7ii?/ II@ @@4@@\A@\ADDAT read: Rx Time:00:46:31.9671 TRx dataTimestamp_ set to:1761698792.413724PDAT read: Bearing 342.3, 9.7 (Local) ~Local bearing/azimuth received: Bearing 342.3, 9.7 (Local) E  E E #E "E :*E ]t:VE 3ZE BE v>,"X@A2@2=>2f!ٱ2Z JAHRS rotation from veh to nav: [[0.982113,-0.181907,-0.048617],[0.184099,0.981868,0.045189],[0.039515,-0.053331,0.997795]]2Hxm?Hǿ`L䨿?@wk?"?S;?@+N`?i2@I2v];2CpYzByzo"IbDVDNy{6=%D=ٔj8Q->9Y=kGy:E>Q 54OѠ?Q 94#)BYyQ I4@DI :i:'4yFBɮ ADAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.1 -DAT read: 00:46:31.9671 LVL= 32752, 28769, 32754, 32755, AGC= 72, IDX= 2,-0.03,-2.725,-1.101,-3.046,-2.137, PHS=-0.487, 1.080,-0.954, RAW= 342.7, 3.9, CAL= 342.2, 1.7, ROT= 167.8, -1.7 5Ygot valid direction response: 00:46:31.9671 LVL= 32752, 28769, 32754, 32755, AGC= 72, IDX= 2,-0.03,-2.725,-1.101,-3.046,-2.137, PHS=-0.487, 1.080,-0.954, RAW= 342.7, 3.9, CAL= 342.2, 1.7, ROT= 167.8, -1.7 5T#Rx 92: Read range and direction messages.=^direction in FSK: [-0.976986,0.211232,0.029666]=Fpublishing direction and range infoyHwCdVh1 ? `?Y3Aap )HIXiq=?X9tYf@'g=@ <)5o;@IyŒb=? i)6lI5o;@ichecking for new query: numPingsReceived=92, elapsed TxPingTime=45.661114jED*X@AJfARfAj6G@%i0 BP"< @6Ghl?rHwCdVh1 ? `?Z5o;@bM_J1&?C|qֿz/'}ג?,2>:P"|\ ?*|;iB]Bؽ“^AtF@gO addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503729 s, deltaX: 0.299999 m, approachRate: 0.595557 m/s, rangeRepo size: 4 gO Added new target pos. range: 17.300253 m, bearing: 178.344701 deg, lat: 36.779289 deg, lon: -121.859545 deg, deltaT: 0.503729 s, deltaX: 0.298279 m, approachRate: 0.592141 m/s, posRepo size: 4 gODNOT Ignoring new targets: 17.30 m.*" j`ff1@ZX?1115%E@uf!) >iU9)顥aB7iixIIt>i1u9@q @q@uK4@qi  DDAT read: Rx Time:00:46:32.4671  TRx dataTimestamp_ set to:1761698792.916606 PDAT read: Bearing 340.0, 9.4 (Local)  ~Local bearing/azimuth received: Bearing 340.0, 9.4 (Local)  checking for new query: numPingsReceived=92, elapsed TxPingTime=45.896614E  E E 'E "E x;*E :VE '4ZE a- @a- @a- @a5 @^A5 IA IQ O] >?Ύ>,r>X@ABjm>BjۍCBj"IBj(BBj =BhBhBj$c;Bj%Ef@f=>f\!ٱfuzX }AHRS rotation from veh to nav: [[0.982100,-0.182038,-0.048394],[0.184197,0.981874,0.044671],[0.039385,-0.052786,0.997829]]fH\m?`MǿǨœ?`k?@$ߦ?>*?6?if@Ifh];dYBy"Ii}Mb@Mb@Mb@yyyy y9}(\?A`"Zd;O?Y}G>yy}j<}A}@ }A)}@yY} @bDVDN2y]{=%H=ٔz9Q->9Y=kGy9E>Q 54tؠ?Q 94D$)BY}d>Q Em;yQ I4@DI:i:.4yɮF AgO DNOT Ignoring new targets: 17.30 m.  * "   tBjZP?=}d>=}d>= @=%@M\!)Q U>iU9)QUC7QiQYiaaeIaIi9@ @@/@DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.4 %DAT read: 00:46:32.4671 LVL= 32752, 26145, 32754, 32755, AGC= 69, IDX= 498,-0.11, 1.904,-2.748, 1.592, 2.542, PHS=-0.536, 1.038,-0.994, RAW= 342.4, 5.4, CAL= 342.1, 3.9, ROT= 167.9, -3.9 -Ygot valid direction response: 00:46:32.4671 LVL= 32752, 26145, 32754, 32755, AGC= 69, IDX= 498,-0.11, 1.904,-2.748, 1.592, 2.542, PHS=-0.536, 1.038,-0.994, RAW= 342.4, 5.4, CAL= 342.1, 3.9, ROT= 167.9, -3.9 5T#Rx 93: Read range and direction messages.=^direction in FSK: [-0.975519,0.209133,0.068015]=Fpublishing direction and range infoy,…s7￶gd?,::si?Y!f )EIL7 i/݄?v~t;@=@ 'g=)͋;@I'g8翙z1=|`? n)"gI͋;@i'g]checking for new query: numPingsReceived=93, elapsed TxPingTime=46.152332ԉ^A9 IA IY Oe >Ա க>,0WX@A:@:=>:R ٱ:W BAHRS rotation from veh to nav: [[0.982155,-0.181807,-0.048145],[0.183948,0.981926,0.044539],[0.039178,-0.052601,0.997847]]:Hm? tEǿ`?k?@ͦ??`\?i:@I:Gc];:CYJ'ByJ"ILIR%=)R= TVbDZVDZ:ybo=%bq=ٔf:Q-f?9dYd=fkGydjDEj?lQ 5r4nsޠ?Q 9r4n$)nBYpyrĞQ Iv4@nDIn9:in:n44yxɮ~AuDDAT read: Rx Time:00:46:32.9673 TRx dataTimestamp_ set to:1761698793.420538PDAT read: Bearing 341.0, 10.0 (Local) ~Local bearing/azimuth received: Bearing 341.0, 10.0 (Local) checking for new query: numPingsReceived=93, elapsed TxPingTime=46.400890E EE%E"E:*ET:VE 4ZEBEa2EaJĘ;a :Ę;a )-JX@AJ)R)j-5G@-p0u @ͅ?r-,…s7￶gd?,::si?Z-͋;@b-'g--A#=J1A30?11?z-$_ 硝?i?2-)?:-Q"-u-?*-7ԲB-̄B-u-?-|;i“-̄B-cA->G@gO= addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503954 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gOm Added new target pos. range: 17.300251 m, bearing: 178.341459 deg, lat: 36.779289 deg, lon: -121.859546 deg, deltaT: 0.503954 s, deltaX: -0.000002 m, approachRate: -0.000004 m/s, posRepo size: 4 gOuDNOT Ignoring new targets: 17.30 m.qq*q"q qqyyyyjZ@?    #@R ) #>i%9)!%E7aiaiiim- IqIq@ @@@ DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed -0.1 E DAT read: 00:46:32.9673 LVL= 32752, 26289, 32754, 32755, AGC= 70, IDX= 500,-0.22, 2.938,-1.729, 2.605,-2.739, PHS=-0.505, 1.055,-0.983, RAW= 343.0, 4.7, CAL= 342.6, 2.9, ROT= 167.4, -2.9 M Ygot valid direction response: 00:46:32.9673 LVL= 32752, 26289, 32754, 32755, AGC= 70, IDX= 500,-0.22, 2.938,-1.729, 2.605,-2.739, PHS=-0.505, 1.055,-0.983, RAW= 343.0, 4.7, CAL= 342.6, 2.9, ROT= 167.4, -2.9 M T#Rx 94: Read range and direction messages.U ^direction in FSK: [-0.974667,0.217864,0.050593]U Fpublishing direction and range infoy  dx0?|rQ?Y A f ) FI Gi = ? { =@ = X@ 4QO=) :@I 4QO +#}Vb8A~忥C(? ) sI :@i 4QO u checking for new query: numPingsReceived=94, elapsed TxPingTime=46.656170! ^A zI I O >X؛>,qX@AYf"Byf"I|iUMb@Mb@Mb@QQQQ Q9U ףp= ?J +?YUQ8>yUȽU9Y=kGyE>Q 54k堊?Q 94%)BYlS>Q E;y؞Q I4@DI:i:3<4yɮ A9=jX@AJ=ɌAR=ɌAj=IF@=wM'1&L4@!2}?r=dx0?|rQ?Z=:@b=4QO='1%F?^=lS>=@=M"@i)q u>iu(9)qu;F7qiqiyy}[ II1DDAT read: Rx Time:00:46:33.4672 TRx dataTimestamp_ set to:1761698793.925402PDAT read: Bearing 342.0, 10.0 (Local) ~Local bearing/azimuth received: Bearing 342.0, 10.0 (Local) E EEE"E>:*Ec:VEZEa@a@a@a@)@1 @1@50@9uDAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed -0.2 Z#Rx 95: Read range message, but no direction.yY̌Achecking for new query: numPingsReceived=95, elapsed TxPingTime=46.940620B<A<Bh>BB"IB2BB =BBBc;B%EY^A- I1 II OU >ԁ = DAT read: 00:46:33.4672 LVL= 32752, 25713, 32754, 32755, AGC= 69, IDX= 500,-0.46, 2.606,-2.051, 2.275,-3.087, PHS=-0.488, 1.081,-0.965, RAW= 342.9, 4.1, CAL= 342.5, 1.8, ROT= 167.5, -1.8 E Ygot valid direction response: 00:46:33.4672 LVL= 32752, 25713, 32754, 32755, AGC= 69, IDX= 500,-0.46, 2.606,-2.051, 2.275,-3.087, PHS=-0.488, 1.081,-0.965, RAW= 342.9, 4.1, CAL= 342.5, 1.8, ROT= 167.5, -1.8 E Z#Rx 96: Read direction message, but no range.M ^direction in FSK: [-0.975814,0.216333,0.031411]y  Bg9↑ ̰?Iz?0>,bX@AIIMqdI I)MEIM#iM5^?M= wM@MC=MI@ M=)Mk;@IMIMQۄdk|`v-? M+)MtIMk;@iMchecking for new query: numPingsReceived=96, elapsed TxPingTime=47.160938f@f<>fٱf8[ AHRS rotation from veh to nav: [[0.982302,-0.181202,-0.047419],[0.183344,0.981992,0.045569],[0.038308,-0.053456,0.997835]]fHo?1ǿMGw?`zl?T??`^C?if@IfH];fCYBy}"IYbDmVDm y%F=ٔ6 ;Q->9Y=kGy'źE>Q 547젊?Q 94>&)BY y Q I 4@DIV:i}C4y1ɮ5U A19{X@AJARAjF@E:Of1ۃH@,(^ʖ?rBg9↑ ̰?Iz?Zk;@bN2SP|1O"Y?ڶӿzI Wl?0-2?:"*?*L'B~B*?L'“*BAF@gO addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.257010 s, deltaX: -0.100000 m, approachRate: -0.389091 m/s, rangeRepo size: 4 gO Added new target pos. range: 17.499006 m, bearing: 177.996314 deg, lat: 36.779289 deg, lon: -121.859545 deg, deltaT: 0.257010 s, deltaX: -0.099525 m, approachRate: -0.387244 m/s, posRepo size: 4 gODNOT Ignoring new targets: 17.50 m.*"  j 1@Z ?IIIM@})y }>i9)顅fG7iiiIIԉM9@I @I@Ma2@IDDAT read: Rx Time:00:46:33.9674 TRx dataTimestamp_ set to:1761698794.428751ԹPDAT read: Bearing 341.2, 10.3 (Local) ~Local bearing/azimuth received: Bearing 341.2, 10.3 (Local) E EE'E"E[:*EV:VE'4ZEBE} X>, iX@Av@v<>v!ٱv[[ -AHRS rotation from veh to nav: [[0.982322,-0.181202,-0.047010],[0.183332,0.981984,0.045794],[0.037865,-0.053603,0.997844]]vH-o? 1ǿ `iw?il?Zr? c?@qV?iv@Ivy  /<  @ A) (@ Y zAbD%VD%ky5H=%5)=ٔ=o:Q-=>99Y9=EkGyA E>Q 54?Q 94&)BYPB>Q E;yQ I4@DIh;i ; L4yJBɮ AkEpX@AJ`AR`AjrF@"OV1S߂@Jhk?rH.3,ᅮ.:T?99?Z:@b9Dk%G1^k^0??y5ze_T0_E3?0Al29?:B" ?*BBB|\ ?“BAF@gO} addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503349 s, deltaX: 0.299999 m, approachRate: 0.596006 m/s, rangeRepo size: 4 gO Added new target pos. range: 17.797285 m, bearing: 177.660591 deg, lat: 36.779288 deg, lon: -121.859545 deg, deltaT: 0.503349 s, deltaX: 0.298279 m, approachRate: 0.592588 m/s, posRepo size: 4 gODNOT Ignoring new targets: 17.80 m.*" Bj`f1@Zg^?-PB>-PB>-9@-!E@M!)I M>>iM9)IUH7QiQiYY]oIYIa9@ @@1@1 DDAT read: Rx Time:00:46:34.4673  TRx dataTimestamp_ set to:1761698794.932751 PDAT read: Bearing 340.7, 10.4 (Local)  ~Local bearing/azimuth received: Bearing 340.7, 10.4 (Local) E  E E E "E O:*E X:VE ZE a @a @a% @a% @= DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.0 M Z#Rx 99: Read range message, but no direction.y Y Y A  checking for new query: numPingsReceived=99, elapsed TxPingTime=47.953804^A I B g>B B "IB 7BB  =B EDB B $c;B %EI O >'>,X@A~c@~(=>~Zٱ~G[ UAHRS rotation from veh to nav: [[0.982303,-0.181447,-0.046445],[0.183550,0.981939,0.045893],[0.037279,-0.053606,0.997866]]~H@o?`9ǿǧ~?` l?`S?`I?`Er?i~c@I~_];~CYe-Bye"IԉbDVDNy<%m=ٔ  :Q- >9 Y=kGy%:E?Q 5e4?Q 9e4Y')BYiymQ Im4@DI3#i49)I7iivIII)[A]DAT read: 00:46:34.4673 LVL= 32752, 29937, 32754, 32755, AGC= 71, IDX= 501, 0.04,-2.146,-0.548,-2.480,-1.542, PHS=-0.502, 1.039,-0.982, RAW= 343.2, 4.9, CAL= 342.8, 3.2, ROT= 167.2, -3.2 eYgot valid direction response: 00:46:34.4673 LVL= 32752, 29937, 32754, 32755, AGC= 71, IDX= 501, 0.04,-2.146,-0.548,-2.480,-1.542, PHS=-0.502, 1.039,-0.982, RAW= 343.2, 4.9, CAL= 342.8, 3.2, ROT= 167.2, -3.2 m\#Rx 100: Read direction message, but no range.u^direction in FSK: [-0.973629,0.221203,0.055822]y9=\'/VaP?ᢔ?99=t9 9)=GI=i=?=Zd{=֭@=%=9 =d=)9I=d9=C|D? =a)=꿯I9i=dchecking for new query: numPingsReceived=100, elapsed TxPingTime=48.1658029@ @@/@^A I I O >1 L>,lX@A^DDAT read: Rx Time:00:46:34.9674 bTRx dataTimestamp_ set to:1761698795.436615nPDAT read: Bearing 339.8, 10.4 (Local) r~Local bearing/azimuth received: Bearing 339.8, 10.4 (Local) E  E E $E "E :*E R:VE 4ZE BE #}I$ٱ}?[ AHRS rotation from veh to nav: [[0.982292,-0.181671,-0.045808],[0.183738,0.981905,0.045861],[0.036647,-0.053465,0.997897]]}Hn? @ǿ$t@?k?{?uâ?_?i}@I}}];}C9Y+By"II4=)p<AbDVD:yl%=ٔu:Q->9Y=kGy9E>Q 5 4?Q 9 4 ()BYyjQ I4@DI<;iq';R[4yɮ%A!\^X@AJ\R\j^rF@^,S1A˃~@m&Jo?r^\'/VaP?ᢔ?Z\b^d^1RF??z^qᅭ˲Ȫ?Y<ɀ?2^2:?:^@"^^&?*^G.B^uB^^&?^G.“^*B^_A^rF@gOu addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503864 s, deltaX: 0.199999 m, approachRate: 0.396930 m/s, rangeRepo size: 4 gO Added new target pos. range: 17.797106 m, bearing: 177.657698 deg, lat: 36.779289 deg, lon: -121.859545 deg, deltaT: 1.007864 s, deltaX: -0.000179 m, approachRate: -0.000178 m/s, posRepo size: 4 gODNOT Ignoring new targets: 17.80 m.*" )19ADAT read: 00:46:34.9674 LVL= 32752, 31361, 32754, 32755, AGC= 71, IDX= 502,-0.14, 2.696,-2.000, 2.363,-2.972, PHS=-0.513, 1.017,-0.992, RAW= 343.2, 5.4, CAL= 342.9, 4.0, ROT= 167.1, -4.0 ԉYgot valid direction response: 00:46:34.9674 LVL= 32752, 31361, 32754, 32755, AGC= 71, IDX= 502,-0.14, 2.696,-2.000, 2.363,-2.972, PHS=-0.513, 1.017,-0.992, RAW= 343.2, 5.4, CAL= 342.9, 4.0, ROT= 167.1, -4.0 \#Rx 102: Read direction message, but no range.^direction in FSK: [-0.972387,0.222706,0.069756]yQUNc&?&k۱?QQUzQ Q)QIUSiU-?U}QU=U@ U5=)U :@IU5QU@9翬U ?I1? Uk)URIU :@iU5checking for new query: numPingsReceived=102, elapsed TxPingTime=48.672585j`f1@Z@?    -I@M I$)I U W>iU 9)Q U J7Q iQ iY Y ] ]s IY Ia 9@  @ @ 4@ Թ ^AI1IQO}?>,X@ANDDAT read: Rx Time:00:46:35.4673 VTRx dataTimestamp_ set to:1761698795.941483Ev EvEtEt"Ev>:*EvL_:VEtZEta@a @a @a @MPDAT read: Bearing 340.0, 9.7 (Local) M~Local bearing/azimuth received: Bearing 340.0, 9.7 (Local) ]DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed -0.2 @@R=>ٱ(ZDAT read: 00:46:35.4673 LVL= 32752, 31377, 32754, 32755, AGC= 69, IDX= 502,-0.45, 1.861,-2.796, 1.549, 2.496, PHS=-0.533, 1.036,-0.991, RAW= 342.4, 5.3, CAL= 342.1, 3.9, ROT= 167.9, -3.9 %Ygot valid direction response: 00:46:35.4673 LVL= 32752, 31377, 32754, 32755, AGC= 69, IDX= 502,-0.45, 1.861,-2.796, 1.549, 2.496, PHS=-0.533, 1.036,-0.991, RAW= 342.4, 5.3, CAL= 342.1, 3.9, ROT= 167.9, -3.9 -V#Rx 103: Read range and direction messages. UAHRS rotation from veh to nav: [[0.982325,-0.181688,-0.045016],[0.183714,0.981907,0.045898],[0.035863,-0.053357,0.997931]]H`5o?Aǿ@Y ?@k? ?\?`Q ?i@It^;C a)aaaau^direction in FSK: [-0.975519,0.209133,0.068015]uFpublishing direction and range infoyPR,…s7￶gd?,::si?YRAPPRzP P)REIRriR?R-}Rt;@Rq=R@ R'g=)R͋;@IR'gPPR]`-禁!R? Rާ)RYԉAA@ABd>BڍCB"IBABB =BBkDB}c;B&EBuۍCBuۍCBqBu =Bu =Cu5aiIIi`A ļ) `AFI) i ) I `A 9  `Ajii) IYIR͋;@iR'gPPmchecking for new query: numPingsReceived=103, elapsed TxPingTime=49.007439Y-5Bym"IiMb@Mb@Mb@ 9(\?+{Gz?Y.>yף<@ A)?@YQAbD-VD-y]+=%]%=ٔeU:Q-e>9aYa=ekGyimwEm>qQ 54u>?Q 94u()uBY@>Q E;ywQ I4@uDIu{;iu;uc4yɮAԱPRBAX@AJRɌARRɌAjR^0G@R&J*1T -gq @<5&?rR,…s7￶gd?,::si?ZR͋;@bR'gR?Cj'1{ry?Dy?zR}r#?RH@?2R?:R"RC>?*RBRBPP“PRARiaF@gO addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.504868 s, deltaX: -0.199999 m, approachRate: -0.396141 m/s, rangeRepo size: 4 gO Added new target pos. range: 17.598223 m, bearing: 178.323212 deg, lat: 36.779289 deg, lon: -121.859545 deg, deltaT: 0.504868 s, deltaX: -0.198883 m, approachRate: -0.393931 m/s, posRepo size: 4 gODNOT Ignoring new targets: 17.60 m.*" Bj@31@Z?@>@>K@S@U)Y ]\>i]9)Y].L7YiYiaae* IiI5checking for new query: numPingsReceived=103, elapsed TxPingTime=49.164265a @a  @a @e 4@a  ^A I I O >κ>,:X@A2@2@=>2ٱ2OY :AHRS rotation from veh to nav: [[0.982305,-0.181978,-0.044289],[0.183959,0.981870,0.045712],[0.035168,-0.053051,0.997972]]2H o?Kǿ`?{k?g??v)c?i2@I2͓^;2CY~4By"IbD=VD=0ay}%z=ٔ ;Q-?9Y=kGy@:E?Q 54T ?Q 94))BY%DDAT read: Rx Time:00:46:35.9675 -TRx dataTimestamp_ set to:1761698796.445343Em EmEiEi"Em:*Em1]:VEiZEiBEmuiu'9)qu;M7qiqiyy} IyIԉ=9@9 @9@=/@9i I  checking for new query: numPingsReceived=104, elapsed TxPingTime=49.671120^AM zIQ Ii Ou > >,Q1X@A2@2=>218 ٱ2޶X :AHRS rotation from veh to nav: [[0.982336,-0.182041,-0.043329],[0.183970,0.981869,0.045689],[0.034227,-0.052853,0.998016]]2H@Ko?"MǿF/W?@yk?d?%?`?i2@I2v^;0Y1By"I %=%=iMb@Mb@Mb@ 9ˡE?ytC<A A)(@YAbDVDy5M%5@=ٔ=;Q-=>9AYA=EkGyAMc7EM>YQ 5e4]x?Q 9e4]t))]BYm;8>Q Eu;yufQ Iu4@]DI]a;i]sQ;]q4y}NBɮAaeX@AJe,ARe,AjeyF@e;8>һ@@EDDAT read: Rx Time:00:46:36.4675 MTRx dataTimestamp_ set to:1761698796.949760mPDAT read: Bearing 340.8, 10.0 (Local) bEjEO4rEg/E EE&E"E:*EX:VE4ZEa@a@a@a@u~Local bearing/azimuth received: Bearing 340.8, 10.0 (Local) DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 DAT read: 00:46:36.4675 LVL= 32752, 32609, 32754, 32755, AGC= 71, IDX= 503, 0.03, 1.499, 3.118, 1.180, 2.112, PHS=-0.512, 1.051,-0.976, RAW= 342.6, 4.8, CAL= 342.3, 3.0, ROT= 167.7, -3.0 18 ) >i*9)FN7ii II}Ygot valid direction response: 00:46:36.4675 LVL= 32752, 32609, 32754, 32755, AGC= 71, IDX= 503, 0.03, 1.499, 3.118, 1.180, 2.112, PHS=-0.512, 1.051,-0.976, RAW= 342.6, 4.8, CAL= 342.3, 3.0, ROT= 167.7, -3.0 }V#Rx 105: Read range and direction messages.^direction in FSK: [-0.975707,0.212739,0.052336]Fpublishing direction and range infoyAEm8_;?yoU˪?YAAAEaA A)AIEoiE+?E#yE X@E=E'-@ EPwV=)ER;@IEPwVAAEJo:+w翟dp3am? Et)EtIER;@iEPwVAAchecking for new query: numPingsReceived=105, elapsed TxPingTime=49.973663B=^>B=ٍCB9B9B= =B9B9B=c;B=#&E@ @@/@) ! % CY G ^A I I) O= >t>,`KX@A2#94Y6(ANchecking for new query: numPingsReceived=105, elapsed TxPingTime=50.171585b9@bc=>b\ٱbX zAHRS rotation from veh to nav: [[0.982400,-0.181910,-0.042421],[0.183796,0.981896,0.045819],[0.033318,-0.052810,0.998049]]bH`o?HǿC?@k?u?? ?ib9@Ib^;bCY+By"IbD=VD=NyM%m\=ٔu;Q-u>9qYq=ukGyq}E}>Q 54?Q 94))BYyfQ I4@DI2;i;w4yɮ Ai%9))-)O7)i)i115j I1I9@ @@/@ymDDAT read: Rx Time:00:46:36.9677 uTRx dataTimestamp_ set to:1761698797.453581PDAT read: Bearing 342.6, 10.2 (Local) ~Local bearing/azimuth received: Bearing 342.6, 10.2 (Local) E EE%E"Em:*ER:VE 4ZEBESE DAT read: 00:46:36.9677 LVL= 32752, 25505, 32754, 32755, AGC= 72, IDX= 505,-0.13, 0.448, 2.092, 0.121, 1.032, PHS=-0.482, 1.104,-0.955, RAW= 342.7, 3.6, CAL= 342.2, 1.1, ROT= 167.8, -1.1 M Ygot valid direction response: 00:46:36.9677 LVL= 32752, 25505, 32754, 32755, AGC= 72, IDX= 505,-0.13, 0.448, 2.092, 0.121, 1.032, PHS=-0.482, 1.104,-0.955, RAW= 342.7, 3.6, CAL= 342.2, 1.1, ROT= 167.8, -1.1 M V#Rx 106: Read range and direction messages.u ^direction in FSK: [-0.977236,0.211286,0.019197]} Fpublishing direction and range infoyim KEm@i ?]~?YmfAiimci i)mHImimO?mztmYf@m=m@ mnF<)m5o;@ImnFiimO`jʥ{翡~+忯-{c? mf)m耽Im5o;@imnFii checking for new query: numPingsReceived=106, elapsed TxPingTime=50.507416 >,"eX@A6@6 <>6Wٱ6X >AHRS rotation from veh to nav: [[0.982504,-0.181556,-0.041502],[0.183402,0.981956,0.046117],[0.032380,-0.052922,0.998074]]6H@p?`6=ǿ?y?@.l? ?,?7?i6@I6$_;6CYJ1ByJ"IbDRVDRyZ_<%ZU=ٔ^I";Q-^>9\Y`=bkGy`bkEb>dQ 5j4fv?Q 9j4f>*)fBYhyn gQ In4@f DIf;ifQ;f8~4ypɮrApy]X@AJARAj]2G@A1e2@TZ?r KEm@i ?]~?Z5o;@bnFu.2zyD?~Xۿz RP:�a^ԝ?9K;2?:t"U"?*lMBTB!+“,A F@gO5 addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503821 s, deltaX: 0.299999 m, approachRate: 0.595448 m/s, rangeRepo size: 4 gOE Added new target pos. range: 18.194460 m, bearing: 178.330186 deg, lat: 36.779290 deg, lon: -121.859547 deg, deltaT: 0.503821 s, deltaX: 0.298269 m, approachRate: 0.592014 m/s, posRepo size: 4 gOMDNOT Ignoring new targets: 18.19 m.II*I"I IIQQQYYj]L2@Z]?yyy}@W) >i9)顕P7iiDBIIԹQ@Y @Y@]4@achecking for new query: numPingsReceived=106, elapsed TxPingTime=50.678017^AIIO>  DDAT read: Rx Time:00:46:37.4677  TRx dataTimestamp_ set to:1761698797.957189 PDAT read: Bearing 342.8, 10.3 (Local)  ~Local bearing/azimuth received: Bearing 342.8, 10.3 (Local)  DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.2 E  E E &E "E :*E i:VE 4ZE a @a @a @a @ DAT read: 00:46:37.4677 LVL= 31376, 26081, 32754, 32755, AGC= 72, IDX= 505,-0.36,-2.319,-0.683,-2.648,-1.743, PHS=-0.474, 1.105,-0.949, RAW= 342.7, 3.5, CAL= 342.3, 0.9, ROT= 167.7, -0.9  Ygot valid direction response: 00:46:37.4677 LVL= 31376, 26081, 32754, 32755, AGC= 72, IDX= 505,-0.36,-2.319,-0.683,-2.648,-1.743, PHS=-0.474, 1.105,-0.949, RAW= 342.7, 3.5, CAL= 342.3, 0.9, ROT= 167.7, -0.9  V#Rx 107: Read range and direction messages. ^direction in FSK: [-0.976925,0.213004,0.015707] Fpublishing direction and range infoy  _mCBC?y&?Y z e ) I !i p? r 5z= '-@ <) R;@I Zs`kSRٮ? uL) vI R;@i  checking for new query: numPingsReceived=107, elapsed TxPingTime=50.9501041 >,e~X@AZ@Z`<>ZXٱZ*0Y vAHRS rotation from veh to nav: [[0.982603,-0.181223,-0.040605],[0.183030,0.982014,0.046348],[0.031475,-0.052973,0.998100]]ZH|q?R2ǿ ʤm? l?座?|?Ro?iZ@IZ_;ZCBA<B \>B B "IB FBB $ =B B jDB c;B 0&EYyI%=)%=Aa@a iMb@Mb@Mb@ 97A`?ʡE{Gz?Y>yף<&A@ nA)?@IbDVD:yL:%=ٔ,:Q->9Y=kGyZ8EE>IQ 5U4M%?Q 9U4M*)MBYU(+>Q EU;yUQ IU4@M DIM:iM:Mه4yɮAB}X@AJARAj$G@U?iC1{w!@WGJ?r_mCBC?y&?ZR;@b73-2oa?;޿z771￞aHJן?x命2?:n")?*7SB;B“cBߐAF@gO addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503608 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 ԉchecking for new query: numPingsReceived=107, elapsed TxPingTime=51.179619gO Added new target pos. range: 18.194300 m, bearing: 178.217498 deg, lat: 36.779290 deg, lon: -121.859548 deg, deltaT: 0.503608 s, deltaX: -0.000160 m, approachRate: -0.000318 m/s, posRepo size: 4 gODNOT Ignoring new targets: 18.19 m.*" jZ}W?=(+>=(+>=@=@MX)I M>iU9)QuUQ7qiqiyy}D;IyI) @)  @) @5 0@1 @5 @5 @9 @9 ԩ I I! OM >l>,EX@A-DDAT read: Rx Time:00:46:37.9678 -TRx dataTimestamp_ set to:1761698798.4586715PDAT read: Bearing 342.7, 10.5 (Local) =~Local bearing/azimuth received: Bearing 342.7, 10.5 (Local) MDAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.1 mDAT read: 00:46:37.9678 LVL= 31264, 27073, 32754, 32755, AGC= 72, IDX= 506, 0.27,-0.101, 1.527,-0.431, 0.473, PHS=-0.472, 1.099,-0.948, RAW= 342.8, 3.5, CAL= 342.4, 0.9, ROT= 167.6, -0.9 E} E}EyEy"E}m:*E}L_:VEyZEyBEya2E}S-Aٱ-Y AHRS rotation from veh to nav: [[0.982750,-0.180620,-0.039729],[0.182391,0.982116,0.046698],[0.030584,-0.053138,0.998119]]-Hr?ǿlW X?m? ?Q?4?i-a@I-! _;-CԩYE ByM"IbD]VD]1y%S=ٔ;Q->9Y=kGyݺE>Q 54*?Q 94k+)BYyQ I4@DI:iB:4yɮs A)-ZX@AJ-%AR-%Aj-F@-Ѱ[<1(Z@'b*s}?r-d? {?y&?Z-6;@b)-ؗu`2 a?:J"޿z-Gᅣ^%?X62-?:-"--K?*-N7B-/B-)?-N7“-TB-A-F@gO addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.501482 s, deltaX: 0.200001 m, approachRate: 0.398819 m/s, rangeRepo size: 4 gO Added new target pos. range: 18.393145 m, bearing: 178.080277 deg, lat: 36.779289 deg, lon: -121.859548 deg, deltaT: 0.501482 s, deltaX: 0.198845 m, approachRate: 0.396515 m/s, posRepo size: 4 gODNOT Ignoring new targets: 18.39 m.*" j2@Z ?1115s@A) b^>i9)3R7 i i ;t I1IQ@ @@ 1@IAIaO>checking for new query: numPingsReceived=108, elapsed TxPingTime=51.685993 1 >,X@A6\@6;>6?Uٱ6Y FAHRS rotation from veh to nav: [[0.982844,-0.180303,-0.038846],[0.182034,0.982174,0.046891],[0.029699,-0.053158,0.998144]]6Hts?`-ǿ@㣿 L?`m??i?`z7`?i6\@I6^;6CYn!Byn"Iaa iMb@Mb@Mb@ 9~jt?yt<A@ A)l@YpAbDVDk1y;%k=ٔ&;Q-?9Y=kGyɊE?Q 54/?Q 94+)BY->Q E;yQ I4@DIE:i:4y ɮi AgOMDNOT Ignoring new targets: 18.39 m.II*Q" BjZ  8?->->@@5DDAT read: Rx Time:00:46:38.4678 =TRx dataTimestamp_ set to:1761698798.961872EPDAT read: Bearing 342.6, 10.1 (Local) E~Local bearing/azimuth received: Bearing 342.6, 10.1 (Local) UDAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0 }DAT read: 00:46:38.4678 LVL= 30640, 24881, 32754, 32755, AGC= 72, IDX= 506, 0.03,-2.438,-0.803,-2.751,-1.855, PHS=-0.481, 1.098,-0.940, RAW= 342.4, 3.5, CAL= 341.9, 1.0, ROT= 168.1, -1.0 Ygot valid direction response: 00:46:38.4678 LVL= 30640, 24881, 32754, 32755, AGC= 72, IDX= 506, 0.03,-2.438,-0.803,-2.751,-1.855, PHS=-0.481, 1.098,-0.940, RAW= 342.4, 3.5, CAL= 341.9, 1.0, ROT= 168.1, -1.0 E EE%E"E:*Eg:VE 4ZEa@a@a@a@V#Rx 109: Read range and direction messages.^direction in FSK: [-0.978360,0.206173,0.017452]Fpublishing direction and range infoy15>N￾Xmc?W7) ߑ?Y115w51a1 1)1I5Ei5D?5ףp5t;@15@ 55<)5;@I55115LX]a@? 5f)5J|I5;@i5511checking for new query: numPingsReceived=109, elapsed TxPingTime=51.954262?U)  W>i9)R7ii$III)B f>B ڍCB "IB i  checking for new query: numPingsReceived=109, elapsed TxPingTime=52.187511Q{>,tX@A02@2;>2 Mٱ2(Z >AHRS rotation from veh to nav: [[0.982937,-0.179950,-0.038112],[0.181647,0.982236,0.047076],[0.028963,-0.053195,0.998164]]2H8t?ǿ]@3@?{n?O??k<?i2@I2^;2CYN#ByR"IV=V=VAATbDZVDZyv*<%v\=ٔv;Q-v>9xYx=zkGyxzE~>Q 544?Q 9 48,)BY y !Q I 4@DI:i:"4ySBɮz AlEaePX@AJe&ARe&AjelG@e1p܀\V@,,{?re>N￾Xmc?W7) ߑ?Ze;@be5e<)b2H&s'?@ٿzeipY ;?h2e=>:e"eE'?*e^ BeUBeE'?e7S“ae%AeNF@gO addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.503201 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO  Added new target pos. range: 18.393639 m, bearing: 178.531806 deg, lat: 36.779289 deg, lon: -121.859548 deg, deltaT: 0.503201 s, deltaX: 0.000494 m, approachRate: 0.000982 m/s, posRepo size: 4 gO DNOT Ignoring new targets: 18.39 m.  *" j!Z%{?AAAE@U M)Q U[>i]9)Y]S7YiYiaae)IaIiԉ9@ @@/@I9IIOU>ԹEDDAT read: Rx Time:00:46:38.9679 ETRx dataTimestamp_ set to:1761698799.465770UPDAT read: Bearing 343.7, 10.2 (Local) U~Local bearing/azimuth received: Bearing 343.7, 10.2 (Local) eDAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed -0.2 DAT read: 00:46:38.9679 LVL= 29680, 24369, 32754, 32755, AGC= 72, IDX= 507,-0.24, 2.000,-2.629, 1.681, 2.564, PHS=-0.462, 1.135,-0.927, RAW= 342.4, 2.7, CAL= 341.9, -0.1, ROT= 168.1, 0.1 E EE&E"E:*Ez:VE4ZEBE3,}uX@A6@6:>6Pٱ6R`Z >AHRS rotation from veh to nav: [[0.983056,-0.179467,-0.037312],[0.181129,0.982321,0.047312],[0.028161,-0.053268,0.998183]]6H 2u?ƿ9/?,o?79? P֜?E?i6@I6x^;6C\YbByby"IbDjVDj:yrr_%rJ=ٔv<;Q-v>9tYx=zkGyxzqEz>Q 5%42:?Q 9%4,)BY)y-_Q I-4@DI;i;24y1ɮ5 A1qu-X@AJuARuAjuqG@uАhy23@ru O d?n p\Zqbu:uz YWx2Bag?zuU4ᅫsؙ?S2u>:uƓ"u^%?*ui79)!%T7!i!iIQULᅧL?a|?YU AQ U yU 1YQ Q )Q IU -iU )\?U pQ U d=U C@ U ;)U f;@IU 仩Q Q U  dlPÏVNi"? U )U n3aIU f;@iU 仩Q Q ^A z IA IQ Ou > checking for new query: numPingsReceived=111, elapsed TxPingTime=52.962185A A B b>B B "IB 2BB B B kDB c;B %E ?,SX@AY}By}t"IԱiMb@Mb@Mb@ 9M?{GzMb?Yn>yף@ A)YAbDVDyR%/=ٔQ->9Y=kGyE>Q 54C@?Q 94O-)BY(>Q E;y,Q I4@DI ;i ;Y4yHBɮ Ay}RX@AJ}%AR}%Aj}NG@}iTJ1:Η@J.o?r}AQ>LᅧL?a|?Z}f;@b}}" `2rI?17z}Li ?2Y142}?:}"}3?*}X B}B}E'?}^ “}/B}8A}JG@gOU addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.503915 s, deltaX: -0.100000 m, approachRate: -0.198447 m/s, rangeRepo size: 4 gOe Added new target pos. range: 18.393473 m, bearing: 178.429404 deg, lat: 36.779289 deg, lon: -121.859550 deg, deltaT: 0.503915 s, deltaX: -0.099592 m, approachRate: -0.197637 m/s, posRepo size: 4 gOeDNOT Ignoring new targets: 18.39 m.aa*i"i iiiquBqyj}2@Z}`?(>(>l@@ )  L>i 9)hU7ii0IIchecking for new query: numPingsReceived=111, elapsed TxPingTime=53.195679@ @@/@ ^A% &I) IA OM >A ?,T5X@Ab~@b`9>bTݼٱbqyY jAHRS rotation from veh to nav: [[0.983267,-0.178542,-0.036166],[0.180144,0.982501,0.047327],[0.027084,-0.053050,0.998225]]bH@v?vƿa`?@p?4;?@̻? \)t?ib~@IbFw^;bCYvByvo"IIz<)z4<DDAT read: Rx Time:00:46:39.9680  TRx dataTimestamp_ set to:1761698800.473774PDAT read: Bearing 343.5, 10.6 (Local) ~Local bearing/azimuth received: Bearing 343.5, 10.6 (Local) %DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.2 MDAT read: 00:46:39.9680 LVL= 30816, 23905, 32754, 32755, AGC= 72, IDX= 508,-0.05, 2.862,-1.760, 2.526,-2.857, PHS=-0.463, 1.141,-0.944, RAW= 342.7, 2.8, CAL= 342.2, -0.0, ROT= 167.8, 0.0 E] E]E]&EY"E]a:*E]x:VE]4ZEYBE](9yYy=}kGyy}(E>Q 54\E?Q 94-)BYyQ I4@DI;iS;14yɮ APRX@AJARAju G@ 3E2*^@rFʔ p ?Z5o;@bM2f'G?z M {'?<%K2?:Z"m& ?*UBB^%?“BA:G@gOu addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504089 s, deltaX: 0.299999 m, approachRate: 0.595132 m/s, rangeRepo size: 4 gO Added new target pos. range: 18.691744 m, bearing: 178.190637 deg, lat: 36.779289 deg, lon: -121.859550 deg, deltaT: 0.504089 s, deltaX: 0.298271 m, approachRate: 0.591703 m/s, posRepo size: 4 gO DNOT Ignoring new targets: 18.69 m.  * "   j2@Z6?YYY]K@Tݼ) D>iX9)8V7ii}?II@ @@ 0@checking for new query: numPingsReceived=112, elapsed TxPingTime=53.701988 ^A 0I I O >1 ?,6X@AF@F9>FpڼٱFy}什}C<}=Ay y)yyY}pAbDVD02y-%9=ٔx:Q->9!Y)=5kGy1= EE>YQ 5u4]J?Q 9}4]{.)]BY}6>Q E};y}Q I}4@]DI];i];]4yɮ AgODNOT Ignoring new targets: 18.69 m.*" BDDAT read: Rx Time:00:46:40.4679 TRx dataTimestamp_ set to:1761698800.977546PDAT read: Bearing 343.3, 10.8 (Local) %~Local bearing/azimuth received: Bearing 343.3, 10.8 (Local) 5DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed -0.1 UDAT read: 00:46:40.4679 LVL= 32752, 23313, 32754, 32755, AGC= 72, IDX= 508,-0.44, 1.760,-2.881, 1.421, 2.319, PHS=-0.457, 1.128,-0.942, RAW= 342.9, 2.9, CAL= 342.5, 0.0, ROT= 167.5, -0.0 ]Ygot valid direction response: 00:46:40.4679 LVL= 32752, 23313, 32754, 32755, AGC= 72, IDX= 508,-0.44, 1.760,-2.881, 1.421, 2.319, PHS=-0.457, 1.128,-0.942, RAW= 342.9, 2.9, CAL= 342.5, 0.0, ROT= 167.5, -0.0 ]V#Rx 113: Read range and direction messages.Em EmEm'Ei"Emm:*Em[:VEm'4ZEiau@au@au@au@}^direction in FSK: [-0.976296,0.216440,0.000000]}Fpublishing direction and range infoyn>=ZK?Y̔A[ )IiNb?&q@4QO=I@ )k;@I8c%d9X ? )QIk;@ichecking for new query: numPingsReceived=113, elapsed TxPingTime=53.969780jZ\?B\>BٍCB"IB(BB =BBjDBb;BY%EBmٍCBmڍCBiBm =Bm =Cmr56>6>1*@b@pڼ)  W>i9)W7!i!i!)-CI)I)99@ @@/0@@\A@]Aa  checking for new query: numPingsReceived=113, elapsed TxPingTime=54.203941^A 2DI I OM >Y?,OX@A 6Y@68>6g׼ٱ6'V >AHRS rotation from veh to nav: [[0.983465,-0.177629,-0.035267],[0.179169,0.982704,0.046800],[0.026344,-0.052345,0.998281]]6Hx?ƿ@?Pr?3?`? ̪?i6Y@I6o^;6CYm Bymg"IbD}VD}y;%R=ٔc:Q->9Y=kGyúE>Q 54*O?Q 94 /) BYySQ I4@DIuI;iOJ;o4yqɮ AqAE>X@AJEAREAjEeF@Ec 2*Й@rEn>=ZK?ZEk;@bAEBo{w2"nZ?1zEQ`ᅵڔW?I$2E2?:E"E6;?*E֭BEBEE'?A“EBEAEG@gO addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.503772 s, deltaX: -0.199999 m, approachRate: -0.397003 m/s, rangeRepo size: 4 gO Added new target pos. range: 18.492632 m, bearing: 177.833710 deg, lat: 36.779289 deg, lon: -121.859550 deg, deltaT: 0.503772 s, deltaX: -0.199112 m, approachRate: -0.395242 m/s, posRepo size: 4 gODNOT Ignoring new targets: 18.49 m.*"   j 2@Z ?)))- @=g׼)A E"Z>iE69)AEW7IiIiIQU`KIQIQ9@ @@4@ԙ-DDAT read: Rx Time:00:46:40.9681 -TRx dataTimestamp_ set to:1761698801.4823445PDAT read: Bearing 342.4, 11.0 (Local) =~Local bearing/azimuth received: Bearing 342.4, 11.0 (Local) MDAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 mDAT read: 00:46:40.9681 LVL= 32752, 24465, 32754, 32755, AGC= 72, IDX= 509, 0.09,-1.096, 0.515,-1.437,-0.534, PHS=-0.460, 1.094,-0.947, RAW= 343.2, 3.4, CAL= 342.7, 0.8, ROT= 167.3, -0.8 E} E}E})Ey"E}:*E}P:VE}FA4ZEyBE}#?,iX@A2@27>2Լٱ2V :AHRS rotation from veh to nav: [[0.983644,-0.176720,-0.034860],[0.178243,0.982868,0.046907],[0.025973,-0.052353,0.998291]]2H z?ƞƿ`&١`? s?`&??@Ϊ?i2@I2$V^;2C>C@i@I@@I@iBOUA DD)DD Fr@DHHHHIH)HiHL)LI\\\ ``b^Ab+i``idf^A)fy f@EIdYdY~By~["I A = =bDVD2yEWR%Eb=ٔM:Q-U>9yYy=}kGyy3)E>Q 54S?Q 94/)BYyQ I5@DI;iC;4yKBɮV AmEchecking for new query: numPingsReceived=114, elapsed TxPingTime=54.709942Y]^X@AJ]AR]Aj]pQF@]rd~;2@uo@<9=˳?r]6ᅰ7#?4?Z];:@b]d]'.]2R?8˚fۿz]nATS(*&?>,t2]M?:]Z"]4UP.?*]CB]%B]4UP.?]U“Y]rA]BF@gO  addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504798 s, deltaX: 0.199999 m, approachRate: 0.396196 m/s, rangeRepo size: 4 gO Added new target pos. range: 18.691475 m, bearing: 177.543604 deg, lat: 36.779290 deg, lon: -121.859549 deg, deltaT: 0.504798 s, deltaX: 0.198843 m, approachRate: 0.393906 m/s, posRepo size: 4 gO%DNOT Ignoring new targets: 18.69 m.!!*!"A IIIIIQQjU2@ZU@?,@Լ) G>i9)X7ii XIIy@y @y@}/@- DDAT read: Rx Time:00:46:41.4681 5 TRx dataTimestamp_ set to:1761698801.985629= PDAT read: Bearing 343.2, 10.7 (Local) = ~Local bearing/azimuth received: Bearing 343.2, 10.7 (Local) U DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 } DAT read: 00:46:41.4681 LVL= 32752, 24385, 32754, 32755, AGC= 71, IDX= 509,-0.22, 2.810,-1.848, 2.479,-2.918, PHS=-0.453, 1.115,-0.930, RAW= 342.9, 2.9, CAL= 342.4, 0.0, ROT= 167.6, -0.0 bE ʞ4jE 4rE /E  E E &E "E :*E c:VE 4ZE a @a @a @a @ Ygot valid direction response: 00:46:41.4681 LVL= 32752, 24385, 32754, 32755, AGC= 71, IDX= 509,-0.22, 2.810,-1.848, 2.479,-2.918, PHS=-0.453, 1.115,-0.930, RAW= 342.9, 2.9, CAL= 342.4, 0.0, ROT= 167.6, -0.0  V#Rx 115: Read range and direction messages. ^direction in FSK: [-0.976672,0.214735,0.000000] Fpublishing direction and range infoy1 5 M;@ᅰEr|?Y1 1 1 5 A_1 1 )5 GI5 i5 R?5 {n5 @5 4QO=5 t;@ 5 )5 6;@I5 1 1 5 Skh~\U$忑}R%? 5 ))5 @QI5 6;@i5 1 1  checking for new query: numPingsReceived=115, elapsed TxPingTime=54.980518^A D%K I I O >B <A p<B e>B ۍCB y"IB BB  =B B lDB a;B $Ea ?,$X@AԙYByP"I%G9Q}9yYAiMb@Mb@Mb@ 9/$?(\µ rh?Y1>y@ A)YAbDVDyw%%=ٔQ->9Y=kGyE%>AQ 5M4EY?Q 9U4E\0)EBYU">Q EU;yUžQ IU5@E"DIEz:iE:Em4y]^Bɮe: AevEaeX@AJeAReAjeF@eV򗟀A2 $@reM;@ᅰEr|?Ze6;@bee2L%? D?ze2axs+?!4w2e0?:eU"e4?*e8.BeBe3?e8.“aeAeF@gO addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503285 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gOm Added new target pos. range: 18.691908 m, bearing: 177.879814 deg, lat: 36.779290 deg, lon: -121.859549 deg, deltaT: 0.503285 s, deltaX: 0.000433 m, approachRate: 0.000860 m/s, posRepo size: 4 gOuDNOT Ignoring new targets: 18.69 m.qq*q"q qyychecking for new query: numPingsReceived=115, elapsed TxPingTime=55.211693yBjZW?">">Iݶ@6@) B>ic9)Y7ii!!%YVI!I)9@ @@/@@=@=! ^A jbIA IY Oe >'?,X@A>@>6>>Ѽٱ>e5W JAHRS rotation from veh to nav: [[0.983912,-0.175303,-0.034446],[0.176813,0.983114,0.047168],[0.025596,-0.052500,0.998293]]>H`4|?`Wpƿ ˡ?u?@j&?@5?@@ᪿ?i>@I>A];>CjDDAT read: Rx Time:00:46:41.9681 nTRx dataTimestamp_ set to:1761698802.489670rPDAT read: Bearing 341.6, 10.9 (Local) r~Local bearing/azimuth received: Bearing 341.6, 10.9 (Local) zDAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 DAT read: 00:46:41.9681 LVL= 32752, 23249, 32754, 32755, AGC= 73, IDX= 509, 0.26,-0.951, 0.671,-1.287,-0.370, PHS=-0.479, 1.086,-0.961, RAW= 343.0, 3.9, CAL= 342.6, 1.5, ROT= 167.4, -1.5 %Ygot valid direction response: 00:46:41.9681 LVL= 32752, 23249, 32754, 32755, AGC= 73, IDX= 509, 0.26,-0.951, 0.671,-1.287,-0.370, PHS=-0.479, 1.086,-0.961, RAW= 343.0, 3.9, CAL= 342.6, 1.5, ROT= 167.4, -1.5 E- E-E-$E)"E-&:*E- n:VE-4ZE)BE-_;Xxqh?? n)nIn:@inPwּllmchecking for new query: numPingsReceived=116, elapsed TxPingTime=55.483292YByF"IbDVDk1y!%\=ٔ :Q- >9 Y=kGy-E>9Q 5E4=&^?Q 9M4=0)=BYIyMbƾQ IM5@=$DI=B:i=N:=4yQɮUv AlnVX@AJlRljnMF@nrI<2ZDlM@FP?rnx&t7?P!Κ?Zn:@bnPwּn7el2M p?ci%k9)!-4Z7)i)iQQUmIQIYIa)a@ @@@Achecking for new query: numPingsReceived=116, elapsed TxPingTime=55.720139^A lXI I O >i /-?,@NX@A2ο@2`V5>2Cмٱ2W :AHRS rotation from veh to nav: [[0.984043,-0.174604,-0.034252],[0.176106,0.983234,0.047293],[0.025420,-0.052570,0.998294]]2HG}?hYƿx`? v?`6??{꪿?i2ο@I2Ml];2CYFByF<"IIJ<)J=iMb@Mb@Mb@ 9Dl?bX9ȶ rh?YO >yEA@ A)AYAbD%VD%1ԙy ;%X=ٔ$9Q->9Y=kGyE>Q 54)c?Q 941)!BY )>Q E;yȾQ I5@&DI;i;4y!ɮ% A!gOmDNOT Ignoring new targets: 18.69 m.*" BjZD? )> )>x@䀼@DDAT read: Rx Time:00:46:42.4681 TRx dataTimestamp_ set to:1761698802.993826PDAT read: Bearing 342.4, 10.4 (Local)  ~Local bearing/azimuth received: Bearing 342.4, 10.4 (Local) DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.1 =DAT read: 00:46:42.4681 LVL= 32752, 26817, 32754, 32755, AGC= 70, IDX= 509,-0.07,-2.292,-0.620,-2.622,-1.705, PHS=-0.485, 1.130,-0.961, RAW= 342.5, 3.4, CAL= 342.1, 0.7, ROT= 167.9, -0.7 EM EMEM&EI"EM:*EMz:VEM4ZEIa]@a]@a]@a]@]Ygot valid direction response: 00:46:42.4681 LVL= 32752, 26817, 32754, 32755, AGC= 70, IDX= 509,-0.07,-2.292,-0.620,-2.622,-1.705, PHS=-0.485, 1.130,-0.961, RAW= 342.5, 3.4, CAL= 342.1, 0.7, ROT= 167.9, -0.7 ]V#Rx 117: Read range and direction messages.m^direction in FSK: [-0.977710,0.209603,0.012217]mFpublishing direction and range infoy;gIhg%E?I:?Yh )FIQiף?I@s=@ +H<)͋;@I+HW{)H@MM۟m? )pI͋;@i+HCм) R8>i9)页Z7iitIchecking for new query: numPingsReceived=117, elapsed TxPingTime=55.986366IBb>BڍCBf"IB BB =BBkDB`;B$Ey@y @y@}/@^A cI I O > checking for new query: numPingsReceived=117, elapsed TxPingTime=56.219486 *4?, (X@AF @F 4>FMϼٱF1}V RAHRS rotation from veh to nav: [[0.984104,-0.174286,-0.034104],[0.175775,0.983304,0.047078],[0.025329,-0.052325,0.998309]]FH}?Nƿ`v?9w???Oʪ@%?iF @IFN];FCYXyZ;"IbDdVDdyn%nf=ٔn9Q-r?9pYp=rkGypvEv?xQ 5z4zlg?Q 9~4z#2)z%BY|y~ɾQ I~5@z'DIz{;iz;z4y ɮ  A )-ؚX@AJ-AR-Aj-F@-qmF2W@T:?r-;gIhg%E?I:?Z-͋;@b-+H-赔۬2Ef?n'ܿz-c _ԡ?)X2-&?:-f"- A?*-!B-B-ˑ8?)“-B-iA-HF@gO] addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504156 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gOm Added new target pos. range: 18.691742 m, bearing: 178.003936 deg, lat: 36.779291 deg, lon: -121.859548 deg, deltaT: 0.504156 s, deltaX: -0.000166 m, approachRate: -0.000329 m/s, posRepo size: 4 gOmDNOT Ignoring new targets: 18.69 m.ii*q"q qqqyyyjZ@?}@]Mϼ)Y ep7>ie9)am[7iiii^xIIQ@Q @Y@]4@aDDAT read: Rx Time:00:46:42.9682 TRx dataTimestamp_ set to:1761698803.497677PDAT read: Bearing 339.8, 10.4 (Local) ~Local bearing/azimuth received: Bearing 339.8, 10.4 (Local) %DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed -0.2 MDAT read: 00:46:42.9682 LVL= 32752, 27857, 32754, 32755, AGC= 71, IDX= 511,-0.48,-0.548, 1.066,-0.866, 0.067, PHS=-0.513, 1.045,-0.976, RAW= 342.6, 4.9, CAL= 342.3, 3.2, ROT= 167.7, -3.2 UYgot valid direction response: 00:46:42.9682 LVL= 32752, 27857, 32754, 32755, AGC= 71, IDX= 511,-0.48,-0.548, 1.066,-0.866, 0.067, PHS=-0.513, 1.045,-0.976, RAW= 342.6, 4.9, CAL= 342.3, 3.2, ROT= 167.7, -3.2 E] EYE]%EY"E],:*EYVE] 4ZEYBE]I A:?,X@A6@64>6+ϼٱ6oU >AHRS rotation from veh to nav: [[0.984170,-0.173925,-0.034040],[0.175405,0.983381,0.046839],[0.025327,-0.052068,0.998322]]6HS~?(Cƿms?@w?`J?o?A?i6@I6Ni];6CY^Byb4"IbDjVDj yr%rJ=ٔrP6Q-r>9tYt=vkGytvsEz>xQ 5~4zl?Q 94z2)z*BYyRɾQ I5@z*DIz;iz;z4y ɮ A15X@AJ5TAR5TAj5BuF@5rqgT2S@>?r5&z7￙9?ᢔ?Z5R;@b5d5z2>Yt?f?z5c*t@Ҥ?̾ml?25C?:5,"5t>?*5UB5B158.“5%B5A5fF@gOe addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.503851 s, deltaX: 0.100000 m, approachRate: 0.198472 m/s, rangeRepo size: 4 gO Added new target pos. range: 18.791166 m, bearing: 177.668869 deg, lat: 36.779291 deg, lon: -121.859549 deg, deltaT: 0.503851 s, deltaX: 0.099424 m, approachRate: 0.197329 m/s, posRepo size: 4 gODNOT Ignoring new targets: 18.79 m.*" j`f2@Z ?z@+ϼ) ~+>i79)<\7i mchecking for new query: numPingsReceived=118, elapsed TxPingTime=56.725468iEx}IIQ@ @@4@y^A +wI I) O= >ԡ  DDAT read: Rx Time:00:46:43.4682  TRx dataTimestamp_ set to:1761698804.001645 PDAT read: Bearing 339.2, 10.6 (Local) % ~Local bearing/azimuth received: Bearing 339.2, 10.6 (Local) 5 DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed 0.2 U DAT read: 00:46:43.4682 LVL= 32752, 30033, 32754, 32755, AGC= 71, IDX= 510, 0.13,-0.189, 1.425,-0.513, 0.433, PHS=-0.521, 1.036,-0.991, RAW= 342.8, 5.2, CAL= 342.5, 3.7, ROT= 167.5, -3.7 ] Ygot valid direction response: 00:46:43.4682 LVL= 32752, 30033, 32754, 32755, AGC= 71, IDX= 510, 0.13,-0.189, 1.425,-0.513, 0.433, PHS=-0.521, 1.036,-0.991, RAW= 342.8, 5.2, CAL= 342.5, 3.7, ROT= 167.5, -3.7 Em  Em Ei Ei "Em :*Em [:VEi ZEi au @au @au @au @u V#Rx 119: Read range and direction messages.} ^direction in FSK: [-0.974261,0.215989,0.064532] Fpublishing direction and range infoy  ~Tm%-V~?P0?Y    Qu  ) I B`i ? -} t@ ޹= I@  A=) k;@I A   `aj:xᑯX?  A) I k;@i A   checking for new query: numPingsReceived=119, elapsed TxPingTime=56.994286Ay Ay B `>B B T"IB BB =B B B #`;B i$E)A?,PX@A@RL@R f3>RѼٱR9V ZAHRS rotation from veh to nav: [[0.984370,-0.172744,-0.034271],[0.174242,0.983579,0.047024],[0.025586,-0.052260,0.998306]]RH@?zƿM?`{y?~?3??iRL@IRS];RCYr݃Byr0"I tvAi%Mb@Mb@Mb@!!!! !9%n?~jtMb?Y%V>y%Ľ%<%SA%@ !)!!Y!bD]VD]fym(Z%m4=ٔmQ-m>9Y=kGy(E>Q 54yr?Q 943)0BY->Q E;yXھQ I5@,DIJ;i;4y`Bɮ AwEAEX@AJARAjE<"F@E0>IN2<@@f?rE~Tm%-V~?P0?ZEk;@bE AE5W2}?zrH?zE e+1 wh? OD_?2E[?:E"EFE?*Eq BEBEt>?A“EBEAEJF@gOU addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.503968 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gOe Added new target pos. range: 18.791056 m, bearing: 177.378543 deg, lat: 36.779291 deg, lon: -121.859549 deg, deltaT: 0.503968 s, deltaX: -0.000111 m, approachRate: -0.000220 m/s, posRepo size: 4 gOmDNOT Ignoring new targets: 18.79 m.ii*" BjZ?ԩ->->o@Qj@ Ѽ)  R8>iA9)]7ii7II!iaIeAuchecking for new query: numPingsReceived=119, elapsed TxPingTime=57.228539@ @@1@^A  Ia I O >UG?,3X@A2ߨ@2x2>2Ҽٱ20V :AHRS rotation from veh to nav: [[0.984524,-0.171844,-0.034387],[0.173349,0.983737,0.047018],[0.025748,-0.052251,0.998302]]2H8?ſ O0?z??]? ?i2ߨ@I2:];2CYB׃ByB("IbDNVDNN2yV%Vk=ٔZQ-Z?9XbDDAT read: Rx Time:00:46:43.9684 fTRx dataTimestamp_ set to:1761698804.505837jPDAT read: Bearing 349.4, 0.3 (Local) ln~Local bearing/azimuth received: Bearing 349.4, 0.3 (Local) vDAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.1 DAT read: 00:46:43.9684 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 512,-0.08,-2.937,-0.808,-2.889,-2.277, PHS=-0.558, 1.514,-0.655, RAW= 332.3, -2.9, CAL= 331.6, -5.8, ROT= 178.4, 5.8 DD<E! E%E%$E!"E!*E%e:VE%4ZE!BE%Q 5%4ww?Q 9%4Z4)5BY)y-ھQ I-5@.DI:5`direction in FSK: [-0.994493,0.027779,-0.101056]=Fpublishing direction and range infoydfۘᅦڨ r?+hg޹YfAddfd d)fHIfif?f'fa@f4QOfL3@ f4QϽ)fSFG@If4Q=ddfMri!R f~%)f:M=IfSFG@i#<4yqɮuO Ayif4Q=dddf_ X@AJfARfAjfWR@fu2W; ?m(rfۘᅦڨ r?+hg޹ZfSFG@bf4Q=f9d2)bzfp_?QtD-ÿ h`2f 7:f"f`N?*fKBf}Bf A?fU“dfAfEF@gO addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.504192 s, deltaX: 0.300001 m, approachRate: 0.595014 m/s, rangeRepo size: 4 gO Added new target pos. range: 19.089327 m, bearing: 188.688385 deg, lat: 36.779292 deg, lon: -121.859549 deg, deltaT: 0.504192 s, deltaX: 0.298271 m, approachRate: 0.591583 m/s, posRepo size: 4 gODNOT Ignoring new targets: 19.09 m.*" j@333@Z?iiimb@Ҽ) +>i79)顭]7ii II}9@y @y@}/@y1^A= II a Ia Om >_}M?,}8X@A2͡@2@1>2Լٱ2U JAHRS rotation from veh to nav: [[0.984667,-0.170987,-0.034557],[0.172498,0.983892,0.046907],[0.025980,-0.052149,0.998301]]2Hd? ſ`rm? |?`A?@o?N?i2͡@I2];2CYjӃByj$"I9iMb@Mb@Mb@ 9Mb?J +yȽt<A@ nA)AAYAbDVD:2yQ~%7=ٔQ->9Y=kGy E> Q 54 E|?Q 94  5) :BY&>Q E;yIQ I5@ 0DI ;i "; 4y!ɮ%k A)gOMDNOT Ignoring new targets: 19.09 m.QQ*Q"Q QQYY]rBYajaZe0?&>&>&@B˹@Լ) B>i9)顝l^7iiEIIDDAT read: Rx Time:00:46:44.4683 TRx dataTimestamp_ set to:1761698805.010138DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed -0.1 \#Rx 121: Read range message, but no direction.yY̘AE5 E5E1E1"E5:*E5R:VE1ZE1a=@a=@a=@a=@ii@i @i@u/@qB1B1B5G"IB5BB1B1B1B5.`;B5o$Eԙ^AmጼIyIO> MeT?,oRX@A6̖@6 60>6h׼ٱ6U >AHRS rotation from veh to nav: [[0.984890,-0.169649,-0.034803],[0.171174,0.984123,0.046912],[0.026292,-0.052160,0.998293]]6H7? ſѡ ?@}??`6? Ĵ@?i6̖@I6];4YFՃByJ'"IIJR=)J%=LNAbDRVDRyZnV<%Za=ٔ^faQ-^>9`Y`=bkGy`bUrEf>dQ 5j4f?Q 9j4f5)f?BYlynQ Ir5@f2DIfn ;if!;f4ytɮvX AtgOe addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.504301 s, deltaX: -0.100000 m, approachRate: -0.198295 m/s, rangeRepo size: 4 gOmDNOT Ignoring new targets: 19.09 m.ii*i"i iqqyyj3@ZP?ԙ999=@Mh׼)Q UnG>iU9)Y]3_7YiYiqy}nIyIyU9@Q @Y@]0@YDDAT read: Rx Time:00:46:44.9685 TRx dataTimestamp_ set to:1761698805.513675PDAT read: Bearing 347.8, 7.6 (Local) ~Local bearing/azimuth received: Bearing 347.8, 7.6 (Local) DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed -0.2 D9zD=AAEE EEEE'EA"EEy:*EE H:VEE'4ZEABEE@I=d]"s],OM 9)l@i=^AmIIO>9 Z?,QLlX@A2@2.>2ڼٱ2EU :AHRS rotation from veh to nav: [[0.985102,-0.168337,-0.035159],[0.169881,0.984349,0.046868],[0.026719,-0.052143,0.998282]]2H ?`ſ@``?@?!?E\? }@?i2@I22^;0YNσByR"IbDZVDZN2y 4% E=ٔQ->9Y=kGyOE>!Q 5-4%?Q 9-4%6)%EBY)y-Q I55@%4DI%:i%6:%) 4yɮ A `X@AJNARNAj}J@n<2E{R@C+Ir*}￶y-?Z>@b=ϣ'3*\ӿdΝz$7\IS>=͋4ƽ2:="q7?*>>B~B!“BhALF@gO addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.503537 s, deltaX: 0.299999 m, approachRate: 0.595784 m/s, rangeRepo size: 4 gOe Added new target pos. range: 19.288198 m, bearing: 180.914952 deg, lat: 36.779292 deg, lon: -121.859550 deg, deltaT: 1.007838 s, deltaX: 0.198872 m, approachRate: 0.197325 m/s, posRepo size: 4 gODNOT Ignoring new targets: 19.29 m.*"  jM`ff3@ZU@\r?费@Qڼ) 9>iJ9)額`7iiTII!@) @)@-/@1i DDAT read: Rx Time:00:46:45.4685  TRx dataTimestamp_ set to:1761698806.017731 PDAT read: Bearing 213.2, -0.9 (Local)  ~Local bearing/azimuth received: Bearing 213.2, -0.9 (Local)  DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed -0.2 5 DAT read: 00:46:45.4685 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 513, 0.03, 2.851, 1.125, 2.783,-2.696, PHS=-0.635,-2.417,-0.848, RAW= 143.7, 39.3, CAL= 149.0, 49.8, ROT= 1.0, -49.8 E Ygot valid direction response: 00:46:45.4685 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 513, 0.03, 2.851, 1.125, 2.783,-2.696, PHS=-0.635,-2.417,-0.848, RAW= 143.7, 39.3, CAL= 149.0, 49.8, ROT= 1.0, -49.8 EM  EM EI EI "EM :*EM T:VEI ZEI aU @aU @aU @aU @] V#Rx 123: Read range and direction messages.e \direction in FSK: [0.645359,0.011265,0.763796]e Fpublishing direction and range infoy  ;JȦ?rʤ?1UVq?Y  ) GI \"i ! Y @ /? Bo&@ /^?) 5) A/I 5B- ۍCB- ;"IB- BB-  =B) B- lDB- `;B- $EBڍCBBB =B =C5ԙ ^A }I I O >Exa?,0*X@A4r@ +>)ٱEV =AHRS rotation from veh to nav: [[0.985610,-0.165175,-0.035924],[0.166767,0.984872,0.047077],[0.027604,-0.052390,0.998245]]H?t$ſd@X??r? PD?`Ҫ?i4r@I ^;YMʃByM"IqiuMb@Mb@Mb@qqqq q9uM?&1yuнqu=Au(@ uA)uAqYu=AbDVDyg%2=ٔyQ->9Y=kGyE>Q 54?Q 947)KBY4>Q E;yQ I5@7DI:io:D4y)ɮ- A1!%"X@AJ!R!j% >%`^(@$I?zw-@r%;JȦ?rʤ?1UVq?Z%5<b%/^%y6vFNh'@WV"@y.@z%?Lbj? m?9h#?2%>@:%B;A"%Le?*%B%ޡB%FE?%U“%B%A%ME@gO addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.504056 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 19.288452 m, bearing: 14.301023 deg, lat: 36.779292 deg, lon: -121.859549 deg, deltaT: 0.504056 s, deltaX: 0.000254 m, approachRate: 0.000503 m/s, posRepo size: 4 gODNOT Ignoring new targets: 19.29 m.*" xBjZ?E4>E4>E1<@E@u))q u#>iuN9)qu`7yiyiyʪIIԡ=9@9 @9@E2@A^A U֣I I O > g?,X@AfDDAT read: Rx Time:00:46:45.9686 jTRx dataTimestamp_ set to:1761698806.526274rPDAT read: Bearing 338.2, 10.8 (Local) r~Local bearing/azimuth received: Bearing 338.2, 10.8 (Local) zDAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.2 E EE"E"E>:*E]t:VE(3ZEBE9Y=kGyE>hhj{h h)jJIjTijʁ?jj֭@j%=j@ j`=)j :@Ij`hhj1G7A\:ZON? j)jʽIj :@ij`hhQ 554?Q 9=4]8)QBY9y9Q I=5@9DIm)i19)Oa7ii%跼I!IQ9@ @@4@1 ^A I) I9 OM >Y Xm?,yX@Am4[@m (>mٱmV AHRS rotation from veh to nav: [[0.986053,-0.162367,-0.036569],[0.163996,0.985337,0.047088],[0.028387,-0.052429,0.998221]]mH ?sĿ3??@?@?`ת`m?im4[@Im^;mCỸBy"Ii=Mb@Mb@Mb@9999 99=M?RQ9iYi=mkGyiuEu>yQ 54}2?Q 94}9)}VBY0>Q E;yV־Q I5@};DI}` ;i}u ;}%"4yɮ APB*** querying acoustic contact *** gO]DNOT Ignoring new targets: 19.39 m.Yy*y"y yyyuBjZ`Ӽ?0>0>,L@m@DDAT read: Rx Time:00:46:46.4685 TRx dataTimestamp_ set to:1761698807.029767PDAT read: Bearing 338.5, 11.2 (Local) ~Local bearing/azimuth received: Bearing 338.5, 11.2 (Local) DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.0 bEJ4jE( 4rE/E EE$E"E[:*EV:VE4ZEa @a @a@a@5DAT read: 00:46:46.4685 LVL= 32752, 29153, 32754, 32755, AGC= 71, IDX= 498,-0.45,-2.168,-0.590,-2.517,-1.559, PHS=-0.507, 1.014,-1.002, RAW= 343.6, 5.5, CAL= 343.3, 4.1, ROT= 166.7, -4.1 =Ygot valid direction response: 00:46:46.4685 LVL= 32752, 29153, 32754, 32755, AGC= 71, IDX= 498,-0.45,-2.168,-0.590,-2.517,-1.559, PHS=-0.507, 1.014,-1.002, RAW= 343.6, 5.5, CAL= 343.3, 4.1, ROT= 166.7, -4.1 EV#Rx 125: Read range and direction messages.M^direction in FSK: [-0.970688,0.229461,0.071497]MFpublishing direction and range infoy{~#^? M?Y3Aq )GIiA@ =!@ C=)4:@IC~M<;m忌C恸? T)/\ĽI4:@iCeT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.) .>i9)顥a7ii?ͼIB`>BڍCB5"IBBB =BBkDB`;B$EII@ @@X2@ qyGM)9IYM]Aq ^A I I O >m 2Acoustic response timeoutt?,X@A0YBy"IbD-VD-NyM^%M`=ٔUQ-U>9QYY=]kGyYeEm>qQ 5}4u?Q 9}4u9)u[BYyQ I5@u=DIu;iu;u(4yɮ A  X@AJ NAR NAj D@ L5 22 @f*?r {~#^? M?Z 4:@b C [q;37?->?z ']~?fF?2 ?: ؙ" .~F?* B B .~F? rk“ B (A D@gO addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.503493 s, deltaX: -0.100000 m, approachRate: -0.198613 m/s, rangeRepo size: 4 gO Added new target pos. range: 19.288179 m, bearing: 175.968218 deg, lat: 36.779292 deg, lon: -121.859547 deg, deltaT: 0.503493 s, deltaX: -0.099697 m, approachRate: -0.198011 m/s, posRepo size: 4 gODNOT Ignoring new targets: 19.29 m.*" j`ff3@Z?!!!!1)9 =>i=O9)9=b79i9iAAM<ʼIIIIԑ9@ @@/@^A̼IIO!>ԹDDAT read: Rx Time:00:46:46.9687 TRx dataTimestamp_ set to:1761698807.533698PDAT read: Bearing 339.4, 11.2 (Local) ~Local bearing/azimuth received: Bearing 339.4, 11.2 (Local) DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed -0.2 E EE&E"E:*E1]:VE4ZEBE1FٱFvV ZAHRS rotation from veh to nav: [[0.986451,-0.159788,-0.037175],[0.161446,0.985764,0.046947],[0.029144,-0.052313,0.998205]]FH ?@sĿ@??a?} ? ؝?Ȫ`L?iF F@IFի^;FC\YfʃByf"IIj<)j= rp9 Y=kGyֻE>!Q 554%2?Q 954%y:)%aBY1y=׾Q I=5@%?DI%>;i%5;%w/4yIɮM AI(X@AJARAj~qD@ /3?@YE?rFhOit9)4c7ii ݼI I9%9@! @!@%/@)!^AI IQ Ii Ou >- DDAT read: Rx Time:00:46:47.4687 5 TRx dataTimestamp_ set to:1761698808.045632= PDAT read: Bearing 338.9, 11.4 (Local) = ~Local bearing/azimuth received: Bearing 338.9, 11.4 (Local) U DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed -0.3 a } DAT read: 00:46:47.4687 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 499,-0.06,-2.153,-0.568,-2.513,-1.555, PHS=-0.496, 1.032,-1.002, RAW= 343.8, 5.1, CAL= 343.5, 3.5, ROT= 166.5, -3.5  Ygot valid direction response: 00:46:47.4687 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 499,-0.06,-2.153,-0.568,-2.513,-1.555, PHS=-0.496, 1.032,-1.002, RAW= 343.8, 5.1, CAL= 343.5, 3.5, ROT= 166.5, -3.5  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.970556,0.233010,0.061049] Fpublishing direction and range infoy1 5 9i S E?.xA?Y1 1 1 1 1 1 )5 HI5 i5 ?5 A5 @5 K=5 ؿ@ 5 5z=)5 w9@I5 5z1 1 5 y濽5Љ濳b? 5 )5 yI5 w9@i5 5z1 1  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.B \>B ٍCB B B " =B B jDB /`;B l$EE  E E %E "E a:*E :VE 4ZE BE (<2E (<JE ;:E ;nŁ?,mX@Ab9@b$>bٱbk>W nAHRS rotation from veh to nav: [[0.986694,-0.158203,-0.037512],[0.159885,0.986010,0.047132],[0.029531,-0.052503,0.998184]]bH??Ŀ 4 w?d?!?R=?`ᪿ?ib9@Ibإ^;bC9YẽBye"IieMb@Mb@Mb@aaaa a9eT㥛 ?kt:v?Ye>ye e9yYy=}kGyypVE>Q 54¥?Q 94F;)iBYw>Q E;y޾Q I5@BDI. ;i" ;74yɮ AaeX@AJeAReAjeaD@eddo3qOA@8!?re9i S E?.xA?Zew9@be5zeM3dvE??ze֨ Qӳ?\ƃ?2e+?:e/"e08?*ely`BeBe08?eT“aeAe\WD@gO addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.511934 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 19.586206 m, bearing: 175.557079 deg, lat: 36.779291 deg, lon: -121.859545 deg, deltaT: 0.511934 s, deltaX: -0.000246 m, approachRate: -0.000481 m/s, posRepo size: 4 gODNOT Ignoring new targets: 19.59 m.* "    zBjZ '?aw>w>@.@) #>i9)c7iiII2Acoustic response timeout9@ @@@@@ԙ ^A ޼I I! O- >?,Z!X@A6)@6">6ٱ6_X BAHRS rotation from veh to nav: [[0.986978,-0.156354,-0.037794],[0.158063,0.986286,0.047505],[0.029848,-0.052860,0.998156]]6HR?eĿ Y@i;?এ?R?s? y@?i6)@I6q^;6CYJ̓ByJ"IbDRVDR:bDDAT read: Rx Time:00:46:47.9689 bTRx dataTimestamp_ set to:1761698808.549746fPDAT read: Bearing 337.6, 10.9 (Local) j~Local bearing/azimuth received: Bearing 337.6, 10.9 (Local) rDAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.2  DAT read: 00:46:47.9689 LVL= 32752, 28657, 32754, 32755, AGC= 71, IDX= 501,-0.33,-0.845, 0.754,-1.193,-0.214, PHS=-0.529, 1.014,-1.023, RAW= 343.5, 5.9, CAL= 343.2, 4.7, ROT= 166.8, -4.7 Ygot valid direction response: 00:46:47.9689 LVL= 32752, 28657, 32754, 32755, AGC= 71, IDX= 501,-0.33,-0.845, 0.754,-1.193,-0.214, PHS=-0.529, 1.014,-1.023, RAW= 343.5, 5.9, CAL= 343.2, 4.7, ROT= 166.8, -4.7 R#Rx 1: Read range and direction messages.%^direction in FSK: [-0.970305,0.227583,0.081939]%Fpublishing direction and range infoy`b3El ￐Dto!??YbA``bo` `)bGIblibʁ?b񂿩bؿ@bB=E=% E=E=&E9"E=O];*E=?:VE=4ZE9BE=<2E=<JE=;:E=;yMa9Y=kGyE> Q 54 멡?Q 94 ;) pBYy޾Q I5@ CDI :i : 1>4y!ɮ% A!`b /#X@AJbARbAjbAD@b42DK3u[@r2?rb3El ￐Dto!??ZbAQ:@bbbd3tD?\o^?zbQ"W]b32?.?2bھ?:b~"bi$?*b;BbmBb#_3?`“`bAbKD@gO5 addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.504114 s, deltaX: 0.299999 m, approachRate: 0.595102 m/s, rangeRepo size: 4 gO Added new target pos. range: 19.884472 m, bearing: 175.696064 deg, lat: 36.779290 deg, lon: -121.859545 deg, deltaT: 0.504114 s, deltaX: 0.298265 m, approachRate: 0.591663 m/s, posRepo size: 4 gODNOT Ignoring new targets: 19.88 m.*" j4@Zַ?@m)i m&>imp9)qud7qiqiyyQIIQ@Q @Q@U_0@QiyI}A2Acoustic response timeout^A} I I O > /?,};X@A@  aٱlY AHRS rotation from veh to nav: [[0.987175,-0.154997,-0.038218],[0.156734,0.986490,0.047654],[0.030315,-0.053033,0.998133]]H?ÿD`?T?$f?@ ?('?i@I-^;CY-΃By-"I 11====iMb@Mb@Mb@ 91Zd?#~jQ?Y"=y㥽<SA@ A)AAYbDVD0y;%A=ٔQ->9Y=kGyZE>Q 54⭡?Q 94<)wBY  >Q E ;y kQ I 5@EDI ;i ;8E4yɮ AgOEDNOT Ignoring new targets: 19.88 m.AA*A"A A|BjZ1? > >S@@5 a)1 5#>i=9)9=/e79i9iAAEIAIIDDAT read: Rx Time:00:46:48.4688 TRx dataTimestamp_ set to:1761698809.054148PDAT read: Bearing 338.8, 10.6 (Local) ~Local bearing/azimuth received: Bearing 338.8, 10.6 (Local) DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.1 -DAT read: 00:46:48.4688 LVL= 32752, 32401, 32754, 32755, AGC= 71, IDX= 500, 0.23,-0.095, 1.522,-0.433, 0.522, PHS=-0.515, 1.045,-0.999, RAW= 343.1, 5.1, CAL= 342.8, 3.5, ROT= 167.2, -3.5 BM^>BIBIBIBM =BIBMkDBM_;BM2$EEm EmEm$Ei"Em:*Em:VEm4ZEiBEmZ <2Em[ <JEmu 2Acoustic response timeouty ?,FUX@AJ}@J@>JzٱJ?Z bAHRS rotation from veh to nav: [[0.987386,-0.153583,-0.038493],[0.155347,0.986692,0.048022],[0.030606,-0.053396,0.998104]]JH੘?`ÿ]j? ?G?W?Vx?iJ}@IJ];JCYjσByj "IbDvVDv:2y~<%~[=ٔ~KQ->9Y=kGy vE >Q 54?Q 94#=)~BYy Q I5@GDI;i;K4y-eBɮ- A-yE  )wCX@AJ |AR |Aj #D@ ')3A3i@/;:?r c(%hkL)N?.xA?Z :@b 5z h&F3U/?h2m\?z v[j¬E?p̓?2 .?: " ;?* ʴB B 08? “ B ŝA >%D@gO} addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.504402 s, deltaX: -0.200001 m, approachRate: -0.396511 m/s, rangeRepo size: 4 gO Added new target pos. range: 19.685760 m, bearing: 175.989861 deg, lat: 36.779291 deg, lon: -121.859545 deg, deltaT: 0.504402 s, deltaX: -0.198711 m, approachRate: -0.393954 m/s, posRepo size: 4 gODNOT Ignoring new targets: 19.69 m.*" j3@Z4?}@z) &>i9)e7iiIIY@ @@/@@=@=y*DAT read: user:580> *DAT read: user:580> BDAT read: Tx time:00:46:49.3733 %$Ping request sent.%ԩ ;?,oX@A>@> R>>6ٱ>\ JAHRS rotation from veh to nav: [[0.987600,-0.152128,-0.038782],[0.153921,0.986895,0.048439],[0.030905,-0.053808,0.998073]]>Hj?xÿ5ۣ?औ?ͨ?u? 6?i>@I>ר];<=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243310ԱYMуByM""IIe4=)ep;qqbDVDy";%=ٔ[Q- >9 Y = kGy b0E>Q 54ն?Q 94>)BYyQ I5@IDIӒi9)顥f7ii4NIIM9@Q @Q@U4@Q  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495147BM ]>BI BM ;"IBM BBI BI BI BM _;BM !$EE  E E &E "E :*E P:VE 4ZE BE a 2E a JE (;a :E (;a ^A= 59 II IY Oe >,?,X@A>@>>> ٱ>] FAHRS rotation from veh to nav: [[0.987769,-0.150904,-0.039245],[0.152732,0.987067,0.048705],[0.031388,-0.054103,0.998042]]>H͛? Pÿ? ? ?`?e?i>@I>];>C L)LNԼNELPPiPIPPIPiT V̼T)TX XXXXX\I\)\i\)\I\^` ```b9i``idd)d dIhYhYnσByn"IieMb@Mb@Mb@aaaa a9ezG?x&S㥛?Ye =ye7e/)BY->Q E-;y- ѾQ I55@JDI>@8@  )   >iL9) g7ii99=X I9IA@ @@/@5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747282^ABIIOF>)Q _M?,tҢX@A02/@2b>2Sٱ2y] >AHRS rotation from veh to nav: [[0.987868,-0.150214,-0.039392],[0.152051,0.987171,0.048718],[0.031569,-0.054117,0.998035]]2H ?6:ÿ@9+ev???)?,?i2/@Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.000043I2Q];2CEE EEEE(EA"EE:*EE H:VEEc44ZEAaU@aU@aU@aU@Y]ɃBy]"IbDmVDmy%J=ٔGQ->9Y=kGy޺E>Q 54v?Q 94>)BYygѾQ I5@LDI:i):Ia4yɮ AgODNOT Ignoring new targets: 19.69 m.*"     j Z?b@S) x=i9)g7ii0 IIԉi@i @i@m 0@i@q@uWAԹuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.254432^AIII Ou > pw?,XX@A2$@2 >2ٱ2] :AHRS rotation from veh to nav: [[0.987971,-0.149470,-0.039656],[0.151320,0.987285,0.048690],[0.031874,-0.054105,0.998026]]2Ht?!ÿM@x^?֗??Q?ੳ ?i2$@I2^];2C\YуBy!"I iMb@Mb@Mb@ 9K7?S㥫y/]t<A?@ A)XAY3AbDVDfy=%H=ٔDQ->9Y=kGyE>Q 54^¡?Q 94@?)BY>Q E;y_Q I5@NDI:ib:jh4yɮ AgODNOT Ignoring new targets: 19.69 m.!*!"! !!!)-B))j1Z5@q?U>U>U @U@e)a e=ime9)img7iiiiLIIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.504009B^>BڍCBA"IBBBBBB_;B%$EBٍCBٍCBB =B =Cõ5EU EUEU'EQ"EU:*EUV:VEU'4ZEQBEUA m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756394_?,ۉX@A2@2@>2ٱ2 ] :AHRS rotation from veh to nav: [[0.988079,-0.148701,-0.039846],[0.150562,0.987402,0.048672],[0.032106,-0.054091,0.998020]]2HX? ÿfE?`˘?x?8p? ?i2@I2];2CYB؃ByF*"IbDNVDNk1yV=%V^=ٔV%Q-Z>9XYX=ZkGyX^kE^>`Q 5f4bơ?Q 9f4b?)bBYdyf`Q Ij5@bODIb:ib:bn4ylɮnm AlgODNOT Ignoring new targets: 19.69 m.* "    jZ٪@999= @U)Q U=iU9)QU\h7iiP3II@ @@4@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.007276E] E]E]&EY"E]:*E]|:VE]4ZEYae@ae@ae@ae@y^AIIO%>ԡ ?,jhX@AF7@FC>FlٱF9pYp=vkGytvEv>xQ 5~4zˡ?Q 9~4z?)zBYyHaQ I5@zQDIzr;iz] ;zv4y ɮ  A gO5DNOT Ignoring new targets: 19.69 m.19*9"9 999AAAAjIZM @iiim@yl) p=iE9)顅h7iiaIIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.259387Q@Q @Y@]/@a@}=@}=ԩ^AU+IaIqO}{> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511264A A B B B ;"IB BB  =B B B _;B $EbEɞ4jE 4rEg/Em  Em Em 'Ei "Em :*Em R:VEm '4ZEi BEm &nٱnl] zAHRS rotation from veh to nav: [[0.988240,-0.147486,-0.040374],[0.149369,0.987593,0.048459],[0.032726,-0.053919,0.998009]]nHਟ?¿ 쫤 ?@]?@Ϩ?@?T@?in@In];nCY=σBy="IIEN>)Ey94jAV@ A)AYAbDVDyB;%:=ٔ4WQ->9Y=kGyE>Q 54С?Q 94-@)BY >Q E;y8Q I5@SDIe;i;}4y%hBɮ% A!gOMDNOT Ignoring new targets: 19.69 m.II*I"Q QQQY]BYYjYZex @ > >O@J@) أ=i9)i7ii!!%nI!II@ @@@ -checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763985)^AE SIQ Ia Ou >Y l?,$X@A2@2 >2,ٱ2 ] >AHRS rotation from veh to nav: [[0.988328,-0.146858,-0.040506],[0.148749,0.987687,0.048451],[0.032892,-0.053911,0.998004]]2Ha?=¿>1 ?"?Ψ?`>נ?.?i2@BBDAT read: Rx Time:00:46:51.8052 FTRx dataTimestamp_ set to:1761698812.581123Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.016299I2];2CYRȃByR"IbDZVDZybn%b`=ٔfQ-f>9dYd=jkGyhjpEj>lQ 5r4nԡ?Q 9r4nh@)nBYtyvb9Q Iv5@nUDIn:in_:n4yxɮz AxD4=D%=E% E%E%%E!"E%:*E%ą:VE% 4ZE!a-@a5@a5@a5@gO=DNOT Ignoring new targets: 19.69 m.99*9"9 9AAAAIIjIZMj @    D@1E,)A EP=iE9)AEXi7IiIiIQU!IqIq @  @ @ @ a^AI!=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267988IQOe>ԙ m?,>X@AZ@Z Y>ZٱZb] bAHRS rotation from veh to nav: [[0.988411,-0.146248,-0.040688],[0.148148,0.987778,0.048434],[0.033107,-0.053901,0.997997]]ZH??¿`դ@??[̨?r?ݘ?iZ@IZwv];ZCYñByn"IieMb@Mb@Mb@aaaa a9eT㥛 ?~jty&1?Yayee`e=ٔ_Q->9Y=kGyE>Q 54A١?Q 94@)BY>Q E;yQ I5@VDIE:i;4yɮ AgODNOT Ignoring new targets: 19.69 m.*" mBiqjqZu@ԉ>>Q@ؘ@) أ=i9)i7iiIIDAT read: 00:46:51.8051 LVL= 22592, 19857, 25186, 26099, AGC= 71, IDX= 73,-0.29, 0.418, 2.166, 0.020, 0.928, PHS=-0.408, 1.283,-0.951, RAW= 343.5, 0.8, CAL= 343.0, -2.2, ROT= 167.0, 2.2 Ygot valid direction response: 00:46:51.8051 LVL= 22592, 19857, 25186, 26099, AGC= 71, IDX= 73,-0.29, 0.418, 2.166, 0.020, 0.928, PHS=-0.408, 1.283,-0.951, RAW= 343.5, 0.8, CAL= 343.0, -2.2, ROT= 167.0, 2.2 PDAT read: Bearing 343.7, 11.0 (Local) ~Local bearing/azimuth received: Bearing 343.7, 11.0 (Local) DAT read: Range 11 to 50 : 20.8 m (Round-trip 27.8 ms) speed -0.2 m/s R#Rx 1: Read range and direction messages.B`>BE5 E5E5$E1"E5:*E5[:VE54ZE1BBB =BBBL_;B#EU`direction in FSK: [-0.973652,0.224785,-0.038388]UFpublishing direction and range infoyR'(}^?.YfA@XMbb e)I`оiX9?tsؿ@d<=@ nF)q:@InF=:181p`md0D? ))#ZIq:@inF=}9@y @y@/@@@]AԹ^A [I I! O5 > s?,5WX@A2@2`>2ٱ2W] :AHRS rotation from veh to nav: [[0.988510,-0.145509,-0.040936],[0.147427,0.987880,0.048572],[0.033372,-0.054049,0.997980]]2H ߡ?¿`??`ި?.?Bt?i2@I2Xu];0YBByF "I HHbDNVDN:yVk%VZ=ٔVW9Q-Z>9XYX=ZkGyX^}E^>`Q 5f4bXݡ?Q 9f4b@)bBYdyfQ Ij5@bXDIb:ib:b%4ylɮn; AloEX@AJpARpAja"D@uN"4p%%@JwDTgrR'(}^?.Zq:@bnF= `:4X \?&B1rzc i?ac<2?:a"F?* BRB&d#2?“BAC@gO- addTargetRange:: Added new target pos. range: 20.799999 m, deltaT: 4.030807 s, deltaX: 1.000000 m, approachRate: 0.248089 m/s, rangeRepo size: 4 gO= Added new target pos. range: 20.680092 m, bearing: 175.588545 deg, lat: 36.779290 deg, lon: -121.859545 deg, deltaT: 4.030807 s, deltaX: 0.994331 m, approachRate: 0.246683 m/s, posRepo size: 4 gO=DNOT Ignoring new targets: 20.68 m.AA*A"A AAAIIIIjU4@ZUO?@%)! %8o=i%9)!%i7)i)i)156IQIY9@ @@0@D1zD5?AE= E=E='E9"E=:*E=:VE='4ZE9BE=I ?,\qX@A 2@26>2L ٱ2W\ >AHRS rotation from veh to nav: [[0.988561,-0.145132,-0.041033],[0.147051,0.987944,0.048399],[0.033514,-0.053879,0.997985]]2HJ?@¿A? =?Ǩ?(?@~?i2@I28b];2CYZByZ"IbDfVDf:yjƼ%nG=ٔnQ-n>9pYp=rkGypv3sEv>tQ 5z4vᡊ?Q 9~4v@)vBY|y~Q I~5@vZDIv* ;iv ;vN4y ɮ g A gO]DNOT Ignoring new targets: 20.68 m.YY*Y"a aaaiiqqjyZ}`k?@L ) F=i9)j7iihIIq)@) @1@54@9ԙ^AiIyIO> B <A B d>B ۍCB ."IB ܃BB  =B B B I_;B $EEM  EM EI EI "EM :*EM P:VEI ZEI BEM )<2EM *<JEM (;:EM );g?,IX@A2.@2`>2z ٱ2[ :AHRS rotation from veh to nav: [[0.988584,-0.144937,-0.041160],[0.146853,0.987988,0.048106],[0.033693,-0.053601,0.997994]]2H{? M¿ ??[?@9@?q?i2.@I2'];2CYFByF"IPiMMb@Mb@Mb@IIII I9Mp= ף?I +y&1?YM>yM94IMAM?@ I)MnAIYIbDeVDe3ym緼%uA=ٔuA޹Q-u>9yYy=}kGyy}E>Q 54桊?Q 94AA)BYD >Q E;y2Q I5@\DI ;iP ;4yɮ AgODNOT Ignoring new targets: 20.68 m.*" BjZ@?D >D >S@x@z ) أ=i9)nj7ii!!%0I!I)@ @@3@@@^AdIIO>! ?,bX@A6j@6 >6܎ ٱ6v\ >AHRS rotation from veh to nav: [[0.988719,-0.143987,-0.041265],[0.145915,0.988118,0.048291],[0.033821,-0.053768,0.997981]]6H?`)n¿ V?@??Q?ku?i6j@I6!m];6CE EE&E"E&:*EL_:VE4ZEa @a @a @a @YBy!II%=)p<bDVD1y6ϼ%8=ٔ;Q->9Y=kGy E>Q 54롊?Q 94A)BYy3Q I5@^DI4ԉ %?,m:X@A``ibuI`dIdifKUA dd)dh j~r@hhhllIl)lil)rCIppp ppv^Aviv Ftitv^A)zO xIxYxYBy!IYiMb@Mb@Mb@ 9?Q rh?Y>yuC<A =A)AYAbDU VDU2ye%eO=ٔeQ-e>9iYi=mkGyiuEu>yQ 54}?Q 94}A)}BY >Q E;yQ I5@}_DI}:i}:}\4ykBɮQAzEgODNOT Ignoring new targets: 20.68 m.*" BjZ8? > >Ž@f@) L=i9)j7 i i /!IIBe>BB"IB̃BB =BDDBlDBa_;B$EE EE(E"E:*EVL:VEc44ZEBE1 ~?,X@A2@2>2fO ٱ2~] :AHRS rotation from veh to nav: [[0.988907,-0.142572,-0.041671],[0.144534,0.988304,0.048640],[0.034249,-0.054123,0.997947]]2H??¿ U ?.?@W? ?@ -?i2@I2;];2CYBy!IbD-VD-Jy=S<%=_=ٔE՘Q-E>9AYI=MkGyIMxEM>QQ 5]4U?Q 9]4UVB)UBYayeQ Ie5@UaDIU3;iU ;Uĵ4yiɮm>AigODNOT Ignoring new targets: 20.68 m.*" jZ@Թ@fO ) @`=i9)"k7ii&II@ @@/@@@\AE5 E5E1E1"E5T;*E5:VE1ZE1a=@aE@aE@aE@^AIIO>A %?,X@A6q@6>6` ٱ6H^ FAHRS rotation from veh to nav: [[0.989013,-0.141763,-0.041902],[0.143742,0.988415,0.048722],[0.034509,-0.054210,0.997933]]6H@?N%¿ t"f??@?@-?@\`?i6q@I62];4YeBye!I iibDuVDu0y@%F=ٔ:%Q->9Y=kGyE>Q 54?Q 94B)BYyQ I5@cDI):iy:4yɮAgODNOT Ignoring new targets: 20.68 m.*" jZm5@!!!%u~@5` )9 ==i=H9)9=Gk79i9iAAE#(IIII9@ @@0@I^A5K'I9IIO]>qB b>B ڍCB "IB BB  =B EDB kDB _;B D$EBڍCBڍCBB =B =Cɴ5E-  E- E- %E) "E- m:*E- ą:VE- 4ZE) BE- S2t ٱ2f] :AHRS rotation from veh to nav: [[0.989073,-0.141356,-0.041870],[0.143326,0.988485,0.048524],[0.034528,-0.053994,0.997944]]2H|?¿o@X?ૡ?ب??*(?i2@I2x];0YBByB!Ii Mb@Mb@Mb@     9 `"?99Y9=EkGyAE EE>IQ 5U4M?Q 9U4MTC)MBYUZ>Q E;yLǾQ I5@MdDIM Z>@@t ) L=i9)|k7iiJ*II@ @@0@ԡ^Amt'IyIO> 7 @,&Y@A:@:`>: ٱ:a\ FAHRS rotation from veh to nav: [[0.989162,-0.140719,-0.041915],[0.142683,0.988590,0.048289],[0.034642,-0.053746,0.997954]]:H7?¿urC??M?@?@`9`Yd=fkGydfںEf>hEr ErEr&Ep"ErT;*Erg:VEr4ZEpav@av@av@az@Q 5z4j(?Q 9z4jC)jBYxy~ǾQ I~5@jfDIj;ijΡ;j4yɮ2AgO-DNOT Ignoring new targets: 20.68 m.))*1"1 1119999jAZE`z @aaaep@u )q u>) @,@Y@A2@2`>2hٱ2[ >AHRS rotation from veh to nav: [[0.989273,-0.139913,-0.041979],[0.141879,0.988710,0.048205],[0.034760,-0.053644,0.997955]]2H ?@9~`)?@?S?̡?`3w@??i2@I2<];2CYZBy^!IIf=)f=iMb@Mb@Mb@ 9X9v?(\µ/$?Y=y<jAAA A)nAYbDVDN2yk<%*=ٔQ->9Y=%kGy!%ݺE%>)Q 554-_?Q 954-D)-BY=I>Q E=;y=Q I=5@-hDI-u ;i- ;-4yAɮEAIBe`>BaBe!IBeBBaBaBaBej`;Be$EqgODNOT Ignoring new targets: 20.68 m.*" oBbEyjEyrE} 0E EE"E"E:*E:VE(3ZEBEGI>6@߹@I}'9yY}Ah) L=iu9)顭k7ii/IIԙu9@y @y@}4@y ^A S,I I O >I@,F_ZY@A2G@2>2ٱ2[ :AHRS rotation from veh to nav: [[0.989389,-0.139101,-0.041968],[0.141064,0.988829,0.048140],[0.034803,-0.053550,0.997958]]2H ? |@c?@}?ݥ?@ѡ?jF?i2G@I2v];0YBByB!IPbDNVDNJyV%V{=ٔZ- Q-Z ?9XY\=^kGy\^%Eb ?`Q 5f4b ?Q 9f4bFE)bBYhyjpQ Ij5@bjDIb:ib:b4ylɮnBApgO DNOT Ignoring new targets: 20.68 m.  * "    jZs@999=ع@M)Q U =iU9)QUk7QiQi%1I!I!@ @@/@E EE#E"E:*E1]:VE3ZEa @a @a @a @ ^A.IIO>! u@,9CtY@AR~@R` >R[ٱR[ ^AHRS rotation from veh to nav: [[0.989524,-0.138162,-0.041876],[0.140124,0.988958,0.048241],[0.034748,-0.053604,0.997958]]RH@.?Fp?`?@?`ʡ?`qD?iR~@IR];PYf{Byf!IbDnVDnyv %vF=ٔz 9Q-z>|9xY|=~kGy|E> Q 54 a?Q 94 E) BYyQ I5@ lDI ;i ; 4y!ɮ%|A!gOMDNOT Ignoring new targets: 20.68 m.II*Q"Q QQQYYYYjaZe@ѹ@[) PBM Z>BM ٍCBM !IBM BBM " =BI BM jDBM `;BM $EE  E E %E "E :;*E x:VE 4ZE BE /2 ٱ2΂\ :AHRS rotation from veh to nav: [[0.989684,-0.137051,-0.041738],[0.139015,0.989103,0.048475],[0.034640,-0.053777,0.997952]]2H`~?^;??`Ѩ?O?8?i2N@I2@r];2CYB}ByB!I DDiEMb@Mb@Mb@AAAA A9Ex&?|?5^~jt?YE7 >yEҽE9yYy=kGy.E>Q 54?Q 94F)BY(.>Q E;y|Q I5@nDIT ;iX ;N4ymBɮA{EgODNOT Ignoring new targets: 20.68 m.*" ^BjZ0@(.>(.>Z@D@ ) u=i9):l7ii!!%٦8I!I)@ @@0@ԉԱ^A3IIO%> } PExceeded connect timeout, disconnecting.)@,(Y@A6@6>6{ ٱ6\ >AHRS rotation from veh to nav: [[0.989799,-0.136264,-0.041601],[0.138224,0.989210,0.048563],[0.034535,-0.053817,0.997953]]6H`n?@qLP? ? /ݨ?`?􍫿9\D^%=D^C=Eb EbE`E`"Eb:*Eb;J;VE`ZE`aj@aj@aj@aj@Y\=jkGyhn En>pQ 5v4r??Q 9v4rG)rBYtyvQ Iv5@rpDIr:iry:r4y|ɮ~A|gO%DNOT Ignoring new targets: 20.68 m.!)*)") )))1111j1Z=P@ԹQQQUי@{ )  @=i 9)  kl7 i iM$;II@ @@0@^A8IIO>A m0@,Y@A6}@6@ >6 ٱ6|] BAHRS rotation from veh to nav: [[0.989943,-0.135279,-0.041386],[0.137237,0.989334,0.048827],[0.034339,-0.054016,0.997949]]6H?P@~0`???ݔ?󧫿3?i6}@I6ie];6CYJfByJ!IiMb@Mb@Mb@ 9Pn?1ZdZd;O?Y>y"۽j<At@ AA)YAbD-VD-1yE%EB=ٔE9Q-E>9IYI=MkGyIMEU>QQ 5]4U;?Q 9e4UH)UBYe;->Q Ee;yeb Q Ie5@UrDIU ;iU ;UN4yiɮu<AqgODNOT Ignoring new targets: 20.68 m.*" LBjZp@m;->m;->mU@m{c@ ) L=i9)顥l7ii7>IIB]>BB!IBBB! =BBB`;B$EE EE$E"E:*EP:VE4ZEBEuqi I ԙ 6@,¦Y@A2{@2 >2: ٱ2+{\ :AHRS rotation from veh to nav: [[0.989981,-0.135080,-0.041114],[0.137016,0.989375,0.048625],[0.034109,-0.053771,0.997971]]2H@?KJ` `??\?@v?⇫_?i2{@I2~];0YZsByZ!II^<)^=bDfVDf1yn=%nQ=ٔn:Q-r>9pYp=rkGypv5Ev>xQ 5~4z!?Q 9~4zI)z BY|y~q Q I5@ztDIz3;izQ;z#4y ɮ A gO5DNOT Ignoring new targets: 20.68 m.11*1"1 999AAAAjAZM@aaaea@}: ) ؘ=i9)顅l7ii>IIq59@1 @1@5/@15nManaging dock network, ignoring radio surface power offԡDzD@AE EE'E"E>:*E1]:VE'4ZEa@a@a@a@^AU=IaIqO{> <@,Y@A2Mx@2@f >2+x ٱ2J[ :AHRS rotation from veh to nav: [[0.990049,-0.134690,-0.040757],[0.136602,0.989440,0.048457],[0.033800,-0.053542,0.997993]]2H{? = ޤ(|?~?aϨ?`-N? i?i2Mx@I2v];0Y@y@bDNVDNٔVjL:Q-V>9XYX=ZkGyXZE^>`Q 5b4b&?Q 9f4bJ)bBYdyf Q If5@bwDIb:ib:b4yhɮllgODNOT Ignoring new targets: 20.68 m.*" jZA<@K^@U+x )Y Yi] 9)Y]9m7YiYiaaeZ@IiIi)@) @)@)@)^A_>II1O=>AAB^>BB!IBBBBBkDB`;B`$E1 E  E E &E "E :*E R:VE 4ZE BE K"2 ٱ2Mf[ :AHRS rotation from veh to nav: [[0.990146,-0.134092,-0.040382],[0.135985,0.989523,0.048495],[0.033456,-0.053509,0.998007]]2H@F?)g?,?@_Ԩ?1!?e?i20s@I2s];0Y^wBy^!IiuMb@Mb@Mb@qqqq q9uV-?B`"۹V-?Yu=yuνu9Y=kGyĻE>Q 54J+?Q 94rK)BYF >Q E;yQ I5@yDI:i: 4yɮAgODNOT Ignoring new targets: 20.68 m.!*!"! !!!)5B19j9Z=@uF >uF >u=#@u^@ ) ƣiX9)顝$m7iiuBII)@ @@@@ @ \AY^A% =I9 II OU >ԁ iI@,e6)Y@A0>k@> >> lٱ>0\ FAHRS rotation from veh to nav: [[0.990278,-0.133235,-0.039969],[0.135116,0.989628,0.048776],[0.033056,-0.053702,0.998010]]>H[? v }K?` ?`*? ?`~?i>k@I>];>CEV EVEV'ET"EV:*EVV:VEV'4ZETaZ@aZ@aZ@aZ@YZqBy^!I ``bDf VDf2yn%nX=ٔr:Q-r>9pYt=vkGytv Ev>xQ 5~4zY/?Q 9~4zFL)z BYyQ I5@zzDIz;iz;zR4y ɮ A gO5DNOT Ignoring new targets: 20.68 m.99*9"9 99AAAAIjIZM@Pg@iiim@} l) i9)顅m7ii{EII@ @@/@ԑԹ^A5g@IAIQOew>iIA P@,CY@A2e@2 >2Mٱ2z] >AHRS rotation from veh to nav: [[0.990392,-0.132498,-0.039608],[0.134373,0.989710,0.049167],[0.032686,-0.054017,0.998005]]2HI?`G3?@? e,?@F? ?i2e@I2J];2CYZuByZ!I\iEMb@Mb@Mb@AAAA A9E)\(?I +Q?YEG=yE9E9qYq=ukGyq}E}>Q 543?Q 94MQ =tI)(BY|>Q E;y Q I6@|DI;iG:4ypBɮA|EgODNOT Ignoring new targets: 20.68 m.*" zBjZ @|>|>`x@@ M)  i m9) iBe>BۍCB!IBBB =BDDBB+_;B#EB]ٍCBYBYB]! =B] =C]5i{GIIE EE&E"E:*E҆:VE4ZEBED-A V@,\Y@A2_@2M >2 ٱ2a^ >AHRS rotation from veh to nav: [[0.990509,-0.131750,-0.039165],[0.133615,0.989793,0.049571],[0.032234,-0.054333,0.998002]]2H??/h I?b?Ya??ѫ?i2_@I2[^];2CYF~ByF!IbDN VDN2yVNH=%VW=ٔZ':Q-Z>9XYX=^kGy\^uE^>`Q 5f4bk7?Q 9f4bM)b0BYhyj: Q Ij6@b~DIb:ib):bV4yYɮ]AYgODNOT Ignoring new targets: 20.68 m.*" jZ @@  )  i )  iilJII-e>i)9@ @@4@@@>IE EE$E"E:*Eg:VE4ZEa@a@a@a@y^AtEII1O=>ԡ ]@,hvY@A2^@2- >26ٱ27^ :AHRS rotation from veh to nav: [[0.990540,-0.131659,-0.038697],[0.133496,0.989812,0.049501],[0.031785,-0.054199,0.998024]]2H?`0 Уc??3X?&F?뿫@?i2^@I2G];2CYF}ByF!IIJ=)HHJAbDRVDRyZ4%ZJ=ٔZr:Q-Z>9\Y\=^kGy\bEb>dQ 5j4f};?Q 9j4fN)f8BYhyj> Q Ij6@fDIf:ifl:fi&4ypɮrApgO DNOT Ignoring new targets: 20.68 m.  * " j!Z%!@y@6) i)iiII9@ @@4@ԩ^A<HIIO>Bh>BB!IBBB =BBlDB+^;Bw#E :GbEUɻ 4jEU4rEUɧ/E  E E E "E :*E P:VE ZE BE 12|Eٱ2k\ :AHRS rotation from veh to nav: [[0.990536,-0.131832,-0.038187],[0.133632,0.989809,0.049205],[0.031311,-0.053842,0.998058]]2Hy? A?@?W1??+@?i2_@I2O];2CYR{ByR!Ii-Mb@Mb@Mb@)))) )9-:v?=ٔ:Q->9Y=kGy9E>Q 5-4??Q 9-4.O)ABY->Q E5;y5Q I56@DI!;iM ;<.4y9ɮ=A9gODNOT Ignoring new targets: 20.68 m.*" BjZ`"@>>;@0@M|E)I MƣiU9)QU QiQiYY]xIIYIa9@ @@3@ )^A% JI1 IA OU >Y &j@,OY@A2K`@2f >2ٱ2@[ :AHRS rotation from veh to nav: [[0.990536,-0.131943,-0.037799],[0.133712,0.989814,0.048886],[0.030964,-0.053477,0.998089]]E> E>E>(E<"E>:*E>V:VE>c44ZE9 Y =kGyS9E>Q 5%4-C?Q 9%4O)HBY)y-Q I-6@DI:iu:44y1ɮ5cA9gO]DNOT Ignoring new targets: 20.68 m.aa*a"a aaaiiiqjqZu`)A#@:1@) im9)顭iiСIIIԑI@I @I@M/@I@Y@YԹ^AiIyIO~> q@, kY@AY5By5!I 99E=E=iMb@Mb@Mb@ 9J +?:vV-?Y=yT< AAA SA)AYAbD VD2yu<%==ٔQ->9Y=kGyE>Q 54F?Q 94%P)PBY =Q E ;y Q I 6@DIX ;i;J<4yBɮAEB=g>B9B=!IB=BB9B9B9B=^;B=n#EgOeDNOT Ignoring new targets: 20.68 m.aa*a"a aiiiuBqqjqZu $@5=5=5s@5/@A)a muimA9)im;iiiiqqu;IIqIyE EE%E"E>:*ET:VE 4ZEBE4w@,6Y@A6b@6 >6lٱ6&Y >AHRS rotation from veh to nav: [[0.990522,-0.132337,-0.036788],[0.134040,0.989789,0.048495],[0.029995,-0.052967,0.998146]]6HZ?k բ:(? Y?aԨ??@w@?i6b@I6*d];4YJ|ByJ!IbDRVDRܲyZ x%Za=ٔ^.;Q-^>9\Y`=bkGy`bk:Eb>dQ 5j4fJ?Q 9j4fP)fVBYlynnQ In6@fDIf;if;fB4yrBɮr[ApgODNOT Ignoring new targets: 20.68 m.*" !!!j!Z%@O$@AAAE@l) i9)iiYjHIIQ@ @@0@yE EE'E"E:*EVE'4ZEa@a@a@a@^A<HIIO>ԩ *^}@,Y@A6a@6 >6}cٱ6NY@ BAHRS rotation from veh to nav: [[0.990554,-0.132169,-0.036516],[0.133864,0.989802,0.048708],[0.029706,-0.053136,0.998145]]6H ? Bv"? u?E?@Jk?@4`?i6a@I6B];6CYJByJ!IbDVVDVk1yZc=%^J=ٔ^Q;:Q-^>9`Y`=bkGy`fEf>dQ 5j4fM?Q 9n4fP)f]BYlynzQ In6@fDIf;if@;fI4ytɮvAtgODNOT Ignoring new targets: 20.68 m.*" !!!!j)Z-P%@IIIM4@]}c)Y ]tie.9)aeMaiaiiimPIIiIqIy)yԩ@ @@r0@@=@=^AIIOB=j>B9B=!IB=BB= =B9B9B=^;B=#EE  E E %E "E a:*E P:VE 4ZE BE (2hcٱ2Z VAHRS rotation from veh to nav: [[0.990591,-0.131984,-0.036177],[0.133670,0.989813,0.049009],[0.029340,-0.053384,0.998143]]2H?ʅ@???`R ?U`?i2_@I2.];2CpYyIa=)=  AiMb@Mb@Mb@ 9RQ?ˡES㥛?Y=y'/<" AA A)&AY=AbDVD1yD_:% =ٔ<:Q->9Y=kGy ʹE >Q 54Q?Q 94@Q)fBY%=Q E%;y%̆Q I%6@DI:i:R4y-Bɮ-A5EgO]DNOT Ignoring new targets: 20.68 m.YY*Y"Y YYaaeBiijiZm&@==0@@hc) Pi9)页aii0JIIY@Y @Y@]n0@a9i ^A JI I O >_p@,+Y@AD2=D2=E6 E6E4E4"E6 :*E6e:VE4ZE4a:@a:@a:@a:@>^@>8 >>ٱ>/x[ FAHRS rotation from veh to nav: [[0.990617,-0.131871,-0.035887],[0.133548,0.989820,0.049202],[0.029034,-0.053533,0.998144]]>H`"?'_@??1?? h`?i>^@I>"6];>C L)LN/ݼLLPPiRIPPITiT VԼT)TX XZXXXXI\)\i\)\I`b9` ``b`AfjiddidfA)d dIhYh9Y}By}!IbDVDk1y%w=ٔKr:Q-?9Y=kGyŹE?Q 54T?Q 94{Q)kBYyӆQ I6@DI ;i7;tX4y!ɮ-FA)gODNOT Ignoring new targets: 20.68 m.*" jZb'@@U)Q ]ѽi]@9)YeBͳaiaiTJIIqU9@Q @Q@]3@Yԙ ^A} ~HI I OE >+T@,ŒEY@Afcd@f >fbbٱfoZ nAHRS rotation from veh to nav: [[0.990536,-0.132563,-0.035586],[0.134216,0.989742,0.048969],[0.028729,-0.053281,0.998166]]fHw?R8-?`?@g?Bk?G@?ifcd@If ];fCYwBy!IԡBh>BBBBBBBr_;B$Ei5Mb@Mb@Mb@1111 1951Zd?9aYa=ekGyim8:Em>qQ 5}4uX?Q 9}4uQ)upBY}u=Q E;y;Q I6@uDIu ;iu ;u_4yɮAgODNOT Ignoring new targets: 20.68 m.*" BjZ/(@E} E}E}$Ey"E}O:*E}X:VE}4ZEyBE} ! ?s@,?_Y@A6g@6? >6vٱ6/Z BAHRS rotation from veh to nav: [[0.990496,-0.132902,-0.035427],[0.134545,0.989699,0.048920],[0.028560,-0.053221,0.998174]]6H`$?@t#8??@ ? >?? ?i6g@I6=];6CY=nBy=!I AAbDMVDMNy]d6%e^=ٔe9Q-e>9iYi=mkGyimk:Em>qQ 5}4u[?Q 94uQ)uuBYy:Q I6@uDIu:iuZ:uBf4yɮAgOEDNOT Ignoring new targets: 20.68 m.AI*I"I IIIQQQYjYZ]@(@yyy}9@v) . i/9)顕1iisFII-9@) @)@-/@)AE EE&E"E>:*Ez:VE4ZEa@a@a@a@^AU JIiqIO>ԙ @,yY@A2h@2 _ >2bٱ2V\Z :AHRS rotation from veh to nav: [[0.990487,-0.133031,-0.035191],[0.134664,0.989680,0.048991],[0.028311,-0.053264,0.998179]]2H`?,9pYp=rkGypv9Ev>tQ 5z4v_?Q 9~4vR)vzBY|y~:Q I~6@vDIv;iv;vm4y ɮ A gO5DNOT Ignoring new targets: 20.68 m.11*1"1 1999AAAjAZEm)@aaae;@b) pia9)額OViiFIIq9@ @@0@ԡ^A4|EI)IIO}z>B<A<Bb>BڍCB!IBBB =BEDBkDB`;B]$EBۍCBۍCBB =B =C5E  E E E "E C#;*E |:VE ZE BE {N7_ٱNrOZ bAHRS rotation from veh to nav: [[0.990478,-0.133150,-0.035004],[0.134772,0.989664,0.049001],[0.028118,-0.053252,0.998185]]NH@?` `졿6@?T?? ʜ?C"?iNh@IN];LY hBy !IiMb@Mb@Mb@ 9K?I +I +?Y^=y949< AA )YAbDVD:yH%<=ٔ)9Q->9Y=kGy9E>Q 54b?Q 94tR)BY=Q EA@,K̬Y@AE6 E6E6$E4"E6:*E6i:VE64ZE4a:@a:@a:@a:@>i@>| >>j`ٱ>cZ JAHRS rotation from veh to nav: [[0.990480,-0.133159,-0.034887],[0.134776,0.989662,0.049036],[0.027996,-0.053271,0.998188]]>H ? \ ܡY@?O? I??cF'?i>i@I> ];%f[=ٔf9Q-f>9hYh=jkGyhn+7En>pQ 5v4re?Q 9v4rR)rBYtyv?Q Iv6@rDIrS:ir:r{4y|ɮ~QA|gO%DNOT Ignoring new targets: 20.68 m.!!*!") )))1111j9Z=yO+@;@%j`)) -?i-9))5ՙ1i1iYYYIYIaQ9@ @@3@yiߙIߝA^AJIIO >ԩ G@,Y@A@-h@-p >-yٱ-RZ =AHRS rotation from veh to nav: [[0.990487,-0.133111,-0.034894],[0.134729,0.989669,0.049020],[0.028008,-0.053255,0.998188]]-H? ݡ>?^?#?A?6D (?i-h@I-\;-CYUdByU!IB_>BB!IBBB =BBBz`;B$E -m>-֐CcG`]A.9`]AYAyM'-?M*AiUMb@Mb@Mb@QQQQ Q9U:v?v/ rh?YU=yUxiUC9Y=kGyƸE> Q 54 j?Q 94 NS) BY]=Q E;yQ I6@ DI :i : 4y!ɮ%-A!gOMDNOT Ignoring new targets: 20.68 m.II*I"Q QQQQ]BYYjYZ]8S,@}]=}]=}@}N@y) i9)顝[ii~FII 9I ) \A = 9@9  @9 @= /@9 @A @A ) ^A]tEIiIO? _@,HNY@A2h@2r >2ٱ2ZrZ :AHRS rotation from veh to nav: [[0.990487,-0.133121,-0.034838],[0.134736,0.989666,0.049058],[0.027947,-0.053286,0.998188]]2H? <֡` ??X?.??`@H@(?i2h@I2 ];0YB\ByF!IbDRVDRNdy~.#%~F=ٔ~9Q-~>9Y=kGy G7E >Q 54n?Q 94S)BYyQ I6@DI:i:.4y!ɮ-qA)gOUDNOT Ignoring new targets: 20.68 m.QQ*Q"Q YYYYYaajaZe%&-@t@) iv9)顥ii`FIIE EE&E"E:*EP:VE4ZEa@a@a@a@%9%9@) @)@-/0@)1Q ^AM 3JIY Ii Ou >:>@,Y@A26a@2` >2lٱ2EL\ >AHRS rotation from veh to nav: [[0.990611,-0.132208,-0.034787],[0.133835,0.989764,0.049546],[0.027880,-0.053737,0.998166]]2H?1ϡ!? &?#^?@?e`?i26a@I2\;2CAYMPByU!I qq@AAAbDVDN2y2%%=ٔf 9Q->9 Y =kGyDE%>9qB^>BB!IBvBBBBB`;B$EQ 54=1s?Q 94=PT)=BYydQ I6@=DI=9yYy=}kGyy}E>Q 54Mw?Q 94U)BY!>Q E;y)Q I6@DI:i:ϛ4yɮAgODNOT Ignoring new targets: 20.68 m.*" BjZj /@!>!>]@ @) ib9)C촉ii%faII!I!99@ @@4@DD<E EE'E"E:*E1]:VE'4ZEa@a@a@a@)^A} ȷLI I O >Q  @,:Y@AY9Y=kGyE>Q 54z?Q 94U)BYyQ I6@DI\:iu:t4yɮA1gODNOT Ignoring new targets: 20.68 m.*" jZ /@) r9i9)iiII9a@ @@c3@B]>BٍCB!IBgBBBBjDBf`;B$Eԉ^A GI E  E E %E "E *E g:VE 4ZE BE #Թ @,TY@A2X@2s>2ٱ2[ :AHRS rotation from veh to nav: [[0.990748,-0.131179,-0.034789],[0.132805,0.989906,0.049488],[0.027946,-0.053650,0.998169]]2H@5? zϡ? O?oV??`x`?i2X@I2\;0YE;ByEi!IIM4=)M9Y=kGy%E > Q 54 ~?Q 94 pV) BY >Q E;y-Q I6@ DI ;i ; 4y!ɮ-A)gOUDNOT Ignoring new targets: 20.68 m.QQ*Q"Q QYYY]BaajaZe`0Q0@ > >@_@ԑ) .i9)顥 iiIMIII=)=B9M 9@I  @I @M 4@I  D zD E  E E &E "E :*E X:VE 4ZE a @a @a @a @^Am JI I O >W@,oqY@AjR@j>jٱj4Z zAHRS rotation from veh to nav: [[0.990844,-0.130477,-0.034686],[0.132087,0.990022,0.049094],[0.027934,-0.053226,0.998192]]jH`?`tM¡ 8?A?"? ? z@/?ijR@Ij~=];jCY53By5_!IbD]VD]yu%u>=ٔu7Q-}>9yYy=}kGyyaܺE>Q 54?Q 94OWԙ)BYy-Q I6@DIX;i;*4yɮAgO DNOT Ignoring new targets: 20.68 m.  * "  111999j9Z=0@yyy}vY@) >i9)BiiOII9@ @@/@^AJII O >! B! A% <@,QY@ABm_>BmڍCBm!IBmWBBiBiBmkDBm_;Bm?$EY.ByY!Ii%Mb@Mb@Mb@!!!E= E=E=%E9"E=m:*E=h:VE= 4ZE9BE=S9Y=kGyE>Q 54慢?Q 94UX)BYG>Q E;yP%Q I6@DI:iZ:4yɮAgODNOT Ignoring new targets: 20.68 m.*" {B!j!Z%11@EG>EG>Er@Ee@i)i miuR9)quH#yiyiq-OII9@ @@/@ !I^A% XRI1 II OU >q @,) Y@A2H@2{>2}ٱ28'Z :AHRS rotation from veh to nav: [[0.991008,-0.129308,-0.034383],[0.130905,0.990176,0.049156],[0.027689,-0.053214,0.998199]]2HW?' z??*? bZ?`>`??i2H@I2G];0YB"ByFK!IbDN VDN2yV%Vs=ٔV?:Q-Z?9XYX=ZkGyX^thE^?`Q 5f4b/?Q 9f4bY)bBYdyf%Q If6@bDIb:ib:bվ4ylɮnNAlgODNOT Ignoring new targets: 20.68 m.*" jZ@ۋ1@Q\@}) 0i9)-iiwSIII)[AQU9@Q @Q@Uv0@Q@]=@]=EM EMEM(EI"EM>:*EMk:VEMc44ZEIa]@a]@a]@a]@ԁ^AuQOIIO>ԩ ?@,Y@A6B@6>68ٱ6MZ >AHRS rotation from veh to nav: [[0.991113,-0.128589,-0.034050],[0.130176,0.990260,0.049392],[0.027367,-0.053385,0.998199]]6H 3?u o?5?`I?0?UU>?i6B@I6[D];6CYFByFF!IbDRVDRkyZL%ZJ=ٔZP:Q-Z>9\Y\=^kGy\bXEb>dQ 5j4f!?Q 9j4f Z)fBYhyj%Q Ij6@fDIf:if:f4ypɮrnApgO DNOT Ignoring new targets: 20.68 m.  * "  jZz1@999=V@M8)Q U8iQ)QU&9Qii!UIIԱ9@ @@4@Be>BۍCBs!IBCBB =BDDBB_;B#EBڍCBڍCBB =B =C:I5^AURIaIqO}{>EU EUEU$EQ"EU:*EU[:VEU4ZEQBEUu6ۼٱ6Z BAHRS rotation from veh to nav: [[0.991185,-0.128186,-0.033485],[0.129745,0.990313,0.049468],[0.026819,-0.053376,0.998214]]6Hȷ?`gh`$ x? ?S?@v?@#T_?i6]?@I6];4YJByJ;!IiMb@Mb@Mb@ 9Cl?:vI +?Y;=yԽ9< AA A)AYAbD- VD-2y=%#%EA=ٔE:Q-E>9IYI=MkGyIMtEM>QQ 5]4Un?Q 9e4U[)UBYe>Q Ee;ye!Q Ie6@UDIU#:iU :UL4ymBɮmAqgODNOT Ignoring new targets: 20.68 m.*" |BjZ[2@>>#@@ۼ) LiV9)fFiiim$WIiIq yyI})})Q 9@  @ @ _0@ ԁ Ee  Ee Ea Ea "Ee :*Ee P:VEa ZEa am @am @am @am @^AU `TIi Iy O >7@,?Y@AR >@R@>RLռٱR-Y ^AHRS rotation from veh to nav: [[0.991224,-0.128072,-0.032748],[0.129588,0.990339,0.049343],[0.026113,-0.053154,0.998245]]RH`?d@gĠ@X?@ܰ?C?@B?6 ?iR >@IR2];RCYfByfD!Ill lnp<bDrVDr:yzJ=%zK=ٔzg:Q-~>9|Y|=~kGy|йE> Q 54 ?Q 94 [) BYy!Q I6@ DI ;i ; R4y!ɮ%A!gOMDNOT Ignoring new targets: 20.68 m.II*I"I QQQYYYYjYZe2@yyy}@Lռ) 2>i{9)顝eRiiWIIII@Q @Q@U/@Q^A%TI1IAOM>qԡ GA A M ^A. A,2 Y@A2696^AY6A@Bf>B B`!IB4BB =B BlDB^;B#EbEe4jEe4rEe/E EE'E"E:*E;J:VE'4ZEBE9Y=%kGy!%E%>)Q 554-?Q 954-\)-BY9y9Q I=6@-DI-M;i-:-4yAɮEAAgODNOT Ignoring new targets: 20.68 m.*" jZ@43@) 0YiC9)顕3aiiIԡI@ @@@^A I I O > G A,&Y@A6T5@6 >6;*ȼٱ6 X BAHRS rotation from veh to nav: [[0.991404,-0.127115,-0.030997],[0.128538,0.990477,0.049329],[0.024432,-0.052889,0.998301]]6H?JEɽs??A?@?R?i6T5@I6^;6CYJByJ9\Y\=^kGy\bBEb>dQ 5j4f?Q 9j4f])fBYhyjA!Q Ij6@fDIf:lifK:fI4ypɮvAtgODNOT Ignoring new targets: 20.68 m.*" !!j!Z%`n3@AAAE@U;*ȼ)Y eKie9)aelaiaiiimz[IiIqy)@1 @1@5/@1@==@== E EE$E"Em:*EVL:VE4ZEa@a@a@a@1^AugWIIO>i i9 I9 0A,y@Y@A2/@2Z>20ÿٱ2X :AHRS rotation from veh to nav: [[0.991513,-0.126515,-0.029948],[0.127886,0.990554,0.049472],[0.023406,-0.052882,0.998326]]2Hx?1 ^??eT??@\@J?i2/@I2N_;2CYZ ByZ/!I ``bDfVDfNynCX%nH=ٔr"$;Q-r>9pYp=rkGytvӺEv>xQ 5~4z̡?Q 9~4z^)zBY|yc!Q I6@zDIz;iz;zp4y ɮ A gO5DNOT Ignoring new targets: 20.68 m.119*1"9 9AAAAIIjIZM`.3@iiims@}0ÿ) (ai9)顅"{iiWt]III@I @I@U0@QaBEg>BABET!IBE*BBE =BABABE_;BE)$E^AUYIaIqO}{>ԙE EE&E"EO:*Ek:VE4ZEBE 2ηٱ2vX :AHRS rotation from veh to nav: [[0.991614,-0.125952,-0.028958],[0.127276,0.990625,0.049626],[0.022436,-0.052895,0.998348]]2H@L?5@@J?@3?h?`]?w?i2*@I2_;2CY^By^3!Iԙa@a a@a a@a a@a bDVDfy<%<=ٔ|;Q->9Y=kGy|E>Q 547?Q 94_)BQ A+:YQ E;y!Q I6@DI:i>4yɮAgO-DNOT Ignoring new targets: 20.68 m.))*)") )111999j9Z=g4@mη)i mYim9)imqiqiyy}y_IyIy@ @@0@^AII1O=>E  E E E "E :*E 1]:VE ZE a @a @a @a @! A,lztY@A6*@6>6S﮼ٱ6QFX BAHRS rotation from veh to nav: [[0.991639,-0.125998,-0.027868],[0.127264,0.990626,0.049633],[0.021353,-0.052765,0.998379]]6H?@ `W3J?5?i?}ݕ?@?i6*@I6_;6CYJByJ!!IbDRVDRkyZҥ%Z^=ٔ^@;Q-^>9\Y`=bkGy`b^(Eb>dQ 5j4f?Q 9j4f`)fBQ An :YlQ End;yn{!Q In6@fDIf;ifN?f4ypɮrvAtgODNOT Ignoring new targets: 20.68 m.*" !j!Z%@4@MS﮼)I U(xiU9)QU.QiQiYY])_IaIaIi)mZA9@ @@4@@@!^A5~E_IAIQOew>QB! A% <B- b>B- ڍCB- M!IB- %BB-  =B) B- kDB- _;B- Y$Eԁ &o#A,jgY@AE$@E@>E٤ٱEY ]AHRS rotation from veh to nav: [[0.991753,-0.125360,-0.026653],[0.126573,0.990690,0.050122],[0.020122,-0.053082,0.998387]]EH@q? K3???ښ?- ?iE$@IEi_;ECYmByu(!II}<)};Qaa aa aa aa iMb@Mb@Mb@ 9sh|??MbX9~jt?Y=yʡ< AA )SAYzAbDVD3y<%+=E EE'E"E,:*ET:VE'4ZEBE9Y=kGy E >Q 54?Q 94oa)BQ AT:Y=Q E;y Q I%6@DIo;i;04y)ɮ-FA)gOUDNOT Ignoring new targets: 20.68 m.QQ*Y"Y YYYaaaajiZm`@5@%=%=%@%@5٤)9 =ki=9)9=xaiaiaimaIiIiy;9ԩi I ] 9@Y  @Y @] 0@Y ^A^IIO>*A,JEY@A$6"@6>6ǚٱ6;Z >AHRS rotation from veh to nav: [[0.991823,-0.125062,-0.025438],[0.126217,0.990719,0.050447],[0.018893,-0.053245,0.998403]]6H? r '??@*ԩ?X?B@?i6"@I6^`;6CYF ByJ.!IbDRVDRyZ<%ZG=ٔZ+D;Q-^>9\Y\=^kGy\bhEb>dQ 5j4fͰ?Q 9j4f&b)fBYhyj Q In6@fDIf:if:fP4yrBɮr5ArEgODNOT Ignoring new targets: 20.68 m.*"! !)))111j9Z=5@iiim@%ǚ)! -:bi-9))51i1D]=D]R=iqquWbIqIE= E=E=&E9"E=&:*E=F:VE=4ZE9aE@aE@aE@aE@yi@i @i@uc4@qԡ^Au(aIIO> 1A,lY@A6m@6@ >6k鏼ٱ6y[ BAHRS rotation from veh to nav: [[0.991917,-0.124569,-0.024133],[0.125663,0.990765,0.050928],[0.017566,-0.053549,0.998411]]6Hɽ?㿿@i?X?7??j?i6m@I6`;6CYJByJ3!IbDRVDRyZܞ<%ZL=ٔ^X;Q-^>`9`Y`=bkGy`fBEf>hQ 5j4j糢?Q 9n4jb)jBYlyn Q Ir6@jDIj;ij;jT 4ytɮvAtgODNOT Ignoring new targets: 20.68 m.*" !!!!j)Z-6@IIIM_@]k鏼)Y ]DZie9)ae[aiaiiimdIiIqBa>BBA!IBBBBEDBBT`;B$E9@ @@%/@!@E=@AE= E=E=(E9"E=:*E=g:VE=c44ZE9BE=A 7A,zY@AY~By~+!I iMb@Mb@Mb@ 9I +?MbZd;O?Y9=yj<  A)jAY AbDVDy%;=ٔQ->9Y=kGyE>Q 54a?Q 94pc)BY=Q E;yQ I6@DI? ;iz ;4yɮIAgODNOT Ignoring new targets: 20.68 m.*" B!!j!Z%A6@E=E=E@E.5@) =i9)piidIII9@ @@@qDzD^APaIIO >EM  EM EM $EI "EM :*EM P:VEM 4ZEI aU @aU @aU @aU @ԡ =A,Y@A2@2 >2yٱ2[ :AHRS rotation from veh to nav: [[0.992008,-0.124278,-0.021814],[0.125255,0.990797,0.051309],[0.015237,-0.053631,0.998445]]2H? п`xVZ?? "E?4? uB?i2@I2`;2CYF ByF,!IbDNVDNNyV7;%V]=ٔVE;Q-Z>9XYX=ZkGyX^sE^>`Q 5f4bV?Q 9f4bc)b BYdyjQ Ij6@bDIb:ib:bk4ylɮnBAlgODNOT Ignoring new targets: 20.68 m. * "    jyZ 6@4@y)  Zi 9)   i i19=fI9I99@ @@/@ԡ^AcII1O=>AuAAAuAAB}b>ByB};!IB}BByB}DDByB}`;B}$EB9B=ۍCB9B= =B= =C=`5 E  E E %E "E m:*E R:VE 4ZE BE S2^eٱ2Z :AHRS rotation from veh to nav: [[0.992024,-0.124360,-0.020576],[0.125268,0.990801,0.051203],[0.014020,-0.053372,0.998476]]2H? ֿ??@K7? N?S`?i2@I2`;2CYb By`ieMb@Mb@Mb@aaaa a9eZd;O?)\(I +?Yej=yeGae99Y=kGy7E>Q 54򽢊?Q 94kd)BY=Q E;yDϾQ I6@DI/;i1.; 4yɮ>AgODNOT Ignoring new targets: 20.68 m.*" !!%B!)j)Z-&KA,ys.Y@AB@B>BQٱBvY NAHRS rotation from veh to nav: [[0.992048,-0.124364,-0.019328],[0.125204,0.990817,0.051048],[0.012802,-0.053062,0.998509]]BH@ܾ?Sֿʓ?`Ŵ?#?7?*`?iB@IBh a;BCY^By^!!IIba=)b=bDnVDn yvC%zW=ٔzQ;Q-z>9|Y|=~kGy7E>Q 54?Q 94d)BY!y%AϾQ I%6@DI;i;&4y1ɮ5A9gOuDNOT Ignoring new targets: 20.68 m.qq*q"q yyyjZ K7@)qqqu@E EEE"E:*ET:VEZEa@a@a@a@Q) hi|9)ŵii #fI I }9@y @y@}F1@yQԉ^AIIO>ԩ PQA,v2HY@A2@29>2<ٱ2fY :AHRS rotation from veh to nav: [[0.992104,-0.124110,-0.018051],[0.124885,0.990849,0.051198],[0.011532,-0.053048,0.998525]]2H`Q?ſ |n? ?6??`#)?i2@I2a;2CYFByF)!IbDjVDjyr<%rL=ٔvO;Q-v>9tYx=zkGyxzdTEz>|Q 54~`Ģ?Q 94~He)~BY y WϾQ I 6@~DI~:i~:~-4yɮUAgOEDNOT Ignoring new targets: 20.68 m.AA*A"A AAIIIIQjQZU 8@qqqua@<) ij9)額͵iiC@gI IG`]AB-a>B)B)B)B- =B-EDB)B-`;B-$EaԙC9`]AYP)Ai@q @y@}4@ybE-4jEř4rEœ/Eu EuEu"Eq"Eu:*EuV:VEu(3ZEqBEuuAHRS rotation from veh to nav: [[0.992163,-0.123791,-0.016981],[0.124511,0.990888,0.051371],[0.010467,-0.053083,0.998535]]6H̿?Ȱc@߿?Y?GM?o?`-@?i6@I6Xa;6CYHyHiMb@Mb@Mb@ 9RQ?S㥫I +?Y=y/]AA )AYp AbD-VD-:y;%?=ٔ";Q->9Y=kGy-gE>Q 54Ȣ?Q 94e)BYI=Q E;y;ľQ I6@DI:i:654yɮRAgODNOT Ignoring new targets: 20.68 m.*"   B  jZ8@5I=5I=5@5̼@Ee+)A EziMO9)IM׵IiIiQQUhIYIYIa)e[A@ @@/@@=@=^AI1IQOe>Eu EuEu&Eq"Eus:*EuP:VEu4ZEqa@a@a@a@Y 1I^A,_{Y@A:@:`=:)ٱ:>X BAHRS rotation from veh to nav: [[0.992192,-0.123704,-0.015904],[0.124366,0.990907,0.051335],[0.009409,-0.052912,0.998555]]:H? I`zֿ??@H?E?;@)?i:@I:a;:CY^By^"!I ``bDjVDj yr&%rW=ٔr6;Q-v>9tYt=vkGytz˹Ez>|Q 54~8ˢ?Q 94~$f)~$BYyCľQ I 6@~DI~:i~:~;4yɮ~AgO=DNOT Ignoring new targets: 20.68 m.99*9"A AAAAIIIjIZM8@iiim˼@)) i9)額൉iihIIQQ@ @@@y^AIBb>BB4!IBBB =BDDBB a;B$EI1Ou>ԩ E  E E 'E "E :*E :VE '4ZE BE 5=ٔA;Q->9Y=kGy7E>Q 54{΢?Q 94f)+BY=Q E ZkA,Y@AB7@B=BgٱBV RAHRS rotation from veh to nav: [[0.992229,-0.123645,-0.013895],[0.124200,0.990944,0.051038],[0.007459,-0.052368,0.998600]]BH`W? ;u˿?ϵ?!?ތ~?Ϫ?iB7@IB9va;BCpE= E=E=%E9"E=O:*E=F:VE= 4ZE9aE@aE@aE@aE@YuByu+!IbDVD0y%/=ٔC ;Q->9Y=kGyuE>Q 54Ң?Q 94f)2BYylQ I6@DI:ig:K4yBɮ^AEgODNOT Ignoring new targets: 20.68 m.*" jZD9@ @g) i9)zii iI I i>9@ @@/@@@\A9i߉ I߉ a ^A gI I O >iBrA,zY@A2X @2@=2Lڻٱ2V :AHRS rotation from veh to nav: [[0.992293,-0.123219,-0.013079],[0.123732,0.990998,0.051126],[0.006662,-0.052351,0.998607]]2H?D@cɊ䬿?@?>-?I{?ͪ?i2X @I2a`;2C @)B`AB`弩@@DF+aAiDIDDIHiH J/ݼH)HH N`ANtLLLPIP)PiP)PIR`AV̼T TTTV̼iXXiXZA)X XIXY\YbByb#!IIf<)f4<bDjVDjyvD"%v=ٔv%;Q-v ?9xYx=zkGyxzúE~ ?Q 54hԢ?Q 9 4Gg)7BY y Q I 6@¨DI:i>:Q4yɮA9gOEDNOT Ignoring new targets: 20.68 m.AI*I"I IIIQQQQBe>BۍCBBB =BBB`;B$EjYZ`:@@-Lڻ)) -Xi-9))-1i1i99=+kI9I99@ @@ 0@ qEI EMEM'EI"EI*EMg:VEM'4ZEIBEM lxA,GUY@A:e @:=:Uٱ:V BAHRS rotation from veh to nav: [[0.992298,-0.123269,-0.012252],[0.123739,0.990997,0.051126],[0.005839,-0.052248,0.998617]]:H?@WU? ?? *-?w?A?i:e @I:r`;:CY9y9ԙiMb@Mb@Mb@ 9/$?A`"Zd;O?Y=yYj<A=A  A)Y= AbD5VD50ٔE:Q-E>9AYI=MkGyIM>h7EM>QQ 5]4Uע?Q 9]4Ug)U=BYe=Q Ee ~A,0Y@A2k @2=26ٱ2V :AHRS rotation from veh to nav: [[0.992317,-0.123190,-0.011476],[0.123621,0.990998,0.051386],[0.005042,-0.052410,0.998613]]2H?f@x@?A? QO?`Цt? ժ ?i2k @I2' `;2CYrByr!!IbDzVDzJys% <ٔ h;Q- >9Y=kGyE>Q 5%4ڢ?Q 9-4'h)ABY)y-z۾Q I-6@ŨDI:i :8_4y1ɮ5A9gOeDNOT Ignoring new targets: 20.68 m.aa*a"a aiiiiiqjqZu:@9X@6) i9)顭 ii]kII]9@Y @Y@]/@Y@e>@e=!^AqIIO>Bb>BڍCB.!IB BB =BBB`;Bg$EQEu  Eu Eq Eq "Eu m:*Eu h:VEq ZEq BEu S9Y=kGy.b7E>Q 54_ޢ?Q 94h)FBY\=Q E;yǾQ I7@ƨDI<:i:f4yɮAgODNOT Ignoring new targets: 20.68 m.*"     BjZ`W;@5\=5\=5a@5@E )I MRiM9)IMIiQiQYYIYIYy@ @@/@ԡiYIY^AIIO> 樋A,0Y@AR @R=R6ٱRDX fAHRS rotation from veh to nav: [[0.992331,-0.123167,-0.010444],[0.123546,0.990982,0.051882],[0.003960,-0.052774,0.998599]]RH,?⇿`c ?@?E?7p?=?iR @IR+_;RCYvByv!IbDVDy-(%-S=ٔ-P:Q-5>91Y1=5kGy1=n]E=>AQ 5M4Eᢊ?Q 9M4Ei)EJBYIyMǾQ IU7@EȨDIE:iE>:Ekm4yɮAgO DNOT Ignoring new targets: 20.68 m.  * "  DD%=E EE&E"E,:*ET:VE4ZEa-@a-@a-@a-@))11j1Z=@Y;@QQQUz@m6)i mimI9)imqiqiyy}zkIyIy 9@  @ @ @ ^AMhIYIiO}>) A,JY@A:@:b=:fٱ:*eW BAHRS rotation from veh to nav: [[0.992290,-0.123537,-0.010003],[0.123891,0.990947,0.051722],[0.003523,-0.052562,0.998611]]:H? !|X?`ֵ?`A{?`l?@m骿?i:@I:z^;:CBea>BaBe(!IBeBBe =BeEDBaBe^;Be#EB!B%ڍCB!B!B% =C%$5YBy!IbDVDy.%3=ٔ%{:Q->9Y=kGyH:E>Q 54墊?Q 94i)OBYyǾQ I7@ɨDI:i:`u4yɮVAԑgO5DNOT Ignoring new targets: 20.68 m.11*9"9 AAiyyjZ<<@E= E=E=%E9"E=[:*E=[:VE= 4ZE9BE=}9Y=kGy88E>Q 54ꢊ?Q 94dj)UBY=Q E;y Q I7@˨DI;iG_;~4yɮAgO=DNOT Ignoring new targets: 20.68 m.AA*A"A AAAIMBqqjqZuS<@==H@@%R)! %̾i%H9E5 E5E5'E1"E5:*E5T:VE5'4ZE1a=@a=@a=@a=@)IM<%IiIiQQQIQIY9@ @@/@Qq ^AE hIQ Ia Ou >8A,Y@A :@:m=:q:ٱ:žU BAHRS rotation from veh to nav: [[0.992289,-0.123596,-0.009282],[0.123912,0.990961,0.051406],[0.002845,-0.052160,0.998635]]:H@?@?`? Q?1Ng?ප?i:@I:<];8Y=By=!IbDMVDM:y]%e]=ٔe:Q-e>9iYi=mkGyimrEm>Q 54좊?Q 94j)YBYyQ I7@̨DI:i:4yɮ@AgODNOT Ignoring new targets: 20.68 m.G*" %-9!Y% A))j)Z- =@BU<AQB]n>B]܍CB]!IB]BB] =B]DDB]lDB]^;B]r#EiiiimԵ@}q:) Ҿi9)顅+iiIIE9@A @I@M/@IbEjE 4rEƳ/EU EUEU%EQ"EU[:*EUVL:VEU 4ZEQBEQa2EQaJEU;a:EU;a ^A hI I O >ϧA,àY@A25@2=2h1ٱ2~ U >AHRS rotation from veh to nav: [[0.992283,-0.123653,-0.009133],[0.123960,0.990963,0.051254],[0.002713,-0.051990,0.998644]]2H@?@1ջ?@?@=?@8f?`v?i25@I2];2CdYr܂Byv IiMb@Mb@Mb@ 9~jt?#~j rh?Y=y㥽xASA  A) AY AbDVDyS%E=ٔ9Q->9Y=kGy}8E>Q 54?Q 94k)]BY=Q E;y/Q I7@ΨDI;i;F4yɮAgODNOT Ignoring new targets: 20.68 m.*" !%B!!j!Z%@@=@==@@h1) Ǿi?9)1ii %jI I p>i!>9@ @@0@@=@>^AIIO>EM  EM EM $EI "EM :*EM X:VEM 4ZEI aU @aU @aU @aU @Y %A,Y@A2# @2=20^%ٱ2SU >AHRS rotation from veh to nav: [[0.992330,-0.123290,-0.008945],[0.123588,0.991000,0.051435],[0.002523,-0.052146,0.998636]]2H+?`鏿Qv? E?`U?īd?겪 ?i2# @I2V];0YFByF I HHbDR VDR2yV-=%Z]=ٔZ :Q-Z>9XY\=^kGy\^E^>`Q 5f4b?Q 9f4b]l)baBYhyj0Q Ij7@bϨDIb:ibQ:b4ynBɮnArEgODNOT Ignoring new targets: 20.68 m. * "    jZ` =@IIIM@u0^%)q i9)7ii!!%աkI!I!9@ @@4@Iy^A II)O=>BU k>BQ BU !IBU BBU  =BQ BQ BU ];BU )#Eԡ A,Y@AE EE(E"E:*EF:VEc44ZEBE 9Y=kGy E >Q 54;?Q 94m)fBY=Q E;yKQ I%7@ѨDI ;i;4y)ɮ-A)gOUDNOT Ignoring new targets: 20.68 m.QQ*Q"Y YYYaeBaajiZm@[a>@==#~@@ԙ) ¾i9)顥>iiII I)= 9@9  @9 @= 0@9 @A @A ^AII11OM> A,rY@AF@F]=F0ٱFYW NAHRS rotation from veh to nav: [[0.992474,-0.122118,-0.009108],[0.122428,0.991123,0.051827],[0.002698,-0.052552,0.998615]]FH`X?"CJjW?@H??@f? 調?iF@IF+\;DYVՂByZ IbDbVDbkyj9lYl=nkGylrQEr>tQ 5z4v?Q 9z4vbn)vjBYxyz.LQ I~7@vӨDIv;iv;v4yɮAgO5DNOT Ignoring new targets: 20.68 m.11*1"1 119999AjAZEپ>@aaae @u0)y }oži}[9)y}rDyiyi!oIE EE*E"E[:*E H:VE(N4ZEa@a@a@a@I9@9 @9@Ed4@A1^AehIqIO>a 7A,J Y@A 6@6.=6&4ٱ6VW >AHRS rotation from veh to nav: [[0.992544,-0.121544,-0.009139],[0.121855,0.991194,0.051821],[0.002760,-0.052548,0.998615]]6H?@z1?ܷ?I?f? 窿?i6@I6q];6CYFтByF I N4B ލCB  IB BB  =B B nDB q];B (#Eٔ~Q-%>9!Y!=%kGy!-E->1Q 5=45?Q 9=45To)5nBY9y=TLQ IE7@5ԨDI5 ;i5;5G4yIɮM/AIgOuDNOT Ignoring new targets: 20.68 m.qq*q"q yyyjZ ((?@B@&4) jɾi9)Jii~qIIi@ @@/@E= E=E='E9"E=:*E=1]:VE='4ZE9BE=) fA,&&Y@A63@6=6.Cٱ6NV >AHRS rotation from veh to nav: [[0.992642,-0.120730,-0.009297],[0.121051,0.991300,0.051680],[0.002977,-0.052425,0.998620]]6H?`/辿 I 6??u?`bh?@{ת?i63@I6}];6CYFʂByF IPiUMb@Mb@Mb@QQQQ Q9UT㥛 ?X9v~jt?YU=yUU9Y=kGyE>Q 54?Q 94p)sBY> >Q E;yuQ I7@֨DI;i; ;4yBɮAEgODNOT Ignoring new targets: 20.68 m.*" BjZ౓?@%> >%> >%`@%_@=.C)9 =̾i=s9)9=xQAiAiAIMCtIIIIIY)][A @  @ @ @ @=@=^A1E= E=E=%E9"E= :*E= n:VE= 4ZE9aE@aE@aE@aE@IQIaOu>! 0A,@Y@A2O@2=2nMٱ2zU :AHRS rotation from veh to nav: [[0.992743,-0.119891,-0.009373],[0.120216,0.991418,0.051367],[0.003135,-0.052121,0.998636]]2H?/h2@|ƾ? ?L?حi?@?i2O@I2^;2CYB̂ByB IbDNVDNk1yVV<%VY=ٔV۹Q-V>9XYX=ZkGyX^[E^>`Q 5f4b?Q 9f4bq)bxBYdyfuQ If7@bبDIb:ib:b%4ylɮnAl|gO DNOT Ignoring new targets: 20.68 m.  * "   j!Z%@?@AAAEX@UnM)Q U˾iU9)YWii2wIIi9I99@ @@/@)B!B!B% IB%؂BB% =B!B!B%];B%Y#EY^ArIIO >ԉ E]  E] E] &EY "E] >:*E] X:VE] 4ZEY BE] Qi]Mb@Mb@Mb@YYYY Y9]i|?5?rh|{Gz?Y]q=y]]ף<]A]A ]" A)]9 AYY] AuAAqbDuVDu02y%==ٔj Q->9Y=kGyWE>Q 54?Q 94r)~BY/ >Q E;yQ I7@٨DI:iQ:Ǿ4yqɮu4AqgODNOT Ignoring new targets: 20.68 m.*" B  j Z5@@5/ >5/ >5@5 @El\)A EGiM9)IMR_IiIiQQUjyIQIYԁm9ԩ @  @ @ /@ ^A) I9 II OU >8A,uY@A2@2@"=2Nhٱ2R >AHRS rotation from veh to nav: [[0.992955,-0.118101,-0.009615],[0.118438,0.991668,0.050674],[0.003550,-0.051456,0.998669]]2HI?;*@Q???m?@sX?i2@I22^;2CYF΂ByF IXbDbVDbyj+=%jF=ٔj$Q-j>9lYl=nkGylrEr>pDxzDzAAE~ E~E~$E|"E~ :*E~L_:VE~4ZE|a@a@a@a@Q 54r%?Q 9 4r&t)rBY y 5Q I 7@rۨDIrX;ir;r4yɮAgODNOT Ignoring new targets: 20.68 m.*" jZ`h@@1115q@ENh)i mnؾim9)im*fiiiiqq}|IyIy=9@9 @9@=_0@9 ^AepuIqIO>1 B <A <B |>B B IB ӂBB  =B B B d^;B #EBލCBݍCB˔CB =B =Cˊ6A,Y@Ab@b==b ~ٱb8S vAHRS rotation from veh to nav: [[0.993120,-0.116681,-0.009890],[0.117036,0.991825,0.050847],[0.003876,-0.051655,0.998657]]bH?޽AA ?@?@?So?@vr?ib@IbI^;bC|Y By  IbD1VD1yM%MB=ٔUJQ-]>9YYY=]kGyYeZEe>iQ 5m4m?Q 9u4mku)mBYyeQ I7@mݨDImr%y iY IY A,yY@A:@:w=:iٱ:T FAHRS rotation from veh to nav: [[0.993220,-0.115804,-0.010176],[0.116174,0.991924,0.050898],[0.004200,-0.051735,0.998652]]:H@u?Nׄ?׽?@R?3q? }?i:@I:V ^;:CYN‚ByN IIX)Z=XZAi5Mb@Mb@Mb@1111 195㥛 ?Pn~jt?Y5=y55<5A5SA 5 A)5 A1Y5\ AbDMVDMy]<%]L=ٔ]1SQ-e>9aYa=ekGyam Em>qyQ 5}4u ?Q 94uv)uBY>Q E;yoQ I7@uߨDIu1;iul0;uU4yɮMAgODNOT Ignoring new targets: 20.68 m.*" BjZ`@@>>vF@@i) Ѿi9)額Ftii,4IIM9@I @I@M%4@IԡE EE&E"E:*E&p:VE4ZEa-@a-@a-@a-@^A5I9IQO}> A,UY@A2@2q=2ٱ2\U >AHRS rotation from veh to nav: [[0.993389,-0.114316,-0.010499],[0.114707,0.992073,0.051315],[0.004549,-0.052180,0.998627]]2H?`CB`v]? ?E?@r?]@?i2@I2];0YVByV IbDzVDzyE%P=ٔjiQ->9 Y = kGy kvE>Q 5%4?Q 9%4w)BY!y% pQ I%7@DI;i;24y1ɮ5A1gO]DNOT Ignoring new targets: 20.68 m.YY*Y"Y YaaaaiijiZmA@@) ؾiU9)顥zii5DŽIIm9@i @q@u/@q 5m>=ːCGQ9Yl5ABo>B܍CB IBɂBB =BBmDB_;B#E^AIIO>1bEɞ4jE4rE0E=  E= E9 E9 "E= O:*E= rN:VE9 ZE9 BE= 9Y=kGyE>Q 54?Q 94y)BY>Q E;y]^Q I7@DI:i:4yBɮAEgODNOT Ignoring new targets: 20.68 m.!*!"! !!!)-B))j1Z58A@1U>U>U{@U6D@m)i mGim}9)imqiqiyy}9OIyIy I)a9@ @@/@@@ԑԹ ^A xrI! I1 OE >A,Y@A>@>=>"Jٱ>U JAHRS rotation from veh to nav: [[0.993577,-0.112600,-0.011260],[0.113032,0.992273,0.051174],[0.005410,-0.052118,0.998626]]>H@a?`TӼB??`r3? =)v? -?i>@I>^;>CYRĂByR IbDfVDf1yn!%n\=ٔnQ-r>9pYp=rkGypvEv>E~ E~E~%E|"E~;*E~e:VE~ 4ZE|a@a@a@a@ Q 54 ?Q 94 z) BYy^Q I7@ DI /;i +; =4y!ɮ%QA!gOMDNOT Ignoring new targets: 20.68 m.II*I"Q QQQQYYYjYZ]hA@yyy}=@"J) i9)顝iiZYIIԩe9@a @a@e0@a^A=ȄIIIYOe>A A AAB m>B B IB ΂BB  =B B lDB }_;B #$E) jB,XY@ANW@NO=N:ͽٱNT  AHRS rotation from veh to nav: [[0.993667,-0.111769,-0.011570],[0.112217,0.992379,0.050905],[0.005792,-0.051881,0.998636]]NH?` :??H?w?4?iNW@INu8^;NCY%ƂBy% IbD5VD5yEx;%ED=ٔMpQ-M>9IYI=MkGyQU%EU>YQ 5e4]?Q 9e4]={)]BYiym^Q Im7@]DI]:i]<:]w4yqɮuEAygODNOT Ignoring new targets: 20.68 m.*" jZA@S6@:ͽ) ?i9)ViiZII@ @@P0@E EE'E"E:*E:VE'4ZEBE&a ! B,*Y@A 6 @6@=6gλٱ645S >AHRS rotation from veh to nav: [[0.993736,-0.111106,-0.012002],[0.111574,0.992471,0.050518],[0.006299,-0.051541,0.998651]]6H? iq@ ? S?yݩ?y?c?i6 @I6c^;6CYDyJ Ii]Mb@Mb@Mb@YYYY Y9](\µ?B`"۹/$?Y]=y]νY]A]A Y)]9 AYY]( AbDuVDuy:%G=ٔQ->9Y=kGyͺE>Q 54?Q 945|)BY>Q E;yAQ I7@DI:i:4yɮCAgODNOT Ignoring new targets: 20.68 m.*" BjZKA@>>.@@%gλ)) -i-9))-)i1i19=:I9I9Mt>iM>q9@ @@4@@>@>ԙE EE$E"E:*EAr:VE4ZEa-@a-@a-@a-@^A8II1O=>  B,[DY@A2@2@'=28׻ٱ2R >AHRS rotation from veh to nav: [[0.993780,-0.110692,-0.012217],[0.111170,0.992532,0.050207],[0.006568,-0.051252,0.998664]]2H ? PV u?@?૴?@z?@=`?i2@I2^;2CYFȂByF IHJAPbDR VDR2yZV(<%ZX=ٔ^:Q-^>9\Y`=bkGy`bˌEb>dQ 5j4f?Q 9j4f})fBYlyn?AQ In7@fDIf0;if;fA4ypɮr3ApgODNOT Ignoring new targets: 20.68 m.*" !!!!!))j)Z-B@IIIM@]8׻)Y eieq9)aeaiaiiimXIiIq9@ @@4@BiBmۍCBiBiBm =BiBiBm_;BmV$E^AIIO>) EU  EU EU #EQ "EU ,:*EU x:VEU 3ZEQ BEU 9iYi=mkGyquEu>yQ 54}!?Q 94}})}BY3=Q E;y*Q I7@}DI}:i}:}4yɮWAgODNOT Ignoring new targets: 20.68 m.*" BjZ )9B@3=3=@b@) i9)iit2II)59YPExceeded connect timeout, disconnecting.9@ @@A3@@@ԁ ^A LI I O >B,yY@AE EEE"E:*EV:VEZEa@a@a@a@B @B@=B ٱBwbR JAHRS rotation from veh to nav: [[0.993864,-0.109858,-0.012847],[0.110370,0.992621,0.050230],[0.007234,-0.051340,0.998655]]BH? uO3A? ??N}?,I?iB @LIBPq];BCYV‚ByZ IbDbVDbyjլ%jH=ٔj_^Q-n>9lYl=nkGylrNEr>tQ 5z4v$?Q 9z4v~)vBYxyz +Q I~7@vDIvT;iv;v 4yɮ_AgO-DNOT Ignoring new targets: 20.68 m.))*1"1 1119999jAZEmB@aaaez@u )q uiu 9)iiiII9@ @@/@^AЉIIO>! B A <B s>B ݍCB B B  =B B mDB `;B $E$B,uY@A>ɞ@>k=>ٱ>PS FAHRS rotation from veh to nav: [[0.993867,-0.109801,-0.013130],[0.110328,0.992615,0.050426],[0.007496,-0.051566,0.998641]]>H?``㊿{>??~ѩ?~?f?i>ɞ@I>/D];>CYNƂByR I TTbDZVDZ1yb<%bK=ٔf*Q-f>9dYd=fkGyhjظEj>lQ 5r4n'?Q 9r4nU)nBYpyv+Q Iv7@nDIn:inK:n4yxɮzEAx|gO%DNOT Ignoring new targets: 20.68 m.!!*!"! !))))11j1Z5B@QQQU@m)i mmimZ9)im-iiqiqyyIyIy9@ @@/@E= E=E='E9"E=:*E=:VE='4ZE9BE=&ԁ *B,YQY@A:@:@=:y-ٱ:SBnManaging dock network, ignoring radio surface power off FAHRS rotation from veh to nav: [[0.993842,-0.110007,-0.013296],[0.110544,0.992584,0.050564],[0.007635,-0.051723,0.998632]]:H? f):L????@E?b{?i:@I:T];:CYjĂByj IaiMb@Mb@Mb@ 9#~j?Zd;~jt?Y=yy<A K A)K AY AbDVDy%8=ٔ Q->9 Y = kGy 9E>!Q 554%L*?Q 94%)%BYH=Q E@>EE EEEE*EA"EE:*EE H:VEE(N4ZEAaM@aM@aM@aM@Ա^AII O > ٵ1B,w,Y@AY=ǂBy= IbDMVDM1yeђ<%eT=ٔmQ-m>9iYi=ukGyquEu>yQ 54}-?Q 94}p)}BYyQ I7@}DI}:i}y:}^"4yɮ7AԹgODNOT Ignoring new targets: 20.68 m.*" jZ& C@ )  i 9)  w iiII9@ @@~0@Bem>Be܍CBe IBeӂBBe =BaBelDBe)a;Be$EB܍CB܍CBēCB =B =C06^AIIO%>Ee  Ee Ee %Ea "Ee [:*Ee :VEe 4ZEa BEe }9Y=kGytw;E>Q 5M40?Q 9U4)BYU=Q EU:*E] i:VE] '4ZEY ae @ae @ae @ae @^A II)O=>E>B,{Y@A2x@2@=2#ٱ2FAQ :AHRS rotation from veh to nav: [[0.993567,-0.112402,-0.013828],[0.112958,0.992350,0.049822],[0.008122,-0.051064,0.998662]]2H L?gƼQ?`T?N?`8?% ?i2x@I2,];2CYFByF IHbDRVDRyZ %ZN=ٔZ4Q-^>9\Y\=^kGy\b:Eb>dQ 5j4f2?Q 9j4fE)fBYhyjQ In7@fDIf;if/;f*14ypɮrApgO DNOT Ignoring new targets: 20.68 m.  * " jZywC@999=@U#)Q UiU9)Q]YiYiYaeIaIa}9@y @@4@Թ^AYIaIqO>TG5N91Y52AAaAaBud>BuۍCBu IBu΂BBu =BqBukDBura;Bu%E MEB, Y@A6@6=6CYٱ6%R >AHRS rotation from veh to nav: [[0.993509,-0.112913,-0.013834],[0.113470,0.992281,0.050036],[0.008078,-0.051281,0.998652]]6H?`缿*U`d ?`?F??@uA@?i6@I6M];6CYJByJ IbDRVDR02yZXS%ZK=ٔ^8Q-^>9\Y\=bkGy`b:Eb>dQ 5j4fz5?Q 9j4f)fBYhynFQ In7@fDIf:if:f284ypɮrApgODNOT Ignoring new targets: 20.68 m.*!"! !!!))))j)Z52C@bE 4jE-4rEC0EE EEEE$EA"EE:*EErN:VEE4ZEABEEԁ }LB,p2 Y@A2@2=2Sٱ2jS :AHRS rotation from veh to nav: [[0.993463,-0.113314,-0.013853],[0.113875,0.992216,0.050395],[0.008035,-0.051643,0.998633]]2H r?+5_&? 9AYA=EkGyAMq[:EM>QQ 5]4U8?Q 9]4U')UBY]=Q E] RB,IL Y@A29@2G=2Gٱ2mjT :AHRS rotation from veh to nav: [[0.993376,-0.114063,-0.013905],[0.114626,0.992120,0.050576],[0.008026,-0.051834,0.998623]]2H ?`33`z@%X?`s? ?@p? @?i29@I2ޥ];2C @)@B@@DDiDIDDIHiH JԼH)HH LNLLLPIP)PiP)PIR`AVT TTV`AV+iVcEXiXX)X XIXY\YbByb IbDjVDjJyrb%vy=ٔv7Q-v?9tYx=zkGyxz9;Ez?|Q 54~;?Q 9 4~|)~BY y PQ I 7@~DI~ :i~:~mF4yɮ8AԹgODNOT Ignoring new targets: 20.68 m.*"   jB%g>B!B% IB%ĂBB% =B!B!B%a;B%%EZU mD@ @G) 4iY9)ii HII9@ @@/@E] E]EYEY"E]:*E]k:VEYZEYBE]9 tYB,2f Y@A2@2=2ٱ2T :AHRS rotation from veh to nav: [[0.993288,-0.114845,-0.013775],[0.115401,0.992027,0.050644],[0.007849,-0.051894,0.998622]]2H?vf /6???`7?`ޑ?i2@I2w|];2CYBy IiMb@Mb@Mb@ 9+η?V-{Gzt?Yv=ymף;A  A) AYG AbDVDkyD%:=ٔ)9Q->9Y=kGyh:E >Q 54>?Q 94)BY%=Q E%;y%Q I%7@DI:i,: N4y)ɮ5kA1gO]DNOT Ignoring new targets: 20.68 m.YY*Y"Y YYaaeBaijiZuKD@==7@@) i9)页ViiIIA9i@ @@@@@Ee  Ee Ee )Ea "Ee ;*Ee i:VEe FA4ZEa am @am @am @am @ԙ ^AU OIY Iq O} >`B,_ Y@A> @>@=>ٱ>FyS FAHRS rotation from veh to nav: [[0.993170,-0.115878,-0.013630],[0.116424,0.991922,0.050362],[0.007684,-0.051605,0.998638]]>H@ ? 5)ꋿ@ͽ? ӽ? ɩ?y? k?i> @I>Y];9YYY=]kGyYe-;Ee>iQ 5u4mA?Q 9u4m)mBYqyuQ I}7@mDImS:im:mT4yɮAgODNOT Ignoring new targets: 20.68 m.*" jZ"}D@Aaaaeq@)  io9)页iiMII9@ @@%0@!qB<ABBB IBBBBBBka;B%Eԡ^A} I I O > 9fB, Y@A2x@2@=2<ٱ2WS :AHRS rotation from veh to nav: [[0.993123,-0.116306,-0.013384],[0.116839,0.991871,0.050396],[0.007414,-0.051614,0.998640]]2H@?Bƽ@i *?i?ͩ?@]~?`m ?i2x@I2#'];2CE EE(E"Ey:*Ega:VEc44ZEBE9IYQ=UkGyYeZ:Em>Q 543F?Q 94)BYy^Q I7@DI6;i:]4yɮAgODNOT Ignoring new targets: 20.68 m.*" jZ @ZD@)))- @=<)9 =iE9)AEƶAiAiIIMڀIQIQ ]\A][A % 9 9@  @ @ /@ @ =@ =9 a^AIIO?0nB,؁ Y@A6@6=6ٱ6rSE> E>E<E<"E>:*E>?:VE<ZE9Y=kGy:E> Q 54 :I?Q 94 ̈́) BY=Q EBa Be IBe BBe  =Ba Ba Be a;Be ?%E) ^A I I!O->vB,K9 Y@A6@6j=6ڻٱ6qV >AHRS rotation from veh to nav: [[0.993096,-0.116612,-0.012753],[0.117118,0.991796,0.051225],[0.006675,-0.052365,0.998606]]6Hp?Oڽ/l?˼?::?V{?Ϫ?i6@I68<];6C)Y5By5 I 99====AE@AbDMVDMy] [%]8=ٔ]:Q-]>9aYa=ekGyae$Eu>qQ 5}4uHL?Q 94u)uBYyT!Q I7@uDIu:iu ;u-m4yɮ:AE EE"E"E:*Ez:VE(3ZEBE %|B,E Y@A2{@2X=2$ʻٱ23W :AHRS rotation from veh to nav: [[0.993103,-0.116603,-0.012267],[0.117084,0.991789,0.051433],[0.006169,-0.052515,0.998601]]2H?@ٽ@_`6??@nU?`Dy?/㪿@?i2{@I2J];2CY~By IԙiMb@Mb@Mb@ 9T㥛 ?I +I +?Y=y994<AA K A)Y AbDVDJyT%A=ٔ E:Q- >9 Y=kGyE>Q 5%4N?Q 9%4a)BY-=Q E-;y->TQ I-7@DI:iI:t4y1ɮ=A9gOeDNOT Ignoring new targets: 20.68 m.aa*a"a aaiimBiqjqZuHeE@==ƭ@@$ʻ) i9)顭IԶiiIIM9@I @I@M4@I@Q@QE EE$E"E:*EX:VE4ZEa@a@a@a@^A1I9IIO]> B, Y@A6@6@^=6ٱ6rV BAHRS rotation from veh to nav: [[0.993105,-0.116644,-0.011732],[0.117096,0.991792,0.051346],[0.005646,-0.052366,0.998612]]6H@?\ܽ@ ?@ü?J? M w? Ϫ ?i6@I6bJ];6CYJByJ IbDRVDRk2yZ$D<%Zc=ٔ^:Q-^>9\Y\=bkGy`b 8Eb>dQ 5j4fQ?Q 9j4f")fBYhyn9TQ In7@fDIf:ifo;fz4yrBɮrApgO DNOT Ignoring new targets: 20.68 m. *" !j!Z%pE@AAAE@e)a mtim$9)iu'ضqiqi oIIA9A=@ABEe>BABE IBEBBE =BABABEa;BEW%EB ۍCB ۍCB B  =B  =C ja59@ @@/@!^A1IAIQOew>E EE#E"Em:*Ega:VE3ZEBES9Y=kGyE>Q 54kT?Q 94))BY>Q E;yGQ I7@DIm ;i;^4yɮAgODNOT Ignoring new targets: 20.68 m.*" BjZXE@>>E@@~) = iG9)%ܶ!i!i!)-ӀI)I)Q9@ @@/@ԁԱ^AXII O >D <D <E  E E %E "E s:*E V:VE 4ZE a @a @a @a @ B,f@ Y@A2@2i=2ٱ2FT :AHRS rotation from veh to nav: [[0.993165,-0.116250,-0.010441],[0.116634,0.991871,0.050883],[0.004441,-0.051753,0.998650]]2H ?½Ub۽?g?E ?;1r?O?i2@I2)^;2CYFByF IbDNVDNyVU=%VX=ٔZ[:Q-Z>9XYX=^kGy\bBEb>dQ 5j4f\W?Q 9j4f)fBYhyjGQ Ij7@fDIf:if):f4yxɮzbAxgODNOT Ignoring new targets: 20.68 m.*" jZ`,E@@) iQ9)ඉiiLII I) m> U؀Gm^AG9^AYc-A9@ @@@@@=B9B9B= IB=BB9B9B9B=a;B=%E) ^A I I O >Q KB,hZ Y@A2@2@=2r2sٱ2S :AHRS rotation from veh to nav: [[0.993265,-0.115459,-0.009670],[0.115803,0.991965,0.050942],[0.003711,-0.051719,0.998655]]2H ?`΃I?@-?`?Ifn?`z?i2@I27^;2CYFByF IbDN VDN2yV.%VJ=ٔV:Q-Z>9XYX=ZkGyX^vE^>`Q 5f4bZ?Q 9f4b )bBYdyfGQ Ij7@bDIb>:ib6:b 4ylɮntAlgODNOT Ignoring new targets: 20.68 m. * "    jZ.F@999=h@Mr2s)I MiM9)QU䶉QiYiaaeS͂IaIibE!jE%4rE%S0E EE$E"E:*ET:VE4ZEBE3ԁ sB,K:t Y@A0:@:@)=:'7ٱ:vS FAHRS rotation from veh to nav: [[0.993355,-0.114761,-0.008715],[0.115057,0.992049,0.050988],[0.002795,-0.051652,0.998661]]:H ?`@iفct?޾??f?@$r`?i:@I:b5_;:CYN|ByN~ I PPi%Mb@Mb@Mb@!!!! !9%ʡE?q= ףp{Gz?Y%=y%뽙%ף9QYQ=UkGyY]DE]>aQ 5m4e]?Q 9m4e3)eBYu1>Q Eu;yuq\Q Iu7@eDIe':ieQ:et4yyɮ}AgODNOT Ignoring new targets: 20.68 m.*" BjZdF@1>1>9@@'7)  i9)p鶉qiqiyy} IyIԑ-9@) @)@-0@)E EE(E"Em:*Ee:VEc44ZEa@a@a@a@Թ^AII1O=> [B, Y@A2%@2B=2ٱ2S :AHRS rotation from veh to nav: [[0.993463,-0.113888,-0.007733],[0.114135,0.992148,0.051144],[0.001847,-0.051693,0.998661]]2Hs?`''7?ି?`/?@C^?vw?i2%@I2_;2CYBByB IbDRVDRyM=%MK=ٔM;Q-U>9QYQ=]kGyYeYEe>iQ 5}4m`?Q 94mP)mBYy\Q I7@m DImH;imU;m4yɮMAgODNOT Ignoring new targets: 20.68 m.*" Bd>BڍCB IBBB =BBBa;B$EjZF@I{@-)) -i-#9))-1i1i99=ږI9I99@ @@4@E EE#E"E:*EX:VE3ZEBEuQ ؅B, Y@A2@2=2Tٱ2S :AHRS rotation from veh to nav: [[0.993555,-0.113156,-0.006664],[0.113349,0.992232,0.051257],[0.000813,-0.051682,0.998663]]2H3?`L{o?]?f>?@J?`v ?i2@I2>W`;2CYBByB IiMb@Mb@Mb@ Y9V-?S㥻:v?Yh=y/ݽ<A K A)bAY AbDuVDu:y4%F=ٔ$;Q->9Y=kGyE>Q 54c?Q 94^) BY>Q E;y^Q I7@ DI:i:4yɮYAgODNOT Ignoring new targets: 20.68 m.*" BjZ ,F@>>h@=@%T)) -i-9))-Q򶉢)i)i19=TۆI9I99@ @@4@ԉԱ^A\AIIO>E  E E %E "E :*E ]t:VE 4ZE a @a @a @a @ AmB,> Y@A6@6@=6!P9ٱ6S BAHRS rotation from veh to nav: [[0.993612,-0.112720,-0.005460],[0.112852,0.992290,0.051231],[-0.000357,-0.051520,0.998672]]6H?`>ۼ \v?@?`:? j7`?i6@I6`;6CYJByJ IIN4<)N%=bDVVDVyZ_<%^Y=ٔ^5K;Q-^>9`Y`=bkGy`fEf>hQ 5j4j;f?Q 9n4jV)jBYpyr^Q Ir7@j DIj!;ij";jM4ytɮv@AtgODNOT Ignoring new targets: 20.68 m.*" !!!)j)Z-F@IIIMB;@]!P9)Y ]_ie9)aee`iaiiim"IiIqԹm9@q @q@u/@q^AUIiIO|>Bf>BۍCBBB =BBB`;B$E9 ŗB, Y@A6u@6V=6:ٱ6~R BAHRS rotation from veh to nav: [[0.993626,-0.112655,-0.004114],[0.112718,0.992310,0.051135],[-0.001679,-0.051273,0.998683]]6H?ּpۼ??m.?u[z@6?i6u@I6a;6CYJByJ IbDVVDVNyZ<%^J=ٔ^GV;Q-^>9`Y`=bkGy`b.Ef>dQ 5j4f i?Q 9j4fa)fBYlyn^Q In7@fDIff;ifr;f[4ypɮvAtgODNOT Ignoring new targets: 20.68 m.*" !!!!j!Z-:1G@IIIM<@e:)a e ie?9)im9mkiiiqquIqE EE$E"E>:*Eg:VE4ZEBEiԙ B, Y@A2@2%=2@;ٱ2Q :AHRS rotation from veh to nav: [[0.993633,-0.112627,-0.002854],[0.112625,0.992320,0.051160],[-0.002930,-0.051156,0.998686]]2H?ռag@Լ? ?1?h1 =?i2@I2a;0YBByF IiEMb@Mb@Mb@AAAA A9EMbX9?J +y&1?YEʡ=yEȽE`9qYq=}kGyy}-dE}>Q 54Cl?Q 94[)BY >Q E;yaEQ I8@DI:i:Ӻ4yɕBɮAEgODNOT Ignoring new targets: 20.68 m.*" ȃBjZgG@ > >܁@c@ @;)  i9)ii䇽I!I!q9@ @@/@E EE%E"E:*Ei:VE 4ZEa@a@a@a@ԡ^ALIIO> ͫB,e Y@ANm@NT=N ;ٱN=Q ^AHRS rotation from veh to nav: [[0.993618,-0.112788,-0.001434],[0.112713,0.992301,0.051319],[-0.004365,-0.051153,0.998681]]NH?߼}Wڼ??F?`q0`2?iNm@INb;NCYjByn Iv=v=bDzVDz:yCY=%Q=ٔp;Q- >9 Y = kGy Uo9E>B}h>ByB} IB}BB} =ByB}lDB}Z`;B}$EQ 54To?Q 94I)$BYyHEQ I8@DI:id:4yɮHAgODNOT Ignoring new targets: 20.68 m.*" jZG@    f@ ;) Ji%9)!%u%wμi!i))-ίI)I19@ @@ 0@E EEE"E[:*Ega:VEZEBE}9 Y B,`) Y@A2*@2=2;ٱ2^eQ :AHRS rotation from veh to nav: [[0.993545,-0.113438,0.000023],[0.113287,0.992230,0.051434],[-0.005858,-0.051099,0.998676]]2H? I h> ^?`Y?U?*w@) (?i2*@I2މb;2CYFByF IiMb@Mb@Mb@ 9+?V-:v?Y=yh<A A K A)YAbD-VD-ky5<%=F=ٔ=l;Q-=>9AYA=EkGyAE:EM>IQ 5U4M1r?Q 9]4M)M*BY]z=Q E];y] Q I]8@MDIM:iM:M4y̕BɮEAEgO-DNOT Ignoring new targets: 20.68 m.)1*1"1 1119=B99jaZeG@z=z=sn@k@;) i9)洼i!i))-I1I9Iq)q@ @@/0@@@I^AIIO >q E  E E &E "E ,:*E c:VE 4ZE a @a @a @a @B,fC Y@A0:H@:@K=:;ٱ:P BAHRS rotation from veh to nav: [[0.993437,-0.114373,0.001416],[0.114149,0.992130,0.051458],[-0.007290,-0.050959,0.998674]]:H 9tYt=vkGytv;Ez>xQ 5~4zu?Q 94z)z0BYyQ I8@zDIzD;iz;z4y ɮcAgO=DNOT Ignoring new targets: 20.68 m.99*9"9 9AAAAIIjIZMH@iiimt@};)  i9)顅oii&III@Q @Q@U4@QԉԹ^AI!I1OEs>B}o>B}܍CB} IB}BB} =ByByB}_;B}H$EBIBIBIBIBICMLj5 {B,(\ Y@A2w@2=2V<ٱ2|P :AHRS rotation from veh to nav: [[0.993325,-0.115315,0.002792],[0.115019,0.992025,0.051541],[-0.008714,-0.050876,0.998667]]2HQ?@@Ef?q??`c?|؁ r `?i2w@I2 %c;0YBByF IHH HJ4<\bDrVDryzR<%~I=ٔ~e;Q-~>9Y=kGy ;E > Q 54 w?Q 94 -) 6BY!y%Q I%8@ DI C;i C; 4y)ɮ57A1Ee EeEe%Ea"Ee>:*EeP:VEe 4ZEaBEeA B,v Y@A2@2@=2U.&<ٱ29O :AHRS rotation from veh to nav: [[0.993166,-0.116635,0.004165],[0.116268,0.991880,0.051542],[-0.010143,-0.050706,0.998662]]2H@? ۽8q? ý?@z?@c?@ń@ ?i2@I2c;2CY@y@)iEMb@Mb@Mb@AAAA A9E rh?)\(Zd;O?YEC=yEGaEj9qYq=}kGyy}E;E}>Q 54z?Q 94);BY4=Q Ei->9@ @@@IDm?AzDm?AEu EuEu$Eq"Eu%;*EuT:VEu4ZEqa}@a}@a}@a}@q^AIIO>ԩ G ! M c)9I YM A4B,v Y@A:@:=:h=<ٱ:\N BAHRS rotation from veh to nav: [[0.992968,-0.118249,0.005549],[0.117810,0.991700,0.051500],[-0.011593,-0.050484,0.998658]]:He?E@v?`(?@?@1^? *@ ٩?i:@I:c;:CYJByN IbDVVDV0y^%<%^V=ٔ^%y;Q-b>9`Y`=bkGy`f;Ef>hQ 5j4j|?Q 9n4j!)j@BYlyn Q In8@jDIjD;ij;j4ytɮvAtgODNOT Ignoring new targets: 20.68 m.*"BA<B%p>B%ݍCB% IB%BB% =B!B%mDB%_;B%L$E 9999AAAjAZE›H@y@h=<) iX9) Wii}I I 9@ @@@ԡbEjEO4rEg/E EE'E"E,:*Ei:VE'4ZEBE %B,돪 Y@AV@V,=VT<ٱVN ^AHRS rotation from veh to nav: [[0.992759,-0.119927,0.006856],[0.119418,0.991503,0.051594],[-0.012985,-0.050402,0.998645]]VH?|? 5?c?@j?藊CΩ?iV@IV'6d;VCYfByf IiUMb@Mb@Mb@QQQQ Q9UX9v?ˡE:v?YU}=yU'UT=ٔ_T;Q->9Y=kGyow;E>Q 54[?Q 94)CBY=Q E/D} =D} 4=E  E E (E "E /;*E rN:VE c44ZE a @a @a @a @ԑ B,F[ Y@AY~By~ IbDVD:2y%"%%Q=ٔ%Q-%>9)Y)=-kGy)5E5>1Q 5E45?Q 9E45Ք)5FBYAyAQ IE8@5DI5^;i5:5 4yIɮUQAQgO}DNOT Ignoring new targets: 20.68 m.yy*y"y yjZII@) /iF9) 4B,~6 Y@A2@2@d=2e6<ٱ2]_O >AHRS rotation from veh to nav: [[0.992352,-0.123077,0.009437],[0.122427,0.991106,0.052154],[-0.015772,-0.050600,0.998594]]2HY? S?XW?$?`?&B詿`|?i2@I2]d;2CYFByF IbDNVDNk1yV%VR=ٔZ;Q-Z>9XYX=^kGy\^v;Eb>`Q 5f4b?Q 9f4b*)bIBYhyjTQ Ij8@bDIbS:ib:b4ylɮnApEE EEEE7EA"EE%;*EEX;VEEԺ4ZEABEE K) Q z`B,L Y@A2 @20=2h<ٱ2O :AHRS rotation from veh to nav: [[0.992165,-0.124492,0.010529],[0.123780,0.990924,0.052417],[-0.016959,-0.050703,0.998570]]2H`п?޿ S? ??X֪?]H?i2 @I2Nc;0YFByF IIJ<)J9AYA=EkGyAMT;EM>IQ 5]4M?Q 9]4M)MJBY]`=Q E]0ԁ EC, Y@A0:@:>:6<ٱ:'O BAHRS rotation from veh to nav: [[0.991960,-0.126026,0.011558],[0.125259,0.990734,0.052509],[-0.018068,-0.050639,0.998554]]:H"?!v?{??n?dX&?i:@I:(c;8YNByN IbDVVDVBfq>BfݍCBf IBfBBdBdBdBf`;Bf$Ey^<%nS=ٔr9;Q-r>9pYp=vkGytv z;Ev>xQ 5~4zE?Q 9~4z)zKBYyoQ I8@xIz8;iz3;z&4y ɮ A gO5DNOT Ignoring new targets: 20.68 m.11*9"9 999AAAAjIZMMI@iiim8@}6<)y },i9)顅E] E]EYEY"E]m:*E]T:VEYZEYBE]Sr篛<ٱrEO ~AHRS rotation from veh to nav: [[0.991796,-0.127221,0.012432],[0.126407,0.990584,0.052576],[-0.019004,-0.050573,0.998540]]rH˼?@H u?.?ݲ?`8? u 䩿@ ?ir#@Ir"[b;rCY By  IiMb@Mb@Mb@ 9Q?i|?5Mb`?Yu=yq;^A A  A)AY3AbDVDy~l%6=ٔ ;Q->9!Y!=-kGy)";E>Q 54芣?Q 94)LBYb=Q E9 Ee  Ee Ee 'Ea "Ee >:*Ee z:VEe '4ZEa am @am @am @am @XC,QE Y@A2,@2@>2<ٱ2N :AHRS rotation from veh to nav: [[0.991637,-0.128370,0.013341],[0.127507,0.990441,0.052619],[-0.019968,-0.050478,0.998526]]2H|?nnR?@)R? ??r6ة?i2,@I2 Ra;2CYFByF I HHJ=J=bDRVDRܲyZm%Zd=ٔZ0;Q-Z>9\Y\=^kGy\bX;Eb?dQ 5j4fΌ?Q 9j4f)fMBYhyj%Q Ij8@fDIf:if2:f-4ypɮrKApgOmDNOT Ignoring new targets: 20.68 m.ii*i"i iqqqqjZ<J@\@]<)Y ]'i]19)ae1"aiaiiim9]IiIqI9Bt>BB IBBB =BBB`;B$EԉI@Q @Q@U/@Qԡ ^Au PaI I O >OC,!` Y@A2r0@2j>2<ٱ2kO :AHRS rotation from veh to nav: [[0.991560,-0.128869,0.014188],[0.127958,0.990369,0.052869],[-0.020864,-0.050607,0.998501]]2H`ܺ?`~?``?`??`{] 2驿?i2r0@I2v`;2CYF}ByF IbDRVDRkyZ %ZE=ٔ^ ;Q-^>9\Y`=bkGy`br:Eb>En EnEn)El"En:*Enc:VEnFA4ZElBEnv C,@y Y@A23@2>2p<ٱ2O :AHRS rotation from veh to nav: [[0.991492,-0.129319,0.014817],[0.128371,0.990305,0.053074],[-0.021537,-0.050721,0.998481]]2H@N? .X?`tn? ?@,?` ?i23@I2_;2CYFzByF| IiMb@Mb@Mb@ 9V-?ˡEYh=y什GA9 A )Y\AbD-VD-0y5Zl%=C=ٔ==:Q-=>9AYA=EkGyAM:EM>IQ 5U4M?Q 9]4MY)IY]#=Q E];y].:Q I]8@M!DIM;iM?;M$4ymϕBɮmAiԹgODNOT Ignoring new targets: 20.68 m.*" !%̃B!)j)Z-qJ@#=#=롭@ʱ@p<) (iL9)'ii^Y[IIE EE'E"E:*E&p:VE'4ZEa@a@a@a@@ @@0@^AM H\IQ Ii Ou >9 ia Ia r$C, Y@ABs>BBy IBxBBBBBq`;B$EBuݍCBuݍCBqBu =Bu =Cu.5F)5@F>FM<ٱFP NAHRS rotation from veh to nav: [[0.991462,-0.129501,0.015246],[0.128525,0.990270,0.053356],[-0.022008,-0.050940,0.998459]]FH?y9? s?J?jQ?(`?iF)5@IFj _;FCYVnByZm II^<)^p;bD-VD-y5p%=J=ٔ=ݘ:Q-E>9AYA=EkGyAM9EM>QQ 5U4UŔ?Q 9]4U)UOBYYy]":Q Ie8@U#DIU ;iU ;U+4yiɮmAigODNOT Ignoring new targets: 20.68 m.*" jZpJ@˱@M<)  /i9)P*iiZII9@ @@4@IE  E E %E "E  :*E 1]:VE  4ZE BE L"qԡ *C,@ Y@A3@`> ^<ٱR %AHRS rotation from veh to nav: [[0.991479,-0.129327,0.015588],[0.128326,0.990277,0.053707],[-0.022382,-0.051249,0.998435]]H 3?ʍc?`l?X??D떿@]= .?i3@IO|^;CYiByf IiEMb@Mb@Mb@AAAA A9EL7A`?&1~jtx?YE+=yEнE;EAE" A EK A)E1AAYEAbDeVDeiyu%}7=ٔ}Q\:Q-}>9Y=kGy0E>Q 54?Q 942)QBY=Q E;y:]Q I8@$DIU:i:34yɮ-AgOUDNOT Ignoring new targets: 20.68 m.QQ*Q"Q QQYY]ŃBYajaZeJ@==,@h@ ^<) .i^9)H-ii-[II 9@ @@4@ԡ^A mYI I O >E  E E $E "E :*E :VE 4ZE a @a @a @a @ 1C,{ Y@A25@2>2,<ٱ2_Q :AHRS rotation from veh to nav: [[0.991442,-0.129591,0.015794],[0.128580,0.990248,0.053635],[-0.022590,-0.051145,0.998436]]2H@?l :,?Pu?? u?!@//?i25@I2];0YybD VD2 ƐCyF%B=Gٔ:Q-U>]`]Aq9A-9`]AYAY=kGy:E>Q 54?Q 94F)SBYy)]Q I8@&DIMV;iYW;^;4yɮ/AP5B*** querying acoustic contact ***1 1gO]DNOT Ignoring new targets: 20.68 m.YY*Y"Y YYaaaiijiZm K@j@,<) 0.i9)顭0iiZII%2Acoustic response timeout%Querying Benthos address 50 with one ping in standard two-way mode.B%r>B!B%l IB%nBB% =B!B!B%p`;B%$EU9@Q @Q@U4@Q! ^Au H\I I O >7C,(F Y@AF*DAT read: user:581> FBDAT read: Tx time:00:47:47.2729 J$Ping request sent.J8@>]>><ٱ>zP VAHRS rotation from veh to nav: [[0.991400,-0.129884,0.016012],[0.128868,0.990224,0.053385],[-0.022789,-0.050862,0.998446]]>H@?@ We?@~??FU?U @D?i>8@I> ];<bEM!4jEM34rEM:1Eb EbE`E`"Eb:*Eb;J:VE`ZE`BEb9Y=kGy0:E>Q 5=4?Q 9e4U)UBYqyu]Q Iu8@(DI(:<ٱ:}N FAHRS rotation from veh to nav: [[0.991362,-0.130133,0.016325],[0.129111,0.990216,0.052943],[-0.023055,-0.050378,0.998464]]:H9Y=kGy9E>Q 5 4C?Q 94)ZBYe>Q E;y,aQ I8@*DI:i:2L4yAɮUQAQgODNOT Ignoring new targets: 20.68 m.*" BjZ\K@e>e>@Y@<) (ig9)%6!i!i)15s YI1I9ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754888@ @@4@AA?ABt>BBZ IB^BB =BBB&`;B{$Eԡ^A I! I1 OE > GC, Y@A2;@2`>2Ͻ<ٱ2osL :AHRS rotation from veh to nav: [[0.991335,-0.130315,0.016492],[0.129296,0.990217,0.052468],[-0.023168,-0.049881,0.998486]]2H ?,`??ۯ?` ݪ?r ?i2;@I25e];0%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006832Ee EeEe$Ea"Ee ;*Ee[:VEe4ZEaBEeR9Y=kGy:E>Q 54У?Q 94)\BYy!aQ I8@+DIK:i:R4yɮBAgO%DNOT Ignoring new targets: 20.68 m.!!*!") ))))11jZ K@@%Ͻ<)! %(i- 9))-8)iIiQQUQXIYIY@ @@]0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259147^AYII O >9 MC, `: Y@A28@2{>2?|<ٱ23L :AHRS rotation from veh to nav: [[0.991377,-0.130000,0.016477],[0.128983,0.990262,0.052396],[-0.023128,-0.049819,0.998490]]2H\?գsߐ?@? 9?Ӫ?@쁩@?i28@I2C]];2CY@yDHJAiEMb@Mb@Mb@AAAA A9EʡE?)\(I +?YE-=yEGὙE949yYy=}kGyyRE>Q 54%?Q 94)_BY >Q E;ygDQ I8@-DI);il;lY4yɮDAgODNOT Ignoring new targets: 20.68 m.*" ƒBjZK@ > >5@邰@?|<) .is9)%4;)i)iIIMYIQIQ@ @@p4@5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510767Dm<Dm<E} E}E} Ey"E}:*E}E:VE}3ZEya@a@a@a@A^A5@WI9IQO]>iԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762755TC,.:T Y@AB&u>B$B&S IB&YBB& =B$B$B&_;B&?$EF4@`><ٱQM 5AHRS rotation from veh to nav: [[0.991451,-0.129437,0.016486],[0.128414,0.990322,0.052660],[-0.023142,-0.050092,0.998476]]H?g`?@o??`3?@?iF4@I];CY`By\ IbDVDNyUsԼ%U==ٔ]?8Q-]>9YYY=ekGyaevEe>iqQ 5}4mҪ?Q 9}4m̠)mcBYyy}DQ I}8@m/DIm%);im);m`4yɮrAgODNOT Ignoring new targets: 20.68 m.*" jZ")L@l~@<) 0i*9)>ii  T[I I %9@! @)@-/@)ԡ=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014877E} E}E}'Ey"E}:*E}rN:VE}'4ZEyBE} [C,&n Y@A}1@}>}{<ٱ}!N AHRS rotation from veh to nav: [[0.991483,-0.129174,0.016595],[0.128138,0.990339,0.052994],[-0.023281,-0.050416,0.998457]]}H:?Ɉh?f?@ܰ?@"?@֗`+Щ\?i}1@I}G\;yYjByg Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266897iMb@Mb@Mb@ 9(\µ?B`"۹y&1?Y=yν`e<A9 A 9 A)YbDVDP)y51=%C=ٔr9Q->9Y=kGy]-E>Q 54F?Q 94ơ)fBY>Q E;yt]>].@]K@{<) .i9)@iiCu\II!9@ @@/@! ^A @WI I O >E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518816E  E E $E "E :*E VE 4ZE a @a @a @a @aC, Y@A21@2@>2;<ٱ2O >AHRS rotation from veh to nav: [[0.991489,-0.129142,0.016482],[0.128107,0.990333,0.053198],[-0.023193,-0.050634,0.998448]]2H@G?` ? e?Ͱ?Q\IIQBDAT read: Rx Time:00:47:49.7128 TRx dataTimestamp_ set to:1761698870.309168checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7722919BAAE<BMx>BIBIBIBM =BIBIBM1_;BM$Eyy@y @y@}/@y@[A@ԩ ^A9 II IY Om >hC,ˡ Y@A24@2 >2l<ٱ2SO :AHRS rotation from veh to nav: [[0.991455,-0.129419,0.016352],[0.128391,0.990297,0.053182],[-0.023077,-0.050628,0.998451]]2H?@А?o??:?d멿`O?i24@I2]\;0@YFjByFh IbDNVDN:yVH%VN=ٔZkQ-Z>9XYX=ZkGyX^<:E^>`Q 5f4bV?Q 9f4b})bmBYdyjc:*EEF:VEEc44ZEABEEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274802 p8nC, Y@Ab8@b y>b<ٱbxN jAHRS rotation from veh to nav: [[0.991383,-0.129989,0.016192],[0.128974,0.990235,0.052918],[-0.022913,-0.050374,0.998468]]bH`i?x?`7?`??`lv`ʩ@r?ib8@Ib];bCpYuByu IiMb@Mb@Mb@ 9MbX9?sh|?:v?Yʡ=yT<A  A)1AYAbD-VD-:y=MF=%=3=ٔEμQ-E>9AYA=MkGyIM":EM>QQ 5]4U÷?Q 9]4UW)UpBYe-=Q Ee;ye|,Q Ie8@U6DIUH:iU:U,}4yiɮmAigODNOT Ignoring new targets: 20.68 m.*" ۃBjZ@L@-=-=#@Y@<) 33i9)IiiFYIIEU EUEU&EQ"EUO:*EU1]:VEU4ZEQae@ae@ae@ae@mDAT read: 00:47:49.7128 LVL= 32752, 26529, 32754, 32755, AGC= 67, IDX= 507,-0.19,-2.954,-1.346, 2.893,-2.394, PHS=-0.458, 1.093,-1.040, RAW= 345.3, 4.3, CAL= 344.9, 2.1, ROT= 165.1, -2.1 uYgot valid direction response: 00:47:49.7128 LVL= 32752, 26529, 32754, 32755, AGC= 67, IDX= 507,-0.19,-2.954,-1.346, 2.893,-2.394, PHS=-0.458, 1.093,-1.040, RAW= 345.3, 4.3, CAL= 344.9, 2.1, ROT= 165.1, -2.1 }PDAT read: Bearing 339.3, 16.0 (Local) }~Local bearing/azimuth received: Bearing 339.3, 16.0 (Local) ԉ9@ @@0@DAT read: Range 11 to 50 : 26.8 m (Round-trip 35.8 ms) speed -0.1 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.965727,0.256960,0.036644]Fpublishing direction and range infoy3q<r?(א¢?YfAg )CI~im?@`=@ Q =)!k8@IQ Jpq~Ziǽ$? ,u)\EI!k8@iQ Ա^AIIO> BA BE ލCBE Z IBE ^BBE  =BA BE nDBE ?_;BE $EBB uCB1B1B1C55, Y@A6<@6>6<ٱ6wM >AHRS rotation from veh to nav: [[0.991331,-0.130416,0.015944],[0.129419,0.990191,0.052649],[-0.022654,-0.050129,0.998486]]6H?`z`S? ѐ???2~`?i6<@I6b\;6CYFtByDIJ=)Jp< ~p<~bDVDJyi%_=ٔa9Q->9Y!=%kGy!%t:E%>)Q 554-?Q 954-)-sBY9y=b,Q I=8@-7DI-;i-w;-4yAɮEAAAE, Y@AJE-ARE-AjE@@E*ֻ9`c@a ??rE3q<r?(א¢?ZE!k8@bEQ E {Yc:ЩL @: _ao?zE-ǃe_+9?U @V?2E`@:E"E ?*EmHBEBEi$?E “EBEAE<@ԹgO addTargetRange:: Added new target pos. range: 26.799999 m, deltaT: 57.980232 s, deltaX: 6.000000 m, approachRate: 0.103484 m/s, rangeRepo size: 4 gO Added new target pos. range: 26.647020 m, bearing: 172.442465 deg, lat: 36.779288 deg, lon: -121.859546 deg, deltaT: 57.980232 s, deltaX: 5.966928 m, approachRate: 0.102913 m/s, posRepo size: 4 gODNOT Ignoring new targets: 26.65 m.*" j:@ZN?@<) 3i9)!%K!i!i))-QWI)I)-9@) @)@-4@)E] E]E]#EY"E]I:*E][:VE]3ZEYBE]9 "N{C,j Y@AC@>&.<ٱfZL AHRS rotation from veh to nav: [[0.991227,-0.131257,0.015521],[0.130288,0.990094,0.052339],[-0.022237,-0.049858,0.998509]]H@!?aɏ?`C? ٮ?4̪?IŖ?iC@I\;CYyBy{ IiMb@Mb@Mb@ 9x&?9Y=kGyB:E>Q 54x?Q 94ǥ)wBY,=Q EDY zD] @AEe  Ee Ee "Ea "Ee :*Ee F:VEe (3ZEa am @am @am @au @ԑ 2C,8 Y@AYnByr IbDzVDz0y%T=%-i=ٔ-Q-->91Y1=5kGy15E5>AQ 5e4E?Q 9m4EY)EyBYqyqQ Iu8@E:DIE;iEh;E4yyɮ}`AygODNOT Ignoring new targets: 26.65 m.*" jZ`)?) *iv9)MQii yGAUyj9QYUJAEUIiIq qqIy)yԡAA@ABBBf IBiBBBBB_;B_$Et>i!>- 9@)  @) @- 4@) ! ^A5 TIQ Ia bE̻ 4jE 4rĔ0E}  E} E} &Ey "E} :*E} :VE} 4ZEy BE} 3 C,%Y@A6E@6 >6?<ٱ6N >AHRS rotation from veh to nav: [[0.991206,-0.131473,0.015007],[0.130516,0.990033,0.052909],[-0.021814,-0.050486,0.998487]]6H?@ ??`Z??SV<٩?i6E@I61W];4YFByF I LLN=Na=bDRVDRyZa%^<=ٔ^]Q-^>9`Y`=bkGy`bV :Eb>dQ 5j4f£?Q 9j4f )f}BYlyn.Q In8@f;DIf;if;fS4ypɮrlApgO DNOT Ignoring new targets: 26.65 m. ԑ*" jZM?7@?<) p+i9))Tii!!%4_TI)I)9@ @@/@^A`TIIO> 3C,?Y@A2I@2>2N<ٱ2nO :AHRS rotation from veh to nav: [[0.991147,-0.131957,0.014659],[0.131018,0.989966,0.052922],[-0.021495,-0.050533,0.998491]]2Hy? {?.? έ??rߩ?i2I@I2W9];2CYBByB Ii Mb@Mb@Mb@     9 V-?S㥫~jtx?Y h=y /] ;  9 A bA) A Y AbD%VD%Ny5J%5C=ٔ=AGQ-=>99YA=EkGyAEڝ:EE>IQ 5U4M>ţ?Q 9U4M)M~BYU=Q E]B B B l IB nBB B B B B`;B $Ey C,YY@A6BM@6>6<ٱ6O BAHRS rotation from veh to nav: [[0.991093,-0.132375,0.014515],[0.131443,0.989911,0.052899],[-0.021371,-0.050520,0.998494]]6H` ?B??Z??i╿ݩ?i6BM@I61];6CYJByJ IbDRVDRyZሼ%ZS=ٔ^lQ-^>9\Y`=bkGy`b:Eb>dQ 5j4fǣ?Q 9j4f)fBYhynQ In8@f=DIf:ifo;fm4ypɮrApgO DNOT Ignoring new targets: 26.65 m. *" !j!Z%'@AAAE @U<)Q U?iU9)Y]ZYiYiaaeQIaIiqQ9@ @@B0@@=@=ԁE EE'E"E:*E n:VE'4ZEBE1ԩ WHC,QsY@ArEU@r@>r<ٱrՀMi|I| AHRS rotation from veh to nav: [[0.990969,-0.133326,0.014273],[0.132413,0.989803,0.052504],[-0.021128,-0.050139,0.998519]]rH?&;? ?w?`?r૩?irEU@Ir];rCYBy II=)!%AiMb@Mb@Mb@ 9p= ף?~jt~jtx?Y=yDtA A)GAYAbDVDyQ<%:=ٔyQ->9Y=kGy;E>Q 54hʣ?Q 94n)BY=Q E#DI:i7;4yɮWAgO%DNOT Ignoring new targets: 26.65 m.!!*!"! !))ԩ BjZϠ@== @@-<)) -Bi-b9)15_]1i1i99=MI9IA@ @@g0@DzD?AE EE&E"E:*EV:VE4ZEa @a @a @a @ ^A% 8RI1 IA OM >1 ,C,iQY@AFZ@F>F<ٱFBL VAHRS rotation from veh to nav: [[0.990883,-0.133994,0.014032],[0.133099,0.989728,0.052180],[-0.020879,-0.049837,0.998539]]FH P?&?`_ ?ګ?@X?ma2`?iFZ@IF\;FCYf{Byf} IbDvVDvyUc%UR=ٔUh'Q-]>9YYY=ekGyaeM:Ee>iQ 5u4ṃ?Q 9u4mӨ)mBYqy}Q I}8@m?DIm;im;m4yɮAgODNOT Ignoring new targets: 26.65 m.*" jZ @!@<) HiQ9)c`ii`xKII 9@ @@4@BUy>BQBUs IBUsBBU =BQBQBU_;BUh$E9^AQOIIO>i E  E E 'E "E :*E T:VE '4ZE BE )2$<ٱ2K >AHRS rotation from veh to nav: [[0.990825,-0.134437,0.013892],[0.133551,0.989674,0.052054],[-0.020746,-0.049721,0.998548]]2H@ִ?@75Ls?`/?h?æ?>t ?i2^@I2\;0YFByF IbDNVDNܲyV^=%VU=ٔZQ-Z>9XYX=^kGy\^7:E^>`Q 5f4bϣ?Q 9f4b6)bBYhyjQ Ij8@b@DIb%:ib:b4ylɮnGAlgODNOT Ignoring new targets: 26.65 m.  * "    jZ`X @999=%@M$<)I MAiM9)QU]cQiQi7JIIi9@ @@/@@\A@ԡ^AJIIO> >C,)Y@A6-a@6@ >6ߨ<ٱ65L >AHRS rotation from veh to nav: [[0.990787,-0.134734,0.013730],[0.133854,0.989628,0.052142],[-0.020613,-0.049824,0.998545]]6H ?>`?""? ?f? ?i6-a@I6Z];4YFByF I HHPiMb@Mb@Mb@ 9)\(?kt~jtx?YGa=y 0Ah A  A)AYAbD5 VD52yE.%EA=ٔMQ-M>9IYI=MkGyQU=:EU>YQ 5e4]+ѣ?Q 9e4])]BYe=Q Em=B- t>B- ݍCB- y IB- xBB-  =B) B- mDB- 0`;B- $EiA IA I hC,;Y@A2_@2`V >2<ٱ26M :AHRS rotation from veh to nav: [[0.990810,-0.134573,0.013650],[0.133689,0.989628,0.052567],[-0.020582,-0.050259,0.998524]]2H?9@t???? ?i2_@I2 ];2CYZByZ IbDbVDbNyj}ٻ%jR=ٔnQ-n>9lYp=rkGypr Er>tQ 5z4v&ӣ?Q 9z4v)vBYxy~'Q I~8@vBDIv;ivY;v4yɮAgO5DNOT Ignoring new targets: 26.65 m.11*1"1 999AAAAjAZM@aaaeJ@}<)y }M1i}9)顅hii7III1@1 @1@5/@1IE EE'E"Em:*EL_:VE'4ZEBESԡ C,Y@AQb@ >R<ٱN %AHRS rotation from veh to nav: [[0.990767,-0.134884,0.013686],[0.133992,0.989574,0.052819],[-0.020668,-0.050498,0.998510]]H\?C|?&?? ?)ک?iQb@I?];CY5By5 IaiMb@Mb@Mb@ 9Zd;?ˡEMbP?Yy=y':A A bA)1AYAbDVDkyO<%9=ٔJ9Q->9Y=kGy5:E>Q 54գ?Q 9 4U)Y =Q E 4 |C,Y@AUd@U@ >UF<ٱU!P eAHRS rotation from veh to nav: [[0.990729,-0.135165,0.013627],[0.134270,0.989521,0.053103],[-0.020662,-0.050781,0.998496]]UH?`M?@/?'?`D0?{(@?iUd@IUi8];UCYu}By} II=)=bDVDkyO%Q=ٔ'tQ->9Y=kGy;:E>Q 54ף?Q 94)BYy9Q I8@DDI/;i:\4yɮAgODNOT Ignoring new targets: 26.65 m.*"   j Z m@)))-G|@=F<)A E/6iEH9)AEnAiIiIIUJGIQIQBBBBB =BBB`;B$EBލCBBB =B =C*l5r9-9@1 @1@5/@19Y E  E E "E "E [:*E VL:VE (3ZE BE }qC,)Y@ABNk@B` >BC<ٱBWO JAHRS rotation from veh to nav: [[0.990618,-0.135976,0.013684],[0.135079,0.989415,0.053031],[-0.020750,-0.050685,0.998499]]BH#?`gZ?@CJ? I?&?`? c?iBNk@IB];BCYRqByRq IbD^VD^Nyfi%fS=ٔf|n9Q-f>9hYh=jkGyhno ;En>pQ 5r4r٣?Q 9v4r)pYtyvQ Iz8@rEDIr;ir;r4y|ɮ~A|gO%DNOT Ignoring new targets: 26.65 m.!!*!"! )))1111j1Z=@w@@-C<)) 5;i5P9)1=q9i9iiiupDIqIy=9@9 @9@=4@9A^Ae|(HIiIO>i 4C,FBY@A6p@6x >6<ٱ6OO BAHRS rotation from veh to nav: [[0.990526,-0.136646,0.013632],[0.135752,0.989328,0.052933],[-0.020720,-0.050581,0.998505]]6Hc?}?@V`??@?7`婿?i6p@I6];4YJsByJr IiMb@Mb@Mb@ 9I +? ףp= MbP?Y94=yQ8A9 A  A)AY(AbD5VD5:yEZ;%EC=ٔM~Q-M>9IYI=MkGyIU[:EU>YQ 5e4]ۣ?Q 9e4]k)]BYe=Q EmRԩB u>B B B B  =B B B b;B q%E iC,\Y@A2\y@2 >2/<ٱ2M :AHRS rotation from veh to nav: [[0.990381,-0.137674,0.013808],[0.136778,0.989207,0.052556],[-0.020895,-0.050161,0.998523]]2H 4?KG????}e?i2\y@I2L\;0YZhByZf I \\bDf VDf2ynP%nQ=ٔrz9Q-r>9pYp=rkGypv-;Ev>xQ 5~4zTݣ?Q 9~4zЫ)xYyT(Q I8@zGDIz!;iz3";z>4y ɮ ^AgO=DNOT Ignoring new targets: 26.65 m.99*9"9 9AAAAIIjIZM <@iiimA@}/<) :i9)顅~wii?IIԱ59@1 @1@5/@1@=@=@=@=bEĞ4jEO4rEp0Em EmEm*Ei"Em:*Em1]:VEm(N4ZEiBEm 9 C,vY@A5~@5, >5<ٱ5L EAHRS rotation from veh to nav: [[0.990295,-0.138294,0.013836],[0.137399,0.989127,0.052427],[-0.020936,-0.050017,0.998529]]5H@~? @V?@G??ת? Opț?i5~@I5];5CYQy]e IiMb@Mb@Mb@ 9V-?J +Mb`?Y9Y=kGy:E>Q 5%4ޣ?Q 9%4T)BY-]i=Q E-h9Eu EuEu'Eq"Eu;*EuP:VEu'4ZEqa}@a}@a}@a}@a :C,AcY@A 6J@6 >6?<ٱ68LM >AHRS rotation from veh to nav: [[0.990245,-0.138639,0.013941],[0.137736,0.989075,0.052522],[-0.021070,-0.050089,0.998523]]6H ?@?@T??&?@_Q?i6J@I6\;6CYJ\ByJV IbDRVDR:yZC%Zc=ٔZ9Q-^>9\Y\=bkGy`b?x:Eb>dQ 5j4fߣ?Q 9j4f)fBYhyn:eQ In8@dIf:if :fG4ypɮrApgO DNOT Ignoring new targets: 26.65 m. *" !j!Z%@h@?<) 9iP9)E}ii!!%gDB9B=l IB=nBB= =B9B9B=b;B=%EiI!)!ԙ@ @@@IIO> E  E E #E "E :*E :VE 3ZE BE =8B֯<ٱB{N JAHRS rotation from veh to nav: [[0.990223,-0.138764,0.014284],[0.137836,0.989043,0.052864],[-0.021463,-0.050378,0.998500]]BH ?@@?@?@>??c$˩`?iB @IB\;@YV_ByVZ IIX)Z9lYl=nkGylr9Er>tQ 5z4v࣊?Q 9z4v;)vBYxyz1eQ Iz8@vIDIv:iv:vy4yɮAgO-DNOT Ignoring new targets: 26.65 m.))*1"1 1119999jAZE@i@5֯<)9 =7i=a9)9EAiAiQqu  QC,Y@A6[@6 >6<ٱ6SO BAHRS rotation from veh to nav: [[0.990215,-0.138803,0.014398],[0.137863,0.989024,0.053158],[-0.021618,-0.050653,0.998482]]6Hد?L`|??@?}7?##%奔@?i6[@I6 ];6CYNWByNP I|i%Mb@Mb@Mb@!!!! !9%+?p= ף{GztY%=y%%ף!! !)%1A!Y%(AbD=VD=:yM%MD=ٔU9Q-U>9QYQ=]kGyY]ۍ8Ee>aQ 5m4e⣊?Q 9m4e)eBYu=Q Eu.B5 g>B5 ۍCB5 Z IB5 ^BB5  =B1 B5 kDB5 -c;B5 %Eԁ d$C,Y@A6:@6 >6n<ٱ6P >AHRS rotation from veh to nav: [[0.990231,-0.138679,0.014521],[0.137726,0.989025,0.053488],[-0.021780,-0.050965,0.998463]]6H??b?@??`b?gM@h?i6:@I6k\;6CYDyHbDRVDRkyZR%ZU=ٔ^9Q-^>9Y=kGyﷹE > Q 54 5䣊?Q 94 }) YydQ I9@ KDI ;i ; 4y)ɮ-A)gOUDNOT Ignoring new targets: 26.65 m.QQ*Q"Q QYYaaaaijiZm @nu@n<) 5i9)顥򂷉iiMm9@q @q@u4@qԉEM EMEM(EI"EM[:*EMc:VEMc44ZEIBEM} RC,Y@AiDIDm@m >m<ٱmmP }AHRS rotation from veh to nav: [[0.990185,-0.138990,0.014652],[0.138031,0.988985,0.053443],[-0.021919,-0.050896,0.998463]]mH@?m?`?å? \?q`i?im@Im\;mCYHBy> I ==Աi%Mb@Mb@Mb@!!!! !9%I +?/$~jtxY%94=y%%Ļ%^A% A !)!!Y%AbD=VD=yEу%M3=ٔM9Q-M>9QYQ=UkGyQ]74:E]>YQ 5e4]J棊?Q 9m4]f)]BYm=Q Em 9 6D,CY@A6܄@6 >6>f<ٱ61OP BAHRS rotation from veh to nav: [[0.990164,-0.139128,0.014755],[0.138165,0.988969,0.053386],[-0.022020,-0.050823,0.998465]]6H`m?@7?`? ?oU?@Pil?i6܄@I6\;6CYN?ByR2 IbDZVDZβyv.J%vd=ٔz9Q-z>9xYx=zkGyx~9E~>Q 5 4磊?Q 9 4!)BY yxsQ I9@MDI:i:4yBɮ[AEgOEDNOT Ignoring new targets: 26.65 m.AI*I"I IIIQQQQjQZ]o"@yyy}Ҡ@>f<) 2ih9)顕ii:IIBi>BBA IBJBB =BBBc;B0&Em9@i @q@u/@qA^AIIO>iEe  Ee Ea Ea "Ee [:*Ee VL:VEa ZEa BEa au 2Ea au JEe ;au :Ee ;au ԙ a D,+Y@A2@2p>2<ٱ29O :AHRS rotation from veh to nav: [[0.990096,-0.139589,0.014960],[0.138620,0.988918,0.053158],[-0.022214,-0.050558,0.998474]]2Hޮ? S?M?@7?7? e`⩿?i2@I2\;2CY=CBy=8 IbD]VD]ymܸ<%uB=ٔ}9Q-}>9Y=kGy:E>Q 54飊?Q 94)YyZsQ I9@ODI_;i`;'4yɮ4AgODNOT Ignoring new targets: 26.65 m.*"   qjZh#@@<) .0i9)2!i!i!)-4c9I)IIY9@ @@/@ PExceeded connect timeout, disconnecting.ԡ^AM l;IQ Ia Ou > ~HD,aEY@A2@2[>27<ٱ2FO :AHRS rotation from veh to nav: [[0.990104,-0.139517,0.015116],[0.138540,0.988930,0.053148],[-0.022364,-0.050528,0.998472]]2H ?@@ ?@?O?96?`y斿ީ|?i2@I2\;2CE EEE"E*Exv:VEZEa%@a%@a%@a%@Ye:Bye- IIm<)m=Ai%Mb@Mb@Mb@!!!! !9%X9v?Cl绿MbY%}=y%;߽%%tA%9 A % A)%A!Y%QAbDAVDAyU%U0=ٔU9Q-U>9YYY=]kGyY]+5Ee>aQ 5m4e죊?Q 9u4e4)eBYu>Q Eu;yujQ Iu9@ePDIe* ;ie ;e//4yyɮ~AgODNOT Ignoring new targets: 26.65 m.*" BjZ J$@>>X@Ծ@7<) R8il9)ii9II9@ @@@BBB. IB;BB =BBlDBc;BC&EBۍCB܍CBȔCB =B =CȡM6) ^A =I I O >Y tuD,H_Y@A2@2 >2ٷ<ٱ2O :AHRS rotation from veh to nav: [[0.990161,-0.139108,0.015189],[0.138124,0.988978,0.053332],[-0.022441,-0.050709,0.998461]]2He?M? ? ? XN?e?i2@I2\;2C@B_Ai@I@@IDiD DD)DD Jq@HHHJ CLIL)LiL)LIN^APP PPR^ARCiTTiTV^A)Vy VEITYXY9By, I)bD%VD%y=%=K=ٔ=I9Q-E>9AYA=EkGyAM舺EM>QQ 5]4U?Q 9]4UB)UBYYy]jQ I]9@URDIUK:iU:U664yiɮmAigODNOT Ignoring new targets: 26.65 m.*" jZ%@b@ٷ<) 8i 9))iiMc;IIE- E-E-#E)"E-:*E-L_:VE-3ZE)BE-6 nManaging dock network, ignoring radio surface power offD,0gyY@A(@W >-q<ٱP AHRS rotation from veh to nav: [[0.990238,-0.138551,0.015254],[0.137558,0.989043,0.053599],[-0.022513,-0.050977,0.998446]]H@?`=?@~?9AYA=MkGyIM橺EM>QQ 5]4U?Q 9]4U)UBY >Q E;y(Q I9@UTDIUu;iU;U=4yBɮAEgODNOT Ignoring new targets: 26.65 m.*" Bj Z %%@m >m >mHR@mŧ@-q<) .i9)顝ii h=III)ԑ1@1 @1@50@1E EE(E"E:*E;J:VEc44ZEa@a@a@a@ U Gi 99 Y A^AU V:Ia Iy O >~$D,Y@A:z@:@ >:靹<ٱ:BQ FAHRS rotation from veh to nav: [[0.990321,-0.137939,0.015410],[0.136935,0.989121,0.053747],[-0.022656,-0.051116,0.998436]]:H`?l???@?;3+`/?i:z@I:\;8\Y9By+ I bDVDy[<%~=ٔm9Q- ?9Y=kGyE ?Q 54?Q 94)BYy=Q I9@UDI:i:yC4yɮAByByB}! IB}1BByByByB}b;B}%EgODNOT Ignoring new targets: 26.65 m.*" jZƤ&@@靹<) ,i9)،ii   %u?II9@ @@4@@=@=^Al;IIO>Q bEjE4rEa0EE  EE EE &EA "EE :*EE 1]:VEE 4ZEA BEE R<ٱRQ vAHRS rotation from veh to nav: [[0.990403,-0.137329,0.015596],[0.136316,0.989204,0.053799],[-0.022816,-0.051156,0.998430]]RHa? ? r? ?~?\@*1#?iRu@IR];PY;By. IbDVDy'<%I=ٔ9Q->9Y=kGyȺE>Q 54E?Q 94ݶ)BYy QQ I 9@WDIb;i;J4yɮAgODNOT Ignoring new targets: 26.65 m.*" jZ@Du'@@<) +i/9)5ii!%;AI!I!A9@ @@/@q^Ag@II O5 >ԙ 1D,3Y@A2s@2@ >2w/<ٱ2P :AHRS rotation from veh to nav: [[0.990443,-0.137028,0.015680],[0.136017,0.989259,0.053538],[-0.022848,-0.050894,0.998443]]2H?#i?`h?@?\i?ie` >?i2s@I28=];2CYBGByF= Ii Mb@Mb@Mb@     9 Zd;?L7A`~jtx?Y y=y + ; A 9 A  A) A Y AybDuVDuβyz=%O=ٔ8Q->9Y=kGyIE>Q 54?Q 94 )BY>Q E;yQ I9@YDIQ:i{:yQ4yɮ.AgODNOT Ignoring new targets: 26.65 m.*" E EEE"EO:*ET:VEZEa @a @a @a @ BjZ`&7(@=>=>=@=y@Mw/<)Q U0iUO9)QUYiYiYae\QBIaIamx>im>9@ @@@ԩ^A#@II1O=>BqBqBu IBu,BBqBqBqBub;Bui%E 7D,Y@A2p@2 r >2^<ٱ2 KO :AHRS rotation from veh to nav: [[0.990483,-0.136729,0.015762],[0.135722,0.989317,0.053220],[-0.022870,-0.050574,0.998458]]2H ?Y#?R_?@{? ?? Kk`䩿 _?i2p@I2>[];2CYBLByBB IIF<)FC= HJ4<bDNVDNyV<%VZ=ٔZz8Q-Z>9XYX=^kGy\^#PE^>`Q 5f4b\?Q 9f4bU)bBYhyjQ Ij9@b[DIb:ib:b X4ylɮn ApgO DNOT Ignoring new targets: 26.65 m.  * "    jZ&(@999=@M^<)I Mm.iUB9)QUᐷQiQiYY]=KCIaIaE- E-E-$E)"E-,:*E-:VE-4ZE)BE-=D,lY@AY5SBy5K IiiMb@Mb@Mb@ 9~jt?rh|Mb?YD=y<A  A)YbDVDky<%+=ٔQ->9Y=kGyE>Q 54?Q 94ĺ)BY 1>Q E ;y 6Q I 9@]DI ;i ;a`4yɮAgOEDNOT Ignoring new targets: 26.65 m.AA*A"A AIIIMBQQjQZU)@u1>u1>u߳@u%B@) 0i9)  f i iIIԙ9@ @@/@D zD @AE EEE"E:*E H:VEZEa@a@a@a@^A -BI I O- > DD,m:Y@A2h@2z >2<ٱ2M :AHRS rotation from veh to nav: [[0.990604,-0.135803,0.016145],[0.134785,0.989464,0.052854],[-0.023153,-0.050181,0.998472]]2H?aj?`@???k[{?i2h@I2x];2CYB_ByBZ IbDJVDJyR=%Vx=ٔVa:Q-V?9XYX=ZkGyXZ;EZ?Q 54?Q 94ʻ)BYy%UQ I%9@^DI;i;Sf4y)ɮ-oA)gOUDNOT Ignoring new targets: 26.65 m.QQ*Q"Q YYYaaaajaZmї*@|:@<) U*i9)顥iinFIIAAAAB%n>B%܍CB%! IB%1BB% =B!B!B%a;B%W%EiQIQ]9@Y @Y@]4@Y^Aum CIIO>) E%  E% E! E! "E% :*E% i:VE! ZE! BE% .hc@> >>/<ٱ>N JAHRS rotation from veh to nav: [[0.990691,-0.135144,0.016332],[0.134116,0.989550,0.052944],[-0.023316,-0.050261,0.998464]]>H@? jL I?*?e? ? 8ϻj?i>hc@I> E];9Y=kGy˺E>Q 54?Q 94)BYyjQ I9@`DI0;i1;m4yɮKAgODNOT Ignoring new targets: 26.65 m.*" jZq+@65@5/<)1 5(i5H9)9=9i9iAAEkHIAIA)9@ @@4@a^AGIAIaO>ԁ QD,GY@A,Y~qBy~p IiMb@Mb@Mb@ 9i|?5?MbX99Y9==kGy9EEM>YQ 5m4]?Q 9m4])]BYu=Q Eu;y}cQ I}9@]bDI];i];].u4yɮAgODNOT Ignoring new targets: 26.65 m.*" ҃BjZO,@ԉ==@|@) 0i9)xiiHII9@ @@4@ԱBr>BݍCB4 IB@BB =BBmDBa;B7%E^A |(HI I O >XD,aY@A6\@6@>6%E<ٱ6N >AHRS rotation from veh to nav: [[0.990785,-0.134388,0.016855],[0.133327,0.989641,0.053236],[-0.023834,-0.050498,0.998440]]6H?3`B?? $? A? hک7?i6\@I6];6C`Yj}Byj IbDVD1y~=%^=ٔ{:Q->9Y=%kGy!%E%>)Q 554-?Q 954-)-BY1y5dQ I=9@-cDI-w;i-;-{4yAɮEAAgOmDNOT Ignoring new targets: 26.65 m.ii*q"q qqqyyyyjZ-@匬@%E<) *i9)顽iivKII I)E EEE"E:*Eg:VEZEBE 9^D,{Y@A!E]@E >Em<ٱEtN AHRS rotation from veh to nav: [[0.990765,-0.134519,0.017005],[0.133453,0.989630,0.053129],[-0.023975,-0.050369,0.998443]]EHY?`7`i?`? ?3?ɩ`>?iE]@IE'];AY By  I)-AiMb@Mb@Mb@ 9~jt?Mb~jt?YD=y<^A9 A )AY(A 4<bDVDy <%.=ٔ9Q->9Y=kGyf9E>!Q 5-4%& ?Q 954%)%BY5e=Q E5!ԡ eD,=Y@A2a@2@ >2՝<ٱ2M :AHRS rotation from veh to nav: [[0.990696,-0.134978,0.017395],[0.133896,0.989578,0.052980],[-0.024365,-0.050157,0.998444]]2Hdz?F`Б?#??@! ?<@?i2a@I2];2CY^Byb IbDjVDjyr-<%rv=ٔrx:Q-v?9tYt=vkGytzͰ:Ez?|Q 54~ ?Q 94~)~BYyGQ I9@~eDI~;i~<;~4yɮ"AgO=DNOT Ignoring new targets: 26.65 m.99*9"9 AAAAAIIjIZMZ.@yB<A<BBBS IBYBB =BBB+a;B$EB܍CBBB =B =CC@6)))-G@]՝<)Y e3ie 9)aeaiaiiimHIiIq @  @ @ /@ ԩ^AMJIYIiO}> E5  E5 E5 %E1 "E5 m:*E5 L_:VE5 4ZE1 BE5 Sfq<ٱf8L AHRS rotation from veh to nav: [[0.990606,-0.135591,0.017738],[0.134496,0.989507,0.052789],[-0.024710,-0.049907,0.998448]]fH ?[)?&7? ?!?Mn`I?iff@If];fCYBy IbD- VD-2y==%=D=ٔEY:Q-E>9AYI=MkGyIM(:EM>QQ 5]4U ?Q 9e4U)UBYaye{GQ Ie9@UfDIU ;iU ;UՐ4yiɮmAqgODNOT Ignoring new targets: 26.65 m.*" jZ_u/@u @=q<)9 =@+iE&9)AE뛷AiAiIIMFIIIqt>i%>I@I @I@M00@IA^A5GIqԑIO >Թ 2rD,8Y@A2m@2 >2<ٱ2XK :AHRS rotation from veh to nav: [[0.990484,-0.136444,0.018034],[0.135339,0.989405,0.052550],[-0.025013,-0.049609,0.998455]]2H ?@vnw?R?`4??򜙿_fX?i2m@I2];2CYFByF IJ=Jp=a5@a5 a5@a5 a5@a5 a5@a5 9=AAbDEVDE0yU<%UI=ٔU{C:Q-U>9YYY=]kGyYeU ;Ee>iQ 5u4m?Q 9u4mO)mBQ Au+:YqQ Eum4yɮADD<gODNOT Ignoring new targets: 26.65 m.*"   jZ%%0@ԑE EE'E"E:*ET:VE'4ZEa@a@a@a@ C5GM^AY2D9^AY&*AypB?F(A<) B*i;9)`ii4 DII)9@ @@0@Bq>BBs IBsBB =BBB`;B$E^A GI I O > \xD,Y@A2Jq@2 >2Y<ٱ2_K :AHRS rotation from veh to nav: [[0.990415,-0.136909,0.018302],[0.135788,0.989340,0.052605],[-0.025309,-0.049616,0.998448]]2Hz?9?a? ??ꙿ9XYX=ZkGyX^:E^>`Q 5f4b|?Q 9f4b)bBQ Af :YdQ Ef;yf GQ Ij9@bhDIbE:ibJ?b4ynBɮnAnEgODNOT Ignoring new targets: 26.65 m. * "    jZ0@Y<) 'i9)iiBII9@ @@ 4@bEQjEUw4rEUS}/E EEE"E:*Ev:VEZEBEI ~D,;Y@ANkt@N >N<ٱNlCL vAHRS rotation from veh to nav: [[0.990355,-0.137306,0.018570],[0.136165,0.989274,0.052870],[-0.025630,-0.049832,0.998429]]NH?A?m?"?@? > ?iNkt@INR];NCY-By- IbDmVDmk1y=3%E3=ٔU7:Q-U>9aYa=mkGyU:E>Q 54?Q 94)BQ A9YQ E;yGQ I9@iDI:iD?T4yɮAgODNOT Ignoring new targets: 26.65 m.*" !!AIjIZM0@i<) D(i49)顽iiAII}9@y @y@}2@yԑEM EMEIEI"EM:*EMx:VEIZEIaU@aU@aU@aU@^A I I O >nD,Y@A6Py@6 >6f<ٱ6M >AHRS rotation from veh to nav: [[0.990267,-0.137913,0.018757],[0.136756,0.989181,0.053101],[-0.025878,-0.050019,0.998413]]6HC?@$5?9?]?0?"?i6Py@I6b];6CYFByF IIJ4=)J9QYQ=UkGyQAYAYBep>Be܍CBe IBeBBe =BaBaBeu`;Be$E}8:E}>Q 54?Q 94)BQ AT:Y{#=Q EI I O >7ՋD,s1Y@A>~@>1 >>M|<ٱ>M@ JAHRS rotation from veh to nav: [[0.990169,-0.138577,0.019000],[0.137402,0.989080,0.053303],[-0.026179,-0.050169,0.998398]]>Hw?t? c?`?J?Κ?i>~@I>u];>CYRByR IbD^VD^1yfh%fK=ٔf`D:Q-j>9hYh=jkGyhn:En>pQ 5v4rD?Q 9v4r)rBYtyvԻQ Iv9@pIrh:ir:r4y|ɮ~A|gO%DNOT Ignoring new targets: 26.65 m.!!*!"! !))))11j1Z5ڿ1@QQQU@mM|<)i mMCim9)imiiqiqq}1=IyIyU9@Q @Q@U/@QԱ^A}tEIIO> D,DKY@A2@2`3>2<ٱ2M FAHRS rotation from veh to nav: [[0.990027,-0.139563,0.019213],[0.138374,0.988940,0.053390],[-0.026452,-0.050199,0.998389]]2HL?1? 9?e?@U?/@ ?i2@I2];2CYVByZ IE EE%E"E:*E:VE 4ZEa@a@a@a@iMb@Mb@Mb@ 9I +?~jth?y&1|Y94=yD;`A" A K A)YAbDVD:2y K<% 9=ٔ !:Q- >9Y=kGy;E>!Q 5-4%?Q 9-4%v)%BY-6=Q E-Q I-9@%kDI%u:i%;:%^4y9ɮ=A9gODNOT Ignoring new targets: 26.65 m.*" BjZ@52@56=56=5k=5ZK>E<)I M33iM9)qurqiqiyy}9IyII)\A)%9@! @!@%0@!Bo>BB IBBB =BBlDBz`;B$EQ^A- X;I9 IQ O] >ԁ ٘D,eY@A2;@2>2gk<ٱ2fWM :AHRS rotation from veh to nav: [[0.989840,-0.140847,0.019485],[0.139643,0.988763,0.053356],[-0.026781,-0.050093,0.998385]]2H Ĭ? F¿@??? Q?l ѥ?i2;@I2];0YBByF I DDJ=J=LN@AbDRVDR:yVN%Zc=ٔZCp:Q-Z>9XY\=^kGy\^i;Eb>`Q 5f4b+?Q 9j4ba)bBYhyjLM>Q Ij9@`Ib:ibZ:b4ypɮrApgO DNOT Ignoring new targets: 26.65 m.  * "  jZ2@YjLM>gk<) H9i9)ҥiiYV5II9@ @@1@E] E]E]$EY"E]:*E]P:VE]4ZEYBE]D- D, Y@AVV@V`g>V<ٱVM vAHRS rotation from veh to nav: [[0.989714,-0.141714,0.019601],[0.140501,0.988636,0.053460],[-0.026955,-0.050157,0.998378]]VH?`#¿S??@?)_??iVV@IV];VCY-By- IbDu VDu2y»%;=Թٔ9Q-M>9YYa=ekGya:E>Q 54?Q 94F)BYy-N>Q I9@lDIo:i:4yɮAgODNOT Ignoring new targets: 26.65 m.*" !!!IjIZM3@-N><) 9iv9)顭eii2II}9@y @y@}T4@yEU EUEU&EQ"EU>:*EUL_:VEU4ZEQa]@a]@a]@a]@ ^A B4I I O >1 D,9֘Y@A2@2;>2$<ٱ2M :AHRS rotation from veh to nav: [[0.989595,-0.142524,0.019707],[0.141302,0.988517,0.053552],[-0.027113,-0.050210,0.998371]]2Hê?8>¿ *.?`/?? ,k?Û%?i2@I2];2CBR<AR<BVk>BTBTBTBTBTBTBV`;BV$EYBy IiMb@Mb@Mb@ 9/$?MbQY,=yuA A )GAYAbDVD:y%J=ٔ9Q->9Y=kGy ;E>Q 54<?Q 94a)BYB=Q Eq9@ @@0@Em  Em Em (Ei "Em :*Em c:VEm c44ZEi BEm KD,Y@A2u@2@>2j<ٱ2h'N :AHRS rotation from veh to nav: [[0.989496,-0.143195,0.019814],[0.141964,0.988416,0.053667],[-0.027269,-0.050291,0.998362]]2H?9T¿@J?+?@?Dz?`|웿`?i2u@I2g];2CYBByB IIJ=)J=HJAbDNVDNkyVJ%~U=ٔ+9Q->9 Y = kGy  }:E>Q 54?Q 94})BY!y%uQ I%9@mDI|:i1:@4y)ɮ5{A1gO]DNOT Ignoring new targets: 26.65 m.YY*Y"Y YaaaaaijiZmz3@a@j<) NBi9)顥Tiiu .II %9@! @!@%/@!9^AM.IyIO>iԉ W.D,WY@AB@B@z>B<ٱB`N JAHRS rotation from veh to nav: [[0.989414,-0.143746,0.019945],[0.142503,0.988330,0.053818],[-0.027448,-0.050406,0.998352]]BHF?Bf¿@rl?=?`f? ?lΩ~?iB@IBi];@YVxByVy ID^<D^<Eb EbEb&E`"Eb[:*Ebga:VEb4ZE`af@af@af@af@ieMb@Mb@Mb@aaaa a9e+?I +9Y=kGyz:E>Q 54c?Q 9 4)BY {=Q E W WD,,Y@A2 @2 ~>2$<ٱ2PO :AHRS rotation from veh to nav: [[0.989412,-0.143766,0.019894],[0.142518,0.988312,0.054104],[-0.027440,-0.050696,0.998337]]2HC?@f¿@(_?`>?`A??`=`?i2 @I2+];2CYFrByFq IbDNVDNNyV %Vp=ٔV̷Q-V?9XYX=ZkGyX^58E^?`Q 5f4b?Q 9f4bN)bBYdyf7Q If9@boDIb:ibR:b%4ylɮnAlgODNOT Ignoring new targets: 26.65 m.*"     jZ4@1115@M$<)I M/6iM9)IU&QiQiQYYIYIai9@ @@0@@)@-=E EE'E"E:*ErN:VE'4ZEBEn%) ia Ie A0AD,kY@A nЩ@n>nzD<ٱnZ*P %AHRS rotation from veh to nav: [[0.989400,-0.143856,0.019811],[0.142611,0.988295,0.054180],[-0.027373,-0.050781,0.998335]]nH*?i¿@AI?@A??@?`[?inЩ@Inl)];nCYegByme I bDVDk2ymK4%1=ٔQ->9Y=kGyQ9E>Q 54k!?Q 94)BYy7Q I9@I;i+;L4yɮEAgODNOT Ignoring new targets: 26.65 m.*" jZ| 5@@-zD<)1 5b;i59)151i1i99=5G,I9IAI9@ @@@yE EE&E"E:*E:VE4ZEa@a@a@a@=IGU`]Aiv@9`]AYn&A^A++IIO>ԡ B= l>B= ܍CB= l IB= nBB=  =B9 B9 B= a;B= F%E\iD,\Y@A2@22>21<ٱ2P :AHRS rotation from veh to nav: [[0.989452,-0.143487,0.019926],[0.142232,0.988342,0.054309],[-0.027486,-0.050902,0.998325]]2H@?`]¿mg?`4??ZΫ?Q%H?i2@I2^\;2C@YFcByF` IiMb@Mb@Mb@ 9kt?#~j rhY 0=y㥽CA K A)YbDVD02yk%V=ٔ!9Q->9Y=kGyE>Q 54##?Q 94)BY=Q EbEqjEu4rEu?/E  E E E "E :*E n:VE ZE BE 12s<ٱ2P :AHRS rotation from veh to nav: [[0.989502,-0.143126,0.019998],[0.141868,0.988395,0.054300],[-0.027537,-0.050893,0.998324]]2H ?`Q¿`Oz?@(??@(ͫ?2@F?i2@I2\;2CY^XBybQ IbDjVDjN2lyry%rZ=ٔv[9Q-v>9tYt=zkGyxzEz>QQ 5]4U$?Q 9]4UI)UBYayerQ Ie9@UrDIUQ;iU;U4yiɮmAqgODNOT Ignoring new targets: 26.65 m.*" jZ@,5@@s<) 9ib9)ii.II YIa)e[AA@ @@?0@@%\A@%\Aa ^Au ,I I O >D,r7OY@AE. E.E.'E,"E. :*E.]t:VE.'4ZE,a2@a2@a2@a2@BӠ@Bw>B<ٱBO JAHRS rotation from veh to nav: [[0.989552,-0.142779,0.020040],[0.141525,0.988454,0.054124],[-0.027536,-0.050722,0.998333]]BH@h?F¿U?y?`j? ?r2`8@X?iBӠ@IBK];BCYVTByVM IIZC=)Z?>xiMb@Mb@Mb@ 9J +?v/{GzYH=yx齙#GA A  A)1AY AbDVDNy뇼%9=ٔ8Q->9Y=kGyME>Q 54;'?Q 94~)BY=Q E;y0Q I9@sDI;i;04yɮAgO%DNOT Ignoring new targets: 26.65 m.!!*!"! !)))-B11j1Z5>6@U=U=Uoɣ@UC@e<)i m#im9)imᲷiiiiqqu 0IqIyA!9@ @@3@Bo>BBS IBYBBBBBmb;B%EIiIA^At(/IIO>q UD,'hY@A2@2`>2V<ٱ2͓O :AHRS rotation from veh to nav: [[0.989632,-0.142202,0.020172],[0.140944,0.988541,0.054040],[-0.027626,-0.050637,0.998335]]2H?3¿? v ?!?1?I  \?i2@I2P*];2CYFSByFK IbDNVDNNyV6%V_=ٔZ=9Q-Z>9XYX=ZkGy\^ѺE^>`Q 5f4b9)?Q 9f4b)bBYhyjDQ Ij9@buDIb:ib6:b4ylɮnApgODNOT Ignoring new targets: 26.65 m.  * "    jZ@[6@999=>@UV sD,GY@AB@B>Br<ٱBO ~AHRS rotation from veh to nav: [[0.989758,-0.141316,0.020227],[0.140056,0.988666,0.054069],[-0.027639,-0.050683,0.998332]]BH? ¿ y?@W?'??dMV?iB@IBk];BCԱYXByR IiuMb@Mb@Mb@qqqq q9uS㥫? rh~jthYu/]=yuC uDqu A q)qqYu3AbDVD1y<%=ٔc7Q->9Y=kGyٺE>Q 5%4,?Q 9%4V)Y->Q E-;y-Q I-9@wDI@;i; 4y9ɮ=A9gODNOT Ignoring new targets: 26.65 m.*" B11j1Z=.7@E} E}E}%Ey"E} ;*E}R:VE} 4ZEya@a@a@a@>>5@h@r<) f&i9)顥iin95IIa>i%> E9@A @A@I@I@Q@U=1 B q>B B A IB JBB B B mDB b;B %E^AM B4IY Ii Ou >^D, Y@A2@2` >2L<ٱ2O :AHRS rotation from veh to nav: [[0.989868,-0.140528,0.020318],[0.139264,0.988779,0.054042],[-0.027684,-0.050665,0.998332]]2H@?)Δ? f??n? AEm  Em Em #Ei "Em :*Em &p:VEm 3ZEi BEm n%2<ٱ2`O :AHRS rotation from veh to nav: [[0.989970,-0.139788,0.020474],[0.138520,0.988888,0.053965],[-0.027790,-0.050587,0.998333]]2H խ?@`?`??D?t橿W?i2@I2ub];2CY\ByW IbD-VD-2y= =%=E=ٔE9Q-E>9AYI=MkGyIMEM>QQ 54U0?Q 94U)QYyφQ I9@U{DIUo ;D,Y@AE EE$E"ET;*EL_:VE4ZEa@a@a@a@R@R >Rh<ٱRN ^AHRS rotation from veh to nav: [[0.990015,-0.139426,0.020748],[0.138153,0.988956,0.053656],[-0.028000,-0.050254,0.998344]]RH4???`??@x? `ݺn?iR@IR];RCYU_ByU[ IaeAiMb@Mb@Mb@ 9I +?L7A`9AYA=EkGyAM]EM>QQ 5]4U3?Q 9]4U)UBY]>Q Ee;yeQ Ie9@U}DIU:iU:U4yiɮmAigODNOT Ignoring new targets: 26.65 m.*" BjZ]H8@>>@@h<) +i9)uii<;II I)B%p>B%ݍCB%: IB%EBB% =B!B!B%b;B%%Em9@i @i@m/@iY ^AM 89IY Iq q O >;D,Y@AR@R`` >R<ٱR.M bAHRS rotation from veh to nav: [[0.990090,-0.138851,0.021012],[0.137570,0.989048,0.053472],[-0.028207,-0.050052,0.998348]]RHѮ? @?? G?`?D✿hw?iR@IR];RCYrmByrl IbD VD ky%̒=%-[=ٔ-:Q-->91Y1==kGy9=RͺEE>IQ 5U4M5?Q 9U4ML)MBYQy]Q I]9@M~DIM :iM:M_%4yaɮe/AigODNOT Ignoring new targets: 26.65 m.*" jZ8@ޥ@<) $io9)ii/D=IIE  E E E "E m:*E :VE ZE BE Sq qE,sY@A0FHz@F >FiB<ٱF~L jAHRS rotation from veh to nav: [[0.990177,-0.138164,0.021439],[0.136863,0.989147,0.053454],[-0.028592,-0.049995,0.998340]]FH@?`^`;? ??`Q^?GG 嘩 g?iFHz@IFy];FCԉYsBys I==i-Mb@Mb@Mb@)))) )9-+?Zd;y&1?Y-=y--`e<-GA) - A)-A)Y-3A=@A9bDEVDEyU<%U=ٔU;:Q-U>9YYY=]kGyYḙEe>iQ 5u4m7?Q 9u4m)mBYu>Q Eu;yuQ I}9@mDImj:imQ:m.4yɮAE% E%E%"E!"E%:*E%i:VE%(3ZE!a-@a-@a-@a-@gODNOT Ignoring new targets: 26.65 m.*" BjZ89@>>@J@ԹiB<) f&i|9)Diiþ?II9@ @@4@ A A B i>B ۍCB A IB JBB  =B B lDB b;B %EBBBBBC5^A =I I O >}E,Y@A2t@2 >2 <ٱ2!0M >AHRS rotation from veh to nav: [[0.990259,-0.137498,0.021923],[0.136171,0.989237,0.053560],[-0.029051,-0.050053,0.998324]]2H4? r?@ n?`ӧ?(l? E?i2t@I21];2C @)F`ADDDDn`Air`IppIpip rt)tt txxxxz`AIz`)|i|)|I~`A~| |Cii  )  I Y YBy IbD-VD-ܲy==%==ٔE:Q-E?9AYA=MkGyIMEM?QQ 5]4U8?Q 9]4U)UBYaye)Q Ie9@UDIU):iU:U34ym BɮmUAmEgODNOT Ignoring new targets: 26.65 m.*" jZ|9@rE@ <)  iF9)KiiAIIA9@ @@/@^A]_>IiIyO>qE EE&E"E:*EX:VE4ZEBE52<ٱ2wM :AHRS rotation from veh to nav: [[0.990331,-0.136899,0.022424],[0.135542,0.989315,0.053700],[-0.029536,-0.050142,0.998305]]2H˰?b?tY?@x?~? >-?i2bo@I2n];2C@YBy IbD-VD-yuo<%}G=ٔ}':Q-}>9Y=kGy6ʺE>Q 54:?Q 94)BYy;Q I9@DI;i;;4yɮ5AgODNOT Ignoring new targets: 26.65 m.*" jZ 9@@@<) i"9)!i!i!)-DI)I)@ @@/@Թ^A&t@IAIiO% > q u C XG  5 A91 Y5 Z'AE  E E $E "E :*E :VE 4ZE a @a @a @a @E,SY@A2[m@2  >2 <ٱ2jM :AHRS rotation from veh to nav: [[0.990350,-0.136678,0.022932],[0.135295,0.989347,0.053728],[-0.030031,-0.050107,0.998292]]2H?~{?[Q??`D?@?i2[m@I2];2CTY-By- IiMb@Mb@Mb@ 9=ٔ:Q->9Y=kGyE%>!Q 5-4%i!>Bf>BBS IBYBB =BBkDBb;B%Eq@q @q@u0@y^A4|EIIO>1 E,ɓmY@A6l@6 >6<ٱ6^ZM >AHRS rotation from veh to nav: [[0.990354,-0.136545,0.023530],[0.135130,0.989367,0.053789],[-0.030624,-0.050091,0.998275]]6H?Kz@A?K?`?9?\`v?i6l@I6]];6CY^By^ IbDjVDj:yr }=%va=ٔv:Q-z>9xYx=~kGy|E> Q 54 (>?Q 9%4 ) BY!y-Q I-9@ DI ;i <; H4y1ɮ=TA9gO}DNOT Ignoring new targets: 26.65 m.yy*y" jZ޲:@@<) %i9)8ibEJ4jEr 4rE0E= E=E=(E9"E=,:*E=R:VE=c44ZE9BE=i I Aԡ !E,kY@AE#n@E ! >EXE=ٱEYLԁ AHRS rotation from veh to nav: [[0.990298,-0.136831,0.024222],[0.135384,0.989337,0.053695],[-0.031311,-0.049894,0.998264]]EH?͘?`GT?`?}?@?iE#n@IE];AYBy Ii=Mb@Mb@Mb@9999 99=+?ʡEMb?Y==y==<=A=& A 9)=KA9Y9bDUVDU0y]=%e)=ٔe:Q-e>9iYi=mkGyiu :Eu>qQ 5}4u*@?Q 94u)uBY=Q EB B s IB sBB B B B b;B %E = 9@A  @A @E /@A )^Ae4|EIqIO?:)E,Y@A6r@6` >6Q=ٱ6dK >AHRS rotation from veh to nav: [[0.990178,-0.137429,0.025692],[0.135912,0.989268,0.053628],[-0.032786,-0.049609,0.998230]]6H`?@IN?e?@?!u?\ɠif?i6r@I6;];4YJByJ IN=Np=bDRVDRyZ%ZA=ٔ^d;Q-^>9\Y\=^kGy\b;:Eb>dQ 5j4fA?Q 9j4fQ =jtI)fBYlynuQ In:@fDIf ;if ;fX4ypɮrApgO DNOT Ignoring new targets: 26.65 m. *" jZ%`;@D^@5Q=)1 5K,i59)9=ķ9i9iIQUT-BIQIY]9@Y @a@e1@aE% E%E%%E!"E%m:*E%ga:VE% 4ZE!BE%SI 1m0E,Y@AYBy IbD5VD51yE<%EC=ٔEQ-E>9IYI=MkGyIMEU>QQ 5]4UC?Q 9e4Uj)UBYayaQ Ie:@UDIU;iU+;U`4ymBɮuAqgODNOT Ignoring new targets: 26.65 m.*" jZ b<@9aaaa) )i 9)顝zŷiiJkBII9@ @@4@i^A5g@E= E=E=&E9"E=:*E=e:VE=4ZE9aE@aE@aM@aM@IQIaOu>ԑ ԗ6E,DY@AB4B4B6 IB6BB6 =B4B4B6^b;B6%EREt@R` >R =ٱRmL ZAHRS rotation from veh to nav: [[0.990099,-0.137716,0.027167],[0.136112,0.989221,0.053990],[-0.034310,-0.049758,0.998172]]RH@?`ћ?!l? ??y?iREt@IR];RCYfByf IiMMb@Mb@Mb@IIII I9MX9v?Zd;Mb`?YM9Y=kGy:E>Q 54E?Q 94)BY1=Q EAEE  EE EE #EA "EE O:*EE ҆:VEE 3ZEA BEE 2a=ٱ2kM :AHRS rotation from veh to nav: [[0.990103,-0.137561,0.027812],[0.135911,0.989225,0.054419],[-0.034998,-0.050100,0.998131]]2H?z? e??ܫ?M롿ඦ?i2r@I2^;2CYBByB IIF<)Fp9)Y1=5kGy15E5>9Q 5E4=TF?Q 9E4=)=BYIyMvQ IM:@9I=:i=d:=!n4yQɮU,AYgODNOT Ignoring new targets: 26.65 m.*" jZo<@O@a=) i'i9)ȷii~tBII9@ @@@^Au&t@IIO>I CE,}^Y@A2%s@2` >29=ٱ2^N >AHRS rotation from veh to nav: [[0.990070,-0.137662,0.028475],[0.135970,0.989204,0.054659],[-0.035692,-0.050245,0.998099]]2Hম?`(?ug? ?@P?=F`@m?i2%s@I226^;0YFʂByF IiMb@Mb@Mb@ 9V-?y&1Mb`Y9Y=kGyV9E>Q 54G?Q 94+)Y8=Q ER=@M8=M8=MH@Ms@e9=)a e(ie9)aewɷaiiiiiud)BIqIy yyIy)yIAaAe?ABeb>BeڍCBe IBeBBe =BaBaBeb;Be%Ey1@1 @1@5/@1@==@==ԩ ^AQ Ii Iy O >IE,ߥ)Y@A$2q@2 >2=ٱ2hN >AHRS rotation from veh to nav: [[0.990067,-0.137546,0.029135],[0.135811,0.989211,0.054929],[-0.036376,-0.050426,0.998065]]2H?՝?>b???`֟ }ѩ@&?i2q@I2d>^;2CYF͂ByF IbDNVDNy^<%bV=ٔf:Q-f>9hYh=jkGylnֹEr>tQ 5~4vH?Q 9~4v)tYytQ I:@vDIvr>;iv|O;v/|4yɮAgO]DNOT Ignoring new targets: 26.65 m.YY*Y"Y YjZ =@)))-r@=) M'i9)顅ʷiiBIIyU9@Q @Q@U/@QE EDE%E"E:*Eh;VE 4ZEBEu mPE,;UCY@AiIA>s@> >>e=ٱ>N FAHRS rotation from veh to nav: [[0.990020,-0.137727,0.029855],[0.135954,0.989189,0.054974],[-0.037103,-0.050366,0.998041]]>H>?` `/?f?@o?@%?.@ɩ?i>s@I>P^;>CYN̂ByR I TTbDZVDZ0`yf=%fK=ٔf&:Q-f>9hYh=jkGyhn+9En>pQ 5v4rJ?Q 9v4r<)pYtyvtQ Iv:@rDIr:ir:r,4y|ɮ~A|gO%DNOT Ignoring new targets: 26.65 m.!!*!"! )))))11j1Z5>@QQQUs@me=)i m'im9)im̷qiqiqy}PBIyIy9@ @@M2@^A&t@IIOj>DD<E EE&E"E:*Ek:VE4ZEa@a@a@a@A BE _>BA BE IBE BBE =BE EDBE jDBE ob;BE %EBۍCBڍCBVE,31]Y@AB5 =B5 =C5R56r@6 >65{=ٱ6?_N >AHRS rotation from veh to nav: [[0.990006,-0.137699,0.030460],[0.135893,0.989195,0.055016],[-0.037706,-0.050327,0.998021]]6H` ?@0? d?{?+?:Nkĩ@?i6r@I6+#^;6CYFՂByF Ii}Mb@Mb@Mb@yyyy y9}+?V-{GzY}=y}m}#}bA}9 A } A)}AyY}AbD VDf2y#=%==ٔ:Q->9Y=kGy0 E>Q 54K?Q 94)BY=Q E;@5=5=5Q@5:@5{=) +i9)~ͷii#wBIIIm9@i @i@m4@i@q@qy^AIIO>ԡ E  E E E "E :*E g:VE ZE BE 32=ٱ2ĮN :AHRS rotation from veh to nav: [[0.990045,-0.137292,0.031027],[0.135453,0.989248,0.055153],[-0.038265,-0.050401,0.997996]]2Hr?@ƒ@ş?V??=?2Ω?i2n@I2^;2CYBւByB IbDNVDN!yV f;%V\=ٔVS:Q-V>9XYX=ZkGyXZ⛺E^>`Q 5b4b&M?Q 9f4bY)bBYdyfYQ If:@bDIb>:ib:b74yhɮnyAlgOeDNOT Ignoring new targets: 26.65 m.aa*a"a aaiiiiqjqZu>@yޭ@=) /+i9)  η i i154DI1I99@ @@d3@ԩ^Ag@IIO> - ɀGE ^A dE,Y@A *?9*^AY*&AJn@J`9 >J0=ٱJM RAHRS rotation from veh to nav: [[0.990023,-0.137305,0.031639],[0.135440,0.989256,0.055033],[-0.038855,-0.050199,0.997983]]JHE?82?V??@W-?䣿 `z?iJn@IJK^;JCYZقByZ II^p=)^=i=Mb@Mb@Mb@9999 99={Gz?Zd;I +Y=#=y=y=949= A =& A)=bA9Y=A Up<E EE(E"E2:*E:VEc44ZEa@a@a@a@U<bDVD1y\<%6=ٔ &:Q- >9 Y=kGy5E5>1Q 5E45N?Q 9E45)5BYE=Q EE3BٍCB IBBBBBBGb;Bx%E)^A tEI I O >Q g3jE,ɪY@AZek@Z` >Z+!=ٱZN fAHRS rotation from veh to nav: [[0.990057,-0.136915,0.032258],[0.135014,0.989307,0.055164],[-0.039465,-0.050260,0.997956]]ZH?o?`#H?g?q>?`4A?iZek@IZ];ZCYvӂByv IbD  VD 2y%[=ٔ2:Q-%>9!Y!=%kGy!-ZE->1Q 5=45tP?Q 9=45)5BY9y=\Q IE:@5DI5~ ;i5 ;54yMBɮMAMEgOuDNOT Ignoring new targets: 26.65 m.qq*y"y yyyjZ(?@dw@+!=) 1i9)ѷii~tEII1A@A @A@M/@I@U=@U=bEUĞ4jEU-4rEU/E EE#E"E1;*E:VE3ZEBEkԉԹ 9qE,OY@A2h@2x >2f#=ٱ2M :AHRS rotation from veh to nav: [[0.990081,-0.136632,0.032734],[0.134707,0.989349,0.055165],[-0.039923,-0.050209,0.997941]]2H?,} ?`>?`?>?p`!?i2h@I2L];2CYBڂByB IbDfVDfyn,=%nN=ٔrX:Q-r>9pYp=vkGytvJEv>xQ 5~4z R?Q 9~4z!)zBYy\Q I:@xIz:iz:z4y ɮ oA gO=DNOT Ignoring new targets: 26.65 m.99*9"9 999AAAAjIZMY@@iiim{t@}f#=) k-i9)顅ҷiipFIIԉ-9@) @)@-/@)Թ^AM4|EIYIiO}z>E EE(E"Es:*Eخ:VEc44ZEa@a@a@a@B _>B ڍCB IB BB B B B a;B M%E CwE,xY@A2f@2 >2:%=ٱ2TM >AHRS rotation from veh to nav: [[0.990110,-0.136318,0.033161],[0.134372,0.989395,0.055155],[-0.040328,-0.050154,0.997927]]2H@?ro?3?@?U=?ӥ`̭?i2f@I2];2CYDyD HHJ=J=imMb@Mb@Mb@iiii i9my&1?p= ף:vYm`e=ymmTim& A m A)mAiYmAAAAAbDVDP)yq%?=ٔx:Q->9Y=kGyNE>Q 54WT?Q 94)BY=Q EI E  E E 'E "E a:*E k:VE '4ZE BE (2&=ٱ2=M >AHRS rotation from veh to nav: [[0.990146,-0.135945,0.033609],[0.133975,0.989447,0.055186],[-0.040757,-0.050140,0.997910]]2H G?f<5?@&??`eA?ޤ ?i2b@I2];0YF݂ByF IbDRVDRyZ<%ZZ=ٔZt:Q-Z>9\Y\=^kGy\bXEb>dQ 5j4f[V?Q 9j4fW)fBYhyj;Q Ij:@fDIf:if`:f4ypɮrVApgO DNOT Ignoring new targets: 26.65 m.  * "  jZ%l@@AAAE@U&=)Q U)iU]9)Qշii>HIIQm9@i @q@u4@q@y@yԁ^A1IAIYOew>Ա UE,Z.Y@A6`@6`t >6q(=ٱ6,M >AHRS rotation from veh to nav: [[0.990166,-0.135702,0.033990],[0.133717,0.989486,0.055115],[-0.041112,-0.050028,0.997901]]@6Hq? ^3g?@?ީ?@8?@ I?i6`@I6]];6CYJقByJ IiMb@Mb@Mb@ 9I +?Zd;y&1|Y94=yy` A & A)KAY\AbD5VD5yE %EA=ٔM\:Q-M>9IYI=MkGyQU EU>YQ 5e4]2X?Q 9e4])]BYm=Q Em/ E, ,Y@A F]@F  >F)=ٱF2M RAHRS rotation from veh to nav: [[0.990204,-0.135350,0.034302],[0.133348,0.989534,0.055148],[-0.041407,-0.050034,0.997889]]FH ? 'S ? ?B?W9tYt=vkGytzQxEz>|Q 54~Y?Q 94~)~BYy PQ I :@~DI~y:i~:~4yɮtAgO=DNOT Ignoring new targets: 26.65 m.AA*A"A AAAIIIIjQZU5@@qqquj@)=) (i9)額GطiiLJIIM9@Q @Q@U/@Q E EE)E"E:*E&p:VEFA4ZEBED-a gE,EY@A2\@2>2*=ٱ21L :AHRS rotation from veh to nav: [[0.990216,-0.135226,0.034428],[0.133221,0.989555,0.055075],[-0.041516,-0.049950,0.997888]]2H`گ?O?b ?o?2?A`?i2\@I2ut];2CYDyF IbDNVDN0yV1V;%VN=ٔV9Q-Z>9XYX=ZkGyX^ڨE^>`Q 5f4b[?Q 9f4b)bBYdyfQQ Ij:@bDIb~:ib:b4yl9ɮ]oAagODNOT Ignoring new targets: 26.65 m.*" jZ0 A@P@*=) h(i9)ٷii~CKIIm9@i @q@u/@q@y@}=i^AԡID=D4=E EE&E"EO:*E]t:VE4ZEa@a@a@a@IO> B ^>B B B B B B jDB a;B $EΑE,_Y@A2\@2>2v+=ٱ2sL :AHRS rotation from veh to nav: [[0.990203,-0.135240,0.034771],[0.133220,0.989558,0.055022],[-0.041849,-0.049851,0.997880]]2H@?@O͡? W ?u?+??m` ?i2\@I2B];2CYBقByF Ii Mb@Mb@Mb@     9 Zd;O?QMbY j<=y u  GA  A  A) GA Y AbD%VD%1y5Ȼ%5B=ٔ}K:Q-}>9Y=kGyʔ5E>Q 54ԙ]?Q 94)BY=Q E.E  E E 'E "E 2:*E k:VE '4ZE BE !* \@>>>',=ٱ>;L FAHRS rotation from veh to nav: [[0.990206,-0.135171,0.034949],[0.133144,0.989570,0.054988],[-0.042017,-0.049796,0.997875]]>Hï?IM?` ??@e'?`C ~?i> \@I>];9hYh=jkGyhn$NEn>pQ 5v4rK_?Q 9v4r>)rBYtyvIQ Iv:@rDIr2:ir:r4y|ɮ~A|gO%DNOT Ignoring new targets: 26.65 m.!!*!"! )))))11j1Z5cpA@QQQU4֯@m',=)i m"imh9)im%ܷiiqiq oKII@ @@0@^AUJIaIqO{>1a 禤E,Y@A:s^@: + >:,=ٱ:qK FAHRS rotation from veh to nav: [[0.990161,-0.135463,0.035089],[0.133435,0.989540,0.054826],[-0.042149,-0.049605,0.997879]]:Hf?V8?b?O?,?@e@?i:s^@I:];8YNȂByN Ii%Mb@Mb@Mb@!!!! !9%Q?y&1MbY%\=y%`e!%A% A % A)!!Y% AbD=VD=N2yMF6%MD=ٔU9Q-U>9YYY=ekGyaey8:Ee>iDqzDu?AE} E}E}&Ey"E} :*E}~:VE}4ZEya@a@a@a@Q 54m`?Q 94m)mBY;=Q EGBMٍCBM IBMBBM =BIBIBM`;BM$EBڍCBBB =B =CsN5y^AMJIYIiOu>ԩ ͪE,YQY@A2 _@2= >2[,=ٱ2EK :AHRS rotation from veh to nav: [[0.990155,-0.135528,0.035010],[0.133506,0.989533,0.054775],[-0.042067,-0.049562,0.997885]]2HY?`X??`A? ?׉5`?i2 _@I2 \;2CYF͂ByF IbDNVDNyV<%VV=ٔZr`Q-Z>9XYX=ZkGyX^D9E>!Q 5-4%+b?Q 954%V)%BY1y5NbQ I=:@%DI%TA;i%9;%(4yIɮMAIgODNOT Ignoring new targets: 26.65 m.*" jZ &A@Ƭ@[,=) K!i|9)޷ii )JI I Ա9@ @@4@E EE$E"E2:*Ec:VE4ZEBEa2EaJE;a:E;a^AJIIO> i I A9 E,,Y@A2^`@2h >2@,=ٱ2K :AHRS rotation from veh to nav: [[0.990134,-0.135686,0.034981],[0.133667,0.989514,0.054736],[-0.042042,-0.049520,0.997888]]2H-? (^`??@?[?`wZ?i2^`@I29\;2CYɂBy II=)=bDVD2y|%,=ٔcQ->9Y=kGy9E>Q 54c?Q 94)BYyCbQ I:@DIl:i :B4yɮAgO=DNOT Ignoring new targets: 26.65 m.AA*A"A AAAIIQQjQZUB@qqqurǬ@@,=) -#iW9)額෉iiȮIII 9=C9@ @@4@GAM/ 9IYU AE EE'E"E:*Ega:VE'4ZEa@a@a@a@q ^A BJI I O >BM [>BI BM IBM BBM " =BI BI BM U`;BM $E߷E,JY@A F^^@F( >F!_+=ٱFK RAHRS rotation from veh to nav: [[0.990176,-0.135441,0.034753],[0.133427,0.989536,0.054911],[-0.041827,-0.049735,0.997886]]FH?#V $ˡ??H?`Q?Jjv ?iF^^@IFY\;FCTTiTIZvEXIZ3CiX XX)\\ \\\```I`)`i`)dIddd dhj^Aj7ihhiln^A)n lIlYlYvByv Ionly read 0 of 1 data item for BIT error. Device response is::TS,00050504364758,35.0 0.0,1492.2, 0 a@a a@a a@a a@a bD%VD%:y56%5j=ٔ5!Q-5?99Y9==kGy9ER7EE>IQ 5U4M e?Q 9U4Mn)MBQ AU+:YQQ EU!M24yaɮe8AagODNOT Ignoring new targets: 26.65 m.*" jZ}@B@!_+=) ('iY9)U᷉iiOJIIU9@Q @Q@U/@Qqԡ^A9IIIaOuy> bE-ʀ'4jE-4rE-/E  E E E "E ;*E v:VE ZE BE A22+=ٱ24M :AHRS rotation from veh to nav: [[0.990203,-0.135261,0.034681],[0.133238,0.989546,0.055196],[-0.041784,-0.050035,0.997873]]2H?@:P? ?\?`B?d#`?i2\@I2\;2CLYzłByz IbDVD:yS<%L=ٔݸQ->9!Y!=%kGy!%E->)Q 554-uf?Q 954-)-BQ A= :Y9Q E=! E,Y@AJa]@J >J*=ٱJM VAHRS rotation from veh to nav: [[0.990198,-0.135330,0.034555],[0.133308,0.989529,0.055328],[-0.041680,-0.050179,0.997870]]JH`?~R#?;?8?@S?W`?iJa]@IJa\;JCtEU EUEU&EQ"EU ;*EU:VEU4ZEQa]@a]@a]@a]@YBy I ==aa a%a% a%a% a%a% i%Mb@Mb@Mb@!!!! !9%X9v?MbX9I +Y%9QYQ=UkGyQ]%9E]>aQ 5m4eg?Q 9m4e)eBQ AmT:Ym=Q EuBB IBBB! =BBB_;B?$E9@ @@/@IIOE>Aq E,E.Y@A6]@6 >6)=ٱ6N BAHRS rotation from veh to nav: [[0.990200,-0.135393,0.034255],[0.133384,0.989516,0.055369],[-0.041392,-0.050257,0.997878]]6H ? Tމ???KY?@c1K ?i6]@I6A\;6CYRByR IbD^VD^N2yjS;%jg=ٔjbUQ-n>9lYp=rkGypr^9Ev>xQ 5~4z2i?Q 94z)zBYyQ I:@zDIzI8;iz#9;z4yɮAgOMDNOT Ignoring new targets: 26.65 m.QQ*Q"Q QYaaaiiijqZuB@@E)=)A E iEI9)IM巉IiIiqquJIqIy9@ @@0@IIO >Em EmEm%Ei"Em:*Em՚:VEm 4ZEiBEm5:(=ٱ:|N BAHRS rotation from veh to nav: [[0.990219,-0.135290,0.034103],[0.133286,0.989526,0.055435],[-0.041246,-0.050348,0.997880]]:H߯?+Q@u??2? b?..ǩ`?i:-]@I:\;:CY\y`bDrVDry:%G=ٔ UQ- >9Y=kGyE>)Q 554-j?Q 9=4-^)-BYAyEQ IE:@-DI-_;i-"`;- 4yQɮUAQgODNOT Ignoring new targets: 26.65 m.*" ԹjZC@@u(=)y }i}9)y}F淉yiyiKIIM9@I @I@M1@IIYIiO}>E} E}E}#Ey"E}:*E}ą:VE}3ZEya@a@a@a@B [>B B IB BB B B B D_;B #E9 .E,UObY@A26\@2>20w'=ٱ2ZN >AHRS rotation from veh to nav: [[0.990250,-0.135156,0.033736],[0.133171,0.989542,0.055418],[-0.040874,-0.050385,0.997893]]2H ?LE? ?T?_?g@̩?i26\@I2\;0YvByv IIx)zR=||iuMb@Mb@Mb@qqqq q9u{Gz?MbX/$Yuף9Y=kGy呹E>Q 54k?Q 94p)BYE=Q EE  E E 'E "E l;*E ]t:VE '4ZE BE WF2,&=ٱ2 N :AHRS rotation from veh to nav: [[0.990285,-0.134949,0.033541],[0.132976,0.989570,0.055387],[-0.040666,-0.050388,0.997901]]2H`i?FX,?`Z??[? -Ҥ ~̩ ?i2Z@I2'\;0YFByF IbDRVDRkyVh/=%Z[=ٔZQ-Z>9XY\=^kGy\^? Eb>`Q 5f4bl?Q 9j4bb)bBYhyjQ Ij:@bDIb:ibZ:b4ylɮrApgO DNOT Ignoring new targets: 26.65 m.  * "   jyZ}&vC@.@,&=) ciB9)跉iiLII!ԑ9@ @@/@^A LIIO> nCE,Y@AjU@j>j%=ٱj|N rAHRS rotation from veh to nav: [[0.990377,-0.134356,0.033196],[0.132400,0.989647,0.055392],[-0.040295,-0.050464,0.997913]]jH+?2@?`~?1?`R\?@]֩?ijU@Ij];jCE= E=E=%E9"E= :*E=Ǚ:VE= 4ZE9aE@aE@aE@aE@Y1y5 IiMb@Mb@Mb@ 9{Gz?X9v~jtYyAjA  A)1AYp AbDVDy:% =ٔ>Q->9Y=kGy땺E>Q 54Rn?Q 94)BY >Q E ;y =Q I :@DI ;i ;#4yɮAgOEDNOT Ignoring new targets: 26.65 m.AA*A"I IIIQUÃBQQjQZ] C@u>u>u@u}@BZ>BB IBBBBBB|^;B#E%=) = i9)顽鷉ii[KNIIm9@i @q@u3@q@}\A@}\AA ^A I I O >jE,Y@AVER@V`>V \#=ٱVN fAHRS rotation from veh to nav: [[0.990451,-0.133906,0.032808],[0.131975,0.989711,0.055274],[-0.039872,-0.050416,0.997932]]VHƱ? #<̠??൫?`L?j)Щ@?iVER@IV"];VC n3C)n`ArC ppppirԼIv EtItivaA vtt)xx z`Az̼xx||I~ļ)~Ei|)I`Aj[F    i  i CA) IYYBy% I ))-=-p=bD5VD5fyE=%E=ٔMQ-M ?9IYQ=UkGyQU`EU ?YQ 5e4]Go?Q 9e4])]BYiymJQ Im:@]DI]:i]d:]P)4yqɮuAygODNOT Ignoring new targets: 26.65 m.*" jZ`~C@O@ \#=) ii9)額귉iieOIIQM9@I @I@M/@IEU EUEU*EQ"EU:*EUxv:VEU(N4ZEQBEU<8ԡ RE,Y@A@ZK@Z@>Z:"=ٱZ6*O jAHRS rotation from veh to nav: [[0.990570,-0.133079,0.032568],[0.131159,0.989817,0.055309],[-0.039597,-0.050516,0.997938]]ZH@? ??@?Q? F@ݩ?iZK@IZxu];ZCYBy IbDVD2y<%C=ٔ,Q->9Y=kGyE>Q 54p?Q 94[)BYydQ I:@DI;i;04y BɮAEgODNOT Ignoring new targets: 26.65 m.*" !!!!j!Z-D@@:"=) i09)뷉ii!!-zRI)I)]p>i]>ԩ@ @@/@DYD]<Eu EuEu$Eq"Eu:*Eu:VEu4ZEqa}@a}@a}@a}@^A PI I) O5 > B X>B B IB BB " =B B B ];B W#EBMٍCBMٍCBIBM! =BM! =CM5.|E,ȖY@A2C@2>2 =ٱ2TO :AHRS rotation from veh to nav: [[0.990705,-0.132147,0.032270],[0.130244,0.989940,0.055273],[-0.039250,-0.050557,0.997950]]2H`ڳ? 0?٫??L? ⩿ 4?i2C@I2];2CpY-By- IiMb@Mb@Mb@ 9:v?(\¿{GzYT9Y=kGyE>Q 54q?Q 94)BYm>Q E;yQ I:@DI@:i:74y ɮ XAgO=DNOT Ignoring new targets: 26.65 m.99*9"9 9AAAEʃBIIjIZMjHD@mm>mm>mc@m<ϝ@} =) i9)顅췉iiUI1I9 @ @@/0@@=@=1^A XRI I) O1 Em  Em Em %Ei "Em :*Em i:VEm 4ZEi BEm 391Y1=5kG9y9EEE>IQ 5U4Mr?Q 9U4MQ)MBYQyQQ IU:@MDIM:iMk4yɮ!AgO DNOT Ignoring new targets: 26.65 m.*" !!!!j!Z-`{D@IIIIY)a eie9)aeaiaiiimUIiIq9@ @@4@iԑ^A@WIAIQOe>e IGy !9 Y  A F,[Y@A +.@E EEE"E:*E|:VEZEa%@a%@a%@a%@  "> =ٱ O EAHRS rotation from veh to nav: [[0.991075,-0.129478,0.031701],[0.127615,0.990295,0.055041],[-0.038520,-0.050505,0.997981]] H? ;?@U??@d.?ָ۩@u?i +.@I ^; CY]ЂBy] Iԑi=Mb@Mb@Mb@9999 99={Gz?HzGY=#9iYi=mkGyiu/ĻEu>yQ 54}s?Q 94})}BY >Q E;yQ I:@}DI}M;i}B;}2F4yɮAgODNOT Ignoring new targets: 26.65 m.*" ՃBjZ !D@ > >)@R@=) i L9)   i i_II!B-V>B-؍CB- IB-BB-# =B)B-iDB-V^;B-#E9@ @@4@^A CTI I1 OE > F,,)1Y@A:'"@:>:x=ٱ:M BAHRS rotation from veh to nav: [[0.991272,-0.128002,0.031554],[0.126163,0.990503,0.054647],[-0.038250,-0.050189,0.998007]]:H?[b'?&?3??uc`?i:'"@I:_;:CYJۂByJ Ij@Aj@AbDnVDnyvs=%vf=ٔzGQ-z>9xYx=~kGy|~(E~>Q 5 4}t?Q 9 4)BYy$Q I:@DIB:i:iL4y"Bɮ:A%¦EgOEDNOT Ignoring new targets: 26.65 m.II*I"I IIIQQQQjYZeD@yyy}F@x=) Gi9)顝﷉ii2lcII59@1 @1@5/@1@9@9bEû 4jE 4rE]%0E5 E1E5(E1"E5V:*E1VE5c44ZE1BE59Qy WF,c KY@ABd@B=Bn=ٱBM JAHRS rotation from veh to nav: [[0.991494,-0.126316,0.031359],[0.124499,0.990728,0.054379],[-0.037938,-0.050013,0.998028]]BHR?"+X?)߿? ?`׫?`l@A?iBd@IBod`;BCYRByR!IbDZVDZybSf=%fM=ٔfLQ-f>9dYh=jkGyhjىEn>lQ 5r4nfu?Q 9r4n~)nBYtyv\Q Iv:@nDIny:in :ndS4yxɮ~A|gO%DNOT Ignoring new targets: 26.65 m.!!*!"! !!))))1j1Z5E@8@%n=)! %i%9))-𷉢)i)QiQY]iIYIY9@ @@ /@ yE EE%E"E:*Eh:VE 4ZEa@a@a@a@^A cII)O5>ԩB) B) B- IB- BB) B) B) B- _;B- #E F,dY@A6@6r=6=ٱ6L BAHRS rotation from veh to nav: [[0.991711,-0.124662,0.031109],[0.122866,0.990943,0.054176],[-0.037581,-0.049905,0.998047]]6H?鿿@۟?t?ϵ??='?i6@I6O`;6CYJByJ!IiMb@Mb@Mb@ 9S㥛?y&1~jtx?Y/9IYI=MkGyIM뀻EU>QQ 5]4Uv?Q 9e4U)UBYeD=Q Ee;yepQ Ie:@UDIU:iU:UZ4yiɮuDAqgOUDNOT Ignoring new targets: 26.65 m.YY*Y"Y YaaimBqyjyZKE@D=D=]@s@=) iM9)񷉢iifnII I)9@ @@/@^A8kIIO> EM  EM EM &EI "EM ;*EM [:VEM 4ZEI BEM L9`Yd=fkGydfEf>hQ 5n4j,x?Q 9n4j)jBYpyrQ Ir:@jDIj<;ijY;jza4ytɮvAtgODNOT Ignoring new targets: 26.65 m.*" !!!!j)Z-yE@IIIMg@]0=)Y ]die9)ae򷉢aiaiiim!DsIiIq9@ @@~0@@%=@%=A^AfmIIO%n>i %F,fY@A D|zD~AAE5 E5E5)E1"E5:*E5:VE5FA4ZE1aE@aM@aM@aM@u9@u=u=ٱu_L AHRS rotation from veh to nav: [[0.992064,-0.121998,0.030435],[0.120247,0.991278,0.053929],[-0.036749,-0.049841,0.998081]]uH@?>;`[*?|Ⱦ??@?Т`τ@G?iu9@Iu*_;uCYByC!IAiMb@Mb@Mb@ 9Q?l{Gz?Y9Y=kGyE>Q 54y?Q 94)BYϤ=Q E$Q I:@DI:i:i4yɮ,AgO=DNOT Ignoring new targets: 26.65 m.99*9"9 9AAAEBIIjIZME@iuϤ=uϤ=u@u-@@=) i9)額󷉢iivIIBBB IB΂BB$ =BBB'_;B#E@ @@0@ԑ^AE rIQ Ia Om > \,F,oY@A2@2=2 i=ٱ2L :AHRS rotation from veh to nav: [[0.992154,-0.121315,0.030205],[0.119581,0.991366,0.053786],[-0.036469,-0.049752,0.998096]]2H?``?✾? F?ȉ? y@f?i2@I2&v^;2CYB ByBH!IPbDNVDNJyV<%Vi=ٔZPQ-Z>9XY\=^kGy\^Eb?`Q 5f4bz?Q 9f4b=)bBYhyjVQ Ij:@bDIb:ib:bo4ylɮn ApgO DNOT Ignoring new targets: 26.65 m.  * "    jZE@999=D:@M i=)Q UiU{9)QUQiQixIIx>i>9@ @@t4@E EE&E"E:*E:VE4ZEBE! K2F,JY@A6@6^=6H=ٱ6%K >AHRS rotation from veh to nav: [[0.992181,-0.121158,0.029965],[0.119445,0.991396,0.053542],[-0.036194,-0.049544,0.998116]]6H ?1)??`?i? ]?i6@I6^;6CYF/ByF[!ILLbDRVDR0yZ=%ZJ=ٔZ12Q-^>9\Y\=^kGy`bʳEb>dQ 5j4f(|?Q 9j4f)fBYhyj\Q In:@fDIf :if$:fv4ypɮrAp|gODNOT Ignoring new targets: 26.65 m.*" !!!!j!Z-F@AAAE8@]H=)Y ]i]9)aeaiaiiimxIiIi9@ @@/@@@)E5 E5E5)E1"E5s:*E5 n:VE5FA4ZE1a@a@a@a@^AwԡIIOE>B B B !IB BB # =B B B ^;B #E k9F,&Y@A2:@2H=2=ٱ2J :AHRS rotation from veh to nav: [[0.992201,-0.121093,0.029569],[0.119404,0.991407,0.053425],[-0.035784,-0.049478,0.998134]]2H?@@PG?;??Z?PR,U?i2:@I2];2CYB9qYq=}kGyy}ԸE}>Q 54D}?Q 94ԙ^)BY~C=Q EE=  E= E= %E9 "E= :*E= :VE= 4ZE9 BE= K"AHRS rotation from veh to nav: [[0.992167,-0.121439,0.029265],[0.119765,0.991364,0.053412],[-0.035499,-0.049488,0.998144]]6Hտ?@?訾?B?X? ,V?i63@I6l];6CYFBByFr!IbDRVDRyVk=%ZW=ٔZ8EQ-Z>9XY\=^kGy\^Tz:Eb>`Q 5f4bA~?Q 9f4b)bBYhyjYQ Ij:@bDIb:ibG:b4ylɮrApgOmDNOT Ignoring new targets: 26.65 m.ii*i"i iiiqqjZ`e~F@.ۭ@n=) i9)iiwII!)9@ @@/@!iߡIߡ^AxII O>Iԁ -FF,`Y@AEz EzEz"Ex"EzO:*Ezi:VEz(3ZExa@a@a5@a5@0@E=NP=ٱ,K AHRS rotation from veh to nav: [[0.992104,-0.122031,0.028954],[0.120370,0.991289,0.053459],[-0.035226,-0.049552,0.998150]]HP?f=`$?о?ࢸ?_?  ^?i0@I:];CYJBy|!IQi}Mb@Mb@Mb@yyyy y9} rh?9Y=kGyy:E>Q 54?Q 94)BY=Q E TLF,c3Y@A6O@6@=6=ٱ6RL BAHRS rotation from veh to nav: [[0.992041,-0.122642,0.028523],[0.120992,0.991196,0.053776],[-0.034867,-0.049897,0.998146]]6H̾? e 5?@R?@?? ڡ?i6O@I6];6CYHyJ{!IbDVVDVkyZ%%Zp=ٔ^7Q-^?9`Y`=bkGy`b:Ef?dQ 5j4f?Q 9j4f)fBYlynپQ In:@fDIf;if{;f4ypɮrAtgODNOT Ignoring new targets: 26.65 m.*" !!j!Z% F@AAAEI"@U=)Y ] i](9)Y]YiaiaamLsIiIiԱ9@ @@2@E EE#E"E:*Ega:VE3ZEBE# 9 9pYp=rkGypvb;Ev>xQ 5z4z큤?Q 9~4z+)zBY|y~Q I~:@xIz;iz;z4y ɮ A gO5DNOT Ignoring new targets: 26.65 m.11*1"1 199AAAAjAZM G@ mn>mCcG.@"9Y; A =)  i9)iinIII)9@ @@4@9D=D=E EE'E"E%;*Ez:VE'4ZEa]@a]@a]@a]@^ArIIO>Bu W>Bu ٍCBu Z!IBu /BBu ! =Bq Bq Bu 4];Bu "Eԁ fYF,mgY@A 2= @2=2N =ٱ23M >AHRS rotation from veh to nav: [[0.991758,-0.125139,0.027497],[0.123530,0.990870,0.054010],[-0.034004,-0.050169,0.998162]]2H{? (?@?4? A? i@?i2= @I2^;2CYFLByF~!IiMb@Mb@Mb@ 9~jt?:vI +YD=yT9AjA  A)AY AbDVDN2y1%;=ٔ,iQ->9Y=kGy+;E>Q 54?Q 94C)BY^=Q Et bEɞ4jE4rEͰ0E  E E ,E "E :*E :VE g4ZE BE &2 =ٱ2 M :AHRS rotation from veh to nav: [[0.991613,-0.126374,0.027074],[0.124786,0.990716,0.053953],[-0.033641,-0.050122,0.998176]]2HK?@-:?@? ?ǟ?Z9?i2@I2U^;2CYFJByF{!IPbDLVDLyZh%Z`=ٔZxQ-Z>9\Y\=^kGy\bb;Eb>dQ 5f4f7?Q 9j4fW)fBYhyjz(Q Ij;@fDIf:ifl:f 4ypɮrApgO DNOT Ignoring new targets: 26.65 m.  * "  jZ%~G@@ =) i9)iiυfI!I!9@ @@/@^A-hI9IIO]>! nfF, EY@AEf EfEf'Ed"Efa;*EfAr:VEf'4ZEdar@av@ av@a@~@,>cp=ٱM AHRS rotation from veh to nav: [[0.991504,-0.127311,0.026688],[0.125742,0.990596,0.053937],[-0.033304,-0.050123,0.998188]]H f?@K@5T?@R??`?= @'?i~@Iq^;CY!y-|!IiMb@Mb@Mb@ 9 ףp= ?~jtX9vYQ8=yA  A)xAY AbDVD1y|1;%,=ٔl9Q->9Y=kGy;E>Q 54*?Q 94)BYO=Q EGB ؍CB f!IB 9BB " =B B iDB \;B "E]4yɮAgODNOT Ignoring new targets: 26.65 m.*" JBjZG@EO=EO=E"@EL@Ucp=) i9)顝0iicIIp>i>-9@) @)@1@1I^AU SfIa Iy ԁ O >lF,LY@A2%@2 >2j=ٱ2M :AHRS rotation from veh to nav: [[0.991400,-0.128174,0.026408],[0.126623,0.990490,0.053813],[-0.033054,-0.050006,0.998202]]2H?`h ?`/5?`? S?x젿aD?i2%@I2-];2CYZCByZr!I `bp;bDfVDfN2yj7%ns=ٔnBQ-n?9pYp=rkGypr,;Ev?tQ 5z4v?Q 9z4v)vBY|y~Q I~;@tIv;iv;v@4yɮ A gO5DNOT Ignoring new targets: 26.65 m.11*1"1 11999AAjAZEG@Yiiim@}j=) i9)顅ii`II1@1 @1@50@1@==@==E EE&E"E ;*Ei:VE4ZEBErTԱ sF,Y@A2%@2 >2=ٱ2M :AHRS rotation from veh to nav: [[0.991415,-0.128132,0.026038],[0.126594,0.990485,0.053970],[-0.032706,-0.050210,0.998203]]2H`?fҩ?=4?@?졫?վ`$`G?i2%@I2+l];2CYB>ByFl!IbDNVDNyV2̼%VM=ٔV(eQ-Z>9XYX=ZkGyX^E^>`Q 5f4b.?Q 9f4bi)bBYdyfQ Ij;@bDIb\:ib:b64ylɮU!AQgO}DNOT Ignoring new targets: 26.65 m.y*" jZH@¸@Թ=) ji9)iiPaII@ @@L0@E E%E%E"E :*E;VE 4ZEa5@ae@ae@ae@^A^IAIaO>ԙB V>B B B B B B jDB a\;B "EԹ δyF,Y@AF!@F>F=ٱFN VAHRS rotation from veh to nav: [[0.991491,-0.127592,0.025799],[0.126060,0.990542,0.054180],[-0.032467,-0.050467,0.998198]]FHK?`Tj?"?@?u? ֩9Y=kGyZE>Q 54Y?Q 949){BY=Q E E  E E E "E *E Ar:VE ZE BE K"2 =ٱ2M*O :AHRS rotation from veh to nav: [[0.991545,-0.127170,0.025800],[0.125637,0.990593,0.054229],[-0.032454,-0.050529,0.998195]]2H@?G@Pk??@?ë?@ީ6?i2@I2 \;2CY=.By=Y!IEAAEAAbDMVDMy]%]A=ٔe Q-e>9aYa=mkGyim?Em>qQ 5}4ul?Q 9}4u)utBYy_`Q I;@uDIu:iu:uQ4yɮAgODNOT Ignoring new targets: 26.65 m.*" jZH@@ =)  i9)ii!̱dII]9@Y @Y@]4@a@q@qA ^Ae ^Ii I O >ƆF,kY@AE^ E^E^(E\"E^:*E^xv:VE^c44ZE\az@az@a~@a~@;@@==ٱO UAHRS rotation from veh to nav: [[0.991691,-0.126038,0.025758],[0.124504,0.990730,0.054341],[-0.032368,-0.050683,0.998190]]H?!3`?}߿?@?@ҫ?@`,?i;@IL];aaie`eIaaIe@Cii ii)ii mq@qqqqyIy)yiy)yI}^AyɁ ʁʁʅ^Aʁiʁʉiˉˍ^A)ˍ ˉIˉYY,ByV!I BU>BBT!IB*BBBBiDB\;B"EiEMb@Mb@Mb@AAAA A9EL7A`?V-:vQYE+=yEEԼAESA EjA)EAAYE( AbDeVDeN2yu!%u:=ٔuMQ-u>9yYy=}kGyy*E>Q 5 4%?Q 9 4K)pBY=Q E;yQ I;@©DIF,EG6Y@A2@2=2=ٱ2O :AHRS rotation from veh to nav: [[0.991875,-0.124539,0.025956],[0.122997,0.990918,0.054336],[-0.032487,-0.050702,0.998185]]2Hq?῿ ? |??ѫ?@@"?i2@I2n];2C@Y*ByT!IbD- VD-:2yEw*%Ev=ٔEڻ9Q-E?9IYI=MkGyIMݕEU?QQ 5]4Us?Q 9e4UF)UlBYayeϖQ Ie;@UéDIU;iUr;U4yiɮuAqgODNOT Ignoring new targets: 26.65 m.*" jZ+H@\@=) Ji79)iinIII)m9@q @q@u/@qE EE%E"E&:*EVE 4ZEBE_; ؓF,O"PY@A2@2=2;{=ٱ2`N :AHRS rotation from veh to nav: [[0.992099,-0.122693,0.026196],[0.121154,0.991167,0.053937],[-0.032582,-0.050337,0.998201]]2H@F?h)Ӛ????८`ũB?i2@I2^;2CpY~By~F!I 4< bDVDk2yea%eH=ٔmSu9Q-m>9iYq=ukGyquEu>yQ 54} ?Q 94}|)}hBYy Q I;@}ũDI}:i}:}4yɮ7AgODNOT Ignoring new targets: 26.65 m.*" jZ@I@L@;{=) i +9)  x i i;=tII9@ @@/@@=@= E EE&E"Ea:*E:VE4ZEa@a@a@a@9^AUfmIBT>BBA!IBBBBBB^;B^#EBqBqBqBu" =Bu" =Cu_4IO5 >a F,jY@AB@B=Bh=ٱBN NAHRS rotation from veh to nav: [[0.992349,-0.120629,0.026302],[0.119091,0.991425,0.053792],[-0.032565,-0.050248,0.998206]]BHS?@᾿?|? ?`?Y+ M?iB@IBC_;@YVByVA!Ii5Mb@Mb@Mb@19111 195kt? rh9iYi=mkGyiuEu>Q 54?Q 94)eBY7>Q E;yQ I;@ǩDI:i@:B4y ɮUAgO=DNOT Ignoring new targets: 26.65 m.99*A"A AAAIMBIIjIZUKUI@}7>}7>}@}NI@h=) Ǿi9)顝ii4{IIa@a @i@i@iyԙ^Am| uIyIO>E  E E E "E :*E n:VE ZE BE >AHRS rotation from veh to nav: [[0.992580,-0.118636,0.026672],[0.117088,0.991676,0.053556],[-0.032803,-0.050036,0.998209]]6H@6?^O?`?л?k? ˠQS?i6@I6q`;4YJ&ByJO!IbDRVDRfyZ!q=%ZV=ٔ^#:Q-^>9\Y`=bkGy`b Eb>dQ 5j4fꖤ?Q 9j4f/)fbBYlyn]Q In;@fɩDIff;if;f4ypɮrAtgODNOT Ignoring new targets: 26.65 m.*" !j!Z%@I@AAAE8@Ub=)Y ]-i]9)Y]:aiaiaim}〽IiIi}t>i}>ԡ9@ @@y3@ G9 Y  A^A5zIAIQO]v>! <F,Y@AER ERER'EP"ER:*ERz:VER'4ZEPan@ar@ar@ar@u@u=u7J=ٱumM AHRS rotation from veh to nav: [[0.992845,-0.116312,0.027018],[0.114751,0.991952,0.053508],[-0.033024,-0.050025,0.998202]]uH`c?@ƽ@?T`??@fe?`}蠿ۜE?iu@IuDDa;uCBiBiBm4!IBmBBiBiBiBm^;Bm#EY*ByT!IiUMb@Mb@Mb@QQQQ Q9UQ?V-¿~jthYU\=yUhUDUAUA Q)UK AQYU AbDmVDm0y}\<%}%=ٔ9Q->9Y=kGywE>Q 54?Q 94)cBY>Q E;yKQ I;@˩DIG ;im ;Q4yɮAgODNOT Ignoring new targets: 26.65 m.*" jZ`I@ > > @ <@7J=)! %Qi%9)!-)i)i)15ɄI1I1U9@Q @Y@]0@Y@a@aI^A [I) I9 OM >q >F,ΎY@AY~6By~c!I = =bDVD2y%=%%{=ٔ%Q-- ?9)Y)=-kGy)5E5 ?9Q 5E4=v?Q 9E4=%)=dBYAyAQ IM;@=ͩDI=:i=:=4yQɮUvAQgODNOT Ignoring new targets: 26.65 m.*" jZ@I@!)) -i-9))-)i)i19=1I9I9YbEjET4rEb/E EE$E"Em:*Eh:VE4ZEBESԁԱ &F,iY@A2@2'=2k =ٱ24M :AHRS rotation from veh to nav: [[0.993288,-0.112233,0.027986],[0.110625,0.992417,0.053587],[-0.033788,-0.050132,0.998171]]2H?L`G?Q?`?o?@L⪩ ?i2@I2P`;2CYn5Byna!IbDzVDzy_%M=ٔ:Q->9 Y = kGy =*E>Q 5%5*?Q 9%5)Y!y%ӛQ I%;@ΩDIT ;i. ;5y1ɮ5A1gO]DNOT Ignoring new targets: 26.65 m.YY*Y"Y aaaaiiijiZm l J@@k =) {io9)顭GiiIIԱM9@Q @Q@U/@QD=D4=E EE*E"E:*Ega:VE(N4ZEa@a@a@a@^A}xrIIO>BuS>BqBqBqBu% =BqBqBui_;Bu$E 9 QF,EY@A2b@2=2 =ٱ2BL :AHRS rotation from veh to nav: [[0.993413,-0.110996,0.028457],[0.109370,0.992563,0.053441],[-0.034177,-0.049977,0.998165]]2H ?7j@#??`?\?`?i2b@I2_;2CY^=By^k!Ii}Mb@Mb@Mb@yyyy y9}Zd;O?HzGMbP?Y}j<=y}= }:} Ay y)}AyY} A <bDVDky&=%@=ٔ6p:Q->9Y=kGyBE>Q 55W?Q 95)fBY >Q E;yQ I;@ЩDI:i:5yɮAAgO DNOT Ignoring new targets: 26.65 m.  * "  B!!j!Z-,WJ@e >e >e*N@et@} =)y pi,9)顅iisII9@ @@@9^AЉII O >i E  E E +E "E :*E &p:VE [4ZE BE #AHRS rotation from veh to nav: [[0.993538,-0.109717,0.029060],[0.108060,0.992704,0.053497],[-0.034717,-0.050011,0.998145]]2H ?@f?ѩ?;?c?|ơ?i2@I2(_;0YFKByF}!IbDRVDRܲyZ=%Z[=ٔZ1:Q-Z>9\Y\=^kGy\bMgEb>dQ 5f5f=?Q 9j5fK)fgBYhyj㐿Q Ij;@fҩDIf:if:f5ypɮrApgO DNOT Ignoring new targets: 26.65 m.  * "  jZ`J@999=֤@M1;=)Q UHiU9)QUQiQiiIIm9@i @q@u/@qԁԡ^A5mꊽIAIQOew> cF,3Y@AE: E:E:&E8"E:;*E:e:VE:4ZE8a>@a>@a>@a>@PVD@V =V\K=ٱV~L fAHRS rotation from veh to nav: [[0.993617,-0.108851,0.029615],[0.107169,0.992803,0.053460],[-0.035221,-0.049945,0.998131]]VH?ݻVS?io? ? _?wd?iVD@IV^;VCYNBy!IbDUVDU:2y5v<%==ٔ:Q->9Y=kGyAA@ABT>BBA!IBBB# =BBB_;B9$E_E>Q 55?Q 95 )hBYyQ I;@ԩDI:i: 5yɮAgOuDNOT Ignoring new targets: 26.65 m.qq*q"q qyyyyjZUJ@Ϥ@\K=) i9)^ii-VI)I)I9)9@ @@@^A I I O >! F,8Y@A2ր@2=2w=ٱ2[dL :AHRS rotation from veh to nav: [[0.993656,-0.108338,0.030181],[0.106629,0.992864,0.053405],[-0.035751,-0.049848,0.998117]]2H`??L??W?@M?i2ր@I26O^;2C|Y`By!IiMb@Mb@Mb@ 9?:vMb`?YL=yԽ;=A A)bAY A)-@AbD5VD51yE=%E1=ٔE[:Q-E>9IYI=MkGyIUOEU>YQ 5e5]Τ?Q 9e5] )]iBYe]=Q Ee;yeQ Im;@]֩DI]:i]:Eu EuEu(Eq"Eu:*Eu:VEuc44ZEqBEu5tF,RY@A `)`b+b F`df`Aif̼IddIhij"aA hj F)hl lnļnE!%`AI!)!i!))I)-ļ) )111i11i19)9 9I9Y9YYeiBye!IbDuVDu:2y$Q=%l=ٔQ-?9Y=kGyE?Q 55?Q 95 )jBYyQ I;@שDI[:iR:5yɮAgODNOT Ignoring new targets: 26.65 m.*" jZ%K@    !)! %@i%D9)!- )i)i)15I1I99@ @@4@ԙE  EE$E"ED;*E҆:VE4ZEa@a@a@a@ԹBU>BBZ!IB/BBBBB`;B[$E^A]HIIO% > F,PlY@A2j{@2=2r=ٱ2?JL :AHRS rotation from veh to nav: [[0.993682,-0.107740,0.031425],[0.105967,0.992930,0.053489],[-0.036966,-0.049821,0.998074]]2H>?ݔ? ? ?@b?;8?i2j{@I2];2CYqBy!IԹi Mb@Mb@Mb@     9 y&1?V-MbP?Y `=ٔM9;Q-U>9YYY=]kGyYeɺEe>iQ 5}5m৤?Q 9}5m )mkBY}Q=Q E}-9 F,dtY@A2z@2b=2o=ٱ28L :AHRS rotation from veh to nav: [[0.993670,-0.107679,0.032007],[0.105871,0.992933,0.053622],[-0.037555,-0.049894,0.998048]]2H&?Ґ`>c?d??Ut?e:@?i2z@I2];2CYzBy!I 5;5bDEVDENyUF=%][=ٔ]n:Q-e>9aYa=mkGyimȃEu>yQ 55}?Q 95}L )}lBYyQ I;@}٩DI}S@ >Ai^AIIO>ԙ F,@Y@AE& E&E&&E$"E&O;*E&:VE&4ZE$a*@a*@a*@a*@fS{@f@=ff=ٱfkL nAHRS rotation from veh to nav: [[0.993635,-0.107798,0.032691],[0.105951,0.992916,0.053777],[-0.038256,-0.049971,0.998018]]fH?૘ټ????`Sĕ?ifS{@If];fCYvxByv!IIz=)z<bDVDyE%EL=ٔUZ:Q-U>9aYa=mkGyiudW9E}>BA<BT>BBy!IBHBB" =BBB_;B/$EBBByB# =B# =Q 556?Q 95Cߎ5)mBYyQ I;@کDIe5=ihH=_5y1ɮ5eA1gO}DNOT Ignoring new targets: 26.65 m.yy*" jZ "K@-L@f=) 5Wi=9)Amiiiiqy}ÒIyIԡ]9@Y @Y@Y@aiI^A I I O > F,Y@A2Q}@2 =2 =ٱ2M >AHRS rotation from veh to nav: [[0.993592,-0.108063,0.033133],[0.106191,0.992886,0.053855],[-0.038717,-0.049991,0.997999]]2H?@ ?@R/??ؒ?ң`q?i2Q}@I2)];2CYFByF!IiMMb@Mb@Mb@IIII I9MMb?:v~jtxYM9yYy=}kGyy:E>Q 55瘝?Q 95)lBY2`=Q Er) m> CM Ga y ,9 Y AF,Y@A6}@6=6 =ٱ6 N >AHRS rotation from veh to nav: [[0.993575,-0.108071,0.033602],[0.106163,0.992873,0.054159],[-0.039215,-0.050244,0.997967]]6H@^?`94?`z-??@ɺ?@X?i6}@I64];6CYFByJ!ILLbDRVDR!yZ%ZW=ٔZ :Q-^>9\Y\=bkGy`bڐEb>dQ 5j5f?Q 9j5f )fkBYhynQ In;@dIf>:if:f5%5ypɮrAtPB*** querying acoustic contact *** gODNOT Ignoring new targets: 26.65 m.*" !!!j!Z% Z$L@AAAE@U =) i;9)ii2eIIQ9@ @@ 1@@@Ee EeEe$Ea"Ee :*Ee:VEe4ZEaam@am@am@am@y=2Acoustic response timeout=Querying Benthos address 50 with one ping in standard two-way mode.BR>BB!IB\BB$ =BBB?_;B#E^A=HIiI1 O] >Ա F,Y@A6i@6=6o"=ٱ6M >AHRS rotation from veh to nav: [[0.993502,-0.108612,0.034010],[0.106683,0.992817,0.054151],[-0.039647,-0.050171,0.997953]]@6H@?`ͻi?O?(??L=ٔ:Q->9Y=kGy:E>Q 55?Q 95)hBY0U=Q E~ BDAT read: Tx time:00:48:47.5226 $Ping request sent.BjZ^L@0U=0U=@z@5o"=)1 5i5y9)9= 9i9iAAEnpIAIIԹ%9@! @!@%4@)^AI IQ bE!4jE^+4rE0Eu  Eu Eu 'Eq "Eu m:*Eu L_:VEu '4ZEq BEu S M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250724G,`Y@AB@B=B.$=ٱBM VAHRS rotation from veh to nav: [[0.993395,-0.109442,0.034489],[0.107493,0.992735,0.054055],[-0.040154,-0.049990,0.997942]]BH? e??|?`?`X$?iB@IB];BCYfByf!IpbDvVDv1y % R=ٔת:Q->9Y=kGy%M ;E->1Q 5=55l?Q 9E55)5dBYAyE>Q IE;@5ݩDI5;i5;5c,5yIɮMAQgODNOT Ignoring new targets: 26.65 m.*" j Z `L@aaae-@.$=)  i9)顝eiiII M9@I @I@M4@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5026279^AQIYIqO}>a -G,z!Y@AE EE&E"E:*E[:VE4ZEa@a@a@a@Ri@R=R&=ٱR2L ZAHRS rotation from veh to nav: [[0.993323,-0.109980,0.034844],[0.108014,0.992681,0.054023],[-0.040530,-0.049899,0.997932]]RH M?'@ ס?Ʀ? ?`ᨫ?`_ L ?iRi@IR];RCYfByf!IbDnVDnNyz#ӻ%~L=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756933ٔNs:Q->9!Y!=%kGy!%:E->)Q 555-O?Q 955A9A=?ABET>BABE!IBElBBABABABE^;BE#EY-j)-aBYaye0Q Im;@)I-D@ =Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006724^A I I! O- > G)G,e;Y@A@2@2=2(=ٱ2M :AHRS rotation from veh to nav: [[0.993287,-0.110150,0.035319],[0.108153,0.992657,0.054170],[-0.041027,-0.049987,0.997907]]2H`?2@b?? ? 7?zޗ`?i2@I2f];0YFByF!IIJC=)J{>iMb@Mb@Mb@ 9{Gz?Zd;O{GzYף9ԹY=kGy9E>Q 55,?Q 95)]BY/]=Q Eu9  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510779X"G,ˆUY@A6@6=6h)=ٱ6M >AHRS rotation from veh to nav: [[0.993298,-0.109952,0.035625],[0.107930,0.992668,0.054424],[-0.041348,-0.050215,0.997882]]6H`?@%r=?R??ݫ?+?i6@I6 F];6CYFByF!IbDRVDR0yV%ZY=ٔZ_:Q-Z>9\Y\=^kGy\bEb>`Q 5f5b㴳?Q 9j5bY)bZBYhyjdQ Ij;@bߩDIbu:ib:b65ypɮrqApgO DNOT Ignoring new targets: 26.65 m.  * " j!Z%g'M@AAAE@Uh)=)Q UiQ)Y]` YiYiaaelIaIi]9@Y @a@e/@a!DDR=E% E%E%$E!"E%:*E%k:VE%4ZE!a-@a-@a-@a-@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762772BR>BB!IBvBB# =BBB^;B#E^A쎽IIO!Qy G;G,oY@AFA@F=F;*=ٱFaN VAHRS rotation from veh to nav: [[0.993283,-0.110023,0.035820],[0.107990,0.992659,0.054464],[-0.041549,-0.050230,0.997873]]FH ?|*V?=ٔ9Q->9Y=kGy39E>Q 55ܰ?Q 95)UBŸ́=Q EL- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266791 $"G,Y@AY=By=!IbDMVDMy]`%eN=ٔeQ-e>9iYi=mkGyimEm>qQ 5}5u?Q 9}5u)uRBYyQ I;@uDIu:iu :u>5yɮAgODNOT Ignoring new targets: 26.65 m.*" jZM@) i9) ii   NTI I9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518699^AIIO>) E]  E] EY EY "E] %;*E] c:VEY ZEY ae @ae @ae @ae @CW(G,Y@A6!@6=6*+=ٱ6[O >AHRS rotation from veh to nav: [[0.993364,-0.109190,0.036144],[0.107125,0.992731,0.054860],[-0.041871,-0.050624,0.997840]]6H`?u?l?s? ?`*p `멿M?i6!@I6!];4YFByF!IbDRVDR 3yZJ<%ZU=ٔZB\:Q-Z>9\Y\=^kGy\b}Eb>jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770859Bn<AlBrN>Br׍CBr!IBr{BBr$ =BpBpBr^;Br#E`Q 5~5b?Q 9~5b&)bNBY|yQ I;@bDIby:ibB:bwA5y ɮ A gOEDNOT Ignoring new targets: 26.65 m.AI*Q"Q QYjZ @Tw.G,⬼Y@A@Y~By~!IiMb@Mb@Mb@ 9I +?9 Y = kGy  E>Q 55?Q 9%5)KBY%=Q E%+  DAT read: 00:48:49.9682 LVL= 29088, 29425, 32754, 32755, AGC= 68, IDX= 485,-0.32,-2.621,-1.065,-3.127,-2.101, PHS=-0.418, 1.080,-1.070, RAW= 347.2, 4.3, CAL= 346.9, 2.1, ROT= 163.1, -2.1  Ygot valid direction response: 00:48:49.9682 LVL= 29088, 29425, 32754, 32755, AGC= 68, IDX= 485,-0.32,-2.621,-1.065,-3.127,-2.101, PHS=-0.418, 1.080,-1.070, RAW= 347.2, 4.3, CAL= 346.9, 2.1, ROT= 163.1, -2.1  PDAT read: Bearing 338.2, 19.3 (Local)  ~Local bearing/azimuth received: Bearing 338.2, 19.3 (Local)  DAT read: Range 11 to 50 : 31.1 m (Round-trip 41.5 ms) speed -0.1 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.956171,0.290507,0.036644] Fpublishing direction and range infoy  =@m?(א¢?Y A q r ) DI ־i q=? @ پ@ ) 8/6@I );QiH? V) hmI 8/6@i P_5G,{Y@A2@2@=2+=ٱ2M :AHRS rotation from veh to nav: [[0.993381,-0.109006,0.036233],[0.106955,0.992774,0.054414],[-0.041902,-0.050179,0.997861]]2H?绿@?fa??3ܫ?@5t z?i2@I2\;2ClY}By}!IAAbDVD:2y;%K=ٔ8Q->9Y=kGypE>Q 55?Q 95)HBYyQ I;@DI:iK:H5yɮ`AY@AJZARZAj<@Um=!@ ?r=@m?(א¢?Z8/6@bFh!zN>pnnD@6ʘӲ?zE]￰#?Rů?2$@:s"bC?** {BjBF?ʴ“BAm4@gO addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 60.263166 s, deltaX: 4.300001 m, approachRate: 0.071354 m/s, rangeRepo size: 4 gO Added new target pos. range: 30.919340 m, bearing: 169.134877 deg, lat: 36.779287 deg, lon: -121.859547 deg, deltaT: 60.263166 s, deltaX: 4.272320 m, approachRate: 0.070894 m/s, posRepo size: 4 gODNOT Ignoring new targets: 30.92 m.*"   j ?@Z  ?IIIMc@}+=) @i9)顅 ii!II E9@A @A@I@ID!D%<E- E-E-)E)"E-:*E-xv:VE-FA4ZE)a5@a5@a5@a5@BL>BB!IBvBB& =BBhDB^;B#EBBBB$ =B$ =Cq51^AM HIy I O >ԁ };G,hY@AB@B@=Bcx+=ٱBkK RAHRS rotation from veh to nav: [[0.993339,-0.109392,0.036222],[0.107364,0.992760,0.053847],[-0.041851,-0.049600,0.997892]]BHm??<|??ޑ? rm`e ?iB@IB|];BCYZByZ!IYiuMb@Mb@Mb@qqqq q9uV-?~jty&1Yu9Y=kGyDž:E>Q 55յ?Q 95w)EBY =Q E EE  EE EE 'EA "EE %.;*EE i:VEE '4ZEA BEE 79XYX=ZkGyX^էE^>`Q 5b5b?Q 9f5b/)bCBYdyfQ If;@bDIb:ib`:bO5ylɮnPAlgODNOT Ignoring new targets: 30.92 m.*"     jZ k?1115l@E0*=)I M#iM9)IMc IiIiQY]~IYIYԱ 9@  @ @  0@ @@G׃9!Y%dA^A-BI9IIO]v> 1 D1 zD1 E=  E= E= $E9 "E= 2:*E= xv:VE= 4ZE9 aE @aE @aE @aE @OHG,$Y@ABBM>B@B@B@B@B@B@BB_;BB#EbY@b=by)=ٱbDI zAHRS rotation from veh to nav: [[0.993392,-0.109022,0.035862],[0.107032,0.992821,0.053386],[-0.041425,-0.049194,0.997930]]bH?@軿\?rf?@1?YU?@5 0 ?ibY@Ib-];bCYBy!I  ==bDVDy-<%-C=ٔ-,Q-5>91Y1=5kGy1=xE=>AQ 5M5EG?Q 9M5E)EABYIyMQ IU;@EDIEl:iEd:E;S5yYɮ],AYgODNOT Ignoring new targets: 30.92 m.*" jZg?@Ey)=)q ulyiu9)y顅 iib IIA@ @@0@q^A I I O >ԙ NG,=Y@AY~By|iMb@Mb@Mb@ 9Mb?{GzMbY@=yף A A)YAbDVD0y%B=ٔQ->9Y=kGyE>Q 558?Q 95)>BY=Q E  UG,WY@A2|@2=2 '=ٱ2K :AHRS rotation from veh to nav: [[0.993515,-0.108071,0.035328],[0.106091,0.992899,0.053808],[-0.040893,-0.049711,0.997926]]2H`??(? ??錄`s?i2|@I2O\;2CYBByB!I HJ;bDNVDNyVL%V\=ٔVQ-V>9XYX=ZkGyX^'E^>`Q 5f5bﻤ?Q 9f5b)b;BYdyf"qQ If;@bDIbK:ibW:b%Z5ylɮnZAlgODNOT Ignoring new targets: 30.92 m.*"     jZl@@ '=) i9)!%) !i!i))-QI)I19@ @@0@@=@=E EEE"Ea:*Ei:VEZEa @a @a @a@BL>BB!IB{BB' =BBB_;B!$E^AI!IAOm>1 Y ![G,AqY@AYzByz!II|)~=iMb@Mb@Mb@ 9kt?ˡE:vY 0=y什T AA A) AYAbDVDky(=%9=ٔQ->9Y=kGyE>Q 55ս?Q 95u)9BY|=Q E {@:=:F%=ٱ:[M BAHRS rotation from veh to nav: [[0.993555,-0.107899,0.034740],[0.105932,0.992896,0.054189],[-0.040340,-0.050160,0.997926]]:H`3? @jɡ?@c? ??o?i:>{@I:\;8Y^Byb!IbDhVDhyr<%rZ=ٔr|Q-r>9tYt=vkGytzEz>xQ 55zr?Q 95z9)z7BYy|Q I;@zDIz;iz;zCa5yɮAgO=DNOT Ignoring new targets: 30.92 m.99*9"9 AAAAAIIjIZM&@iiimZq@F%=) ri.9)顅 iiȒIII@Q @Q@U/@Qԉ^AqIIO> E  E E &E "E :*E ga:VE 4ZE a- @a- @a- @a- @hG,aY@ABI>B֍CBBB& =BBB`;BY$E>H}@> =>dx#=ٱ>hM JAHRS rotation from veh to nav: [[0.993546,-0.108121,0.034296],[0.106182,0.992875,0.054078],[-0.039899,-0.050088,0.997948]]>H!?@׭@N?.??@,?m`/?i>H}@I>X*];>ClYMByM!IbDmVDm03yJ<%@=ٔꇺQ->9Y=kGy:E>Q 55I?Q 95)4BYy|Q I;@DIK;iL;e5yɮAgODNOT Ignoring new targets: 30.92 m.*"  19AjAZm @999=s@dx#=) Bji9)页 ii`IIY@Y @Y@]/@Y@i@i9a ^A I I O >oG,<Y@AY~By~!I 9iMb@Mb@Mb@ 9Mb?+QY@=yu9 AA A) AY(AbDVDy;%F=ٔQ->9Y=kGyE>Q 5 52ä?Q 9 5)2BY=Q E uG,Y@A2@2=2=ٱ24J :AHRS rotation from veh to nav: [[0.993455,-0.109298,0.033178],[0.107447,0.992785,0.053223],[-0.038756,-0.049309,0.998031]]2Hb?@???`?? ף ?`?i2@I2$];2CYFByF!IbDNVDNβyV -<%V^=ٔVLQ-Z>9XYX=ZkGyX^We;E^>`Q 5f5bĤ?Q 9f5b)b/BYdyjmQ Ij;@bDIbN:ib:bk5ylɮnAlgODNOT Ignoring new targets: 30.92 m. * "    jZe@999=PW@M=)I MSiU9)QUI QiQiYY]⏽IYIaIi)iԙ9@ @@4@D=DE EE%E"E:*Ek:VE 4ZEa@a@a@a@B=E>B9B=!IB=BB=) =B9B9B=_;B=C$E^AIIO%n>! %|G,Y@A6@6@=6-=ٱ6I BAHRS rotation from veh to nav: [[0.993414,-0.109863,0.032547],[0.108055,0.992737,0.052885],[-0.038120,-0.049020,0.998070]]6H ? ? ??? 0?i6@I6M];6CYJByJ!IiMb@Mb@Mb@ 9Mb?/$ rhYyC A) AYA -p<-bD5 VD5f2yEQH%EA=ٔMĺQ-M>9IYI=UkGyQU:EU>YQ 5e5]Ƥ?Q 9e5]z)],BYm.=Q EmԩE EE'E"E:*E&p:VE'4ZEBE)9XYX=ZkGyX^I:E^>Q 55Ȥ?Q 95L))BY!y%uQ I%;@DI;i;r5y)ɮ-A1gOUDNOT Ignoring new targets: 30.92 m.YY*Y"Y YYaaaaijiZm@5U@=) 7i29) iizIIԱU9@Q @Q@U/@Q^AuWIIO> E  E E (E "E ;*E n:VE c44ZE a @a @a @a @A A AAB! B! B% !IB% BB% ' =B! B! B% _;B% $EB֍CB֍CBB' =B' =CЗ5A 7G, &Y@A>@>c=>i=ٱ>)J NAHRS rotation from veh to nav: [[0.993431,-0.110055,0.031351],[0.108301,0.992703,0.053027],[-0.036958,-0.049284,0.998101]]>H/?,3 ??8? k&?`$좿 ; q?i>@I>z];>CY^Byb!IbDvVDvy =%E=ٔ tĺQ->9Y=kGyĹE>Q 55ʤ?Q 95-)&BYyuQ I;@DI:iW:v5yɮsAgODNOT Ignoring new targets: 30.92 m. * "    9AjAZMf@vT@i=) t(i 9)15 9i9iqq}+IyIa>i!>9@ @@/@9i ^A ĎI I O >!G,@Y@A2@2@z=2=ٱ2|EK >AHRS rotation from veh to nav: [[0.993451,-0.110073,0.030631],[0.108347,0.992687,0.053241],[-0.036268,-0.049574,0.998112]]2HZ?@-]???`pB?`a ?i2@I2];2CYFByF"Ii%Mb@Mb@Mb@!!!! !9%:v?Mb/$Y%T=y%%% A! %A)% A!Y!AEAAbDeVDeyu<%}C=ٔ}\غQ-}>9yY=kGy8E>Q 55̤?Q 95 )"BY+=Q E;yRwQ I;@DIƓ IG,_ZY@A6!@6=6*=ٱ6I.L >AHRS rotation from veh to nav: [[0.993458,-0.110186,0.030014],[0.108485,0.992663,0.053402],[-0.035678,-0.049796,0.998122]]6Hg?@'5?Ż??}W?[D ~`?i6!@I6];4YJByJ"IPbDVVDV02y^<%^W=ٔ^˺Q-b>9`Y`=bkGy`fb9Ef>hQ 5j5jΤ?Q 9n5j!)jBYlynDwQ Ir<@jDIj;ij;ju}5ytɮv%AtgODNOT Ignoring new targets: 30.92 m.*" !!19jAZM@iiimO'@*=) 9i9)顅3iiuII@ @@0@@@@@E EE*E"E:*E:VE(N4ZEa@a@a@a@BD>BՍCB!IBBB+ =BBgDBI_;B#EIIO%o>) tG,;tY@A2|@2X=2 =ٱ2{oL :AHRS rotation from veh to nav: [[0.993445,-0.110447,0.029460],[0.108772,0.992631,0.053414],[-0.035142,-0.049859,0.998138]]2HM?=F*?ػ?@?Y?. .?i2|@I2];0YFByF"I|imMb@Mb@Mb@iiii i9m~jt?EԸ~jtYm9Y=kGyu.:E>Q 55Ϥ?Q 95")BY=Q EQbEQjEU$4rEU.0E EE&E"E;*Ez:VE4ZEBE@9XYX=^kGy\^:E^>`Q 5f5bѤ?Q 9f5b#)bBYhyjrQ Ij<@bDIbl:ib:b5ynCBɮn"ArΦEYgODNOT Ignoring new targets: 30.92 m.*" jZ@999=Z@U =)i m@ӽim9)qunqiqiyy}v⌽IyI 9@  @ @ 4@ I!I1OE>ԉԱ B A 4=B F>B ֍CB !IB BB ) =B B hDB !_;B #EG,]Y@AEN ENEN(EL"ENV;*EN:VENc44ZELBEN<2EN<JENe;:ENe;%ӝ@%@.=%\Z =ٱ%߮H =AHRS rotation from veh to nav: [[0.993349,-0.111715,0.027885],[0.110153,0.992534,0.052368],[-0.033527,-0.048948,0.998238]]%H? ]獜?@3??Ϫ?x*`?i%ӝ@I%N];%CYMɃByM"II]%=)]<bDeVDe0yuA=%>=ٔ$Q->Ա9Y=kGy$:E>Q 55KҤ?Q 95$)BYyWQ I<@DI;i;T5yɮAgO DNOT Ignoring new targets: 30.92 m.  * "  jZ%v@999=@U\Z =)Q UiU9)Y]YiYiaae)IiIq 9@ @@Y3@IYIO$> 9 mG,Y@AY΃By"IE EE!E"E:*Eą:VEc3ZEa@a@a@a@iMb@Mb@Mb@ 9?EԸ:vY9Y = kGy E>Q 5%5Ӥ?Q 9%5F%)BY%=Q E%ԙ G,ҦY@A2@2=2=ٱ2"H :AHRS rotation from veh to nav: [[0.993318,-0.112087,0.027492],[0.110550,0.992499,0.052203],[-0.033137,-0.048815,0.998258]]2HB?&?L??V?HC?i2@I2];2C @)@B\@@DDiFԼIDDIDiJaA JH)HT TXX\!)I)))i)))I1591 1111i99i99)A AIAYAYMӃByM$"IYYbDeVDeyu<%u=ٔu럺Q-u ?9yYy=kGy:E ?Q 55Ԥ?Q 95&)BYyQ I<@DID;ir;Q5yɮzAgODNOT Ignoring new targets: 30.92 m.*" jZT @I@=) hi19)ii!!%I!I)q9@ @@/@ԩBBB!IBBB* =BBgDB^;B#EE EE(E"E:*E:VEc44ZEBE& żG,KY@A2@2@;=2T =ٱ2H FAHRS rotation from veh to nav: [[0.993319,-0.112186,0.027055],[0.110666,0.992480,0.052320],[-0.032721,-0.048977,0.998264]]2HD?6`6?@T?d?`ɪ? t?i2@I21];2CY1y1iMb@Mb@Mb@ 99Y!=%kGy!%@9E%>)Q 5=5-^դ?Q 9=5-')-BYE=Q EE ) Ee  Ee Ee &Ea "Ee ;*Ee x:VEe 4ZEa BEe 4C<2Ee 5C<JEe ;:Ee ;ZG,_Y@AR@R=R@=ٱRJ ZAHRS rotation from veh to nav: [[0.993252,-0.112951,0.026302],[0.111460,0.992378,0.052564],[-0.032038,-0.049278,0.998271]]RH ?`꼿?? ??Xg:@?iR@IR^;RCY]݃By]1"IbDmVDm 8y}q]=%}U=ٔ0Q->9Y=kGy;E>Q 55դ?Q 95()BYyٮQ I<@DI;i;b5yɮ*AgODNOT Ignoring new targets: 30.92 m.*" jZ!@rY@@=) D˽i9)iiKyIIx>i)m9@i @i@m0@iIIO>iAIEAYԁ A A B E>B ՍCB !IB BB - =B B B ^;B #EG,8)Y@AE" E"E"'E "E":*E"g:VE"'4ZE BE"&<2E"&<JE"-;:E"-;9qYq=ukGyqu:E}>Q 55֤?Q 95 ))Yy®Q I<@DI):i:5yɮAgODNOT Ignoring new targets: 30.92 m.*" jZ`9"@P_@y=)  (i 9)   i iSIIԑ9@ @@4@IQIqO>Թ G,fCY@AB@B"=B=ٱBrH JAHRS rotation from veh to nav: [[0.993090,-0.114502,0.025714],[0.113049,0.992216,0.052220],[-0.031494,-0.048953,0.998304]]BHe?O T?`? 9Y=kGy ;E>Q 55%פ?Q 95*)BY%=Q E% 1a G,\Y@AFL@F =FV-=ٱF 3G RAHRS rotation from veh to nav: [[0.992991,-0.115409,0.025504],[0.113977,0.992129,0.051860],[-0.031288,-0.048590,0.998329]]FH ?`w?-??@f?``ਿO?iFL@IFK];FCYZByZN"IbDfVDfynJ=%n[=ٔrQ-r>9pYt=vkGytv%;Ev>xQ 5~5zפ?Q 9~5z +)zBYyQ I<@zDIz3;iz;z̠5y ɮ mA9gO5DNOT Ignoring new targets: 30.92 m.9A*A"A AAAIIIIjIZU>U$@iiimg@V-=) 侽i9)額Fii9IIY9@ @@/@iBF>B֍CB"IBƒBB( =BBhDB_;B#EBBBB* =B* =Cň5E EE#E"EO:*EVE3ZEBE <2E <JE:Eԑ^A II)O=> `G,vY@A:J@: =:<ٱ:F FAHRS rotation from veh to nav: [[0.992942,-0.115880,0.025270],[0.114462,0.992079,0.051754],[-0.031067,-0.048497,0.998340]]:H-?KW?@`M???ПԨg?i:J@I:];:CYNByN>"Ii%Mb@Mb@Mb@!!!! !9%Mb?bX9ȶI +Y%9QYQ=UkGyY]v:E]>aQ 5m5e6ؤ?Q 9m5e,)eBYmc=Q Eu #G,Y@A2@2=2<ٱ2mfF :AHRS rotation from veh to nav: [[0.992845,-0.116757,0.025013],[0.115354,0.991981,0.051650],[-0.030843,-0.048396,0.998352]]2Hc?㽿 ?ڇ? N? q?9 MǨ?i2@I2_];2CYVBy^M"I G1Iu/"9yY} AbDVDܲy b=%E=ٔ Q->9Y=kGy ;E>Q 55ؤ?Q 95,)BYy"Q I<@DI:i:5yɮtAgODNOT Ignoring new targets: 30.92 m. * "    jZ %&@999=AG@M<)I M@iM9)Q顕eiiKIIM9@I @I@M/@I)^AMȄQIaIqO}>y B A <B G>B B ""IB уBB & =B B B _;B $EE  E E &E "E 2:*E xv:VE 4ZE BE !*<2E "*<JE ;:E ;D"G,$Y@A2n@2U=2~<ٱ2G :AHRS rotation from veh to nav: [[0.992774,-0.117445,0.024614],[0.116057,0.991892,0.051776],[-0.030495,-0.048546,0.998355]]2H?S4? ⵽??`n?`: ڨ?i2n@I2r];0YRByVW"IbDnVDnyv5=%vW=ٔvpQ-z>9xYx=zkGyx&:E>!Q 5-5%n٤?Q 9-5%-)%BY)y- Q I5<@%DI%:i%:%p5yYɮ]/AYgODNOT Ignoring new targets: 30.92 m.*" jZ`&@JM@~<) i9)lii䁽III ) Q9@ @@0@ԁ^At0IIO>ԩ G,whY@A2@2z=2g<ٱ21H :AHRS rotation from veh to nav: [[0.992718,-0.117992,0.024254],[0.116612,0.991813,0.052041],[-0.030196,-0.048834,0.998350]]2H@Y?4!֘?Oڽ?? (?`랿`|?i2@I2];2CYBByFS"IiMb@Mb@Mb@ 9Q?ˡEMbYu9qYq=ukGyy}v:E>PExceeded connect timeout, disconnecting.Q 555Hڤ?Q 955.) BY5֭=Q E=1 4G,6Y@A:@:@i=:<ٱ:W=H BAHRS rotation from veh to nav: [[0.992617,-0.118914,0.023903],[0.117551,0.991702,0.052039],[-0.029893,-0.048845,0.998359]]:H@?#qy???椪?1@`?i:@I:^;:CY^BybW"IdfAbDjVDj1yr<%rS=ٔvMQ-v>9tYt=vkGytz ;Ez>|Q 55~ۤ?Q 95~/)~BYy Q I <@~DI~l:i~:~s5yɮ3AgO=DNOT Ignoring new targets: 30.92 m.99*A"A AAAIIIIjIZUV_(@iiim,@<) ]iH9)額iiU~II59@1 @1@54@1BME>BIBM."IBM܃BBM( =BIBIBM_;BM.$EE EE#E"E:*E]t:VE3ZEBE+i ^G,Y@A 2@2>=2u"<ٱ2IH >AHRS rotation from veh to nav: [[0.992572,-0.119315,0.023770],[0.117954,0.991647,0.052182],[-0.029797,-0.048991,0.998355]]2H&?`o W?@2??`?&[`?i2@I2-];2CYFByF\"IiEMb@Mb@Mb@AAAA A9E9yYy=}kGyy}{:E>Q 55ۤ?Q 95~0)BYe=Q EE EE&E"E2:*E:VE4ZEa@a@a@a@ FH, Y@A2@2=2 <ٱ2 H :AHRS rotation from veh to nav: [[0.992482,-0.120109,0.023507],[0.118766,0.991561,0.051980],[-0.029552,-0.048798,0.998371]]2H`j?wJ?xg?ݺ?-?B?i2@I2k];2CYBByFm"IbDNPVDNfyV=%VX=ٔZu)Q-Z>9XYX=^kGy\^a ;E^>`Q 5f5bXܤ?Q 9f5bV1)bBYhyjQ Ij<@b DIb:ib:bs5ylɮnZApgODNOT Ignoring new targets: 30.92 m.  * "    jZ*@Н@  <)  i 9)   ii19=JzI9I99@ @@/@^AII1O=>! AA AA BM D>BM ՍCBM ;"IBM BBM * =BI BM gDBM _;BM =$EE  E E "E "E :*E ~:VE (3ZE BE 39xYx=zkGyx~2:E~>|Q 5 5ݤ?Q 9 5B2)BYy⬿Q I<@ DI:i : 5yɮXA!gOMDNOT Ignoring new targets: 30.92 m.II*I"I IIQQQQYjYZ]@*@/ם@<) Hi9)ii!)-YHxI)I19@ @@@1Q^A5PzI9IQO]>ԁ XH,E Y@AB@B=BO<ٱBfF RAHRS rotation from veh to nav: [[0.992319,-0.121556,0.022964],[0.120248,0.991399,0.051649],[-0.029045,-0.048490,0.998401]]BH?N҃?Ⱦ? ?q?׽Ө ?iB@IBW/];BCYb Bybj"IaiMb@Mb@Mb@ 9:v?ʡE:vYT=ٔJ>Q->9Y=kGy:E>Q 55E] E]E]&EY"E]s:*E] n:VE]4ZEYae@ae@ae@ae@ݤ?Q 9m593)BYm=Q Em H,}_ Y@A2@2@p=2<ٱ2G >AHRS rotation from veh to nav: [[0.992296,-0.121781,0.022759],[0.120476,0.991359,0.051887],[-0.028881,-0.048745,0.998394]]2H?-N?|׾?@7?萪?꒝" ?i2@I2vQ];2CYFByFp"I N9tYx=zkGyxz:Ez>|Q 55~ޤ?Q 95~4)~BY y Q I <@~ DI~:i~:~5yɮJAgOEDNOT Ignoring new targets: 30.92 m.AA*A"A AAIIIIQjQZUi,@qqquI@<) @i9)額iihuIIU9@Q @Q@]0@YBE>B֍CBG"IBBBBBB_;B4$EE EE'E"E;*E:VE'4ZEBEDI H,hy Y@AJ@J=J<ٱJH RAHRS rotation from veh to nav: [[0.992232,-0.122348,0.022493],[0.121055,0.991287,0.051930],[-0.028650,-0.048804,0.998397]]JH^?8RL?n???wV ?iJ@IJ`;];JCY^By^v"IIb=)bp<`bAi}Mb@Mb@Mb@yyyy y9}=ٔ Q->9Y=kGyı:E>Q 55ߤ?Q 955)BY=Q E Em EmEiEi"Em:*Em|:VEiZEia}@a}@a}@a}@yԑ 1$H,4 Y@A2@2=2<ٱ2YH >AHRS rotation from veh to nav: [[0.992170,-0.122860,0.022471],[0.121562,0.991216,0.052084],[-0.028673,-0.048944,0.998390]]2H`ڿ?@s? ?@ ?ඪ? x\`6@?i2@I22];2CY^Bybn"IbDjVDjܲyr%rX=ٔr&~8Q-r>9tYt=vkGytz:Ez>xQ 55zऊ?Q 95z5)zBYyrQ I<@zDIz;iz;z'5yɮTAgO=DNOT Ignoring new targets: 30.92 m.99*9"9 AAAAAIIjIZM(.@)@<) %i%9)!%!i!i))-qI)I1q @  @ @ 4@ @=@=ԡ^AMrIYIqO}>B A 4=B G>B B T"IB BB ( =B B hDB `;B H$EBBBB( =B( =Ct5E  E E $E "E ;*E ҆:VE 4ZE BE A9YYY=]kGyYe9Ee>qQ 55uᤊ?Q 95u6)uBYymQ I<@uDIuj;iu;u5yɮAgOUDNOT Ignoring new targets: 30.92 m.QQ*Q"Y YYYaaaajaZer.@@<) =i9)2ii  oqI I)9@ @@/@ ) ^AM rIQ Ii Ou >Y 1H,f Y@AZ@Z=Z<ٱZ`I fAHRS rotation from veh to nav: [[0.992059,-0.123792,0.022239],[0.122501,0.991095,0.052196],[-0.028502,-0.049057,0.998389]]ZH?ϰ Ŗ??\? ?b?/@?iZ@IZB];XYnByn"I ppv=v=imMb@Mb@Mb@iiii i9m?+η:vYm9Y=kGy:E>Q 55⤊?Q 957)BY=Q E]CG-/9)Y-/ AYyq2?A^AE @pII Ia Om >ԁ H7H, Y@A06@6=66<ٱ6H >AHRS rotation from veh to nav: [[0.991995,-0.124313,0.022179],[0.123026,0.991032,0.052161],[-0.028464,-0.049015,0.998392]]6Hl? ҿ?~? ?@ᴪ?% ?i6@I6e"];4YFByF"IbDPVDPyVq;%Z[=ٔZָQ-Z>9\Y\=^kGy\b}:Eb>dQ 5f5f㤊?Q 9j5f8)fBYhyj'Q Ij<@fDIfl:if :f5y9ɮ=AAgODNOT Ignoring new targets: 30.92 m.*" jZ<0@@6<) i)iiYlIIԉBBBZ"IBBB& =BBB_;BD$EEe EeEe%Ea"Ee:*Ee҆:VEe 4ZEaBEeD->H, Y@A@V @V@=V|Y<ٱVcH ^AHRS rotation from veh to nav: [[0.991920,-0.124908,0.022181],[0.123624,0.990963,0.052046],[-0.028481,-0.048884,0.998398]]VHϽ?`? Х??֥?-*@P?iV @IVa\;VCYj#Byj"IiMb@Mb@Mb@ 9/$?Zd;O{GzY9Y=kGyӰ:E>Q 55-夊?Q 959)BYX=Q E DH,ǽ!Y@A2@2=2{<ٱ2H :AHRS rotation from veh to nav: [[0.991876,-0.125239,0.022309],[0.123946,0.990920,0.052109],[-0.028632,-0.048921,0.998392]]2H`r? ؖ?뺿?`??Q + ?i2@I2D\;2CYB&ByF"IbDNVDNkyVrB<%Va=ٔV9Q-V>9XYX=ZkGyX^Nj:E^>`Q 5f5b)椊?Q 9f5b:)bBYdyfQ If<@bDIb:ib:b5ylɮnAlgO DNOT Ignoring new targets: 30.92 m.  * "  jZ%61@999=pߡ@U{<)Q U^=iUZ9)QU2QiYiaaeiIaIa9@ @@4@)Y^Au`kIIO>Au AAAq Bu M>Bu ׍CBu f"IBu BBu ( =Bq Bq Bu _;Bu !$Eԉ E  E E E "E s:*E :VE ZE BE f0F<ٱFG bAHRS rotation from veh to nav: [[0.991761,-0.126128,0.022396],[0.124834,0.990815,0.051984],[-0.028747,-0.048760,0.998397]]FH?$ ?!?@? ?`o?iF@IFq];FCY*By"IbD%VD%Qye<%e?=ٔm{9Q-m>9Y=kGyL;E>Q 55V礊?Q 95;)BYyQ I<@DI ;i ;5yɮ|AgODNOT Ignoring new targets: 30.92 m.*" )1111j1Z=@y1@qqqu@<) =ii9)页^/3iiffIIԁ9@ @@4@@=@Ա^AiII O > RH,sH!Y@AR@R>R%k<ٱRH nAHRS rotation from veh to nav: [[0.991671,-0.126825,0.022464],[0.125526,0.990724,0.052042],[-0.028856,-0.048789,0.998392]]RH Ļ? ;@?8?? P?W ?iR@IR@%];RCYv)Byv"IiuMb@Mb@Mb@qqqq q9uQ?K{GzYu9Y=kGyS:E>ԹQ 55褊?Q 95<)BYL=Q E 9 -XH,Nb!Y@A2$@2`>2=<ٱ2G :AHRS rotation from veh to nav: [[0.991535,-0.127852,0.022632],[0.126541,0.990593,0.052084],[-0.029078,-0.048779,0.998386]]2H?`q] ,?2? ?`?Ɲ?i2$@I2lj];2CYF2ByF"I HHbDRVDRβyVB=%V[=ٔZy:Q-Z>9XY\=^kGy\^)4;Eb>`Q 5f5b ꤊ?Q 9f5b=)bBYhyjnQ Ij<@bDIb`:ib:b_5ylɮr@ApgO DNOT Ignoring new targets: 30.92 m.  * "   jZ~B2@H@M=<)I Mhl=iMb9)QU3Qiqi`II I)BL>BBm"IBBB" =BBiDB_;B2$EAE EE*E"E:*E1:VE(N4ZEBE.^H,v}!Y@AN*@N>N<ٱNnH ZAHRS rotation from veh to nav: [[0.991450,-0.128483,0.022778],[0.127158,0.990501,0.052334],[-0.029285,-0.048990,0.998370]]NH`?$r@ S?F?/?@˪? @9`?iN*@IN{];NCYb1Byb"IiMb@Mb@Mb@ 9:v? ףp= MbYT9Y=kGy/:E>Q 55ꤊ?Q 95>)BY=Q Eԉ oeH,hʖ!Y@A2B0@2e>2<ٱ21:I :AHRS rotation from veh to nav: [[0.991343,-0.129252,0.023068],[0.127907,0.990396,0.052491],[-0.029631,-0.049086,0.998355]]2H?S9XYX=ZkGyX^J;E^>`Q 5f5b뤊?Q 9f5br?)bBYdyj|Q Ij<@bDIbB:ib:b5ylɮn'ApgO DNOT Ignoring new targets: 30.92 m.  * "    jZJ3@999=p@M<)I Upn=iUu9)QU93QiQiYY]ʃ\IaIay1@1 @1@50@1ԡ^AU(aIqIO~>B <A <B B B y"IB BB ' =B B hDB _;B $EE  E E &E "E :*E :VE 4ZE BE K"b8<ٱbbI jAHRS rotation from veh to nav: [[0.991252,-0.129916,0.023281],[0.128558,0.990307,0.052577],[-0.029886,-0.049125,0.998345]]bH@U?֗?@t??n?`\@& r?ib5@Ib4];`Yv;Byv"IbD~VD~k1y <% D=ٔ  :Q->9Y=kGy:E>!Q 5-5%줊?Q 9-5%i@)%BY)y5gQ I5<@%DI%:i%:%,5y9ɮ=A9gOeDNOT Ignoring new targets: 30.92 m.ai*i"i iiiqqqyjyZ}@z3@u@8<) đ=i9)页3iiZIIl>i>9@ @@+0@@=@=i1I5A^A u \II9OM>) krH,~!Y@A6;@6>6 <ٱ6UI >AHRS rotation from veh to nav: [[0.991146,-0.130653,0.023636],[0.129276,0.990214,0.052576],[-0.030274,-0.049055,0.998337]]6Hx?;3??ԯ?C?`?i6;@I6`];6CYF9yYy=}kGyy:E>Q 55y?Q 95gA)BY=Q E ԩ xH,Z!Y@A2UB@2`>2O<ٱ2`H :AHRS rotation from veh to nav: [[0.991031,-0.131477,0.023890],[0.130090,0.990114,0.052456],[-0.030551,-0.048878,0.998337]]2H?@9 v?@̦??۪?`H`a?i2UB@I2d];2C@YFBByF"ILN@AbDVVDV:yf<%jU=ٔjH=:Q-n>9pYp=vkGytv ;Ez>yQ 55}P?Q 95}SB)}BYyQ I<@}DI}.F;i};}/5yɮAgO DNOT Ignoring new targets: 30.92 m.  * "   QQYYjYZ] Q4@yyy}1@O<) ̒=i9)顽 4ii\RUIIBYBYB]"IB]#BBYBYBYB]W_;B]#EB׍CB׍CBB' =B& =C6Թ=9@9 @A@E4@AEu EuEu&Eq"Eu2:*Eu:VEu4ZEqBEu!* ~H,B!Y@AlnAC@n>n.<ٱn I zAHRS rotation from veh to nav: [[0.991007,-0.131607,0.024162],[0.130201,0.990087,0.052677],[-0.030856,-0.049058,0.998319]]nH@U??i?ˮ? ?@;?inAC@In`7];nCY JBy "IiMb@Mb@Mb@ 9 rh?Mb:vYC9Y=kGy9E > Q 55 c金?Q 95 cC) BYp=Q E G  M 89I YM  AY H,"Y@A6G@6M>6n=ٱ6PQI BAHRS rotation from veh to nav: [[0.990920,-0.132154,0.024740],[0.130715,0.990012,0.052819],[-0.031473,-0.049106,0.998298]]6H?onU?A?-?@ ?`?a$ ?i6G@I6}*];6CYJBByJ"IbDVVDVyZI!%^b=ٔ^:Q-^>9`Y`=bkGy`b:Ef>dQ 5j5fE?Q 9j5fBD)fBYlynڡQ In<@f"DIf;if;f25yr]BɮvAvئEgODNOT Ignoring new targets: 30.92 m.*" !!j!Z%5@9IIIM5@]n=)Y ]=ie=9)aeJ4aiaiiimPSIiIq9@ @@@i I Ai^AUTIiIO}>ԑAM @AAI BQ BU ֍CBU "IBU (BBU + =BQ BQ BU V_;BU #E E  E E $E "E :*E x:VE 4ZE BE K"9AYA=EkGyAMEM>IQ 5U5ML?Q 9]5MEE)MBYYyYQ I]<@M#DIM;iM<;M5yaɮmAigODNOT Ignoring new targets: 30.92 m.*"ԙ jZ`5@) 4=iP9);f4iiSII9@ @@@^A OI I O- > ΒH,K"Y@A2ZJ@2>2&h=ٱ2J :AHRS rotation from veh to nav: [[0.990856,-0.132534,0.025272],[0.131054,0.989944,0.053254],[-0.032076,-0.049455,0.998261]]2H?@?a??'D? Ll6R`?i2ZJ@I2~"];2CYFIByF"IiMb@Mb@Mb@ 9 rh?:v~jtYyԽDSA A)=AY\AbDmVDm y}M;%F=ٔ~:Q->9Y=kGy [:E>Q 55Z?Q 95_F)BY6=Q E;yڣQ I<@%DI:i:z5yɮAgODNOT Ignoring new targets: 30.92 m.*" BjZ@5@6=6=;@9@%&h=)! -T=i- 9))-}4)i)bE'4jEY"4rE/E= E=E9E9"E=:*E=|:VE9ZE9aM@aM@aM@aM@iIQU}\RIQIY@ @@0@@=@=!^AQOIIO>Qy XH,We"Y@ARJ@R@>R=ٱRzTK bAHRS rotation from veh to nav: [[0.990835,-0.132619,0.025655],[0.131114,0.989926,0.053448],[-0.032485,-0.049595,0.998241]]RH?`@UE? V?@x?]?ܡtd ?iRJ@IRV>];RCIBM>B׍CB"IB-BB' =BBiDBa_;B#EY-SBy-"IbDEVDEyU3=%U0=ٔUf:Q-U>9YYY=]kGyYe 9Ee>iQ 5u5m?Q 9u5mG)mBYqyu٣Q Iu<@m&DImy:im-:m 5yɮRAgODNOT Ignoring new targets: 30.92 m.*" jZa6@@=) =iP9)44iiIIEM EIEM(EI"EM:*EIVEMc44ZEIBEMu 'H,ڍ"Y@A%M@%@>%=ٱ%J =AHRS rotation from veh to nav: [[0.990771,-0.133006,0.026116],[0.131478,0.989880,0.053398],[-0.032954,-0.049471,0.998232]]%He?S`?H??V?PߠST?i%M@I%];%C A)E`AEAIIIiMIIIIQiUaA UQ)YY Y]ԼYYae`AIa)aia)iIm`Amji iqulAqiqqiyy)y yIyYyYWBy"IԩiMb@Mb@Mb@ 9{Gz?1ZdI +Y#9Y = kGy u:E>Q 555U?Q 955H)BY5==Q E5;y5Q I=<@'DIbp;i$k;5yIɮM4AQgODNOT Ignoring new targets: 30.92 m.*" Bj!Z%6@e==e==eHǙ@e@u=)q u=iu9)y}4yiyi9PII59@1 @1@=0@9EM EMEM'EI"EM:*EM~:VEM'4ZEIa}@a}@a}@a}@ ^AY Ii Iy O >1 F H,Y"Y@A2O@2W>2=ٱ2kJ :AHRS rotation from veh to nav: [[0.990733,-0.133248,0.026311],[0.131713,0.989852,0.053331],[-0.033150,-0.049372,0.998230]]2H?@F@(? ?ެ?`BN?BG`?i2O@I2W\;0YrSByr"IbD~VD~k2y % p=ٔ M:Q- ?9Y=kGy8:E?!Q 5-5%?Q 9-5%I)%BY)y-}Q I-<@%)DI%:i%6:%5y9ɮ=RA9gOeDNOT Ignoring new targets: 30.92 m.aa*a"a iiiiiqqjqZuz7@e@=) =i9)顭4iiPII 9@  @ @ 3@ @@9^AQOIIO>B<A<BD>BՍCB"IB2BB+ =BBgDB_;B$Ei Ee  Ee Ee &Ea "Ee :*Ee i:VEe 4ZEa BEa au 2Ee u6e =ٱ6AHRS rotation from veh to nav: [[0.990723,-0.133265,0.026622],[0.131714,0.989851,0.053353],[-0.033461,-0.049352,0.998221]]6H?B??ܬ?Q?!Dl?i6O@I6%];6CY-QBy-"IbD=VD=0y%C=ٔB:Q->9Y=kGyq6E>Q 55?Q 95J)BYy~Q I<@*DIF:i:5yɮ`AgODNOT Ignoring new targets: 30.92 m.*" jZ 7@D@%e =)! %=i-n9))-K4)i)i115/UPI9I9i9@ @@/@ԡ^AGQIIO H,b"Y@A2N@2>2+& =ٱ2J :AHRS rotation from veh to nav: [[0.990743,-0.133067,0.026872],[0.131499,0.989871,0.053518],[-0.033721,-0.049489,0.998205]]2H)?YZ??@?@f?CV L?i2N@I2];2CYB^ByF"IPiMb@Mb@Mb@ 9?V-MbY9AYA=MkGyIMuEM>QQ 55U-?Q 95UK)UBY8=Q E;yQ I<@U,DIUiT9)4ii!%+QI!I!U9a9@ @@B4@@=@=) ^A QOI I1 O= >KH,="Y@A2L@2>2 =ٱ2EvK >AHRS rotation from veh to nav: [[0.990758,-0.132919,0.027041],[0.131337,0.989884,0.053672],[-0.033901,-0.049624,0.998192]]2H J?|?? ?z?[]h@1?i2L@I2(];2CYF_ByF"IbDRVDRyVȆ:%ZE=ٔZ9Q-Z>9\Y\=^kGy\^͹Eb>`Q 555b?Q 955b1M)bBY1y5Q I5<@b-DIbmBB"IB7BBBBBn_;B#E =) H$>i|9)'4iiQIIAEE EEEE(EA"EE:*EEAr:VEEc44ZEABEE+ϙH,#Y@A@bK@b>bֈ =ٱbK jAHRS rotation from veh to nav: [[0.990770,-0.132796,0.027194],[0.131203,0.989896,0.053768],[-0.034059,-0.049704,0.998183]]bHc?s؛? A? ;?{?=pr?ibK@Ib`\;bCYreByv"IiMb@Mb@Mb@ 9~jt?!rh~jtY9QYQ=UkGyQU_E]>aQ 5m5e?Q 9m5eN)eBYm=Q Eu;yu8Q Iu<@e/DIe:ie:e 5yyɮ}AygODNOT Ignoring new targets: 30.92 m.*"  BjZ8@]=]=] @]A@mֈ =)i m.>imt9)iԱu4iiI RIIE EEE"Es:*E[:VEZEa@a@a@a@59 9@  @ @ /@ A ^A OIIO->H,|B #Y@A2K@2>2n =ٱ29K :AHRS rotation from veh to nav: [[0.990763,-0.132822,0.027318],[0.131221,0.989891,0.053828],[-0.034192,-0.049746,0.998176]]2H`U? N P??`/?J? Dx?i2K@I2\;2CYBbByB"IJ@AJ@AbDNVDNyV<%VF=ٔZ%9Q-Z>9XYX=^kGy\^G=8E^>`Q 5f5b?Q 9f5bO)bBYhyhQ Ij<@b0DIb:ibu:b@$5ylɮnApgODNOT Ignoring new targets: 30.92 m.  * "    jZ "69@999=A@Un =)Q U6)>i]9)Y]5YiYiaaeQIaIi1a9I)ZAAAB@>BB"IBABBBBB&_;B#EBՍCB֍CBŔCB+ =B* =C61@9 @9@=/@9@I@IԉE EE)E"E:*EAr:VEFA4ZEBE6Թ &H,:#Y@A>0J@>>> =ٱ> @L FAHRS rotation from veh to nav: [[0.990784,-0.132637,0.027488],[0.131024,0.989912,0.053914],[-0.034361,-0.049816,0.998167]]>H?`= %?g? \?࡚? їp@?i>0J@I>\;>CYNjByR"I TTbDZVDZ0yb =%fI=ٔf9Q-f>9hYh=jkGyhjEj>lQ 5r5n*?Q 9v5nP)nBYtyv?Q Iv=@n2DIng:in=:n'5yztBɮ~UA~EgO%DNOT Ignoring new targets: 30.92 m.!!*!"! !))))11j1Z5@d9@QQQU@@e =)i m8>im9)im5iiiiqq}RIyIyԙiYI]Ae9@ @@0@^A XRI) I9 OM >E  E E %E "E :*E xv:VE 4ZE a @a @a @a @ Gn> 1 9 U `]A H, S#Y@A0V49V`]AYVA^K@^>^'+ =ٱ^HJK jAHRS rotation from veh to nav: [[0.990756,-0.132816,0.027605],[0.131205,0.989900,0.053700],[-0.034458,-0.049582,0.998176]]^HF? nD?Q?B?~?b ?i^K@I^\;^CYruByr"IiMb@Mb@Mb@ 99Y=kGy9E>Q 55[?Q 95R)BYe=Q E;yQ I=@3DI ;i; ;+5yɮAgO-DNOT Ignoring new targets: 30.92 m.))*)") ))115#B99j9Z=:@}e=}e=}@}c@'+ =) #>if9)顕p5iiQIIQ9@ @@4@ y^AIIO >ԩ B ?>B B "IB KBB * =B B B _;B #E.H,9m#Y@A:EK@:`>:ɢ =@ٱ:?J RAHRS rotation from veh to nav: [[0.990759,-0.132767,0.027739],[0.131154,0.989913,0.053573],[-0.034572,-0.049439,0.998179]]:H@L? g?@?_?m?q!P@?i:EK@I:e];8Y^|By^"I f9Y=kGy   E >Q 5%5b?Q 9%52S)BY)y-Q I-=@5DI>;i 7;.5y9ɮ=AAgO}DNOT Ignoring new targets: 30.92 m.yy*" jZp:@AAAE@E} E}E}'Ey"E};*E}:VE}'4ZEyBE}Di9)顝)5ii.RIIԩi>i%>e9@a @a@eK4@a@m=@m=^A- 8RI1 IY O > H,`#Y@A2L@2>2ř =ٱ22I :AHRS rotation from veh to nav: [[0.990737,-0.132930,0.027757],[0.131325,0.989905,0.053312],[-0.034564,-0.049173,0.998192]]2H?Wl?@@?M?K?Q1-0?i2L@I2\;2CYZByZ"II\)^49yYy=}kGyy}y9E>Q 55T?Q 95VT)Y=Q E;yQ I=@6DI:i,;25yɮAgODNOT Ignoring new targets: 30.92 m.*" &BjZ`:@==@@ř =) R8>i9)顽'55iiQQII %9@! @!@%/@!@-@-@-@-bE -4jE ^+4rE T/Em Em&Em(Ei"Em2:*Em;VEmc44ZEia}@a}@a}@a}@1IIO>a H,7#Y@A2EL@2`>2#=ٱ2I :AHRS rotation from veh to nav: [[0.990739,-0.132886,0.027882],[0.131275,0.989912,0.053300],[-0.034683,-0.049146,0.998189]]2H"?d??@\?J?@)*?i2EL@I2\;0YBByB#IbDNVDNJyV{?=%VX=ٔVz9Q-V>9XYX=ZkGyX^ E^>`Q 5f5b/?Q 9f5b^U)`YdyfQ If=@b8DIb:ib):b55ylɮnMAAlgODNOT Ignoring new targets: 30.92 m.*" jZ`@;@@#=)! %tJ>i%H9)!%A5!i)i99=QI9IAM9i9@ @@@II O*>B<A<B@>BB"IB[BB, =BBB^;B#EԑEu EuEu+Eq"Eu :*EuAr:VEu [4ZEqBEuK"2nL=ٱ2I :AHRS rotation from veh to nav: [[0.990760,-0.132722,0.027930],[0.131106,0.989930,0.053382],[-0.034734,-0.049227,0.998183]]2HM????T?@ȡ94?i2J@I2\;2CYBByB#IbDJVDJk1yR=%RJ=ٔV 9Q-V>9TYX=ZkGyXZ%ݹEZ>\Q 5b5^?Q 9b5^wV)\YdyfQ If=@^9DI^]:i^:^k95yhɮjAlgODNOT Ignoring new targets: 30.92 m.*"     jZl;@1115)@ԙnL=) Y>i9)O5iibRII9@ @@/@II O%,> E  E E #E "E ,:*E VE 3ZE a @a @a @a @H,C#Y@AFzG@FL>Fb=ٱFK RAHRS rotation from veh to nav: [[0.990813,-0.132320,0.027935],[0.130695,0.989969,0.053661],[-0.034755,-0.049517,0.998168]]FH? ? ?@ԭ?fy?sˡ?Z?iFzG@IF\;FCYZByZ #I \\i=Mb@Mb@Mb@9999 99=?~jt{GzY=9iYi=mkGyiu}Eu>yQ 55}p?Q 95}W)}BY1=Q Ei9)Z5iimSII!9Q9@ @@/@IIO>y B A>B B "IB eBB + =B B B _;B #EP;H,#Y@AY]By]#IbDmVDm1y}'<%}I=ٔQ->9Y=kGyE>Q 55?Q 95~X)BYyQ I=@;@5yɮAgODNOT Ignoring new targets: 30.92 m.*" jZ x<@E= E=E='E9"E=2:*E=:VE='4ZE9BE=!*i9)f5ii 15GSI1I1 =[A=ZAԁU9ԩ9@ @@0@ ^A QOI) I9 OE >I, $Y@A2E@2@>20=ٱ2K :AHRS rotation from veh to nav: [[0.990847,-0.132090,0.027842],[0.130462,0.989989,0.053874],[-0.034679,-0.049748,0.998160]]2H?Q@? ??@Y?|x@?i2E@I2\;2CYBByB#IiMb@Mb@Mb@ 9Q?/${GzYu9IYI=UkGyQUpEU>YQ 55]?Q 95]jY)]BY=Q EiS9)(t5ii;TII9E] E]E]&EY"E] :*E] n:VE]4ZEYam@am@am@am@9@ @@4@^A hWI I O >I I,$$Y@AfD@f@>f =ٱfT+L zAHRS rotation from veh to nav: [[0.990856,-0.132023,0.027831],[0.130394,0.989995,0.053917],[-0.034671,-0.049795,0.998158]]fH`???` ??p~?ifD@If\;fCYBy#II%<)%p<bD-VD-y=w<%=L=ٔEhQ-E>9AYA=MkGyIM3EM>QQ 5]5U?Q 9]5UFZ)UBYayeQ Ie=@U>DIU;iU];UG5yiɮmAigODNOT Ignoring new targets: 30.92 m.*" jZ8L=@@ =) S>i9)5i1irTIIm9AQAU@AB]@>BYB]"IB]tBB]) =BYBYB]_;B]#E9@ @@/@ @[A@\AaE} E}EyEy"E}:*E}i:VEyZEyBE}#Թ I,w>$Y@A2G@2<>2 =ٱ2hK :AHRS rotation from veh to nav: [[0.990826,-0.132260,0.027783],[0.130638,0.989969,0.053799],[-0.034620,-0.049676,0.998165]]2H״?s?໸?`ԭ?? o ?i2G@I2\;0YBByF #IbDNVDN0yVO<%VT=ٔV Q-Z>9XYX=ZkGyX^i':E^>Q 5E5[?Q 9E5[)BYIyMQ IM=@?DIi=y9)AE5AiAiIIMSIIIQ-#9 9@  @ @ 4@ E  E E E "E ;*E :VE ZE a @a @a @a @ ^A jZXI IO%>UI,\$Y@AYzBy~%#I)iMb@Mb@Mb@ 9Q?MbX9{GzYyʡ@ @)YGAAAbD VD2y}<%#=ٔQ->9Y=kGyE>Q 55e?Q 95\)BY=Q E#@e=e=e ͜@e@) Ha>i9)15ii SI I Q=59yBBB"IB~BB* =BBBT_;B#EBABEՍCBEȓCBE* =BACEU59@ @@4@ԡ E  E E %E "E s:*E VE 4ZE BE f0EI,w$Y@ARI@R >R =ٱRCKX ^AHRS rotation from veh to nav: [[0.990792,-0.132601,0.027345],[0.131000,0.989921,0.053800],[-0.034203,-0.049723,0.998177]]RH?E??o?? Fu`?iRI@IR\;RCYjByj*#I lln=np=bDrVDryz<%~K=ٔ~ Q-~>9Y=kGym:E > Q 55 ??Q 95 \) BYyQ I=@ ADI K:i : 6S5y!ɮ%eA)gOUDNOT Ignoring new targets: 30.92 m.QQ*Q"Q QYYYYYajaZe&>@@ =) >i>i9)顝5ii wRIIC99@ @@/@!^AVoQII1O}>1 &$I,i$Y@AFbJ@F>F =ٱF L NAHRS rotation from veh to nav: [[0.990799,-0.132633,0.026956],[0.131050,0.989914,0.053815],[-0.033821,-0.049787,0.998187]]FH`?;?B?@`??`Q`}&?iFbJ@IF];FC!=:GY5ByE2#IQiQ9YAE EE'E"E:*EAr:VE'4ZEa@a@a@a@i=Mb@Mb@Mb@9999 99=9iYi=mkGyim8Eu>Q 55X ?Q 95])BYv=Q EBjZ@?@v=v=:˝@š@ =) Ha>i9)N5iiRI)I)QqMU9 9@  @ @ /@ ԡ B <A B >>B B #IB BB + =B B B _;B $E ^A-`TI9IIO]>V+I,$Y@ABM@B >B=ٱBK RAHRS rotation from veh to nav: [[0.990762,-0.133006,0.026461],[0.131454,0.989869,0.053653],[-0.033329,-0.049679,0.998209]]BH@R?Z`?x?`?xx?@oT?iBM@IB`];BCY^By^/#I E49aYa=ekGyamr:Em>iQ 5u5mX ?Q 9}5m^)mBYyy}Q I}=@mDDIm:imj;mZ5yɮDAgODNOT Ignoring new targets: 30.92 m.*" jZx?@ɡ@=) \>i9)M5ii  MPI I ԙE EE&E"E:*Ex:VE4ZEBE.G92I,S$Y@A2L@2>24=ٱ2L :AHRS rotation from veh to nav: [[0.990795,-0.132879,0.025853],[0.131356,0.989881,0.053668],[-0.032723,-0.049778,0.998224]]2H?- (y?F??@\z?|s?i2L@I2qs];2CY@yDHHiMb@Mb@Mb@ 9{Gz?bX9ȶMbY#9Y=kGyـE>Q 55 ?Q 95_)BYR=Q EiM}9)IMz5IiIiQQUfQIQIY%d99@ @@o0@bE]Ş4jE]Y"4rE]z:0E EE)E"E:*E:VEFA4ZEa@a@a@a@9^AXRIIO>Y q\8I,$Y@A :K@:>:1=ٱ:qzL BAHRS rotation from veh to nav: [[0.990834,-0.132705,0.025233],[0.131213,0.989900,0.053678],[-0.032101,-0.049875,0.998239]]:H@?y֙?@?B?`{?o7?i:K@I:Ŭ];:CYJByJ0#IbDZVDZ0yjh;%j<ٔrغQ-r>9tYt=zkGyxz˹Ez>Q 5 5 ?Q 95`)BYyQ I=@FDI3\;i.a;a5y)ɮ-=A)gOuDNOT Ignoring new targets: 30.92 m.qy*y" jZ #@@IIIM1n@}1=)y }>i}9)顅5iiRIIIn?)_?qv9IZA)%9@! @!@%4@)Bm@>BiBm#IBmBBiBiBiBmX_;Bm#EԹE EE&E"E:*E|:VE4ZEBE( I>I,$Y@A2%H@2`a>28k=ٱ2M :AHRS rotation from veh to nav: [[0.990914,-0.132246,0.024488],[0.130790,0.989953,0.053724],[-0.031347,-0.050033,0.998255]]2H ?p@z???? 띩?i2%H@I2];2ClYzByz5#IbD VD2yx<%F=ٔ'Q->9Y=%kGy!%>E%>)Q 555- ?Q 955-a)-BY1y=Q I==@-GDI-;i-;-pe5yAɮEAAgOmDNOT Ignoring new targets: 30.92 m.iq*q"q qqqyyyjZV@@k@8k=) ݄>i9)顽ѽ5iiSII9 -9@) @)@-f1@1@=@=@A@A1IIO>a E  E E E "E D:*E z:VE ZE a @a @a @a @rEI,#%Y@A2E@2>2b<ٱ2M :AHRS rotation from veh to nav: [[0.990979,-0.131910,0.023675],[0.130496,0.989993,0.053706],[-0.030522,-0.050132,0.998276]]2H`?n'>?`? ?^? .A?i2E@I2.^;2CYBByF4#IJ=J=i Mb@Mb@Mb@Q     9 I +?EԸ rhY 99Y=kGym:E>Q 55 ?Q 95b)BY=Q EiE9)AE5AiAiIIU,TIQIQ)ԁ9@ @@/@IIO!>Ա AY A] AABe ?>Be ԍCBa Ba Be - =Ba Ba Be ^;Be #EKI,0%Y@AN{C@N >N)<ٱNtM VAHRS rotation from veh to nav: [[0.991040,-0.131600,0.022822],[0.130233,0.990035,0.053569],[-0.029645,-0.050117,0.998303]]NH?@C`^?w?`^?km?![﨩?iN{C@IN^;NCYbByb2#IbDjVDj02yr"%rX=ٔvQ-v>9tYt=zkGyxz9Ez>|Q 55~?Q 95~c)~BY y tQ I =@~JDI~:i~W:~ql5yɮ/AgO=DNOT Ignoring new targets: 30.92 m.9A*A"A AAAIIIIjIZU`@@qqqu@Թ)<)  >iA9)5iiLhUII !%[AE EE*E"E:*Ex:VE(N4ZEBEi@i @i@m/@iIIO>A RI,6J%Y@ARP=@R>R;{<ٱRVN ^AHRS rotation from veh to nav: [[0.991168,-0.130808,0.021819],[0.129490,0.990129,0.053632],[-0.028619,-0.050333,0.998322]]RH ?QW?@$?`#?@u? aNCũA?iRP=@IR^;RCYfByf1#IiUMb@Mb@Mb@QQQQ Q9U+?i|?5~jtYU=yUUUAU@ U@)QQYU(AbDmVDmk2y}H%}A=ٔ}Q-}>9Y=kGyE>Q 55?Q 95d)BY>Q E;y6Q I=@KDI*:ij:%p5yxBɮRAEgODNOT Ignoring new targets: 30.92 m.*" BjZ@@>>@5@;{<) {>i<9)5ii   4&XI I9E EE)E"E;*E:VEFA4ZEa@a@a@a@-9i@ @@@IIO>ԑ XI,ed%Y@AR5@R>R<ٱRN ~AHRS rotation from veh to nav: [[0.991315,-0.129858,0.020777],[0.128595,0.990248,0.053600],[-0.027534,-0.050463,0.998346]]RHڸ?`0oF?u??@q?1P֩s?iR5@IR0_;RCY By 0#II%=)<AbD%VD%Ny5I׻%5O=ٔ=4Q-=>99Y9=EkGyAEEE>IQ 5U5M?Q 9U5Me)MBYYy]PQ I]=@MMDIM;iM;Ms5yaɮe\AagODNOT Ignoring new targets: 30.92 m.*" jZ %A@@<) '>i9)5ii9)[IIqB B ՍCB B B B B B ^;B #Eԙ99@ @@0@DD=E EE&E"Ea:*Ek:VE4ZEBE( .^I,6~%Y@A2-@2>2<ٱ2 O :AHRS rotation from veh to nav: [[0.991471,-0.128841,0.019651],[0.127639,0.990378,0.053474],[-0.026351,-0.050509,0.998376]]2H ?}N? xV?-?`?@_ܩ?i2-@I2_;2CYFByF'#IbDNVDN:yVm %VT=ٔZIQ-Z>9XYX=ZkGy\^~$E^>`Q 5f5b@?Q 9f5bg)bBYhyjlQ Ij=@bNDIb:iby:bv5ylɮnApgO DNOT Ignoring new targets: 30.92 m.  * "   jqZu\A@@<) >i9)n5iiG^II 9 1 9@  @ @ /@ E  E E "E "E ;*E ~:VE (3ZE a @a @a @a @Y ^Au \IIO>\fI,4%Y@AhY By 6#IiMb@Mb@Mb@ 99Y=kGyE>Q 55?Q 95h)BY>Q E;yܔQ I=@QDI:is:{5y ɮ0AgO=DNOT Ignoring new targets: 30.92 m.99*9"9 99AAEBIIjIZM@A@m>m>m֟@mأ@y) ף>i 9)顅5ii=]II9!E9@A @A@E/@ABA4=B>>BB#IBBB* =BBB^;B#EBiBiBiBm+ =Bm, =CmȀ5Q ^A |^E  E E 'E "E 2:*E g:VE '4ZE BE !*jUmI,%Y@A6@6@>6H<ٱ6>O >AHRS rotation from veh to nav: [[0.991906,-0.125808,0.017188],[0.124743,0.990765,0.053135],[-0.023714,-0.050561,0.998439]]6H?`{?$?`Y?@4?H`!㩿 7?i6@I6){a;6CYJByJ?#I LLN=N=bDVVDV1Xy^ =%^U=ٔbQ-b>9`Y`=fkGydfEf>hQ 5n5j(?Q 9n5ji)jBYpyr7Q Ir=@jRDIjV:ij:j~5ytɮz AxgODNOT Ignoring new targets: 30.92 m.*" !!!!!)j)Z-A@ £@H<) z>ic9)6ii   iI IQ9]9@Y @Y@]4@Y ^AII O- >1 b6tI,%Y@A69@6=6u<ٱ6N BAHRS rotation from veh to nav: [[0.992145,-0.124076,0.015908],[0.123084,0.990987,0.052866],[-0.022324,-0.050493,0.998475]]6H ? zÿ%J?`o?*?@=? ܖ,ک?i69@I6{b;6CYJByJD#I TVC ɀG!19mc9iYmWAi%Mb@Mb@Mb@!!!! !9%kt?p= ףy&1|Y% 0=y%%`%A%@ %@)!!Y% @bD=VD=fyM<%M4=ٔMEIQ-M>9QYQ=UkGyQ]prE]>aQ 5m5ee?Q 9m5eek)eBYme >Q Em;ymrQ Im=@eTDIeQ:ie{:eӂ5yyɮ} AygODNOT Ignoring new targets: 30.92 m.*" BjZ B@E EE*E"E :*Ega:VE(N4ZEa@a@a@a@e >e >@5@u<) >i%9) `6 i imIII9I!)%[Aq9@ @@4@ԡ ^A hI I O >zI,'%Y@A2@2=2 <ٱ2N :AHRS rotation from veh to nav: [[0.992404,-0.122167,0.014512],[0.121252,0.991226,0.052617],[-0.020813,-0.050458,0.998509]]2H?NF?b ? ? ?`Oթ?i2@I2c;2CdBe<>BeԍCBe.#IBeBBe- =BaBaBe^;Be#EY-ʄBy-T#I9=AbDEVDEyU^=%U1=ٔUWQ-]>9YYY=]kGyaeEe>iQ 5u5m?Q 9u5ml)iYqy}Q I}=@mVDIm/;im<;mن5yɮs AgODNOT Ignoring new targets: 30.92 m.*" jZ?B@)@ <) ʵ>i|9)} 6ii  9sI I E5 E5E5(E1"E5:*E5k:VE5c44ZE1BE5.ƳI,U &Y@A@= <ٱN AHRS rotation from veh to nav: [[0.992674,-0.120109,0.013090],[0.119273,0.991477,0.052411],[-0.019273,-0.050465,0.998540]]H?`{`Ί?`?`.?@ժ?`Q֩ ?i@I d;C )`Au`Aij9yY=kGyE>Q 55?Q 95n)BY >Q E;y8Q I=@XDIU:i:5yYɮeH AagODNOT Ignoring new targets: 30.92 m.*" &BjZB@ > >>h@A@- <)1 5>i59)1561i1i99EpzIAIAabE-4jE^+4rEm0E! E!E%)E!"E!*E!VE%FA4ZE!a-@a-@a-@a-@ԁe &9 9@  @ @ 2@ Թ ^ApuI I!O->II,$+&Y@AV@V@r=V#<ٱV3N bAHRS rotation from veh to nav: [[0.993155,-0.116348,0.010290],[0.115666,0.991929,0.051952],[-0.016252,-0.050406,0.998597]]VH?`Ƚ ?D? ?v?GΩ?iV@IVapd;TYلByf#IbDVD0yG(=%5=ٔڻQ-%>A)A-?A91Y1==kGy9=5EE>IQ 5U5Me ?Q 9]5Mp)MBYYy]Q Ie=@MZDIM+ ;iMLC;M5yuBɮu AuEgODNOT Ignoring new targets: 30.92 m.*" jZB@,#@-#<)) 5y>i59)15Z61i1i9BE>>BABEA#IBEBBABABABEr^;BE{#EQUzIQIY EU EUEU%EQ"EU2:*EU]t:VEU 4ZEQBEU!*I,QH&Y@Ai8I:AZ@Z=Z2s<ٱZߚN ~AHRS rotation from veh to nav: [[0.993372,-0.114592,0.009011],[0.113980,0.992133,0.051784],[-0.014874,-0.050414,0.998618]]ZH?`U`t? -?? o?\v ϩ?iZ@IZ~d;ZCԱYۄByi#I bDVDܲy=<%=&=ٔE6Q-E>9IYI=MkGyIUbEU>QQ 55UU"?Q 95Uq)UBYy뛿Q I=@U\DIU#iM9)页6ii\IIE EEE"E*E&p:VEZEa@a@a@a@495 9@1  @1 @9 @9 1 ^A]9냽aIiIyO>@I,f&Y@A>7@>@=>[<ٱ>N FAHRS rotation from veh to nav: [[0.993555,-0.113094,0.007591],[0.112558,0.992305,0.051583],[-0.013367,-0.050396,0.998640]]>H4??м?`? i?`_xͩ?i>7@I>7 d;>CYRByR|#IiMb@Mb@Mb@ 9{Gz?X9vMbpY#=yA@ )XAY@bDVDy=%&=ٔIQ->9Y=kGy?E>Q 55$?Q 95#s)Y>Q E;yQ I=@^DI:i:5yɮ& AgODNOT Ignoring new targets: 30.92 m. * "   =B!j!Z%4C@e>e>eN,@eȤ@[<) >iV9)額$6iiLIIBu?>BuՍCBuZ#IBuτBBu* =BqBqBuS^;Bul#E)F9E EE'E"E:*Exv:VE'4ZEBEm%k>I,7&Y@AJܨ@J=J)8E<ٱJN VAHRS rotation from veh to nav: [[0.993686,-0.112015,0.006337],[0.111546,0.992433,0.051316],[-0.012037,-0.050285,0.998662]]JHG?y?H??F? ަ ?iJܨ@IJ!d;HY^By^#IbDfVDf0ynF=%nU=ٔrScQ-r>9pYt=vkGytv.Ev>xQ 5~5z>&?Q 9~5zIt)zBYy>Q I=@z`DIz:iz:z5y ɮ  A1gO=DNOT Ignoring new targets: 30.92 m.99*A"A AAAIIIIjQZU eC@qu>quP@)8E<) >ie9)額K*6iiIIj9%9@) @)@-/@1aԩ^AIIO>E  E E %E "E :*E :VE 4ZE a @a @a @a @ cI,7&Y@A2@2@%=2 .<ٱ2&N :AHRS rotation from veh to nav: [[0.993799,-0.111077,0.005031],[0.110677,0.992539,0.051150],[-0.010675,-0.050276,0.998678]]2H3? o`[t?YU??@K0?܅@,?i2@I2Hnc;0YBByF#IiEMb@Mb@Mb@AAAA A9EQ?MbXMbpYE\=yEʽAEAA A)EAAAYEf@ U;QbD]VD]Nymn,=%mB=ٔm TQ-u>9qYq=}kGyy}RE}>Q 55'?Q 95Uu)Y4=Q E;ycQ I=@aDI:i:5yɮ AԹgODNOT Ignoring new targets: 30.92 m.*" JBjZÛC@4=4=@6@ .<) 4>i9)06ii!!%II!I)U9B9A=<@ @@@B B B z#IB BB , =B B B -^;B Y#E9 E  E E 'E "E :*E |:VE '4ZE BE 5I,J&Y@AR"@R=R<ٱRHN ZAHRS rotation from veh to nav: [[0.993901,-0.110216,0.003724],[0.109884,0.992632,0.051059],[-0.009324,-0.050339,0.998689]]RH?@7Yn? ]!?`?@x$? ƩB?iR"@IRBc;RCYvByv#IbD~VD~βy ^<% E=ٔ UQ->9Y=kGy-E>!Q 5-5%u)?Q 9-5%]v)!Y)y-~Q I5=@%cDI%;i%;%95y9ɮ=z A9agOmDNOT Ignoring new targets: 30.92 m.ii*i"i iqqqqqyjyZ}C@T0@<) >i!9)页56iiIIIQ?),?ԑ%y99@ @@@ ^A I I O >ôI,&Y@AY~By~#IiMb@Mb@Mb@ 9~jt?sh|?{GztYD9Y=kGyE>Q 555*?Q 95Dw)Y=Q EE EEE"E:*Ex:VEZEa@a@a@a@iU9);6ii@gII e9@a @a@e0@i1^A I I O >Y 6I,Z&Y@A2@2@=2+;ٱ2N :AHRS rotation from veh to nav: [[0.994040,-0.109007,0.001497],[0.108790,0.992761,0.050902],[-0.007035,-0.050436,0.998703]]2H,? 绿̈X?ٻ???|@ҩ _?i2@I2b;2CYB ByB#IJ=J=J@AHbDNVDNܲyVVi=%V\=ٔZɻQ-Z>9\Y\=^kGy\bAEb>dQ 5n5f*?Q 9r5fx)dYpyrŨQ Iv=@feDIfQ;iff;f+5yxɮz* A|gODNOT Ignoring new targets: 30.92 m.*" jZ`9D@BBԍCB#IBBB. =BBB ^;BH#EBԍCBBB- =BC51IIIMޞ@}+;)y >ib9)顅bA6iiezII9-9@1 @1@=3@9iE EE#E"E:*E-:VE3ZEBE#Թ yI,'Y@A2@2y=2 ;ٱ2N :AHRS rotation from veh to nav: [[0.994088,-0.108573,0.000369],[0.108414,0.992806,0.050821],[-0.005884,-0.050481,0.998708]]2H?`l˻t'8?@?? 2?zxةi?i2@I2Qb;0YBByB#IbDNVDNyV%VJ=ٔV:Q-V>9XYX=ZkGyX^vE^>`Q 5f5b+?Q 9f5bx)bBYdyfѨQ If=@bfDIb:ib:b5ylɮn\ AlgODNOT Ignoring new targets: 30.92 m.*"     jZ jD@999=۞@M ;)I M>iU9)QUF6QiQiYY]IYIaԉ9G \A!UQ9U\AYUAU9@Q @Q@U2@QE EE%E"E:*E:VE 4ZEa@a@a@a@^Au ӍI I O > I,7!'Y@AY By%#IiMb@Mb@Mb@ 9y&1|?ʡEMbY`;yA@ )V@Y@bDVDfy-<%-5=ٔ-Q-5>91Y1==kGy9=E=>AQ 5M5E),?Q 9M5Ey)EBYM1=Q EU*i9)yM6iiII9AIAMAAB@>BՍCB#IBBB- =BBB];B=#E@ @@4@I E  E E &E "E :*E :VE 4ZE BE +ÛI,E='Y@AF@F)=F{;ٱF OP NAHRS rotation from veh to nav: [[0.994220,-0.107350,-0.001639],[0.107294,0.992921,0.050953],[-0.003843,-0.050834,0.998700]]FH`?@K{Zw???@zoY?iF@IFa;FCYV ByV#II^=)^=\^A b49pYp=rkGypr=Ev>tQ 5z5v,?Q 9~5vz)tY|y~įQ I~=@vhDIv;iv;v 5yɮ  A gO5DNOT Ignoring new targets: 30.92 m.11*1"1 19999AAjAZED@aaae@{;) >iJ9)S6ii!IIIiԑu99@  @ @ L4@  ^A- ժI9 II OU >=I,'W'Y@A>@>@=>`;;ٱ>AP JAHRS rotation from veh to nav: [[0.994249,-0.107057,-0.002593],[0.107050,0.992953,0.050837],[-0.002868,-0.050822,0.998704]]>H ?`h`@I>ma;>CYRByR#Ii-Mb@Mb@Mb@)))) )9-~jth?MbX9~jtY-D;y-ʡ-D)-@ ))))Y)bDEVDEN2yU%UC=ٔU Q-]>9YYY=]kGyYeEe>iQ 5u5m-?Q 9u5m{{)mBYuã=Q E}%i9)]Z6ii$II-99@ @@/@ i߹ I߽ Ai B A>B B #IB BB + =B B B 7^;B _#E^A I I! O- >;I,Or'Y@A2@2=20:ٱ2KP :AHRS rotation from veh to nav: [[0.994305,-0.106511,-0.003606],[0.106557,0.993007,0.050825],[-0.001832,-0.050920,0.998701]]2HX?UD@mLG?@??^@#\?i2@I28a;2CYFByF#IbDNVDNNyVHq%VG=ٔVn%Q-Z>9XYX=ZkGy\^E^>`Q 5f5bv-?Q 9f5bU|)bBYdyfQ Ij=@bjDIb8;ibf;bN5ylɮnQ AlgODNOT Ignoring new targets: 30.92 m.*"    jZ@E@1115i@M0:)I >i69)q`6iipIIi9E EnE)E"EV:*E(;VEFA4ZEBE9 I,'Y@A6k}@6@=6:ٱ6gP BAHRS rotation from veh to nav: [[0.994335,-0.106198,-0.004367],[0.106283,0.993043,0.050681],[-0.001046,-0.050858,0.998705]]6H?/@qX5? ? ?"Q d?i6k}@I6`;4YJByJ#IN=N=RAAPbDVVDV:y^S@<%^J=ٔ^Q-b>9`Y`=bkGy`f2Ef>hQ 5j5j-?Q 9n5j+})jBYlynQ In=@jkDIj;ij;j־5ytɮv> AtgODNOT Ignoring new targets: 30.92 m.*" !!!j!Z% sE@AAAENh@U:)Y ]>i]19)Yef6aiaiaimcIiIiPExceeded connect timeout, disconnecting.y)@1 @1@5O0@1E EE(E"E :*EM:VEc44ZEa @a @a @a @^AMHIYIiO}>) (I,Qj'Y@AY~By~#IiMb@Mb@Mb@ 9~jthI +~jtYDy9A )@Y@bDVDy)%<=ٔQ->9Y=kGyE>Q 55.?Q 95.~)BY=Q EiE9)AE$n6AiAiIQQIQIi uZAqE9B%<A!B@>BBBBBBB^;B#E@ @@0@Yԑ E  E E &E "E :*E ą:VE 4ZE BE <8I,xB'Y@A06q@6=68Rٱ6`Q >AHRS rotation from veh to nav: [[0.994495,-0.104624,-0.005867],[0.104787,0.993198,0.050760],[0.000516,-0.051095,0.998694]]6H`?@Ⱥ`xNӺ? H?2?G@?%)`L?i6q@I6>`;4Y^Byb#IbDjVDj1yɼ%T=ٔQ-%>9!Y!=%kGy!-E->1Q 5=55K.?Q 9=55)5BYAyEQ IE=@5nDI5};i5F;55yIɮM AIgODNOT Ignoring new targets: 30.92 m.*" jZ E@@ 8R)  L>i 49)t6 9I,'Y@A2`j@2Q=2鍚ٱ2{Q :AHRS rotation from veh to nav: [[0.994580,-0.103774,-0.006498],[0.103971,0.993280,0.050835],[0.001179,-0.051235,0.998686]]2H?`۝z؝?? ?QS? }; 9Y=kGyE>Q 55.?Q 95A)Y=Q E;yQ I=@oDI/:i8:5yɮ AgODNOT Ignoring new targets: 30.92 m.!*!"! !!!)-B))j)Z5SF@U=U=U@U@}鍚) >i9)顕>|6A B} ?>By B} #IB} BB} * =By By B} ^;B} #EsI,H7'Y@A|YBy#IbDVD:y%]%-S=ٔ-Q-->91Y1=5kGy15E5>9Q 5E5=A/?Q 9E5=T)=BYIyIQ IM=@=pDI=:i=:=5yQɮU AQgODNOT Ignoring new targets: 30.92 m.*" jZFF@!)! %>i%9))56=ԁ &LJ, (Y@A6`\@6=69ٱ6Q BAHRS rotation from veh to nav: [[0.994752,-0.101992,-0.008057],[0.102271,0.993466,0.050657],[0.002838,-0.051215,0.998684]]6H ?`-Ck.?x??`?g?`8@7?i6`\@I6%_;6CYJByJ#IbDRVDRyZ%;%ZT=ٔ^팻Q-^>9`Y`=bkGy`bEb>dQ 5j5f/?Q 9j5ffQ =ntI)fBYlynSQ In>@frDIf ;if ;f{5ypɮv AtgODNOT Ignoring new targets: 30.92 m.*" !!j!Z%]vF@AAAE@U9)Q ]l>i]9)Y]K6] .v J,\'(Y@A2S@2=2'aٱ2~ R :AHRS rotation from veh to nav: [[0.994861,-0.100888,-0.008600],[0.101196,0.993577,0.050646],[0.003436,-0.051256,0.998680]]2H?ӹ? a?@>?$l?3>/?i2S@I2(_;2CYvByv#I xxiuMb@Mb@Mb@qqqq q9u9Y=kGy#E>Q 550?Q 95׃)BY~>Q E;yQ I>@sDI;i;C5yBɮ AEgODNOT Ignoring new targets: 30.92 m.*" B j Z حF@M~>M~>M @MH@'a) >i9)T6>BB#IBBB) =BBB^;B#EB ՍCB B B + =B + =C Y55&9919@ @@/@@[A@\AD zD ?AE  E E 'E "E :*E ga:VE '4ZE BE uJ,cC(Y@AfyI@f=fUGٱf6Q rAHRS rotation from veh to nav: [[0.994981,-0.099634,-0.009225],[0.099975,0.993704,0.050571],[0.004128,-0.051239,0.998678]]fH@?䂿?@l?h?p?<@+?ifyI@If_;dYzBy~#IbD VD N2y=@%=B=ٔE׺Q-E>9AYI=MkGyIM>EM>QYQ 5e5]G1?Q 9e5]?)YYayeEQ Im>@]uDI]:i]d:]5yqɮu AqgODNOT Ignoring new targets: 30.92 m.*" jZ`F@IIIM>@]UG)a e>ie9)ae-6ez-J,_(Y@A4:s1@:@=: jٱ:i%R BAHRS rotation from veh to nav: [[0.995263,-0.096641,-0.010602],[0.097056,0.993997,0.050492],[0.005658,-0.051282,0.998668]]:H`1?tK`ظ??ک? 9-w?`A?i:s1@I:_;:CYJByJ#Ironly read 2 of 4 data items for water velocity. Device response is::WS,-3276,-3 ar@a] a]@a] a]@a] a]@a] bDeVDe:y}%}4=ٔ\Q->9Y=kGyһE>Q 552?Q 95Ć)Q A+:YQ E;yQ I>@wDI:;io>/5yɮ" AgO5DNOT Ignoring new targets: 30.92 m.19*9"9 AAAIIQQjYZ]`G@m j)i m>iuG9)顅>6BB#IBBB* =BBB];B#Em 9@q  @q @u /@q  ^A lI I O >iJ,^|(Y@AE  E EE"E :*E ga:VEZEBE +9pYp=vkGytvIEv>xQ 5~5z2?Q 9~5z1)zBQ A~ :Y|Q E~;yѳQ I>@zyDIz/:izb?z5y ɮ  A gO5DNOT Ignoring new targets: 30.92 m.19*9"9 999AAAIjIZM UG@yDfѻ) >i9)66i7&J,/(Y@A @ = >ٱ QQ %AHRS rotation from veh to nav: [[0.995551,-0.093464,-0.011922],[0.093949,0.994303,0.050344],[0.007148,-0.051240,0.998661]] H`?:kj ?T?Ʃ?G}?,<`?i @I _; CY5By5#Iԩaa aa aa aa iMb@Mb@Mb@ 9l?@5^I ¿Mb`?Y=yb;A (@)@YbDVDbEu'4jEu^+4rEua0E EE%E"Em:*Ee:VE 4ZEa@a@a@a@y-% *=ٔ κQ- >9Y=kGyuE>Q 5%54?Q 9-5)BQ A-T:Y-I>Q E-;y-)Q I->@{DI;i;5y9ɮ=, A9gODNOT Ignoring new targets: 30.92 m.*!"! !!))-B)1j1Z5@G@uI>uI>u*@um@>) >i9)顭K6FB ԍCB B B . =B B fDB )];B "E^A 䢽I I O >,J,d(Y@A8Y By #IbD%VD%βyU;=%U<=ٔ]Q-]>9YYY=]kGyaeEe>iQ 5u5m6?Q 9u5mz)mBYqyyQ I}>@m}DIm:im|:m5yɮ AgODNOT Ignoring new targets: 30.92 m.*" jZ G@) E>i9)=6I 3J,C(Y@A:@:=: ٱ:Q FAHRS rotation from veh to nav: [[0.995902,-0.089474,-0.013147],[0.090026,0.994670,0.050259],[0.008580,-0.051237,0.998650]]:Hn?@綿슿 ?W??@c?; ?i:@I:^`;8YNByN#I PPV=V=bDZVDZyf&]%fU=ٔftQ-j>9hYh=jkGyhn'En>ppQ 5v5rR8?Q 9z5r݌)rBYxyzQ Iz>@rDIr:ir:r5y|ɮ AgO-DNOT Ignoring new targets: 30.92 m.))*)") ))11119j9Z=ZG@YYY]k@m )q u>iu9)qu6u@;iqiyy-IIY9@ @@/@E EE&E"E:*E[:VE4ZEa@a@a@a@9^AUIYIqO}>a :J,(Y@AY~By~#I9iMb@Mb@Mb@ 9/$?V-¿Mb`?Y,=yhXA@ @)YbDVD02y%<=ٔQ->9Y=kGyE>Q 55P:?Q 95n)BY>Q E;yQ I>@DI: ;i" ;5yɮ AgO DNOT Ignoring new targets: 30.92 m. *" B!j!Z%2H@>>@x@) >i9)  6 i i19=1I9IA u[AqB9>BB#IBBB/ =BBBW];B"Eic9ԙ- 9@)  @) @- 4@) E  E E $E "E V:*E VE 4ZE BE 9AJ,H)Y@A2W@2@O=2~"ٱ2ZR8 >AHRS rotation from veh to nav: [[0.996248,-0.085361,-0.014292],[0.085978,0.995027,0.050290],[0.009928,-0.051330,0.998632]]2HB?<ڵ+E?B? ?9U?G?i2W@I2`;2CYFByF#IbDR VDR2yZV$=%ZH=ٔZWQ-Z>9\Y\=^kGy\b"Eb>`Q 5j5b,@bDIb@;ib;bY5ypɮr ApgO DNOT Ignoring new targets: 30.92 m.  * "  jZ*gH@999=@U~")Q U >iU9)QU6])iYiYae{ϴIaIaԙ9M9@I @Q@U/@Q Eu  Eu Eu "Eq "Eu :;*Eu X:VEu (3ZEq a @a @a @a @^A I I O >dGJ, )Y@AJ@J8=J,ٱJQ VAHRS rotation from veh to nav: [[0.996370,-0.083831,-0.014813],[0.084474,0.995167,0.050060],[0.010545,-0.051130,0.998636]]JHC?u@[V? i?@u??@- ?iJ@IJ\`;JCY^Byb#IdfAliUMb@Mb@Mb@QQQQ Q9UMb?S㥛~jtx?YU@=yU$U;QUf@ U@)U@QYQbDVD y+=%==ٔQ->9Y=kGycE>Q 5U5I>?Q 9]5Z)BY]>Q E];y]Q I]>@DIN%>%ѡ@%@u,)y }>i}9)y} 6}O;iyi赶II 9@ @@!@!^ADI!AIAOUu>AAAAB8>BB#IBBB- =BBB];B#Ea MJ,/9)Y@A2@2@"=28ٱ2R :AHRS rotation from veh to nav: [[0.996529,-0.081807,-0.015438],[0.082486,0.995329,0.050152],[0.011263,-0.051251,0.998622]]2H?@R ?@?`??`=?i2@I2U`;2CYfByf#IbDrVDrJyzĝ%zV=ٔz3Q-z>9|Y|=~kGy|-E> Q 55  @?Q 95 ) BYy`Q I>@ DI |:i : v5y!ɮ%B A!9gOUDNOT Ignoring new targets: 30.92 m.QQ*Q"Q QQYYYaajaZe`~H@w@8) >i9)顝6!ii IIIY?)4?9DzD@AE EE$E"E;*Eg:VE4ZEBE@iA IA yTJ,S)Y@A2@2_=2uKBٱ2QQ :AHRS rotation from veh to nav: [[0.996632,-0.080438,-0.015949],[0.081142,0.995450,0.049952],[0.011859,-0.051078,0.998624]]2Hh?TŴ??F?`II? &?i2@I2_;0YFByF#IbDNVDNk1yV^[=%VO=ٔZźQ-Z>9XYX=ZkGyX^_E^>hQ 5v5j B?Q 9v5j)jBYxyzQ Iz>@jDIj'[;ijz[;j5y|ɮ~ AgO%DNOT Ignoring new targets: 30.92 m.))*)") )))111ԡjZNI@Kl@UuKB)Q U>iUs9)Q]6]IiYiYae.IaIa-9@ @@0@E EE@E"EO:*E n:VE4ZEa@a@a@a@^A 0I I O > ZJ,m)Y@A6@6=6lKٱ6fQ BAHRS rotation from veh to nav: [[0.996769,-0.078631,-0.016421],[0.079362,0.995590,0.050013],[0.012416,-0.051155,0.998614]]6H ?/!А`Q??Z? pm?0?i6@I6_;6CY^ Byb#If=f=iMb@Mb@Mb@ 9kt?X9vMb?Y 0=y<AAO@ )@Y@bDVDy=Hi%=4=ٔ=Q-=>9AYA=EkGyAMEM>QQ 5}5UD?Q 9}5UK)UBY}>Q E};y}{Q I}>@UDIU;iU7:U5yɮ AB9>BB#IB BB. =BBB];B#EBeԍCBeԍCBaBe. =Be- =Ceª5gODNOT Ignoring new targets: 30.92 m.*"  B!!j!Z%?>I@e>e>en@ep@}lK)y }?i}/9)y}ʸ6iiII9!9@ @@%4@!QE EE-E"E>:*E:VEt4ZEBE9Y=kGyi^E>Q 55JF?Q 95ܖ)BYyQ I>@DI9:i:i5yBɮ A MGay9YAgODNOT Ignoring new targets: 30.92 m.*" jZ@LI@!b@R) ?iq9)6iiC½II Ա  9E  E E +E "E :*E L_:VE [4ZE a @a @a @a @U 9@Y  @Y @] /@Y ^A IIO?gjJ,x)Y@A(By@B1=B.dٱB*R NAHRS rotation from veh to nav: [[0.997106,-0.073919,-0.017751],[0.074725,0.995945,0.050101],[0.013975,-0.051283,0.998586]]BHK?`\첿`8-+!??ݦ??Ak?iBy@IB/S_;@ P)R`APTTTXiZ@IXXIXiX \\)\\ \^94```b`AIb94)`i`)dIf`Adh hhjlAhihhilnA)l lIlYlYv Byv#IiMb@Mb@Mb@ 9L7A`?A`"9yYy=}kGyy}ŻE>Q 55G?Q 95*)BY=Q E;yQ I>@DI:i:5yɮA AB<AB :>B B #IB BB + =B B gDB ];B #EgOEDNOT Ignoring new targets: 30.92 m.AA*I"I IIIQU*BQQjQZ] ˽I@y==Rt@ע@.d) >i9)6ii%;ǽI!I!ԩyEm  Em Em 'Ei "Em a:*Em &p:VEm '4ZEi BEm (¿rJ,Ƈ)Y@A2o@2=25lٱ21R :AHRS rotation from veh to nav: [[0.997192,-0.072662,-0.018129],[0.073489,0.996037,0.050098],[0.014417,-0.051289,0.998580]]2H?R'в??c?w?B]?i2o@I2{^;2CYBy#I!%A -4<-bD5VD5NyE%E:=ٔEQ-E>9IYI=MkGyIU8EU>YQ 5e5]nI?Q 9e5]W)]BYiym Q Im>@]DI]:i]p:]r 5yqԹɮx AgODNOT Ignoring new targets: 30.92 m.!*!"! !!!))))j1Z5)I@:͢@5l) >iz9)6iiȽII=9 9@  @ @ 0@ bE!4jE#E4rE282E5  E5 E5 &E1 "E5 :*E5 n:VE5 4ZE1 aE @aE @aE @aE @A ^A5 V1ƽI9 II O] >lyJ,)Y@A2c@2=2itٱ26R >AHRS rotation from veh to nav: [[0.997293,-0.071150,-0.018581],[0.072004,0.996137,0.050270],[0.014932,-0.051472,0.998563]]2H?6n? Z? ?”?`Z9?i2c@I2k^;2CY$By#IiMb@Mb@Mb@ 9Zd;O?ktI +?Yj9)Y)=-kGy)5(QE5>9Q 5=5=J?Q 9E5=])=BYE=Q EE@=DI= ;i=" ;=5yQɮU# AQgODNOT Ignoring new targets: 30.92 m.*" AE8BIIjIZM2J@==(@r@it) >iP9)顝6ii4˽IIAU9@Q @Y@]4@YB<>BՍCB#IB&BB* =BBB];B#Ei^A} ]ȽI I O >ԑ E=  E9 E= (E9 "E= :*E9 VE= c44ZE9 BE= 09|Y=kGy qRE >Q 5%5rK?Q 9-5*)BY)y5Q I5>@DIc;ic;5yyɮ AgO%DNOT Ignoring new targets: 30.92 m.))*)") )))QQQYjYZ]`^bJ@(h@m~) g>iH9)\6ii? ͽIIm9@i @i@m/@iԡ^AAɽIIO> `J,j*Y@A-PS@-=-.‚ٱ- RԱ AHRS rotation from veh to nav: [[0.997417,-0.069125,-0.019504],[0.070028,0.996281,0.050202],[0.015961,-0.051438,0.998549]]-H?`+W???@X? V`?i-PS@I-~i^;-CY'By#I ==i]Mb@Mb@Mb@YYYY Y9]Mb?~jt9Y=kGy]E>Q 55BL?Q 95)BY=Q E)@DI:i,:5yɮ AE EE$E"E,:*EAr:VE4ZEa@a@a@a@gODNOT Ignoring new targets: 30.92 m.*"   6B jZ@J@==o@@.‚) >i9)Z6ii xLνII1@ @@@^A Gg̽I I O >9 B B B #IB 0BB ) =B B B u];B "EŢJ,4*Y@A2AL@2ɍ=2hFٱ2R >AHRS rotation from veh to nav: [[0.997470,-0.068245,-0.019885],[0.069168,0.996344,0.050144],[0.016390,-0.051393,0.998544]]2HF? x \? ?x?Ȑ?P?i2AL@I2xK^;2CYdydbDrVDrٔzQ-z?9|Y|=~kGy|%"E?Q 5 5L?Q 95)BYy˥Q I>@DIh:i:5yɮ!!gOMDNOT Ignoring new targets: 30.92 m.II*I"I IIQQQQYjYZ]`J@@hF) i9)顭6iiϽII959@1 @1@5/@1aE  E E (E "E :*E R:VE c44ZE BE ԉԹ J,UN*Y@A2H@2@=2_ٱ2'Q >AHRS rotation from veh to nav: [[0.997498,-0.067716,-0.020295],[0.068657,0.996390,0.049924],[0.016841,-0.051192,0.998547]]2H?U!Ȕ`y?@n?@?>?5?i2H@I2=^;2CYF#ByF#IbDNVDNk1yVF%V<ٔZ[Q-Z>9XYX=ZkGy\^䩺E^>`Q 5f5bM?Q 9f5b)bBYdyjޥQ Ij>@bDIbl:ib:b35ylɮU( AQgODNOT Ignoring new targets: 30.92 m.*" jZJ@"@_) >i 9)6ii#xнII I)ԙ9@ @@/@E  E E 'E "E :*E :VE '4ZE a% @a% @a% @a% @^A oνI I O > J,Nh*Y@A2@@2=2Cٱ2"R >AHRS rotation from veh to nav: [[0.997548,-0.066786,-0.020899],[0.067759,0.996449,0.049979],[0.017487,-0.051272,0.998532]]2H?`fX?@?Җ?$?``@?i2@@I2G];2CYF'ByF#IJAJAiMb@Mb@Mb@ 9~jtx?Dl9Y=kGycE>Q 55M?Q 95J)BY =Q E>@DI;i;!5yɮ  A gOUDNOT Ignoring new targets: 30.92 m.Qq*y"y yyy1BjZ@1K@ = =t@@C) >i$9)6ii% ҽI!I!9@ @@+1@Bm;>BiBiBiBiBiBiBm];Bm"E^AIIO>I D- =D- <夠J,*Y@AZj7@Z=Z“ٱZ>S bAHRS rotation from veh to nav: [[0.997615,-0.065623,-0.021407],[0.066628,0.996513,0.050236],[0.018036,-0.051542,0.998508]]ZHv?̰땿?@n??x?@c?iZj7@IZ^;ZCYnByn#IEv EvEtEt"Ev :*Evc:VEtZEtBEvK"9Y=kGy%@E%>!Q 555%JN?Q 955%)%BY1y5Q I5>@!I% :i%:%c$5yAɮEF AAgO}DNOT Ignoring new targets: 30.92 m.yy*"    j Z `cK@IIIM@]“) >>i9)顕N6iiӽIIYU9@Y @Y@]4@Yԉ^A}wѽIIO>Ա 2ʦJ,z*Y@AL2@q=`ٱ~5S AHRS rotation from veh to nav: [[0.997642,-0.065044,-0.021903],[0.066075,0.996551,0.050204],[0.018562,-0.051533,0.998499]]H?@m`P??Y?? b?i2@I]];CYBy#IiMb@Mb@Mb@ 9{Gz?9!Y!=-kGy)5;E5>9Q 5M5=N?Q 9U5=۟)=BYU=Q E]5@=DI=e;i=-e;=(5yiɮmr AiE EE$E"E:*Exv:VE4ZEa@a@a@a@gO=DNOT Ignoring new targets: 30.92 m.99*9"Y aaaam4BiijiZmvK@==p6@D@`) g>ie9)G6ii?ԽII9@ @@4@@\A@! ^A zҽI I O >B] :>B] ԍCB] #IB] +BBY BY BY B] \;B] "EBՍCBBB) =B* =Cm5J,F*Y@A2L/@2=2/ٱ2*S >AHRS rotation from veh to nav: [[0.997659,-0.064577,-0.022503],[0.065638,0.996582,0.050162],[0.019186,-0.051522,0.998488]]2H?  Ͱ??ᮩ??`a ?i2L/@I2i];2CYvByv#I|bDVDJy f%r=ٔQ-?9Y=kGy%ުE%?)Q 5-5-FO?Q 955-z)-BY1y5=Q I5>@)I-):i-:-n+5yAɮE AAgOmDNOT Ignoring new targets: 30.92 m.ii*i"i iqqqqjZK@z@@/) >iF9)h6iiOսIIm9@q @q@u/@q)E EE)E"E:*ET:VEFA4ZEBEZ ԁ سJ,*Y@A2(@2ۄ=2Uٱ2iS >AHRS rotation from veh to nav: [[0.997701,-0.063719,-0.023095],[0.064814,0.996631,0.050248],[0.019815,-0.051630,0.998470]]2H)?O@@?g?(?@cJ?5ov?i2(@I2];2CYFByF#IbDNVDNN2yV%VQ=ٔZҺQ-Z>9XYX=^kGy\^Y E^>`Q 5f5bO?Q 9f5b5)bBYhyj[Q Ij>@bDIbl:ibB:b.5ylɮn ApgO DNOT Ignoring new targets: 30.92 m.  * "    jiAIAYZ`K@ M:GIIe`]AIM8@y9`]AY0AU) >i9)6iiֽIIԉ@ @@/@^AIIO>E  E E $E "E :*E z:VE 4ZE a @a @a @a @ J,3*Y@A6$@6@=6Beٱ6DS BAHRS rotation from veh to nav: [[0.997716,-0.063255,-0.023683],[0.064378,0.996665,0.050135],[0.020433,-0.051545,0.998462]]6HJ?z1 Q@`{??B?H?@de?i6$@I6];6CYJ ByJ#IiMb@Mb@Mb@ 9:v?(\µ~jth?YT9IYI=MkGyIUEU>QQ 5e5UfP?Q 9e5U#)UBYe6=Q Ee@UDIU:iU:U25yuBɮu AqPB*** querying acoustic contact *** gODNOT Ignoring new targets: 30.92 m.*" 1=#B99j9ZEP3L@]6=]6=]'@]b@uBe)y }g>i}X9)y顅6ii^u׽IIU2Acoustic response timeoutUQuerying Benthos address 50 with one ping in standard two-way mode.9@ @@/@@=@=B9>BB#IB!BB+ =BBB\;B"E1Q^AewֽIIO>ԁ  *DAT read: user:583>  BDAT read: Tx time:00:49:47.7723  $Ping request sent. 9Y=kGyE>Q 55 Q?Q 95)BYyQ I>@DI:i:765yɮ< AIgOeDNOT Ignoring new targets: 30.92 m.aa*a"a aajZhL@]@ݫ)  >i 9)  Z6 i iqؽIIyuchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251459um9ԩ 9@  @ @ /@ ^A IA Ii O >J, +Y@A=i@=S==8밼ٱ=, Smchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501410ԁ AHRS rotation from veh to nav: [[0.997774,-0.061912,-0.024775],[0.063091,0.996752,0.050058],[0.021595,-0.051510,0.998439]]=H?鲯}^ &?c?/?`?t_`6?i=i@I=(^;9YBy#IbE'4jE{4rE- 0E EE'E"E:*EL_:VE'4ZEa@a@a@a@iMMb@Mb@Mb@IIII I9M~jt?&1~jtx?YMD9yYy=}kGybɺE>Q 5-5Q?Q 955O)BY5=Q E5@DIi59)15W69i9i9AEٽIAIaԡ=9@9 @9@=0@9 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752082A A ?AB B B #IB BB B B B ];B #E^Ae ֽIi I O > CJ,K:+Y@A6@6=6H%ٱ6R BAHRS rotation from veh to nav: [[0.997799,-0.061216,-0.025493],[0.062430,0.996800,0.049929],[0.022355,-0.051411,0.998427]]6H?W@@?@?@W?,?R?i6@I6>^;4YJByJ#IbDRVDR02yZ:%Zo=ٔ^lQ-^?9\Y`=bkGy`bEb?dQ 5j5fIR?Q 9j5f7)fBYlynSQ In>@fDIfj;ifU;fS=5ypɮr AtgO DNOT Ignoring new targets: 30.92 m.*" !j!Z%L@AE=AE{@UH%)Q Ui>i]|9)Y]6YiYiaaeڽIaIim9@i @q@ug4@q@}[A@}XAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006846E EEE"E:*ET:VEZEBE0Qԁ = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256022WJ,HS+Y@AF @FH{=FٱFpS bAHRS rotation from veh to nav: [[0.997854,-0.060045,-0.026103],[0.061293,0.996866,0.050008],[0.023019,-0.051501,0.998408]]FH@l? (@ºa? T??-?F^?iF @IF z^;DYjByjq#I llbDrVDryz̭%zF=ٔ~ҺQ-~>9Y=kGy4E > Q 55 R?Q 95 O) BYyzQ I>@ DI ;i Q; @5y!ɮ-`A)gOUDNOT Ignoring new targets: 30.92 m.QQ*Q"Q QQYYYaajaZeM@=q@) }>i9)顝6iiܽIIY59@1 @1@5/@1ԉ^AI)IAO]v>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508019E EEE"E*E H:VEZEa@a@a@a@ԩ 'J,m+Y@AY~By#IiMb@Mb@Mb@ 9Q?q= ףp~jt?Yu9Y=kGyE>Q 5 5S?Q 9 5)BY =Q E ;yQ I>@DI3:if:D5yɮ AԱgODNOT Ignoring new targets: 30.92 m.*"  BjZ@=M@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760353 = = j@ Ҝ@Y)a eH>ie9)aeV7aiaBu8>BqBu#IBuBBu* =BqBufDBu];Bu#Ei ܽII%9@! @!@%/@! ^AM ۽IQ Ii O} > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011994E  E E (E "E :*E P:VE c44ZE BE .9`Y`=bkGy`bܻEf>dQ 5j5f[T?Q 9j5f)fBYlynIQ In>@fDIf;if;fG5ypɮrpAtgODNOT Ignoring new targets: 30.92 m.*" jZ !lM@]@=ļ) =>iS9)7ii!!%I!I) ))I1)1 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.26457699@ @@/@@>@=i ^A% 4ܽIQ I O >WJ,+Y@Afchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519172Ej EjEj&Eh"Ej:*Ejg:VEj4ZEhan@ar@ar@ar@$@k=-ɼٱ_\S AHRS rotation from veh to nav: [[0.998046,-0.056127,-0.027446],[0.057451,0.997091,0.050084],[0.024555,-0.051563,0.998368]]H?`3j?+?৤?%?f?i$@I_;CY-ބBy-l#II5J>)59Y=kGyEE>Q 55]U?Q 95?)BYK>Q E;yQ I>@DI/:i.';K5y ɮ ~A gO5DNOT Ignoring new targets: 30.92 m.19*9"9 999BjZ`M@ K> K> p@ 0@=-ɼ)9 =>i=l9)AE7AiAiIIM IIIQ9@ @@/@ echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768045BBB#IBBB+ =BBB];B"E^A5 Y߽IA IQ Oe >a twJ,i+Y@A 2@2e=2̼ٱ2-^S >AHRS rotation from veh to nav: [[0.998115,-0.054713,-0.027817],[0.056057,0.997170,0.050100],[0.024997,-0.051564,0.998357]]2H?@P|??`?ј?f?i2@I2^;0YFՄByFb#IbDNVDN0yV8%Va=ٔZKQ-Z>9XYX=^kGy\^{E^>`Q 5f5b'V?Q 9f5bx)bBYhyjQ Ij>@bDIbK:ib:b$O5ylɮnApgO DNOT Ignoring new targets: 30.92 m.  * "    jZ`M@#@̼) =>iC9)7ii`IIm9@q @q@u0@qqBDAT read: Rx Time:00:49:50.2229 TRx dataTimestamp_ set to:1761698991.073129checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021141DzDE EE'E"E*EAr:VE'4ZEBE  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272040aJ,X+Y@APu@u_=uhѼٱuJS AHRS rotation from veh to nav: [[0.998181,-0.053219,-0.028326],[0.054590,0.997252,0.050090],[0.025582,-0.051545,0.998343]]uH`?@x?g`H?@|?f?12?`"dl?iu@Iu_;uCY܄Byj#IbDVD:y<%9=ٔkQ->9Y=kGyYE>Q 55W?Q 95)BYy⯿Q I>@DI;i;S5yɮAgO-DNOT Ignoring new targets: 30.92 m.)1*1"1 1119999j9ZE` N@aaae1@uhѼ)y }>i}9)y}7yiyiDII%9@) @)@-4@)@1@5\AE EE(E"E>:*E n:VEc44ZEa @a @a @a @%DAT read: 00:49:50.2229 LVL= 29024, 21553, 32754, 32755, AGC= 63, IDX= 472,-0.26,-3.085,-1.701, 2.671,-2.563, PHS=-0.420, 0.907,-1.093, RAW= 349.3, 6.9, CAL= 349.2, 6.2, ROT= 160.8, -6.2 -Ygot valid direction response: 00:49:50.2229 LVL= 29024, 21553, 32754, 32755, AGC= 63, IDX= 472,-0.26,-3.085,-1.701, 2.671,-2.563, PHS=-0.420, 0.907,-1.093, RAW= 349.3, 6.9, CAL= 349.2, 6.2, ROT= 160.8, -6.2 5PDAT read: Bearing 331.0, 17.1 (Local) 5~Local bearing/azimuth received: Bearing 331.0, 17.1 (Local) =DAT read: Range 11 to 50 : 34.8 m (Round-trip 46.4 ms) speed 0.0 m/s ER#Rx 1: Read range and direction messages.M^direction in FSK: [-0.938853,0.326943,0.107999]MFpublishing direction and range infoyѶ ?Niإ?Y3 B`q1T )?I= ׾i'1h?m狿@Ϣ=@ k=)3@Ikݽ`进)+? )!I3@ikݽ^AmIyIO>! J,i+Y@A|YUԄBy]`#I aai1I1ieMb@Mb@Mb@aaaa a9e?x&Mb?YeByB}z#IB}BByByByB}\;B}"EB=ԍCB9B9B=+ =B=+ =C=]4)aaYe3@bDVDk1yB%==ٔQ->9Y=kGyE>Q 55AX?Q 95t)BY >Q E;y֪Q I>@DIa:is:V5yɮA  +Y@AJ b BR b Bj 6@ =@*8&@: @r Ѷ ?Niإ?Z 3@b kݽ ې@&Hc#@ee@z 6=ؤ=r?~+#?2 A: " lp?* zB vB ? mH“  |B #.@gO5 addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 60.248070 s, deltaX: 3.699999 m, approachRate: 0.061413 m/s, rangeRepo size: 4 gOE Added new target pos. range: 34.596176 m, bearing: 163.690140 deg, lat: 36.779286 deg, lon: -121.859567 deg, deltaT: 60.248070 s, deltaX: 3.676836 m, approachRate: 0.061028 m/s, posRepo size: 4 gOMDNOT Ignoring new targets: 34.60 m.II*I"I IQQQUBYYj]`ffA@Z]`? > >Ნ@>Z@)))1 5g>i5T9)9= 79i9iAae}IaIi9@ @@!@!Q^A I D D 4=E  E E )E "E [:*E X:VE FA4ZE BE |ԙ "qK,= ,Y@AYË́ByEW#IYbD]VD]kym!%mb=ٔqQ-u>9qYq=}kGyyyE}>Q 558Y?Q 95)BYyQ I>@DI:i:Y5yɮAgODNOT Ignoring new targets: 34.60 m.*" jZ ?? )  >iV9)( 7ii^I!I!9@ @@/@ԉ5ɀGIi9YA^AIIԹO> 'K,F%$,Y@AEj EjEj'Eh"Ej:*Ej1]:VEj'4ZEhav@az@az@az@-@-|N=-ؼٱ-R EAHRS rotation from veh to nav: [[0.998380,-0.048964,-0.028990],[0.050373,0.997476,0.050050],[0.026466,-0.051429,0.998326]]-H? @`sʩ?Q?$? ?T I?i-@I-^;)YU҄ByU^#IԱi5Mb@Mb@Mb@1111 195X9v?n~jt?Y59aYa=mkGyim Em>qQ 5}5uZ?Q 9}5uC)u BY>Q E;yꦿQ I>@uDIu:iuM:u]5yBɮxAEgODNOT Ignoring new targets: 34.60 m.*" BjZG?>>wѝ@SU@ؼ)  >i9) 7 i ijII9@ @@/@@=@=AiAmAABqBqBum#IBu߄BBu* =BqBqBu(];Bu"E^A56II O >9 K,=,Y@A2@2I=2'ڼٱ2R :AHRS rotation from veh to nav: [[0.998440,-0.047620,-0.029139],[0.049037,0.997544,0.050019],[0.026686,-0.051370,0.998323]]2H@9?`a`֝`?? ?@S? M@C?i2@I2^;2CY@yB]#IIF<)F4<bDNVDNN2y%d=ٔ Q->9 Y = kGy  ZtE>Q 55[?Q 9%5)BY!y%Q I%>@DIa;i<;`5y)ɮ5zA1gO]DNOT Ignoring new targets: 34.60 m.YY*Y"Y YaaaaiijiZmd?J@'ڼ) >i9)页7iiIIm9@q @q@u/@qE EE%E"Em:*E[:VE 4ZEBERIiia Ia ԙ K,lW,Y@A2O@2B=2sڼٱ2@7S :AHRS rotation from veh to nav: [[0.998522,-0.045935,-0.029040],[0.047354,0.997615,0.050224],[0.026663,-0.051525,0.998316]]2H? ̈́ >?u??M?`a3?i2O@I2%^;2CYNՄByRa#IbDZVDZ0yv"e<%vL=ٔvKl8Q-v>9xYx=zkGyxz‰E~>QQ 5]5U\?Q 9]5U)UBYYyeNQ Ie>@UDIU;iU@;Uzd5yiɮmcAigODNOT Ignoring new targets: 34.60 m.*" jZ\?E<@sڼ) >i}9)B7iiIIqm9@q @q@u(0@qԩbEajEeƣ#4rEeƓ/E EE#E"E*ER:VE3ZEa@a@a@a@^AͳIIO> K,Sq,Y@A2ߍ@2b<=2[ڼٱ2w S :AHRS rotation from veh to nav: [[0.998588,-0.044543,-0.028957],[0.045960,0.997679,0.050244],[0.026652,-0.051504,0.998317]]2H n?`dΦ ???`J?^6?i2ߍ@I2u^;2CYBɄByFS#Ii Mb@Mb@Mb@     9 ~jt?p= ף/$?Y =y  < nA @ )  Y @bD%VD%:y54^%5E=ٔ= 7Q-=>99YA=EkGyAE\EE>IQ 5U5Mr^?Q 95M^)MBYY >Q E;y Q I>@MDIMY >@G@[ڼ)! %>i%9)!%7!i!i))5 I1I19@ @@0@@\A@^AyII O >) E  E E %E "E *E A:VE 4ZE BE a 2E a JE k;a :E k;a Q "K,\,Y@A6^@67=6_ ڼٱ6YR BAHRS rotation from veh to nav: [[0.998641,-0.043390,-0.028857],[0.044801,0.997734,0.050188],[0.026614,-0.051413,0.998323]]6H?F7@`3?p?I?@? RB?i6^@I6^;6CYJЄByJ\#I LLbDVVDV02y^]=%^S=ٔ^8Q-^>9`Y`=bkGy`fCEf>dQ 5n5f_?Q 9n5f)f!BYlynFQ In>@fDIf;if;fek5ytɮvAtgODNOT Ignoring new targets: 34.60 m.*" !!j!Z%!@AAAEV>@]_ ڼ)Y ]>i]9)Y]7aiaiaim8IiIi 9@  @ @ P4@9Y^A5I9IQO]v>ԁ (K,Yk,Y@AEZ EZEXEX"EZ,:*EZga:VEXZEXaj@aj@an@an@Hy@D2=ڼٱ=R AHRS rotation from veh to nav: [[0.998697,-0.042080,-0.028859],[0.043493,0.997790,0.050225],[0.026682,-0.051415,0.998321]]H@T? s(@D?@??jR?S>?iy@InW^;CYԄBy`#Ii]Mb@Mb@Mb@YYYY Y9]~jt?rh|S㥛?Y]9Y=kGy14E>Q 55`?Q 95,))BYE>Q E;ymQ I>@DI;i:o5y!ɮ%gA!gOMDNOT Ignoring new targets: 34.60 m.QQ*Q"Q QQQY]BYYjaZe @E>E>@d4@ڼ) )>i/9)顝f7iiԩIIE9@A @A@Ep4@AB<AB:>BBBBBBgDB];B#E^A I I O > /K,q<,Y@A2p@2z-=2ټٱ2.R :AHRS rotation from veh to nav: [[0.998750,-0.040918,-0.028691],[0.042325,0.997839,0.050265],[0.026572,-0.051417,0.998324]]2H?@D@a?`K?[? 5?JSD?i2p@I2^;2CYBӄByF^#IbDNVDN0yV@%Vn=ٔV9Q-V?9XYX=ZkGyX^iE^?`Q 5f5ba?Q 9f5b7)b/BYdyfQ If>@bDIb:ib:bor5ylɮnsAllgO-DNOT Ignoring new targets: 34.60 m.11*1"1 119AAAIjIZM @    +@Eټ)Q U>i]F9)Y]7YiYiaae;IaIiqE EE'E"EO:*E:VE'4ZEBE 1^AII1O=>a 5K,,Y@A6e@6b(=6ؼٱ6-S >AHRS rotation from veh to nav: [[0.998806,-0.039682,-0.028506],[0.041084,0.997883,0.050405],[0.026446,-0.051516,0.998322]]6H@7?@'Q@0 ?`? Ω??U`@?i6e@I6^;4YJڄByJg#IIN<)Np; Rp9`Y`=bkGy`bHEf>dQ 5j5fb?Q 9j5f)f6BYlynQ In?@fDIff;ifr;fu5ypɮv<AtgODNOT Ignoring new targets: 34.60 m.*" !!j!Z%^@9IIIM+!@]ؼ)Y ex>iej9)ae7aiaiiimIiIq9@ @@/@iE EE%E"E>:*Ex:VE 4ZEa@a@a@a@^A 3I)I9OEs>ԑ %;]@>$=>[ռٱ>aS fAHRS rotation from veh to nav: [[0.998858,-0.038646,-0.028100],[0.040030,0.997922,0.050499],[0.026090,-0.051566,0.998329]]>H?jɣ+Ɯ@~? ?ک?D?f O?i>;]@I>9];>CY~؄By~d#IԙB8>BBBB) =BBB];B"EimMb@Mb@Mb@iiii i9mMb?zGếS㥛?Ym=ym ׽imAm@ i)m@iYm@bDVDܲyV%/=ٔG:Q->9Y=kGyE>Q 55d?Q 95»)>BY=Q E;yQ I?@DI ;i ;z5yɮLAgODNOT Ignoring new targets: 34.60 m.*"   BjZ@8H@5=5=5?C@51o@M[ռ)I Mq>iMf9)QU[7QiQiYY]oIYIi9@ @@@^A aI I) O5 >E  E E &E "E [:*E ą:VE 4ZE BE |i9)7iioIII[A)u9@q @q@u0@q@y@y!^AlIIO>Qԁ :IK,-&-Y@AEJ EJEHEH"EJ:*EJ:VEHZEHaZ@aZ@aZ@a^@K@M=4μٱeS AHRS rotation from veh to nav: [[0.998964,-0.036554,-0.027111],[0.037894,0.997996,0.050668],[0.025204,-0.051642,0.998348]]H?`C› f? ??`3ϙ? pv?iK@I^;CIY-؄By-e#I 11====i Mb@Mb@Mb@     9 V-?Zd;O:v?Y 9IYI=UkGyQU6EU>YQ 5e5]f?Q 9e5])]MBYm=Q Emi:9)7iiqy}qIyIyBBBs#IBBB+ =BBfDB+\;BX"EByByByB}* =B}* =C}Ǯ75 9@  @ @ 0@ ԩ ^A I I) O5 >yPK,{M@-Y@AN E@N=N̼ٱNS ^AHRS rotation from veh to nav: [[0.999002,-0.035762,-0.026770],[0.037083,0.998032,0.050562],[0.024909,-0.051504,0.998362]]NH`?@vOi ?@?F?ು?@^?iN E@IN^;NC h)j`Aj\hptv`Aiv/ݼIttIxi~aA t  F)  `A̼%`AI%ļ)!i!))I-`A5̼1 19=lA9i99iAEA)I IIIYIY]ԄBy]`#IbDmVDm02y}%}=ٔY:Q-!?9Y=kGy@E!?Q 55Wg?Q 95)QBYyQ I?@DI:i:J5yɮhAgODNOT Ignoring new targets: 34.60 m.*" jZ`@)))-@]̼)Y ][>ie9)ae7aiaiiim5IqIqDzDE EE(E"E,:*Ez:VEc44ZEBE C% EG9 Q &9 Y A9VK,LZ-Y@AR=@R?=RcɼٱRR ZAHRS rotation from veh to nav: [[0.999043,-0.034873,-0.026395],[0.036175,0.998067,0.050543],[0.024581,-0.051449,0.998373]]RH@)?ڡ@Cx?@)??+?W ?iR=@IRL^;RCY%ՄBy%a#IbD5 VD5:2yE0;%MN=ٔMX:Q-M>9QYQ=UkGyQUeEU>YQ 5e5]eh?Q 9m5])]WBYiymQ Im?@]DI]l:i]:]5yqɮu`AygODNOT Ignoring new targets: 34.60 m.*" jZ`!@蠡@cɼ) w>i9)R 7iiIIp>iQ9@ @@/@@=@=ԁE EE)E"E[:*EX:VEFA4ZEa@a@a@a@^AII1O=>ԩ c\K,Is-Y@A@5@=sIƼٱS AHRS rotation from veh to nav: [[0.999090,-0.033847,-0.025965],[0.035129,0.998100,0.050615],[0.024203,-0.051482,0.998381]]H?nTs?o?D?Ș?[?i5@I-W^;CBBBBB* =BBB[;B>"EYׄByd#II=)=ieMb@Mb@Mb@aaaa a9eL7A`?#~j~jt?Ye+=ye㥽e9Y=kGyzE>Q 55i?Q 95z)^BY=Q EiR9)!7iiII @ @@/@D <D <E  E E &E "E :*E H:VE 4ZE BE m%|KcK,э-Y@A>+@>^ =>2,¼ٱ>ޅS FAHRS rotation from veh to nav: [[0.999140,-0.032751,-0.025411],[0.034009,0.998130,0.050783],[0.023700,-0.051604,0.998386]]>H`?Ġc i?@?E?@D? k?i>+@I>^;>CYR؄ByPbDZVDZf?yb:%fm=ٔf:Q-f?9dYh=jkGyhjXUEj?ppQ 5v5rj?Q 9v5r1)rcBYtyv\Q Iz?@rªDIr:ir6:r5y|ɮ~LA|gO%DNOT Ignoring new targets: 34.60 m.!!*)") )))1111j1Z5 )@QQQU8@m2,¼)i ml>imz9)qu#7qiqiyy}IyI1@1 @1@5/@1 9^AUIaIqO{>a _xiK,-Y@AbE4jE!4rE/EJ EJEJ(EH"EJ:*EJrN:VEJc44ZEHab@ab@af@af@AE#@E=ElٱES ]AHRS rotation from veh to nav: [[0.999188,-0.031710,-0.024863],[0.032943,0.998162,0.050862],[0.023205,-0.051640,0.998396]]EHX?><uݠ?? ?×?p`?iE#@IEǒ^;ECYmքBymc#IiEMb@Mb@Mb@AAAA A9EL7A`?~jtZd;O?YAyEEj9qYq=ukGyq}mE}>Q 55,l?Q 95$)jBY=Q Ei9)$7ii!!%zI!I)1@ @@0@@@Bu<AqByԑByB}m#IB}߄BByByByB}%\;B}U"EԹ ^A I I O- ><^pK,?-Y@AJ@J=JwٱJS VAHRS rotation from veh to nav: [[0.999232,-0.030730,-0.024328],[0.031939,0.998190,0.050955],[0.022718,-0.051693,0.998405]]JH? w@q阿EZ?`,??kC?|w@?iJ@IJ^;JCY^̈́By^W#I ``bDjVDjܲyrfm%r=ٔr:Q-v ?9tYt=vkGytzMEz ?|Q 55~m?Q 95~)~oBYyQ I?@~ĪDI~;i~:~•5yɮAԙgODNOT Ignoring new targets: 34.60 m.*" jZ1@)))-@Ew)A ET>iE9)IM%7IiIiQQUEqIQIYE EE&E"E;*EF:VE4ZEBEA! iߙ Iߝ AŇvK,c-Y@AB@Bw9hYh=jkGyhnz%En>pQ 5v5rHn?Q 9v5r)rtBYtyvQ Iz?@rŪDIr:ir:rB5y|ɮ~A|gO%DNOT Ignoring new targets: 34.60 m.!!*)") )))1111j1Z5@L@QQQU'@mo)i mʖ>im9)iu&7qiqiqy}IIyI@ @@4@!E EE(E"E:*E;J:VEc44ZEa@a@a@a@^A}IIO>Qy k|K,>A-Y@A2 @2<2ٱ2xS :AHRS rotation from veh to nav: [[0.999318,-0.028704,-0.023243],[0.029859,0.998253,0.050981],[0.021739,-0.051640,0.998429]]2H i?d̗@|??)?B?p!?i2 @I28^;2CYB̈́ByBW#Ii Mb@Mb@Mb@     9 Zd;O?V-B!B%g#IB%ڄBB%( =B!B%gDB%S\;B%m"E A @ ) V@ Y @bDVDky<%<=ٔu:Q->9Y=kGy!E>Q 55p?Q 95R)yBY#=Q Ei9)顝(7ii4III)-9@) @)@-/@)@5=@5=ԁ^AMIYIiO}>ԩE  E E &E "E V:*E P:VE 4ZE BE 99XY\=^kGy\^{AE^>`Q 5f5bq?Q 9f5b)b~BYdyjwQ Ij?@bǪDIb:ibK:bK5ylɮnAlgODNOT Ignoring new targets: 34.60 m. * "    jZqd!@999=-@Mޭ)I M>iM19)QUA)7QiQiYY] IYIaԩ9@ @@@^A-*I9IIO]v> 0ĉK,(.Y@AE> E>E>)E<"E>:*E>F:VE>FA4ZE9qYy=}kGyy}E>Q 55s?Q 95)BY-=Q EiL9)*7ii II!A9@ @@@@@A9A9BIBIBMZ#IBMτBBM) =BIBIBM\;BM"Ei ^A ) I I O >ʭK,B.Y@A2&@2 <2:ٱ2]S >AHRS rotation from veh to nav: [[0.999446,-0.025289,-0.021616],[0.026364,0.998349,0.051028],[0.020290,-0.051570,0.998463]]2H w?=噿`"F?z? [ ?Ɣ?Zg@i?i2&@I2e_;0YFByF=#IbDRVDRkyVh9%V=ٔZn:Q-Z ?9XYX=^kGy\^Eb?`Q 5f5bt?Q 9f5bs)bBYhyjQ Ij?@bɪDIb:ibK:bZ5ylɮnwApgODNOT Ignoring new targets: 34.60 m.  * "    jZ`0 #@@:) ->ih9)+7iiQQUZ IQIYEu EuEu'Eq"Eu[:*Eu H:VEu'4ZEqBEu| Y֖K,}\.Y@A`YBy5#I  bDVDy%%-C=ٔ-Q-->9)Y1=5kGy15E5>9Q 5E5=xu?Q 9E5=5)=BYIyIQ IM?@=ʪDI=K:i=:=5yQɮUAQgO-DNOT Ignoring new targets: 34.60 m.)1*1"1 119AAIIjIZM@#@) Æ>i_9)顭,7ii II@ @@d0@E EEE"E:*EVEZEa@a@a@a@^ANw IIO>A zK,v.Y@A:|@:b<:ٱ:{S BAHRS rotation from veh to nav: [[0.999524,-0.023065,-0.020498],[0.024088,0.998401,0.051130],[0.019286,-0.051599,0.998482]]:H@?_v?? -?̿?5k?i:|@I:H_;:CYHyHBb:>B`BbN#IBbńBB`B`B`Bb\;Bb"EBBBB) =B) =C{5AiMb@Mb@Mb@ 9Mb? rh{Gz?Y@=yCף<&A@ XA)AAYAbDVDyv%1=ٔ;Q->9Y=kGy(E>Q 55Zw?Q 9%5)BY%-=Q E%i9)-7iiAM IIII=9@9 @9@=.0@9@E=@E=ԑE  E E %E "E m:*E 1]:VE 4ZE BE SK,,f.Y@A2@2<2%ٱ2/S >AHRS rotation from veh to nav: [[0.999557,-0.022154,-0.019857],[0.023143,0.998426,0.051091],[0.018694,-0.051527,0.998497]]2H_?h@[U岗??@(?`u$?a ?i2@I2y_;2CYFByF-#IbDzVDzNy%d %-k=ٔ-_:Q--?9)Y1=5kGy152E5?YQ 5e5]x?Q 9m5])]BYiympQ Im?@]̪DI][:i]:]5yɮAԹgODNOT Ignoring new targets: 34.60 m.*"! !rG%/"9!Y%? A111119j9Z= %@@ %)  t>i B9).7iin II!iiImA9@ @@4@^A% #< I1 IA OM >9 K,D.Y@AE" E"E"$E "E":*E"rN:VE"4ZE a&@a&@a&@a&@r@r9Y=kGy FE >Q 55z?Q 95)BYS=AQ EE(iE9)IM/7IiIiQQU{IQB9>BB;#IBBB* =BBBe\;Bu"EIQy9@ @@@ԙ ^A I I1 O= >mK,C.Y@AB@Bim}9)im07qiqiqy}f}IyIyԹ=9@9 @9@=/@9@A@A^A] tIi Iy O > K,.Y@AB߸@Bţw? ?@~?<8?K@?iB߸@IBhj_;BCYrByr#IbD~VD~0y%=P=ٔE:Q-E>9AYA=EkGyIM'EM>QQ 55U{?Q 95U)UBYyOQ I?@UϪDIUi9)17iiGII1E9@A @A@E/@IbE%!4jE!rE%#0E EE$E"E:*EV:VE4ZEa@a@a@a@Q^A- I1 II OU >y B :>B B (#IB BB + =B B B [;B "EKK,ʤ.Y@AZo@ZU9Y=kGyE>Q 55z|?Q 95)BY=Q E*i9)27iAiAIMIIII]e>yi],>9@ @@/@D=D<E EEE"E:*ET:VEZEBE# OK,!x/Y@AB}@Bc9AYA=EkGyAE3EM>IQ 5U5M}?Q 9U5MM)MBYyy}ΣQ I}?@MѪDIMq;iM;M5yɮAgODNOT Ignoring new targets: 34.60 m.*" jZe)@IIIM;@Ա]^x)Y ] l>i]k9)aeq37aiaiiҙII!@! @!@%>0@! ^AM IQ Ii Ou >E  E E )E "E :*E c:VE FA4ZE a @a @a @a @1 K,̖-/Y@A*@<(ppٱUR AHRS rotation from veh to nav: [[0.999762,-0.015345,-0.015482],[0.016118,0.998562,0.051133],[0.014675,-0.051370,0.998572]]H ? @m˴\?7?@.?@ ?9ML?i*@I͒^;Y|By"IiMb@Mb@Mb@ 99!Y!=%kGy!% E->1Q 5555}?Q 9=55>)5BY=&=Q E=i9)顽D47iivIIe9@a @a@eI4@aAA@ABBB#IBBBBBfDB*[;B!EI ^A #I I O >9K,)G/Y@A$Nߓ@N}i9)額47iiIIEe EeEe(Ea"EeV:*Ee[:VEec44ZEaBEe95PExceeded connect timeout, disconnecting. K,a/Y@AHV.@V(n99Y9==kGy9ENEE>IQ 5U5M?Q 9U5M)MBYYy]MQ I]?@MԪDIMK;iM5;M5yaɮeAagODNOT Ignoring new targets: 34.60 m.*" jZ+@e|@"d) />i9)57iiIIe9@a @i@m/@i@q@qEu EuEu'Eq"Eus:*EuX:VEu'4ZEqa@a@a@a@^Am5IIO> By By B} "IB} ~BB} , =By By B} Z;B} !EK,z/Y@A2N@2h`<2]ٱ2ZQ >AHRS rotation from veh to nav: [[0.999814,-0.012986,-0.014229],[0.013695,0.998610,0.050899],[0.013548,-0.051085,0.998602]]2Hz?$ ??@~?@,?'?i2N@I2t?^;2CYFcByF"IiMMb@Mb@Mb@IIII I9M{Gzt?bX9ȶZd;O?YMף;yMEMj9Y=kGy+E>Q 557?Q 95)BY=Q Ei%9)!%I67!i!i))-pI)I1@ @@/@!Q^A%I1IAOU>Ei EmEm)Ei"Ei*Emga:VEmFA4ZEiBEmf0 ?i2qy@I2R^;2CYBUByB"I DDbDNVDN02yVk%VY=ٔV;:Q-Z>9XYX=ZkGyX^=|E^>`Q 5f5be?Q 9f5b)bBYdyfQ If?@b֪DIb:ib:bz5ynږBɮn(Ar EgODNOT Ignoring new targets: 34.60 m.  * "    jZ .-@Y@Y) <=iL9)67inManaging dock network, ignoring radio surface power offiݵIII ) i@q @q@u/@qԑ^A5*_IAIQOew>Ա E  E E E "E *E c:VE ZE a @a @a @a @+K,ڮ/Y@A5n@53<5Wٱ5+Rԡ AHRS rotation from veh to nav: [[0.999854,-0.010282,-0.013671],[0.010968,0.998631,0.051142],[0.013126,-0.051284,0.998598]]5H@?cv?`?>/??@A?i5n@I5F^;1YQBy"IiMb@Mb@Mb@ 9?S㥻 rh?Y9Y=kGy3.E>Q 55r?Q 95)BY=Q E ;y Q I ?@تDI/:i{:5yɮJAgODNOT Ignoring new targets: 34.60 m.*" BjZ.@==^@h@W) #>i9)!%}77!i!i))-AI)I1B <A BBB"IBeBBBBB [;B!EBBBB+ =B+ =CcQ59@ @@0@@=@ >^A NI I O > K,ut/Y@ABb@B.i9)顽77iiIIE= E=E=(E9"E=:*E=i:VE=c44ZE9BE=&y?'dAiԡ t.K,P/Y@A2T@2;2Tٱ2R :AHRS rotation from veh to nav: [[0.999886,-0.007089,-0.013362],[0.007766,0.998652,0.051321],[0.012981,-0.051419,0.998593]]2H ? }]`? ?`F?@?Sy?i2T@I2Z^;0YN>ByR"IIV=)V=bDZVDZNyb'%bO=ٔfQ-f>9dYd=fkGydjэEj>lQ 5E5n?Q 9E5n)nBYAyEQ IE?@nڪDIn ;in!;n5yQɮUAQgO}DNOT Ignoring new targets: 34.60 m.yy*y" jZ0@N@T) \=iP9)z87iikIIt>i!>M9@Q @Q@U3@QEM EMEM)EI"EMm:*EM n:VEMFA4ZEIaU@aU@aU@aU@^A]4IIO>I B% ;>B! B% "IB% PBB! B! B! B% '[;B% !EAHRS rotation from veh to nav: [[0.999897,-0.005384,-0.013310],[0.006061,0.998662,0.051348],[0.013015,-0.051424,0.998592]]2H'?0 v B@x? ?VJ? է?7Tw?i2F@I29^;2CYF2ByF"IiMb@Mb@Mb@ 9 rh?`"/$?YC9Y=kGyWE>Q 55?Q 95X)BY=Q E;yQ I?@ܪDI߄;iŌ;5y ɮ BA gOUDNOT Ignoring new targets: 34.60 m.QQ*Q"Y YYaimBiijqZuq0@==YC@h@4@U) >i9)97iQiQY]IYIY9@ @@/@@ @ yDQDQE] E]E]*EY"E]:*E]i:VE](N4ZEYBE] ԩ AL, 0Y@A2Z7@2;2Xٱ2@qR :AHRS rotation from veh to nav: [[0.999904,-0.003496,-0.013429],[0.004181,0.998675,0.051299],[0.013232,-0.051350,0.998593]]2H6? [l q?`$?C?N?J`y?i2Z7@I2_;09tYt=vkGytvEv>xQ 5~5z6?Q 95z)zBYy۶Q I?@zުDIz;iz;z/5y ɮ ;AgO=DNOT Ignoring new targets: 34.60 m.99*9"9 99AAAAIjIZM[0@iiim Y@X) ^>i9)額97iiYII9@ @@/@Ա^AOTIIO > bE:4jEc44rEʲ/Ee  Ee Ee 'Ea "Ee :*Ee ]t:VEe '4ZEa a} @a} @a} @a @Qk L,G/0Y@Ap'@X;5[ٱxR AHRS rotation from veh to nav: [[0.999908,-0.001589,-0.013504],[0.002279,0.998684,0.051233],[0.013405,-0.051259,0.998595]]H >?'Z b?`8?8;?t?@>~?i'@I_;CYM&Byu"I i=Mb@Mb@Mb@9999 99=+?nZd;O?Y==y=V=j<=SA=V@ =nA)99Y=AbDUVDUyeS%e(=ٔmQ-m>9iYq=ukGyquEu>yQ 55}΄?Q 95}I)}BY>Q E;yǥQ I?@}DI}g>@ @AABBB"IBi:9)H:7iiII}9@y @y@}/@y1a ^A RI I O >RL,I0Y@A24@2X72aٱ2R :AHRS rotation from veh to nav: [[0.999905,0.000694,-0.013763],[0.000013,0.998685,0.051271],[0.013780,-0.051267,0.998590]]2H8?F?/X>9?`=@?8??r?i24@I2Cv`;2CYB*ByF"IbDNVDN1yV<%V=ٔZXQ-Z ?9XYX=ZkGy\^9E ?Q 55܅?Q 95u)BYyQ I%?@DIr;i* ;E5y)ɮ-A)9gO]DNOT Ignoring new targets: 34.60 m.YY*Y"Y YYaaaiijiZm-1@ڊ@a) 4 >i9)顥:7ii0 IIDzDE EE)E"E:*E|:VEFA4ZEBE8 4|L,c0Y@A2@2@2iٱ2EQ :AHRS rotation from veh to nav: [[0.999896,0.003082,-0.014124],[-0.002354,0.998682,0.051268],[0.014263,-0.051230,0.998585]]2H$?@>i?쌿` Hc@4???5?:h?i2@I28`;2CYF'ByF"IbDNVDNk1yV@%VJ=ٔVQ-Z>9XYX=ZkGyX^E^>`Q 5f5b!?Q 9f5b)bBYdyfdQ Ij?@bDIb:ib:b5ylɮnAlgODNOT Ignoring new targets: 34.60 m.* "    jZ2@ԙv@i) X>i9)M;7ii!%W"I!I!9@ @@1@E- E-E-%E)"E-I:*E-e:VE- 4ZE)a5@a5@a5@a5@^A IIIqO>B B B "IB -BB B B B [;B 6"E) L,r}0Y@A2s@24@2-qٱ2cQ :AHRS rotation from veh to nav: [[0.999881,0.005344,-0.014503],[-0.004596,0.998680,0.051165],[0.014758,-0.051092,0.998585]]2H?u?쳍`r/?@G2?=9?(@h?i2s@I29a;2CYF(ByDIH)J=i%Mb@Mb@Mb@!!!! !9%+?K7X9v?Y!y%I iAIA%<%A%?@ !)%nA!Y%AbDeVDekyE;%>=ٔ Q- >9 Y=kGy5?E=>9Q 5E5=?Q 9E5=)= BYMF>Q EM;yM4Q IM?@=DI=:i=Z:=5yqɮ}AygODNOT Ignoring new targets: 34.60 m.*" BjZ z2@5F>5F>5ҫ@5@E-q)I M=iM>9)im;7qiqiqy}آ$IyIyI)%9@! @!@%4@!)D1D5<E= E=E=$E9"E=غ:*E=L_:VE=4ZE9BE=y %%L,L0Y@A:@:@:1 zٱ:BQ FAHRS rotation from veh to nav: [[0.999859,0.007758,-0.014883],[-0.006987,0.998665,0.051172],[0.015260,-0.051061,0.998579]]:H??`{`g|@?53?@?$[?i:@I:Ya;:CY^Byb"IbDjVDjyr\%rT=ٔrгQ-v>9tYt=vkGytzVػEz>|Q 55~?Q 95~)~BYyQ I?@~DI~;i~;~5yɮAgOEDNOT Ignoring new targets: 34.60 m.AA*A"A AAIIIIQjQZU2@qqqum@1 z) H=i!9)額/<7iil&IIQ9@ @@/@ԁ^A5v$IAIQOew>ԩEE  EE EE "EA "EE I:*EE g:VEE (3ZEA aM @aM @aM @aM @ Ӹ+L,^*0Y@A^@^D@^#ٱ^!P eAHRS rotation from veh to nav: [[0.999832,0.010021,-0.015323],[-0.009226,0.998650,0.051124],[0.015814,-0.050974,0.998575]]^H?@?na䂿@?@,? 1?`H S?i^@I^3a;\Y&By"IbDUVDU:2ԱyeL=%e(=ٔe]Q-e>9iYi=mkGyiu▻Eu>yQ 55}=?Q 95})}BYyզQ I?@}DI}W:i};}5yɮAgODNOT Ignoring new targets: 34.60 m.*" jZP3@cZ@#) =i#9Bm<Am<BqBqBqBqBqBqBqBu:\;Bua"E)<7ii!y(IIiY@Y @Y@]0@Y ^A ]&I I O >1 F2L,0Y@A2@2ر@2-ٱ2P :AHRS rotation from veh to nav: [[0.999800,0.012295,-0.015771],[-0.011474,0.998626,0.051136],[0.016378,-0.050945,0.998567]]2H\?4.?]&@?.?Ő?u C?i2@I2--a;2CE EE&E"E:*EE:VE4ZEBE9Y=kGyE>Q 55?Q 95)$BY >Q E;yQ I?@DI ;i7 ;5yɮAgODNOT Ignoring new targets: 34.60 m.*"   B jZ3@5 >5 >5#@5.@E-)I M=iM9)IM=7IiIiQQUTB*IYIY9Y@Y @Y@]/@ai ^AE `=(ii Ii Iq I O >`8L,%0Y@A \)`bC b F```ifԼIfEdIdid fh)hh j`AhhlllIl)lil)pIr`Arjp ptvlAtittixzA)x xIxYxY~-By"IbDVDy%$=%%~=ٔ%Q-- ?9)Y)=-kGy)5E5 ?9Q 5E5=Ս?Q 9E5=)=+BYAyAQ IE?@=DI=:i=:=5yQɮUiAQgO}DNOT Ignoring new targets: 34.60 m.yy*y" jZ 4@))))Y)Y ]X=ieu9)ae=7aiaiii)IIi%9@! @!@-/@)@5=@5=E  E E $E "E  :*E :VE 4ZE a@a@a@a@ԙ^Av**IIO> Ba Ba Be "IBe 2BBa Ba Ba Be X\;Be p"EB)B)B)B-, =B-, =C-i4>L,0Y@AF@F@F^{ٱF >QP ZAHRS rotation from veh to nav: [[0.999724,0.016515,-0.016690],[-0.015638,0.998559,0.051330],[0.017514,-0.051055,0.998542]]FH?8?E2? G?/? #?iF@IF`;FCY=8By="IiMb@Mb@Mb@ 9y&1?B`"۹=ٔ](Q-]>9YYa=ekGyaeEe>iQ 5u5mՏ?Q 9u5m)m4BY}=Q E};y}牿Q I}?@mDIm ;im; ;m^5yɮAgODNOT Ignoring new targets: 34.60 m.*"  BjZ~4@=='@@^{) T=i9)=7ii   ^-I I9@ @@0@E- E-E)E)"E-s:*E-L_:VE)ZE)BE-f0! - EG  E /&9A YE AEL,-1Y@A2Ɖ@2@2efٱ21P :AHRS rotation from veh to nav: [[0.999691,0.017907,-0.017222],[-0.017004,0.998542,0.051229],[0.018114,-0.050921,0.998538]]2Hx? "V?ढbi?:? ? J?i2Ɖ@I2{_;0Yr=Byr"IIv<)v=xzA|bDVDy<%Z=ٔ)ٺQ->9qYq=}kGyy}oE}>Q 55?Q 95)7ii.II!9@ @@4@9Q^A.IIO>ԁ E-  E- E- &E) "E- :*E- C:VE- 4ZE) a5 @a5 @a5 @a= @LL,n21Y@A6@6S{@6ٱ6#XP >AHRS rotation from veh to nav: [[0.999662,0.019054,-0.017682],[-0.018127,0.998525,0.051172],[0.018631,-0.050835,0.998533]]6H@;?ӂ?Iޏ`?C3? ?` ?i6@I6"^;6CYJ?ByJ"IbDR VDR2yZ;%ZQ=ٔ^䬺Q-^>9\Y\=bkGy`j@Ej>tQ 5z5vA?Q 9z5v)vEBY|y~FQ I~?@vDIvY;iv;v 5yɮ A gO-DNOT Ignoring new targets: 34.60 m.11*1"1 111AAIQajiZu@B5@V~@M)i m=iu 9)qu>7qiqiyy}/IyIA A BBB"IB QRL,KL1Y@A6w@6q@6,ٱ6P BAHRS rotation from veh to nav: [[0.999632,0.020234,-0.018052],[-0.019285,0.998497,0.051294],[0.019063,-0.050927,0.998520]]6H?1?>|X?5C?4? ?i6w@I6^;6CYJAByJ"IiMb@Mb@Mb@ 9~jt?L7A`尿l?Y=y+=jAA A)AYQAbD-VD- 3y=8<%=B=ٔE%Q-E>9AYI=MkGyIM4EM>QQ 5]5U?Q 9e5U)UMBYeg=Q Ee7ii0III ) \A9@ @@/@^Av/IIO>9 yYL,R&f1Y@A2&t@2n@2_rٱ2.O :AHRS rotation from veh to nav: [[0.999618,0.020608,-0.018437],[-0.019642,0.998500,0.051115],[0.019462,-0.050733,0.998523]]2H ?@3? ᒿ`?+?`??i2&t@I2];2CYF@ByF"I HHbDNVDN:yVL%VT=ٔZQ-Z>9XYX=ZkGyX^PsE^>`Q 5f5b?Q 9f5bt)bVBYhyj3Q Ij?@bDIb:ib:b5yQɮ]AYgODNOT Ignoring new targets: 34.60 m.*" jZ16@@_r) 7ii 0IIm9@i @q@q@qAbEuĻ 4jEu4rEu0Em EmEm&Ei"Em:*EmVL:VEm4ZEia@a@a@a@^A]y 1IIO>yB1 B1 B5 "IB5 FBB1 B1 B1 B5 6\;B5 _"Eԙ `L,S1Y@AJo@JUj@J,ٱJxP VAHRS rotation from veh to nav: [[0.999600,0.021184,-0.018715],[-0.020200,0.998481,0.051263],[0.019773,-0.050864,0.998510]]JH? ?*N ???O??` ?iJo@IJb];JCY^ABy^"IiMb@Mb@Mb@ 9{Gz?ˡE rh?Yף9Y=kGy{E>Q 55^?Q 95)^BY i=Q Ei7QiQiYY]k=1IYIaq @  @ @ /@ ԙ^A-xj0I9IIO]>Eu EuEu'Eq"Eu :*EuF:VEu'4ZEqBEuK"AHRS rotation from veh to nav: [[0.999589,0.021547,-0.018903],[-0.020550,0.998464,0.051451],[0.019982,-0.051042,0.998497]]2H`??`6[ k? W?9v?`$" ?i2l@I2p];2CYF@ByF"IbDNVDN1yV%V\=ٔZQ-Z>9\Y\=^kGy\^vE^>`Q 5f5b򖥊?Q 9f5bL)beBYhyj5Q Ij?@`Ib:ib{;b5ylɮnApgODNOT Ignoring new targets: 34.60 m.  * "    jZI6@999=h¤@M)I MiUm9)QUQiQiYY]Ow1IYIaml>im>@ @@N0@^A y 1II)O=r>! E}  E} E} )Ey "E} :*E} E7:VE} FA4ZEy a @a @a @a @TlL,J1Y@AJj@J`e@JٱJR RAHRS rotation from veh to nav: [[0.999579,0.021818,-0.019132],[-0.020805,0.998447,0.051671],[0.020229,-0.051251,0.998481]]JH?`W?CM H?@t??=`?iJj@IJE];JCY^LBy^"IIb4=)bp<``bDjVDjyrZi=%rH=ٔr9Q-r>9tYt=vkGytv#Ez>xQ 5~5z?Q 95z)zlBYyAQ I@@zDIz;iz;z5y ɮAgO]DNOT Ignoring new targets: 34.60 m.YY*Y"Y aaaaaiijiZm#G7@g@) =i9)2qiyi1IIQB<>BB"IBPBB. =BBBi\;Bx"E9@ @@0@y^AIIO>ԩ V9Y=kGy:E>Q 55 ?Q 95)sBYT)=Q E yfyL,zm1Y@A2m@2fh@2|cٱ2hR :AHRS rotation from veh to nav: [[0.999577,0.021475,-0.019594],[-0.020436,0.998448,0.051804],[0.020676,-0.051381,0.998465]]2H??b픿I?? ,?`N m?i2m@I2=];2CYB2ByF"IbDNVDN1yVڽ%V\=ٔVIQ-V>9XYX=ZkGyXZ9E^>`Q 5b5bt?Q 9f5bD)bxBYdyf֍Q If@@bDIb6:ib:b&5yhɮnmAllgODNOT Ignoring new targets: 34.60 m.  * "    jZK8@999='@|c) B B B "IB KBB - =B B B \;B "Ea PL,O2Y@A2Fp@2k@2gٱ2R :AHRS rotation from veh to nav: [[0.999579,0.021168,-0.019856],[-0.020114,0.998453,0.051831],[0.020922,-0.051410,0.998458]]2H?? Uј T?`?l?pR _?i2Fp@I22];2CYB5ByB"I DDilIliMb@Mb@Mb@ 9~jtx?S㥛/$?Y;y<AA )AYGAbD59VD50yEY7<%M@=ٔMQ-M>9QYQ=UkGyQUEF:E]>YQ 5e5]?Q 9m5])]}BYm>=Q Em=>=:˝@@g) i9)i i/1IIi@ @@@ԑDU<DU<Em EmEm&Ei"Ema:*Em?:VEm4ZEiBEm(Թ wL,!2Y@A2q@2l@2+ٱ20S >AHRS rotation from veh to nav: [[0.999578,0.020982,-0.020079],[-0.019915,0.998452,0.051927],[0.021137,-0.051505,0.998449]]2H?3|?@d R?.?`?`^`K?i2q@I21Z];0YZ$ByZ"IbDfVDfyn%nR=ٔrQ-r>9pYp=rkGypv":Ev>xQ 5~5z̘?Q 9~5z)zBY|yQ I@@xIz;iz;z-5y ɮ A gO5DNOT Ignoring new targets: 34.60 m.11*1"1 999AAAAjAZM 8@aaae@}+)y }}i}9)顅ii0IIԙ 9@  @ @ /@ ^A5|1I9IQO]>! 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R @>? ڍ?5p?O?i6l@I6j];6CYJByJ!IIN<)N9`Y`=bkGydfX;Ef>hQ 5n5jN?Q 9n5j)jBYlyrQ Ir@@jDIjw;ij/;jt5ytɮvAtgODNOT Ignoring new targets: 34.60 m.*" !!!!j!Z-~@@AAAE,@]م)Y ]Ui]9)ae 1aiaiiim21IiIi@ @@0@^A3I IO5p>1E)  E- E) E) "E) *E- Z:VE) ZE) a5 @a5 @a5 @a5 @a 8M,;4Y@A2}@2x@2+ٱ2VR :AHRS rotation from veh to nav: [[0.999598,0.019554,-0.020523],[-0.018470,0.998491,0.051718],[0.021504,-0.051318,0.998451]]2H`??  钿@?z??ZF O?i2}@I2^];0AAAA@ABBԍCBBB, =BBB^;B#E1Y}By}!IiMb@Mb@Mb@ 9V-? ףp= rh?Y91Y1==lGy9=x;E=>aQ 55?Q 95&)BY=Q E M,=U4Y@A2{@2=@2Aٱ2Q :AHRS rotation from veh to nav: [[0.999659,0.017449,-0.019423],[-0.016428,0.998538,0.051494],[0.020294,-0.051158,0.998484]]2H5? ޑ?`㓿Ґ`?s]?@ǔ?@S1?i2{@I2[];2C @)B`AB/ݼBE@DF`AiFԼIF0FDIFCiJffA HH)JPJJC HN/ݼNELLN`AIRt)RFiP)RLCIR`AR/ݼVE TVCTTiTXYXY^By^!IbDfVDf0E- E-E-%E)"E-:*E- :VE- 4ZE)BE-3{M,*p4Y@AB@B@B sٱBEQ RAHRS rotation from veh to nav: [[0.999724,0.015097,-0.017979],[-0.014154,0.998573,0.051485],[0.018731,-0.051216,0.998512]]BH?h?i@P?`A\? .? 9@?iB@IBd];@YUBy]!I YYbDmVDmk2y}=%}D=ٔx;Q->9Y=lGy;E>Q 55?Q 95)BYy$Q I@@DI:i:t5yɮJAgODNOT Ignoring new targets: 34.60 m.*" jZA@    F@ s) t`i%9)!%]!i!i))-+I)I1ԑE EE(E"E:*E&p:VEc44ZEa@a@a@a@9@ @@4@^A.IIO$>BE>>BEՍCBE!IBEBBE* =BABABE^;BE#E a"M,z4Y@A22@2@2ٱ2cR :AHRS rotation from veh to nav: [[0.999785,0.012569,-0.016476],[-0.011705,0.998602,0.051538],[0.017101,-0.051334,0.998535]]2H=??@ߐ ?:c??H?i22@I2>];0YBy!IiMb@Mb@Mb@ 9 rh?X9vX9v?YC =y}< AA  A)AYG AbDVDJy4%B=ٔ~;Q->9 Y = lGy  ;E>Q 5%5H?Q 9%5l)BY%=Q E%+Y ΋(M,Qأ4Y@A6@6@6M|ٱ6+S BAHRS rotation from veh to nav: [[0.999840,0.009831,-0.014911],[-0.009049,0.998623,0.051670],[0.015399,-0.051526,0.998553]]6H?P"?@݉?pt? l?a@%?i6@I62Z];6CYJByJ!IbDRVDR2yZ~=%Zb=ٔ^C;Q-^>9`Y`=blGy`b;Eb>dQ 5j5fI?Q 9j5f)f"BYlyn`Q In@@fDIf;if;fI5ypɮr1AtgO DNOT Ignoring new targets: 34.60 m.*" !j!Z%@A@AAAE@UM|)Q ]i]9)Y]YiYiaam'IiIiQ9@ @@/@ԁ^AV*IIO>ԩ E  E E (E "E 2:*E xv:VE c44ZE a @a @a @a @6.M,4Y@AD^@^Z@^e$aٱ^M:TBtBtBv"IBvBBv, =BtBtBv];Bv6#EBBBBB+ =CC5 AHRS rotation from veh to nav: [[0.999886,0.006990,-0.013397],[-0.006286,0.998634,0.051875],[0.013741,-0.051785,0.998564]]^H?|?oy?`l?R$?;?i^@I^;];^CY-By-!II5=)5=bDEVDE0yMX%UA=ٔU;Q-U>9YYY=]lGyYe_;Ee>aQ 5m5ex?Q 9u5e)e)BYqyu숿Q Iu@@eDIe;ie;e5yyɮHAgODNOT Ignoring new targets: 34.60 m.*" jZA@Ԧ@e$a) i"9)iiq%I I9ԩ=9@A @A@E/@A^A {n&I I O > n> C gG% `]A9 z5M,74Y@A69`]AY A:@:G@:?kEٱ:T FAHRS rotation from veh to nav: [[0.999922,0.003987,-0.011858],[-0.003366,0.998644,0.051945],[0.012049,-0.051901,0.998580]]:H[?@Tp? Ik?@?@?Ғ ]?i:@I:.*];8YNByN!IDPzDR@AEV EVEV&ET"EV;*EV:VEV4ZETBEVS9Y=lGy;E> Q 5 5 د?Q 95 #) 0BYV=Q E|;M,a4Y@A2B@2@2D'ٱ2tT >AHRS rotation from veh to nav: [[0.999948,0.000633,-0.010213],[-0.000102,0.998652,0.051910],[0.010233,-0.051906,0.998600]]2H@? D?ꄿ ?⓪??@d ?i2B@I27E];2CYFByF"IbDNVDNyVe<%V]=ٔZ֠;Q-Z>9XYX=^lGy\^<E^>`Q 5f5b-?Q 9f5b)b6BYhyj˨Q Ij@@`Ib :ib:b5ynBɮnAnEgO DNOT Ignoring new targets: 34.60 m.  *" j!Z%B@AAAEܞ@UD')Q UiU9)Y]YiYi0 IIE} E}E}%Ey"E}O:*E}&p:VE} 4ZEya@a@a@a@9@ @@M0@1^Am$IyIO>B@>BBBB* =BBB:];B"EYԉ iA IA yBM, 5Y@A:.@:M;: ٱ:|T BAHRS rotation from veh to nav: [[0.999960,-0.002688,-0.008564],[0.003128,0.998651,0.051827],[0.008413,-0.051851,0.998619]]:H?Uflji?`??:?E?i:.@I:Y;];8YJByN!I PPi%Mb@Mb@Mb@!!!! !9%{Gz?y&1~jt?Y%#9QYQ=UlGyQU;E]>aQ 5m5e?Q 9m5e)e;BYm=Q Em HM,Na%5Y@A2I@2;2Ͼٻٱ26FT :AHRS rotation from veh to nav: [[0.999957,-0.006076,-0.006969],[0.006429,0.998639,0.051758],[0.006645,-0.051800,0.998635]]2H`?wx| NUz???7{? ?i2I@I2W];2CYFByF!IbDRVDRyV%VU=ٔZ;Q-Z>9XY\=^lGy\~ <E~>Q 5 5۰?Q 9 5)@BYyQ I@@I:iU:5y9ɮENAAgODNOT Ignoring new targets: 34.60 m.*" jZB@H@Ͼٻ) }i9)°ii   I I9@ @@4@^ABIIO%>1bE9jE={4rE=ɮ1/E  E E E "E D:*E |:VE ZE a @a @a @a @Y OM,@?5Y@AA2@AA2AAB6B>B6֍CB4B4B6$ =B4B6hDB6\;B6"EJe@J>!9tYt=vlGytv <Ez>xQ 55z3?Q 95zd)zFBYy|Q I@@xIz ;iz:z5yɮAgODNOT Ignoring new targets: 34.60 m.*" jZ@B@1YYY]p@mޞ) DZi\9)顥BiiII!-9@) @)@-11@)aԉ^A D-I I) OE >Թ UM,$Y5Y@AE2 E2E2#E0"E2 ;*E2?:VE23ZE0BE2R9iYi=mlGyiu;Eu>yQ 55}6?Q 95})}KBY/=Q E\M,Hu5Y@AY^By^!IbDjVDj0yr%r==ٔrQ-r>9tYt=vlGytzEz>|Q 55~8?Q 95~)~PBYyQ I@@|I~:i~:~5yɮAgO=DNOT Ignoring new targets: 34.60 m.99*9"9 9AAAAIIjIZU b'C@iiiiy) оi9)顅յiԉiIIE EE%E"Ea;*E]t:VE 4ZEa%@a%@a%@a%@ԹBD>BB!IBBB# =BBB\;B"EM959@1 @1@=/@9 ^AU *_IY Iq O} >TcM,5Y@A2@2͟<2+mzٱ2T :AHRS rotation from veh to nav: [[0.999810,-0.019467,-0.001252],[0.019506,0.998459,0.051950],[0.000239,-0.051965,0.998649]]2Hq?#@TM?`???`M/?`'?i2@I2!K];2CY|y%!IiMb@Mb@Mb@ 9I +?Q롿 rh?Y99Y=lGys<E>Q 55 ?Q 95U)TBY7=Q E(jM,5Y@A6@6ɻ<6Z |:ٱ6KrT >AHRS rotation from veh to nav: [[0.999737,-0.022940,-0.000228],[0.022921,0.998392,0.051852],[-0.000961,-0.051844,0.998655]]6H?}-x? ?V?JO@<?i6@I6_m];4 D)DFDDHJ`AiJC IHHINCiN3s@ LL)NJL R`AR+PPPR`AIP)TiT)TIV`AVԼX XXXXiX\Y\YbByb!I ddIM=bD]VD]0yeˬ%mH=ٔm@;Q-m>9qYq=ulGyq}$ <E}>yQ 55}Բ?Q 95})}XBYybyQ I@@yI};i};;}[5yɮAgODNOT Ignoring new targets: 34.60 m.*" !))))11j1Z5C@@Z |:) i9)iiAAEZ IIII99@ @@/@^A":IIOa>E EE%E"E:*E:VE 4ZEa@a@a@a@1B} G>B} ׍CB} !IB} BB}  =By B} iDB} \;B} "EQ qM,[5Y@A2@2<2;ٱ2T BAHRS rotation from veh to nav: [[0.999663,-0.025936,0.000896],[0.025855,0.998318,0.051897],[-0.002241,-0.051856,0.998652]]2H=?󎚿@]M?@y? 8?A?Zb팪 ?i2@I2O];2CYEByE!I9bD%VD%0yG%9=ٔS=;Q->9Y=lGy;E>Q 5%5?Q 9%5)]BY!y%xQ I%@@DIt:i:T5y9ɮ=nA9gODNOT Ignoring new targets: 34.60 m.*" jZtC@@=;)9 E%;iE[9)AEyE=iAiIIU IQIQa9@ @@0@ԉ^A% I1 IA OM >E  E E )E "E :*E g:VE FA4ZE BE 19Y=lGyE>Q 55?Q 95)`BY}=Q EV '^}M,5Y@A2@2=2r;ٱ2۠Q :AHRS rotation from veh to nav: [[0.999474,-0.032342,0.002541],[0.032169,0.998167,0.051265],[-0.004195,-0.051156,0.998682]]2H ?Sd?@|x?? _??P.q13?i2@I2_];2CYByByB!IID)FbDNVDN0yVd%Vp=ٔV#;Q-Z?9XYX=ZlGyX^<E^?Q 5%5?Q 9%5)cBY!y%Q I-@@DIB:iN:Ѵ5y1ɮ5A1gO]DNOT Ignoring new targets: 34.60 m.YY*Y"a aaaiiiijiZu Q,D@E EEE"E:*E&p:VEZEa@a@a@a@@r;)  ¾i9) aϼii-IIe>i>U9@Q @Y@]/@YB5E>B5֍CB5!IB5BB5$ =B1B5hDB5];B1B ֍CB ֍CB ĔCB $ =B $ =C Ē6^AY IIO]>Q EM,6Y@A26@2=23&;ٱ2O >AHRS rotation from veh to nav: [[0.999361,-0.035588,0.003419],[0.035369,0.998078,0.050889],[-0.005223,-0.050736,0.998698]]2H@? 8 5l? ?A?!?du@`V?i26@I2Q];2CY^vByb!IiMb@Mb@Mb@ 9V-?V-Mb?Yyh<xAA A) AY AbDVDNyR%;=ٔm;Q->9Y=lGy:;E>Q 55?Q 95)gBYs=Q E)ԩ tM,M+6Y@A2FP@2=2:;ٱ2N :AHRS rotation from veh to nav: [[0.999241,-0.038723,0.004153],[0.038463,0.997976,0.050645],[-0.006106,-0.050447,0.998708]]<2H?@~ӣq?`y?j?`.? }y4ԩj?i2FP@I2'u];2CYFrByF!IbDN VDN2yV|Ǽ%V[=ٔZ0;Q-Z>9XY\=^lGy\^<E^>`Q 5f5b?Q 9f5b)bkBYhyjQ Ij@@bDIb;ib;b˻5ylɮnAApgODNOT Ignoring new targets: 34.60 m.  * "    jZ D@999=/@M:;)I M¾iUo9)QUUiQiYY]1IYIa iiIm)mԡ@ @@@E EE&E"E:*EB:VE4ZEa@a@a@a@ B% G>B! 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H?@1 L@ ?i2K@I2Y];2CYFaByF!IbDNVDN:yVĵ%V`=ٔVs;Q-Z>9XYX=ZlGyX^n<E^>`Q 5f5b?Q 9f5b )bvBYdyfQ Ij@@b!DIb`:ib:b^5ylɮnAlbEjE24rE 0Ee EeEe&Ea"Ee:*Ee1]:VEe4ZEaau@au@au@au@ԡgODNOT Ignoring new targets: 34.60 m.*" jZ _1E@yyy}@ <) ξiv9)(ii IIBJ>B׍CB!IBlBB =BBiDB[;B8"E9@ @@4@^A\IIOE > )M,e46Y@A2P@2L=2W<ٱ2PP :AHRS rotation from veh to nav: [[0.998712,-0.050327,0.006493],[0.049930,0.997438,0.051224],[-0.009054,-0.050834,0.998666]]2H r?ĩz?@r??:?`?i2P@I2"y];0YF]ByF!IIJ=)J9AYI=MlGyIM;EM>QQ 55U?Q 95U )U{BY=Q E;yvQ IA@U#DIU :*Euga:VEu4ZEqBEuy M,6Y@A6@6X=6I <ٱ6CP BAHRS rotation from veh to nav: [[0.998551,-0.053335,0.007107],[0.052903,0.997283,0.051272],[-0.009822,-0.050822,0.998659]]6H"? N}?@ ? ?@K@?s@H?i6@I61];6CYRNByR!IbDZVDZybK%bR=ٔf{;Q-f>9dYh=jlGyhj;Ej>lQ 5r5n[?Q 9r5n )nBYtyvQ IvA@n$DInW:in:nv5yxɮz\AxgO-DNOT Ignoring new targets: 34.60 m.))*)") 1119AIYjaZm9E@ @I <) f۾i9)顽5:iilIIQ9@ @@/@ԁE} EyE}%Ey"E}:*EyVE} 4ZEya@a@a@a@^AqI!ԩIO>B A <B G>B B !IB \BB  =B B hDB p[;B "E &M,6Y@A2@2Ue=2=z,<ٱ2>O :AHRS rotation from veh to nav: [[0.998378,-0.056420,0.007667],[0.055957,0.997125,0.051085],[-0.010527,-0.050573,0.998665]]2H?@㬿@Eg?b?s?'?-䩿?i2@I2];2CYbRByb!IbDjVDjyU<%]A=ٔ]:Q-]>9aYa=elGyam;Em>iQ 5u5m?Q 9}5m')mBYyy}Q I}A@m&DIm;im;m'5yɮ<AgO=DNOT Ignoring new targets: 34.60 m.9A*A"A IIQaaiԹ jZE@%@=z,<) k׾i9)3= ;ii|II9@ @@/@ ^A I I O >E  E E &E "E ;*E :VE 4ZE BE A9Y=lGyB<E>Q 55?Q 95@)BY=Q E;y,Q IA@'DI ;iX ;5yɮAgODNOT Ignoring new targets: 34.60 m.*" /BjZ#F@%=%=%w@%Ą@5k4<)1 =Ѿi=9)9=lC=BGiU)>9@ @@/@@=@>9^AI!IIO]>i [M,6Y@A 2%@2C=2=<ٱ2N :AHRS rotation from veh to nav: [[0.997973,-0.063090,0.008377],[0.062583,0.996732,0.051071],[-0.011572,-0.050444,0.998660]]2Hd?@&`'(?k?;?@ &?`@ө?i2%@I2];0YNQByR!IbDZVDZybH%bX=ٔb͸:Q-f>9dYd=flGydj<Ej>lQ 5r5n?Q 9r5nA)nBYtyvQ IzA@n(DIn;in;n 5y%Bɮ%A-EgODNOT Ignoring new targets: 34.60 m.*" 111999j9ZE@4F@EU EUEU'EQ"EU:*EUAr:VEU'4ZEQa]@a]@a]@a]@yyy}/@=<) O޾i9)顽JB֍CB!IBRBB% =BBB\;BN"Ee9@a @i@m0@iԙ^AII OE > 9M,{7Y@APY~]By~!IiMb@Mb@Mb@ 9:v?EԸ{Gz?YT9Y=lGyE>Q 55T¥?Q 95V)BY=Q EBjZ`kF@==I@"5@ )  Gi9)Q! u M,iW.7Y@A2I@2@8=2 M<ٱ2WP :AHRS rotation from veh to nav: [[0.997545,-0.069446,0.008966],[0.068895,0.996289,0.051583],[-0.012515,-0.050838,0.998628]]2H`?6DZ\??? i?J }?i2I@I2m];2CYFUByJ!IPP TV4<bD^ VD^2yUv%UP=ٔUp;Q-]>9YYa=elGyam<Em>qQ 5}5u¥?Q 95uQ)uBYyQ IA@u+DIu+;;iuY<;uF5yɮAgODNOT Ignoring new targets: 34.60 m.*" jZF@k@  M<)  i 9)  X E EE(E"E:*E]t:VEc44ZEa@a@a@a@By By B} !IB} MBBy By By B} \;B} "EB1B5׍CB5ɓCB5% =B5# =C5EC6ԁ @M,32H7Y@A2kf@2T=2S<ٱ2)Q >AHRS rotation from veh to nav: [[0.997295,-0.072927,0.009195],[0.072357,0.996032,0.051805],[-0.012936,-0.050999,0.998615]]2H? ^@Ԃ?@??@!?E~@?i2kf@I23z];2CYbLByb~!IbDjVDj!yv0%vQ=ٔvi:Q-v>9xYx=zlGyx~<E~>Q 5 5å?Q 9 5I)BY y Q I A@,DIl:i:5Yyɮ AgO%DNOT Ignoring new targets: 34.60 m.!)*)") 1yjZ`F@t@S<) mi-9))-a)i)i115fɽI1I9ԉ@ @@4@IIOK> gn>ѐCMrGe^Aq,9^AYAԱE  E E E "E :*E &p:VE ZE BE <9Y=lGy<E>Q 55Sĥ?Q 959)BY =Q E9 KM,{7Y@AN@N=Nc]<ٱNQ ^AHRS rotation from veh to nav: [[0.996420,-0.084036,0.009189],[0.083450,0.995156,0.051969],[-0.013512,-0.051016,0.998606]]NH?gт?]?@Q? ?9?iN@IN];LYjXByn!Iv=v=xxbD~VD~k2yZ<%%R=ٔ-]:Q-->9AYA=ElGyAM<EU>YQ 5e5]ĥ?Q 9e5])]BYaymQ ImA@].DI]`:i]:]5yqɮuAqE EE%E"E ;*Ee:VE 4ZEa@a@a@a@gO%DNOT Ignoring new targets: 34.60 m.!!*!"! !!))IIQjQZU 7G@ @c]<) it9)%oiirIIBD>BBBB$ =BBBv];B#E9@ @@@IIO%>9ԉԱ 0M,ŕ7Y@AJ@J~=J[<ٱJP RAHRS rotation from veh to nav: [[0.996072,-0.088098,0.008887],[0.087524,0.994810,0.051901],[-0.013413,-0.050920,0.998613]]JH?33? g?z?`̒?Fx`!?iJ@IJ];JCYnVByn!IieMb@Mb@Mb@aaaa a9e~jt?MbX9 rh?YayeʡeC9Y=lGy<E>Q 55ť?Q 95)BYO=Q E" )[M,7Y@AR@R@s=R3\<ٱR=P bAHRS rotation from veh to nav: [[0.995679,-0.092448,0.008696],[0.091879,0.994420,0.051837],[-0.013440,-0.050814,0.998618]]RH@?@)ρ? [?J?Y?9E ?iR@IR˷];RCYjeByn!IbD-VD-Ny=ū=%=i=ٔ=:8Q-=>9AYA=ElGyAMrL<EM>IQ 5]5MFƥ?Q 9]5M)MBYYy]MQ I]A@M0DIM;iM;M5yiɮmFAigODNOT Ignoring new targets: 34.60 m.*" jZUG@w@3\<) ;ic9)^|ii II9@ @@%1@^A]սIIO>bEu-4jEu 4rEug/E9 E=E=&E9"E9*E=T:VE=4ZE9aM@aM@aM@aM@B F>B ׍CB B B # =B B B ];B #EI ^BM,y7Y@A F'@F@=FZ<ٱF1P NAHRS rotation from veh to nav: [[0.995304,-0.096430,0.008386],[0.095870,0.994039,0.051925],[-0.013343,-0.050877,0.998616]]FH?,??*? 㕪?S ?iF'@IF,];FCYVfByV!IIZ=)Z;\^AbDbVDbyj";%jQ=ٔnQ-n>9lYp=rlGypr'<Er>tQ 5z5vƥ?Q 9z5v)vBY|y~ʨQ I~A@v1DIv;iv3;vM5yɮ?AgO-DNOT Ignoring new targets: 34.60 m.)1*1"1 111999AjAZE@fG@"ݞ@Z<) <̾i9)mii!)UtIYIiqM9@I @I@M4@Iԙ^A*IIO> DA zDA EM  EM EM 'EI "EM :*EM :VEM '4ZEI BEM 9Y=lGy!%E->1Q 5555ǥ?Q 9=55Q)5BY==Q E=/ 9M, ;7Y@AF#d@F=FS<ٱFDQ VAHRS rotation from veh to nav: [[0.994576,-0.103738,0.007566],[0.103206,0.993285,0.052278],[-0.012938,-0.051214,0.998604]]FH?`~?k? ? ,Ī?o`8@?iF#d@IFp];FCE~ E~E~$E|"E~[:*E~:VE~4ZE|a@a @a @a @ YhBy!IbD-VD-fy=<%=S=ٔEOQ-E>9AYA=MlGyIM<EM>QQ 5]5Uȥ?Q 9]5U)UBYayeQ IeA@U3DIUF:iU:U{5yiɮm-AigODNOT Ignoring new targets: 34.60 m.*" jZ@7H@LL@S<) i9)ii\IIBH>BB!IBWBB! =BBB];B!#E9@ @@/@!Q^A䢽IIO>iIAy ~N, 8Y@A2[@2=2zO<ٱ2R :AHRS rotation from veh to nav: [[0.994231,-0.107024,0.007121],[0.106510,0.992935,0.052307],[-0.012669,-0.051246,0.998606]]2H?@e@D+}?;D?`?Ǫ?A@<?i2[@I2];0Y^mByb!I ``YiMb@Mb@Mb@ 9Mbp?T㥛 rh?Y;yC<AjA " A)K AY AbDVDy<%D=ٔ)Q->9Y=lGy><E>Q 55ȥ?Q 95)BY=Q EJԱ é N,108Y@A>I@>=>:I<ٱ>Q FAHRS rotation from veh to nav: [[0.993907,-0.110025,0.006590],[0.109536,0.992613,0.052173],[-0.012282,-0.051134,0.998616]]>H ?*;z? ?{? |? 4'@4.@?i>I@I>];>CYneByn!IbDvVDvy~"%V=ٔՄQ->9 Y = lGy  <E >Q 55Dɥ?Q 9%5I)BY!y%CQ I%A@5DI;i;x5y)ɮ-IA1gO]DNOT Ignoring new targets: 34.60 m.YY*Y"Y YYaaaaijiZmH@ԱAAAE@u:I<)q uOiu9)y}yiyi "IIE9@A @I@M/@IE EE'E"E*EVL:VE'4ZEa%@a%@a%@a%@^AmdIyIO>AA@ABI>BB!IB\BB# =BBB];B3#E9 N,7J8Y@A6@6@=6&B<ٱ6yQ BAHRS rotation from veh to nav: [[0.993579,-0.112985,0.006007],[0.112522,0.992281,0.052126],[-0.011850,-0.051116,0.998622]]6H@e?켿`x? <μ? ?J?D`+ ?i6@I6d];6CYJiByJ!IbDRVDRyZ<%ZO=ٔZQ-^>9\Y\=blGy`b;Eb>dQ 5j5fɥ?Q 9j5f)fBYhyn屿Q InA@f6DIf:if;f5ypɮr)ApgO DNOT Ignoring new targets: 34.60 m. *" !j!Z% oH@AAAE}@U&B<)Q UiU|9)Y]YiYiaae4IaIi9@ @@%0@!^A؎I9IYO}>AqE-  E- E- #E) "E- O:*E- X:VE- 3ZE) BE- 9Y=lGyV <E>Q 55ɥ?Q 95})BY[=Q Ex N,_y~8Y@A2S@2=25<ٱ2R :AHRS rotation from veh to nav: [[0.992672,-0.120746,0.004817],[0.120333,0.991360,0.052211],[-0.011080,-0.051249,0.998624]]2H`?`;龿@ s?*ξ?7? u?T= ?i2S@I2b];0YFeByF!IbDNVDNJyV;%V[=ٔZ쌺Q-Z>9XYX=ZlGyX^96<E^>`Q 5f5bɥ?Q 9f5b)bBYdyf3Q IjA@b7DIb:ibK:b 5Er ErEr(Ep"Er:*Er:VErc44ZEpav@av@av@av@ylɮzKAxgODNOT Ignoring new targets: 34.60 m.*" jZ>:I@@E5<)A EiM#9)IM}IiIB]L>BYB]!IB]bBB]! =BYB]iDB]];B]$#EB%׍CB!B!B%# =B%" =C%ߠ5iasII 9u9@y @y@},0@i % +GA a ^Ae t0y s$9 Y AI I O >&N,*8Y@A2+@2@B>2p!.<ٱ2RR :AHRS rotation from veh to nav: [[0.992110,-0.125302,0.004119],[0.124918,0.990790,0.052249],[-0.010628,-0.051322,0.998626]]2H]? @p?`??c? ąF?i2+@I2];2CYBfByB!Ii Mb@Mb@Mb@     9 ~jth?~jt?Y D;y L D< A jA " A) bA Y  AbD%VD%ky;%5=ٔQ->9Y=lGy%<E>Q 5-5Gʥ?Q 955)BY5R=Q E=A '',N,8Y@A29@2>2'(<ٱ28S >AHRS rotation from veh to nav: [[0.991576,-0.129475,0.003502],[0.129116,0.990242,0.052436],[-0.010257,-0.051542,0.998618]]2H?l?`ކ??ت? c?i29@I29];2CYFdByF!I HHbDRVDRyZ:,%Z]=ٔZQ-Z>9\Y\=^lGy\bE><Eb>dQ 5j5fʥ?Q 9j5f)fBYhyjSQ IjA@dIf;if;f#5ypɮrPApgO DNOT Ignoring new targets: 34.60 m.  * " jZ%@ՠI@999= @U'(<)Q UiUj9)Y]YiYiaaeVIaIi9@ @@/@IԁE EE$E"E:*E|:VE4ZEa@a@a@a@^A5puIAIQO]v>BI>BB!IB\BB# =BBhDB];B#Eԡ 3N,8Y@A6X@6@]>6 \ <ٱ6S >AHRS rotation from veh to nav: [[0.991099,-0.133098,0.002848],[0.132769,0.989763,0.052355],[-0.009787,-0.051511,0.998624]]@6H?^ Tg?? $?UΪ? l _@?i6X@I6];6CY`By!IbDVD0y5w%5(=ٔE}Q-E>9QYY=]lGyau;Eu>Ա)Q 5U5-ʥ?Q 9]5-)-BYiym߯Q ImA@-9DI-/79N,8Y@A2t@2 >2@<ٱ2qR :AHRS rotation from veh to nav: [[0.990643,-0.136461,0.002133],[0.136166,0.989314,0.052131],[-0.009224,-0.051353,0.998638]]2H@Y?@w@Bxa?`m?t?`?タJ?i2t@I2 ];2C @)B`ABԼ@@DF`AiF`IDDIDiJr@ HH)HH J`AN/ݼLLLLIR\)PiP)PIPPT TTTTiTTYXY^bBly^!IiMb@Mb@Mb@ 9~jth?:vMb?YyT<A )AYbDVDy<%`=ٔq˺Q->9Y= lGy  <E >Q 55F˥?Q 95!)BY%W=Q E%{a @N,^9Y@AbEu'4jEu4rEu/E0 E2E0E0"E0*E2k:VE0ZE0a:@a:@a:@a:@>@>0>>;<ٱ>t;Q JAHRS rotation from veh to nav: [[0.990201,-0.139641,0.001589],[0.139373,0.988885,0.051787],[-0.008803,-0.051058,0.998657]]>H? Z???΃?fB$`?i>@I>];>C9YuZByu!II}=)}<AbDVDy"%Q=ٔQ->9Y=lGyw<E>BM>B؍CBBB! =BBiDBx];BQ 55˥?Q 95)BYy|Q IA@I*;i;5yɮAgODNOT Ignoring new targets: 34.60 m.*" !!!!j!Z-;@J@AAAE0@];<)Y ]i]9)ae^aiaiiimo5IiIi qqIy)yiaԙ9@ @@/@ ^A -BI I O >JFN,`9Y@A2ʧ@2 V>2p <ٱ2EP :AHRS rotation from veh to nav: [[0.989771,-0.142663,0.001111],[0.142416,0.988460,0.051619],[-0.008462,-0.050933,0.998666]]2H3?B¿R3R? :?w?m?T?i2ʧ@I2];2CYUBy!Iԙi%Mb@Mb@Mb@!!!! !9%Mb`QMbp?Y%y%u%;!% A !)%K A!Y% AbD= VD=:2yM%M?=ٔU|QQ-U>9YYY=]lGyY];E]>aQ 5m5e˥?Q 9m5eQ)eBYuqv=Q Eu\! sLN,:49Y@A6@6>6]_<ٱ6 O BAHRS rotation from veh to nav: [[0.989279,-0.146035,0.000583],[0.145813,0.987977,0.051383],[-0.008079,-0.050747,0.998679]]6H,?I¿C?@?? N?ߋ`-?i6@I6];6CYJOByJ!IbDRVDRk1yZ %Zh=ٔ^Q-^>9\Y`=blGy`b<Eb>dQ 5j5f ̥?Q 9j5f)fBYlyn~Q InA@fBN>BB!IBRBBBBB];BK#Eqԙ [SN,N9Y@A2@2 >2w<ٱ2ןP :AHRS rotation from veh to nav: [[0.988810,-0.149183,0.000134],[0.148978,0.987498,0.051507],[-0.007817,-0.050910,0.998673]]2H T?@jÿh!???_?@$` ?i2@I2];0YvKByv}!I xxbDVDy F%E=ٔ%Q->9Y=lGy%M;E%>!Q 5-5%K̥?Q 955% )%BY1y5Q I5A@!I%`:i%6:%k)5yAɮEAAgOmDNOT Ignoring new targets: 34.60 m.ii*i"i iqqqqyyjyZ} J@9@w<) i9)顽iiIII)\Ayq@y @y@y@ԡ^Al"IIO>D zD ?AE  E E $E "E :*E C:VE 4ZE BE #6{;ٱ6R,Q BAHRS rotation from veh to nav: [[0.988290,-0.152589,-0.000366],[0.152404,0.986971,0.051592],[-0.007511,-0.051044,0.998668]]6H?ÿ\7?C?Pj?`~@q"?i6@I6];6CYJLByJ~!IiMb@Mb@Mb@ 9{GztT㥛 Mb`?Yףy;jA  A) AYbD5VD51yEN;%EG=ٔMCQ-M>9IYI=MlGyIUR <EU>YQ 5e5]t̥?Q 9e5]2!)]BYm~=Q EmQ) ?n`N,h΁9Y@AE& E&E&&E$"E&1;*E&X:VE&4ZE$a*@a*@a*@a*@Z@Z >Zi;ٱZtJQ bAHRS rotation from veh to nav: [[0.987708,-0.156306,-0.000908],[0.156144,0.986387,0.051565],[-0.007164,-0.051073,0.998669]]ZH`N?Ŀ M@?@|?f?X}8& ?iZ@IZ];ZCYjBByjq!IbDvVDv2y~aN%~O=ٔ~ifQ->9Y=lGy <E >Q 55̥?Q 95!)BYyQ IA@>DI;i;t05y)ɮ-cA)gOUDNOT Ignoring new targets: 34.60 m.BaBaBey!IBeHBBaBaBaBe0^;Bej#EgO}Resuming propulsion at range: 34.80 m and bearing: 151.180894 deg. Not drifting fast enough.r}(@}`@y*y"y L?jZ J@K@zJ@ɢI) ig9)ŶiCXi[7>eUI`@IA1=9@9 @A@E0@AY^AUC IiIyO|>ԉ fN,9Y@A0Y]9Y=lGy%E%>)Q 555-̥?Q 955-")-BY5=Q E==< =IIe>i!>9@ @!@%/@!Թ^AbިIIO%o> lN,9Y@A21V@2#(>2H;ٱ2tP :AHRS rotation from veh to nav: [[0.986527,-0.163589,-0.001609],[0.163455,0.985216,0.051298],[-0.006806,-0.050870,0.998682]]2H?`}Ŀo]Z??C?{@ @4?i21V@I2_];2CYB5ByBa!IbDNVDNyV#%Vd=ٔVQ-V>9XYX=ZlGyX^<E^>``Q 5f5b,ͥ?Q 9j5bN#)bBYhyjyQ IjA@b@DIb`:ib:bn75ylɮrApgO DNOT Ignoring new targets: 34.60 m.  * "  ʎjZ%@K@@-Bɢ /:) rBBe" =BaBaBe];BeL#EB%؍CB!B!B%! =B%! =C%w5^AmIIO>A sN,b9Y@A2t@2+>21;ٱ2O :AHRS rotation from veh to nav: [[0.985908,-0.167276,-0.001984],[0.167157,0.984604,0.051120],[-0.006598,-0.050731,0.998691]]2H`?Hiſ@@`ge??d,? &{pE?i2t@I25];2CYB0ByB[!IbDJVDJyR%RJ=ٔVoQ-V>9TYX=ZlGyXZ:<EZ>\Q 5b5^xͥ?Q 9b5^ $)^BYdyfQ IfA@^ADI^:i^:^:5yhɮjAlgODNOT Ignoring new targets: 34.60 m.*"     ʎ jZzK@999=2К@M#BɢMHx:)Q UIaIa9@ @@3@^A iɀG`]ACA9`]AY'AIAIQO]3>qEm  Em Em "Ei "Em :*Em ~:VEm (3ZEi BEm #2;ٱ2FP :AHRS rotation from veh to nav: [[0.985301,-0.170812,-0.002385],[0.170709,0.983992,0.051171],[-0.006394,-0.050826,0.998687]]2H@?.ſc@?@|?3?v0z >?i2v@I2^;2CYB)ByBS!I DDbDNVDN:yV`%VJ=ٔV0Q-V>9XYX=ZlGyX^<E^>Q 5 5ͥ?Q 9 5$)BY yQ IA@BDI:in:>5yɮ'AgOeDNOT Ignoring new targets: 34.60 m.aa*i"i iiiqqʎqqqyjZ`QL@@ Bɢ ;)  H=i )墍8i5eWi= Ľ9=h>I9IAԩiIA?Bɺe 9@a  @a @e 90@a  ^A= r=II IY Oe >nN,#:Y@AE EE%E"Ea:*E1]:VE 4ZEa@a@a@a@B@B S3>B;ٱBCO JAHRS rotation from veh to nav: [[0.984686,-0.174316,-0.002687],[0.174225,0.983381,0.051066],[-0.006259,-0.050752,0.998692]]BH@?@Oƿf@L?@w? M%?`y+ H?iB@IB];@YR$ByRM!IbD\VD\yf%fH=ٔfyQ-f>9hYh=jlGyhj]<En>pQ 5v5rΥ?Q 9v5r%)rBYtyvQ IvA@rCDIr:ir:r B5y|ɮ~NABO>BBZ!IB/BBBBB)];B"EPB*** querying acoustic contact *** gODNOT Ignoring new targets: 34.60 m.*"    ʎ jZ5@EL@yyy} @额BɢĭG;) 1=i)*R8顡i8Wi>< >IIrE9@A @A@E/@A^A=I)I9OMR>2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.1Y N,:Y@AB@B{6>BŎ;ٱBEP NAHRS rotation from veh to nav: [[0.984145,-0.177340,-0.003012],[0.177260,0.982831,0.051208],[-0.006120,-0.050930,0.998683]]BH~?ƿh`x?Ys? 7?`y7?iB@IB];@Y^#By^L!Ia@a a@a a@a a@a bDVDk1)y5}%55=ٔ5ҠQ-5>99Y9==lGy9E;EE>IQ 5U5MsΥ?Q 9U5MW&)MBQ AU+:YQQ EUM=E5yaɮeWAagODNOT Ignoring new targets: 34.60 m.*" ʎjZ+{L@Bɢ;) x=i)y!9iWi^,IID-=D-4=E5 E1E1E1"E5;*E1VE1ZE1BE5d ]BDAT read: Tx time:00:50:48.3220 ]$Ping request sent.eRN,m7:Y@A2@2`9>2;ٱ2;Q :AHRS rotation from veh to nav: [[0.983581,-0.180437,-0.003246],[0.180364,0.982260,0.051316],[-0.006071,-0.051059,0.998677]]2H`y?ǿj)?n?`F?`xl$)?i2@I2];2CYBByBA!IbDNVDNyV0%V]=ٔV Q-V>9XYX=ZlGyX^ <E^>`Q 5b5bΥ?Q 9f5b')bBQ Af :YdQ Ef;yfHQ IfA@`Ib:ibR?b\G5ylɮnAlgODNOT Ignoring new targets: 34.60 m.*"     ʎjZL@EBɢEyG;)A Ep=iI)MtQ9IIiM,WiԱ!!I!I)99999bEEŻ 4jEEBBM!IB%BB =BBB\;B"E@ @@/@^Aet=iIQ Ia Om >ԑ _6N,Q:Y@A6S@6@G=>6}z;ٱ6Q BAHRS rotation from veh to nav: [[0.982947,-0.183862,-0.003312],[0.183788,0.981627,0.051289],[-0.006179,-0.051023,0.998678]]6H@Lt?Ɉǿ[!k \?}i?B? EOy`,?i6S@I6]];4YJByJC!IbDRVDRyZ;%ZJ=ٔ^e9Q-^>9`Y`=blGy`b <Eb>dQ 5j5fϥ?Q 9j5f')fBQ An9YlQ En;ynֶQ InA@fEDIf& ;if#?f=I5ypɮvAtgODNOT Ignoring new targets: 34.60 m.*" ʎ!!!j!Z%QL@i9I9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754015]Bɢe=;)a e`=ia)ee9aaim WimXҾqqIqIqy9@ @@0@^A=I1IAO]3>ԡDzD@AE EE&E"EV:*Ex:VE4ZEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005810BE924;ٱ2rQQ :AHRS rotation from veh to nav: [[0.982341,-0.187070,-0.003438],[0.186998,0.981018,0.051344],[-0.006232,-0.051080,0.998675]]2HUo?ǿ*l? d?I? y"'%?i2@I2];2CYvByvA!Iauau auau auau auau iuMb@Mb@Mb@qqqq q9u~jtx?sh|?y&1|?Yu;yuu`;qq u" A)qqYu AbDVDJyL%<=ٔ8Q->9Y=lGy;E>Q 55ϥ?Q 95()BQ AT:Y=Q EAa=A4<IAIQOeV>) E  E E .E "E 2:*E :VE ـ4ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509713GN,g_:Y@ABP>BBA!IBBB! =BBB\;B"E Bb5@B D>B;ٱB 4Q JAHRS rotation from veh to nav: [[0.981712,-0.190341,-0.003554],[0.190270,0.980390,0.051314],[-0.006283,-0.051052,0.998676]]BH.j?]ȿ}mZ?Z_?E?y`v#'?iBb5@IB];BCYTyV@!IbD^VD^yf%fY=ٔf 9Q-j>9hYh=jlGyhn<En>pQ 5v5rХ?Q 9v5rt))rBYtyv(Q IzA@rGDIr :ir:rRP5y~Bɮ~A~EgODNOT Ignoring new targets: 34.60 m.*" ʎjZ nHM@E@݂Bɢ,<)! %=i!)%69!!i%;Wi-))I1I1I]=)]=Q}9ԁechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.76211559@1 @9@=1@A^AU *i>ԩ I I O5 >rN,l=:Y@A2S@2 G>2;ٱ2P :AHRS rotation from veh to nav: [[0.981018,-0.193882,-0.003771],[0.193819,0.979709,0.051026],[-0.006198,-0.050789,0.998690]]2H@d?@ȿn?Y? ?Ucy E?i2S@I28];0@YFByFB!IiMb@Mb@Mb@ 9Mb?K<%=C=ٔESQ-E>9AYA=ElGyIM~ <EM>QQ 5]5Uuѥ?Q 9]5Uj*)UBYe=Q Eei):itWiI I Ա @ @@/@^A}2g>IIOj> m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2656438N,:Y@A6xo@6KK>6Pq;ٱ6qnR >AHRS rotation from veh to nav: [[0.980336,-0.197299,-0.003721],[0.197226,0.978997,0.051633],[-0.006544,-0.051351,0.998659]]6H ^?Aɿ~{n>?S?o?zJ ?i6xo@I6];6CYFByF9\Y\=^lGy\bP<Eb>dQ 5j5fLҥ?Q 9j5fL+)fBYhyj:Q IjA@fJDIf:if:lfZW5ypɮrAtgODNOT Ignoring new targets: 34.60 m.!*!"! !))19ʎAAIjIZU߭M@7@颭˂Bɢ$o;<) >i)w1:项i-Wi& II) 9@ @@@E EE"E"E[:*ET:VE(3ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517755B!A%4=B-O>B)B-;!IB-BB-# =B)B)B-];B-P#E1^A>AZAzAZAa A AI I O% >N,:Y@A2ѐ@2wO>22^<ٱ2e :AHRS rotation from veh to nav: [[0.979514,-0.201350,-0.003317],[0.201212,0.977915,0.056538],[-0.008140,-0.056048,0.998395]]2H@-X?@ɿ,kT?K?? C?i2ѐ@I2];2CYBByB;!IIF>)Fa=bDNVDNfyr%rG=ٔr~;Q-r>9v ?Yv ?=vlGyv/Fz"<Ez>|Q 55~3ӥ?Q 95~<,)~BYyQ I A@~KDI~D;i~(:~Z5yɮA%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7696949gOMDNOT Ignoring new targets: 34.60 m.II*I"I QQQQQʎYYYjaZe M@颍‚Bɢ|I<) (>i)?T:顑iiWieII [AZAy99@ @!@%/@)qԑ^Am>E EE&E"E:*EVE4ZEBDAT read: Rx Time:00:50:50.7777 TRx dataTimestamp_ set to:1761699051.585948checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023887BEN,:Y@A2@2 R>2"<ٱ2f :AHRS rotation from veh to nav: [[0.978878,-0.204387,-0.004849],[0.204206,0.976310,0.071547],[-0.009889,-0.071026,0.997425]]2H R?\)ʿsh#?@=? P?@ .?i2@I2];2CY^Byb?!IԙiMb@Mb@Mb@ 9Q?ʡEMb?Yu9?Y?=lGy;E> Q 55 fԥ?Q 95 ,-) BY%=Q E%ii)u":qqiu Xi}yyIyI5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274048mg99@ @@0@^A A E  E E E "E O:*E n:VE ZE a @a @a @a @ DAT read: 00:50:50.7777 LVL= 27120, 20817, 32754, 32755, AGC= 59, IDX= 492,-0.19, 1.782, 2.850, 1.012, 2.307, PHS=-0.423, 0.588,-1.339, RAW= 358.4, 14.0, CAL= 358.8, 17.2, ROT= 151.2, -17.2 B! B! B% A!IB% BB! B! B! B% ^;B% #EBB؍CBB" =B" =C5A= ܏AIA u Ygot valid direction response: 00:50:50.7777 LVL= 27120, 20817, 32754, 32755, AGC= 59, IDX= 492,-0.19, 1.782, 2.850, 1.012, 2.307, PHS=-0.423, 0.588,-1.339, RAW= 358.4, 14.0, CAL= 358.8, 17.2, ROT= 151.2, -17.2 } PDAT read: Bearing 328.4, 26.9 (Local)  ~Local bearing/azimuth received: Bearing 328.4, 26.9 (Local)  DAT read: Range 11 to 50 : 38.6 m (Round-trip 51.5 ms) speed -0.1 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.837117,0.460209,0.295708] Fpublishing direction and range infoy   d]~Dt?-?Y fB i QQ ) ;I uؾi +? Zd +@ 5z> Hd@ `>) [(@I ` ZmDI:zyqhú? ) yI [(@i ` I O >N,N;Y@Ar)@rT>rE4<ٱrZZ AHRS rotation from veh to nav: [[0.978484,-0.206196,-0.007257],[0.206028,0.974594,0.087853],[-0.011042,-0.087457,0.996107]]rH O?dʿ@̹}!_?/?`}?*`c?ir)@Ir}];rCY-&BIy-O!IbD}VD}0yHy=%C=ٔ4;Q->9?Y?=lGy0FV;E>Q 55ե?Q 95.)BYy#Q IA@MDI$BES+@gO addTargetRange:: Added new target pos. range: 38.599998 m, deltaT: 60.512323 s, deltaX: 3.799999 m, approachRate: 0.062797 m/s, rangeRepo size: 4 gO Added new target pos. range: 38.375889 m, bearing: 161.754118 deg, lat: 36.779277 deg, lon: -121.859589 deg, deltaT: 60.512323 s, deltaX: 3.779713 m, approachRate: 0.062462 m/s, posRepo size: 4 gODNOT Ignoring new targets: 38.38 m.*"   ʎ  jLC@Z~?]Bɢ}?<)y q>i)w":i xXiIIy59@1 @1@50@1@=[A@=[AԩG\A5ǿ95\AY=7A^A= >AE ?AE > I1 IA OU >"#N,K!";Y@A:r@: KV>:z\;<ٱ:Ľ FAHRS rotation from veh to nav: [[0.978119,-0.207865,-0.008719],[0.207733,0.973479,0.095846],[-0.011435,-0.095560,0.995358]]:HL?Qʿ+ہ?&? W?mk v ?i:r@I:];:CYN#ByNL!Ii%Mb@Mb@Mb@!!!! !9%9YYY=]lGyY]f;Ee>aQ 5u5eHץ?Q 9u5e.)eBYu=Q Eui):顱iTXiIII%>)G?99@ @@4@)^A= >I I) OE >Q HN,;;Y@AZg@ZW>ZA8<ٱZY fAHRS rotation from veh to nav: [[0.977791,-0.209417,-0.008353],[0.209280,0.973459,0.092626],[-0.011266,-0.092317,0.995666]]ZHJ?`,ʿ@y`? &?]? ~?iZg@IZ];ZCYn-BynW!IbDzVDzy+==%P=ٔQ->9 Y = lGy  ;E>Q 5%5٥?Q 9%5/) BY!y%oQ I%A@PDI;i:Li5y1ɮ5;A1gO]DNOT Ignoring new targets: 38.38 m.YY*Y"Y YaaaaʎiiijiZmN?额Bɢa`<) '>i):顡i`YiII9u9 9@  @ @ /@ AA@AB B B M!IB %BB B B B _;B $EE- E-E-%E)"E-:*E-%f;VE- 4ZE)BE-D-<2E-D-<JE-<:E-Թ o0N,U;Y@A6Y@6hZ>61<ٱ6ࡨ >AHRS rotation from veh to nav: [[0.977283,-0.211829,-0.006843],[0.211661,0.973840,0.082672],[-0.010848,-0.082242,0.996553]]6HE?`4˿||?)?)?7` ?i6Y@I63];6CYF1ByJ\!IbDR VDR:2yZ<%ZP=ٔZQ-Z>9\Y\=^lGy^1Fbu;Eb>dQ 5j5fڥ?Q 9j5fD0)fBYhyji)\:iZiIIԙ9%9@! @!@!@!E= E=E=&E9"E=:*E=L_:VE=4ZE9aE@aE@aE@aE@^Am >Ai zAm XAI I O > j[N,o;Y@AF@F\>F8(<ٱF VAHRS rotation from veh to nav: [[0.976935,-0.213458,-0.005890],[0.213290,0.974094,0.075155],[-0.010305,-0.074677,0.997154]]FH@ C?R˿@9 x@M? +?@T=??iF@IF^;FCYb3Byb_!IiMb@Mb@Mb@ 9/$?/$ rh?Y=yC<tA=A )AY AbDVDNyA<%:=ٔQ->9Y=lGy?y;E>Q 55pޥ?Q 950Q =tI)BY=Q E;y]Q IB@RDI[;iU;p5yɮAgODNOT Ignoring new targets: 38.38 m.*" !!%MBʎ!))j)Z-@#?]Bɢ]o<)Y ]>iY)e2 ;aaiekZimiiIiIq }ZAy19@ @@/@^A>I I! O= >I B R>B B Z!IB /BB " =B B B _;B ,$EbEmʞ4jEm 4rEm0EE  EE EE #EA "EE a:*EE i:VEE 3ZEA BEE (fJL<ٱfqᗽ nAHRS rotation from veh to nav: [[0.976684,-0.214583,-0.006480],[0.214463,0.973892,0.074435],[-0.009662,-0.074089,0.997205]]fH@?qw˿@Ȋzs?*? )? uɃ ?if@Ifv];fCYz8Byzf!IbD VD2y<%V=ٔ}ܺQ->9Y=%lGy%2F%cM;E%>)Q 555-᥊?Q 955-1)-BY9y=Q I=B@-TDI-;i-;-s5yAɮEAIgOmDNOT Ignoring new targets: 38.38 m.iq*q"q qqqyyʎyyjZj@颭Bɢ<) i>i)5ҟ;11i5Y[i=9AIAIA-9i9@ @@0@^A>I I O >kN,R;Y@A2@2u]>2 <ٱ2`q :AHRS rotation from veh to nav: [[0.976669,-0.214572,-0.008722],[0.214577,0.973449,0.079706],[-0.008612,-0.079718,0.996780]]2H@?w˿@݁`@w?@&?g?#mh?i2@I2];2CPY^=By^k!IiEMb@Mb@Mb@AAAA A9E?㥛 yEEt9qYq=ulGyq}9E}>Q 55y楊?Q 952)BY^>Q E;ymQ IB@VDI:i:w5yɮ]AgODNOT Ignoring new targets: 38.38 m.*" GBʎjZ3@E EE&E"E:*EAr:VE4ZEa @a @a @a @颥yBɢ<) *>i)|2;顩i\iII9I@I @I@M0@Q ^Am >Am ?Am ?! A ڗAI I O >N,2;Y@A2]@2(\>2;ٱ2_ :AHRS rotation from veh to nav: [[0.976951,-0.213149,-0.011553],[0.213340,0.973140,0.086512],[-0.007197,-0.086983,0.996184]]2H/C?tH˿@7@N?#?%?z}`D?i2]@I2];2CYBEByFu!I HHbDNVDNk2yV#=%VW=ٔVItQ-Z>9Z?YZ?=ZlGyZ3F^![E^>`Q 5f5bꥊ?Q 9f5b2)b!BYdyjQ IjB@bWDIb:ib:bz5ylɮnAl9gODNOT Ignoring new targets: 38.38 m.*" ʎjZ?a@qBɢoi=) >i)\ G;in$^iII9@ @@4@iBT>BBm!IB>BBBBB_;B($EE  E E %E "E O:*E i:VE  4ZE BE  A AI I O > ~N,R ;Y@Ai I 6@6@Z>6g;ٱ6庺 BAHRS rotation from veh to nav: [[0.977269,-0.211559,-0.013751],[0.211929,0.973115,0.090185],[-0.005698,-0.091049,0.995830]]6HE?[˿)@z ? #?Y?Vw`N ?i6@I6];6CYJ=ByJl!IbDRVDR0yZ%ZJ=ٔ^{rQ-^>9bc?Ybc?=blGy`biEb>dQ 5j5f壘?Q 9j5f2)f&BYlynQ InB@fYDIf;if;fe~5ypɮvYAtgODNOT Ignoring new targets: 38.38 m.*" ʎ!!j!Z%@w @MhBɢU=)U5% U>iQ)U \;ԙi_iII9@ @@1@^ADzDAAE% E%E%$E!"E%>:*E%e:VE%4ZE!a-@a-@a-@a-@A I I O > N, ;Y@AF@FX>FM;ٱF滽 RAHRS rotation from veh to nav: [[0.977700,-0.209439,-0.015434],[0.209971,0.973520,0.090395],[-0.003907,-0.091620,0.995786]]FH QI?ʿћT? '?$?pat{?iF@IF];DYZBByZq!Ii=Mb@Mb@Mb@9999 99=w/?Zd; rh?Y=&>y=y=C<=A9 9)= A9Y= AbDUVDU02ye<%e@=ٔeQ-m>9iYi=mlGym4Fu2Eu>yQ 55}?Q 95}<3)}+BY3>Q E;y Q IB@}\DI}:i}<:}5y/BɮgAgODNOT Ignoring new targets: 38.38 m.*" [BʎjZ @颽_Bɢ =) >i)6v;i@x>!Q^AAzAZAB X>B ٍCB y!IB HBB  =B B jDB _;B G$EA I E%  E% E% %E! "E% :*E% n:VE% 4ZE! BE% n%ԙ xO,n 2G:ٱ2û :AHRS rotation from veh to nav: [[0.978265,-0.206650,-0.017135],[0.207351,0.974122,0.089955],[-0.001898,-0.091553,0.995798]]2HM? sʿ@֋`y?,?@P?_@p?i2"@I2ݺ];2CYUAByQI]<)]=bDeVDe qy}%}:=ٔ}Q->9Y=lGyǻE>Q 55?Q 953)0BYyQ IB@^DI:i:5yɮiAgODNOT Ignoring new targets: 38.38 m.*" ʎjZ>@WBɢ(=) >i);ici%!!I!I)9@ @@/@ԡ^AA I I O > O,$2+.ٱ2D; :AHRS rotation from veh to nav: [[0.978943,-0.203259,-0.018898],[0.204135,0.974814,0.089814],[0.000166,-0.091781,0.995779]]2HS?`aʿ Y@!?1?`?%?`~l?i26@I29];0 @)F`AFxiDDDF`AiJIHHIHiJr@ HH)LL N`ANPPPR`AIR㥽)RFiT)TIV`AVT TXXXiXXYXYbNByb!ID%=D%=E EE$E"E:*Ee:VE4ZEa@a@a@a@iMb@Mb@Mb@ 9$C?i|?5:v?YZ>yqT<A K A)AYAbDVDy%΄=%-P=ٔ-Q-->9)Y1=5lGy55F5E=>9Q 5E5=f?Q 9M5=3)=4BYMb>Q EMo;yMnQ IMB@=aDI=:i=k:=e5yYɮ]AYgODNOT Ignoring new targets: 38.38 m.*" BʎjZ.N@%NBɢ% =)! -?i))-S;)IiM,eiUQQIYIY eeIe)e) } Y  9@  @ @ 2@ ԁAA?ABW>BB!IBRBBBBB_;B6$EBiBiBiBiBm! =Cm5^A9A=?A=?Ee EeEe&Ea"Ee;*Ee҆:VEe4ZEaBEe@6Iٱ6½ NAHRS rotation from veh to nav: [[0.980820,-0.193564,-0.022921],[0.194862,0.976512,0.091939],[0.004586,-0.094642,0.995501]]6H`b? ȿ`x@?`??@P?@5r?`u:$?i6[@I6];6CYMFByMw!IbDeVDe0yuӼ%u=ٔu9} ?Y} ?=}lGy}6FzE>Q 55?Q 953):BYyQ IB@eDI;i ;̎5yɮBAgODNOT Ignoring new targets: 38.38 m.*" ʎjZ,@I颅BBɢl =) ?i) ;顑i=hiIIԅ U9@Q @Y@]y4@Yq}G`]A$9`]AYAԩ^A 1> A I I! O5 >fO,ng2ٱ2Gɽ :AHRS rotation from veh to nav: [[0.981914,-0.187623,-0.025336],[0.189199,0.977328,0.095046],[0.006928,-0.098121,0.995150]]2H@k? ȿ`7?EF?T? `|?rE?i2u,@I2];2CD\zD\Eb EbEb%E`"Ebs:*Eb&p:VEb 4ZE`aj@aj@aj@aj@YU9By]g!IiMb@Mb@Mb@ 9M?&1{Gzt?Yn>yPף;A bA)bAYbDVD:y ds% B=ٔ Q- >9Y=lGy_E>!Q 5-5%/?Q 9-5%3)%Q E-6;y-Յ?!O,CB"؍CB B B"! =B B"iDB"^;B"#E(E~ E~E~(E|"E~D:*E~:VE~c44ZE|BE~19yYy=}lGy}7FE>Q 55$?Q 953)?BYyQ IB@nDI;i;5yɮAgOEDNOT Ignoring new targets: 38.38 m.Ai*i"i iiiqqʎqqyjyZ}l@0Bɢ/=) ?i)n;imiIIa9@ @@/@ԑ^A9> A9 IA IY Oe >~'O,]Ul;ٱU` eAHRS rotation from veh to nav: [[0.984547,-0.172449,-0.030464],[0.174743,0.978846,0.106425],[0.011466,-0.110104,0.993854]]UH`i?ƿ1]?R?>?{?/?iU@IU9];UCY}>By}m!IiMb@Mb@Mb@ 9!rh?Zd;O~jtxYl>yj<ĻA=A ) AYAbDmVDmy}=%};=ٔ)Q->9Y=lGyc E>Q 551?Q 953)@BY>Q E ;yY=Q IB@rDI:ib:|5y;BɮA+EgODNOT Ignoring new targets: 38.38 m.*" gBʎjZ@(Bɢ3=)! %9 ?i!)%D};))i-Rpi-11I1I1E  E E E "E :*E :VE ZE a@a@a@a@9@ @@/@^A I AQ IY Iq O} >s .O,N WbٱN ^AHRS rotation from veh to nav: [[0.985953,-0.163670,-0.033291],[0.166450,0.979344,0.114801],[0.013814,-0.118729,0.992831]]NH?%Ŀ 7N?V?c?@J? eD?iN)o@IN];NCY4Bya!IbDVD:y-]%-c=ٔ-ջQ-5>91Y1==lGy=8F=:E=>AQ 5M5E;?Q 9M5E3)EABYIyUA ؟AI) I9 OE >Թ 4O,w2ٱ2 :AHRS rotation from veh to nav: [[0.987482,-0.153631,-0.035724],[0.156930,0.979721,0.124579],[0.015860,-0.128626,0.991566]]2Ht? +ÿ`lJ@H?Y?p?@=?v`?i2+ @I2p];2CYB/ByBZ!IbDJVDJ:2yVۼ%VS=ٔVjQ-V>9Z"?YZ"?=ZlGyXZm̼E^>`Q 5f5bE?Q 9f5b3)bBBYdyfzA% .AE-  E- E- %E) "E- :*E- L_:VE- 4ZE) a= @a= @a= @a= @IA IQ Oe > ;O,y什;A&A ) AYAbDVDfy%6=ٔQ- >9  ?Y  ?= lGy 9FE>Q 5%5S?Q 9%53)FBY% >Q E% ;y-wQ I-B@DI:i:5y5ABɮ5 A5,EgO]DNOT Ignoring new targets: 38.38 m.YY*a"a aaaimfBʎiiijqZub@额Bɢ3=)  ?i)v<顡iIziIIm9@i @i@mX4@i!iaIaQ^A1>A ؟AI I O >y BE U>BA BE y!IBE HBBA BA BE jDBE ^;BE #EABO,Su=Y@A2d@2 >2 ٱ2 :AHRS rotation from veh to nav: [[0.990743,-0.129887,-0.039480],[0.134305,0.980186,0.145594],[0.019787,-0.149548,0.988556]]2H)?#60? ]?@Ѣ? C? f$ÿA?i2d@I2];0Yj$BynL!IEr ErEr&Ep"Er:*Ere:VEr4ZEpBEr9%"?Y%"?=%lGy!-!zE->1Q 5=55_?Q 9=554)5JBY9y=XQ IEB@5DI5;i5;535yIɮM AIgOuDNOT Ignoring new targets: 38.38 m.qq*q"y yyyʎjZ/ @颵 BɢCD=)  ?i)3<项i}iIIQԉ#ے9@ @@0@@l>@p>Ա^A I I O >HO,ݵ%=Y@A2@2=2ٱ2{! :AHRS rotation from veh to nav: [[0.992321,-0.116953,-0.040274],[0.121798,0.980648,0.153279],[0.021568,-0.157007,0.987362]]2H? ".?xa?࡞??Ŀ x?i2@I2ٱ];0YFByF>!IiUMb@Mb@Mb@QQQQ Q9UFx?RQI +?YU>yU½U949Y=lGy:F'ܼE>Q 55o?Q 954)RBY>Q E;yNؽQ IB@DI;iY;M5yɮC!AgODNOT Ignoring new targets: 38.38 m.*" `BʎjZr !@Bɢ3=) m ?i)%?#OO,}?=Y@A2@2@=28ռٱ2' :AHRS rotation from veh to nav: [[0.993780,-0.103796,-0.040355],[0.108954,0.981180,0.159418],[0.023049,-0.162823,0.986386]]2H ?@g u@k?@e?g??eĿ`y?i2@I2];2CYBByB9XYX=^lGy\^| E^>`Q 5f5b|?Q 9f5b5)bYBYhyjQ IjB@bDIbW:ib :b5ynGBɮr!ApgO DNOT Ignoring new targets: 38.38 m.  * "    ʎjZ!@yBɢ^SF=)  ?i)¶<i"i1I1I9BQBUٍCBUs!IBUCBBU =BQBQBUm_;BU $EԡEi EmEm$Ei"Ei*EmT:VEm4ZEiBEmVO,"Y=Y@A:I&@:L=:nżٱ: , ZAHRS rotation from veh to nav: [[0.995121,-0.090342,-0.039654],[0.095674,0.981779,0.164187],[0.024098,-0.167180,0.985632]]:H? @yM~?j?@?$? &fſK?i:I&@I:];8YfByj5!IbDzVDz:2y  %C=ٔ#Q->9!Y!=%lGy%;F-E5>9Q 5U5=?Q 9U5=5)=aBYYy]wQ I]B@=DI=r;i=t;=H5yaɮm!AigODNOT Ignoring new targets: 38.38 m.*" YʎYaajaZe"@颕BɢZA=) ?i)<顙i믄iII9@ @@0@!E] E]E]%EY"E]:*E]Ar:VE] 4ZEYam@am@am@am@I ^A= 9>I I O >|\O,`t=Y@A2 @2=2ʼٱ210 :AHRS rotation from veh to nav: [[0.996381,-0.075907,-0.038245],[0.081309,0.982314,0.168664],[0.024766,-0.171164,0.984931]]2HZ?`nٔд? o?ʖ?@4\?ſ?i2 @I2];2CYBByB=!Ii Mb@Mb@Mb@     9 y&1?X9v:v?Y `>y  T< $A nA A) 9 A Y 3AbD%VD%:y5V<%5A=ٔ=κQ-=>99Y9==lGy9E EE>IQ 5U5M*?Q 9U5M6)MjBYUl>Q E]:y]}.Q I]B@MDIM:iM:M5yeMBԡɮe!A-EgO-DNOT Ignoring new targets: 38.38 m.))*)") )1115dBʎ999j9Z=` #@颍BɢBM=) ?i)k&<顑i*iII9@ @@/@^AIi Iy O >B W>B B m!IB >BB  =B B B `;B Y$EByByByB}! =ByC}Aj5E  E E &E "E O:*E X:VE 4ZE BE AHRS rotation from veh to nav: [[0.997497,-0.060614,-0.036400],[0.066023,0.982745,0.172783],[0.025299,-0.174753,0.984287]]6H?@?r???Q^ƿG?i62@I6];4Y^Byb:!I ``bDjVDj02yrF%rQ=ٔvQ-v>9tYt=vlGyv|Q 55~?Q 95~l7)~sBYy =Q I B@~DI~:i~:~a5yɮ!AgO=DNOT Ignoring new targets: 38.38 m.99*A"A AAAIIʎIIIjQZUY$@}Bɢ}g]=) ?i)-<顁itiIIIZA)ZAM9@I @Q@U?0@Q=GAQi 9YDA^A1IIO>qԡ iO,A=Y@A.@.vO=.T-ϼٱ.7 :AHRS rotation from veh to nav: [[0.998398,-0.045310,-0.033882],[0.050612,0.982923,0.176922],[0.025287,-0.178354,0.983641]].H?2 Y@?@t?@d?? Lƿy?i.@I.m];,YfByfE!IiUMb@Mb@Mb@QQQQ Q9Uv/?ʡE~jt?YUx>yUyU9Y=lGy[E>Q 55?Q 95f8)BYX>Q E:y@Q IB@DIL;iK;5ySBɮ!A.EDD4=E EE)E"E=;*E]t:VEFA4ZEa@a@a@a@gODNOT Ignoring new targets: 38.38 m.*" zBʎ j Z 24%@qށBɢoZ=)  ?i)[6<iۊiII@ @@0@ԡ^AA I I O > mpO,=Y@A2.@2 =2E̼ٱ2< :AHRS rotation from veh to nav: [[0.999098,-0.029235,-0.030790],[0.034366,0.982678,0.182107],[0.024933,-0.183001,0.982796]]2H?vv? r?@IO? ? lǿs?i2.@I2];2CYBByB>!IbDJVDJβyR%VY=ٔVv:Q-V>9TYX=ZlGyZ=FZ0EZ>\Q 5b5^ɦ?Q 9f5^W9)^BYdyf*QQ IfB@^DI^>:i^:^_5yhɮj!AlgODNOT Ignoring new targets: 38.38 m.*"    ʎ  jZ%@=ׁBɢEi=)A E ?iA)E)7>BBBB =BBBr`;B$E9@ @@4@E EE'E"E>:*Eg:VE'4ZEBEa vO,=Y@A>@><>ʼٱ>A FAHRS rotation from veh to nav: [[0.999537,-0.012869,-0.027576],[0.017816,0.982113,0.187448],[0.024670,-0.187852,0.981887]]>H4?@=[<t>? xm?I?C? ȿ@k?i>@I>];>CYR ByRH!IIV4=)V<bDZVDZybQ=%bG=ٔf':Q-f>9dYh=jlGyhj$Ej>lQ 5r5nئ?Q 9v5nr:)nBYtyvaQ IvB@nDIn;in;n5yzYBɮz!A~/EgODNOT Ignoring new targets: 38.38 m.!*!"! !!)))ʎ))1j1Z5W&@]ЁBɢeuk=)a m(?ii)mGi%>59@1 @9@=/@9@A@AQ^AE EE#E"E2:*E:VE3ZEa@a@a@a@AI Ia q I O >i|O,=Y@A06@6p:6ȼٱ6E >AHRS rotation from veh to nav: [[0.999699,0.003558,-0.024260],[0.001163,0.981426,0.191836],[0.024492,-0.191807,0.981127]]6H?%m?ט S? g?`?m? ȿde?i6@I6];6CYF*ByFT!IiEMb@Mb@Mb@AAAA A9E +?!rhy&1?YE>yEl罙E`9qYq=}lGy}>F}!E>Q 55ꦊ?Q 95;)BY>Q E:y\Q IB@DIf:i{:5yɮ{!AgODNOT Ignoring new targets: 38.38 m.*" BʎjZ@'@ ɁBɢ Wt=)  e0?i )țP<igiII!ԑQ@Q @Y@Y@YԹ^A1B} T>B} ؍CB} s!IB} CBB} ! =By B} iDB} `;B} $E Aa Ii Iy O >bE-4jErE0E  E E E "E :*E :VE ZE BE 0Y@A2n@20@2pǼٱ2I :AHRS rotation from veh to nav: [[0.999586,0.019810,-0.020864],[-0.015335,0.980441,0.196216],[0.024343,-0.195815,0.980339]]2H?I?@}]g`_?? z?tɿ@^?i2n@I2];2CYB6ByBb!IbDJVDJyRw=%VX=ٔV9Q-V>9XYX=ZlGyXZ2EZ>``Q 5f5bQ?Q 9f5b<)bBYhyjlQ IjB@bDIbo:ib#:b5yn`BɮnN!ApgODNOT Ignoring new targets: 38.38 m. * "    ʎjZ h(@ÁBɢ_ǃ=)$ 9?i)fY<iliII@ @@/@!^AA I I O >A ԉO,;)>Y@A26@2 @2Ƽٱ2`N :AHRS rotation from veh to nav: [[0.999199,0.036054,-0.017370],[-0.031832,0.979058,0.201076],[0.024256,-0.200362,0.979422]]2Hp?u? ɑ ;L@rT?ڼ?`֘?`uɿ lW?i26@I2];2CYDyFc!I HHJ=HiMb@Mb@Mb@ 9jt?zGếQ?Y?y ׽< A)YQAbD5VD5yEx;%EA=ٔE"X9Q-E>9IYI=MlGyM?FU}EU>YQ 5e5] ?Q 9e5]=)]BYe?Q Ee:yecQ ImB@]ƫDI];i];]5yqɮuK!AqE EE%E"E:*E:VE 4ZEa@a@a@a@gODNOT Ignoring new targets: 38.38 m.*" !!%Bʎ!))j)Z-@)@额Bɢ* =) 4=?i)Vd<顡i",iIII9@ @@@q^A1>ԡ I I O >˻O,C>Y@A6ƅ@6@6}}ȼٱ6^5S >AHRS rotation from veh to nav: [[0.998513,0.052699,-0.013945],[-0.048712,0.977397,0.205723],[0.024471,-0.204738,0.978511]]6H?a? SF?U? ?`4ʿ O?i6ƅ@I62];6CYJBByJq!IbDRVDR1yZ's=%ZT=ٔZsQ-^>9\Y\=blGy`bY3Eb>dQ 5j5f9?Q 9j5f8?)fBYhyntQ InB@fͫDIfS:if8;f 5yrfBɮr!Ar0EgO DNOT Ignoring new targets: 38.38 m.  *" ʎ!j!Z%` )@MBɢM=)Q UF?iQ)U=mBٍCB!IBRBBBBjDBa;B$EԩE EE&E"E:*E n:VE4ZEBE& O,\>Y@A2^@2 @2ȼٱ2W :AHRS rotation from veh to nav: [[0.997556,0.069129,-0.010201],[-0.065452,0.975493,0.210070],[0.024473,-0.208889,0.977633]]2H?v?䄿y@=7?@??ݼʿ`H?i2^@I2];2CYZJByZ{!IbDfVDfyj=%nH=ٔrգQ-r>9pYp=vlGyv@Fv'Ev>xQ 5~5zC,?Q 9~5z@)zBYyƂQ IB@zӫDIzY;izf;z5y ɮ  A gO5DNOT Ignoring new targets: 38.38 m.11*9"9 999AAʎAAIjIZM*@uBɢuկ=)y };M?iy)}{Zx:*EX:VE4ZEa@a@a@a@1Y ^A 9>I! I1 O= >O,v>Y@A2~t@2@o@2ʼٱ2-H[ :AHRS rotation from veh to nav: [[0.996328,0.085362,-0.006586],[-0.081988,0.973437,0.213770],[0.024659,-0.212445,0.976862]]2H?`Lڵ?hz'@f&?\?@O@?e1˿sB?i2~t@I2];0YBTByB!IIF=)Fp;HHi]Mb@Mb@Mb@YYYY Y9]Pn?ʡEV-?Y]?y]]<] $A]AA ]A)]xAYY]pAbDuVDu:y}38=%A=ٔgQ->9Y=lGyE>Q 55>?Q 95A)BY?Q E:y\Q IB@ګDI@t;ij;W5ylBɮ A1EgO=DNOT Ignoring new targets: 38.38 m.99*9"9 AAQIY]BʎaaijiZm`+@MBɢM=)Q UU?iQ)UmE  E E %E "E :*E T:VE 4ZE BE K"Y@A2@2@2˼ٱ2%_ :AHRS rotation from veh to nav: [[0.994782,0.101984,-0.002782],[-0.098940,0.971024,0.217540],[0.024887,-0.216130,0.976048]]2H`A??f (T?X?|?!˿;?i2@I2];2CYBYByF!IbDNVDNyV<%VZ=ٔVJQ-Z>9XYX=ZlGyZAF^8;E^>`Q 5f5bNN?Q 9f5bC)bBYdyfmQ IjB@bDIb:ib:b5ylɮn AlgODNOT Ignoring new targets: 38.38 m.* "    ʎjZ`h,@EBɢEo=)I MZ?iI)MT3~NO,:>Y@A23`@2Z@2}ʼٱ2a :AHRS rotation from veh to nav: [[0.992994,0.118156,0.001256],[-0.115538,0.968651,0.219924],[0.024769,-0.218529,0.975516]]2H? ~??T?㓽/?|&?]?˿m7?i23`@I26];2CYFaByF!IiMb@Mb@Mb@ 9NbX9? rh{Gz?Y?yCף<M&AV@ xA)AYAbD5VD5kEE EEEE&EA"EE:*EErN:VEE4ZEAaU@aU@aU@aU@y=%2=ٔH9Q->9Y=lGyBF E>Q 55b?Q 95}D)BY ?Q E :y oQ I B@DIf;i3A;5yrBɮ% A%2EgOeDNOT Ignoring new targets: 38.38 m.aa*a"a aiiquBʎyyyjZ`kV-@ԙBɢ=) b?i)<iJiIIYYYY-V>i)9@ @@Y4@@e>@i>! ^A 1>BU>BٍCB!IB{BB =BBBe`;B$EB}ٍCByByByByC}΋4A II!O5>$O,">Y@A nG@nA@nüٱnQh vAHRS rotation from veh to nav: [[0.988466,0.151062,0.010740],[-0.149549,0.962457,0.226520],[0.023882,-0.225514,0.973947]]nH@?V??h$ÿr??t?̿@*?inG@In];nCYy  bDVD02ٔ%Z:Q-%>9)Y)=-lGy)=E=>AQ 5M5EFv?Q 9M5E9F)EBYIyUCQ IUB@EDIE>;iE;E5y]xBɮ] A]3EE} E}EyEy"E}:*E}L_:VEyZEyBE}^iIIa!@! @!@%/@! en>eːCԑG]9YY]ބAyn?NA^AAiI Aq I I O >;ʸO,'>Y@AB@Ba@B@wٱBl NAHRS rotation from veh to nav: [[0.985755,0.167429,0.015967],[-0.166591,0.958929,0.229572],[0.023126,-0.228962,0.973161]]BHM?@Nn?Y?`Rſ ?b?]?@NͿ!$?iB@IB];PBCYXyXbDbVDbβyj/:%j<ٔn-:Q->9!Y!=%lGy%CF-0E->1Q 5555D?Q 9=55G)5BY9yEQ IEB@5DI5;i5:;5<5yIɮM AIgODNOT Ignoring new targets: 38.38 m.*" ʎjZJ/@PExceeded connect timeout, disconnecting.Bɢ=) 2i?i)<  i &i%))I1I99@ @@/@DzD?AE EE$E"E;*E[:VE4ZEa@a@a@a@^AI) A I I O >O,O>Y@A6$@6@6ٱ6o >AHRS rotation from veh to nav: [[0.982585,0.184594,0.021277],[-0.184461,0.955202,0.231436],[0.022398,-0.231331,0.972617]]6H Uq? Ġ?ɕ?@kǿ@? ? |?=Ϳ`?i6$@I6];6CYFsByF!Ixi%Mb@Mb@Mb@!!!! !9%?V-I +?Y%f?y%m%94<%d'A%l@ %A)%A!Y%AbD=VD=1yE۪=%MC=ٔM:Q-M>9QYQ=UlGyQU4E]>YQ 5e5]ǘ?Q 9m5]fI)]BYm??Q Em:ymqQ ImB@]DI]דII!!9@ @@0@@@BR>B؍CB!IBBB! =BBiDB`;B$EQE EEE"E:*E|:VEZEBE<8kO,6?Y@AB@Bn@BٱB_r VAHRS rotation from veh to nav: [[0.979055,0.201802,0.026968],[-0.202452,0.950956,0.233871],[0.021550,-0.234432,0.971894]]BH@kT??o?ɿ`;n?}?S?@ο?iB@IB!];BCYfoByj!IIr<)ra=bDzVDzy˲%N=ٔ% ;Q-%>9)Y)=-lGy-DF5<E5>AQ 5M5E?Q 9U5EKY)EBYayeQ IeB@EDIE;iEI;EP5yqɮ}{ AygODNOT Ignoring new targets: 38.38 m.*" ʎjZY0@]BɢeNf=)a eu?ia)eܧIIM9@I @I@M 1@Iԉ^A!AQIqIO}>nManaging dock network, ignoring radio surface power offD =D <E  E E %E "E :*E :VE 4ZE a @a @a @a @ jO,o2?Y@A2@2{@2TYٱ2<(u :AHRS rotation from veh to nav: [[0.975226,0.218825,0.032413],[-0.220222,0.946525,0.235782],[0.020915,-0.237079,0.971265]]2H 5?x?@{?`<0̿@I?.? j?Xο?i2@I2X^;2CYfqByf!IiUMb@Mb@Mb@QQQQ Q9UK7?9Y=lGy3E>Q 55}?Q 95M)%BY ?Q E:yQ IB@ DI:i':5yBɮ A4EԹgODNOT Ignoring new targets: 38.38 m.*" BʎjZ^0@%}Bɢ%E=)%`.J %z?i!)-2<))i-౼i55"III@I @I@U4@Q^A53>Aa Ii Iy O >9 Ay A} ?AB P>B B !IB BB " =B B B y`;B $EYO,0KL?Y@A2f@2va@2 ٱ2K9tYt=vlGyvEFz?Ez>|Q 55~˧?Q 95~ O)~+BYyɻQ IB@~DI~f;i~;~J5yɮ AbE 4jEO4rE(/Ee EeEe'Ea"Ee:*Eega:VEe'4ZEaBEe0IiIqm9@i @i@mL3@i@q@u>^AEIAIIO>iԙ O,l&f?Y@A2Eʹ@2@2Lٱ2Àx :AHRS rotation from veh to nav: [[0.966435,0.253178,0.043629],[-0.256197,0.937111,0.237038],[0.019127,-0.240260,0.970520]]2H ?4?V?@eп@?CW?@?ο`?i2Eʹ@I2}^;2CyYfBy!I aabDVDNyE0%E =ٔM;Q-M>9IYI=UlGyQUEU>YEu EuEqEq"Eu:*EuAr:VEqZEqa@a@a@a@Q 55]᧊?Q 95]Q)]4BYyžQ IB@]DI]Y;i];]5y%Bɮ%!A->EgODNOT Ignoring new targets: 38.38 m.ԡ*" ʎjZ1@qBɢ8=) z?i)N0<irVih;EJ>II9@ @@4@^A g> A)I9IIOU>O,v4?Y@A27@22@2tzٱ21Iz :AHRS rotation from veh to nav: [[0.961726,0.269505,0.049491],[-0.273428,0.932108,0.237513],[0.017880,-0.241955,0.970123]]2H@v???V? ѿ?f?O?_ο? ?i27@I2o^;0 @)B`AB 0@@DF`AiFQ8IDDIDiJnr@ HH)HL N`AN,LLLN`AIR/])PiP)PIR`AR#T TTTTiTXYXY^tByb!IhiMMb@Mb@Mb@IIII I9MʡE?sh|?~jtx?YM?yMIM)AI I)IIYMAbDeVDeyMH=%MH=ٔUI;Q-U>9QYQ=]lGy]FF]4E]>aQ 55eH?Q 95eAT)eIIE} E}E}&Ey"E}>:*E}[:VE}4ZEyBE}Y A) I9 II OU >,O,?Y@A>ݝ@>@>rٱ> } NAHRS rotation from veh to nav: [[0.956435,0.286551,0.055859],[-0.291469,0.926320,0.238699],[0.016656,-0.244581,0.969486]]>H@?`V?? mҿi??+? rNϿ?i>ݝ@I>CZ^;>C)Y5pBy5!IbDEVDEyuw%uY=ٔ}T;Q-}>9yYy=lGyoLE>Q 55?Q 95V)CBYy'߾Q IB@*DI/:iH:5yɮ!AgOeDNOT Ignoring new targets: 38.38 m.aa*a"a aiiiiʎqqqjqZu $v2@额fBɢ`j=) W?i)<顩iii6;%,>II d6YU9@Q @Q@U/@Q^A5kK>ԑAAIYIqE EE$E"E:*EV:VE4ZEa@a@a@a@O>Ա MO,ͷ?Y@A2"@2@2 Fzٱ2 } >AHRS rotation from veh to nav: [[0.950592,0.304202,0.061942],[-0.310068,0.920532,0.237653],[0.015275,-0.245117,0.969373]]2H ?k? x?ض?'ӿ@t?fk?qH?_Ͽ?i2"@I2uK^;0Y-kBy=!IIM<)M=aeAԙiuMb@Mb@Mb@qqqq q9u9Y=lGyGF(E>Q 55@?Q 95Y)LBY-?Q E-:y-ZQ I5B@2DIgoII JB= Q>B9 B9 B9 B= " =B9 B9 B= _;B= 7$E 9@  @ @ @ ! E  E E &E "E O:*E T:VE 4ZE BE ?Y@A2a@2\@2Icٱ2} >AHRS rotation from veh to nav: [[0.944523,0.321420,0.067574],[-0.328153,0.914802,0.235484],[0.013872,-0.244595,0.969526]]2H9?$?L?vտF?Y$?i?NϿ[?i2a@I2U^;2CYFgByF!IbDPVDPyV%V-=ٔ~PB;Q-~>9Y=lGyHF @"E >Q 55-?Q 95z])VBYy!Q I%B@;DIk:i: 5y)ɮ-;"A)gO]DNOT Ignoring new targets: 38.38 m.YY*Y"Y YYYaaʎaaijiZm` f3@额ZBɢY=) '?i)<顡iļi;)>IIAq9@ @@/@^A@>ԩ I I E  E E "E "E :*E k:VE (3ZE a @a @a @a @O% >O,!?Y@A2¶@2@2Cٱ2| :AHRS rotation from veh to nav: [[0.938006,0.338684,0.073744],[-0.346415,0.908684,0.233001],[0.011903,-0.244103,0.969676]]2H$?@??+ֿ?? `?>Ͽ?i2¶@I2];2C@YFmByF!IiMb@Mb@Mb@ 9rh|?S㥻:v?Y?y/ݽT<)Ap@ IA)xAYpAbDuVDu:y<%>=ٔ|;Q->9Y=lGy:E>Q 55O@?Q 95`)`BY_?Q E:yQ IB@DDIY;iX;5yBɮ>"AAEgO=DNOT Ignoring new targets: 38.38 m.AA*A"A IIIQUBʎYYajaZe`^3@额UBɢ =) ?i),<顡iQǼim;mqx=IqIqԩiI9@ @@0@^AD#>I9IQO]v> B- P>B) B- !IB- BB- # =B) B) B- ]_;B- #EB؍CBBB" =B" =CSV5P,@Y@A6&@6Q!@6ٱ6@ | >AHRS rotation from veh to nav: [[0.931246,0.355408,0.080408],[-0.364273,0.902397,0.230184],[0.009249,-0.243648,0.969819]]6H@???>P׿ p?v?`-?`/Ͽ?i6&@I6E ^;6CYFjByF!I HHN>N=ER ERER(EP"ERO:*ERP:VERc44ZEPBEPaZ2EPaZJER(;aZ:ER(;aZ\\bDbVDbfyjq%jW=ٔj;Q-n>l9pYp=rlGyrIFvNOEv>xQ 5z5zQ?Q 9~5z d)ziBY|y~ Q I~B@zKDIz;iz;z5y Bɮ "A gO5DNOT Ignoring new targets: 38.38 m.11*1"1 19999ʎAAAjAZM g34@uPBɢud=)q un?iq)Qv<iDŽʼiU$;=IIm9@q @q@u0@q G!]a9YYewA9^AuD->IIO >a P,;)@Y@A6h@6+@6ѻٱ6 z BAHRS rotation from veh to nav: [[0.924481,0.371242,0.086686],[-0.381175,0.896332,0.226482],[0.006380,-0.242421,0.970150]]6H`Y?`l?`1?*eؿ?`?*"z? Ͽ@x ?i6h@I6Z];6CYJmByJ!IbDVVDVy^*<%^L=ٔ^;;Q-^>9`Y`=blGy`b5:Ef>dQ 5n5fb?Q 9n5fyg)frBYlynvQ InB@fSDIf;ifa;f{5yxɮ~l"AgO5DNOT Ignoring new targets: 38.38 m.191*9"9 99AAAʎAIIjIZM+4@颽KBɢs=) ?i)(<项iivͼix;+=I IDD4=E EE$E"E:*Ee:VE4ZEa@a@a@a@a9@ @@1@^A>I9IQO]U>ԑԹ P,C@Y@A2@2U@2G|Yٱ2z :AHRS rotation from veh to nav: [[0.917708,0.386111,0.093434],[-0.397241,0.889968,0.223956],[0.003319,-0.242642,0.970110]]2H]? ? G?flٿz?@?/k?`Ͽ$ ?i2@I2^;0YBtByB!Ii=Mb@Mb@Mb@9999 99=?`"~jt?Y= ?y==<=b*A=@ =xA)99Y=AbDUVDUβye#<%e@=ٔm;Q-m>9iYi=ulGyuJFu'Eu>yQ 55}u?Q 95}fk)}~BY#?Q E:yQ IC@}\DI}:i}#:}35yBԙɮk"ABEgODNOT Ignoring new targets: 38.38 m.*" BʎjZ 5@FBɢ!=)  i?i ) <  i hмi`*;Z=II9@ @@3@B M>B ׍CB B B B B B _;B $E^As=I IO-,>E EE%E"E:*EV:VE 4ZEBE)| :AHRS rotation from veh to nav: [[0.910748,0.400528,0.100579],[-0.412964,0.883241,0.222139],[0.000138,-0.243848,0.969813]]2H$? A??mڿ`C?o?`"?k6Ͽ ?i2u@I2];2CYByByB!IIF<)Fp;bDLVDLyZy<%ZW=ٔZ9\Y\=^lGy\b8Eb>dQ 5j5f?Q 9j5fo)fBYhyj,Q IjC@fcDIf:if:f5ypɮrD"ApgODNOT Ignoring new targets: 38.38 m.*" ʎjZ n5@%ABɢ-=)) -ԍ?i))-z<)1i5JӼi==FN;=X=I9IAMt>iM>9@ @@/@@ >@!^A:=YD zD AAE  E E *E "E :*E g:VE (N4ZE a @a @a @a @I1 II OU >y E/P,Lw@Y@A2m@20@29Y=lGyKFgE> Q 55 ?Q 95 s) BY5?Q E5:y=Q I=C@ lDI ;i ; j 5yEBɮE#AELEQgODNOT Ignoring new targets: 38.38 m.*"  BʎjZv5@ ԩB L>B B B B $ =B B B _;B <$E $P,L8@Y@A6mx@60s@62;ٱ6 }|bE-4jE4rEl0EB E@EB"E@"EB:*E@VEB(3ZE@BE@aJ2E@aJJEB-;aJ:EB-;aJ RAHRS rotation from veh to nav: [[0.897526,0.426137,0.113372],[-0.440911,0.871111,0.216247],[-0.006609,-0.244075,0.969734]]6H@?E??7ܿ@$??`{=Ͽ?i6mx@I62^;6CYZzByZ!IbDbVDbyjay%n^=ٔn9pYp=rlGypr&Er>tQ 5z5vN?Q 9~5vv)vBY|y~zQ I~C@vtDIv';ivf;v#5yɮ*#A gO-DNOT Ignoring new targets: 38.38 m.11*1"1 11999ʎ9AAjAZE86@m8Bɢu|=)q u?iq)}3=yyi}ؼi*;WS,=IIԩ-9@) @)@-/@)^A=IqIO> 1 gA*P,@Y@A2@2V@21&<ٱ2y :AHRS rotation from veh to nav: [[0.891341,0.437638,0.118256],[-0.453219,0.866126,0.210754],[-0.010191,-0.241449,0.970360]]2H݅? D?F?@ݿN?`?ބο`0 ?i2@I2d];2CYBByB!IJ=HHHbDNVDN02yVK=%VN=ٔZ9XYX=ZlGy^LF^ E>!Q 5-5%?Q 9-5%sz)%BY)y5 !Q I5C@%|DI%:i%,7;%7'5yUBɮ]"A]MEgODNOT Ignoring new targets: 38.38 m.*" ʎjZ6@ 4BɢX=) %?i))5 =19i=NۼiU;N=I9IIDDE EE&E"E;*E1]:VE4ZEa@a@a@a@9@ @@0@Yԉ ^A 8=I I O- >(1P,@Y@A0Y~By~!IiMb@Mb@Mb@ 9-?&1y&1?Y5?yн`<b*A )AYAbDVDy<%:=ٔQ->9Y=lGyE>Q 55̨?Q 95~)BY ?Q E:yPQ IC@DIv:iE:*5yɮ"AgO%DNOT Ignoring new targets: 38.38 m.!!*!"! !!!)--Bʎ))1j1Z5$7@]/Bɢea=)a e͗?ia)e0=iiimc޼imu;u=IqIyB}<A}4=BJ>BB!IBBBBBhDB_;B:$Eԡ 9@  @ @ !2@^Ay=IIIYOm5>E EEE"E>:*E&p:VEZEBE9XYX=ZlG\yZMF^^}Eb>`Q 5f5bܨ?Q 9f5b*)bBYhyjX$Q IjC@bDIb/;ib];b..5ynBɮr"ArNEgO DNOT Ignoring new targets: 38.38 m.  * "   ʎjZ m7@E+BɢMU=)I M?iI)M]=QQiUi]]Z;]AAE  E E 'E "E :*E ga:VE '4ZE a @a @a @a @A m}=P,@Y@AV@VV@V6<ٱVj fAHRS rotation from veh to nav: [[0.875988,0.464949,0.128325],[-0.481825,0.855729,0.188608],[-0.022119,-0.227048,0.973632]]VH`??@l?8޿`!b?J$?]Ϳ'?iV@IV];VCYvByz!II~<)~<  iMb@Mb@Mb@ 9Q?ʡE~jt?Y(?y<'A  A)9 AYA ;p<bDVD02yݠ%:=ٔy9Y=lGyE>Q 55?Q 95A)BY?Q E:yQ IC@DI9;i;25yɮ"AgODNOT Ignoring new targets: 38.38 m.*" BʎjZ`7@5&Bɢ==)A E?iA)ED=IIiMiUU2;UW%;IQIYI9@ @@3@qBu L>Bq Bu !IBu BBq Bq Bu iDBu _;Bu 8$E^A V<ԩ A I I O >jeDP,TpAY@AE2 E2E2%E0"E2:*E2 n:VE2 4ZE0BE2d@>'@>A<ٱ>H ?,??`C߿@Q?0?5:@H̿@2?i>d@I>^;>CYRByR!IbDZVDZyb=<%f[=ٔfD9hYh=jlGyjNFj~Ej>YQ 5e5]X?Q 9e5])]BYiymQ ImC@]DI]d:i]|:]f55yuBɮu"AyuOEgODNOT Ignoring new targets: 38.38 m.*" ʎjZ;C8@u"BɢuC>)q uk?iy)}=yyi}]i;7II-9@) @)@-/@)ԩ^A<A1IAIQOew> JP,K,AY@A2ϊ@2@2=ٱ2] :AHRS rotation from veh to nav: [[0.868940,0.476761,0.132825],[-0.493929,0.852348,0.171866],[-0.031274,-0.214947,0.976125]]2HZ?A? i? ߿nF??'e˿j9tYt=vlGytva}Ez>xQ 5~5z?Q 95z)zBYy!Q IC@zDIz;iz;z85y ɮ"AgO=DNOT Ignoring new targets: 38.38 m.*" ʎ!j)Z5`8@E EEE"E:*Ex:VEZEa@a@a@a@5Bɢ5$4=)1 5E?i1)=l=99i=RiEE;EIAIi 9@  @@@^A#2;1A- .AI9 II OU >Y azQP, 3FAY@AYzBy~!I==iMb@Mb@Mb@ 9X9v?~jty&1?Y?y`e<M&AV@  A)AYpA@AbDVD1y~<%:=ٔQ->9 ?Y ?=lGyOFE>Q 5 5F"?Q 9 5)BY/?Q E:y!Q IC@DI ;i ;<5yBɮ#AYE1gOMDNOT Ignoring new targets: 38.38 m.II*I"Q QQQY]5BʎYYYjaZe@9@颍BɢɄ>) ?i)tq"=顑i)kin%;hIIBN>BB!IBBB# =BBB*`;Bb$EB׍CB׍CBB$ =B$ =Ce>5%9@! @!@-/@)YE} E}E}#Ey"E}O:*E}i:VE}3ZEyBE} Թ iWP,2`AY@A2:@2Y5@2 #=ٱ2HP :AHRS rotation from veh to nav: [[0.863794,0.485324,0.135352],[-0.502259,0.850718,0.154967],[-0.039937,-0.201841,0.978604]]2H@4? ?`3S?9?`?rɿP?i2:@I2^;0YnByn!IbDzVDz0y=%[=ٔ[9 "?Y "?= lGy ׼E>Q 5%51?Q 9%5)BY!y%_$Q I%C@DIr;ig:?5y5Bɮ15ZEgOeDNOT Ignoring new targets: 38.38 m.aa*a"a iiiiiʎqqqjqZ}u9@颥Bɢh>) ?i)$^&=顩i|i;vXIIԑM9@Q @Q@Uy1@Q^A-ጺAYIaIqOZ>D zD ?AE  E E &E "E D:*E &p:VE 4ZE a @a @a @a @ 5]P,XyAY@AB&@B!@B~6=ٱB\G JAHRS rotation from veh to nav: [[0.862411,0.487765,0.135398],[-0.504243,0.851313,0.144935],[-0.044572,-0.193267,0.980133]]BHޘ?@7? T?"=?;? Ҧ ȿ`@]?iB&@IB ^;@YVByV!IieMb@Mb@Mb@aaaa a9e+?333333{Gzt?Yev?yeeף;e#Ae@ e A)eAaYeAbD}VD}kyF^%B=ٔ&49Y=lGyPFFE>Q 55C?Q 95)BY?Q E:yT%Q IC@DI<:i;C5yɮ#AgODNOT Ignoring new targets: 38.38 m.*" BʎjZW9@%Bɢ%7>)) -.?i))-*=))i5i5=֋;=gI9I99@ @@4@iiIi^AB M>B B !IB BB " =B B B d`;B $EQ A9 II IY O >}dP,̷AY@AE& E&E&"E$"E&:*E&X:VE&(3ZE$BE&>9hYl=nlGylnpEr>pQ 5v5rS?Q 9v5rz)rBYxyz%Q IzC@rĬDIr6:ir-:rF5y~ Bɮ$AgO-DNOT Ignoring new targets: 38.38 m.))*)") ))111ʎ11jZF:@Bɢ{>)  ?i ) .=  i .i55;=^}I9I9yQ 9@  @ @ 3@ ^AAIyAI!I1O=r>ԩ jP,pAY@A9Y= lGy QF E>Q 5%5d?Q 9-5)BY)y)Q I5C@̬DI3;i-;J5yAɮE\$AAgODNOT Ignoring new targets: 38.38 m.*" ʎjZ 4:@DQDU=Eu EuEu#Eq"Eus:*Eu':VEu3ZEqa@a@a@a@Ա颽 Bɢ>) h?i)W3=ilib;zI!I19@ @@2@ ^A% zlAQ IY Ii O} > qP,DAY@AXYjByj!Ii}Mb@Mb@Mb@yyyy y9}T㥛 ?=ٔQ->9Y=lGyE>Q 55w?Q 95ԥ)BY"?Q E:y$Q IC@լDI:i':BN5y'Bɮ$A[EgODNOT Ignoring new targets: 38.38 m.*"   -Bʎ)j1Z= ;@eBɢe^ >)a m?ii)m\7=iiimٱiuu;uWr{IyIyBL>BB!IBBB$ =BBB*`;Bb$E!@! @!@%/@!bEjEŻ 4rEJ/E= E=E='E9"E=a:*E=:VE='4ZE9BE=(wP,ŌAY@A6@6@6y=ٱ6W~+ >AHRS rotation from veh to nav: [[0.860363,0.490302,0.139210],[-0.505595,0.855531,0.111537],[-0.064411,-0.166346,0.983961]]6H`?@a?`?-``??B} Jſ|?i6@I6*^;6CYJByJ!IbDPVDPyZϜ%Z[=ٔZ$=Q-^>9\Y`=blGybRFb^Eb>dQ 5j5f?Q 9j5f)fBYlyn$Q InC@fܬDIf;if;fQ5ypɮr$AtgODNOT Ignoring new targets: 38.38 m.*" !))ʎ)))j1Z5`cy;@]Bɢ] z>)a e ?ia)e};=aaimimu;uG%IqIqI[A)[A-9@1 @1@50@1@=\A@=\AI^AUoMyDI zDI Em  Em Em !Ei "Em :*Em Ar:VEm c3ZEi a @a @a @a @I Ia O >ԩ X)~P,eAY@A21@2@2b=ٱ2|$ :AHRS rotation from veh to nav: [[0.860189,0.490462,0.139723],[-0.505289,0.856730,0.103421],[-0.068981,-0.159562,0.984775]]2H ?@c?q?`T+Uj?y? lĿF?i21@I2^;2CYnByr!IieMb@Mb@Mb@aaaa a9e)\(?V-YeG!?yehae AeA eA)eAaYezAybDVD0y4%==ٔ-9Y=lGy9E>Q 55o?Q 95ܭ)BYM"?Q E:y\$Q IC@DIG ;i ;JU5y.Bɮ%A\EgODNOT Ignoring new targets: 38.38 m.*" BʎjZ;@BɢeW>) ?i);@=i]Ti%%;%I!I)ԩ@ @@0@BBB!IBBBBBB_;BF$E^Am }UI I O > E]  E] E] %EY "E] :*E] |:VE] 4ZEY BE] 9IYI=MlGyMSFUN;EU>iQ 5}5m?Q 95mձ)mBYy#Q IC@mDIm;im;mX5yGBɮ%AeEgO DNOT Ignoring new targets: 38.38 m.  * " !!ʎ!))j1Z5 Q<@ Bɢ  >)  ?i)D=ii5=;=vMiI9I99@ @@0@^A- oMI I O >A E;P,/BY@AB5(@B"@B֡=ٱBJ RAHRS rotation from veh to nav: [[0.860660,0.488958,0.142071],[-0.503024,0.859744,0.088359],[-0.078941,-0.147512,0.985905]]BH?`K?@^/? ??t5¿?iB5(@IBt)^;BCY^By^!IbDjVDj0yv%vR=ٔzC9|Y=lGy =:E >Q 5%5,?Q 9%5)BY)y-#Q I-C@DII;i`J;.\5yJBɮ[&AfEgO%DNOT Ignoring new targets: 38.38 m.1!9*9"9 99AAAʎAAIjIZMݸ<@E5 E5E5&E1"E5m:*E5k:VE54ZE1aU@aU@aU@aU@}Bɢ>) .?i)~H=项ii+;eI Il>i>a@ @@%4@!@-=@-=ԉiI II ^Ae cI I O >Թ $P,HBY@A2)@2E$@2=ٱ2 :AHRS rotation from veh to nav: [[0.860422,0.488971,0.143463],[-0.502701,0.860580,0.081810],[-0.083459,-0.142510,0.986268]]2H?@KK?]? ߉?z?]`=¿?i2)@I2^^;2CYZyByZ!IiEMb@Mb@Mb@AAAA A9ES㥛?~jtYE$&?yEAE;AEA EjA)EAAYEQAbD]VD]k2ye%mC=ٔm19iYq=ulGyuTFu 9E}>yQ 55}ͩ?Q 95})}BYG'?Q E:y$Q IC@}DI}G;i}?;}_5yɮ&AgODNOT Ignoring new targets: 38.38 m.*" BʎjZ=@B=N>B9B=!IB=qBB=# =B9B9B=_;B=@$EԑBɢ܃ >) ?i)L=i/i,;րdIIe9@i @i@m/@iԹE% E%E%'E!"E%a:*E%Ar:VE%'4ZE!BE%( GMP,bBY@A2g1@2*,@2A=ٱ2S :AHRS rotation from veh to nav: [[0.860539,0.488050,0.145875],[-0.501658,0.861682,0.076448],[-0.088387,-0.138966,0.986345]]2H? 89)Y)=-lGy)5;E5>9Q 5E5=ީ?Q 9E5=)=BYAyM$Q IMC@=DI= :i=N:=Ic5yUPBɮU&AUgEgODNOT Ignoring new targets: 38.38 m.*" ʎjZ@=@Bɢy>) Q?i)P=iW#i;3VII9@ @@/@^AucE5  E5 E5 %E1 "E5 ,:*E5 1]:VE5 4ZE1 a= @a= @a= @a= @Y A .AI I O >QwP,֬|BY@A61@6,@6q=ٱ67 >AHRS rotation from veh to nav: [[0.860209,0.487737,0.148838],[-0.501416,0.862146,0.072711],[-0.092856,-0.137176,0.986185]]6HՆ?@7? ? `?@-? mŷ@ӎ?i61@I6^;6CY^mByb!I ddiMb@Mb@Mb@ 9%C?MbX9MbP?YZ$?yʡ:AA A)CAYAbDVDk2y%@=ٔ,9 ?Y ?=lGyUF8E>Q 55X?Q 95r)BY%?Q E:y-&Q IC@DI ;i7 ;g5yVBɮI'AhEgO-DNOT Ignoring new targets: 38.38 m.))*)"1 1119=Bʎ99AjAZE=@mBɢm@ >)q u?iq)uT=qqi}i}S;FXIIQ9@ @@/@@@[Ay^AjZXBABABE!IBE\BBABABABE_;BABBBB# =B# =C\5ԩ Ae ؟AIi Iy O >E=  E= E9 E9 "E= :*E= P:VE9 ZE9 BE= 5^;:CYrdByv!IbD VD y- B%-U=ٔe=9"?Y"?EG=lGy)=9AEM>m9qYu`AqQ 5}5u?Q 95u)u~BYy)&Q IC@uDIu:iup:uj5yɮ'AgODNOT Ignoring new targets: 38.38 m.*" ʎjZZ>@Bɢ2" >) ~?i)1Y=iIi  ; WIIԩ9@ @@@^AlXAzA I I O >OP,vkBY@AJm5@J00@JZ=ٱJ- VAHRS rotation from veh to nav: [[0.859688,0.486404,0.156038],[-0.500596,0.863023,0.067792],[-0.101690,-0.136392,0.985422]]JH?@@!???Z? aIu?iJm5@IJ)^;JClE  E E &E "E :*E L_:VE 4ZE a-@a-@a5@a5@Y=TBy=!IbD}VD} yUw%]!=ٔmX9yY=lGyVFA4:E>Q 55?Q 95)pBYy&Q IC@!DI-:i$:n5y\Bɮ%A(A!gOmDNOT Ignoring new targets: 38.38 m.ii*i"i iiqqqʎqqyjZ@>@Bɢ>)p o?i).#^=ii^;SII!19@ @@@a ^A jZXԉ I I O >1P,cBY@AB.L>B,B.m!IB.>BB,B,B,B._;B.<$EF~1@FA,@F9E=ٱF NAHRS rotation from veh to nav: [[0.858705,0.486071,0.162361],[-0.500576,0.863429,0.062570],[-0.109774,-0.135003,0.984746]]FH z?`?9QYQ=UlGyUWFUE]>YQ 5e5]B)?Q 9e5])]dBYm_-?Q Em:ym'Q ImC@])DI] ;i]T ;](r5yyɮ}\(AygODNOT Ignoring new targets: 38.38 m.*"    Bʎ jZ8?@]BɢeL>)a :?i)a=顩iq$i4$;Ex\IIE EE%E"Em:*E&p:VE 4ZEBESVP,4,BY@AYmIBym{!IbD}VD}Ny%X=ٔQ->9Y=lGyE>Q 55^:?Q 95)WBYyQ IC@1DI>:i:xu5yBɮ)AsEgODNOT Ignoring new targets: 38.38 m.*" ʎjZu?@%Bɢ%F>)) -?i))-Ue=))i-_i55k;=4[I9I9Q9@ @@4@yE EE'E"E:*Ega:VE'4ZEa@a@a@a@^AlXA ?A ?IIO>ԩ >P,%CY@A66@61@66=ٱ6 @ BAHRS rotation from veh to nav: [[0.858266,0.484882,0.168136],[-0.499572,0.864369,0.057384],[-0.117507,-0.133247,0.984092]]6H@v?O?y?߿ ?va?;}?i66@I6T^;6CY=GBy=x!IiMb@Mb@Mb@ 9L7A`?/$~jth?Y+'?yD;9"ASA A)$AY(AbDMVDM1y.%7=ٔ9Y=lGyXFA:E>Q 55M?Q 95w)IBY(?Q E:yc'Q IC@;DI ;i;]y5yɮ)AgO-DNOT Ignoring new targets: 38.38 m.)1*1"1 1119=2Bʎ999jAZEM@@ԩ Bɢ  >)   ?i)i=ii;:SII!BeK>BaBeG!IBe BBe$ =BaBehDBe_;Be+$E5&t@9i=> 9@  @ @ o0@ @ @  bE)jE-ʙ4rE-ʓ/E  E E &E "E :*E VE 4ZE BE n%-iP,UCY@A>9@>4@>K=ٱ>? FAHRS rotation from veh to nav: [[0.858033,0.483902,0.172102],[-0.499000,0.864769,0.056337],[-0.121567,-0.134218,0.983467]]>Hu?>?r?߿@/?@,ج?` .`x?i>9@I>J2^;>CYN3ByN_!I PPV=TXXbD^VD^02ybŽ%fK=ٔf&9hYh=jlGyhjgw:En>lQ 5r5n_?Q 9v5n)n;BYtyvL'Q IvC@nCDIn;in;n|5y~Bɮ~*A|gO%DNOT Ignoring new targets: 38.38 m.!!*!"! !!)))ʎ111j1Z57@@eBɢeD`>)a e?ia)mm=iiim iuuR;u OIqIy $9@ @@/@1^A!aIIO>ԑ D D 4=E  E E (E "E :*E Z:VE c44ZE a @a @a @a @/P,8CY@AA7@2@VC>ٱRN AHRS rotation from veh to nav: [[0.857509,0.483721,0.175196],[-0.499071,0.864817,0.054955],[-0.124930,-0.134559,0.982999]]Hp? G?l? ߿?@#?b<9t?iA7@I"^;CYByE!IiiMb@Mb@Mb@ 9ʡE?RQMbpY/?y½h!A$A )h!AYAbDVDy%-=ٔ ;Q->9Y=lGyYF5E>Q 55u?Q 95))BYK1?Q E :y A*Q I C@NDI ;i` ;5yBɮs+AtEgO=DNOT Ignoring new targets: 38.38 m.99*9"A AAAIM#BʎIIQjQZU`St@@}ހBɢ}޷>) ?i)q=顁i#i;lUIIԙm 9@i  @q @u 4@y Be O>Be ؍CBe "!IBe BBa Ba Be iDBe _;Be $E ^A S-PA zA !E EE&E"E:*EX:VE4ZEBEa2EaJEp;a:Ep;aAIIO?NP,sZCY@A206@20@2+>ٱ2a9 :AHRS rotation from veh to nav: [[0.857070,0.483450,0.178067],[-0.498965,0.864989,0.053173],[-0.128319,-0.134422,0.982581]]2H m??? ߿`?}9?@l4 Mq?i206@I2*@^;2CYBByBC!IbD VD y%/=ٔ%);Q-%>9!Y!=%lGy!-vE->1Q 5=55b?Q 9=55+)5BYAyEM*Q IEC@5XDI5:i5:55yIɮM+AIgOuDNOT Ignoring new targets: 38.38 m.yy*y"y yyyʎjZ@@颵ۀBɢ/o>) S?i)c2v=项i5iY;WIIIy @  @@4@ԡ^A5 lX Aa Iq I O >P,vCY@A>8@>3@>>ٱ>*j bAHRS rotation from veh to nav: [[0.856887,0.482949,0.180293],[-0.498481,0.865398,0.051020],[-0.131385,-0.133591,0.982289]]>Hk???`߿ W?@T? 9 n?i>8@I>/^;ԙE EE(E"E:*E]t:VEc44ZEa@a@a@a@9Y=lGyZF%65:EM>aQ 55ef?Q 95e)eBYy;*Q IC@ecDIe) ?i)z=顑i#i«;CSIIԹu9@q @q@u/@q^A jZX! B R>B B IB ݂BB ! =B B B '_;B #EI I O >{:P,ACY@A6?@6Y:@6eM >ٱ6 NAHRS rotation from veh to nav: [[0.856915,0.481950,0.182814],[-0.497559,0.866038,0.049119],[-0.134651,-0.133051,0.981920]]6Hk?@C? of?߿`?@&?@;< k?i6?@I6^;6CYVByV!Ii5Mb@Mb@Mb@1111 195(\?"~jMbP?Y5.?y5S㽙5:5 #A5 A 5 A)5$A1Y5AbDMVDMy]C%]A=ٔek;Q-e>9aYa=mlGyimY;Em>ԱQ 55'?Q 95)BYb0?Q E:y/Q IC@kDI:i:nj5yBɮ.AEgODNOT Ignoring new targets: 38.38 m.*" !!!%9Bʎ)IIjIZU!A@额րBɢ<~>) ?i).~=顡i)3if;KGIIE% E%E%$E!"E%a:*E%L_:VE%4ZE!BE%(Q `P,DCY@A6E@6J@@6l >ٱ6 NAHRS rotation from veh to nav: [[0.856917,0.481041,0.185182],[-0.496730,0.866609,0.047421],[-0.137669,-0.132622,0.981559]]6H k?a??k߿@B?G?#@h?i6E@I6^;6CYVByV!IbDbVDbkyf}%fT=ٔj9hYl=nlGyn[Fr:Er>tQ 5z5vª?Q 9z5vg)vBYxy~/Q I~C@vtDIvI;ivr;v5yɮi.AgO-DNOT Ignoring new targets: 38.38 m.))*1"1 11199ʎ99AjAZEPA@mԀBɢm>)q uh?iq)u›=qqiu6i}K;!?II959@1 @1@50@1aE EE&E"E,:*ET:VE4ZEa@a@a@a@^AI1IYԙO>Թ [HP,9aCY@A6D@6}?@6 >ٱ6 BAHRS rotation from veh to nav: [[0.856551,0.480911,0.187204],[-0.496630,0.866759,0.045700],[-0.140283,-0.132115,0.981257]]6Hh?=?M?߿|?@e?``'vf?i6D@I6^;6CYJނByJ I LLi]Mb@Mb@Mb@YYYY Y9]kt?zGếY] 0?y] ׽]]M&A] A ]h A)]|%AYY]zAqqbD}VD}0yc%?=ٔ>;Q->9Y=lGy&pE>Q 55Z֪?Q 95D)BY*2?Q E:y5-Q IC@}DI:i:̓5yBɮ.AEgODNOT Ignoring new targets: 38.38 m.*" TBʎjZA@%ҀBɢ%Z>)) -?i))-Hf=))i5qi==C;=BI9IAԑ9@ @@a0@BT>BB IBBBBBBA_;B#EBu؍CBu؍CBqBqBu" =CuĦ5^A:IyIO> E  E E 'E "E :*E xv:VE '4ZE BE >ٱ6 BAHRS rotation from veh to nav: [[0.856608,0.479784,0.189813],[-0.495602,0.867434,0.044020],[-0.143530,-0.131780,0.980833]]6HUi?ɴ?K?߿ ?ĉ?3_¿&b?i6SL@I6^;6CY^قByb IbDjVDj:yrθ%rU=ٔra 9tYt=vlGyv\Fz;Ez>|Q 55~窊?Q 95~)~BYy,Q I C@~DI~f;i~:~$5yɮ!/AgO=DNOT Ignoring new targets: 38.38 m.99*9"9 AAAAAʎIIIjIZMA@рBɢq# >) 9?i)%=!!i%;i--!;-65I)I19@ @@4@!^A cAzA[AIIO>Y P,9CY@AE* E*E*%E("E*:*E*L_:VE* 4ZE(a.@a.@a.@a.@RL@R]G@Rj>ٱR ZAHRS rotation from veh to nav: [[0.856266,0.479392,0.192333],[-0.495365,0.867631,0.042783],[-0.146365,-0.131909,0.980397]]RH`f?\? b? ߿??`¿ch_?iRL@IR=F^;RCYb͂Byb IbDrVDryl% G=ٔ g;Q- >9Y=lGy8E>Q 5%5d?Q 9-5H)BY)y-,Q I-C@DIU;i;5y=ĘBɮ=/A=EgODNOT Ignoring new targets: 38.38 m.*" ʎIQjYZeA@a颅πBɢ&>){ [?i)-=顑ii8;7IIU9@Q @Q@U4@Qԙ^A= "5I I O >B V>B ٍCB IB BB B B B _;B $EwQ,DY@ATYĂBy II%4=)%<)-AiMb@Mb@Mb@ 9Cl?Cl绿Mb`Y/?y;߽'A9 A )'AYA p<bDVDJy)%?=ٔQ->9Y=lGy]FE>Q 55 ?Q 95,)BY2?Q E:y.Q IC@DI/#;i{!;x5yɮ/AgODNOT Ignoring new targets: 38.38 m.*" E5 E1E5(E1"E5:*E1VE5c44ZE1BE5) {?i) =iiϲ;7II9@ @@w3@^A 91 A I I O > Q,h,DY@A6yI@6ٱ6 FAHRS rotation from veh to nav: [[0.855322,0.479111,0.197171],[-0.495255,0.867844,0.039608],[-0.152137,-0.131527,0.979569]]6H ^?@?9`Yd=flGyf^FfEf>hQ 5n5jP?Q 9r5jd )jBYpyr.Q IrC@jDIj;ij ;j5yv˘Bɮv0Ax9gODNOT Ignoring new targets: 38.38 m.*" ʎjZVB@颅ˀBɢfl >) Pr?i)E=顉iciɩ;m%>IIm9@i @i@m/@iqE% E%E%$E!"E%m:*E%F:VE%4ZE!a-@a-@a-@a-@ԙ^A8A?A> A I) I9 OM >|Q,FDY@AYBy IԙiMb@Mb@Mb@ 9$C?:v~jthY:?yԽD)A A 9 A)3+AYAbDVDyQ%:=ٔQ->9Y=lGyE>Q 55q3?Q 95)sBY)i mOm?ii)m=iqiui}};yIyIyBU\>BUڍCBUy IBUxBBU =BUDDBUjDBU_;BU!$E$9@ @@@bE-ɞ4jE-4rE-n/E5  E5 E5 %E1 "E5 ;*E5 ]t:VE5 4ZE1 BE5 @ٱB JAHRS rotation from veh to nav: [[0.854826,0.477352,0.203488],[-0.493587,0.868993,0.034966],[-0.160138,-0.130329,0.978453]]BH@Z?? ?߿??jĿ`|O?iBcS@IB5^;@YRByR I TTZ=Za=^@A\bDbVDbyfW"%f.=ٔjs9lYl=nlGyn_Fn4);Er>pQ 5v5rJ?Q 9z5r")rZBYxyz*Q IzC@rDIr;irL;r5y|ɮ2AgO5DNOT Ignoring new targets: 38.38 m.11*1"1 19999ʎAAAjAZEmB@uȀBɢuk>)q u_i?iq)}A=yyi}Лi=;,II)M:W9@ @@0@Y^AԑDA zDA EU  EU EQ EQ "EU :*EU g:VEQ ZEQ ae @ae @ae @ae @A5 .AIA IQ O] >Ա " Q,DY@A~X@~S@~ v'>ٱ~  AHRS rotation from veh to nav: [[0.854776,0.476459,0.205781],[-0.492800,0.869485,0.033823],[-0.162808,-0.130319,0.978013]]~HRZ?K~?W?` ߿ ?0Q?Ŀ OK?i~X@I~sW^;|YBy% IiMb@Mb@Mb@ 9X9v?ʡEMb`Y3?y-,AIA A)r.AYAbDVDy ׽%;=ٔF;Q->9 ?Y ?=lGy:E>Q 55^?Q 95)BBY5?Q E:y%Q IC@DI ;iL ;n5yBɮ3AEgO-DNOT Ignoring new targets: 38.38 m.))*)") )1115Bʎ999j9Z= "B@ԉǀBɢ[O>) d^?i)=i i-- ;5C%I1I1ԹB]`>BYB]M IB]TBB] =BYB]kDB]_;B]8$E޼E 9@A  @A @E /@A  E]  E] E] $EY "E] [:*E] rN:VE] 4ZEY BE] }]@2X@2C)>ٱ2" :AHRS rotation from veh to nav: [[0.854716,0.475661,0.207863],[-0.492153,0.869878,0.033117],[-0.165063,-0.130606,0.977597]]2H@Y?;q?C?`p߿@ ??` ſ@yH?i2>]@I24^;2CYB|ByB~ IbDNVDNkyV%V/=ٔVZ;Q-V>9XYX=ZlGyZ`F^ږ:E^>`Q 5f5bt?Q 9f5b&!)b)BYdyf}%Q IjC@bɭDIb7 ;ib ;b5ynBɮn4AnEgODNOT Ignoring new targets: 38.38 m.*"   ʎjZ:C@ŀBɢ_>) t[?i)%5=))i-mi-5Eֽ;5I1I199AA1-9@) @)@1@1Y ^AM EU  EU EU #EQ "EU :*EU n:VEU 3ZEQ a] @a] @a] @a] @ԙ I I O >.Q,ADY@A5a@5t\@5G,>ٱ5_ }AHRS rotation from veh to nav: [[0.854672,0.474766,0.210079],[-0.491511,0.870249,0.032919],[-0.167192,-0.131391,0.977130]]5HyY?b??t߿?ڠ? fſl D?i5a@I5#^;1YbBy^ IIU<)U49AYA=ElGyAM:EM>QQ 5U5U?Q 9]5U')U BY]17?Q E]:y]"Q I]C@UխDIU:iU:U'5yɮ4AgODNOT Ignoring new targets: 38.38 m.*" ȅBʎ!)j)Z- C@颕ĀBɢ=) N?i)J=顙i"/i;II9U9@Q @Q@U/@YiBd>BۍCB IB,BBBBB_;BR$E^A I I O% >ԑ 5Q,TDY@AZ/h@Zb@Z(->ٱZ nAHRS rotation from veh to nav: [[0.854787,0.473878,0.211610],[-0.490676,0.870751,0.032105],[-0.169046,-0.131275,0.976827]]ZHjZ?T?@ ? ;g߿`0?p?Jſ*B?iZ/h@IZ9=^;ZCYzOByzF IbD VD :y %u=ٔ;Q-?9!Y!=%lGy%aF%;E-?)Q 5=5-󝫊?Q 9E5-*)-BYAyE"Q IEC@-ݭDI-@;i-TA;-5yMBɮM5AUEgO}DNOT Ignoring new targets: 38.38 m.yy*y"y yyʎjZ@C@E EEE"E[:*EP:VEZEBEa2EaJE(;a:E);aÀBɢ>) E?i)E=ioiȻ; IIqm9@i @i@m<3@qԙ^AA?A>IIO> 2;Q,+DY@A:m@:Kh@:/>ٱ:- FAHRS rotation from veh to nav: [[0.854943,0.473148,0.212609],[-0.490024,0.871127,0.031845],[-0.170142,-0.131409,0.976618]]:H`[?H?6?\߿@F?M? 8ſ u@?i:m@I:^;:CYN@ByN4 IbDVVDV0y^%^P=ٔb9;Q-b>9`Y`=flGydf5:Ef>hQ 5n5j?Q 9n5j/)jBYpyr"Q IrC@jDIj8;ijD;j5yv BɮvW6AvEgODNOT Ignoring new targets: 38.38 m.*" ʎjZcC@€Bɢ%=)! ->?i))-Ɗ=))i-"i55ֺ;=%I9I99@ @@4@E EE&E"E;*Ek:VE4ZEa@a@a@a@^AIIO >) BQ, EY@AYr(Byr I ttiMb@Mb@Mb@ 9(\?l~jtxYz4?yĻC/AA A)(4AY"AbDVDfy+ܽ%<=ٔQ->9Y=lGybFE>Q 55wū?Q 953)BYz5?Q E:ym Q IC@DI]:i:I5y*Bɮ8AEgODNOT Ignoring new targets: 38.38 m.*"     хBʎjZbD@EBɢE=)Eӣ E}3?iI)M7=IIiMiUUG;UIYIYBq>B܍CBIBBB =BBlDB`;Bt$EBeڍCBeڍCBe”CBe =Be =Ce¸96I 9@  @ @ /@ ԁE EEE"E:*EP:VEZEBE)ԩ [HQ,$EY@A@Y~By~IbDVDy%=ɽ%%S=ٔ!Q-%>9)Y)=-lGy)1E5>1Q 5E55׫?Q 9E557)5BYAyAQ IED@5DI5;i5N:55yU1BɮU8AUEgO}DNOT Ignoring new targets: 38.38 m.yy*y"y yʎjZDD@颹ɢ=) #*?i)ŕ=i3i;PkIIԩM9@I @I@I@I@U@U@U@UAzAZA A! I) I9 OM >E  E E $E "E :*E :VE 4ZE a @a @a @a @kNQ,>EY@AB@Bpz@B;2>ٱB~ p AHRS rotation from veh to nav: [[0.855567,0.470211,0.216579],[-0.487867,0.872276,0.033472],[-0.173178,-0.134299,0.975691]]BH`?@? ܸ?@69߿`?4#?`*ƿ08?iB@IBB^;BCYByIbD-VD-02y%5=ٔ;Q->9Y=lGycF;E>Q 55?Q 95<)BYyQ ID@DIi;5yɮu9AgODNOT Ignoring new targets: 38.38 m.*" ʎjZ`~D@-Bɢ5=)1 5Y!?i1)5=99i=3i=Ey;EGϻIAIA 9@ @@@iIA؟AII O-o>1B>BߍCBIBՁBB =BBnDBy`;B$Ea }UQ,XEY@A:~@:my@: D3>ٱ: FAHRS rotation from veh to nav: [[0.855355,0.469654,0.218618],[-0.487886,0.872200,0.035147],[-0.174172,-0.136724,0.975177]]:H_??@? 9߿ ??@BKƿ' 4?i:~@I:a^;:CYNByNIIR=)Rp=TT9iuMb@Mb@Mb@qqqq q9u㥛 ?l񲿸QYu5?yquuu0Au/A uA)u6AqYu#AbDVD:2E EEE"E:*EX:VEZEBE 9"?Y"?=lGy/E>Q 55?Q 95@)|BY6?Q E:yB Q ID@ DI ;i2 ;5y8Bɮ:AEgODNOT Ignoring new targets: 38.38 m.*" !%Bʎ!!)j)Z-`ծD@UBɢ]S=)Y ]]?iY)]ԗ=aaie#QiemJ[;m6ܻIiIii+OԙU9@Q @Q@Q@QIi Iy O > \Q,prEY@AY~΁By~IbDVDy%%%U=ٔ%Q-%>9)Y)=-lGy-dF-E5>1Q 5E55?Q 9E55D)5cBYAyAQ IED@5DI5L ;i5 ;5A5yM?BɮU;AQԙgODNOT Ignoring new targets: 38.38 m.*" ʎjZD@9ɢ==)A E?iA)M䱘=IIiUieeq;aIaIiM`=E EE&E"E:*EC:VE4ZEa@a@a@a@9@ @@0@IIOd>19 8bQ,JEY@A6|@6w@6b4>ٱ6j BAHRS rotation from veh to nav: [[0.854997,0.468769,0.221892],[-0.487936,0.872060,0.037808],[-0.175780,-0.140595,0.974338]]6H"\?M?@f?V:߿ ?[? ƿ`-?i6|@I6^;6CY^BybIiEMb@Mb@Mb@AAAA A9EQ?lMbYE5?yAEE$4AEA EA)E|;AAYE&AbD]VD]:2ym %mF=ٔum;Q-u>9qYq=ulGyy} E}>Q 55%?Q 95mI)GBY6?Q E:yY Q ID@DI<;i ;5yɮ%B=CB=lIB=BB= =B9B=pDB=`;B=$E颥BɢH=) c>i)=顩i*i;III(bEMJ4jEM( 4rEMϚ/E EE'E"E,:*ET:VE'4ZEBEViQ,셨EY@A2{@2u@25>ٱ2p :AHRS rotation from veh to nav: [[0.854811,0.468950,0.222223],[-0.488066,0.872012,0.037235],[-0.176320,-0.140289,0.974284]]2H`Z?G?q? {<߿`??ƿ`V-?i2{@I2^;2CYBByFoIJ=J=LLbDNVDN1yVx%VD=ٔZs:Q-Z>9\Y\=^lGy^eF^hE^>`Q 5f5b9?Q 9f5bM)b+BYhyjh Q IjD@b&DIbd;ib;b5yrFBɮr4=ArEgO DNOT Ignoring new targets: 38.38 m.  * "   ʎjZ%UJE@yɢ^=) >i)I=iiմ;c^IIԙ-9@) @1@50@1D =D =E  E E 0E "E :*E :VE 4ZE a @a @a @a @ ^Au rI I O >pQ,[EY@Asx@7s@|95>ٱ; AHRS rotation from veh to nav: [[0.854694,0.468878,0.222828],[-0.488368,0.871774,0.038818],[-0.176055,-0.142000,0.974085]]HY??`?kA߿??ƿ-¿`+?isx@Ie]^;CYByQIi}Mb@Mb@Mb@yyyy y9}I +?ʡE~jtY}94?y}}D} 9A}nA }ZA)yyY}Q(AbDVDyӽ%/=ٔQ->9Y=lGyfF\6E>Q 55O?Q 95R) BYS5?Q E:y!Q ID@0DI:i;5yBɮ"[AEgODNOT Ignoring new targets: 38.38 m.*" Bʎ jZ i)=ixiٳ;2II)9@ @@4@BA<B>BB'IBfBBBBBa;B%EI^A mٻIi I O >q ?vQ, +EY@AE2 E2E2#E0"E2:*E2P:VE23ZE0BE2ٱ^B fAHRS rotation from veh to nav: [[0.854436,0.468989,0.223582],[-0.488769,0.871505,0.039789],[-0.176192,-0.143277,0.973873]]^H@W??R?G߿^?H_?`sƿV¿ )?i^|t@I^S^;^CYrqByr5IbDxVDxy%i=ٔK9Q- >9 Y = lGy 1E>Q 5%5`?Q 9%5V)BY!y%!Q I-D@8DIy:i-:5y5Bɮ5[A5EgOeDNOT Ignoring new targets: 38.38 m.aa*a"a aaiiiʎiiqjqZu`E@颙ɢ_Q=) >i),=顩iKi;_IIQ59@1 @1@5/@1@=\A@=[Aԁ^AmԱA .AI I O > |Q,!EY@AYZByIԱI%=)=AA 4<bDVD2yQĽ%0=ٔQ->9 ?Y ?=lGygFE>Q 55v?Q 95[)BYyQ ID@CDIiN:5yBɮ\AEgO=DNOT Ignoring new targets: 38.38 m.AA*A"A AAAIIʎIQQjQZU`E@Eu EuEu'Eq"Eu:*Eu H:VEu'4ZEqa}@a}@a@a@频ɢ=)` >i)=顙iki;II%9@! @!@)@) ^Am A ؟AI I O >9 ɃQ,FY@A2l@2Rg@2h3>ٱ2u :AHRS rotation from veh to nav: [[0.854253,0.469661,0.222868],[-0.489763,0.870839,0.042099],[-0.174309,-0.145116,0.973939]]2H V? ?@?`FX߿?@?`Oƿ &¿*?i2l@I2j];2C @)@BBE@DF`AiFIF!FDIHiJMr@ HH)HH LNLNLR`AIRD)PiP)PIPVT TTTTiTXYXBf>BdBfIBf)BBf =BdBdBf2a;Bf%EY^@BynIiMb@Mb@Mb@ 9Q? ףp= 9M"?YU"?=ulGyqu"E}>yQ 55}F?Q 95}`)}BY0?Q E:yP'Q ID@}KDI}:i}M:}5yɮ]AgODNOT Ignoring new targets: 38.38 m.*"    Bʎ119j9Z=!F@ɢ.=) ւ>i)=i07iMM";MIIIQ9@ @@/@9E EE#E"E:*Ek:VE3ZEBE[ Q,.*FY@AYE#ByEIbDUVDU0y%Q=ٔQ->9 ?Y ?=lGyhFE>Q 55ޙ?Q 95Cd)BYyQ ID@TDIr;i;|5yBɮ^AEgODNOT Ignoring new targets: 38.38 m.*"   ʎ   jZQF@9ɢ==)A E,K>iA)EԜ=AAiEAiMMS;URIQIQY9@ @@0@@=@=ԁ^A5C"A=ZAzA9Eu  Eu Eu &Eq "Eu s:*Eu :VEu 4ZEq a @a @a @a @ A- ؟AI1 IA OU >'Q,CFY@A\}t@}o@}0>ٱ}  AHRS rotation from veh to nav: [[0.855151,0.469436,0.219880],[-0.489142,0.871171,0.042437],[-0.171631,-0.143842,0.974604]]}Hd]?> ?%?N߿?K?`ſni¿/?i}t@I}9U"?YU"?=UlGyQ];E]>YQ 5m5]%?Q 9m5]Ni)]BYmm4?Q Em:ym0&Q ImD@]^DI]L ;i];]w5yyɮ}C_AygODNOT Ignoring new targets: 38.38 m.!!*!"! !!))-Bʎ)11j1Z5F@ɢ =) 2%>i)'=i i%%@;%I!I)B>BCBIBBB =BBqDBa;Bo%EB]CB]CBYB] =B] =C]t6e ܝA   9@  @ @ /@ A u -9q Yu SfAEu  Eu Eu %Eq "Eu :*Eu 1]:VEu 4ZEq BEu ٱBSS NAHRS rotation from veh to nav: [[0.856661,0.468668,0.215598],[-0.487503,0.872151,0.041164],[-0.168741,-0.140368,0.975614]]BHi???=3߿?t?`Qſ`;8?iBΆ@IB\];BCYVByVIbDbVDbyfԽ%j"=ٔj龻Q-j>9n ?Yn ?=nlGyniFn;Er>pQ 5v5rƬ?Q 9z5rn)ruBYxyz%Q IzD@riDIr;ir;r5yBɮ>`AEgO-DNOT Ignoring new targets: 38.38 m.))*)") )1111ʎ999j9Z=hF@mBɢm=)i m$=iq)u!]=qqiu!i}}`;}=nûIyIM9@ @@-0@^AID zD E  E E $E "E >:*E X:VE 4ZE a @a @a @a @A= ؟AIA IQ Oe >ԁ ɻQ,FY@A2@2K@2,>ٱ2h >AHRS rotation from veh to nav: [[0.857526,0.468262,0.213028],[-0.486510,0.872760,0.039969],[-0.167206,-0.137915,0.976228]]2Hp??D?`"߿ ?@v?gſ`0C=?i2@I2\];2CYFՀByFvIbDnVDnβy%F=ٔ%lwQ-%>9%"?Y%"?=%lGy)-O;E->1Q 5M55ڬ?Q 9U55gs)5]BYayeI%Q ImD@5rDI5;i5;5x5y5BɮbAEYgODNOT Ignoring new targets: 38.38 m.*" !!ʎIQQjQZU@G@颙ɢKP=) 6=i)Xs=顡iy߼i;c裻IIԁB%>B%CB%LIB%BB% =B%CDB%sDB%b;B%%E5Ա 9@  @ @ /@ @ @ E%  E% E% %E! "E% :*E% [:VE% 4ZE! BE% 2ٱ2 :AHRS rotation from veh to nav: [[0.858409,0.467656,0.210787],[-0.485622,0.873241,0.040258],[-0.165241,-0.136920,0.976703]]2Hx???o߿??@&ſ %A?i2@I2z];0YBByFWIi Mb@Mb@Mb@     9 &1?+ηMb`?Y 0?y v ; =A XA A)  Y -AbD%VD%y5q%5=ٔ5#oQ-=>99Y9==lGy=jFE;EE>IQ 5U5MZ?Q 9U5Mdy)MBBYU}2?Q E]:y]%Q I]D@M~DIM:iM:M>5ye:BɮecAmEԡgO-DNOT Ignoring new targets: 38.38 m.))*)") )1115օBʎ9YYjYZe9JG@颭BɢМ=) i)p=顱iuܼi¬;IIPExceeded connect timeout, disconnecting.9@ @!@%/@!! D %=D <E  E E &E "E :*E V:VE 4ZE a @a @a @a @^A= 3I9QIIO]>uQ,FY@AB@B@B '>ٱB7| NAHRS rotation from veh to nav: [[0.859364,0.467270,0.207731],[-0.484728,0.873757,0.039847],[-0.162887,-0.134936,0.977374]]BH ???߿ ?@f?}Ŀ@EF?iB@IBl];BCYVByV0IbD^VD^yv( %z1=ٔ~Q->9 Y=lGykF%1;E->AQ 5e5E, ?Q 95E~)E*BYy%Q ID@EDIEBBIB|BB =BBBb;B%Ey ^A I I O >EQ,gFY@A0>ֳ@>@>%>ٱ>Q JAHRS rotation from veh to nav: [[0.860519,0.466298,0.205119],[-0.483455,0.874439,0.040336],[-0.160555,-0.133876,0.977906]]>H_? ?@TA?@޿g??Ŀ"K?i>ֳ@I>7];<bE- 4jE-4rE- 1ER ERER%EP"ERO:*ERrN:VER 4ZEPBER ףp=?I +MbP?YU1?yU9U:U?AUA UA)UBAQYU/AbDmVDmk2y}M%}B=ٔQ->9Y=lGy;E>Q 55?Q 95)BYW3?Q E:yA#Q ID@DI ;i& ;5y>Bɮ|eAgOUDNOT Ignoring new targets: 38.38 m.QQ*Q"Q YYYYeBʎaaajaZm@G@Bɢc=) Ľi)Y'=iּi;J(ںIIԑ9@ @@4@@=@=Թ^A_AzA nManaging dock network, ignoring radio surface power offIq I O > AQ,FY@AB3@B@BS">ٱBM JAHRS rotation from veh to nav: [[0.861215,0.465849,0.203210],[-0.483105,0.874525,0.042617],[-0.157859,-0.134874,0.978207]]BH?x?? 0޿@?@ѥ?4ĿCyM?\iB3@IBl];BCYftByfIbDrVDr:2yz %zS=ٔ~Q-~>9Y=lGylF:E> Q 55 .?Q 95 7) BYy#Q ID@ DI f;i r; U5y!ɮ%UfA)gOMDNOT Ignoring new targets: 38.38 m.QQ*Q"Q QQYYYʎYaajaZe@G@颍Bɢ/k=) i)q=顙izԼi=;˦IIM9@I @I@M/@IE EEE"E:*E H:VEZEa@a@a@a@^ANJκII9O]>A &Q,iGY@A2@2M@2f>ٱ2u :AHRS rotation from veh to nav: [[0.862077,0.464960,0.201583],[-0.482436,0.874748,0.045506],[-0.155176,-0.136481,0.978414]]2H!? ?`v?`:޿?L?@ÿ1x*O?i2@I2l];2CBF>BFCBFIBFDBBF =BDBFtDBFb;BF%EYR_ByRI9iMb@Mb@Mb@ 9kt?bX9ȶ~jtx?Y 0?yE;^@A A  A)CAY0AbDVDy½%?=ٔлQ->9Y=lGy?;E>Q 55B?Q 95Ћ)BY1?Q E:y/#Q ID@DI:i :5yCBɮ#gAEgODNOT Ignoring new targets: 38.38 m. * "    څBʎjZC H@IɢUځ=)Y ]NEiY)e-=aaieҼiu}ժ;}IyIi9@ @@/@E EE&E"E:*E|;:VE4ZEBE PQ,D+GY@A2@2Ӻ@2S>ٱ2" :AHRS rotation from veh to nav: [[0.862411,0.464948,0.200177],[-0.482827,0.874324,0.049355],[-0.152072,-0.139215,0.978516]]2Hޘ? ?e?޿v?E?`wÿ`P?i2@I2];2CYBOByBIbDJVDJ0yR%V]=ٔV Q-V>9TYX=ZlGyZmFZ*EZ>\Q 5b5^S?Q 9f5^Ώ)^BYdyf3#Q IfD@^DI^:i^:^L 5yjHBɮjgAnEgODNOT Ignoring new targets: 38.38 m.*"    ʎ jZ OH@E€BɢEuu=)A ETfiA)E?=IIiMϼiMUz;U@IQIQԙI)@ @@/@@[A@^A9I9IIOU>E  E E (E "E :*E V:VE c44ZE a @a @a @a @ 8Q,EGY@A6SƱ@6@6W>ٱ6ZJ BAHRS rotation from veh to nav: [[0.863139,0.463918,0.199428],[-0.482368,0.874311,0.053865],[-0.149373,-0.142690,0.978431]]6H՞? ԰?؆?޿@[?(?ÿC¿NO?i6SƱ@I6T];6CYJ7ByJIIN<)N=bDXVDXyju%nG=ٔnٻQ-n>9pYp=rlGypv8:Ev>xQ 5z5zg?Q 9~5z9)zBY|y~"Q I~D@zDIz;iz;z 5y |Bɮ (jA EgOmDNOT Ignoring new targets: 38.38 m.qq*q"y yʎ9AjAZM{H@EÀBɢEn=)A EیiA)MS=IIiMͼiuu?;uәIqIy9@ @@/@!AAAAB>BBIBBBBBBjb;B%EY^AA9 II IY Oe >y cQ,]^GY@A2Pȱ@2ø@2>ٱ2 :AHRS rotation from veh to nav: [[0.863639,0.463634,0.197918],[-0.482372,0.874092,0.057276],[-0.146444,-0.144936,0.978544]]2H@?/? cU?.޿?CS? ¿B¿;P?i2Pȱ@I2j];2CEB E@EB%E@"EB[:*E@VEB 4ZE@BEB~9Y=lGynF:E>Q 55{?Q 95٘)BY1?Q E:ytQ ID@DI;iu:5y Bɮ  kA EQgODNOT Ignoring new targets: 38.38 m.*" BʎjZ@4H@ĀBɢLY=) Ui)2=iʼi%%м;%e8I!I)9@ @@0@ԁԱ^A- 9A] .AIi I O > Q,xGY@A2fͱ@2*ȸ@2 >ٱ2 :AHRS rotation from veh to nav: [[0.864295,0.463063,0.196382],[-0.482035,0.874063,0.060465],[-0.143651,-0.146923,0.978661]]2HN? Ԣ? #?޿ S?@D?)c¿\¿1Q?i2fͱ@I2v];2CYB ByBzIbDJVDJyR%V`=ٔVQ-V>9Z ?YZ ?=ZlGyXZF:EZ>`Q 5b5b匭?Q 9f5b)bBYdyfEQ IfD@bǮDIb:ibp:b5yhɮnkAlgO}DNOT Ignoring new targets: 38.38 m.y*" ʎjZH@颽ŀBɢrF=) 꼾i)=iJȼi+w;R{):IIp>i>Թm9@q @q@u4@q@}=@}=E EE(E"E:*EL_:VEc44ZEa@a@a@a@^AY A ؟AI I O >ia Ie A9 uQ,ձGY@AB>BCBLIBBB =BBuDBb;B&EBuCBuCBqBu =Bu =Cu5Fnӱ@F2θ@F>ٱF NAHRS rotation from veh to nav: [[0.864980,0.462711,0.194186],[-0.481582,0.874198,0.062095],[-0.141026,-0.147227,0.978997]]FH`?@??>޿n?ʯ? ¿ X¿`S?iFnӱ@IFf];DYVByVgI XX^=^=i5Mb@Mb@Mb@1111 195d;O?~jtMbp?Y54?y55;5vDA5#A 59"A)5GEA1Y54AbDMVDMNyE%E3=ٔERQ-M>9U"?Yu"?=ulGyuoF}:E}>Q 55b?Q 95)BY5?Q E:y,Q ID@ѮDIi:i:5yBɮflAEgO5DNOT Ignoring new targets: 38.38 m.11*1"1 1199=߅Bʎ9AAjAZE@'I@uǀBɢuKH=)q u;iy)}*=yyi}żi);:II؀G!9mƆ9iYmiA@ @@4@9E EE$E"E:*EVE4ZEBEQ,㋬GY@A YByPIbD5VD50yEfȽ%E\=ٔEQ-E>9IYI=MlGyIUEU>aQ 5m5e%?Q 9m5e)eBYqyqQ IuD@eٮDIe;ie;e!5yBɮ$mAEgOmDNOT Ignoring new targets: 38.38 m.ii*i"i iʎjZYI@ȀBɢ1=)@a<: i)1=i^üi;h:IIim9@i @i@m/@iԙ^A;E  E E E "E :*E [:VE ZE a @a @a @a @ A .AI) I9 Ou >Q,fGY@A2U۱@2ָ@2ت >ٱ2K :AHRS rotation from veh to nav: [[0.866062,0.462256,0.190410],[-0.481091,0.874187,0.065943],[-0.135971,-0.148716,0.979487]]2HǶ??@\_?1޿ W??g ÿW?i2U۱@I2^;2CXY^By^1IbDfVDfynt%rQ=ٔrUQ-r>9r ?Yv ?=vlGyvpFv!;Ev>xQ 5 5zȭ?Q 95z)zwBY!y%Q I%D@zDIz:;iz;z5y)ɮ-mA1gO]DNOT Ignoring new targets: 38.38 m.YY*Y"Y aaaaaʎiiijiZuhI@ ɀBɢD=) i)hq=ii 2;%~;I!I1%9@! @)@-/@)@=\A@=\AB%<A%<B->B)B-IB-vBB- =B)B)B-c;B-|&E^Am ?B:A A I I O >۰Q,AGY@A@E2 E2E2'E0"E2>:*E2VL:VE2'4ZE0BE29Y=lGyE> Q 55 ܭ?Q 95 ~) fBY1?Q E:y$Q ID@ DI  ;i X ; `#5y%Bɮ%nA!gOMDNOT Ignoring new targets: 38.38 m.II*I"I IQYY]BʎYaajaZe@$I@颍ˀBɢk=) i)=i]齼i%y;%f:I!I!Q9@ @@/@y^AjZ:ԩ A I I) OE >Q,GY@AY~`By~ IbDVD0y%%%X=ٔ!Q-%>9)Y)=-lGy-qF)E5>1Q 5=551?Q 9E55)5XBYAyAQ IED@5DI5U;i5;5&5yMĝBɮUpAU˧EygODNOT Ignoring new targets: 38.38 m.*" ʎjZI@̀Bɢ%d =)! %hi!)%e=))i-Li-5F;1I1I9DizDiE} E}E})Ey"E}a:*E}:VE}FA4ZEya@a@a@a@ԡ]9@ @@@ ^A ?B:B% ǿ>B% CB% IB% BB% =B! B% vDB% e;B% $'EA9 zA9 1I9IIO]>R,5HY@A2Yӱ@2θ@25>ٱ2  :AHRS rotation from veh to nav: [[0.866484,0.463714,0.184865],[-0.482431,0.873026,0.071321],[-0.128320,-0.150983,0.980173]]2H9Y=lGyE>Q 55?Q 95)FBYt4?Q E:y"Q ID@DI;ip;*5yɝBɮqA̧EgO%DNOT Ignoring new targets: 38.38 m.!!*!") ))))5Bʎ111j1Z=Q.J@e΀BɢeZ =)i moii)mr=iiimSiuu;u:IqIyY9bE!4jE4rEij0E EE(E"E:*E1]:VEc44ZEBE R,1HY@ABӱ@Bθ@Bl=>ٱBT JAHRS rotation from veh to nav: [[0.866790,0.463654,0.183578],[-0.482525,0.872745,0.074065],[-0.125876,-0.152780,0.980211]]BH??@{?޿??Kÿ`]?iBӱ@IB8];@PYV ByVIZ=Z=bDbVDbyjJ%j]=ٔjڻQ-n>9lYl=nlGyrrFr<9Er>tQ 5z5v+?Q 9z5v )v8BYxyz"Q I~D@vDIv:iv:v4.5yϝBɮ OrAgOUDNOT Ignoring new targets: 38.38 m.QQ*Y"Y YYYaaʎaaijiZm\^J@颕ЀBɢ<) %i)t=顡iڵi;v:IIYYaa@ @@/@D=DE EE&E"E :*EAr:VE4ZEa@a@a@a@! ^A ;Iy I O >J R,LHY@ADY~ByIiMb@Mb@Mb@ 9d;O?EԸY4?yƽJA'A (A)HAY8AbDVDy7<%'=ٔQ->9Y=lGyE>Q 5 5.?Q 95)%BYo6?Q E:y$Q ID@DIC ;i ;z25yɮ%rA!gOEDNOT Ignoring new targets: 38.38 m.II*I"IAQAU@AB]ȿ>BYB]IB]~BB] =BYBYB]e;B]'E IqqquBʎyyyjyZ}؜J@ԩ颥ҀBɢ@<) w,i)R=顱i՗i_;t]:II9@ @@_0@ EE  EE EE "EA "EE l;*EE e:VEE (3ZEA BEE YFA >I! I9 OE >'R,ogfHY@A|Y ~By IbD%VD%y-]%5n=ٔ1Q-5?91Y9=ElGyEsFAEE?IQ 5U5M>?Q 9U5MY)MBYQyYQ I]D@MDIMr;iM;Mz55yeԝBɮetAeͧEgODNOT Ignoring new targets: 38.38 m.*" ʎjZ@DJ@ԀBɢHm;<) 7@i)=iFi;-;IIu9@q @q@u/@q1a^A ;IAIQOe>ԁ  R,CHY@AJױ@JҸ@J=ٱJV RAHRS rotation from veh to nav: [[0.868351,0.464786,0.173033],[-0.482832,0.871974,0.080834],[-0.113310,-0.153738,0.981593]]JH`? ?%?޿@6??஭ÿ`6i?iJױ@IJ];HYZ~ByZIIb<)bp;bDjVDjyr!%rO=ٔrQ-r>9tYt=vlGytzӤ:Ez>E EE&E"E[:*EX:VE4ZEa @a @a@a@xQ 55zQ?Q 95z)z BYy$Q ID@z#DIz;iz2;z85y-ڝBɮ-utA-ΧEԙgODNOT Ignoring new targets: 38.38 m.*" ʎjZ;J@eրBɢe֒<)a e9Eia)e=iiimiuu;u:IqIy 9@  @ @ @ ^AM] ;IIO>Bu Ϳ>Bu CBu xIBu n~BBq Bq Bu wDBu f;Bu (E! :&R,HY@AJPֱ@JѸ@J-y=ٱJQx VAHRS rotation from veh to nav: [[0.868592,0.465527,0.169800],[-0.483193,0.871673,0.081925],[-0.109872,-0.153206,0.982067]]JH`?/??@޿?? @>ÿ`m?iJPֱ@IJ];JCY^z~By^IiMMb@Mb@Mb@IIII I9MQ?EԸ~jtx?YM5?yIM;MANAM'A Mb*A)IIYM=:AbDeVDekyuC%uA=ٔu.Q-u>9yYy=}lGy}tFE>Q 55(f?Q 95)BYt7?Q E:y$Q ID@-DI` ;i ;<5yɮtAgOmDNOT Ignoring new targets: 38.38 m.ii*i"i iqBʎjZ3K@ ؀BɢA<) Mi)kY=ii%%દ;%s:I!I!QE EE(E"E:*ET:VEc44ZEBE2#d,R,HY@ANұ@N̸@N3=ٱN VAHRS rotation from veh to nav: [[0.868629,0.466813,0.166043],[-0.483810,0.871406,0.081112],[-0.106827,-0.150790,0.982777]]NH@?B?@? ޿?ô?X@Mÿr?iNұ@IN̰];NCYjT~ByjhIbDVD0y9%P=ٔ%EQ-%>9-"?Y-"?=5lGy1=dEE>QQ 5]5UKy?Q 9]5U)UBYaye9$Q IeD@U6DIUC;iUjW;U@5yuBɮuKwA}اEgODNOT Ignoring new targets: 38.38 m.*" ʎjZFdK@ڀBɢlS<) Xi ) =  i fiQij;_:II-9@) @)@-/@)ԁE EE'E"E:*E1]:VE'4ZEa%@a-@a-@a-@^AM"ԱA .AI I O > P3R,dHY@Afѱ@+̸@:k=ٱ AHRS rotation from veh to nav: [[0.868852,0.467311,0.163451],[-0.484020,0.871195,0.082124],[-0.104020,-0.150467,0.983127]]H?l?@?@/޿?`? Bÿu?ifѱ@I];CY*~ByNI ieMb@Mb@Mb@aaaa a9ex?J +~jtx?YeK7?yeȽaepMAe(A e,A)eGAaYe:AAAAAB ѿ>B CB FIB ~BB  =B B B g;B (EBCBCBB =B =Ci!6bD-VD-k2y=䲽%=,=ٔE»Q-E>9M ?YM ?=MlGyMuFM%EM>QQ 5]5U:?Q 9]5UO)UBYe9?Q Ee:yeM$Q IeD@UADIU" ;iU7 ;U1D5ymBɮu$xAu٧EgODNOT Ignoring new targets: 38.38 m.*" ҅BʎjZ`pK@颽݀BɢhF<) di)E=i5i;II n> C}G9@ @@@O9YdAA E=  E= E= #E9 "E= :*E= [:VE= 3ZE9 BE= wq9R,HY@A>α@>ɸ@> =ٱ> JAHRS rotation from veh to nav: [[0.868942,0.467241,0.163176],[-0.484434,0.870474,0.087170],[-0.101310,-0.154794,0.982739]]>H^?`F?`?`߿ ?P?zﹿHÿ r?i>α@I>j];>CYR~ByRGIbD^VD^1yf%fh=ٔfQ-j>9hYh=jlGylntnEn>pQ 5v5rW?Q 9v5rM)rBYtyvX$Q IzD@rIDIr;ir<;rCG5y|ɮ~PxA|gO%DNOT Ignoring new targets: 38.38 m.!!*!") )))11ʎ119j9Z= K@e߀Bɢe )i mgii)m=iqiuiiu}O֥;} :IyIyi 9@  @ @4@@@[Aԑ^A-"A5?A5?AY Ii Iy O > @R,RIY@AE EE7E"E:*ErN:VEԺ4ZEa@a@a@a@Fm˱@F2Ƹ@FW =ٱF֊" NAHRS rotation from veh to nav: [[0.868990,0.467575,0.161957],[-0.484927,0.869845,0.090635],[-0.098498,-0.157298,0.982627]]FH ???` ߿?3?/7@Z"Ŀq?iFm˱@IF];FCYV}ByZ+IbDVD3y-۽%-E=ٔ-[߻Q-->91Y1=5lGy5vF5iE=>AQ 5M5E?Q 9M5E)EBYIyMl$Q IMD@ESDIE:iE9:EJ5yUBɮ]6yA]ڧEgODNOT Ignoring new targets: 38.38 m.*" ʎjZL@Bɢ@ :) Vti)o=i5Ơiق;kP9II19@ @@4@ i I AB=ֿ>B9B=IB=}BB= =B9B=xDB=h;B= )E^AΒ:1 A ؟AI I OM >Y FR,9IY@A2α@2Wɸ@2=ٱ2% >AHRS rotation from veh to nav: [[0.869400,0.467083,0.161175],[-0.484718,0.869520,0.094782],[-0.095873,-0.160528,0.982364]]2H??^?߿?C?',Ŀo?i2α@I2];2CYF}ByFIIJ=)HLNAieMb@Mb@Mb@aaaa a9e7A`?ʡEI +?Ye6?ye-e949"?Y"?=lGy'q:E>Q 55ɮ?Q 95)BY7?Q E:yK Q ID@\DI:i?;N5yɮyAPB*** querying acoustic contact *** gODNOT Ignoring new targets: 38.38 m.*" ݅BʎjZq7L@-Bɢ-)1 5{i1)5=11i5Hi==3;ET6:IAIAE1 E5E5$E1"E1*E5V:VE54ZE1BE5 *DAT read: user:585> % BDAT read: Tx time:00:51:48.5717 - $Ping request sent.5 9Y=lGywFR:E->1Q 5=55ޮ?Q 9=55L)5BYAyE. Q IED@5fDI5:i5|:5:R5yM%BɮMfzAQgOuDNOT Ignoring new targets: 38.38 m.yy*y"y yyyʎjZumL@颵Bɢ ) i)=项iMii;2\:IIԩ9@ @@@EE EAEE!EA"EE:*EAVEEc3ZEAaM@aM@aM@aM@]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246294^A}U;AZAzA A .AI) IA OM > TR,PIY@Ap]ر@]kӸ@]k=ٱ]& mAHRS rotation from veh to nav: [[0.870468,0.466660,0.156567],[-0.483911,0.869534,0.098692],[-0.090085,-0.161673,0.982724]]]H??d ?f޿`9?C?റĿyr?i]ر@I]];Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.498150B׿>BBIB}BB =BBB}i;Be)EYt}ByI i%Mb@Mb@Mb@!!!! !9%V-?MbX9y&1?Y%h1?y%ʡ%`e<%|QA%/+A %0A)%KA!Y%>AbD=VD=1yM?%M=ٔUEQ-U>9U ?YU ?=]lGy]xF]k:E]>aQ 5m5e?Q 9m5e)eBYu2?Q Eu:yuQ IuD@eqDIe:ie:eV5y}+Bɮ{AۧEgO%DNOT Ignoring new targets: 38.38 m.!!*)") )))15BʎqqqjyZ}@L@Bɢ) i)=i+i;:IIQm9@i @i@i@ibEȞ4jE$4rE1EM  EM EM (EI "EM :*EM X:VEM c44ZEI BEM 3[R,spIY@Aj@jF@jò=ٱj)& AHRS rotation from veh to nav: [[0.871512,0.465723,0.153522],[-0.482564,0.870172,0.099663],[-0.087175,-0.160942,0.983106]]jHl?i??R޿`s?@?Q@Ŀu?ij@Ij];jC )#̐C`AiII!i! 99)99 AEtIMIIIM@)QiQ)U@CIU`AUtQ QYYYiYYYYYmw}BymIԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.001969bD}VD}y]<%]N=ٔe6Q-e>9iYi=mlGyqu;Eu>Q 55i ?Q 95)BYyRQ ID@zDI6ȖbR,ۊIY@AYmO}BymIbD}VD}Jyӽ%T=ٔQ->9"?Y"?=lGyyFE>Q 55?Q 95)BYyQ ID@DI;i;]5yeBɮ}AgOMDNOT Ignoring new targets: 38.38 m.II*I"I IQQQQʎYYYjYZ]=M@颥BɢA) i)0=顱iuiBT;Z8;;II9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508996!Bؿ>BCBIB[}BB =BBBj;B)EA^Ayb];A .AI I O >q hR,$IY@AE EE#E"E:*E]t:VE3ZEBE)}>iMb@Mb@Mb@ 9kt?x&y&1?Y 0?y7QRA3+A 2A)HAYbDVDNy%L%%B=ٔ%xQ-%>9- ?Y- ?=-lGy)5|;E5>9Q 5E5=0?Q 9E5=>)=BYE0?Q EE:yEQ IMD@=DI=Q:i=:=/a5QyUkBɮ]C~A]EgODNOT Ignoring new targets: 38.38 m.*"    ̅Bʎ111j1Z5`IKM@颅Bɢ) ٓi)|=顉i%-i/Q;;u;IIe9@a @a@e0@aԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011380Ա^A 2; I I O% >nR,wIY@A2@2@2U9=ٱ2CS :AHRS rotation from veh to nav: [[0.874108,0.464572,0.141801],[-0.479481,0.871954,0.098964],[-0.077668,-0.154496,0.984936]]2H ??&?`ү޿ ?U? ⳿ÿ@?i2@I2y];2CYB'}ByFIbDNVDN1yV벽%Vf=ٔVQ-Z>9XYX=ZlGyZzF^+;E^>`Q 5f5bB?Q 9f5b)bBYdyj3Q IjD@bDIb:ib:bKd5ylɮn~AlgODNOT Ignoring new targets: 38.38 m.* "    ʎjZ`vM@Bɢ) ri)2x=iIҍi_;{l;IIԱE= E=E=$E9"E=:*E=c:VE=4ZE9aM@aM@aM@aM@]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2628239@ @@4@^Aϩ;! I I OE > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515042B <A <B ڿ>B B IB }BB =B B B j;B )E9 uR,IY@A2@2 @2F=ٱ2z :AHRS rotation from veh to nav: [[0.874952,0.463897,0.138773],[-0.478401,0.872451,0.099808],[-0.074772,-0.153717,0.985282]]2H`?|?N?޿?@ ?<$ ÿm?i2@I2Q];2CYf}ByfIiUMb@Mb@Mb@QQQQ Q9Uv/? rh~jt?YUx)?yUCUD9Y=lGyqI;E>Q 55oV?Q 957)BYd*?Q E:yHQ ID@DIi ;i ;&h5yrBɮGAEgODNOT Ignoring new targets: 38.38 m.*" BʎjZM@-Bɢ-ޚ)) -֛i1)5ect=11i5i==D;=,c;IAIA9@ @@4@@=@E EE(E"E:*EX:VEc44ZEBE2) {R,.IY@A :@:@:=ٱ: u BAHRS rotation from veh to nav: [[0.875780,0.463339,0.135377],[-0.477380,0.872914,0.100645],[-0.071540,-0.152769,0.985669]]:Hc?X? T?@f޿?ù?oP@ÿ?i:@I:];:CY^|BybI ddbDjVDjk1yv %vZ=ٔv Q-v>9xYx=zlGyz{F~b;E~>Q 5 5g?Q 9 5)BY y Q I E@DI:i:lk5yɮ AgOEDNOT Ignoring new targets: 38.38 m.AA*A"A IIIIQʎQYajaZmM@BDAT read: Rx Time:00:51:51.1255 TRx dataTimestamp_ set to:1761699111.842111checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020738Bɢ~) 9i)jp=i|niuu);}ޖDI zDM @AEU  EU EU #EQ "EU :*EU c:VEU 3ZEQ a] @a] @a] @a] @u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270157 ނR,[ JY@A29@2@2 =ٱ2 :AHRS rotation from veh to nav: [[0.876123,0.463462,0.132707],[-0.477221,0.872787,0.102487],[-0.068326,-0.153122,0.985842]]2H3 ?@^??ˊ޿?@9\Y\=^lGy\^SI:Eb>`Q 5f5b-z?Q 9j5b )bBYhyjQ IjE@bDIb:ib-:bn5yxBɮ%>A%EgOeDNOT Ignoring new targets: 38.38 m.ii*i"i iiiqqʎqqjZ@jN@UBɢm4@)q i)"l=ii 5<;5H~ BiBm~IBm|BBm =BiBiBm>k;BmH*EB5CB5CB5œCB5 =B5 =C5!-59@ @@@DAT read: 00:51:51.1255 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 408,-0.24,-1.975,-1.445,-1.945,-2.856, PHS= 0.983, 1.456, 0.867, RAW= 340.8, -65.2, CAL= 341.7, -66.7, ROT= 168.3, 66.7 Ygot valid direction response: 00:51:51.1255 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 408,-0.24,-1.975,-1.445,-1.945,-2.856, PHS= 0.983, 1.456, 0.867, RAW= 340.8, -65.2, CAL= 341.7, -66.7, ROT= 168.3, 66.7 8DAT read: $Error in header %*Received a bad header}X#Rx 1: Read direction message, but no range.`direction in FSK: [-0.387327,0.080212,-0.918446]ylXؿ? OLc )HI{?i5^?]?V@_׾@ \)/;@I\?~[Կ99ѿt •)?I/;@i\?EGE9AYEA^A Β;I I ! O- >6R,%JY@AE EE&E"E:*EVE4ZEBE>9Y=lGy|Fxa:E>Q 55A?Q 95W)BY%/?Q E%:y%oQ I%E@DIe:iH:r5y-Bɮ-^A5EgOuDNOT Ignoring new targets: 38.38 m.y*" BʎjZ wKN@Bɢ ) mi)Mg=i낼i%%b5;%ϯA>ԁ A ؟AI I O% >2R,?JY@A:@#@:@:j=ٱ:K! FAHRS rotation from veh to nav: [[0.876684,0.463274,0.129625],[-0.476968,0.872164,0.108773],[-0.062662,-0.157187,0.985579]]:H ?G??`޿@?ػ? Ŀ܉?i:@#@I:{];:CYN|ByNUIIR=)Rp;bDZVDZܲybi]%b^=ٔbCQ-b>9f"?Yf"?=flGydft9Ej>hQ 5r5jŠ?Q 9r5j)jBYpyraQ IrE@jDIj;ij;ju5yzBɮzAzEgODNOT Ignoring new targets: 38.38 m.*" !!!!!ʎ)))j)Z5 yN@Y]Bɢe;)e5< eia)eRc=iiimcimul;u Bm ݿ>Bi Bm XIBm |BBi Bi Bi Bm k;Bm *ER,_YJY@A2$@2z@2Ut=ٱ2## :AHRS rotation from veh to nav: [[0.876928,0.463379,0.127587],[-0.476898,0.871896,0.111199],[-0.059715,-0.158359,0.985574]]2H`??T?@޿?w?@EĿ҉?i2$@I2Y];0Yrk|Byv;IimMb@Mb@Mb@iiii i9mm?kt{Gz?Ym.?ym m#9Y=lGy}F9E>ԹQ 55?Q 95)BY/?Q E:yQ IE@ɯDI0;i90;y5yBɮAEgODNOT Ignoring new targets: 38.38 m.*" Bʎ j Z @\N@颵 Bɢy') 봿i)Q^=项i{i;[A DR,usJY@A2!@2@2Ưh=ٱ2C& :AHRS rotation from veh to nav: [[0.876918,0.463697,0.126493],[-0.477275,0.871170,0.115202],[-0.056778,-0.161394,0.985255]]2H@?4? 0?޿?@}?Ŀ@6?i2!@I2];0YFc|ByF6IbDRVDR:2yf%fX=ٔjQ-n>9pYp=vlGytvgEv>9Q 5M5=zǯ?Q 9U5=)=}BYQyUQ IUE@=ѯDI=G;i=;=#}5yɮ AgODNOT Ignoring new targets: 38.38 m.*" ʎ   j Z $N@额 Bɢ;) ᶿi)Y=顡iÔui_;.:*Eu [:VEu '4ZEq a} @a} @a} @a} @A .AI I O% >ԙ =,R,NJY@A2 @2b@2`]=ٱ2*>' :AHRS rotation from veh to nav: [[0.876971,0.464103,0.124620],[-0.477490,0.870774,0.117285],[-0.054084,-0.162360,0.985248]]2H`%?޳??2޿a?]? ְ@6Ŀ'?i2 @I2];0YB?|ByF I HHbDVVDVybs%fK=ٔfۻQ-f>9f ?Yj ?=jlGyj~Fj}ֹEj>lQ 5r5nٯ?Q 9v5n )nzBYtyvQ IvE@nگDInB:in:n5yzBɮzA|gO%DNOT Ignoring new targets: 38.38 m.!!*!"! !!)))ʎ)11j1Z5?O@-Bɢ-`)) -&i1)5rU=11i55Gpi==,;=U\ B-CB-3IB-]|BB- =B-BDB-yDB-'l;B-*Eԩq59@1 @1@53@1^A X< bE4jEr 4rE˝/E  E E &E "E [:*E L_:VE 4ZE BE ER,JY@AB2@B@B}R=ٱB) VAHRS rotation from veh to nav: [[0.876781,0.464752,0.123535],[-0.478139,0.869949,0.120714],[-0.051367,-0.164906,0.984971]]BH?~?@?ә޿? ?@Lſ@?iB2@IB^;@Y^*|BybIxiMMb@Mb@Mb@IIII I9Mi|?5?~jt?YM1?yM̽MD9Y=lGy鮺E>Q 55z?Q 95G&)yBY3?Q E:y4#Q IE@DI;iv:5yǞBɮǂA-EgODNOT Ignoring new targets: 38.38 m.*" BʎjZ WO@EBɢe9 ()a e ii)mN=iiimiiuu)l;uR,̲JY@A2@2@2tH=ٱ2<+ :AHRS rotation from veh to nav: [[0.876702,0.465310,0.121985],[-0.478540,0.869437,0.122796],[-0.048920,-0.166030,0.984906]]2H` ??e:? f޿m?o?  {@ſZ?i2@I2 ^;0YB"|ByBIbDjVDjyrdz%r[=ٔvֻQ-v>9tYt=zlGyzFz҈E~>|Q 55~=?Q 95~c*)~xBY y J#Q I E@~DI~:i~K:~(5yɮׂAgOEDNOT Ignoring new targets: 38.38 m.AA*A"A AAAIIʎIQQjQZUO@Eu EuEu'Eq"Eu>:*Eu n:VEu'4ZEqa@a@a@a@ԁ额Bɢ^) i)OIJ=顡iddi; ;IIԡ9@ @@/@@\A@[ABY BY B] IB] |BBY BY BY B] cl;B] *E^A 0; A ?A >Iy I O >CR,:xJY@A2@2n@2_;=ٱ2+ >AHRS rotation from veh to nav: [[0.876813,0.465730,0.119556],[-0.478647,0.869089,0.124820],[-0.045772,-0.166669,0.984950]]2H??7?(޿?9? so kUſ?i2@I2];2CYF{ByFIIJ<)J9yYy=}lGyyx̸E>Q 55?Q 95/)yBY[2?Q E:y(Q IE@DIT ;i ;Ջ5y͞BɮFAEgODNOT Ignoring new targets: 38.38 m.*" BʎjZO@Bɢ q) #ȿi)D=i^i%%;%(;I)I)9@ @@/@E EE$E"Em:*EL_:VE4ZEBEU1a mR,CSJY@AiI6@6@69+=ٱ6* BAHRS rotation from veh to nav: [[0.876926,0.466425,0.115968],[-0.478789,0.868837,0.126031],[-0.041973,-0.166044,0.985225]]6H??`?y޿?`!?@}@ſ?i6@I6^;4YJ{ByJIbDRVDRyZ%ZW=ٔ^$Q-^>9\Y\=blGybFbAEb>dQ 5j5fr(?Q 9j5fW3)f{BYlyn!(Q InE@fDIf;if;f&5yrBɮr.AvEgO DNOT Ignoring new targets: 38.38 m. *" ʎ!j!Z%O@M BɢM&4)Q UʿiQ)U@=QQi]Yi;\;II1m9@i @q@u0@qa^A5<DzDE EE'E"E:*E:VE'4ZEa@a@a@a@IIO>ԉԹ UR,'.KY@A6@6[@62=ٱ6* BAHRS rotation from veh to nav: [[0.877141,0.466791,0.112825],[-0.478698,0.868635,0.127754],[-0.038369,-0.166067,0.985368]]6H ???޿??Z?``Aſ!?i6@I6 ^;6CYJ{ByJIbDRVDRNyZl%ZJ=ٔ^IQ-^>9\Y`=blGy`b9Eb>dQ 5j5f;;?Q 9j5f7)f~BYlyn(Q InE@fDIfQ;if;f5yrBɮrzAvEgO DNOT Ignoring new targets: 38.38 m. *" !!ʎ!))j1Z5P@颅$BɢS@) οi):=顙iHSi ;E  E E %E "E >:*E ga:VE 4ZE BE 9Y=lGyFrE>Q 55O?Q 95<)BY~5?Q E:y@*Q IE@DI-J;iI;5yɮAgOEDNOT Ignoring new targets: 38.38 m.AA*A"A IIIQUąBʎYYYjaZeW+P@颥)Bɢ9̃) ?пi)ķ4=顩)i-HNi55%G;=Ī;I9I99@ @@4@^A 0;I A9 IA IY Oe >gR,EKY@A2@2 @2ߩ<ٱ2;+ >AHRS rotation from veh to nav: [[0.876999,0.468717,0.105724],[-0.479572,0.867484,0.132221],[-0.029740,-0.166660,0.985566]]2H@_?w?`?M޿m??tUſ?i2@I2^;0YF{ByFIbDR VDRf2yV^%Z]=ٔZ-CQ-Z>9\Y\=^lGy\bƘEb>dQ 5f5f*a?Q 9j5f&A)fBYhyj^*Q IjE@fDIf:if:f5yrBɮrArEgO DNOT Ignoring new targets: 38.38 m.  * "   ʎjZBP@M-BɢM2)I M@ҿiI)U/=QQiU.ID]=D]4=Ee EeEaEa"Ee:*EeL_:VEaZEaam@am@am@am@iuud;u;IqIQ9@ @@/@y^AUg;A A AAB! B! B% IB% {BB! B! B! B% l;B% *EBCBC BB = ! - CB =Cȯ4Aa ؀G I I ƅ9 Y ]gAO >YR,_KY@A2@2 @2s<ٱ2Hi) :AHRS rotation from veh to nav: [[0.877045,0.469639,0.101153],[-0.479728,0.867373,0.132384],[-0.025565,-0.164633,0.986024]]2H@?`?@/?ݳ޿?`?-@ſ@?i2@I2^;2C\Yb{BybIiMMb@Mb@Mb@IIII I9MV-?X9vy&1?YMh1?yMM`9yYy=}lGy}FE>Q 55u?Q 95F)BY^4?Q E:y#+Q IE@$DI ;ie ;{5yBɮAEgODNOT Ignoring new targets: 38.38 m.*" BʎjZ]P@ 1Bɢ ,o)  ֿi)a)=iCiT;;IIEm EmEm)Ei"Em:*Emk:VEmFA4ZEiBEm+A A9 IA IQ Oe >ܻR,yKY@A6@6 @6jڲ<ٱ6!Q' >AHRS rotation from veh to nav: [[0.877188,0.470258,0.096942],[-0.479650,0.867415,0.132391],[-0.021831,-0.162631,0.986445]]6H@?`?4Ѹ?޿?4?Z Ŀ ?i6@I6&^;4YF{ByFIbDRVDRkyV_%ZX=ٔZ_!Q-Z>9\Y\=^lGy\b9Eb>`Q 5f5bņ?Q 9j5bkJ)bBYhyj%+Q IjE@b-DIb:ibW:bˠ5yYɮ]AagODNOT Ignoring new targets: 38.38 m.*" ʎjZGwP@6Bɢ㠽) ׿i)ى$=i>i;z;II9@ @@/@IE} E}E}&Ey"E}m:*E}M:VE}4ZEya@a@a@a@ԉ^A0;A! I) I9 OM >ԡ R,uKY@A2N@2 @2)_<ٱ2ao' FAHRS rotation from veh to nav: [[0.877104,0.471090,0.093608],[-0.479968,0.866939,0.134338],[-0.017867,-0.162757,0.986504]]2H<?X&??˷޿?`1?`K`:Ŀq?i2N@I2^;0YZ{ByZIbDjVDj02yvի;%vF=ٔzQ-~>9|Y=lGyF JE >Q 5%5?Q 9-5.O)BY1y5<+Q I5E@6DIE;iF;j5yyBɮAgODNOT Ignoring new targets: 38.38 m.*" ʎjZ@P@u:Bɢu)y }ؿiy)}\=yyiL9i]˧;^;BBBIB{BB =BBxDBk;B*EIIԩ9@ @@/@^AP;E  E E $E "E :*E c:VE 4ZE BE R,QKY@A2 @2@2ظd<ٱ2% :AHRS rotation from veh to nav: [[0.877008,0.472082,0.089414],[-0.480272,0.866732,0.134591],[-0.013960,-0.160980,0.986859]]2Ht?6??`Ǽ޿`D?E:? ޖĿ Y?i2 @I2JB^;2CYB{ByFIiMb@Mb@Mb@ 9tV?|?5^y&1?Y2?yҽXA0A =A)GAYCAbDVDܲy꡼%;=ٔQ->9"?Y"?=lGy;E >Q 55׮?Q 9%5T)BY%4?Q E%:y%#Q I%E@@DI:i:95y5QBɮ5A5 EgO]DNOT Ignoring new targets: 38.38 m.YY*Y"Y aaaaaʎiiijiZuඬP@额?Bɢ3줽) ڿi)D=顡i/4ia;Z;II9@ @@50@!EY YR,.KY@A6@6J @6҇%<ٱ6 % BAHRS rotation from veh to nav: [[0.877212,0.472377,0.085786],[-0.479997,0.866664,0.136003],[-0.010103,-0.160481,0.986987]]6H?l;?`?E޿?`h? 㰄Ŀ`f?i6@I6&^;6CYJ{ByJIbDRVDRyZ j%Z`=ٔ^-Q-^>9`Y`=blGybFbt:Ef>dQ 5j5f%?Q 9n5fX)fBYlyr#Q IrE@fHDIf;if#;fd5yvYBɮvAv EgODNOT Ignoring new targets: 38.38 m.*" !!ʎ!!!j)Z-@P@EE EEEE%EA"EEm:*EEX:VEE 4ZEAaM@aM@aM@aM@mCBɢmZ*)i m-ܿiq)uo=qqiue/i}};};IyI19@ @@4@a^A50;B>BBIB{BB =BByDB+l;B*E Ai I) IQ O  R,_KY@A28@2 @2;ٱ2d# :AHRS rotation from veh to nav: [[0.877224,0.473131,0.081392],[-0.480046,0.866520,0.136748],[-0.005828,-0.159031,0.987256]]2H`8?G?ִ?@޿@?`?w[Ŀ?i28@I2'^;0YB{ByFIiEMb@Mb@Mb@AAAA A9EQ?:vX9v?YE\/?yEԽE9qYq=ulGyy}PE}>Q 55԰?Q 95\)BY1?Q E:yt$Q IE@RDI:i:5y`Bɮ.AgODNOT Ignoring new targets: 38.38 m.*" ŅBʎjZ>P@ HBɢ |)   ݿi) =i#x*i #;;I!I!9@ @@3@@@@@bE-4jE 4rE/EU EUEU&EQ"EU :*EUT:VEU4ZEQBEUM" R,LKY@A60@6 @6ѝ:ٱ6"# >AHRS rotation from veh to nav: [[0.877295,0.473645,0.077551],[-0.479949,0.866310,0.138402],[-0.001630,-0.158639,0.987335]]6H@?4P?]ڳ?}޿`и?$?`ZKNĿ @?i60@I6d6^;6CYF{ByFIbDVVDVyZFL%^W=ٔ^4Q-^>9`Y`=blGybFf9Ef>hQ 5j5j尊?Q 9n5j`)jBYlynp$Q IrE@jZDIjL;ij;js5ytɮv8AtgODNOT Ignoring new targets: 38.38 m.*" !ʎ!!!j!Z-@P@MBɢ䟶) ޿i)=i%i.C;vp;II a9@ @@/@A?A?AI IO%N>yE] E]E]'EY"E]:*E]e:VE]'4ZEYae@ae@ae@ae@Թ S,_LY@A9|Y|=~lGy|~*;E~>Q 5 5?Q 9 5Pe)BYy8$Q IE@cDI;i; 5ygBɮkA% EgOEDNOT Ignoring new targets: 38.38 m.II*I"I IIQQQʎQYYjYZ]Q@颅RBɢ`) qi) a=  i!in;m;IIB5>B1B1B1B1B1B1B5l;B5+Ei߱I߱9@ @@/@AQIYIiOZ> Ee  Ee Ee *Ea "Ee ;*Ee v:VEe (N4ZEa BEe @9Y=lGyFE>Q 55d ?Q 95i)BY/?Q E:yLQ IE@mDI\ ;iu ;չ5y ɮ nA gODNOT Ignoring new targets: 38.38 m.*"  Bʎ !j)Z5`/Q@颅XBɢl) i)d,<顙ii;f;II)9@ @@/@YAII1O=>ԁ S,tHLY@A2\@2!@2)ٱ2'% :AHRS rotation from veh to nav: [[0.878136,0.473534,0.068130],[-0.478299,0.865914,0.146368],[0.010315,-0.161117,0.986881]]2H?`bN?p?`s޿?.?H ? Ŀ ?i2\@I2^;0YF{ByFIbDNVDNfyV;%V`=ٔVQ-Z>9XYX=ZlGyX^;;E^>`Q 5f5b?Q 9f5bm)bBYdyjQ IjE@buDIb:ib:b5E% E%E%%E!"E%:*E%Ar:VE% 4ZE!a-@a-@a-@a-@YynoBɮ]AeEgODNOT Ignoring new targets: 38.38 m.*" ʎjZFQ@BDAT read: Response Not Received %*response not received%BIBMIBM{BBM =BIBIBMl;BM+EAqzAuZAA I I O >.S,DObLY@A2I(@2#@2{oٱ2 $ :AHRS rotation from veh to nav: [[0.878610,0.473304,0.063468],[-0.477316,0.866340,0.147054],[0.014616,-0.159497,0.987090]]2H?@J?`n??Y޿ ??,?`gjĿ >?i2I(@I2^;0Y^{BybI ``f=f=iMMb@Mb@Mb@IIII I9MK7?/$V-?YMI,?yMM9Y=lGyF !;E>Q 5503?Q 958r)BY-?Q E:yQ IE@~DIj:is:5y Bɮ rAEgO=DNOT Ignoring new targets: 38.38 m.99*9"9 99AAE؅BʎAIIjIZM@maQ@}bBɢ}JĽ)y } iy)<顁iEid;>u9 YS,0|LY@A6-@6'@6:ٱ6T$ FAHRS rotation from veh to nav: [[0.878827,0.473388,0.059720],[-0.476763,0.866244,0.149394],[0.018989,-0.159763,0.986973]]6HY?@K??G޿E? U?q?sĿG?i6-@I6<^;6CYN{ByNIbDZVDZy^3-<%b^=ٔbBQ-b>9f ?Yf ?=flGydfe:Ej>hQ 5r5jTD?Q 9r5ju)jBYpyrQ IrE@jDIj;ij:j5ytɮzjAxgODNOT Ignoring new targets: 38.38 m.*" !!!!!ʎ)))j)Z5 xQ@]gBɢ]~ֽ)Y ]ia)eԙ <@%S,!LY@A25@2/@2eٱ2K$ :AHRS rotation from veh to nav: [[0.879217,0.473087,0.056265],[-0.475868,0.866360,0.151557],[0.022954,-0.160026,0.986846]]2H"?G?`ά? t޿8?9f?`E?{Ŀ=?i25@I2(^;2CYj{ByjIbDrVDr0y Q% F=ٔ HQ- >9Y=lGyFF;E>!Q 5-5%W?Q 9-5%5z)%BY)y-Q I5E@%DI%:i%]:%5y=Bɮ=A=EgOeDNOT Ignoring new targets: 38.38 m.aa*a"i iiiiqʎqqqjyZ}hQ@颥lBɢ~ZϽ) i)RZ<顩i) iĩ;O/1 _k+S,LY@AY{ByII C=) C=iMb@Mb@Mb@ 9 rh?V-{Gz?YC+?yhף<K[A2A vDA)vDAYEAbDVD y<%&=ٔQ->9"?Y"?=lGyFE>Q 55n?Q 95) BYM,?Q E:yQ IE@DI:i:5yɮAgODNOT Ignoring new targets: 38.38 m.*" Bʎ!!j!Z@Q@sBɢ) i)<iYi}:;)|/2S,QLY@AN>A@N<@N^ٱN" ZAHRS rotation from veh to nav: [[0.879749,0.472925,0.048826],[-0.474469,0.866760,0.153643],[0.030341,-0.158334,0.986919]]NH&?`eD? ?]޿`??@?IDĿؔ?iN>A@INRA^;NC `)`bddfِCdifIddIhij-r@ hh)hl ln\llppIrQ8)rFip)tItvC t txxxixxYxY~{ByIbD VD:2y%~I%%c=ٔ-Q-->9)Y)=-lGy1EE;EM>aQ 5m5e?Q 9m5e)eBYiym2Q ImE@eDIe:ie:e45y}Bɮ}A}EgODNOT Ignoring new targets: 38.38 m.*" ʎQQjQZUQ@额xBɢ) i)<顩iHiV;FBBIB{BBBBB"m;B=+E^A9< I I O% > l9S,&LY@A2G@2A@2 Q ٱ2h! :AHRS rotation from veh to nav: [[0.879990,0.472851,0.045057],[-0.473791,0.867064,0.154022],[0.033762,-0.156885,0.987040]]2H`(?/C??R޿?`?@JI?Ŀԕ?i2G@I27)^;0Y%{By%IiMb@Mb@Mb@ 9HzG?l~jt?Y=*?y<YA )CAYEAbDVDkyf1=%>=ٔQ->9Y=lGyFW:E>Q 5 5l?Q 9 5)BY \+?Q E :y aQ IE@DI:i:5yğBɮAEgODNOT Ignoring new targets: 38.38 m.*" E EE$E"E:*E1]:VE4ZEBE2;@S,MY@A2AN@2I@2Juٱ2" >AHRS rotation from veh to nav: [[0.880305,0.472486,0.042670],[-0.472966,0.867062,0.156546],[0.036969,-0.157989,0.986749]]2Hu+? 5=?إ?`E޿?` ??8Ŀq?i2AN@I2M^;2CYU{ByUI YYbDmVDmy}%}R=ٔ}Q-}>9Y=lGy;E>Q 55?Q 95))BYy&Q IE@DI;i;P5yɮAgODNOT Ignoring new targets: 38.38 m.*" ʎjZIQ@Bɢ ) i)g<iYi%%;%bIZ:*Ee:VE'4ZEa@a@a@a@y^AIIO>ԩ k*FS,]MY@AB$B$B&IB&{BB$B$B$B&#m;B$@BQ@B|L@B"ٱB<# JAHRS rotation from veh to nav: [[0.880412,0.472455,0.040762],[-0.472544,0.866875,0.158836],[0.039707,-0.159103,0.986463]]BHU,?޿q?T?}T?|]Ŀ@?iBQ@IB|8^;BCYV{ByVIbD^VD^k1yf<%fV=ٔj!Q-j>9hYh=nlGynFr:Ev> Q 55 }?Q 95 ) 5BYy Q IE@ DI ;i ; 5y%̟Bɮ-A)gOUDNOT Ignoring new targets: 38.38 m.QQ*Q"Q QQQYYʎYaajaZe R@ Bɢ $P) 5i)MC VLS,H3MY@AV~O@VCJ@V.ٱVkZ$p ~AHRS rotation from veh to nav: [[0.880175,0.473088,0.038475],[-0.472725,0.866426,0.160740],[0.042708,-0.159667,0.986247]]VHd*?G??A޿@ù??ݥ?oĿ U?iV~O@IV7g^;TY w{By IiMb@Mb@Mb@ 9q= ףp?MbX9 rh?Y+?yʡC<zZA FA)b@AYbDVD0yg%<=ٔQ->9Y=lGym#E>QQ 5]5UJ̱?Q 9]5U )UBBY],?Q E]:y]Q IeE@UŰDIUe:iU:U5ymBɮmAm%EgODNOT Ignoring new targets: 38.38 m.*" ƅBʎjZ@3R@Bɢ]) i)y<ii^;zZY E  E E 'E "E 2:*E c:VE '4ZE a @a @a @a @e91Y1=5lGy5F5DE=>9aQ 5m5eݱ?Q 9m5e˖)eMBYiymQ ImE@eͰDIe:ieX:e5yBɮ?A&EgODNOT Ignoring new targets: 38.38 m.*" ʎjZ`?LR@eBɢe)a e"ia)m7` fYS,ngMY@A2M@2H@2ouCٱ27 & :AHRS rotation from veh to nav: [[0.879886,0.473895,0.034984],[-0.472784,0.865675,0.164564],[0.047701,-0.161338,0.985746]]2H(?@JT?l?B޿?p?@Nl?Ŀ:?i2M@I27^;2CYB{ByFIieMb@Mb@Mb@aaaa a9e&1?Zd;O rh?Ye0?yejaeYAa a)e3AAaYabDVDyy%=%D=ٔƻQ->ԙ9Y=lGyE>Q 55V?Q 95/)[BY2?Q E:yQ IE@ְDI ;i: ;v5yBɮ)O`S,LMY@A2\P@2!K@2Mٱ2[% NAHRS rotation from veh to nav: [[0.879918,0.474018,0.032415],[-0.472467,0.865749,0.165088],[0.050191,-0.160579,0.985746]]2HJ(?QV?@?<޿6?!?ଲ?ٍĿ@;?i2\P@I2 P^;2CYVj{ByZIbDbVDbk1yj%jW=ٔjֻQ-j>9n ?Yn ?=nlGynFrK:Er>tQ 5z5vf?Q 9z5v5)vhBYxyzQ IzE@v߰DIv`:iv;v5yɮmAgO-DNOT Ignoring new targets: 38.38 m.))*)") )1111ʎ999jAZE@7~R@mBɢm)i miq)u/ԙ B= ߿>B= CB= IB= {BB= =B9 B= xDB= m;B= +ExfS,[%MY@AVH@V{C@VLcٱV4' nAHRS rotation from veh to nav: [[0.879231,0.475522,0.028844],[-0.473156,0.864600,0.169085],[0.055465,-0.162312,0.985179]]VH"?n?R? 0H޿@Ϊ??e?@Ŀ?iVH@IV1^;TYvy{ByvI xx|~@AbDVDN2y=%F=ٔQQ->9Y=%lGy!%^E%>)Q 555-?Q 955-)-vBY1y=Q I=E@-DI-;i- ;-a5yEBɮEoAE'EgOmDNOT Ignoring new targets: 38.38 m.ii*q"q qqqyyʎyyjZR@颭Bɢ) i)<项ipŻiǮ;NO lS,BMY@AN@@N;@NnٱNW( VAHRS rotation from veh to nav: [[0.878640,0.476707,0.027242],[-0.473911,0.863676,0.171678],[0.058312,-0.163753,0.984776]]NH?]?b?T޿;??ۭ?ĿI?iN@@INJ^;LYv~{ByvIi}Mb@Mb@Mb@yyyy y9} rh?zGế~jt?Y},?y} ׽}9"?Y"?=lGyFE>Q 55U*?Q 95)BY.?Q E:y$Q IE@DIj:i:5yɮeAgODNOT Ignoring new targets: 38.38 m.*"   Bʎ   jZੳR@=BɢEsv)A EiA)E@;AIiM]佻iM=;#(CE=  E= E= $E9 "E= :*E= L_:VE= 4ZE9 aE @aE @aE @aE @,sS,MY@AJ(:@J4@JzٱJt( VAHRS rotation from veh to nav: [[0.878097,0.477832,0.024943],[-0.474560,0.863053,0.173009],[0.061142,-0.163756,0.984604]]JH`_?@˔?@?/_޿!?`+%?M?Ŀ?iJ(:@IJ7^;JCY^u{By^IbDfVDf1yn/%nX=ٔrQ-r>9pYp=vlGytvEv>xQ 5~5z;?Q 9~5z()zBYy$Q IE@zDIz8;iz3;z`5y  Bɮ A (EgODNOT Ignoring new targets: 38.38 m.*" ʎjZ@"R@颍Bɢ_l) ki);项iQi;u8@> n> B޿>BBBe؀GBBCDByԉBm;B+E>9YdABBBBB =CC5y%M?%wmA^A*:<A>A?Ա A I I O >xyS,MY@A8>95@>/@>.<ٱ>B( JAHRS rotation from veh to nav: [[0.877652,0.478771,0.022495],[-0.475002,0.862555,0.174277],[0.064036,-0.163639,0.984440]]>H?.?? of޿` ?N? d? !Ŀ?i>95@I>]^;>CYR{ByRIIT)V9YYY=]lGy]FeEe>iQ 55m$O?Q 95mΰ)mBY2?Q E:y&Q IE@mDImNi1 I1 S,rNY@A: 0@:*@:?ٱ:<* BAHRS rotation from veh to nav: [[0.877187,0.479697,0.020854],[-0.475467,0.861760,0.176923],[0.066898,-0.165109,0.984004]]:H?@Z?Z? n޿@?f?A ?M"ſ|?i: 0@I:'K^;:CYN{ByNIbDVVDVy^ܻ%bT=ٔb^Q-b>9`Yd=flGydf׺Ef>hlQ 5r5na?Q 9r5n)nBYpyv&Q IvE@n DIn`:in6:nk5yz\BɮzbAz2EgODNOT Ignoring new targets: 38.38 m.*!"! !!!))ʎ)))j1Z5qR@]Bɢ])a e$ia)e3;aaieimmoQ;u!)Y B ߿>B B IB {BB B B B m;B }+EƆS,mNY@A2*(@2"@2Ԧٱ2v) :AHRS rotation from veh to nav: [[0.876566,0.480932,0.018323],[-0.476222,0.861218,0.177526],[0.069598,-0.164339,0.983946]]2H ??>Ò? mz޿? *?)ѱ? ſ`{|?i2*(@I2=^;2CYB{ByFIbDNVDN\yV=%VL=ٔVݻQ-V>9Z ?YZ ?=ZlGyZFZE^>19Q 5E559t?Q 9E55)5BYAyE-'Q IEE@5DI5:,;i5%-;5 5yUeBɮUdAU3EgO}DNOT Ignoring new targets: 38.38 m.yy*y"y yʎjZ@S@颽ǁBɢW ) i)ѷ:imri|;b S,F6NY@A2P!@2@2ٱ2 ( :AHRS rotation from veh to nav: [[0.876005,0.482039,0.015925],[-0.476867,0.860719,0.178216],[0.072200,-0.163712,0.983863]]2H <??N?޿`? ?@{?Ŀ@{?i2P!@I2Y^;2CYB{ByFI DDJ=Jp=iUMb@Mb@Mb@QQQQ Q9UV-?V- rh?YUh1?yUUC =QQ UGA)UQ9"?Y"?=lGyE>ԙQ 55?Q 95Q)BY4?Q E:y'Q IE@DI:i:5yɮ:AgODNOT Ignoring new targets: 38.38 m.*" BʎjZ 4S@%΁Bɢ% )! %i))-"))i-ii559ڰ;5p D D 4=E%  E% E% (E! "E% a:*E% T:VE% c44ZE! a- @a- @a- @a- @;ؓS,) PNY@A>@>R@> ٱ>( JAHRS rotation from veh to nav: [[0.875396,0.483206,0.013937],[-0.477611,0.860091,0.179251],[0.074628,-0.163572,0.983705]]>H@>???/޿`݅?@? ?`Ŀ@z?i>@I>1Q^;>CYR{ByRIbDZVDZybC=%bW=ٔfһQ-f>9dYd=jlGyjFj#Ej>lQ 5r5n>?Q 9r5n)nBYtyv(Q IvE@n&DInd:inN:n5yzmBɮz6Az4EgO%DNOT Ignoring new targets: 38.38 m.!!*!"! !))))ʎ111j1Z5LS@eՁBɢeX)a eBia)miiim}i7; BBIB{BBBBDBBzm;Bf+E^AHy S,3iNY@A6@6@6ٱ61( BAHRS rotation from veh to nav: [[0.875113,0.483763,0.012306],[-0.477819,0.859777,0.180201],[0.076594,-0.163576,0.983553]]6H ?@?3?޿J?`?@?ĿCy?i6@I6ht^;6CYJ{ByJIiMb@Mb@Mb@ 9/$?ʡE󽿋l?Y&1?yy=0A HA)YbD5VD5:yE#<%EB=ٔEřQ-M>9M ?YM ?=MlGyIUGEU>YQ 5e5]?Q 9e5]>)]BYm3?Q Em:yml(Q ImE@]/DI]:i]<:]5yqɮu AqgODNOT Ignoring new targets: 38.38 m.*" BʎjZgS@Qe܁Bɢey)a eia)m*uiiimۜiuI6;BԩA ؟AI I O > S,׃NY@A2@2 @22ٱ2/9( :AHRS rotation from veh to nav: [[0.874542,0.484846,0.010054],[-0.478459,0.859270,0.180918],[0.079078,-0.163031,0.983447]]2H ??? ?޿$? Q(?{>?`/Ŀ`ex?i2@I2r[^;2CYB{ByBIbDN VDNf2yrF=%rQ=ٔrлQ-r>9v"?Yv"?=vlGyvFzA Ez>xQ 55zξ?Q 95z)z&BYy(Q IE@z8DIz];izj;z 5yuBɮAgO=DNOT Ignoring new targets: 38.38 m.AA*A"A AAAIIʎIIQjQZUS@}Bɢ)  i)l顁ii3T;W ;IIԱM9@Q @Q@U1@QE EE%E"E:*ET:VE 4ZEa@a@a@a@^AP; A I I O >B >B CB IB +|BB =B B yDB m;B y+E9 S,ݳNY@A2_ @2%@2iٱ2$y' :AHRS rotation from veh to nav: [[0.874170,0.485556,0.007873],[-0.478769,0.859011,0.181328],[0.081282,-0.162281,0.983391]]2H3?X??&޿ }?5?δ?@Ŀw?i2_ @I2bO^;2CY^|BybIbDj VDj:2yr=%rJ=ٔrAQ-r>9tYt=vlGytzpEz>|Q 5U5~{Ѳ?Q 9]5~")~=BYaye(Q IeE@~ADI~?^S,qNY@A 2 @2@2 <ٱ2' >AHRS rotation from veh to nav: [[0.874069,0.485758,0.006518],[-0.478654,0.858838,0.182447],[0.083027,-0.162591,0.983194]]2H_? ?z?E޿{?hZ?;A?ĿSv?i2 @I2m^^;0RnManaging dock network, ignoring radio surface power offYV|ByV Ii5Mb@Mb@Mb@1111 195kt?MbXkt?Y5 0?y5ʽ5 0=57WA50A 5\IA)5;A1Y53CAbDMVDMyUV<%]C=ٔ2Q->9Y=lGyF8E>Q 55岊?Q 95Q =tI)VBYH2?Q E:y&"Q IF@JDI;i;i5yɮAgO%DNOT Ignoring new targets: 38.38 m.))*)") )))15څBʎ199j9Z=S@eBɢma)i mii)m. qqiu^pi}};};IyIi-9@) @)@)@)ԙ^AU;AuZAzAuYA A .AI I O >E  E E 'E "E s:*E Ar:VE '4ZE a @a @a @a @&S,iNY@APY=K|By='IbD]VD]0yu=%uH=ٔ}Q-}>9 ?Y ?=lGyE>Q 55/?Q 95)nBYyQ IF@SDI5PB5CB53IB5]|BB1B1B5xDB5m;B5+E^Am[R;) A ؟AI I O >PS,DNY@A2@2 @2"ٱ2( :AHRS rotation from veh to nav: [[0.874118,0.485700,0.003624],[-0.477970,0.858832,0.184262],[0.086384,-0.162799,0.982870]]2H??Pm?޿{?`?@C? Ŀs?i2@I2{^;2CYZM|ByZ)I|iEMb@Mb@Mb@AAAA A9E/$?(\µˡE?YE,?yEE'=EXAA EGA)E9AAYEBAbD]VD]:ye;%mK=ٔmi Q-m>9u"?Yu"?=ulGyuFus:E}>Q 55 ?Q 95)BY-?Q E:yQ IF@\DIH:is:\5yɮQAgODNOT Ignoring new targets: 38.38 m.*" ޅBʎjZ`mS@ Bɢ ٕ) Vi)=顙iZ Wiɱ;3;IE EEE"E:*E|:VEZEBE9XYX=ZlGyX^cR:E^>`Q 5f5b ?Q 9f5b)bBYdyfQ IjF@bdDI`ib:b5ynàBɮnAn@EYgODNOT Ignoring new targets: 38.38 m.*" ʎjZ`T@Bɢa) i!)%V!!i%Ji--y;-w;I)I1A9@ @@B3@ԉE EEE"E:*E҆:VEZEa@a@a@a@Ա^A5<I) I9 OM > B9 B9 B= eIB= |BB= =B= CDB9 B= m;B= +EBCBCBB =B =CE5] EGq _9 Y ^A8cS,YOY@AY|ByKII%=)%=bD5 VD5:2yE<%EA=ٔEQ-E>9IYI=MlGyMFMEU>QQ 55U/?Q 95U:)UBYyQ IF@UmDIUQ;iU;U_ 5yɮAgODNOT Ignoring new targets: 38.38 m.*" ʎjZMT@Bɢn) i)*p!!i%<>i%-;-BN;I)I)9@ @@4@^A;E EEE"E:*EV:VEZEBE#9 S,8OY@A: @:@:򈺽ٱ:tu% FAHRS rotation from veh to nav: [[0.874631,0.484785,-0.001917],[-0.476180,0.859835,0.184220],[0.090956,-0.160212,0.982883]]:H? ? i_y޿Ã??`H?@ҁĿ`s?i: @I:m^;:CYN|ByN]Ii%Mb@Mb@Mb@!!!! !9%uV?S㥫L7A`?Y%r(?y%/]%+=%3WA%0A %XIA)%:A!Y%BAbD=VD=0yM=%MJ=ٔMQ-U>9QYQ=UlGyQ]u;E]>aQ 5m5eNB?Q 9m5e)eBYm9)?Q Eu:yutQ IuF@euDIe:ieQ:e#5y}̠Bɮ}A}AEgODNOT Ignoring new targets: 38.38 m.*" BʎjZ6T@eBɢe>)a mnii)m,لiiim2iT;iEԙ E  E E &E "E ;*E ]t:VE 4ZE a @a @a @a @qwS,ROY@A l$@ 2@  Xٱ D# AHRS rotation from veh to nav: [[0.874727,0.484600,-0.003910],[-0.475741,0.860217,0.183570],[0.092321,-0.158714,0.982999]] H??p`r޿ ?`9?``?PĿt?i l$@I G[^; CY-|By-hIbDAVDAyU;=%UJ=ٔU]Q-]>9YYY=]lGy]Fe(:Ee>iQ 5u5mU?Q 9u5m)mBYqyu^Q I}F@m~DIm;im;mu'5yԠBɮABEgODNOT Ignoring new targets: 38.38 m.*" ʎjZ@PT@Bɢ) i)ؐi&iÓ;BBIB|BBBBBm;B+Eԙ^AP<AzAZAIiIyO> S,lOY@A2%@2i @29ٱ2$ :AHRS rotation from veh to nav: [[0.874665,0.484702,-0.004972],[-0.475539,0.860029,0.184967],[0.093930,-0.159420,0.982732]]2H`B?Y?^t;o޿`[?? ?gĿr?i2%@I2~^;2CY^|BybuI ``iMb@Mb@Mb@ 9(\?v/Zd;O?Y'?yxij<UA ) 9AYBAbDVDNyB=%C=ٔ^|Q->9Y=lGy9E>Q 55lh?Q 95)BYj(?Q E :y ,Q I F@DI<;i;;#+5yBɮAKEgO]DNOT Ignoring new targets: 38.38 m.YY*Y"a aaaim BʎiqqjyZ}@ lT@颭&Bɢl) i)㞼项i^ E EE(E"E:*EX:VEc44ZEBEQ S,pOY@A2+@2%@2[½ٱ2& :AHRS rotation from veh to nav: [[0.874896,0.484285,-0.005056],[-0.474914,0.859921,0.187062],[0.094939,-0.161259,0.982335]]2H%??rtd޿ y??M?Ŀ Jo?i2+@I2l^;2CYF|ByFIbDNVDN1yV;J=%V^=ٔZ4Q-Z>9XYX=^lGy^F^:E^>`Q 5f5b9y?Q 9f5b#)bBYhyjQ IjF@bDIb`:ib:bU.5ynBɮnArLEgODNOT Ignoring new targets: 38.38 m.  * "    ʎjZ T@E,BɢM()I MiI)MY IQiU0i!;a%ԁ B ޿>B B IB 3}BB =B B B m;B +EKS,COY@A0:(@:#@:*Žٱ:) BAHRS rotation from veh to nav: [[0.874673,0.484689,-0.004898],[-0.475087,0.859261,0.189638],[0.096124,-0.163545,0.981842]]:HQ?@&?tg޿?F?`?Ŀ?k?i:(@I:X^;:CYN|ByNIbDVVDV:y^C<%^J=ٔb@Q-b>9`Y`=blGydf'Ef>hQ 5n5j׋?Q 9n5j)jBYpyrQ IrF@jDIj;ij;j15ytɮvAtgODNOT Ignoring new targets: 38.38 m.*" !!ʎ!!)j)Z-T@U4BɢU))Y ]iY)]aaieiemh;m! Թ bE=Ȁ'4jE=!4rE=/E  E E $E "E :*E c:VE 4ZE BE p%9qYq=ulGyuF}/:E}>Q 55i?Q 95))BY3'?Q E:yWQ IF@DI:i:55yBɮZAMEgODNOT Ignoring new targets: 38.38 m.*" "BʎjZKT@=Bɢe) Wi ) k¼  i w/ii;%I D= =D= %=S,OY@AE* E*E*%E("E*:*E*xv:VE* 4ZE(a.@a.@a.@a.@F-@F~(@FȽٱFߝ/ RAHRS rotation from veh to nav: [[0.874800,0.484472,-0.003402],[-0.474495,0.858161,0.195995],[0.097873,-0.169842,0.980599]]FH ]?@?k^޿v?Y?9?`ſ`a?iF-@IFZ^;FCYZ}ByZIbDbVDb1yj<%nS=ٔn"Q-n>9pYp=rlGyprJ:Er>)iQ 5u5m豳?Q 9u5m)m;BYyy}<Q I}F@mDIm:imF:m95y#BɮkAgODNOT Ignoring new targets: 38.38 m.*" ʎjZT@EBɢ\) /i)Eμiպiw ;0?)BiBmIBmf}BBiBiBiBmm;Bm+EIyIO;>ԁԹ 5S,VOY@A2.@2J)@2hɽٱ2U/ :AHRS rotation from veh to nav: [[0.874811,0.484450,-0.003710],[-0.474391,0.858149,0.196302],[0.098282,-0.169968,0.980536]]2Hs?;?cn@j\޿ u?n ?)?ſ`?i2.@I2&V^;2CYF }ByFIi5Mb@Mb@Mb@1111 195K7?QMb?Y5)?y5u5<5XA5-A 1)11Y1ԙbDUVDU3y % 9=ٔsQ->9Y=lGyFf9E%>!Q 5-5%ų?Q 955%)%MBY5o*?Q E=:y=Q I=F@%DI%N;i%'[;%<5yQɮ]yAYgODNOT Ignoring new targets: 38.38 m.*" #BʎjZ T@E EE$E"E:*ET:VE4ZEBE2 T,`PY@AYm}BymI qqbDVD0y~<%B=ٔQ->9Y=lGyE>Q 55:ٳ?Q 95)_BYyQ IF@DI ;i ;@5y,BɮANEgODNOT Ignoring new targets: 38.38 m.*" ʎjZHU@-VBɢ-()1 5i1)5/11i=Si==;AIAIA)@ @@@E- E-E-#E)"E-:*E-:VE-3ZE)a5@a5@a5@a5@Q^A $<I) I9 OI Bm ۿ>Bi Bm IBm }BBi Bi Bi Bm n;Bm +Ey 0T,!PY@A2+@2&@2a5̽ٱ2. :AHRS rotation from veh to nav: [[0.874546,0.484914,-0.005200],[-0.474615,0.858074,0.196085],[0.099546,-0.169017,0.980573]]2H`H??HLu`޿Wu?@N?{?@\ſ`?i2+@I2];2C T)TZXXXXiZI\\I\i^r@ ``)`` b`AbddddIf@)did)hIhj\h hlllillYlYv}ByvIbD~VD~y <% g=ٔ1kQ->9Y=lGyFpE>!Q 5-5%鳊?Q 9-5% )%nBY1y5Q I5F@%DI%`:i%:%C5y9ɮ=yAAgOeDNOT Ignoring new targets: 38.38 m.ii*i"i iiiqqʎqqyjyZ}@U@颭]Bɢ /) i)E项iie;9X%E1  E5 E5 &E1 "E1 *E5 g:VE5 4ZE1 BE5 +9Y=lGylE> Q 55 ?Q 95 z) BY.?Q E:y!Q IF@ ˱DI  ;i  ; gG5y%5Bɮ-A-OEgOMDNOT Ignoring new targets: 38.38 m.QQ*Q"Q QYYY]BʎaaajaZe:U@颍fBɢǽ$) i)顙itXixI;Gԉ A= .AIQ Ii O} >EM  EM EM (EI "EM :ET,%AUPY@A*E}$:VE}c44ZEya@a@a@a@0:D@: @:нٱ:`)0 FAHRS rotation from veh to nav: [[0.873626,0.486560,-0.006096],[-0.475855,0.856889,0.198253],[0.101685,-0.170298,0.980132]]:H?`#?x@gt޿k?@Y`??Tſ=]?i:D@I:S7^;:CY=2}By=IbDMVDM1y]e=%eT=ٔeHQ-e>9e ?Ym ?=mlGymFmV+Em>qQ 55u?Q 95ua)uBYy`Q IF@uӱDIuBCBIB}BB =BBBNn;B+EBBBB =B =Cy5U׀9QYU^A]9@Y @Y@]4@YԹ^AX< A I Ia O >E;T,oPY@AN@Nl@NMӽٱN01 ZAHRS rotation from veh to nav: [[0.872841,0.487963,-0.006372],[-0.477033,0.855898,0.199694],[0.102897,-0.171261,0.979838]]NH@P?:?zඇ޿c??tW? ſZ?iN@`INZ^;NCYj5}BynIiMb@Mb@Mb@ 9I +?EԸ:v?Y94?yƽT<TA/+A FA)$4AY>AbDVDy;%C=ٔb>Q->9Y=lGy>]E>Q 55$?Q 95-)BY5?Q E:y"Q IF@ݱDI;i>;N5yrBɮ^AYEE EEE"Ea:*E1]:VEZEBE(#"T,PY@A2 @2@2սٱ20 :AHRS rotation from veh to nav: [[0.872112,0.489252,-0.007275],[-0.478106,0.855218,0.200040],[0.104091,-0.170979,0.979761]]2HW?O?(}J޿ ]?`?༥?ſ@3Z?i2 @I2^;0YB;}ByFIbDNVDNyV`<%V_=ٔVpWQ-V>9Z"?YZ"?=ZlGyZFZMiE^>!Q 5-5% 6?Q 9-5%)%BY)y-q"Q I-F@%DI%:i% :%Q5y=}Bɮ=}A=ZEgOeDNOT Ignoring new targets: 38.38 m.aa*a"a iiiiiʎqqqjqZ}@XU@颥BɢQ=) ni)顩ik,Fi;;IIm9@i @q@u/@q@}=@}=IE EE&E"E>:*EL_:VE4ZEa @a @a @a @^AQA]ZAzA]ZAyA I I O >B ֿ>B B IB }BB =B B wDB dn;B +Eԡ >M(T,ѢPY@A2@2j@2Nؽٱ2%n/ :AHRS rotation from veh to nav: [[0.871383,0.490523,-0.008884],[-0.479143,0.854778,0.199440],[0.105423,-0.169532,0.979870]]2H^?`d?1E޿@XZ?9tYt=vlGytzIEz>|Q 55~I?Q 95~~ )~BYy"Q I F@~DI~;i~;~6U5yɮ;AygODNOT Ignoring new targets: 38.38 m.*" ʎjZU@ Bɢ -) i)8:i`7i%6;%=;I!I!@ @@@ԩ^AX;E=  E= E= $E9 "E= :*E= [:VE= 4ZE9 BE=  w.T,PY@A2@2@2kڽٱ2/ :AHRS rotation from veh to nav: [[0.870904,0.491363,-0.009411],[-0.479786,0.854221,0.200279],[0.106449,-0.169909,0.979694]]2Hr?|r?>F ϴ޿U?@?@?@?ſ`Y?i2@I2G_;2CY^p}By^IiEMb@Mb@Mb@AAAA A9E"~?ʡE:v?YE3?yEyE9qYq=lGyF2E>Q 55]?Q 9 5x%)BY 6?Q E :y p)Q I F@DI:i<: Y5yBɮ9A[EgOEDNOT Ignoring new targets: 38.38 m.AA*A"A AIIIMBʎQQQjYZ]U@颅BɢM/) qi) 顉io|9i{;rS;II 9@  @ @ /@ ^A5ϩ;1IY Ii O >Y E  E E E "E :*E X:VE ZE a- @a- @a- @a- @)c5T,PY@AF@F@FܽٱF0 RAHRS rotation from veh to nav: [[0.870145,0.492704,-0.009546],[-0.480931,0.853259,0.201630],[0.107489,-0.170857,0.979415]]FH`9?v?錃@޿M??m? ſ^W?iF@IF %_;FCYZ}ByZIbDbVDb1yjn=%jT=ٔn1Q-n>9lYl=rlGypr'tEr>tQ 5z5vn?Q 9z5v))vBY|y~)Q I~F@vDIv ;ivC ;vD\5yɮ A gO-DNOT Ignoring new targets: 38.38 m.)1*1"1 11999ʎ9AAjAZE@U@mBɢu8)q uiq)}K&yyi}9i;<z;II)9@ @@/0@@@B<A<Bݿ>BCB-IB}BB =BBxDBm;B+EY^A ;A>A?ԉII O- >Թ Ŋ;T,4iPY@AB߱@Bڸ@B*޽ٱBG1 ^AHRS rotation from veh to nav: [[0.869289,0.494204,-0.009944],[-0.482237,0.852313,0.202509],[0.108556,-0.171243,0.979230]]BH 7? ?] ޿&F??Yʻ?LſU?iB߱@IB^;BCYn}BynIIt)tiMb@Mb@Mb@ 9`"?rh|~jt?Y7?y="SAb*A GEA)X3AY=AbDVDyo=%:=ٔ6 Q->9Y=lGyFiE>Q 5 5?Q 9 5.)$BY:?Q E:y*Q IF@ DIz ;i ;`5yBɮ؊A%\EԑbE]-4jE]-4rE]°/E EE'E"E:*EL_:VE'4ZEBEi I  DqBT,> QY@A2ݱ@2ظ@2)ٱ2/ :AHRS rotation from veh to nav: [[0.869099,0.494504,-0.011517],[-0.482426,0.852553,0.201042],[0.109235,-0.169169,0.979515]]2H`??+޿H??? Xſ/X?i2ݱ@I2{^;0YB}ByBIbDNVDNyV)!=%Vb=ٔVQ-V>9XYX=ZlGyZF^;E^>`Q 5f5bɔ?Q 9f5b3)b=BYdyf*Q IfF@bDIb:ib :bEc5yn͡BɮnAnfEgODNOT Ignoring new targets: 38.38 m.*"     ʎjZ V@Bɢ?)y|< i)W3i`f:ir>;_#;II9@ @@4@DzDE EEE"E>:*Ec:VEZEa@a@a@a@!^A};II)O5>I B ڿ>B CB LIB '~BB B B B Im;B G+ExHT,$QY@A2ر@2jӸ@2ٱ2q, >AHRS rotation from veh to nav: [[0.868725,0.495117,-0.013281],[-0.482943,0.852705,0.199149],[0.109927,-0.166591,0.979879]]2H??3޿\I?}?)$?Rſ+[?i2ر@I2<^;2CYF}ByF-IbDLVDLyV=%VJ=ٔZQ-Z>9XYX=ZlGyX^κE^>`Q 5f5b򧴊?Q 9f5b7)bZBYdyj+Q IjF@bDIb:ib:bf5ylɮnMAlgODNOT Ignoring new targets: 38.38 m.* "    ʎjZ` V@EBɢEh5)I MiI)MF9IIiMԎ:iUU;]{:IYIY9@ @@/@@=@=Iԁ^A+;A[AzAYAIIO>E EE%E"E:*Exv:VE 4ZEBE>AHRS rotation from veh to nav: [[0.868649,0.495200,-0.014988],[-0.482881,0.853029,0.197909],[0.110790,-0.164676,0.980106]]6H? ]?@޿`L? U?\?ſ]?i6ر@I69^;6CYJ~ByJ=I LLiMb@Mb@Mb@ 9I +?!rhZd;O?Y94?yl罙j<=MRA^*A GA)S3AY=AbD1VD1yESr=%EA=ٔMNQ-M>9IYI=UlGyUFU.8EU>YQ 5e5]?Q 9e5]<)]xBYm6?Q Em:ym'Q ImF@]%DI]:i]:]j5yuסBɮu@A}gEgODNOT Ignoring new targets: 38.38 m.*" *BʎjZ`;V@Bɢ)d1) i)?iRv:iǴ;Wz;IIԱ-9@) @)@-/@)^AU ; A .AI I O >D =D =E  E E #E "E :*E z:VE 3ZE a @a @a @a @UT, WQY@A2ܱ@2l׸@2$ٱ2)( :AHRS rotation from veh to nav: [[0.868793,0.494893,-0.016734],[-0.482424,0.853556,0.196748],[0.111653,-0.162860,0.980311]]2H@&?T?" ޿TP? /?`L?`Ŀ^?i2ܱ@I2~^;2CYBB~ByB]IbDNVDNyV >%VU=ٔV4Q-V>9Z ?YZ ?=ZlGyX^:E^>|Q 5%5Gδ?Q 9-5@)BY)y-'Q I-F@.DId:i:m5y1ɮ5׊A9gODNOT Ignoring new targets: 38.38 m.*" ʎjZ@UV@ ȂBɢ  3)  i )Ei c:iMM;My ;IQIqB]׿>BYB]xIB]n~BBYBYBYB]l;B]+E).)\T,?vQY@A2߱@2ٸ@2ٱ2ߺ$ :AHRS rotation from veh to nav: [[0.868846,0.494700,-0.019431],[-0.482117,0.854365,0.193966],[0.112556,-0.159158,0.980816]]2H?+?哿޿ V??xм?L_Ŀb?i2߱@I2Ll^;0YBp~ByByIEN ENEN$EL"EN:*ENga:VEN4ZELBEN9"?Y"?=lGyFE:E>Q 55Q崊?Q 95F)BY0?Q E:yhQ IF@9DI ;i ;Pr5yBɮAgO%DNOT Ignoring new targets: 38.38 m.!!*!"! !!))-.Bʎ111j1Z= uV@iӂBɢ8&) i)%>M))i-:i55VT;50-;I1I1%ԅ<ԙ9@ @@@^A A) I1 II OU >cT,QY@A2@2@2Njٱ2! :AHRS rotation from veh to nav: [[0.869310,0.493796,-0.021579],[-0.481121,0.855383,0.191945],[0.113241,-0.156478,0.981168]]2Hb?@\?޿K_??U?@wĿ e?i2@I2π^;2CYB~ByBIIF=)FR=bDN VDN:2yVS=%V^=ٔVQ-Z>9XYX=^lGy\^D;E^>`Q 5f5b[?Q 9f5bI)bBYhyj0Q IjF@bADIb!;ibO;bu5yrBɮrArhEgODNOT Ignoring new targets: 38.38 m.*"   ʎjZ@V@]܂Bɢe7)a eia)eR顉i):i$4;o;IIE EE%E"E:*ET:VE 4ZEa@a@a@a@}EG腿9YgAB=ֿ>B9B=IB=~BB= =B9B9B=l;B=*EBCBCBB =B =CE59@ @@@! ^A Q A!I)I9OM>jT,\QY@A2 @2@2ٱ2 NAHRS rotation from veh to nav: [[0.869478,0.493448,-0.022761],[-0.480668,0.855782,0.191299],[0.113874,-0.155389,0.981268]]2H?`?NB޿b?x|?&?@ÿf?i2 @I2*^;2CYV~ByVIbDfVDf0ynZ=%r,=ٔv쯺Q-z>9|Y= lGy FYE}:E>Q 5U5?Q 9]59O)BYayeQ IF@LDI;a:E>;a9@ @@/@ԩ^A oM;A ZAzA \A A- .AI1 II Oe >qT,aQY@A6@6@63ٱ6 >AHRS rotation from veh to nav: [[0.869993,0.492423,-0.025129],[-0.479447,0.856762,0.189972],[0.115076,-0.153226,0.981468]]6H?`܃?B޿`j?P?u?ÿ/h?i6@I6^;4YJ~ByJIiMb@Mb@Mb@ 9MbX?Q뱿l?Y*?y\=9NA)A rDA)0AY3;AbD1VD1y=>%EC=ٔE=Q-E>9M ?YM ?=MlGyIU[;EU>YQ 5e5]?Q 9e5]R)]BYe+?Q Ee:yeQ ImF@]TDI] ;i]m ;]S}5yu(BɮuAurEgODNOT Ignoring new targets: 38.38 m.*"9 99AAEFBʎAIIjIZM@V@颕Bɢ9)  ޿i)_i;i;?Y;IIu9@q @q@u_0@q@}@}@}@}E EEE"E,:*EP:VEZEa@a@a@a@!AM ؟AIQ Ia Ou >B- ҿ>B- CB- IB- %BB- =B) B- wDB- Cl;B- *EA (wT,eQY@AF@F@Fs#ٱFQ NAHRS rotation from veh to nav: [[0.870719,0.490981,-0.028052],[-0.477783,0.858069,0.188258],[0.116502,-0.150517,0.981719]]FH@?;l?޿ Mu?? ӽ?$Dÿ=j?iF@IFK^;FCYV~ByVI XXbDb VDb2yjխ<%jS=ٔj=sQ-j>9n"?Yn"?=nlGynFr&;Er>tQ 5z5vY1?Q 9z5vV)v'BYxyz-Q I~F@v\DIvd:iv<;v5y2BɮъAsEgO-DNOT Ignoring new targets: 38.38 m.))*)"1 11119ʎ99AjAZEyV@mBɢmks<)q u-߿iq)udqqiu#;i}}8;~O;II19@ @@4@AaaIqIO9>ԡE  E E E "E [:*E g:VE ZE BE ~AHRS rotation from veh to nav: [[0.871603,0.489265,-0.030458],[-0.475801,0.859300,0.187660],[0.117988,-0.149073,0.981762]]2H,? P?a0s޿c?`A?`x4?ÿ`j?i2@I2 _;2CYvByvIiuMb@Mb@Mb@qqqq q9u~jt?A`"Q?Yu$?yuYu=ٔQdQ->9Y=lGyF;E>Q 55D?Q 95Z)@BYX%?Q E:y8Q IF@eDI ;i ;u5yɮAgODNOT Ignoring new targets: 38.38 m.*" \BʎjZ `V@5Bɢ5c2)1 =kݿi9)=j99i=u0;iEEE;En  CT,ARY@A2&@2!@2;ٱ23 :AHRS rotation from veh to nav: [[0.872295,0.487905,-0.032402],[-0.474085,0.860097,0.188355],[0.119768,-0.148940,0.981566]]2H?9? gW޿ ?? $?`xÿh?i2&@I2j(_;2CYB8ByBIbDJVDJ yR=%V[=ٔVQ-V>9Z ?YZ ?=ZlGyZFZ;EZ>\Q 5b5^rU?Q 9f5^ ^)^UBYdyfQ IfF@^lDI^:i^:^5yj;Bɮj~AntEgODNOT Ignoring new targets: 38.38 m.*"    ʎ jZW@E EE&E"E:*ErN:VE4ZEa@a@a@a@Bɢu7)1 5ܿi9)=p99i=1<;iEE;E!B B !IB BB  =B B B zk;B Z*EA؟AI IO-N>I i߉ Iߍ AQ;T,/RY@AB6@B0@BٱB RAHRS rotation from veh to nav: [[0.872968,0.486479,-0.035552],[-0.472358,0.861306,0.187164],[0.121673,-0.146595,0.981685]]BH[?y"?@3;޿я??%?¿i?iB6@IB1_;BCY^dBy^IIn%=)nC=ttbD~VD~1yw=%C=ٔ_Q->9%"?Y-"?=-lGy)5;E5>QQ 5u5U{h?Q 95Ua)UnBY y RQ IF@UuDIUo8T,PIRY@A(BC@Ba>@BzٱB_o JAHRS rotation from veh to nav: [[0.873554,0.485272,-0.037610],[-0.470803,0.862050,0.187655],[0.123485,-0.146220,0.981515]]BH '??A!޿? ??R¿h?iBC@IBx_;BCYVnByVIi5Mb@Mb@Mb@1111 195p= ף?Q롿~jt?Y5%?y5\5<5JA5)A 5vDA)5r.A1Y59AbDEVDE:yU/<%]D=ٔ]8Q-]>9YYa=elGyeFe;Ee>iQ 5u5m|{?Q 9}5mte)mBY}o%?Q E}:y}R Q I}F@m}DIm:im:m5yEBɮ9AuEgODNOT Ignoring new targets: 38.38 m.*" [BʎjZQGW@颍#BɢB) ڿi)|顑iaT;i4a;OE EEE"Em:*E n:VEZEa@a@a@a@ A A ?AB ο>B CB SIB BB  =B B B k;B *E\T,cRY@A2;Q@2L@2iٱ2 :AHRS rotation from veh to nav: [[0.874150,0.484071,-0.039206],[-0.469249,0.862668,0.188704],[0.125168,-0.146558,0.981251]]2H ??,޿?t'??j¿hf?i2;Q@I2_;2CYFuByFI`bDNVDNkyr<%rS=ٔvFQ-v>9v ?Yv ?=vlGyxz;Ez>|Q 55~W?Q 95~h)~BY y  Q I F@~DI~:i~:~i5yɮ+AgO=DNOT Ignoring new targets: 38.38 m.AA*A"A AAAIIʎIIQjQZU%`W@},Bɢ6\@) qܿi)`顁ia;i;0eA E  E E 'E "E :*E g:VE '4ZE BE '9"?Y"?=lGyF ?;E>Q 55&?Q 95l)BY9(?Q E:y Q IF@DIe ;iz ;5yOBɮ#AgODNOT Ignoring new targets: 38.38 m.*" VBʎjZ?{W@7Bɢ.9) $ܿi)!i%`m;i%-;->uԡ nT,ɖRY@A2]@2X@2n{ٱ2 :AHRS rotation from veh to nav: [[0.874440,0.483434,-0.040563],[-0.467663,0.862235,0.194528],[0.129016,-0.151134,0.980058]]2H@j??@Ĥ1ݿn?N??YXÿ@\?i2]@I24_;0YFByF2IbDNVDNβyV=%VY=ٔVQ-Z>9XYX=ZlGyX^xY:E^>`Q 5f5bβ?Q 9f5bo)bBYdyf| Q IjF@bDIb:ib:bh5ynYBɮn-AnvEgODNOT Ignoring new targets: 38.38 m.* "    ʎjZ`aW@EABɢEJhB)I MܿiI)MPIIiMTx;iUUN;ԡDzDAAE EE&E"E:*Ec:VE4ZEa@a@a@a@UwBuCBu~IBu BBqBqBqBuk;Buc*E^Ac<AA II IY Om > cT,RY@AZX@ZS@Zw ٱZx jAHRS rotation from veh to nav: [[0.873858,0.484475,-0.040687],[-0.468062,0.860974,0.199101],[0.131490,-0.154942,0.979134]]ZH`? ?Ԥݿ?"|?`? !ÿU?iZX@IZm_;ZCY~By=I !%p;bD5VD5N2yM*=%U@=ٔU"Q-]>9YYY=]lGyeFe}ºEe>qQ 55uƵ?Q 95us)uBYy Q IF@uDIu\;iu;u!5yBɮيAEYgODNOT Ignoring new targets: 38.38 m.*" ʎjZ˲W@E EE*E"E:*EL_:VE(N4ZEBE2ԩ^A zl< A1 IA IQ O] >T,XRY@A2U@2O@2 ٱ2 $ :AHRS rotation from veh to nav: [[0.873360,0.485362,-0.040822],[-0.468298,0.859782,0.203644],[0.133939,-0.158737,0.978194]]2H?@-?椿 ݿV??`$? QĿ\M?i2U@I2_;2CYBByFMIIJ<)J=HJAiMb@Mb@Mb@ 9K7?S㥫Mb?Y)?y/]<JAM&A GEA)3+AYz8AbD-VD-y=o=%=<=ٔ=Q-E>9AYA=ElGyAMꆺEM>QQ 5]5Uڵ?Q 9]5Uw)UBY]M*?Q Ee:yeKQ IeF@UDIUQ:iUZ:U5ԩyBɮ͊AgOmDNOT Ignoring new targets: 38.38 m.ii*i"q qqyy}ZBʎjZ W@]XBɢ]$?)y } ݿi)Œ顁i;in;dhCrG )}Y~9Y[A^A@p<Bu ο>Bu CBu IBu +BBu  =Bq Bq Bu Yl;Bu *EB%CB%CB!B% =B% =C%ɔ5) A) Ia I O >'T,seRY@A:mN@:4I@: ٱ:) BAHRS rotation from veh to nav: [[0.872637,0.486670,-0.040716],[-0.468821,0.858142,0.209280],[0.136791,-0.163537,0.977008]]:H?%?ؤ+޿u?? Z?ĿC?i:mN@I:_;:CYNByNRIbDVVDVܲy^<%^T=ٔbQ-b>9`Y`=flGyfFf Ef>hQ 5n5j쵊?Q 9n5jX{)jBYpyr{Q IrF@jDIj#;ij;jJ5ytɮvAtgODNOT Ignoring new targets: 38.38 m.*" !!!ʎ!))j)Z- 'W@UaBɢ]VO)Y ]0޿iY)e &aaieƍ;immݸ;mz]E  E E E "E :*E V:VE ZE BE ?wi% ޿je??e?`ſV8?i2E@I2_;2CYBByFYIiEMb@Mb@Mb@AAAA A9E?T㥛 Q?YE,?yEEu9qYq=ulGyq} E}>Q 55?Q 95x)BY-?Q E:ySQ IF@DIx5;iW;5yBɮΊAEgODNOT Ignoring new targets: 38.38 m.*" @BʎjZ`W@-lBɢ5{Aq)1 ߿i)<iV;if;O :T,SY@A2(;@25@2\ٱ2 4 :AHRS rotation from veh to nav: [[0.870830,0.489937,-0.040204],[-0.470494,0.854376,0.220628],[0.142443,-0.173213,0.974529]]2H`? [?޿ W?=?`;? +ƿW/?i2(;@I2_;2CD@zDB@AEF EFEF%ED"EF:*EF]t:VEF 4ZEDaJ@aJ@aJ@aJ@YRByVmI TTZ=Z=bDbVDb0yf-=%jU=ٔjQ-j>9j ?Yn ?=nlGynFn_Er>pQ 5v5r?Q 9z5r0)r7BYxyzQ IzF@rDIr:ir:r`5yBɮAEgODNOT Ignoring new targets: 38.38 m.*"     ʎ1jQZm tX@颥wBɢDD) X޿i)4顩i;i˹;2>BCBIBDBB =BBxDBl;B+Em9@i @i@m@0@i^AA>A?) A ؟AI I O% >Q fT,4SY@AB/@B*@BfFٱB 9 JAHRS rotation from veh to nav: [[0.869824,0.491743,-0.039938],[-0.471493,0.852374,0.226171],[0.145261,-0.177899,0.973268]]BH?x?r,޿ F? /?@?aƿ%?iB/@IBݝ_;BCYVByVuIbDbVDb1yv<%zH=ٔZQ->9"?Y"?=lGy-"YE->AQ 55El&?Q 95E:)EQBY yQ IF@EʲDIELAT,MSY@A8>&@> @>ٱ>}6; FAHRS rotation from veh to nav: [[0.868934,0.493244,-0.040799],[-0.472365,0.851104,0.229115],[0.147734,-0.179813,0.972544]]>HN?N?㤿:;޿@>&@I>3_;>CY ByIԡiMb@Mb@Mb@ 9Q?ʡE~jt?Y5?y-<JA#A )(AY6AbDVDy=%$=ٔԤQ->9 ?Y ?=lGyF E>Q 5 5>?Q 9 5p)vBY87?Q E:y.Q IF@ղDI:i:M5yBɮYA%EgOEDNOT Ignoring new targets: 38.38 m.II*I"I IIIQUbBʎQQYjYZ]QX@颅Bɢ ~C) ۿi)k_顉iӢ;iq;B- CB- IB- ]BB- =B) B) B- l;B- +E ^A= )<Ai Iq I O >T,}hSY@A>J@>@>ٱ>: FAHRS rotation from veh to nav: [[0.868270,0.494227,-0.042970],[-0.472934,0.850783,0.229131],[0.149801,-0.178626,0.972447]]>H?i?@"D޿@9?-T?,?8ƿ`H?i>J@I>+Z_;>CH L)LNLPPPiRIPPITiV r@ TT)TX XXXX\\I^H)\i\)`I`b` ``ddiddYdYj"ByjIIn=)n;ppbDvVDvyG<%=ٔ%ջQ-- ?9)Y)=-lGy-F5(E5 ?9Q 5E5=M?Q 9E5=ُ)=BYAyMkQ IMF@=ܲDI=:i=:=5yQɮUQAQgO}DNOT Ignoring new targets: 38.38 m.yy*" ʎjZeX@颽BɢdY) ݿi)NiK;i;õmT,ˁSY@A2@2@2>ٱ2-; :AHRS rotation from veh to nav: [[0.867409,0.495661,-0.043832],[-0.473881,0.849729,0.231079],[0.151782,-0.179669,0.971947]]2H??#qT޿0?@?m?gƿ0?i2@I2_;0Y=8By=IiMb@Mb@Mb@ 95^I ?B`"۹ˡE?Y8?yν'=KAh!A )'AY5AbDVDy~=%==ٔtQ->9Y = lGy  ?E >Q 55Xb?Q 95)BY%*:?Q E%:y%S!Q I%F@DI:i]:޹5y-Bɮ-A5EgO]DNOT Ignoring new targets: 38.38 m.YY*Y"Y YYaae\BʎaiijiZm+X@额Bɢ^jF) ڿi)T顡i;iɺ;&T,SY@AE$ E&E$E$"E$*E&x:VE$ZE$a*@a*@a*@a*@Z @Z@Z<'ٱZ6: bAHRS rotation from veh to nav: [[0.866540,0.497004,-0.045782],[-0.474810,0.849150,0.231301],[0.153833,-0.178693,0.971804]]ZH`??p Ic޿`<,?@C?ΰ?mƿ?iZ @IZ_;ZCYYeKByeIimAAbDuVDukyL=%R=ٔQ->9Y=lGyFQE>Q 55u?Q 95٘)BYy!Q IG@DI:i:D5yBɮϊAEgODNOT Ignoring new targets: 38.38 m.*" ʎqqyjyZ}%X@Bڿ>BCBIB|BBBBBl;B+EBɢI) ؿi)miG;i;6;II!ԉ9@ @@/@@@[AԱ^AΒ;I I O >OT,SY@A2@2@2ٱ2z8 BAHRS rotation from veh to nav: [[0.865793,0.498129,-0.047638],[-0.475612,0.848758,0.231091],[0.155546,-0.177420,0.971765]]2H?W?@dnp޿@)?d?`? ƿ`?i2@I2i`;2CYVdByVIbDmVDmܲy?=%G=ٔQ->9 Y==lGy9Mt%EM>Q 55߉?Q 95)BYy!Q IG@DItAm ?I I O >A ĩT,F]SY@A2@2@2Z!ٱ25 :AHRS rotation from veh to nav: [[0.865323,0.498660,-0.050530],[-0.475918,0.849088,0.229241],[0.157218,-0.174319,0.972057]]2H?@ ? ߩ`qu޿+?W??Pƿ?i2@I2;`;0Yb|Byb IiMb@Mb@Mb@ 9 ףp= ?Cl绿Zd;O?YQ8?y;߽j<=HA5"A BA)I&AY4AbDVDy4=%E=ٔÇQ->9!Y!=%lGy%F%E->)Q 555-?Q 9=5-)-BY=:?Q E=:y=$Q I=G@-DI-; ;i-;-{5yE BɮM2AIgOuDNOT Ignoring new targets: 38.38 m.qq*q"q qyyy}BʎjZ X@颵ăBɢx!R) ѿi)项i;i;;III)E9@A @A@E}0@AIEe EeEe(Ea"Ee:*EeVL:VEec44ZEaam@am@am@am@qB<A<B׿>BB:IBBB =BBBl;B+E^Am #2;I I O >ԙ T,FESY@A2>@2@2p#ٱ2f1 NAHRS rotation from veh to nav: [[0.864873,0.499077,-0.054006],[-0.476167,0.849682,0.226508],[0.158932,-0.170185,0.972511]]2H ?`?y޿0?2?@W?@ſ?i2>@I2_;2CYVByVIbDbVDb:yj:=%ja=ٔjϜQ-j>9lYl=nlGylr6Er>tQ 5v5v𭶊?Q 9z5v)v>BYxyz$Q I~G@v DIv;iv;v5yɮAgO-DNOT Ignoring new targets: 38.38 m.))*)") )1119ʎ999j9ZE/X@m΃BɢmHP)i m.ѿii)ueqqiu;i}}";}d;IyIqU9@Q @Q@Ur4@Q@e=@e=ԙ^AIIIqO>Em  Em Em &Ei "Em [:*Em :VEm 4ZEi BEm 9yYy=}lGy}FݹE>Q 55?Q 95x)eBY4?Q E:yQ IG@DIe ;i ;[5yBɮAEgODNOT Ignoring new targets: 38.38 m.*" rBʎjZZY@كBɢH) пi)E<顙i;i<;;II-9@) @)@5/@1iI^AS;IQIiO>) RU,TY@AD zDAAE EE%E"E:*E;J:VE 4ZEa@a@a@a@4T`E脿9AYEeA}P@}@}:(ٱ}X( AHRS rotation from veh to nav: [[0.864234,0.499171,-0.062672],[-0.475669,0.851330,0.221308],[0.163825,-0.161451,0.973188]]}HΧ?@j?C Zq޿>?S?8?nĿ [$?i}P@I}x`;}CYByOIbDVD:2y>%E=ٔ~Q->9Y=lGyC:E>Q 55ն?Q 95ʮ)BYyQ IG@DI:i:5yBɮAEgO%DNOT Ignoring new targets: 38.38 m.!!*!"! !))))B=ֿ>B9B=xIB=׀BB9B9B9B=l;B=*EBCBCBB =B =C5ʎ)YYjYZ]@8Y@BɢpE) I ˿ii)miqiu;iu};};IyIyE9@A @A@A@Ay^A ;Ա A ؟AI I O% > U,6TY@A@F~@FE@F|)ٱF$ RAHRS rotation from veh to nav: [[0.864269,0.498727,-0.065650],[-0.475114,0.852197,0.219153],[0.165245,-0.158216,0.973479]]FH?$?@vΰBh޿1E?5 ?@&?k@Ŀ&?iF~@IF^a;FCYZ΀ByZmIbDbVDbyzI>%zY=ٔz4zQ-~>9~"?Y~"?=lGyFG:E> Q 55 涊?Q 95 ) BYyQ IG@ $DI I;i ; G5y%RBɮ%A%EgOMDNOT Ignoring new targets: 38.38 m.II*Q"q yʎjZ@W7Y@EM EMEM&EI"EM:*EMX:VEM4ZEIBEM%]5=ٔ]Q-]>9aYa=elGyamEm>qQ 5}5u"?Q 9}5uZ)uBY}5?Q E}:y}cQ IG@u.DIu:iu:u75y]BɮƉAEgODNOT Ignoring new targets: 38.38 m.*" BʎjZPY@BɢL) ÿi)1i5J;i5a;5Z+;I1I1@ @@/@D5%=D5a=E= E=E=$E9"E=:*E=[:VE=4ZE9aE@aM@aM@aM@)B=ҿ>B=CB=IB=BB9B9B9B=;l;B=*E^A% #2;a I I O >L)U,jTY@A2J@2@2,ٱ2y >AHRS rotation from veh to nav: [[0.864409,0.497790,-0.070728],[-0.473982,0.853711,0.215680],[0.167744,-0.152912,0.973899]]2H9tYt=vlGyvFzGE;Ez>|Q 55~ ?Q 95~)~BYyBQ IG@~6DI~K:i~ :~T5yɮtA)gO=DNOT Ignoring new targets: 38.38 m.AA*A"A AAAIIʎIQQjQZU@gY@}Bɢ:N) i)e顁i3d;i~;6U;II59@1 @1@=3@9Y^AX;ԙIAIiO>EE  EE EE "EA "EE :*EE 1:VEE (3ZEA BEE o%A)=h!A9Y=1AbDUVDU02ye=%eC=ٔm/޺Q-m>9iYi=ulGyqu/;Eu>yQ 55} ?Q 95}E)}BY1?Q E:yQ IG@}?DI}:i}f:}5ԙygBɮEAEgODNOT Ignoring new targets: 38.38 m.*" BʎjZ`Y@ Bɢ BPE)  i)i;iq;. 3'U,4TY@AE EE$E"E[:*Ee:VE4ZEa@a@a@a@BQ@B@B;.ٱB; JAHRS rotation from veh to nav: [[0.865174,0.496073,-0.073383],[-0.472066,0.855048,0.214587],[0.169196,-0.151013,0.973944]]BH??6ɲR6޿\?@w?:?hTÿ@*?iBQ@IB;7b;BCYV-ByVIIZ<)Za=XZAbDbVDbkyf=%jU=ٔjQ-j>9hYl=nlGynFn";Er>pQ 5v5r2?Q 9z5r()rBCBIBQBB =BBvDBk;Bk*E Bɢ F)  ƺi )h]iU;i==aO;=Ǣ y 5^-U,TY@A6*@6@6/ٱ6( BAHRS rotation from veh to nav: [[0.865196,0.495876,-0.074450],[-0.471687,0.855227,0.214704],[0.170138,-0.150644,0.973837]]6H?n?`0޿^?@n{?? QHÿ)?i6*@I6/b;6CYJ9ByJIbDRVDR02yZPn=%ZL=ٔ^.Q-^>9\Y`=blGy`bJc:Eb>dQ 5j5fTE?Q 9j5f5)f_BYlyn6Q InG@fPDIf3;ifr;f5ypɮrAtgO DNOT Ignoring new targets: 38.38 m.*" !!11ʎ99AjAZEY@m"Bɢu>J)q uAiq)uyyi}2;i;yԹ 8F4U,|TY@AY-WBy-IiMb@Mb@Mb@ 9S?X9v rh?Y/?y}C =>A$A ?A)AY.AbD VD2y8>%9=ٔQ->9Y=lGyFE>Q 55Z?Q 95|)BY 0?Q E:yBQ IG@ZDIe ;i ;5y }Bɮ A EgO5DNOT Ignoring new targets: 38.38 m.11*9"9 999AEBʎAAAjIZMY@u-BɢuLB)}9< }iy)},2½yyi}Y;i";^BCBYIBBB =BBtDBk;B*E^A< AE .AII IY Om >4p:U,TY@ATFf@F-@F]0ٱFF bAHRS rotation from veh to nav: [[0.864909,0.496326,-0.074788],[-0.471636,0.854616,0.217235],[0.171734,-0.152616,0.973250]]FH@U?@?`M%F/޿`Y?@X?b?ÿ$?iFf@IFa;FCYjhByj*I llr=pbDvVDvܲy~Q=%~Z=ٔ~Q-~>9 ?Y ?=lGy E >Q 55k?Q 95)BYyQ I%G@bDI;i;5y)ɮ-TA)gOUDNOT Ignoring new targets: 38.38 m.QQ*Q"Q QYYYaʎaaajaZm`Y@颕8Bɢ2F) i)~Ľ顡i;i; WAU,UY@A2@2 @21ٱ2 # :AHRS rotation from veh to nav: [[0.864154,0.497822,-0.073559],[-0.472636,0.853092,0.221020],[0.172781,-0.156228,0.972491]]2H`&?Q? Բ?޿L?_J??Kÿ ?i2@I2b;2CYZyByZ?I|iEMb@Mb@Mb@AAAA A9EFx?p= ף?YE+?yEEA)E$AAYE=.AbDUVDU:2ye#=%mC=ٔm&Q-m>9qYq=ulGyuFuOEE}>Q 55~?Q 95()BY,?Q E:yQ IG@jDI]:i:5yBɮ AEgODNOT Ignoring new targets: 38.38 m.*" BʎjZZ@BBɢ |.H)  #i ) ƽi;ij;Ӵ;II)m9@i @i@m0@iQ^AX<ԁ A ؟AI I O >E]  E] E] "EY "E] :*E] :VE] (3ZEY am @am @am @am @bGU,2UY@A2 @2@22ٱ2# >AHRS rotation from veh to nav: [[0.863841,0.498316,-0.073888],[-0.472923,0.852716,0.221853],[0.173559,-0.156702,0.972277]]2H ?i?U겿]D޿tI?e?*7?@Ŀ?i2 @I2*a;2CYFByJ\IbDRVDR1yZ=%ZU=ٔZQ-Z>9^"?Y^"?=^lGy\^Eb>9AQ 5M5=K?Q 9M5=)=BYQyUQ IUG@=sDI=2;i=4;= 5y]ƣBɮ]؈A]EBm>BmCBmIBmƁBBm =BiBmsDBmj;Bm)EgODNOT Ignoring new targets: 38.38 m.*" ʎjZ`Z@LBɢ(F) i)ɽi;i);!I;IIq%D-<ԡ9@ @@/@@@=i!I%A ^A 0; A1IYIO>NU,>UY@AEr ErEr'Ep"Er:*Er:VEr'4ZEpBEpa 2EpaJErf;a:Erf;a@@e3ٱ.%  AHRS rotation from veh to nav: [[0.863313,0.499251,-0.073751],[-0.473547,0.851903,0.223640],[0.174481,-0.158146,0.971878]]H C?`?VᲿN޿ B?@8?bU?$>Ŀ ?i@Ia;CYBy%`II-=)-=))iiMb@Mb@Mb@ 9/$?sh|?~jt?Y,?y<?AA >A)AY-AbDVDy@<%=ٔ)޺Q->9Y=lGyFE>Q 55?Q 95m) BYr-?Q E:yQ IG@~DIQ:iZ:5y ɮ ˈA gO5DNOT Ignoring new targets: 38.38 m.11*1"1 9999=BʎAAAjIZM?Z@uYBɢ}<)y }miy)}̽yi;i@; Ge;I I ԙ-*:< 9@  @ @ @  ^A ; C؀GA99YcAE% E%E%(E!"E%:*E%c:VE%c44ZE!a-@a-@a-@a-@AiIIO ?mWU,d]aUY@AA\A^AABb>BbCBbIBbBBb =BbDDBbpDBbk;Bb)EBCBCBCB =B =C7YBy|IbD%VD%y͵=%#=ٔQ->9Y=lGyE>Q 55P?Q 95})2BYyQ IG@DI;i;45yѣBɮAgODNOT Ignoring new targets: 38.38 m.*" ʎjZ_Z@%eBɢ->)) -Ԯi))5rν11i5z;i==/V;=;I9IAAAII9@ @@/@)Q ^A Q;A.AI!IIOu>ԙ`U,- UY@AE* E*E*'E("E*m:*E*V:VE*'4ZE(BE*T9M ?YM ?=MlGyMFUEU>YQ 5e5]o׷?Q 9e5])]^BYe2?Q Ee:ym"Q ImG@]DI]/:i]#:]5yܣBɮ`AE gO=DNOT Ignoring new targets: 38.38 m.99*A"A AAAimBʎiiqjqZuZ@颽rBɢ*B<) i)Pѽiq;i<;+;II}9@y @y@}0@9a ^A ;A ?A >A ؟AI I O >1fU,NUY@A0> @>@>a6ٱ>* FAHRS rotation from veh to nav: [[0.861035,0.503367,-0.072397],[-0.476688,0.848469,0.229931],[0.177166,-0.163468,0.970510]]>H? ? ޿@&?cn?c?Ŀk?i> @I>fa;9f"?Yf"?=flGyjFjbEj>lQ 5r5n緊?Q 9r5n)n|BYtyv"Q IvG@nDIn;in:n5yxɮz:AxgODNOT Ignoring new targets: 38.38 m.!*!"! !!!))ʎ)))j1Z5cZ@]zBɢ]޹T)a e,ia)eӽaaie;imm ;u(b;IqIqI)ZA59@1 @1@54@1Eu EuEu%Eq"Eu:*EuVL:VEu 4ZEqa@a@a@a@ԉB>BCB IB!BB =BBBk;B5*E^AU;A .AI I O > DlU,uUY@A2|ݱ@2Cظ@297ٱ2U, :AHRS rotation from veh to nav: [[0.860350,0.504577,-0.072109],[-0.477621,0.847487,0.231613],[0.177978,-0.164828,0.970132]]2H?~%?u`V޿? ?`?`ſQ ?i2|ݱ@I2`;2C`YbBybIbDj VDj2yr2=%vH=ٔvLQ-v>9z ?Yz ?=zlGyxz;Ez>|Q 55~A?Q 9 5~)~BY y '#Q I G@~DI~p:i~g:~;5yBɮAEgOEDNOT Ignoring new targets: 38.38 m.AA*A"A AAIIIʎIQQjQZU Z@颅BɢҫG) i)ս顉i8;i;`';II59@1 @1@5/@1E EE&E"Em:*Ek:VE4ZEBES,sU,QUY@A2Uѱ@2̸@288ٱ2e- :AHRS rotation from veh to nav: [[0.859489,0.506084,-0.071814],[-0.478812,0.846303,0.233476],[0.178935,-0.166285,0.969707]]2H@?1?_b ۤ޿??T?Hſ?i2Uѱ@I2>`;2CYBByFI)iEMb@Mb@Mb@AAAA A9E9v?:v+?YE4?yEԽE=EQ9"?Y"?=lGyFcE>Q 55<?Q 95)BY67?Q E:y%Q IG@DI;i; 5yBɮ~AEgOeDNOT Ignoring new targets: 38.38 m.aa*a"a aiiimBʎqqqjyZ}Z@%Bɢ%kB)! %餿i!)-ؽ))i-;i55;5T:I1I9I9@ @@/@q^A 2;A ZAzA \AE  E E *E "E :*E xv:VE (N4ZE a @a @a @a @B A <B >B B A IB JBB  =B B oDB k;B W*E A .AI I O- >WyU, -UY@A2 ȱ@2¸@2Gc9ٱ2- :AHRS rotation from veh to nav: [[0.858768,0.507205,-0.072534],[-0.479686,0.845646,0.234062],[0.180055,-0.166211,0.969512]]2H{?;?+޿??@ ?`fFſ>?i2 ȱ@I2`;2CY^By^IbDjVDj0yr{=%rW=ٔrkDQ-r>9v ?Yv ?=vlGytzCEz>xQ 55z?Q 95z)zBYy&Q IG@zDIzz;iz;zH 5y&BɮzAEgO=DNOT Ignoring new targets: 38.38 m.99*9"9 AAAAAʎIIIjIZU7Z@y=Bɢ=L)9 =i9)E)ڽAAiEO;iMMJ;M09IIIQ9@ @@/@ԩ^Arg:AE ؟AII IY Om > AU,VY@AbE]'4jE]!4rE]S)0E* E*E*'E("E*:*E*P:VE*'4ZE(BE*59"?Y"?=lGyFE>Q 555?Q 95)BYt8?Q E:yl Q IG@DIL:i:W5y1BɮTAEgO DNOT Ignoring new targets: 38.38 m. *" Bʎ!j!Z%@[@MBɢUqD)Q UiQ)Uk[ܽQYi];i]e0;e:IaIa9@ @@/@!Q^A% :AQ Ia Iq y O >hU,;VY@AYn:Byr, IvAAtbDzVDz:y=(>%=f=ٔAQ-E>9AYI=MlGyIIEM>QQ 5]5UF?Q 9]5U~)UB5CB5s IB5sBB5 =B1B5rDB5k;B5h*Eԁ^A59A5?A5?ԱAa Iq I O > U,<4VY@A6@6@6;ٱ60 & BAHRS rotation from veh to nav: [[0.857719,0.508184,-0.077899],[-0.480760,0.846495,0.228728],[0.182177,-0.158733,0.970369]]6H nr?` C?/޿{?@F?Q? `QĿB ?i6@I6$`;6CYJJByJA I LLbDVVDVkyZ>=%^S=ٔ^Q-b>9`Y`=blGybFf{yEf>hQ 5n5jX?Q 9n5j)jbBYlyn Q IrG@jѳDIj;ij];j5yv&BɮvoAvEgODNOT Ignoring new targets: 38.38 m.*" !!ʎ!!!j)Z-{1[@UBɢUqH)a mMii)u 顁ih;i*8;̂VIIԱ9@ @@4@PExceeded connect timeout, disconnecting.E EE$E"E:*Ega:VE4ZEBE1 {U,BNVY@AY~YBy~S IiMb@Mb@Mb@ 91Zd?J +Mb?Y";?yȽ@=l7A/A 9A)AY 'AbDVD y=%7=ٔQ->9Y = lGy  E >Q 55n?Q 95 )BY%1=?Q E%:y%"Q I%G@۳DI3:i:5y)ɮ-2A1gODNOT Ignoring new targets: 38.38 m.*" BʎjZ &O[@-Bɢ-@)1 5"i1)5+R11i5e;i==;E(IAIA9@ @@@9^A[RSEq  Eu Eu )Eq "Eq *Eu &p:VEu FA4ZEq a} @a} @a} @a} @ԁ BU >BU CBU IBU BBU  =BQ BQ BU k;BU b*EA9 IA IY Oe > U,shVY@A 6@6]@61<ٱ6c" >AHRS rotation from veh to nav: [[0.857224,0.508611,-0.080504],[-0.481224,0.846885,0.226295],[0.183274,-0.155245,0.970726]]6Hbn?F?@蛴a޿?@:?u?ÿ0?i6@I6]`;6CYFyByFz I N%Zb=ٔZPJQ-Z>9\Y\=^lGy^FbPEb>dQ 5j5f?Q 9j5f )fBYhyj#Q IjG@fDIf:if:f5yr1Bɮr߆ApgODNOT Ignoring new targets: 38.38 m.*" ʎjZ$f[@ƄBɢH) Fi)i=;ifU;$II!q9@ @@/@ԙ^A"A[AzAZA A% .AI) I9 OM > nManaging dock network, ignoring radio surface power offU,J^VY@AD<D%=E EE'E"E:*EV:VE'4ZEBE XYmBym IiMb@Mb@Mb@ 9X9v?RQ?Y3?y½L=4A^A 4A)^AY$AbDVDJ2y-<=%-(=ٔ-Q-->95 ?Y5 ?=5lGy15E=>9Q 5M5=p?Q 9M5=)=BYM5?Q EM:yM4#Q IMG@=DI=7 ;i=;=#5y]pBɮ]A]EgODNOT Ignoring new targets: 38.38 m.*" BʎjZ0[@фBɢ>) i)o3i;iи;6ߜIII)[A9@ @@@^Ae *! A ؟AI I O >ݶU,o)VY@A %EG9Q9Y"gAY-BE= E=E9E9"E=:*E=~:VE9ZE9aE@aE@aE@aE@y- IbDVD0y$>%D=ٔQ->9"?Y"?=lGyFE>Q 55?Q 95N) BYyQ IG@DI:iF:&5yɮAB>BCB IB؂BB =BBqDBk;B;*EBCBCBÔCB =B =CL6gODNOT Ignoring new targets: 38.38 m.*"! !!!)))ʎ111j1Z5`J[@eڄBɢe*@)a eNjii)miiim;iuuW;qIqIy9@ @@@Q^A 0:ĺԁ ia Ie AA I! I1 O= >P֬U,׵VY@A2@2@2>ٱ2q :AHRS rotation from veh to nav: [[0.856446,0.509425,-0.083589],[-0.482112,0.847170,0.223319],[0.184578,-0.150961,0.971155]]2Hh?5M?f@޿? ???Rÿ`?i2@I2/_;2C @)B`AB@@DDiDIDDIDiJq@ HH)H   ))11I5j<)1i1)9I9=\9 9AEuAAiAAYAYUByU IbDeVDeqy} =%}v=ٔ}ڂQ-}?9Y=lGygE?Q 55?Q 95),BYy#Q IG@DIK:i:)5y{BɮAgODNOT Ignoring new targets: 38.38 m.*" ʎjZ[@Bɢ~|I) zi)i ;i%%;%mI!I)=9@A @A@E0@A@I@M[AԙEm EmEm&Ei"EmV:*Em:VEm4ZEiBEm9 U,VY@AR@Rߣ@R>ٱRg fAHRS rotation from veh to nav: [[0.856134,0.509852,-0.084179],[-0.482468,0.847001,0.223189],[0.185094,-0.150466,0.971133]]RH@re? P?`Ɍ@޿ ?y?&?yBÿ?iR@IRR^;RCY͂By I==i%Mb@Mb@Mb@!!!! !9%I +?333333Zd;O?Y%94?y%%j<=%2A%A %2A)%A!Y%"AbDEVDEfyU?=%U==ٔ]zQ-]>9] ?Y] ?=elGyeFeDEe>iQ 5u5my͸?Q 9u5mT)mUBY}5?Q E}:y}Q I}G@mDIm;im;mn-5yɮAgO-DNOT Ignoring new targets: 38.38 m.))*)"1 1119=Bʎ999jAZE [@颭Bɢa=) ei)x顱i;iQ;b+IIe9@a @a@e/0@a)Eu  Eu Eu #Eq "Eu :*Eu L_:VEu 3ZEq a @a @a @a @^A "5B >B B 4!IB BB  =B B pDB j;B )EY A ؟AI I O >U,pzVY@A2Ѧ@2@2:?ٱ2 :AHRS rotation from veh to nav: [[0.855940,0.510087,-0.084719],[-0.482672,0.846959,0.222907],[0.185456,-0.149903,0.971151]]2Hc?R?, ޿`J?5??0ÿ@?i2Ѧ@I20^;0YBy IbD-VD-1y==%E^=ٔE9M"?YM"?=MlGyIMEEM>QQ 5]5U޸?Q 9e5U"#)UxBYayeQ IeG@UDIU;iU;U05ymBɮmAu¨EgODNOT Ignoring new targets: 38.38 m.*" !!!!!ʎ)))j)Z5Y[@1]Bɢe.1D)a eia)eSiiimZ;imuҶ;u9IqIy 9@  @ @ 4@ a^A1ԑAa Ii Iy O > 4U,`WY@AE EE'E"E:*Ega:VE'4ZEBE199Y9==lGy=F=\E=>AQ 5M5E?Q 9U5E()EBYU@6?Q EU:yUhQ IUG@EDIE3:iEQ:E45y]BɮeZAeèEgODNOT Ignoring new targets: 38.38 m.*" BʎjZ@C\@颅Bɢ9) |i)顑i;i ;tIIԹY@Y @Y@]4@a^A uA ZAzA \A A I I O >[U,WY@A6i@61@6!S@ٱ6cb! JAHRS rotation from veh to nav: [[0.854350,0.513046,-0.082880],[-0.484998,0.844399,0.227526],[0.186715,-0.154190,0.970239]]6H`V?@j? 75 ߿ P??E?ÿ1 ?i6i@I6_^;4YRByR6!IbD^ VD^f2yf'>%fi=ٔjiQ-j>9hYh=jlGyhnJEn>pQ 5v5r?Q 9v5r+)rBYtyzQ IzG@r"DIr;ir;r75y|ɮ~A|gO%DNOT Ignoring new targets: 38.38 m.!!*!"! )))11ʎ111j9Z=\@eBɢe/D)i mxii)mZFiiim;iuuqy;}EԫIyIy)Em EmEm&Ei"Em:*Emk:VEm4ZEia}@a}@a}@a}@B>BߍCBy!IBHBB =BBoDBpj;B)E 9@  @ @ /@ ^A3QA.AIIO l>ԁԩ {}U,8WY@A2щ@2@2{@ٱ2 $ :AHRS rotation from veh to nav: [[0.853968,0.513878,-0.081657],[-0.485552,0.843431,0.229921],[0.187023,-0.156696,0.969778]]2HS? q?|紿`J߿`b? n?b?Ŀk?i2щ@I2_X^;0Yf&ByfO!IbDrVDrkyv=%zI=ٔzJQ-z>9~ ?Y~ ?=~lGy~FܺE> Q 5 5 ?Q 95 /) BYyQ IG@ +DI 1:i : \;5y%Bɮ%3A%ĨEgOMDNOT Ignoring new targets: 38.38 m.II*I"I IQQQQʎYYYjYZe`5\@颍 Bɢp<) )si)顑i؋;i8;NIIԑI@Q @Q@U/@QDzD@AbE%Ş4jE%Ş4rE%Ų/E EE%E"E:*Ei:VE 4ZEBE BeU,oRWY@A2ʅ@2@21 Aٱ2q#$ :AHRS rotation from veh to nav: [[0.853667,0.514353,-0.081818],[-0.485937,0.843126,0.230227],[0.187401,-0.156778,0.969691]]2H%mC=ٔmoQ-u>9u"?Yu"?=ulGyq*E>Q 55,?Q 95[4)BY4?Q E:yVQ IG@4DI ;i" ; ?5yBɮAͨEgODNOT Ignoring new targets: 38.38 m.*" BʎjZ@P\@ Bɢ9) ji)"oiG;i%%U;%+ʻI!I!9@ @@/@!^AE EEE"E:*ER:VEZEa@a@a@a@A A BE m>BE ۍCBE !IBE BBE  =BA BE lDBE i;BE ()EY A! I) I9 OM >^U,JlWY@A2ф@2@2eXAٱ2" >AHRS rotation from veh to nav: [[0.853560,0.514397,-0.082646],[-0.486010,0.843311,0.229390],[0.187694,-0.155631,0.969819]]2H]P?@u?H(߿`h?\?@Z?ÿ?i2ф@I2e^;0YFXByF!IbDRVDRkyV=%VW=ٔZMQ-Z>9XY\=^lGy^F^REb>`Q 5f5b>?Q 9f5bQ8)b0BYhyjcQ IjG@bE  E E &E "E *E Ar:VE 4ZE BE )9Y=lGyp~E>Q 55HT?Q 955=)YBYm2?Q E:y Q IG@FDI ;i ;tF5yBɮQAϨEgODNOT Ignoring new targets: 38.38 m.  * "    ʆBʎjZ`\@E'BɢM 4)I M^iI)M]{IQiU<;iU]E;]KڻIYIY]9@Y @Y@]z0@Y^A `Ի A I I O >FU,WY@A2ς@2}@2-Aٱ2" :AHRS rotation from veh to nav: [[0.853390,0.514612,-0.083072],[-0.486190,0.843257,0.229208],[0.188004,-0.155214,0.969826]]2HN?@w?6D߿ ?V? ?`ÿ?i2ς@I2];2CYB|ByB!I J;J;bDNVDNNyv=%vm=ٔz;Q-z?9xYx=zlGyzF|> :E? Q 55 Gd?Q 95 @) wBYy Q IG@ NDI :i  : {I5y!ɮ%A!gOMDNOT Ignoring new targets: 38.38 m.II*I"I IQQQQʎYYYjaZe /\@颍.BɢC(=) Yi)N顑i<;i;>ӻIIEe EeEe(Ea"Ee:*Ee&p:VEec44ZEaam@am@au@au@Be>BڍCB"IBBB" =BEDBkDBh;B(Em9@q @q@u4@q)Y^AI I O >ԁ uU,ܹWY@A2@2s}@2PAٱ2[" :AHRS rotation from veh to nav: [[0.853356,0.514635,-0.083272],[-0.486190,0.843270,0.229160],[0.188154,-0.155069,0.969820]]2HN?w?LQ߿?U?q?@Oÿ?i2@I2#];2CYBByF!IbDNVDNyV=%VO=ٔVʹQ-V>9XYX=ZlGyX^6E^>`Q 5f5bv?Q 9f5bD)bBYdyf Q IfG@bWDIbW:ib :bL5yn BɮnׅAnШEYgODNOT Ignoring new targets: 38.38 m.*" ʎjZ`\@6Bɢ!Y6) Qi)i;iQ˰;oջIIa>i!>9@ @@/@ԉEi EmEiEi"Ei*Em:VEiZEiBEmn% pU,WY@A2i@21@2þAٱ2n/" :AHRS rotation from veh to nav: [[0.853472,0.514431,-0.083341],[-0.486016,0.843424,0.228963],[0.188077,-0.154908,0.969861]]2H@O?7v?U߿T?N??ÿ ?i2i@I2Ƞ];2CYBByB!Ii Mb@Mb@Mb@     9 gfffff?#~jQ?Y 33?y 㥽 < ,A A ) A Y fAbD!VD!y5=%5B=ٔ5B9Q-=>99Y9=ElGyEFE(:EE>IQ 5U5M,?Q 9U5M`I)MBYU4?iYIYԹQ E:y Q IG@M`DIMGBBA"IBBB# =BBB7h;Bh(EBۍCB܍CBȖCB =B =Cȯ6^A`ԻI1 IA OU >A U,WY@A:@:@:Aٱ:A" BAHRS rotation from veh to nav: [[0.853470,0.514390,-0.083617],[-0.485938,0.843477,0.228935],[0.188291,-0.154757,0.969844]]:H O?u?g߿?M?`?ÿ?i:@I:ZW];:CYJByJ"IR@AR@AbDVVDVy^F>%^R=ٔbQ-b>9dYh=jlGyhr69Er>xQ 55zz?Q 9 5zM)zBY y  Q I G@zhDIzZ;iz]Z;z T5y%Bɮ%dA!gOuDNOT Ignoring new targets: 38.38 m.qq*q"q yyʎjZ?\@]GBɢ]i7)Y ]EiY)e(aaie;immS5;iIiI-9@) @)@-/@)A^AqIyIO>E  E E E "E >:*E M:VE 3ZE BE 9Y=lGy±F/=:E> Q 55 ?Q 95 R) BY8?Q E:y%Q IG@ sDI :i : /X5y%TBɮ%OA-ۨEgOMDNOT Ignoring new targets: 38.38 m.QQ*Q"Q QQQY]BʎYYajaZe]@颍PBɢ2)  Hi)m*顑i;i`;#?ƻIIMԙ9@ @@0@^A I I O5 > V,H!XY@A2@2ʆ@2ȄAٱ2 :AHRS rotation from veh to nav: [[0.853959,0.513450,-0.084401],[-0.485245,0.844377,0.227079],[0.187860,-0.152961,0.970212]]2HS?@.n?O`A߿"??` ?;ÿ ?i2@I21];2CYFރByF1"IbDNVDNβyVA7>%Vy=ٔZ:Q-Z?9XYX=ZlGyX^&:E^?`Q 5f5b¹?Q 9f5bdV)b-BYdyjz%Q IjG@bzDIbl:ibB:b [5ylɮnׅAlP~B*** querying acoustic contact ***| |gODNOT Ignoring new targets: 38.38 m.*" ʎjZ7]@%WBɢ%@7)) -))i- ;B=_>B=ٍCB=y"IB=BB9B9B9B=Lh;B=p(EE] E]E]$EY"E]:*E] n:VE]4ZEYBE]#<2E]#<JE];:E];iuuZ;}IyIy2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.-9@) @)@-0@)^AMXһ) A .A DAT read:  BDAT read: Tx time:00:52:48.6214  $Ping request sent. Q V,-;XY@A2@2@2`Aٱ2k :AHRS rotation from veh to nav: [[0.854214,0.513063,-0.084164],[-0.484981,0.844641,0.226659],[0.187379,-0.152797,0.970331]]2H`U? k?@ɋ@ ߿M?)?` ?܎ÿ` ?i2@I2];2CYNByRJ"I V49f ?Yf ?=flGyfñFjh:Ej>lQ 5r5n<չ?Q 9r5nZ)nTBYpyvb%Q IvG@nDInd:in:n^5yz_BɮzAxgODNOT Ignoring new targets: 38.38 m.*"! !!!!)ʎ)))j)Z5`7]@]_Bɢ]24)Y e|6ia)e4Yaaie;imm;mAIiII19@ @@4@@=@=EE EEEE&EA"EEm:*EE1]:VEE4ZEAaM@aM@aM@aM@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250747q^A uԉ AY Iq I O >~V,TXY@A0:Y@:!@:Aٱ: BAHRS rotation from veh to nav: [[0.853926,0.513617,-0.083718],[-0.485455,0.844170,0.227398],[0.187467,-0.153539,0.970197]]:H`\S? o?n߿q?\?@?.ÿ ?i:Y@I:1];:CYbByb]"IEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502668iUMb@Mb@Mb@QQQQ Q9Urh|?RQQ?YU;?yU½U\=QUh A U3+A)U AQYU AbDmVDmk2y}=%}?=ٔ[Q->9Y=lGy1E>Q 55鹊?Q 95_)|BY=?Q E:y#Q IG@DI ;iu ;Xb5yɮwAgOUDNOT Ignoring new targets: 38.38 m.QY*Y"Y YYYaeɆBʎaaijiZmZT]@gBɢY/) 2i)Pi;iT=;GûIII ) [Aԉ9@ @@3@ԹEU EUEU)EQ"EU:*EUg:VEUFA4ZEQBm[>BiBm"IBmKBBm$ =BiBmjDBmQh;Bmo(Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754591^A A] ؟AIi Iy O >+V,nXY@A`v@v燸@vo@ٱvhE!  AHRS rotation from veh to nav: [[0.854154,0.513323,-0.083189],[-0.485202,0.844252,0.227635],[0.187083,-0.154072,0.970186]]vH`:U?@%m?@K ߿ ?@'#?W?ÿ ?iv@Iv ];vCY%By-|"IbDEVDEy]=%]M=ٔe:Q-e>9e"?Ye"?=mlGymıFm]:Em>qQ 5}5uP?Q 9}5u6d)uBYy#Q IH@uDIu;iuL;ue5ykBɮBAܨEgODNOT Ignoring new targets: 38.38 m.*" ʎjZ@l]@oBɢ[1) 2*i)i;i  ; ~·I I 9@ @@/@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007059)^A`ԻA .AI I O >A D] =D] <bEjE4rEϚ0Ee  Ea Ee "Ea "Ee m:*Ea VEe (3ZEa BEe S@m@mI@ٱmW! AHRS rotation from veh to nav: [[0.854228,0.513281,-0.082694],[-0.485227,0.844223,0.227689],[0.186680,-0.154372,0.970216]]mH U?`l?@p+ ߿?$?$?@yÿ  ?im>@Im`I];mCY5By"IiMb@Mb@Mb@ 9 +?EԸ&1?Y6?yƽP='A A (A) AYAAAbDVDy=%3=ٔnk:Q->9 ?Y ?= lGy űF8E>!Q 5=5%?Q 9=5%Ai)%BY=8?Q E=:y=$Q IEH@%DI%@;i%J;%i5yUwBɮUAUݨEgODNOT Ignoring new targets: 38.38 m.*" BʎjZ ]@xBɢ+) : 8!i ) p  i ?;i໪;^IIA=9@9 @9@9@9@E[A@E\Aq}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514682^AY ԡ A I I O >Uq(V,IiXY@A2錱@2@2 -@ٱ2.! :AHRS rotation from veh to nav: [[0.854226,0.513268,-0.082790],[-0.485272,0.844298,0.227313],[0.186572,-0.154001,0.970296]]2H@U? l?@1@߿}?`?`?`Lÿ ?i2錱@I2^0];2CYBQByF"IbDNVDN:yV$>%Vo=ٔV 9Q-V?9XYX=ZlGyX^AE^?`Q 5f5b"?Q 9f5bl)bBYdyf$Q IfH@bDIb:ib ;bl5ylɮnApgO DNOT Ignoring new targets: 38.38 m.  * "   QB}V>B}؍CB}"IB}~BB}& =ByByB}g;B}&(EE EE&E"E :*EǙ:VE4ZEBEK"<2EL"<JE;:E;ʎjZ]@Bɢ%".)! %i!)% )Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762820)iU;i]];]C}IaIa{>i0>E9@A @A@E/@Ayԩ^AE[Rӻ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017514Au ؟AI I O > .V,0XY@A2 @2Ҋ@2?ٱ25! :AHRS rotation from veh to nav: [[0.854460,0.512908,-0.082610],[-0.484973,0.844510,0.227163],[0.186278,-0.154038,0.970347]]2HW?i? % ߿:?? ?@ÿ ?i2 @I2$];2CYBdByB"IbDNVDN0yV=%VK=ٔVB:Q-V>9Z"?YZ"?=ZlGyX^x:E^>`Q 5f5b5?Q 9f5baq)bBYdyf$Q IfH@bDIbl:ib:bUp5ynBɮnJAnEgO DNOT Ignoring new targets: 38.38 m.  * "   ʎjZ@Թ]@MBɢM7,)I MiI)UMQQiU;i]]r;]aIYIaԹ9@ @@K1@E EE'E"EO:*Ec:VE'4ZEa@a@a@a@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266562^A] dAizAmZAA .AI I O >9 }~5V,= XY@A6@6Ɋ@6?ٱ6M! BAHRS rotation from veh to nav: [[0.854470,0.512928,-0.082373],[-0.484984,0.844439,0.227404],[0.186201,-0.154361,0.970310]]6H W?@i?^ ߿@??k?ÿ@ ?i6@I6@];6CYJ|ByJ"Ibchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518715i-Mb@Mb@Mb@)))) )9-Q?Mb?Y-(9] ?Y] ?=]lGy]ƱFe!)Ee>iQ 5u5m#J?Q 9u5m1v)mGBYuF>?Q Eu:y}$Q I}H@mDIm ;imP ;m t5yɮAgODNOT Ignoring new targets: 38.38 m.*" ΆBʎjZ]@Bɢ ') i)k顑ik;i;ҲIIAc<B}<AyBS>BB;#IBBBBBiDBg;B'EE EE%E"E :*E:VE 4ZEBEa2EaJE;a:E;auchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770525}9@y @y@}/@ԁ@=@ԙ ^A [RӻA؟AII!O->=V,]XY@A2}@2E@2tV?ٱ2֫ :AHRS rotation from veh to nav: [[0.854984,0.512027,-0.082647],[-0.484244,0.845135,0.226395],[0.185768,-0.153543,0.970523]]2H\?b?X( ޿X ?~?=?Hÿ@?i2}@I2&];0YBByB#IbDNVDNkyVJ=%V,=ٔVr:Q-V>9Z"?YZ"?=ZlGyZDZF^:E^>`Q 5f5ba?Q 9f5b{)bwBYdyf$Q IfH@bƴDIb:ib;b4x5yn¥BɮnAnEi|I|~checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023152gODNOT Ignoring new targets: 38.38 m.*" ʎjZ@]@-Bɢ5z#)5 5i1)5uI99i=;iEE;E~IAIAEe;9@ @@1@D =D 4=E EE#E"E:*Ee:VE3ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274621^A! ) IY I O >Q \CV,HYY@A2P@2@2]?ٱ2O :AHRS rotation from veh to nav: [[0.855436,0.511172,-0.083259],[-0.483559,0.845884,0.225059],[0.185471,-0.152263,0.970781]]2H_?[?yP޿z???W}ÿ ?i2P@I2}I];2CYBByF@#IiMb@Mb@Mb@ 9\(\?+η:v?Y:?yvT=$AA #A)AYAbD-VD-y=4>%=A=ٔ=;:Q-=>9AYA=ElGyAE*;EM>QQ 5U5Uu?Q 9]5U>)UBY]B ׍CB #IB BB ' =B B B f;B 'EB]؍CB]؍CB]ʔCB]& =B]% =C]5E  E E E "E :*E L_:VE ZE BE &@CKV,:=/YY@AV礱@V@VE>ٱVk nAHRS rotation from veh to nav: [[0.855881,0.510208,-0.084588],[-0.482902,0.846952,0.222434],[0.185130,-0.149529,0.971271]]VH``c?S?`޿<?x?V?#ÿ?iV礱@IV.];VCY~ԄBy~a#IbDVD1IyuS=%u)=ٔ}*<:Q-}>9yY=lGyȱF:E>Q 55茺?Q 95)BYy!Q IH@ڴDI:i:!5yɮAgODNOT Ignoring new targets: 38.38 m.*" ʎjZ-^@BɢLl)  Ҿi)i';i%%v;%^I!I)5=5=ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030630m"ԩ9@ @@_0@ E  E 8E 'E "E :*E  ;VE '4ZE a @a @a @a @^A% yb] checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282913I I O >;\RV,TIYY@A:@:ب@:"=ٱ:ͣ BAHRS rotation from veh to nav: [[0.856567,0.508912,-0.085446],[-0.482028,0.848188,0.219604],[0.184233,-0.146918,0.971840]]:Hh? I?ߵ޿\$?@?@?5¿`P?i:@I:G"];:CYJByJ#I LLbDVVDV:y^p>%^P=ٔ^^;Q-^>9`Y`=blGy`f:;Ef>pQ 5~5r?Q 9~5r)rBY|y~!Q IH@rDIr ;;ir.;r5y ڥBɮ A EIgODNOT Ignoring new targets: 38.38 m. * " QQʎjZI^@颕BɢvB) zi)j项iH;iL;!B֍CB#IB+BB( =BBBe;B$'E1OE>F|YV,gYY@AE. E.E.%E,"E.>:*E.ga:VE. 4ZE,BE.9Y=%lGy%ɱF%:E%>)Q 555-𸺊?Q 955-)-/BY=|>?Q E=:y=C Q I=H@-DI-@:i-:-5yEBɮMqAIgOuDNOT Ignoring new targets: 38.38 m.qq*q"q qqyy}BʎyjZ`_g^@颵BɢF) 1i)ܷ项i;i;mIIe9@a @a@e/@a^AA[AzAchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.038674IIO >9 ]`V,@YY@A:ḱ@:@:Զ;ٱ: BAHRS rotation from veh to nav: [[0.857519,0.507575,-0.083839],[-0.481074,0.848907,0.218919],[0.182290,-0.147394,0.972134]]:Hp? >?@~v޿`>*?`?DU?`¿?i:ḱ@I:_,];:CYN)ByN#IbDVVDVy^/>%^d=ٔbG;Q-b>9dYd=flGydf:Ej>hQ 5n5jʺ?Q 9r5j)jSBYpyr Q IrH@jDIj;ij;j)5yvBɮzAzEgODNOT Ignoring new targets: 38.38 m.*!"! !!!))ʎ))1j1Z5W~^@]Bɢ]m)a e>ia)eWaaim;imm ;uBIqIq@ @@/@QE} E}E})Ey"E}a:*E}=:VE}FA4ZEya@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290712ԉ^A-IyIO~>ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.5426701fV,eYY@A2@2\@2/Z:ٱ2 :AHRS rotation from veh to nav: [[0.857947,0.507298,-0.081094],[-0.480804,0.848488,0.221122],[0.180982,-0.150721,0.971869]]2HLt?;? ´޿&?M?`i*?Jÿ?i2@I2X1];2C@YF?ByF#IIJ%=)J4=imMb@Mb@Mb@iiii i9mbX9?ʡE&1?YmE6?ymmP=mAmA mA)mAiYmpAbDVDy=%==ٔlJ;Q->9Y=lGyʱF:E>Q 55fߺ?Q 95)}BY7?Q E:y Q IH@DI;iU:5y%BɮAgODNOT Ignoring new targets: 38.38 m.*" !!%ӆBʎ!))j)Z-?^@ŅBɢ]%) i):*i;i;IIԱ9@ @@/@BK>BB$IBhBBBBBe;B&EE EEE"E:*Ee:VEZEBEudlV, AYY@A2@2滸@28ٱ2Y :AHRS rotation from veh to nav: [[0.858466,0.506856,-0.078315],[-0.480470,0.848215,0.222889],[0.179400,-0.153714,0.971693]]2Hx?@*8?o ޿$?? ?ÿ?i2@I2H];2CYBXByB$IHHbDN VDN2yVf>%VZ=ٔV;Q-Z>9Z ?YZ ?=ZlGyX^:E^>`Q 5f5b?Q 9f5b)bBYdyfQ IjH@b DIbW:ib:b25yn1BlɮreArEgO DNOT Ignoring new targets: 38.38 m.  *" ʎjZi^@%̅Bɢ58)9 =0hi9)=pY99i=;iEEL;E[ZsV,f-YY@A9YvBy'$IiuMb@Mb@Mb@qqqq q9u\(\?+I +?Yu:?yuu94=uAuA q)u@qYu(AbDVDfyT>%.=ٔQ->9"?Y"?=lGy˱FE>Q 55!?Q 95)BYGB B a$IB BB B B hDB Qd;B g&EAi Iq I E  E E $E "E :*E :VE 4ZE BE +kzV,YY@A.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802616Bʱ@BŸ@BE(6ٱB˧ ^AHRS rotation from veh to nav: [[0.859431,0.505501,-0.076472],[-0.479653,0.849011,0.221614],[0.176951,-0.153782,0.972131]]BHu?-?޿+?]?W?ÿ`?iBʱ@IBZ];BCYBy@$I !!bD5VD5yEZ=%EZ=ٔE;Q-E>9IYI=MlGyIuR;Eu>yQ 55}?Q 95})}BYyQ IH@}DI}:i}N:}5y=Bɮ̂AEgODNOT Ignoring new targets: 38.38 m.*"  )ʎ119j9ZE^@څBɢ$)  i)iOд;i--;-9I1I1A9@ @@4@i checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054671^A ?BIԙ I I O% >V,ZY@A>aұ@>*͸@>!25ٱ> FAHRS rotation from veh to nav: [[0.860009,0.504546,-0.076277],[-0.478956,0.849715,0.220423],[0.176027,-0.153032,0.972417]]>H@1?=%?`憳9޿0?6? ?`ÿ@ ?i>aұ@I>];>CYNByN`$I TVbDZVDZ1yv8>%vQ=ٔv ;Q-z>9xYx=zlGyẕF~5;E~>Q 5 5-?Q 9 5()BY y\Q IH@%DI:i:5yɮcAgOEDNOT Ignoring new targets: 38.38 m.AI*I"I IIIQQʎQQYjYZ] _@y颍Bɢ) Di)ۻ顑iD=;i>O;:IIDD=E EE#E"EO:*E|:VE3ZEa@a@a@a@M9@Q @Q@U/@Q}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307871ԩ^A"Iq I O > % checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558664V,}ZY@A2ױ@2Ҹ@2H3ٱ2d :AHRS rotation from veh to nav: [[0.860566,0.503813,-0.074819],[-0.478520,0.850047,0.220090],[0.174484,-0.153599,0.972606]]2H‰?`=?`['޿3?+?~U?`$ÿ?i2ױ@I2];2CYvByzq$Ii}Mb@Mb@Mb@yyyy y9}v?#~j/$?Y}8?y}㥽},=}A}A }A)}AyY}AbDVDyk=%?=ٔIp;Q->9Y=lGy=:E>Q 55B?Q 95)=BYM:?Q E:yQ IH@/DI;i;5yIBɮ\AEgODNOT Ignoring new targets: 38.38 m.*"     BʎjZb_@EBɢE )A EֽiA)M`IIiM;iU;L:IIi@i @i@i@i B=>BԍCB$IBBB+ =BBgDBc;B&EE EE%E"E:*Ei:VE 4ZEBEY >V,7ZY@A2۱@2ָ@2A/2ٱ2U :AHRS rotation from veh to nav: [[0.861015,0.503214,-0.073679],[-0.478203,0.850366,0.219544],[0.173132,-0.153797,0.972816]]2Ho?T?ܲ`޿26?@?-)? ÿP!?i2۱@I2^;2CYVԅByV$IIZ<)Z%jY=ٔjn;Q-j>9lYl=nlGynͱFr~:Er>tQ 5z5vU?Q 9z5v)v`BYxyz{Q IzH@v7DIvy:iv-:v5yBɮ҂AEgODNOT Ignoring new targets: 38.38 m.*" ʎjZ`5_@checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062724 Bɢ ) )  HVi )B1i=;i=E ٢;Ee :IAIA9@ @@/@a^A*:IqIԑO>E EE$E"EO:*E1]:VE4ZEa@a@a@a@ checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314568Թ +V,~QZY@A]@]yݸ@]/ٱ]8 AHRS rotation from veh to nav: [[0.861867,0.502067,-0.071511],[-0.477746,0.851114,0.217633],[0.170131,-0.153407,0.973407]]]Hi?? Nc޿S9qYq=ulGyuαF}:E}>ԉQ 55j?Q 95h)BY3?Q E:yQ IH@ADI1;i0;5yɮAgODNOT Ignoring new targets: 38.38 m.*" BʎjZ`Q_@颥Bɢ9=)  i)顩i;i;Xw%;IIchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.5676259@ @@/@Թ Wo>9YcA^A} 0::I I O >A A B 6>B ӍCB $IB BB / =B B fDB #c;B %EB֍CBՍCBB( =B* =Cʹ46E  E E 'E "E :*E Ar:VE '4ZE BE (9Y=lGy;E>Q 55|?Q 95Q)BYyqQ IH@JDI;im;]5yBɮAUEgODNOT Ignoring new targets: 38.38 m.*" ʎj Zl_@uBɢ?) i).顑i;i;N;IIe9@a @a@e0@a!checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070577I ^A ;A .AI I O >8V,C ZY@AF1@F@F$,ٱF) RAHRS rotation from veh to nav: [[0.862667,0.500947,-0.069695],[-0.477294,0.851914,0.215480],[0.167319,-0.152623,0.974018]]FH ?`?ױ޿ B?ݔ?`j?@%ÿ'+?iF1@IF&`;DYZ ByZ$I \\bDbVDbܲyj=%jY=ٔn~};Q-n>9 ?Y ?=%lGy%ϱF%R8E%>)Q 555-?Q 955-6)-BY9y]oQ I]H@-RDI-C;i-;-5yaɮe(AagODNOT Ignoring new targets: 38.38 m.*" ʎjZg_@5Bɢ5)Q U@f checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574635cV,ZY@A@RL@R@R3*ٱR7l ZAHRS rotation from veh to nav: [[0.863160,0.500187,-0.069046],[-0.476865,0.852480,0.214191],[0.165996,-0.151955,0.974348]]RH??`޿@G?j?Z??Fsÿ-?iRL@IR`;PYfByf$IiUMb@Mb@Mb@QQQQ Q9Ux?RQl?YUK7?yU½U=UAQ UA)Ud@QYU A ep9"?Y"?=lGy:E>Q 55@?Q 95)BY%9?Q E:y e!Q I H@\DI:i:t5yBɮ AEgO=DNOT Ignoring new targets: 38.38 m.99*A"A AAAIM$BʎIIIjQZU@(_@} Bɢ})  =i)顁i;iT;m;IIԱ-9@) @)@-4@)B/>BҍCB5%IBRBB0 =BBBb;B%EE EE$E"E :*Ek:VE4ZEBEK"V,ZY@A>@>@>1p)ٱ>4 FAHRS rotation from veh to nav: [[0.863548,0.499625,-0.068266],[-0.476608,0.852887,0.213140],[0.164713,-0.151520,0.974634]]>H`.??y`޿J?@(H?P?eÿ30?i>@I>`;>CYR&ByR%IbDZVDZyb=%b^=ٔbg;Q-f>9dYd=flGyfбFj:Ej>lpQ 5r5r䴻?Q 9v5r)rBYtyvI!Q IvH@rdDIrK:ir:r5y~Bɮ~A|gO%DNOT Ignoring new targets: 38.38 m.!!*!"! !!)))ʎ)11j1Z5 _@eBɢez)a e)=ia)miiim+;iuuC;ubW;IqIy xV,jZY@AMN@M@M} (ٱMԙ AHRS rotation from veh to nav: [[0.863834,0.499256,-0.067336],[-0.476548,0.853161,0.212175],[0.163378,-0.151196,0.974909]]MH`? ?<޿M?`(? ?`Zÿ@t2?iMN@IM*a;MCY8By%II)iMb@Mb@Mb@ 9On?&1kt?Y8?yн 0=A@ A)?@Y3 AbDVDy=%.=ٔr<;Q->9 ?Y ?=lGy9E>Q 55j˻?Q 95 ):BY:?Q E:y6#Q IH@oDI;i?;ǹ5yɮhAgO%DNOT Ignoring new targets: 38.38 m.!!*!"! ))))5Bʎ111j1Z=_@eBɢe )i m=ii)miiimX;iuu1;}(;IyIyiI=9@9 @9@9@9^A vт;B ,>B B g%IB zBB 2 =B FDB eDB b;B v%E A ؟AI! I1 OE >E  E E )E "E ;*E :VE FA4ZE BE LAHRS rotation from veh to nav: [[0.863815,0.499420,-0.066353],[-0.476946,0.853065,0.211669],[0.162315,-0.151196,0.975086]]6H_?`?F޿NL???`eZÿ@3?i6W@I6Za;6CYRMByR0%I`bAAbDjVDjܲyzx=%zn=ٔzN;Q-z?9~"?Y"?=lGyѱF ㉺E ?Q 55ۻ?Q 95)YBYyL#Q IH@vDIX;iC;ʼ5yBɮGAEgOeDNOT Ignoring new targets: 38.38 m.ii*i"i iiʎjZ@W_@BɢS) =i )Wif;i$;^r;II!9@ @@/@!Y^A r;A ?A >A9 IA IY Oe >y V,[Y@A2t@2=@2%ٱ2ו :AHRS rotation from veh to nav: [[0.863875,0.499462,-0.065252],[-0.477238,0.853025,0.211168],[0.161132,-0.151282,0.975269]]2H`ݤ?`.?V޿ K??? 7]ÿ h5?i2t@I2ua;2CYB_ByBF%IbDN VDN2yV9=%VN=ٔVE;Q-V>9XYX=ZlGyX^E^>`Q 5b5b?Q 9f5bV)b|BYdyfX#Q IjH@bDIb/;ib;b=5ynSBɮnσAnEgODNOT Ignoring new targets: 38.38 m.*"    ʎjZ`@E$BɢEw)A M=iI)MIIiMz;iUU ;UTg;IQIYAbE 4jE J4rE :0E EE"E"E2:*Ee:VE(3ZEa@a@a@a@9@ @@@0@q^A!ԡAy I I O > -V,RC [Y@A6@6@6A$ٱ6[ BAHRS rotation from veh to nav: [[0.863709,0.499910,-0.064008],[-0.477889,0.852687,0.211063],[0.160091,-0.151708,0.975375]]6H@?@?b@޿ 6I??}?,kÿD6?i6@I6=a;6CYJjByJS%I LLiMb@Mb@Mb@ 9^I +?1Zd{Gz?YX9?y"۽#=A@ tA)(@Y AbD5VD5yE3E=%EB=ٔM#;Q-M>9IYI=MlGyMұFU̺EU>YQ 5e5]?Q 9e5])]BYm;?Q Em:ymC%Q ImH@]DI]H:i]:]5yu_BɮuփAygODNOT Ignoring new targets: 38.38 m.*" BʎjZ `@+Bɢ) <=i)in;iE;A;IԱIB5*>B1B5%IB5BB1B1B1B5Vb;B5U%Em9@i @i@m0@iE EE%E"E:*E:VE 4ZEBE+9 bV,:[Y@A2@2r޸@2#ٱ2g :AHRS rotation from veh to nav: [[0.863516,0.500380,-0.062926],[-0.478526,0.852339,0.211024],[0.159227,-0.152111,0.975453]]2H@??@+޿`\F?@?a?``xÿ6?i2@I2Ua;2CYBByBs%I J4%VU=ٔVF;Q-Z>9Z ?YZ ?=ZlGyX^E>Q 5%5?Q 9%5)BY!y%j%Q I-H@DI9:i:a5y5lBɮ5A5EgO]DNOT Ignoring new targets: 38.38 m.YY*Y"Y aaaaaʎiiijiZu`@颥1Bɢ+) l$>i)c顩i[0;i˿;lO;IIm9@i @q@u4@q9^A] ;E EE'E"E2:*Exv:VE'4ZEa @a @a @a @U BDAT read: Response Not Received ] *response not received] V,DS[Y@A ߱@Sڸ@"ٱ4 AHRS rotation from veh to nav: [[0.863422,0.500739,-0.061346],[-0.479042,0.851924,0.211529],[0.158183,-0.153251,0.975445]]H&?` ?h ޿`B?^?@X?? ÿ6?i߱@IK/a;CYBy~%IiMb@Mb@Mb@ 9Cl?A`"ˡE?Y;??yٽ'=A@ 1A)@YAbDVDy_=%)=ٔ;Q->9Y=lGyӱF%E%>!Q 555%-?Q 955%)%BY5nA?Q E5:y5$Q I=H@%DI% ;i%;%5yAɮE{AAgOmDNOT Ignoring new targets: 38.38 m.iiq*q"q qqyy}BʎyjZ *`@颵9Bɢ) '>i)4;项iv;i;;IIe9@a @a@ep4@aԙ^A ; A! A% @AB- (>B- эCB- %IB- цBB- 1 =B) B) B- a;B- %EA ؟AE  E E E "E :*E g:VE ZE BE V,m[Y@AHܱ@f׸@/v!ٱ AHRS rotation from veh to nav: [[0.863412,0.500942,-0.059803],[-0.479440,0.851635,0.211790],[0.157025,-0.154190,0.975484]]H?`?@}#޿@?`?c?ÿ)7?iܱ@Ia;CY5By=%IIEp=)E=bD]VD]y&>%b=ٔT;Q->9"?Y"?=lGyE>Q 55??Q 95@)BYy$Q IH@DI;i;5y xBɮ4AEgO=DNOT Ignoring new targets: 38.38 m.99*9"9 99AAAʎIIIjIZM`6`@u>Bɢ}n)y }X>i)顁iKWn;iW;+:IIԹ9@ @@/@^AA .A I I1 O= >V,-[Y@A6ֱ@6Ѹ@6t ٱ6cAHRS rotation from veh to nav: [[0.863208,0.501450,-0.058471],[-0.480123,0.851210,0.211953],[0.156055,-0.154886,0.975529]]6Hg? ?@ﭿV޿=?C!??Mÿ7?i6ֱ@I6a;6CYFByJ%IPPbDZVDZyj8=%j[=ٔr+;Q-z>9z ?Yz ?=zlGyzԱF|~E> Q 5 5 +R?Q 95 ) /BYy?$Q IH@ DI :i y: 5y%Bɮ%CA%EgOMDNOT Ignoring new targets: 38.38 m.II*Q"Q QQQYYʎYYajaZe@qB`@颍DBɢo) ^>i) 顑if;iB;-Δ:IID=D<E EE$E"Ea:*Ega:VE4ZEa@a@a@a@59@1 @9@=/@9)Y^Au*:A ؟AI I O >ԁ 5 ؀G ,9 Y dAV,+[Y@A2ձ@2и@2f ٱ2F :AHRS rotation from veh to nav: [[0.863335,0.501260,-0.058230],[-0.480335,0.851654,0.209675],[0.154693,-0.153050,0.976036]]2Hq?Q ?@SЭϽ޿ @??? ÿ`;?i2ձ@I2a;2CYBƆByB%IiMMb@Mb@Mb@IIII I9M-?Zd;kt?YM5>?yMM 0=MtAM|@ MA)M@YIYMAbDmVDm:2yuѪ=%}@=ٔ}rU;Q-}>9"?Y"?=lGy3E>Q 55f?Q 95)UBYA?Q E:y)Q IH@DI ;i; ;5yBɮ˃AEgODNOT Ignoring new targets: 38.38 m.*" BʎjZO`@JBɢP) v>i)i#\;i%%g۠;%\':I!I)B'>BB&IBBB3 =BBB`;B$EBҍCBҍCBÓCB2 =B1 =C#5m9@i @i@m0@iԑE EE(E"E2:*Ec:VEc44ZEBE!* <)V,Ve[Y@A2ұ@2͸@2ٱ2Y :AHRS rotation from veh to nav: [[0.863293,0.501387,-0.057764],[-0.480725,0.851732,0.208461],[0.153719,-0.152194,0.976323]]2H?] ?=@2޿dA? ֮??{ÿ >?i2ұ@I2n^a;2CYBۆByF%I HHbDNVDNyV=%VX=ٔV+;Q-Z>9Z ?YZ ?=ZlGyZձF^}E^>`Q 5f5by?Q 9f5b )bwBYdyf)Q IjH@bDIb:ib:b5ynŧBɮnAnEgODNOT Ignoring new targets: 38.38 m.*" ԹʎjZ\`@ PBɢ R) >i))5y11i5;rS;i==;=VJ:IAIA9@ @@0@^ADzDAAE  E E &E "E :*E k:VE 4ZE a @a @a @a @A% ؟AI) I9 OM >9 sV,R[Y@AFCԱ@F ϸ@FzٱFΒ jAHRS rotation from veh to nav: [[0.863512,0.501004,-0.057813],[-0.480647,0.852255,0.206494],[0.152726,-0.150522,0.976738]]FH?9?@޿E?`bn??LDÿqA?iFCԱ@IFUca;DY By %I Epu=%1=ٔA ;Q->9"?Y"?=lGyb9E>Q 55Ə?Q 95)BYy)Q IH@̵DI;i;5yɮoAgODNOT Ignoring new targets: 38.38 m.*" !)))ʎ)11j1Z5*k`@额WBɢh) ">i)r5i .I;i4J;|~:II9}9@y @y@}1@ya^A q:B <A <B %>B B 6&IB "BB B B dDB `;B 9$EA .AI I O >Z=V,}$[Y@AE2 E2E2$E0"E2;*E2:VE24ZE0BE2D?! ?*@޿ D?[?l?%@ÿB?ijб@Ij-a;hY By &IiMb@Mb@Mb@ 9ʡE?!rhJ +?Y=?yl罙H=AG@ A)@YAbDVDy>%U=ٔ(;Q->9 ?Ym ?=mlGymֱFuEu>yQ 55}E?Q 95}<)}BYL@?Q E:y&Q IH@}յDI}]:i}:}|5yѧBɮi) g  i ?;i;~:II9@ @@4@^Arg: A I I! O- >1 6#W,+\Y@A2@ұ@2 ͸@2Lٱ2V :AHRS rotation from veh to nav: [[0.863674,0.500897,-0.056294],[-0.481015,0.852424,0.204932],[0.150636,-0.149917,0.977156]]2H7?Z?@Ҭ ޿G?@:;? H? x0ÿD?i2@ұ@I2a;0YBByB)&IIF<)DbDN VDN2yr=%rZ=ٔvG;Q-v>9tYt=vlGytzI :Ez>|Q 55~?Q 95~])~BYy &Q I H@~޵DI~W:i~ :~5yݧBɮAEgO=DNOT Ignoring new targets: 38.38 m.99*9"A AAAAIʎIIIjIZU`@}aBɢ}7ѽ) >i)顁iU6;iȟ;EI:II9@  @ @ /@ E5 E5E5&E1"E52:*E5c:VE54ZE1aE@aE@aM@aM@9^A]q:i A I I O >HMW,"\Y@A 6ϱ@6ɸ@6 ٱ6 >AHRS rotation from veh to nav: [[0.863649,0.501106,-0.054793],[-0.481434,0.852163,0.205034],[0.149436,-0.150698,0.977220]]6H?` ? ޿ D?`>? ?JÿbE?i6ϱ@I6`;6CYF'ByF<&IiMMb@Mb@Mb@IIII I9MMb?)\(Mb?YM@?yMGὙM@=M-AM@ MtA)M@IYMAY]@AbDeVDeyu=%uB=ٔut<;Q-}>9yYy=}lGy}ױFmE>Q 55ɼ?Q 95R) BYB?Q E:y`%Q IH@DI ;i;F5yɮۂAgODNOT Ignoring new targets: 38.38 m.*" 'BʎjZ`@ gBɢҽ) U>i)_iB,;i%%z;%E9I!I)B}#>ByB}n&IB}PBByByByB}_;B}#Eԙ9@ @@/@E= E=E=%E9"E=a:*E=:VE= 4ZE9BE=(wW,<\Y@A`Y~7By~P&IbD VD y=%%P=ٔ%Q-%>9-"?Y-"?=-lGy)-E->1Q 5=55Iݼ?Q 9E55 )5.BYAyAQ IEH@5DI5 ;i5u ;55yMBɮMʂAQgODNOT Ignoring new targets: 38.38 m.*" ʎjZ`@%mBɢ%ͽ)! %h>i!)-t ))i-!;i55b.;59I1I99@ @@/@^A9bE -4jE 4rE ɝ/EM  EM EI EI "EM :*EM ^:VEI ZEI aU @a] @a] @a] @A I I O >A ?_W,3V\Y@AF̱@F{Ǹ@F;ٱFH RAHRS rotation from veh to nav: [[0.863806,0.501057,-0.052741],[-0.481857,0.852176,0.203985],[0.147153,-0.150790,0.977552]]FHL??@޿E?@1?? MÿH?iF̱@IF|`;FCYZEByZa&I \\bDrVDr:y [=%K=!ٔ5;Q-5>9AYA=MlGyMرF]=Ee>yQ 55}?Q 95})}RBYyn%Q IH@}DI};i};}R5y]*BɮeAe(EgODNOT Ignoring new targets: 38.38 m.* " ʎjZ%`@msBɢm\ͽ) >i)顑i֬;i ֞;G 9IIIq"5;m 9@i  @i @m /@i Aq Aq By By B} &IB} }BBy By By B} ^;B} {#Eԡ E%  E% E% &E! "E% O:*E% ]t:VE% 4ZE! BE% 9aYa=elGyae9Em>qQ 5u5u) ?Q 9}5u)uBY}!=?Q E}:y}x#Q I}H@uDIu':iu/:u5yɮAgODNOT Ignoring new targets: 38.38 m.*" ,BʎjZ`@颍zBɢ% ɽ) t>i)H6顑iN ;i"y;8/9II A=9@9 @9@=/@9i^AY ԙ Eu  Eu Eu #Eq "Eu :*Eu i:VEu 3ZEq a} @a} @a} @a} @A .AI I O >A6$W,\Y@A27̱@2Ǹ@2ٱ2ލ :AHRS rotation from veh to nav: [[0.864079,0.500886,-0.049815],[-0.482075,0.851956,0.204390],[0.144817,-0.152594,0.977621]]2H?A?bQ޿@8C?@t)?X?`6ÿ H?i27̱@I2$`;0YBByB&IbDLVDLy\ >%P=ٔg4;Q->9 ?Y ?=%lGy%ٱF%h E%>)Q 555-T?Q 955-)-BY9y=#Q I=H@-DI-;i-;-M5yE7BɮE܂AIgOmDNOT Ignoring new targets: 38.38 m.iq*q"q qqqyʎjZ`@颵Bɢ) e?i)项i8:i.;̗8IIԩ9@ @@/@^A 0:ĺ B >B ЍCB &IB BB B B B ;];B "EA ؟AI! I9 O >@+W,4\Y@AHER ERER%EP"ER :*ERc:VER 4ZEPBERJ"D?`E-?@Z? ÿ"I?ijϱ@Ij*`;hYBy&II<);!%Ai=Mb@Mb@Mb@9999 99=`"?KZd;O?Y=7?y=^=j<==bA=@ = A)99Y=AQQbDUVDU0ye=%m'=ٔm?;Q-m>9m"?Yu"?=ulGyqu f:Eu>yQ 55}5?Q 95}i!)}BY9?Q E:y4 Q IH@}DI} ;i};}5yCBɮȂA)EgODNOT Ignoring new targets: 38.38 m.*" :BʎjZ9`@}Bɢ) ?i)sI顉i|:i"ҝ;1m9III)ZA59@1 @1@50@1^A #2: AM .AIQ Ii Ou >1W,\Y@AYBy&IbDVDy->%-b=ٔ-Q-->95 ?Y5 ?=5lGy5ڱF5E=>AQ 5M5EfG?Q 9M5EY%)EBYIyIQ IMH@E#DIE):iE :E5yQɮ]fAYgODNOT Ignoring new targets: 38.38 m.*" ʎjZ`@=BɢEʡ)A E?iA)EIIiM:i]];]<9IYIYDzD@AE EE&E"E2:*E&p:VE4ZEa@a@a@a@9@ @@4@1Y^A0::Ae ؟AI ԩ I O > 7o> C5 EGa y ,9 Y h_Ay 0? hA8W,\Y@A2@ֱ@2 Ѹ@2ٱ2c| >AHRS rotation from veh to nav: [[0.865245,0.499266,-0.045654],[-0.481337,0.852728,0.202903],[0.140233,-0.153586,0.978134]]2H ?`?@_8޿I?@?%?ÿL?i2@ֱ@I2)b;2CYfByf&IiMMb@Mb@Mb@IIII I9MZd;?ˡEMb?YM9?yM什M@=M AM@ M A)M"@IYMAbDeVDek1yu=%uF=yٔ};Q->9"?Y"?=lGy:E>Q 5 5[?Q 9 5)) BYl;?Q E:ymQ IH@-DI" ;i& ;Z 5yPBɮAA*EgODNOT Ignoring new targets: 38.38 m.*" EBʎjZ@ `@颕Bɢ) ?i)Ab顙i6:iN;:IIBM<AM<B]>BYB]#'IB]BB]4 =BYBYB]5\;B]E"EBэCBЍCBB3 =B3 =C59@ @@/@ԩE EE%E"E;*E:VE 4ZEBED8>W,\Y@A2ٱ@2zԸ@20ٱ2\ :AHRS rotation from veh to nav: [[0.865671,0.498676,-0.043997],[-0.481098,0.853006,0.202299],[0.138411,-0.153958,0.978335]]2H`?@M?P޿K??u?ÿ N?i2ٱ@I2Zc;2CYF҇ByF'IbDNVDNyV=%VX=ٔV;Q-Z>9XYX=ZlGyZ۱F^Ƒ:E^>`Q 5f 5bun?Q 9f 5b-)b)BYdyjMQ IjH@b5DIb:ib:b 5ylɮUAYgODNOT Ignoring new targets: 38.38 m.*" ʎjZ`@颽Bɢ:) z?i)ri2M:i;:II>i%>9@ @@/@@=@= ^A1D <D <E  E E 'E "E :*E xv:VE '4ZE a @a @a @a @A .AI I! O- >Y EW,]Y@A2ޱ@2Wٸ@2e ٱ2n. :AHRS rotation from veh to nav: [[0.866216,0.497893,-0.042100],[-0.480728,0.853395,0.201538],[0.136272,-0.154337,0.978576]]2H ?`y?@?޿O?@?\q?Mÿ}P?i2ޱ@I2ue;0YFByF$'IbDNVDN:yVʪ=%VJ=ٔZ;Q-Z>9Z ?YZ ?=ZlGy\^:E^>`Q 5f 5bk?Q 9f 5b=2)bJBYhyj!Q IjH@b?DIbW:ib:b/ 5ynBɮnAr4EgODNOT Ignoring new targets: 38.38 m. * "    ʎjZ@ a@Bɢ5) j$?i!)%!!i%:9i]e;e:IiIyM9@I @I@M/@Ia^A50::ԑBM >BM ύCBM ['IBM BBM 6 =BI BM cDBM b\;BM Y"EAe ؟AIi Iy O > tKKW,_/]Y@AEF EFEF&ED"EF2:*EFą:VEF4ZEDBEF *9M"?YM"?=MlGyMܱFMEU>YQ 5] 5]혽?Q 9e 5]7)]mBYe9?Q Ee:ye Q IeI@]IDI]:i]j:]* 5ymBɮuAu5EԑgODNOT Ignoring new targets: 38.38 m.*" JBʎjZa@Bɢ%) I)?i)qiƆW:iϰ;U:II@ @@/@Թ^A?B:A I I O > 2RW,8I]Y@A2$@2@255ٱ2 :AHRS rotation from veh to nav: [[0.867324,0.496215,-0.038977],[-0.480016,0.854578,0.198194],[0.131656,-0.153188,0.979388]]2H??޿X?g^??ÿ$W?i2$@I2g;0YBByBM'IHJAHJAAbDNVDNyv`=%vc=ٔzS9xYx=~lGy|~T;E~>Q 5  5Ī?Q 9  5:)BYyQ II@QDI):iB:P 5yɮ_A!gOEDNOT Ignoring new targets: 38.38 m.II*I"I IIIQQʎQQYjYZ]/#a@颅Bɢ) /?i)顉iҴ*:i;7@;IIM9@Q @Q@U03@QDzDE EEE"E:*EL_:VEZEa@a@a@a@^Au ;Y A .AI I O >\XW,c]Y@A2@2N@2ٱ2- >AHRS rotation from veh to nav: [[0.867873,0.495379,-0.037365],[-0.479576,0.855061,0.197176],[0.129626,-0.153204,0.979656]]2H?H?!`޿\?=??@1ÿ@WY?i2@I2g;0YFByFc'IiMMb@Mb@Mb@IIII I9M/$?#~j+?YM9} ?Y} ?=}lGyݱF^:E>Q 5 5?Q 9 5f?)BY>?Q E:yNQ II@[DIF;i; 5yBɮMA6EgODNOT Ignoring new targets: 38.38 m.*" YBʎjZ0a@ BɢF) 5?i)Gi9i%%x;%];I!I)Q@ @@4@AAAAB>BB'IB>BB5 =BBB\;B"EyE EE"E"E :*Eg:VE(3ZEBEJ"^W,|]Y@A2@2S@2d ٱ2 :AHRS rotation from veh to nav: [[0.868327,0.494696,-0.035845],[-0.479271,0.855465,0.196161],[0.127704,-0.153152,0.979916]]2H@U??9Z@_޿`_??@X?}ÿy[?i2@I2'Ug;0@YFByFg'IbDNVDNܲyV<%VX=ٔZΧ;Q-Z>9Z"?YZ"?=ZlGyX^:E^>`Q 5f 5bӽ?Q 9f 5bC)bBYhyj+Q IjI@bdDIb:ib:bM 5ynBɮnqApgO DNOT Ignoring new targets: 38.38 m.  * "  ʎjZ% bE5ɞ4jE5ə4rE5/E  E E 'E "E ;*E x:VE '4ZE a @a @a @a @ neW,ɖ]Y@A6@6@6vٱ6X >AHRS rotation from veh to nav: [[0.868775,0.493895,-0.036029],[-0.478885,0.856439,0.192822],[0.126091,-0.150265,0.980572]]6H ??rr޿g?a?#?;ÿ`?i6@I6-f;6CYF0ByF'IN=N= PRp;bDRVDR02yZ=%ZJ=ٔ^;Q-^>9b ?Yb ?=blGybޱFb:Eb>dQ 5j 5f罊?Q 9j 5fG)fBYllynQ IrI@fmDIfE5;ifR6;f 5yvBɮvAtgODNOT Ignoring new targets: 38.38 m.*" !!!!ʎ)))j)Z- Ia@]Bɢ]쏽)Y ]1B >B B 'IB gBB 6 =B B dDB \;B "Ea 8kW,Υ]Y@AE6 E6E6$E4"E6:*E6&p:VE64ZE4BE6(2E6)JE6t;aB:E6u;aB9YE;ByE'IiMb@Mb@Mb@ 9+?MbX9L7A`?Y??yʡ+= A@ A)@Y@bD VD:2yJ=%8=ٔQ->9"?Y"?=lGy߱FE> Q 5 5 g?Q 9 5 L) BY@?Q E:yBQ II@ xDI  ;i i ;  5y%èBɮ%!A%7EgOMDNOT Ignoring new targets: 38.38 m.II*Q"Q QQQY]OBʎYYajaZeWa@ Bɢ w)I U??iQ)UQQiU;i]]UP;];IYIaq9@ @@@A1IAIQOew>ԑ ـrW,]Y@A2@2y@2vٱ2 :AHRS rotation from veh to nav: [[0.869275,0.493047,-0.035576],[-0.478667,0.857523,0.188500],[0.123446,-0.146829,0.981429]]2H? ?6y޿`p?@ ?)?`N¿g?i2@I2If;2CYBMByB'IbDJVDJN2yR=%Vb=ٔV;Q-V>9XYX=ZlGyXZG:E^>`Q 5b 5b?Q 9f 5bP)bBYdyf0Q IfI@bDIb:ib :b 5yjBɮnۂAnAEgODNOT Ignoring new targets: 38.38 m.*"    ʎ!j!Z%ca@ԙ%Bɢ5ƃ)9 = F?i9)=[99i=BiEEK;E_;IIIIE} E}E})Ey"E}:*E}:VE}FA4ZEya@a@a@a@9@ @@/@A9IAIQOeU>! [xW,9AYA=ElGyEFMbEM>IQ 5] 5M&?Q 9] 5MU)M8BY]B?Q E]:y]Q IeI@MDIM2 ;iM:M$ 5yiɮmAigO-DNOT Ignoring new targets: 38.38 m.11*1"1 1119=ZBʎ99AjAZEqa@颭ƆBɢBR) J?i)顱i-i@;9;IIp>i>B<AB>BЍCB'IBBB4 =BBB\;B"E9@ @@0@!E} E}E}&Ey"E}>:*E}:VE}4ZEyBE}q ~W,L6]Y@A6g@61@6ٱ6 BAHRS rotation from veh to nav: [[0.868836,0.494143,-0.030779],[-0.480124,0.856099,0.191246],[0.120853,-0.151383,0.981059]]6H? ?X޿*e?z?@6?`ÿd?i6g@I6/f;6CYJ_ByJ'IbDVVDVyZ<%^S=ٔ^ S;Q-^>9b ?Yb ?=blGy`f0Ef>dQ 5j 5f:?Q 9n 5fZ)fTBYlynQ InI@fDIf;if+;f' 5yvBɮvÂAvBEgODNOT Ignoring new targets: 38.38 m.*" !ʎ!!!j!Z-`w}a@UʆBɢUjgy)Q UJ?iY)]YYi]&iee4*;eUN;IaIia9@ @@4@PExceeded connect timeout, disconnecting.ԁ^AԱIIO>E  E E %E "E s:*E X:VE 4ZE a @a @a @a @ W,^^Y@A2@2p߸@2Hٱ2o :AHRS rotation from veh to nav: [[0.868468,0.494949,-0.028101],[-0.481132,0.855174,0.192846],[0.119480,-0.153960,0.980827]]2H|?=?Ɯ޿`]?`,?@?`ÿb?i2@I2e;2CYBpByB'IbDJVDJyR=%VK=ٔVoa;Q-V>9XYX=ZlGyZFZW.EZ>Q 5 5P?Q 9% 5^)qBY!y%*Q I%I@DI;ia;+ 5y-Bɮ-A5CEgOUDNOT Ignoring new targets: 38.38 m.QY*Y"Y YYaaaʎaiijiZma@颕φBɢB) FP?i)t顡iWi;;IIԱ)@a؀G9a @@3@9YqcA ^A) B >B ύCB (IB BB B B B \;B "EBUύCBUύCBQBU5 =BU5 =CU:5I I O- >9 {W,1^Y@AE& E&E&$E$"E&:*E&g:VE&4ZE$BE&+9Y=lGyE>Q 5 5e?Q 9 5c)BQ A+:YQ Eb:yQ II@DI ;i>. 5yɮAgODNOT Ignoring new targets: 38.38 m.*" ʎjZ@6a@-ԆBɢ- })) -JR?i))5x顱ipi֛;u;IIe9@i @i@m/@i9^A] ;I I! O- >i  nManaging dock network, ignoring radio surface power offΒW,*K^Y@A :Aٱ@: Ը@:7}ٱ:Xn! ^AHRS rotation from veh to nav: [[0.868139,0.495739,-0.024023],[-0.482530,0.854358,0.192969],[0.116187,-0.155932,0.980911]]:H?0?޿ V?5?`j?ÿc?i:Aٱ@I:w2g;:CY}By}'IbDVDyX=%D=ٔ9 Y =lGyFYE>Q 5% 5w{?Q 9% 5Ch)BQ A- :Y)Q E-7:y-yQ I-I@DI:iX?0 5y5Bɮ=A=DEgOeDNOT Ignoring new targets: 38.38 m.aa*a"a aaiiiʎiiqjqZu@a@=نBɢ=z)9 E^U?iA)EAAiE iMDQzDQEY E]E]'EY"EY*E]~:VE]'4ZEYae@ae@ae@ae@iu;ud:IqIy%9@! @!@!@!ԙ^Am 7; I I OE >4W,+e^Y@A2Uӱ@2θ@2Eٱ2" :AHRS rotation from veh to nav: [[0.867949,0.496156,-0.022224],[-0.483245,0.853998,0.192775],[0.114625,-0.156579,0.980991]]2H@9IYI=MlGyIM5EM>QQ 5] 5U?Q 9e 5Ul)UBQ AeT:YeF?Q Ee:yeO"Q IeI@UDIU;iU;UE4 5yqɮuAqgO5DNOT Ignoring new targets: 38.38 m.19*9"9 999AEOBʎAAIjIZM]a@ކBɢ'b) $Z?i)2iﶺiW;!:IIA1A1B=>B9B=6(IB=ˆBB9B9B9B=\;B="E9@ @@/@Ee EeEe%Ea"Ee2:*Eex:VEe 4ZEaBEe *! >#W,}^Y@A2Lα@2ɸ@2 ٱ2^n# :AHRS rotation from veh to nav: [[0.867833,0.496458,-0.019879],[-0.483880,0.853577,0.193043],[0.112806,-0.157910,0.980989]]2H`J? ?E[޿P?@??a6ĿBd?i2Lα@I2dh;2CYZByZ(IbDbVDb0yj9=%jQ=ٔj̙;Q-n>9lYl=rlGyrFrPκEr>tQ 5z 5vJ?Q 9z 5vhq)vBY|y~o"Q I~I@|vĶDIv*;iv +;v7 5y Bɮ kA NEgO5DNOT Ignoring new targets: 38.38 m.11*1"1 999AAʎAAAjIZM=a@uBɢuW)q }\?iy)}nyyi}*(κir;< 9III)[A1@1 @1@5?0@1)Q^Au!:IIO>Dm =Dm %=Eu  Eu Eq Eq "Eu :*Eu |:VEq ZEq a} @a} @a} @a} @ԁ  W,X^Y@A2'ɱ@2ø@23ٱ2f# :AHRS rotation from veh to nav: [[0.867688,0.496779,-0.018132],[-0.484514,0.853298,0.192691],[0.111197,-0.158410,0.981092]]2H? :?(`E߿7N??_w?`FĿ e?i2'ɱ@I2Ai;2CYBByB(IbDNVDN2yVy=%VM=ٔV;Q-Z>9XYX=ZlGyX^κE^>`Q 5f 5b﷾?Q 9f 5b(v)bBYdyf"Q IjI@bζDIb:ib:b*; 5ynBɮnPA=OEYgOeDNOT Ignoring new targets: 38.38 m.ii*i"i iiiqqʎqqjZ a@Bɢ/^)  d?i ) \  i i55t;=ƹI9I99@ @@2@ԉԱ^A5B= >B9 B= \(IB= BB= 5 =B9 B= cDB= &];B= "EA ؟AI I O > A5W,D4^Y@AE EE$E"EO:*Ei:VE4ZEBE ȱ@>¸@>߽ٱ>$ JAHRS rotation from veh to nav: [[0.867819,0.496613,-0.016295],[-0.484745,0.853373,0.191771],[0.109142,-0.158524,0.981304]]>H,??@߿N??@?`JĿf?i>ȱ@I>6i;>CYVByV'(Ii5Mb@Mb@Mb@1111 195NbX9?zGếI +?Y5E?y5 ׽594=15@ 5A)11Y5z@ԹbDVDym=%9=ٔ;Q->9"?Y"?=lGyF⤹E>Q 5 5ξ?Q 9 5p{)BYG?Q E:y"Q II@ٶDI;i;? 5yBɮAgO%DNOT Ignoring new targets: 38.38 m.))*)") )))15dBʎ199j9Z=a@eBɢmX)i mKe?ii)mAqqiui}}`;}DIyI @  @ @ 4@ ^A5"Aa Ii I O >9 !W,"^Y@AN<ͱ@Nȸ@NS۽ٱN ZAHRS rotation from veh to nav: [[0.868342,0.495707,-0.016052],[-0.484311,0.854467,0.187958],[0.106888,-0.155438,0.982046]]NHt?? p@޿`W?? ]?aÿ`l?iN<ͱ@IN7i;NCYbɈByb?(Ij=j=bDnVDnyv=%vY=ٔvT;Q-v>9xYx=zlGyx~:E~>Q 5  5t⾊?Q 9  5):BY y "Q II@DI& ;i ;NB 5yBɮوAPEgOEDNOT Ignoring new targets: 38.38 m.AA*A"I IIIQQʎQQQjYZ]!a@颅Bɢh"?) l?i)Fh顉 i i;`*9IID)zD-AAbE» 4jE-4rE/E= E=E=&E9"E=:*E=k:VE=4ZE9aM@aM@aM@aM@%9@! @!@%/@!9^AAyAy I I O >ԑ BGW,^Y@A6|ױ@6FҸ@6׽ٱ6~ BAHRS rotation from veh to nav: [[0.869141,0.494323,-0.015438],[-0.483332,0.855603,0.185292],[0.104803,-0.153583,0.982562]]6H??ӝ ޿a??WԺ? ÿ&q?i6|ױ@I6eBi;6CYJԈByJL(IiMb@Mb@Mb@ 9K7A?&1~jt?Y B?yн=Av@ V@)A@Y=@bD5VD5 yEU=%EE=ٔM;Q-M>9IYI=MlGyMFUF;EU>YQ 5e 5]?Q 9e 5]Є)]VBYe D?Q Em:ym9"Q ImI@]DI]j:i]s:]E 5yu BɮuAqgODNOT Ignoring new targets: 38.38 m.*" _BʎjZaa@Bɢ:E) 6p?i)i_i ؙ;~K:IqIyB<A<B>BB{(IBBB6 =BBB0];B"E9@ @@@ԡEA EEEE"EA"EA*EEx:VEE(3ZEABEE+ /W,_Y@A2 ߱@2ٸ@2ӽٱ2$ :AHRS rotation from veh to nav: [[0.869765,0.493253,-0.014502],[-0.482628,0.856421,0.183338],[0.102852,-0.152462,0.982943]]2H?t?Pa޿g?w?T? ÿDt?i2 ߱@I2(i;2CYFۈByFU(IbDNVDNyVs=%VU=ٔV=;Q-V>9XYX=ZlGyX^;E^>`Q 5f 5b` ?Q 9f 5bR)bpBYdyf!Q IfI@bDIb:ibN:bHI 5ylɮnňAgOeDNOT Ignoring new targets: 38.38 m.aa*a"a aiiiiʎiqqjqZua@Bɢ;) q?i)D  i \$i ;/F:iIII99@ @@/@^A1 EU  EU EU $EQ "EU :*EU :VEU 4ZEQ a] @ae @ae @ae @A I I O >Q w[W,_Y@A2C@2 @2gEϽٱ2 :AHRS rotation from veh to nav: [[0.870529,0.491901,-0.014563],[-0.481634,0.857687,0.180003],[0.101034,-0.149684,0.983558]]2H_?@P{?ҍ@޿,r?V ?[ݹ?(ÿ Oy?i2C@I2|i;0YBByFi(IHJAHHbDNVDN02yVӣ=%VJ=ٔZۓ;Q-Z>9XYX=^lGy^F^I;E^>`Q 5f 5b+ ?Q 9f 5b)bBYhyj!Q IjI@bDIb:ib:bL 5ynBɮnArQEgODNOT Ignoring new targets: 38.38 m.  * "    ʎjZ b@Bɢʚ3) w?i)ii0i;wA;II)9@ @@0@Y^Am] ;A}?A}>B>BB(IBBB5 =BBB];B"Eԉ I I O >W,y4_Y@AE EEE"EO:*E:VEZEBE 9qYq=ulGyq}$;E}>Q 5 55?Q 9 5)BYgA?Q E:y Q II@ DI:i:P 5y^BɮA[EgOEDNOT Ignoring new targets: 38.38 m.AA*A"A AIIIMNBʎQQqjqZ}b@Bɢ}9) x?i)idkW,XN_Y@A`Y~By~{(IbD VD N2yv!=%%O=ٔ%Q-%>9!Y)=-lGy-F-E->1Q 5= 55I?Q 9= 55)5BYAyAQ IEI@5DI5;i5<;5T 5yIɮMAQgOuDNOT Ignoring new targets: 38.38 m.yy*y"y yyyʎjZ%b@颵Bɢh3) z?i)q项iKHib;l;IIE= E=E=&E9"E=V:*E=&p:VE=4ZE9aE@aE@aE@aE@Q@Q @Q@U4@Q^Aur;II o>CO=>eEG9YcAQ rW,2h_Y@A2"@2@2,*Žٱ2 :AHRS rotation from veh to nav: [[0.872004,0.489237,-0.016000],[-0.479968,0.860988,0.168318],[0.096123,-0.139094,0.985603]]2Ht?`O?Kbͷ޿5?q??`?i2"@I2_i;2CYF ByF(I HHiMMb@Mb@Mb@IIII I9MX9v?1Zdl?YM=?yM"۽M=MAM`@ M@)M+@IYM@bDeVDe0yu=%uE=ٔ}9Y=lGyl6;E>Q 5 5^?Q 9 5^)BY&@?Q E:y#Q II@DI ;i ;W 5ykBɮA\EgODNOT Ignoring new targets: 38.38 m.*" \BʎjZ[3b@U Bɢ]z%)a mb?AA@AB>B΍CB(IB-BB7 =BBB\;Bz"EBIBIBIBIBICM q5iq)UD޽QQiUJԡ =}W,J _Y@A2l@26@2Cٱ2>+ :AHRS rotation from veh to nav: [[0.872222,0.488888,-0.014737],[-0.479910,0.861244,0.167168],[0.094418,-0.138736,0.985818]]2H>?I?;.`׶޿O?e?@+?ҋ?i2l@I2h;2CYFByF(IbDNVDNyVi<%VX=ٔZ;Q-Z>9XYX=ZlGyZF^]9E^>`Q 5f 5bq?Q 9f 5bà)bBYdyj#Q IjI@b&DIbK:ibB:bZ 5ynxBɮnAn]EgODNOT Ignoring new targets: 38.38 m.* "    ʎjZR?b@y颅 Bɢ) v?i)%ݽ顑i`i`;IIM9@Q @Q@U/@Qԡ^A5y;IIO>EU  EU EU %EQ "EU V:*EU ?:VEU 4ZEQ a] @a] @a] @a] @ W,"_Y@A2@2@2:]ٱ2: :AHRS rotation from veh to nav: [[0.872215,0.488962,-0.012530],[-0.480141,0.860805,0.168761],[0.093304,-0.141180,0.985577]]2H0?%K?m@޿???+¿ى?i2@I2 1h;2CYBByB(IbDNVDNJyR=%VJ=ٔVW5;Q-V>9XYX=ZlGyX^E^>`Q 5b 5b䅿?Q 9f 5bx)b BYdyf#Q IfI@b/DIb:ib:bx^ 5ylɮndAlgODNOT Ignoring new targets: 38.38 m.*"    ʎ jZ HLb@EBɢE)A E?iA)Mz۽IIiMmiUU];];IYIY!F˻9@ @@/@)B>BB(IBGBB6 =BBBv\;B["EQ ^A ;E]  E] E] (EY "E] :*E] i:VE] c44ZEY BE] +/W,m_Y@A8VY@V#@VKѺٱV bAHRS rotation from veh to nav: [[0.871903,0.489623,-0.007441],[-0.481132,0.859411,0.172987],[0.091093,-0.147247,0.984896]]VH?U?pz~޿@L?m$?Q?¿D?iVY@IVjg;TYj%Byj(Ii]Mb@Mb@Mb@YYYY Y9]V-?|?5^ˡE?Y]9 ?Y ?=lGyFh E>Q 5 5D?Q 9 5))BY ??Q E:y"Q II@;DI<:i/:b 5yBɮA^EgO]DNOT Ignoring new targets: 38.38 m.YY*Y"Y YaaaerBʎjZ\b@BɢQ.) ?i)LٽiPDzi-E2G;E6+j;IAIIԡm9@ @@/@^A vт; AM ؟AIQ Ii Ou >W,}_Y@ANG@N@N*ٱN\  VAHRS rotation from veh to nav: [[0.871825,0.489789,-0.005265],[-0.481515,0.858968,0.174118],[0.089804,-0.149265,0.984711]]NH ?X?̐u@$޿|?I?a? !ÿ?XiNG@INIf;LYb4Byb(IbDjVDjyr=%rR=ٔv\Z;Q-v>9z"?Yz"?=zlGyxz|Ez>|Q 5 5~?Q 9 5~)~BBY y "Q I I@~DDI~;i~;~!f 5yBɮzA_ED)zD-?AE5 E5E5&E1"E5:*E5?:VE54ZE1a=@a=@aE@aE@gO]DNOT Ignoring new targets: 38.38 m.YY*Y"Y YaaaaʎaiijiZuqhb@颥Bɢ) ?i)׽顩in i3; Z;II9@ @@/@9 ^A y;B <A <B >B B (IB `BB 8 =B B B 6\;B :"EAI Ia Iq y O >sW, _Y@ABN@B@B\ٱB  RAHRS rotation from veh to nav: [[0.871521,0.490348,-0.003021],[-0.482316,0.858324,0.175073],[0.088440,-0.151123,0.984551]]BH?a?ĿhD޿dw? h? ?`Xÿp?iBN@IB5;g;BCY^9By^(IiMb@Mb@Mb@ 9Q?"~jS㥛?YH?yS㽙/<nA$@ |@)@Y(@bDVD:y<%-=ٔR>;Q->9Y=lGyFE>Q 5 5ʿ?Q 9 5Z)]BYK?Q E:y#Q II@PDI;i%;?j 5yɫBɮ?AhEgODNOT Ignoring new targets: 38.38 m.*" bBʎ!!!j)Z-mwb@UBɢU)Q U܆?iY)]`սYYi]uiee ;ed*;IiIiE  E E *E "E :*E Ar:VE (N4ZE BE C-QX,k `Y@A0:@:e߸@:ٱ:] FAHRS rotation from veh to nav: [[0.871427,0.490524,-0.001226],[-0.482778,0.858102,0.174888],[0.086839,-0.151811,0.984587]]:H`?d?T޿ u?@b? ;?nÿ?i:@I:g;:CYNIByN(IbDVVDVβy^U=%b]=ٔb;Q-b>9`Yd=flGydf@Ef>hQ 5n 5jH޿?Q 9r 5j)jrBYpyr $Q IrI@jYDIj;ij;jym 5yv֫Bɮv3AziEgOEDNOT Ignoring new targets: 38.38 m.AA*A"I IIIQQʎYYajaZe wb@颵!BɢUCּ)Q ] ?iY)]ԽYYi]ieeJ;eWQ;IiIiԉ-9@) @)@-1@)bE-4jEw4rET0E% E%E%$E!"E%:*E%i:VE%4ZE!a5@a5@a5@a5@Թ^A; Aa Ii Iy O >&|X,#`Y@A2ޱ@2ٸ@2ٱ2 VAHRS rotation from veh to nav: [[0.871223,0.490887,0.001005],[-0.483446,0.857659,0.175215],[0.085149,-0.153137,0.984530]]2H?j?@wP? ޿q?om? M̵?ÿD?i2ޱ@I2 h;2C\YbQByb(IbDnVDn1yvd=%vG=ٔzs;Q-~>9 Y =lGyFغE%>9Q 5] 5=l?Q 9e 5=)=BYiym/$Q IuI@=dDI=;i=J<=q 5yBɮHAjEgO DNOT Ignoring new targets: 38.38 m. )*1"1 11199ʎ999jAZE Zb@颍%Bɢ@) ?i)ѽiis;Z:IIBBB)IBtBB7 =BBB[;B"E9@ @@4@EM  EM EI EI "EM :*EM :VEI ZEI BEM +,X,\q=`Y@A2۱@2ָ@2bܪٱ2 :AHRS rotation from veh to nav: [[0.871176,0.490961,0.003024],[-0.483847,0.857474,0.175013],[0.083331,-0.153930,0.984561]]2H?k?Dh?Y޿@np?f? 5U?ÿ?i2۱@I2i;0YB]ByB(IiMMb@Mb@Mb@IIII I9M"~j?y&19Y=lGyjE>Q 5 5 ?Q 9 5)BYE?Q E:y&%Q II@nDI ;i;t 5yɮAgODNOT Ignoring new targets: 38.38 m.*" wBʎjZߝb@)BɢD) &?i)%:Zн!!i%9i--;-:I)I19@ @@/@@=@=Iy^AA?A?I I O >ԩ E=  E= E= 'E9 "E= :*E= $:VE= '4ZE9 aM @aM @aM @aM @sX,/NW`Y@A6Ա@6ϸ@6Tٱ6 >AHRS rotation from veh to nav: [[0.870880,0.491469,0.005139],[-0.484673,0.857006,0.175022],[0.081614,-0.154914,0.984551]]6H?? 9\Y\=blGybFbQEb>dQ 5j 5f2?Q 9j 5f)fBYhyjX%Q InI@fwDIf:if;fx 5yrBɮr"ApgO DNOT Ignoring new targets: 38.38 m.  *" ʎ!j!Z% b@M,BɢM|᧼)Q U?iQ)UνQQiUzyi>;eo):II9@ @@@ԡ^A0::IIO> A A X,r7q`Y@AB. >B,B.O)IB.BB,B,B.bDB.Z;B.!EYUrByU)IiMb@Mb@Mb@ 9(\?I +ˡE?YG?y9'=@ 9@)@Y@bD VD ky4=%5=ٔQ->9!Y!=%lGy!-E->1Q 5= 55\5?Q 9= 55)5BY=8I?Q E=:y=Q I=I@5DI5a:i5s:5{ 5yMBɮM/AUkEgO}DNOT Ignoring new targets: 38.38 m.yy*y"y yyBʎjZ`ob@颽0Bɢм) ?i)̽isi;9QE:IIE EE$E"E:*EAr:VE4ZEBEm%Y "X,`Y@AFͱ@Fȸ@FLٱFS nAHRS rotation from veh to nav: [[0.870746,0.491653,0.008906],[-0.485555,0.856802,0.173568],[0.077704,-0.155458,0.984782]]FH &?=w?=?V߿j? }7?@o?@ÿT?iFͱ@IFjm;FCY~By~%)IbDVDk1y5A=%5[=ٔ=+9AYI=MlGyMFMEM>QQ 5] 5UwI?Q 9e 5U\)UBYayeQ IeI@UDIU;iU;UD 5ym4BɮmAuuEgODNOT Ignoring new targets: 38.38 m.*" ʎjZlb@3BɢUz) 5?i)ʽiЮi;1"IIԱ9@ @@0@@[A@E EE%E"E:*Ek:VE 4ZEa @a @a @a @^AAZAzAYAIQIiOu>  ؀G1 I q9 Y fA1 ](X,ޤ`Y@AY By 2)I bDVD1y-V=%-J=ٔ5Q-5>99YA=ElGyIUE]>qQ 5 5uU_?Q 9 5u')uBYyQ II@uDIuCB=͍CB=o)IB=BB9B9B9B=!Z;B=1!EB΍CB΍CBB7 =B7 =C*5ԙ9@ @@@E  E E E "E ;*E :VE ZE BE @C0X,~`Y@A>ɱ@>ĸ@>'ϖٱ>! JAHRS rotation from veh to nav: [[0.870779,0.491505,0.012925],[-0.486140,0.856744,0.172214],[0.073571,-0.156244,0.984975]]>H k?@t?}x?߿`rj? ?ղ?ÿ?i>ɱ@I>>)o;>CYRByR?)Ii-Mb@Mb@Mb@)))) )9-y&1?RQQ?Y-`E?y-½-\=-A-@ -O@)-@)Y-@bDEVDEyU{>=%U7=ٔ]C9] ?Y] ?=]lGyeFeEe>iQ 5u 5mv?Q 9u 5m])mBY}G?Q E}:y}Q I}I@mDImu ;im ;m 5yOBɮӊAvEgODNOT Ignoring new targets: 38.38 m.*" BʎjZb@ԩ ;Bɢ 8(I)  ?i )$ƽi$i;%ѹII9@ @@0@^A  E  E E &E "E s:*E i:VE 4ZE a @a @a @a @Au ؟AIy I O >) i6X,`Y@A2DZ@2¸@2$%ٱ2ׄ! >AHRS rotation from veh to nav: [[0.870803,0.491400,0.015131],[-0.486435,0.856725,0.171474],[0.071299,-0.156680,0.985072]]2H?s?? !߿Jj??@?`Ŀ?i2DZ@I2Go;2CYFByFP)IbDNVDNyr =%rS=ٔr?;Q-r>9v"?Yv"?=vlGyvFzz&Ez>|Q 5 5~?Q 9 5~)~.BYyQ I I@~DI~+;i~:~ 5yɮAgO=DNOT Ignoring new targets: 38.38 m.99*9"9 AAAAAʎIIIjIZUb@}?Bɢ}`ܻ)y }?i)Ľ顁ii۵;II9@ @@V4@@=@=9^A"A-?A)A) I1 IA OU >i B A X=ٔ;Q->9Y=lGyE EE%E"E:*E&p:VE 4ZEHE>Q 5 5p?Q 9 5)FBYZC?Q E:yQ II@DI:i:؍ 5y\BɮAwEgO=DNOT Ignoring new targets: 38.38 m.99*9"A AAAAMBʎIIIjIZUb@}CBɢ}f)y ?i)@½顁iEȻiR;cII1q9@ @@2@ԙ^A[RS A I9 II Oe >zCX,ԘaY@A2@2N@2" ٱ2" >AHRS rotation from veh to nav: [[0.870576,0.491635,0.019824],[-0.487471,0.856325,0.170529],[0.066862,-0.158122,0.985153]]2H`? v?L?2߿g???W=Ŀ`?i2@I26cq;2CYFByFd)IPbDR VDR:2yZc=%Z[=ٔ^;Q-^>9\Y`=blGybFbEb>dQ 5j 5f?Q 9j 5f2)fYBYlyn Q InI@fDIf;if;f 5yrjBɮrŊAvxEgO DNOT Ignoring new targets: 38.38 m. *" ʎ!!j!Z% c@MFBɢM𦖻)Q U|?iQ)UQQi-4>λi5U|;UºIQIY9@ @@/@E EE$E"E:*EM:VE4ZE^Aq! AA II IY Om >IX,I(aY@Arؾ@r@r#|ٱr# =AHRS rotation from veh to nav: [[0.870673,0.491361,0.022206],[-0.487619,0.856362,0.169919],[0.064475,-0.158772,0.985208]]rH?vr?:? %5߿Pg??r?RĿ҆?irؾ@Ir"Fr;pYByn)IbDVDN2y"<%-=ٔ6;Q->9Y=lGy\6E>Q 5 5+?Q 9 5)qBYy Q II@ɷDI:i:2 5yɮAgODNOT Ignoring new targets: 38.38 m.*" !!ʎ!))j1Z5c@JBɢ6c) T?i)bi6Ի!i--{;)I1I1IMZA)MZABm >BiBm)IBmBBm8 =BiBiBmvY;Bm E9@ @@@@\A@[AIE EE&E"E:*E:VE4ZEBE;8ÌPX,fNBaY@AY~҉By~)I YiMb@Mb@Mb@ 9{Gz?MbX9X9v?YC?yʡ<A  @)YQ@bDVDy$=%^=ٔQ->9Y=lGyFE>Q 5 5?Q 9 5)BY E?Q E:y5Q II@ҷDI ;iG ;k 5yBɮjAEgODNOT Ignoring new targets: 38.38 m.*" !!!!%Bʎ)))j)Z5 c@NBɢ") ?i)f!!i%ڻi%-,;)I)IQԉ9@ @@/@Ա^A- NJκD zD bEmʻ 4jEmO4rEm(/E  E E E "E 2:*E z:VE ZE a @a @a @a @ AY Ia Iy O >VX,)\aY@A68@6@6uٱ6u% >AHRS rotation from veh to nav: [[0.870770,0.490939,0.027167],[-0.488039,0.856265,0.169199],[0.059804,-0.160591,0.985207]]6HY? k?ћ? <߿`f?L?`? CĿц?i68@I6fs;6CY^ԉByb)IbDjVDj1yr(<%rY=ٔrK9tYt=vlGytzW^Ez>|Q 5U 5~?Q 9] 5~,)~BYYy]@Q I]I@~۷DI~UB >B B )IB BB B B B Y;B E9 7\X,vaY@AY~܉By~)IiMb@Mb@Mb@E EE%E"E:*E:VE 4ZEBE+9Y=lGyFE>Q 5U 5E ?Q 9U 5F)BY]C?Q E]:y]* Q I]I@DIheԙ cX,ߏaY@A:ñ@:z@:N`ٱ:U% FAHRS rotation from veh to nav: [[0.871468,0.489433,0.031599],[-0.487388,0.857035,0.167166],[0.054735,-0.161081,0.985422]]:H? R?-?@\1߿l?e?E?@JĿ@?i:ñ@I:ss;:CY^Byb)IbDjVDjyr=%r[=ٔrh_9tYt=vlGytzb ;Ez>|Q 5 5~?Q 9 5~)~BYyQ II@~DI~;i~;~Ƣ 5yȬBɮAEgO=DNOT Ignoring new targets: 38.38 m.99*9"9 AAAAAʎIIIjIZUtFc@}YBɢ}8;)y }?i)<]顁ii;pIIq9@ @@/@E EEE"E:*EAr:VEZEa@a@a@a@ԡ^ANJκI I! O5 > iX,aY@Ai8I8F̱@FvǸ@F XUٱF$ AHRS rotation from veh to nav: [[0.872127,0.488158,0.033100],[-0.486501,0.857991,0.164827],[0.052062,-0.159853,0.985767]]FHw?=?l?@"߿t?@ ?@맪?vĿ g?iF̱@IFdr;FCYayibDVDy:%:=ٔq;Q->9!Y)=-lGyF*;E>Q 5 57?Q 9 5)BYy Q I I@DI;iP; 5y=֬Bɮ=ʋA9gODNOT Ignoring new targets: 38.38 m.*" ʎjZVc@B >B ̍CB )IB BB 9 =B B B Y;B  E颅]Bɢ) l?i)ȳ顉i~+i;8oII]9@Y @Y@]3@YE EE#E"E:*E]t:VE3ZEBEC-qpX,aY@A2[б@2&˸@2YKٱ2$! >AHRS rotation from veh to nav: [[0.872452,0.487541,0.033634],[-0.486168,0.858878,0.161150],[0.049680,-0.156947,0.986357]]2H!?3?y8?@_߿{??o?Ŀ;?i2[б@I2Yr;2CYFByF)IiMMb@Mb@Mb@IIII I9Mx&1?sh|?I +?YMA?yMM99yYy=lGy:E>Q 5 5J?Q 9 5H )BYB?Q E:yQ II@DIQ:iZ: 5yɮAgO-DNOT Ignoring new targets: 38.38 m.)1*1"1 1119=Bʎ999jAZE}ac@uaBɢu)<)q u?iq)}yyi}iT;EQfy9IAIA9@ @@/@)^A9Y Ii Iy O >E  E E 'E "E :*E :VE '4ZE a @a @a @a @wX,aY@A 6ر@6Ҹ@6SAٱ6 >AHRS rotation from veh to nav: [[0.873017,0.486541,0.033447],[-0.485401,0.860241,0.156110],[0.047181,-0.152522,0.987173]]6H ?{#?? ߿?@j?@,(?@ׅÿ@?i6ر@I6q;4YJByJ)IN=N=bDVVDVN2yZ.%^X=ٔ^;Q-^>9`Y`=blGybFf#;Ef>hQ 5j 5j]?Q 9n 5j)jBYpyrQ IrI@ tvCj DIj؀;ij ;jZ 5y-.Bɮ=AEEGEE]9YY]aAgODNOT Ignoring new targets: 38.38 m.*" ʎjZnc@%eBɢ%:)! %ף?i!)-))i-Ri55[;5yʉ:I1I9i9@ @@/@ԙ^A I B >B B )IB !BB B B aDB Y;B EI O >>}X,aY@A:ܱ@:׸@:7ٱ:0 BAHRS rotation from veh to nav: [[0.873383,0.485776,0.034981],[-0.484962,0.860804,0.154366],[0.044875,-0.151785,0.987394]]:H?@?? ߿?`B??@mÿ໘?i:ܱ@I:pq;:CYJByJ)IPi%Mb@Mb@Mb@!!!! !9%Pn?(\µ{Gz?Y%D?y%%ף<%AA! !)%+@!Y% @bD=VD=kyM=%MA=ٔM;Q-M>9QYQ=UlGyQEe EeEe"Ea"Ee:*Ee|:VEe(3ZEaBEe+yQ 5 5}dt?Q 9 5})}BY]E?Q E:yQ II@}DI}v:i}:} 5ysBɮݕAEgOUDNOT Ignoring new targets: 38.38 m.YY*Y"Y YYYaeӇBʎaaijiZ}|c@iBɢ';) ?i)n}i"iLݒ;&:II9@ @@@^Am q:Au ?Au >I I1 9 OU >&X,ibY@A2@2_۸@2w/ٱ2 >AHRS rotation from veh to nav: [[0.873691,0.485145,0.036039],[-0.484593,0.861386,0.152261],[0.042826,-0.150493,0.987683]]2H`F?` ?s?`߿y?K}?>?]Cÿ?i2@I2p;2CYFByF)IbDNVDNk1yVܻ%VU=ٔZ;Q-Z>9XYX=^lGy^F|;:E>Q 5% 5?Q 9% 5Q =%tI)BY!y-Q I-J@ DI:i:~ 5y1ɮ5A1gO]DNOT Ignoring new targets: 38.38 m.YY*Y"a aaaaiʎiiijiZu`\c@额mBɢf<) _?i)顡izi;4:IIm9@i @i@u4@q1Eq EuEu(Eq"Eq*Eu1:VEuc44ZEqa}@a}@a}@a}@Y^A}0::II O>ԁ 3SX,bN+bY@Af@f߸@f>G(ٱfTz rAHRS rotation from veh to nav: [[0.874000,0.484563,0.036362],[-0.484186,0.862106,0.149454],[0.041072,-0.148229,0.988100]]fH???޿_?R!?d?-¿`?if@Ifo;fCYYBy)IIR=)=AbD VD yЊ<%)=ٔ%om;Q-%>9!Y!=ElGyABM>BIBM)IBM&BBM; =BIBIBMY;BM EBM̍CBM̍CBIBM9 =BM9 =CM?5:E>Q 5 5٢?Q 9 5)BYyQ IJ@,DI:i|: 5yBɮ AEgODNOT Ignoring new targets: 38.38 m.*" ʎ!AjIZM`Lc@ԁ额rBɢE) ?i)Z i i`;s;II 9@ @@J4@E} E}E}&Ey"E}:*E}z:VE}4ZEyBE};8fX,FbY@A2@@2 @2_!ٱ2< :AHRS rotation from veh to nav: [[0.874209,0.484069,0.037891],[-0.483950,0.862340,0.148869],[0.039388,-0.148480,0.988131]]2H??yf?޿`J?%?@*?fÿ@Ğ?i2@@I2^Ko;2CYBByF)I iMb@Mb@Mb@ 9ףp= ?+η?Y>?yv<@ X@)Y@bDVD:y<%T=ٔ;Q->9 ?Y ?=lGyFU:E>Q 5 5?Q 9 5#)BYN@?Q E:yQ IJ@5DI;i1; 5yBɮBA EgO]DNOT Ignoring new targets: 38.38 m.YY*Y"Y Yaa҇BʎjZ`c@mvBɢmأ<)i u?iq)uqqiui}}Kd;}x;IyI!@ @@@4@I^A] ] ;D zD @AE  E E E "E :*E k:VE ZE a @a @a @a @ԑ A ؟AI I O >X,f`bY@A2@2߸@2JIٱ2b :AHRS rotation from veh to nav: [[0.874143,0.484023,0.039950],[-0.484226,0.862255,0.148467],[0.037415,-0.149127,0.988110]]2H ?`9Z"?YZ"?=ZlGyXZDE^>`Q 5f 5b?Q 9f 5b;')b(BYdyfQ IfJ@b>DIb6:ib :b2 5ylɮnAlgODNOT Ignoring new targets: 38.38 m.*"     ʎjZ`c@YyBɢy<)! %q?i!)%-B=ˍCB=)IB=0BB=< =B9B9B=Y;B= E^A} ;A I I O >KX,zbY@A2Z@2%ܸ@2ٱ2E: E:E:$E8"E::*E:|:VE:4ZE8BE:#9Yԩ=%lGy%F- E->1Q 55 55b?Q 9= 55,)57BY=D?Q E=:y=Q I=J@5IDI5]:i5:5' 5ymBɮm_AmEgODNOT Ignoring new targets: 38.38 m.*" BʎjZ Rc@5~Bɢ5+;)1 5v?i1)=墽9Yi]d iee;eB:IaIiq9@ @@@@=@=^Ae;A- .A1 I9 II O] >ҤX,G:bY@A>jٱ@>4Ը@>)#ٱ>_x JAHRS rotation from veh to nav: [[0.873542,0.484758,0.043972],[-0.485511,0.861319,0.149699],[0.034695,-0.152117,0.987753]]>H?G?o?߿?Y)?{á?xÿଛ?i>jٱ@I>nk;>CYR ByR)IbDXVDXyb(<%bX=ٔfM;Q-f>9f ?Yf ?=jlGyhjE1Ej>lQ 5r 5n"?Q 9r 5n0)nBBYtyv5 Q IvJ@nRDIn:in:nI 5yzBɮzgA~EgO=DNOT Ignoring new targets: 38.38 m.99*A"A AAAIIʎIIIjIZU`c@}Bɢ}<) !?i)顁iiޑ;4g:II9@ @@0@bE-4jE4rE 0E EE(E"E:*E:VEc44ZEa@a@a@a@A^A5] ;yAe ؟AIq I O >ԙ X,>!bY@AFԱ@F`ϸ@FٱFB>BB)IB5BBBBBZ;B!E AHRS rotation from veh to nav: [[0.873296,0.485066,0.045457],[-0.486047,0.861057,0.149464],[0.033359,-0.152621,0.987722]]FH ?@P ?F?f߿ƍ?!? q?`ÿj?iFԱ@IF0j;FCqYBy)IiEMb@Mb@Mb@AAAA A9E~jt?EԸ{Gz?YED?yEƽEף9u"?Yu"?=}lGy}F} E}>Q 5 5 Š?Q 9 56)QBYX,bY@ARѱ@RR̸@RٱRo bAHRS rotation from veh to nav: [[0.873155,0.485173,0.046972],[-0.486396,0.860917,0.149134],[0.031917,-0.153064,0.987701]]RH? ? ?@!߿?@?`dW?`ÿ>?iRѱ@IR}h;RCYr Byr)I||@A@AbD VD 1y[o%]=ٔ;Q->9!Y!=%lGy!-$E->1Q 55 55u Š?Q 9= 55;)5]BY9y= Q I=J@5gDI5:i5:5 5yMBɮMAMEgOuDNOT Ignoring new targets: 38.38 m.qq*q"q qyyyyʎy!j!Z%c@mBɢm1b<)q u\?iq)uqqi}[i}}I;@;9II59@1 @1@5,2@1 9DYzDYEm EmEm%Ei"Em2:*Emxv:VEm 4ZEiau@au@au@au@^AyA I I O >a KX,d\bY@A60̱@6Ƹ@69ٱ6d BAHRS rotation from veh to nav: [[0.872872,0.485515,0.048673],[-0.486984,0.860534,0.149423],[0.030662,-0.154131,0.987575]]6H@???@*߿?N ?e? ÿ5?i60̱@I6g;6CYJ ByJ)IbDVVDVk1yZ5H<%^R=ٔ^tS;Q-^>9`Y`=blGybFfۺEf>dQ 5j 5f4Š?Q 9n 5f?)fhBYlyn!Q InJ@fqDIf@;if;f6 5yvBɮvїAvEgODNOT Ignoring new targets: 38.38 m.*" ʎ!!!j!Z- c@UBɢUL<)Q U'?iQ)]HYYi]Oiee(;eɹIaIiQ9@ @@4@ԁBA<B>B̍CBBB; =BBBZZ;BE!E^A!ԩA I I! O5 >E  E E &E "E :*E :VE 4ZE BE m%AHRS rotation from veh to nav: [[0.872574,0.485848,0.050666],[-0.487609,0.860112,0.149814],[0.029209,-0.155429,0.987415]]6H`?"??@4߿ ?@-??`ÿ?i6Ʊ@I66h;6CYFByJ)IiMMb@Mb@Mb@IIII I9M/$?Cl绿I +?YM1H?yM;߽M99yYy=}lGyyӺE>Q 5 5KŠ?Q 9 5 E)vBY4J?Q E:yr$Q IJ@|DI ;i; 5yɮAgODNOT Ignoring new targets: 38.38 m.*" ƇBʎjZ:c@ Bɢ ,<) ?i)rii%d;%IwI!I!5]>i1Ա9@ @@/@@=@^A A I I O >1 PX,cY@A2@2K@2?ٱ2/ :AHRS rotation from veh to nav: [[0.872309,0.486170,0.052107],[-0.488163,0.859875,0.149371],[0.027814,-0.155734,0.987407]]2H?`j?ӭ?>߿?@? 7{?@ÿ ט?i2@I2Ch;2CYBByB)IJ=J=bDNVDNyV䂼%VX=ٔVq;Q-Z>9XYX=ZlGyZF^jԺE^>`Q 5f 5b_Š?Q 9f 5bI)bBYdyf$Q IjJ@bDIb:ib:bA 5ynBɮnAlgODNOT Ignoring new targets: 38.38 m.*"     ʎjZ@T d@Bɢd)<) ?i)iiC;۽IIEM EMEM#EI"EM:*EM$:VEM3ZEIa]@a]@a]@a]@9@ @@@%؀G9Yƀ9Y^A9^AΒ{q A% .AI) I9 OM >X,1cY@ABBB*IB:BB8 =BBBZ;Bi!E`I@@F׼ٱVt AHRS rotation from veh to nav: [[0.872273,0.486075,0.053582],[-0.488313,0.859881,0.148846],[0.026276,-0.155999,0.987408]]H??@&o?@@߿@%?d ?@?ÿט?iI@Ig;CYBy)IiMb@Mb@Mb@ 9MbX9?S㥻S㥛?YA?y/ݽ/<(@@ O@)"@Yp@bD VDf2y=%,=ٔS;Q->9 ?Y ?=lGyFTE>Q 5 52xŠ?Q 9 5|O)BYC?Q E:y'%Q IJ@DI:i:j 5y  Bɮ A EgO5DNOT Ignoring new targets: 38.38 m.11*1"1 1999=ևBʎAAAjAZMd@uBɢu<)q uX?iy)}yyi}$iWя;OƺII=9@9 @9@E/@AEm EmEm$Ei"Ems:*Em~:VEm4ZEiBEme0lX,KcY@ABı@B\@B0ʼٱB JAHRS rotation from veh to nav: [[0.872562,0.485553,0.053606],[-0.487876,0.860623,0.145961],[0.024738,-0.153513,0.987837]]BH?K?@0r?\9߿9?`ݮ?T? Sÿ \?iBı@IB\4g;BCYR#ByV)IbD^VD^yfwg=%fs=ٔf;Q-f?9j"?Yj"?=jlGyhn:En?pQ 5r 5rxŠ?Q 9v 5rS)rBYtyv %Q IvJ@rDIr:irW:rZ 5yuTBɮuŘA}EgODNOT Ignoring new targets: 38.38 m.*" ʎjZ $d@Bɢt<) ?i)x<ioYi  ; $τI I9@ @@0@@@\AIq^A?BɺAzAEu EuEqEq"EuT;*EuZ:VEqZEqa}@a}@a}@a}@A I I O >ԡ ]X,ףecY@A2DZ@2¸@2lٱ2 :AHRS rotation from veh to nav: [[0.872795,0.485044,0.054420],[-0.487539,0.861097,0.144280],[0.023121,-0.152459,0.988039]]2H? ?ܫ?`3߿@?w? ?ǃÿ?i2DZ@I2 g;2CYBByB)IIF%=)F4<bDNVDNyV%VM=ٔV;Q-V>9XYX=ZlGyX^υ:E^>`Q 5f 5bŠ?Q 9f 5bZX)bBYdyf$Q IfJ@bDIb:ib :b 5yncBɮnAlgODNOT Ignoring new targets: 38.38 m.*"     ʎjZ1d@EBɢET<)A Ej?iI)MHIIiMy!iUU-;U=IQԙIm9@i @i@u1@qA!A!B->B-ˍCB- *IB-?BB-; =B)B)B-Z;B-!EBˍCBBB; =B; =C5^A=A I I O >! E  E E #E "E s:*E z:VE 3ZE BE a 2E a JE ;a :E ;a A'X,ŎcY@AN˱@NƸ@NgٱN^ VAHRS rotation from veh to nav: [[0.873054,0.484561,0.054562],[-0.487143,0.861746,0.141722],[0.021654,-0.150311,0.988402]]NH???@X-߿ m?`#?,?c=ÿ`?iN˱@IN(g;NCY^#By^)IiEMb@Mb@Mb@AAAA A9E#~j?ʡE󽿚?YEE?yEyE=ٔu_;Q-u>9qYq=}lGy}F}:E}>Q 5 5qŠ?Q 9 5])BY>H?Q E:y&'Q IJ@DI" ;i ; 5yrBɮ=AEgOeDNOT Ignoring new targets: 38.38 m.aa*a"a iۇBʎjZ@?d@Bɢ0O<)  k?i ) o  i 8#iPю;ӸII9@ @@4@!I^A9A I I O >q W X,ZcY@AY~$By~)IbD VD yr;%%P=ٔ%Q-%>9!Y)=-lGy)-E->1Q 5= 55Š?Q 9= 55b)5BYAyAQ IEJ@5DI5;i5+;5 5yIɮM7AQgOuDNOT Ignoring new targets: 38.38 m.yy*y"y yyyʎjZ qKd@颽Bɢp<) ?i)iA%i>;\ڹIII)E= E9E=)E9"E=V:*E9VE=FA4ZE9aE@aE@aE@aE@YU9@Q @Q@U/@Q@]=@]=ԁ^AqԱA I I O > B% >B! B! B! B! B! B! B% Z;B% !E>8X,@cY@A{б@F˸@Q☼ٱ AHRS rotation from veh to nav: [[0.873386,0.483807,0.055924],[-0.486671,0.862572,0.138279],[0.018662,-0.147987,0.988813]]H?@??%߿0?@?`?`>¿[?i{б@Icf;CY -By )I ԩiMb@Mb@Mb@ 9Mb?v/~jt?YC?yx齙<(@@ +@)Yp@ bDVDyU=%0=ٔ;Q->9Y=lGyFơ:E> Q 5 5 Š?Q 9 5 Oh) BYVE?Q E:y&Q IJ@ øDI <:i E:  5y-Bɮ-PA-EgOUDNOT Ignoring new targets: 38.38 m.QQ*Q"Q QQYY]BʎYaajaZm@WZd@颕Bɢpn<) F?i)j顙i׵'i55;[8IIEE EEEE#EA"EE2:*EE~:VEE3ZEABEE *1 bX,wcY@A2Zϱ@2%ʸ@2ٱ2~ :AHRS rotation from veh to nav: [[0.873340,0.483759,0.057044],[-0.486803,0.862624,0.137488],[0.017304,-0.147843,0.988860]]2Hg?@?4?'߿?1? ?¿?i2Zϱ@I2Yf;2CY@yDbDNVDN:ٔVӇ;Q-V?9XYX=ZlGyXZ}ܹE^?`Q 5b 5bŠ?Q 9f 5bSl)bBYdyf&Q IfJ@b˸DIb:ib :b 5yjBɮnAnEgODNOT Ignoring new targets: 38.38 m.  * "    ʎjZ dd@Bɢd<) ?i)䇽i)is;3ݸII9@ @@/@9^A :bEJ4jEǻ 4rET0E] E]E]&EY"E]s:*E]]t:VE]4ZEYam@am@am@am@i A I I O- >HX,cY@A6Sɱ@6ĸ@6ʄٱ6 >AHRS rotation from veh to nav: [[0.872998,0.484246,0.058138],[-0.487454,0.862333,0.137004],[0.016209,-0.147944,0.988863]]6H??Pĭ?s2߿ ;?\?'?¿ä?i6Sɱ@I6e;6CYF6ByF*IbDNVDN:yV<%V<ٔZ1;Q-Z>9XYX=^lGy^F^Eb>`Q 5f 5bÊ?Q 9f 5bKq)bBYhyj&Q IjJ@bոDIb:i`b 5ynİBɮr7ArEgO DNOT Ignoring new targets: 38.38 m.  * "    ʎjZ`qd@EBɢMpJ<)I M?iI)MQQiU+i]]㣍;]JIYIa9@ @@ 0@@[A@[AiBA4<B>BB*IBEBB= =BB`DBZ;Bn!Eԡ^AUNJκAazAaA .AI I O >Ee  Ee Ea Ea "Ee ;*Ee $:VEa ZEa BEe L?4??R.߿=?`t?`?x¿` ?iN˱@INd;NCYb3Byb)IIf4=)f=hhiUMb@Mb@Mb@QQQQ Q9U/$?y&1{Gz?YUL?yU`彙Uף=ٔ}5;Q->9 ?Y ?=lGyFl6:E>Q 5 5Ê?Q 9 5v)BYN?Q E:y$Q IJ@DI* ;i;@ 5yӰBɮAEgODNOT Ignoring new targets: 38.38 m.*" BʎjZd@颵Bɢt<) 2?i)𗃽项i-iI; ܹII9@ @@ 0@^A) A ؟AI! I9 OE >KYY,dY@A:ɱ@:ĸ@: `ٱ: BAHRS rotation from veh to nav: [[0.873067,0.483762,0.061059],[-0.487407,0.862329,0.137200],[0.013719,-0.149545,0.988660]]:H@*??%C?1߿2???K$ÿ?i:ɱ@I:c;:CYJ;ByJ*IbDVVDV0y^ (=%^X=|ٔ~[;Q->9"?Y"?=lGy  E >Q 5 52Ê?Q 9 5{)BY!y%$Q I%J@DI;i3; 5y-Bɮ-A-EgOUDNOT Ignoring new targets: 38.38 m.QQ*Y"Y YYYaaʎaaijiZmd@颕Bɢi<) l?i)I顡i/i;t0IID=D<E% E%E%'E!"E%s:*E%:VE%'4ZE!a-@a-@a-@a-@59@1 @1@54@1)^AU9aA I I O >ԁ B >B ʍCB *IB OBB B B B Z;B _!El Y, |4dY@Aa!ʱ@ĸ@cIٱ{* EAHRS rotation from veh to nav: [[0.873095,0.483529,0.062496],[-0.487396,0.862385,0.136884],[0.012292,-0.149973,0.988614]]H@d? "?? ~1߿?`k?J,?R2ÿ ?i!ʱ@I?Hc;CYuGByu*IiMb@Mb@Mb@ 9Pn?V-~jt?YD?y<V@ )YbD VD 02y==%=ٔ8;Q-%>9!Y!=%lGy%F=@8E=>9ԁQ 5 5=HMÊ?Q 9 5=)=BYmF?Q E:y<'Q IJ@=DI=:bAE >A i߱ I߱ I I O >8Y,ٵQdY@A 2iı@24@2<ٱ2 >AHRS rotation from veh to nav: [[0.872763,0.483993,0.063528],[-0.488010,0.862042,0.136860],[0.011476,-0.150448,0.988551]]2H?@?\C?;߿`ؕ??`z?Aÿ`6?i2iı@I2Qb;2CYF@ByF *I HHbDRVDRkyVK%Zm=ٔZ?;Q-Z?9\Y\=^lGy\^gEb?`Q 5f 5b_Ê?Q 9j 5b0)b BYhyjh'Q IjJ@bDIb:ib#;b 5ynBɮrƚArEgO DNOT Ignoring new targets: 38.38 m.  * "   ʎjZ,d@MBɢM^=)I M?iI)UzQQiU!3i]](F;]K8IYIaQ9@ @@1@qE EE(E"ED:*E:VEc44ZEa@a@a@a@ 7o>MEGa_9Y_A^Aԡ A I I O% > bY,kdY@A9AYA=ElGyMFMEM>YQ 5} 5]tÊ?Q 9 5]k)]BYyQ IJ@] DI];i];] 5yBɮAgODNOT Ignoring new targets: 38.38 m.*" ʎjZUYd@Bɢth<) ?i)ui 65iG܋;IIԩAAB>BB$*IBTBB> =BBBZ;Bb!E9@ @@/@^A ?BɺE  E E &E "E :*E :VE 4ZE BE >]H!Y,AadY@A2e@20@22ٱ23 :AHRS rotation from veh to nav: [[0.872483,0.484184,0.065870],[-0.488555,0.861782,0.136551],[0.009350,-0.151319,0.988441]]2Ha??ܰ? |D߿?`z?K&?`o^ÿ`N?i2e@I2a;2CYBKByF*IlimMb@Mb@Mb@iiii i9m%C?&1S㥛?YmZD?ymнm/9Y=lGyE>Q 5 5Ê?Q 9 5i)!BY3F?Q E:y"Q IJ@DIq ;i. ;a 5y4BɮA©EgODNOT Ignoring new targets: 38.38 m.*" BʎjZ@d@ÇBɢb<) ?i)qi7iYx;DII @ @@@@\A@1^AA[AzAa I I O >)s'Y,6?dY@AE2 E0E2%E0"E2;*E0VE2 4ZE0a6@a6@a:@a:@>x@>C@>]ٱ>R FAHRS rotation from veh to nav: [[0.872556,0.483897,0.067010],[-0.488445,0.861883,0.136301],[0.008201,-0.151661,0.988399]]>H`?)?'?B߿? Or?ˀ?iÿ ?i>x@I>a;>CYNGByR*IIRp<)R<bDZVDZܲybļ%bX=ٔf/G;Q-f>9dYd=flGyfFj9Ej>lQ 5r 5nZÊ?Q 9r 5n)n*BYpyv"Q IvJ@nDIn:inK:n 5yzCBɮzAzéEAgODNOT Ignoring new targets: 38.38 m.*" ʎjZd@LJBɢ9<) ?i)%m!!i%69i--;-6ҺI)I1@ @@0@iԑ^A eIyIO>i I AB >B B 0*IB ^BB B GDB _DB Z;B S!EBʍCBʍCBB= =B= =Cɨ5 z-Y,#dY@A5ȱ@5]ø@5'ٱ5 EAHRS rotation from veh to nav: [[0.873053,0.482724,0.068963],[-0.487590,0.862519,0.135338],[0.005849,-0.151783,0.988397]]5H ?`? ?@4߿?R?w?mÿ?i5ȱ@I5ca;5CYUQBy]!*IԡiMb@Mb@Mb@ 9Zd;?/$~jt?Y>?y<d@@ 9@)@YQ@bD-VD-1y=7=%=4=ٔE*;Q-E>9AYA=MlGyIM!;EM>QQ 5] 5UÊ?Q 9] 5U")U4BYeG@?Q Ee:yeQ IeJ@U(DIU.:iUX:U 5ymRBɮuAqgODNOT Ignoring new targets: 38.38 m.*" =BʎjZ`d@ˇBɢ<) ?i)1Jii;i;@IIEu EuEqEq"Eu:*Eu~:VEqZEqBEu+ 4Y,^dY@AYRBy "*I <bD%VD%y5;%5]=ٔ5Q-5>99Y9==lGyEFEEE>IQ 5U 5MÊ?Q 9U 5MV)MIIO>ԁ :Y,dY@A2ͱ@2uȸ@2dٱ2yQ :AHRS rotation from veh to nav: [[0.873362,0.481991,0.070164],[-0.487051,0.862880,0.134981],[0.004516,-0.152061,0.988361]]2H??K?+߿@? G?`r?`vÿঠ?i2ͱ@I2Ma;0YFOByF*I HHbDVD3y%L=ٔpZ;Q->9Y=%lGy!%:E%>)Q 55 5-nÊ?Q 95 5-)-DBY9yE_Q IEJ@-:DI-G;i-H;-\ 5yMaBɮUHAUĩEgODNOT Ignoring new targets: 38.38 m.*" ʎjZ Pd@҇Bɢ<) 7?i)Tai?i  !; HIIYBu<Au=B}>ByB}7*IB}cBB}? =ByByB}&Z;B}!!E9@ @@>4@ԁ^AI9IIOU>ԩE  E E #E "E D:*E :VE 3ZE BE 19Y=lGyF9E>Q 5 5MÊ?Q 9 5)LBYF?Q E:y%Q IJ@EDI a;i3\; 5ypBɮtAũEgOeDNOT Ignoring new targets: 38.38 m.aa*i"i iiqy}NBʎyyyjZe@ԱeևBɢm8<)i u+?iq)u4\qqiu Ai0͉; _IIA@A @A@E/@A ^A 9Ay I I O >9 GY,@ eY@AbEM-4jEM4rEM5/E" E"E"%E "E"&:*E"$:VE" 4ZE a*@a*@a*@a*@j'ݱ@j׸@juٱjL rAHRS rotation from veh to nav: [[0.874288,0.480116,0.071484],[-0.485402,0.864030,0.133553],[0.002357,-0.151462,0.988460]]jH@*?7?@L?߿"?@A?Nc?@cÿw?ij'ݱ@Ij9G`;jCYzOByz*IAAAAbD VD yU%U=ٔ%2L;Q-%>9!Y!=%lGy!-;E->1Q 5E 55Ċ?Q 9E 55`)5TBYIyMQ IMJ@5NDI5}G;i5hH;5m 5yQɮUAQgODNOT Ignoring new targets: 38.38 m.*!"! !!!))ʎ)))j)Z5e@额ڇBɢ;P=) 1?i)X顡iCi;Ņ:IIi@i @i@q@qA^A9AZAzABq Bq Bq Bq Bu > =Bq Bq Bu Y;Bu Eԩ A I I O >,MY,m:eY@A U@U޸@U1dܺٱU eAHRS rotation from veh to nav: [[0.874690,0.479319,0.071904],[-0.484679,0.864492,0.133194],[0.001681,-0.151354,0.988478]]UHv? (?Th?`߿@?`~ ?@[?_ÿ?iU@IUv_;UCY}LBy}*II4=)i5Mb@Mb@Mb@1111 195?sh|?Mb?Y5fF?y55<5=A5@ 1)11Y1bDUVDUy].%e7=ٔem:Q-e>9aYi=mlGymFm:Eu>qQ 5} 5u Ċ?Q 9 5u)uZBYG?Q E:yQ IJ@uYDIu:iu:uT# 5yBɮAϩEgODNOT Ignoring new targets: 38.38 m.*" GBʎjZOe@އBɢz<) ?i)TiPEi  r; i:I IEM EM@EM&EI"EM;*EMM;VEM4ZEIBEM@TY,:TeY@AB@B@BȁٱB NAHRS rotation from veh to nav: [[0.875277,0.478143,0.072589],[-0.483620,0.864916,0.134282],[0.001423,-0.152639,0.988281]]BHD??@+?޿d?`&0?8PW?`ÿ`?iB@PIB2e_;BCYZSByZ#*IbD~VD~ y =% c=ٔ r<:Q->9 ?Y ?=lGy\;E>!Q 5- 5%4Ċ?Q 9- 5%ϵ)%`BY)y5lQ I5J@%bDI%:i%:%x& 5y=Bɮ=A=ЩEgOeDNOT Ignoring new targets: 38.38 m.aa*i"i iiiqqʎqqqjyZ}(e@颥Bɢ=) @?i),Q顩i%9Gi&]; ?;IIm9@i @q@u.0@qEe EeEe'Ea"Ees:*Eexv:VEe'4ZEaam@am@am@am@^A] ;A I I O >) ZY,YneY@AF@F@FHaٱFB NAHRS rotation from veh to nav: [[0.875636,0.477365,0.073379],[-0.482972,0.865199,0.134795],[0.000859,-0.153471,0.988153]]FH 5?'?Ȳ?`޿@?@?"L?ÿ?iF@IF%u_;FCYNBy*IbDVDܲy%0=ٔڞ:Q->9Y=lGyF:E>Q 5  50MĊ?Q 9  5AA?AB>BɍCBBB? =BBBY;B E>)gBY1y59Q I5J@nDI;i);* 5y9ɮ=̤AAgOeDNOT Ignoring new targets: 38.38 m.ai*i"i iiqqqʎqyyjyZ}7e@颥Bɢb<) ?i)L顱iHi|L;e`;II)e9@a @a@eI0@a@m=@m=YEu  Eu Eu $Eq "Eu :*Eu Z:VEu 4ZEq BEu 3bY,߈eY@ABj@B6@BbxٱB VAHRS rotation from veh to nav: [[0.876019,0.476570,0.073979],[-0.482277,0.865497,0.135363],[0.000482,-0.154259,0.988030]]BH X??@D?޿'?@S? ??ÿ?iBj@IBx_;BC^̏Cb"s@i`I`dfC f_AdhhnCn_AIl)pip)r3CIptxx x~@C||iiƅ CƅQ^A)ƍ ƍFEIƉ ǍC)ǍS{AƉƑƑYYKBy*I iuMb@Mb@Mb@qqqq q9u{Gz?+Q?YuC?yuuu9"?Y"?=lGy0:E>Q 5 5dcĊ?Q 9 5)mBYD?Q E:yQ IJ@xDI+ ;iQ;*. 5yBɮ A ѩEgO5DNOT Ignoring new targets: 38.38 m.11*1"1 1119=PBʎAAAjAZEEe@uBɢu8=)q u?iq)}Hyyi}JiH;pz;II59@1 @1@54@1A^AQ Թ rG A .AI D =D <E  E E %E "E :*E ą:VE 4ZE a% @a% @a% @a% @- j9) Y- \AIi Ou >WhY,eY@A>@>@>Jٱ>. NAHRS rotation from veh to nav: [[0.876462,0.475869,0.073235],[-0.481472,0.866124,0.134218],[0.000439,-0.152897,0.988242]]>H ?t?`? n޿I? .?\@I>Eh_;>CAYu?Byu *IbDVD:yz%Z=ٔ;8Q->9 ?Y ?=lGyF#;E>Q 5 5 wĊ?Q 9 50)rBYyQ IJ@DIK:iB:a1 5yBɮzAҩEgODNOT Ignoring new targets: 38.38 m.*" ʎjZ @Pe@5Bɢ5C=)1 5?i1)=7E99i=qLiEEP;Eڗ;IAII9@ @@/@yԡ^Ar;B>BB**IBYBBA =BB^DB@Y;B EA I I O > JznY,NeY@A-> @- @-A7ٱ-R =AHRS rotation from veh to nav: [[0.876949,0.474940,0.073432],[-0.480584,0.866654,0.133978],[-0.000009,-0.152782,0.988260]]-H ?le? p̲? ޿`?/&?`>( [ÿ@ӟ?i-> @I-A_;-CY;By*IiMb@Mb@Mb@ 9y&1?~jty&1?Y`E?y`e<SA@ |@)@Y@E EEE"ED:*E:VEZEBE19Y=lGy;E>Q 5 5Ċ?Q 9 5A)wBY]F?Q E:y~Q IJ@DI:i:A5 5y ɮ A gO5DNOT Ignoring new targets: 38.38 m.11*1"9 999AEOBʎAAAjZ@_e@5Bɢ5<)1 5ۑ?i1)=@99i=0Nik;[;II9@ @@%/@!@1@5ZA) PExceeded connect timeout, disconnecting.^A ϩ;A [AzA a A ؟AI I O >uY,%eY@A2@2g@2ٱ2 :AHRS rotation from veh to nav: [[0.877498,0.474065,0.072531],[-0.479581,0.867357,0.133019],[0.000150,-0.151509,0.988456]]2Hu?W?b?t޿@c?@?Y#?dÿ`n?i2@I2_;0YB2ByB)IIF=)Fp<bDNVDNNyVHA%Ve=ٔVPQ-Z>9Z"?YZ"?=^lGy^F^Q;E^>`Q 5f 5bMĊ?Q 9f 5bT)b|BYdyj6Q IjJ@bDIb;ib;b_8 5ynBɮnAlgODNOT Ignoring new targets: 38.38 m.* "    ʎjZ`je@EBɢEP!=)I M?iI)Mé=IԑIiOi;w;II9@ @@/@ԹDzD?AE EEE"E:*Ex:VEZEa @a @a @a @^AIAy I I O > _{Y,eY@A6g@63@6$c ٱ6b BAHRS rotation from veh to nav: [[0.878070,0.473074,0.072064],[-0.478531,0.868054,0.132250],[0.000008,-0.150610,0.988593]]6H@'?F? r?A޿??d>`2Gÿ@?i6g@I6^;6CY^3By^)IbDjVDj1yr ;%rG=ٔr9Q-r>9tYt=vlGytz`?;Ez>xQ 5 5zuĊ?Q 9 5z)zBYyQ IJ@zDIz;iz;z; 5yBɮAݩEgO=DNOT Ignoring new targets: 38.38 m.99*9"9 9AAAAʎIIIjIZM@{we@B>BB*IBOBB@ =BBBX;Bh EBEɍCBEɍCBABE? =BE@ =CE͠5颥Bɢ&D<) 0?i)9顱iQi;;IIM9@Q @Q@U/@Q!^A[R;E EE"E"E7;*E|:VE(3ZEBEZԉ ςY, fY@A2j&@26!@2rٱ2!z :AHRS rotation from veh to nav: [[0.878596,0.472223,0.071230],[-0.477565,0.868740,0.131235],[0.000092,-0.149319,0.988789]]2H v?8?!9Y=lGy F(;E>Q 5 5JĊ?Q 9 5)BYRE?Q E:yQ IJ@DIT ;i ;? 5yɮAgODNOT Ignoring new targets: 38.38 m.*" QBʎj Z `+e@5Bɢ5<)9 =?i9)=699i=ASiEE ;Ms A>I I O >E%  E% E% %E! "E% s:*E% :VE% 4ZE! a- @a- @a5 @a5 @ 3Y,'%fY@A20@2*@2r,:ٱ2\ :AHRS rotation from veh to nav: [[0.879160,0.471105,0.071674],[-0.476526,0.869366,0.130869],[-0.000658,-0.149209,0.988805]]2H"?&?`9Y?`e޿?P?@PE@Jÿ@K?i20@I2r^;2CYB#ByF)I HHbDNVDN1yVY%V[=ٔZ;Q-Z>9XYX=ZlGyX^|O;E^>`Q 5f 5bDĊ?Q 9f 5b8)bBYhyjQ IjJ@bDIb:ibB:bB 5ynBɮnuAlgODNOT Ignoring new targets: 38.38 m. * "    ʎjZ} e@Bɢ?b=) >?i)2iTi ];7BǍCB *IB?BBB =BBBX;BM E^A+Y,?fY@Aj)7@j1@j:ٱj} rAHRS rotation from veh to nav: [[0.879570,0.470273,0.072110],[-0.475768,0.869782,0.130859],[-0.001180,-0.149407,0.988775]]jH@p%?@?u?r޿@A?@?3US`ÿ ?ij)7@Iji^;jCYz%Byz)Ii}Mb@Mb@Mb@yyyy y9})\(?J +Q?Y}GA?y}ȽE EE&E"E:*E|:VE4ZEBE39IYI=MlGyM FU:EU>YQ 5e 5]%Ċ?Q 9 5])]BYB?Q E:yQ IJ@]DI]h;i];]F 5yBɮAީEgODNOT Ignoring new targets: 38.38 m.*"     9BʎjZ2e@a颅Bɢ*/<) ?i).顑i`ViHˊ;$ Y,[YfY@A6s<@6?7@6?G:ٱ6 >AHRS rotation from veh to nav: [[0.879877,0.469642,0.072481],[-0.475199,0.870077,0.130962],[-0.001559,-0.149673,0.988734]]6H '??? i޿ ?^?@Y(ÿ?i6s<@I6X^;6CYJByJ)ILPR@AbDVVDVy^\%^f=ٔ^:Q-b>9`Y`=blGy`f`:Ef>hQ 5n 5j Ŋ?Q 9n 5j)jBYlynQ IrJ@jǹDIj;ij&;jJ 5ytɮvAtgODNOT Ignoring new targets: 38.38 m.*" !!ʎ!!!j)Z-@ e@U BɢUһ=)Q ]΂?iY)]+YYi]Wiee!;eA-! a5Y,4sfY@A2k@@27;@2:ٱ2n :AHRS rotation from veh to nav: [[0.880107,0.469210,0.072483],[-0.474773,0.870265,0.131259],[-0.001492,-0.149935,0.988695]]2H)? ?@D? b޿@6?@?`WpX1ÿc?i2k@@I2];2CYBByB)IbDNVDN:yVt4=%VK=ٔV.Q-V>9XYX=ZlGyZ F^:E^>|Q 5% 5#Ŋ?Q 9% 5q)BY!y-Q I-J@ѹDI:i:M 5y5Bɮ5A5ߩEBM޾>BIBM)IBM0BBMD =BIBM]DBMX;BM[ EgODNOT Ignoring new targets: 38.38 m.*" ʎjZke@ Bɢps<) 1?i)c(idpYi•;S3@2D|:ٱ21 :AHRS rotation from veh to nav: [[0.880326,0.468780,0.072613],[-0.474368,0.870413,0.131742],[-0.001446,-0.150421,0.988621]]2H+?{?Ŗ? \޿ m??W@@ÿ`Ȣ?i21D@I2 ^;2CYBByB)Ii Mb@Mb@Mb@     9 V-?~jtMb?Y |??y Ľ < AY @ @) 1@ Y @bD}VD}y/%==ٔ޸Q->9Y=lGyR:E>Q 5 58Ŋ?Q 9 5H)BYA?Q E:yQ IJ@۹DI:i* ;RQ 5y,Bɮ`AEgODNOT Ignoring new targets: 38.38 m.*" LBʎjZ e@-Bɢ-<)) -?i))5$11i=!ZiEEc;Ei|9 E  E E &E "E :*E :VE 4ZE a @a @a @a @FY,fY@A6F@6cA@6m:ٱ6A BAHRS rotation from veh to nav: [[0.880464,0.468450,0.073058],[-0.474110,0.870484,0.132200],[-0.001666,-0.151035,0.988527]]6H ,??볲?W޿??@M[Uÿ`?i6F@I6];6CYJByJ)I PRbDVVDVy^%^Y=ٔ^:Q-^>9`Y`=blGyb FfK:Ef>hQ 5n 5juLŊ?Q 9n 5j)jBYlynQ IrJ@jDIj;ij;jT 5yvbBɮvmAvEgO5DNOT Ignoring new targets: 38.38 m.19*9"9 AAIIIʎIQQjYZe@ e@ԹEBɢE<)y }y?iy)!顁i+[\i;S=BABE)IBE&BBABABABEX;BE^ E^Am9<Au?Au?A I I O >A 2Y,fY@AE@?@}:ٱ -AHRS rotation from veh to nav: [[0.880372,0.468614,0.073108],[-0.474281,0.870294,0.132835],[-0.001377,-0.151618,0.988438]]H,??@3?Z޿s? ?`V 7hÿ I?iE@I];CY= By=)IE EE!E"E:*E:VEc3ZEBE.?y=ν999 9)=@9Y=@bDU VDU2ye8<%e2=ٔm$Q-m>9qYq=ulGyu FuDݹE}>yQ 5 5}dŊ?Q 9 5})}BY@?Q E:yQ IJ@}DI}J;i};}X 5ypBɮAEgODNOT Ignoring new targets: 38.38 m.*" ԑ /YY,fY@A2@@2k;@2:Ԇ:ٱ2C :AHRS rotation from veh to nav: [[0.880119,0.469058,0.073314],[-0.474752,0.869894,0.133771],[-0.001029,-0.152540,0.988297]]2H)?` ?IJ?Tb޿,?i?Ppÿ` ?i2@@I2];0YBByB)IbDNVDNβyng4%nh=ٔrSQ-r>9r ?Yv ?=vlGytvƺEv>xQ 5~ 5z4vŊ?Q 9~ 5z)zBYyQ IJ@zDIz;iz;z[ 5y Bɮ A EgO5DNOT Ignoring new targets: 38.38 m.11*9"9 999AAʎAAIjIZM e@uBɢu.=)y }t?iy)}gyiXI_iCm;W2 aY,{fY@A2@@2;@2{:ٱ2* :AHRS rotation from veh to nav: [[0.880139,0.468967,0.073658],[-0.474716,0.869791,0.134566],[-0.000960,-0.153403,0.988163]]2H*??>۲?a޿T?`t9?VuO@ÿ`?i2@@I2H^;2CYB ByB)IbDJVDJ1yR?=%VN=ٔV95Q-V>9XYX=ZlGyXZ8E^>`Q 5b 5bŊ?Q 9f 5b)bBYdyfQ IfK@bDIb:ib:b/_ 5yhɮnЩAlBr<Ar<BtBtBv)IBvBBvE =BtBtBvX;Bvn EgO}DNOT Ignoring new targets: 38.38 m.*" ʎjZ` e@Bɢ<) Rw?i)<5i`i%%;-sp4E EE#E"E:*E:VE3ZEBE;8@29@2XC:ٱ2\ :AHRS rotation from veh to nav: [[0.880014,0.469178,0.073808],[-0.474947,0.869566,0.135202],[-0.000747,-0.154035,0.988065]]2H`)?`?@?e޿}? NN?xH`gÿ:?i2>@I2[^;2CYFByF)IIH)J=iMb@Mb@Mb@ 9Mb?EԸZd;O?Y@?yƽj<3@ )Y@bD-VD-y=@%=A=ٔ=/Q-=>9AYA=ElGyEFM"EM>QQ 5 5UŊ?Q 9 5Uu)UBY2B?Q E:yQ IK@U DIU,Yԩ D D %=E  E E (E "E :*E ?:VE c44ZE a @a @a @a @Y,?5(gY@A@r9@rn4@r`:ٱr""  AHRS rotation from veh to nav: [[0.879714,0.469417,0.075836],[-0.475502,0.868784,0.138244],[-0.000992,-0.157675,0.987491]]rH&?` ? j?@n޿??>P.Ŀ?ir9@Irp];rCY-By-)IbDM VDM2y]<%]H=ٔ]3:Q-e>9aYa=elGyeFmʺEm>qQ 5} 5u޵Ŋ?Q 9} 5u* )uBYyy}Q IK@uDIu;iu;uqf 5yBɮ_APB*** querying acoustic contact *** gO5DNOT Ignoring new targets: 38.38 m.11*9"9 999AAʎAAAjIZM f@"Bɢ<) q?i)iciS;('ԹBھ>BBBBD =BBBY;B EBǍCBǍCBBD =BD =C|N5=2Acoustic response timeout=Querying Benthos address 50 with one ping in standard two-way mode. GY,:BgY@A\M0@Mi+@M2w:ٱM$ ]AHRS rotation from veh to nav: [[0.879190,0.470173,0.077220],[-0.476471,0.867886,0.140534],[-0.000943,-0.160349,0.987060]]MHR"?N?ij?~~޿?`?]NQĿ?iM0@IM^;IYiyqE EE'E"E:*E$:VE'4ZEBE> BDAT read: Tx time:00:53:48.8712 $Ping request sent.9Y=lGy E>Q 5 5Ŋ?Q 9 5-)BY=?Q E:yQ IK@ DI\:i:\j 5yɮgO DNOT Ignoring new targets: 38.38 m.  * "  GBʎjZy!f@u%Bɢu#<)y }o?iy)z顉ideiK;{Y,[gY@AYrByv)I xxbD~VD~y % <ٔQ->9Y=lGyF%E%>)Q 55 5-Ŋ?Q 95 5-)-BY1y1Q I5K@-(DI-0;i-;-lm 5yEBɮExAEEgOmDNOT Ignoring new targets: 38.38 m.qq*q"q qqyyyʎyjZ,f@颭'Bɢ=) ^m?i) 项ifia;qԡ Y,ugY@A25)@2$@2Ō:ٱ2u% :AHRS rotation from veh to nav: [[0.878758,0.470835,0.078088],[-0.477265,0.867382,0.140947],[-0.001370,-0.161127,0.986933]]2H?+"??޿? ? qVϟĿ?i25)@I2];0BF۾>BDBDBDBDBDBDBF8Y;BF EYRByV)IbD^VD^kyf;%fO=ٔf:Q-f>9j"?Yj"?=jlGyhn0En>pQ 5v 5rŊ?Q 9v 5r)rBYtyvQ IvK@r1DIrK:ir:rp 5y~Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754988ɮ~׫A gO-DNOT Ignoring new targets: 38.38 m.11*1"1 11199ʎ9AAjAZE\9f@ԙ*BɢX:<) jg?i)Bithi٬;\ 9 ]Y,gY@A6*@6x%@6I:ٱ6Z% BAHRS rotation from veh to nav: [[0.878843,0.470631,0.078368],[-0.477107,0.867558,0.140399],[-0.001913,-0.160778,0.986989]]6H {? ??޿??U_cĿ i?i6*@I6];6CYJ ByJ)IiMb@Mb@Mb@ 9y&1?~jtMb?Y`E?y<A@ @)Y@11bD5VD5ܲyE=%MC=ٔMZ:Q-M>9M ?YU ?=UlGyUFU69EU>YQ 5e 5] Ɗ?Q 9m 5]F)]BYm_F?Q Em:ymNQ ImK@]bEU!4jEUT4rEU0E  E E 'E "E ;*E ?:VE '4ZE a @a @a @a @ԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510929Y,ggY@AJ%@J @J\,;ٱJ( nAHRS rotation from veh to nav: [[0.878555,0.470835,0.080346],[-0.477634,0.866949,0.142355],[-0.002630,-0.163442,0.986549]]JH ?*"?? ޿ ?8?`eĿ Б?iJ%@IJd];JCYv Byv)IIz>)z=bDVDy;%N=ٔ:Q->9"?Y"?=lGy%źE%>)Q 55 5-Ɗ?Q 95 5- )-BY1y=nQ I=K@-FDI-@;i-;-x 5yEBɮEǫAEEgOmDNOT Ignoring new targets: 38.38 m.ii*i"i qqqyyʎyyyjZySf@颭/Bɢ*p=) m?i),顱ikiF<;BBBBC =BBB)Y;B EiIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763174^A<A I I O > Y,^dgY@AE EE"E"E:*Eą:VE(3ZEBEa2EaJE;a:E;aY y}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015796iMb@Mb@Mb@ 9Mb?I +Zd;O?YC?y9j<"AI@ @)^@Y@bDVDJyd%'=ٔQ->9Y=lGyFE>Q 5 59Ɗ?Q 9 5j&)BYtD?Q E:yDQ IK@RDI` ;iG ;J| 5y BɮAEgODNOT Ignoring new targets: 38.38 m.*"     qBʎjZ!cf@3Bɢ}<) l?i)@i)>mi};+ #Y,gY@A>W%@># @>w;ٱ>( FAHRS rotation from veh to nav: [[0.878527,0.470687,0.081513],[-0.477676,0.867034,0.141692],[-0.003982,-0.163417,0.986549]]>H@??@޴?`@޿?`"?`NpĿ`ϑ?i>W%@I>Ǘ];>CYRByR)I XZ4<bDZVDZܲyb`=%bl=ٔf;Q-f?9hYh=jlGyhjEj?lQ 5r 5nuKƊ?Q 9r 5nf*)nBYtyvGQ IvK@nZDIn#;inr;nQ 5yxɮ~۫A|gO%DNOT Ignoring new targets: 38.38 m.!!*!"! !!!))ʎ)11j1Z59nf@]5Bɢe=)=)a eo?ia)e5iiimKniuuȐ;u<~ B] ޾>BY B] )IB] BBY BY BY B] Y;B] Eԉ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770958ӫY,TWgY@A2@2@29;ٱ2+ >AHRS rotation from veh to nav: [[0.878197,0.470786,0.084444],[-0.478271,0.866269,0.144347],[-0.005195,-0.167152,0.985918]]2H1?Y!??޿y?y?-Gu:eſࢌ?i2@I27];0YFByF)I HHN=N=bDVD1ye{%eB=ٔef<;Q-m>9iYi=mlGymFu3ӺEu>yQ 5 5}aƊ?Q 9 5}A/)}BYygQ IK@}eDI} :i}:} 5yBɮ#AEgODNOT Ignoring new targets: 38.38 m.*" ʎjZ{f@8Bɢ=) l?i)Pivppi  z; p;IIq9@ @@0@ԩE EE$E"E:*EVE4ZEBE+ Z,>hY@A6>@6 @6Zd;ٱ6U!. >AHRS rotation from veh to nav: [[0.877578,0.471614,0.086235],[-0.479397,0.865414,0.145727],[-0.005902,-0.169228,0.985559]]6H?`.?|?@r޿ y?0?,xAſ?i6>@I6];4YFByJ)IiUMb@Mb@Mb@QQQQ Q9U(\?㥛 y&1?YUG?yUU`e9Y=lGyHE>Q 5 5xƊ?Q 9 54) BYH?Q E:yQ IK@oDIv:i: 5y ]Bɮ A EgO5DNOT Ignoring new targets: 38.38 m.11*9"9 999AEBʎAAAjIZM*f@u;Bɢu=)y }n?iy)}yyi} ri/;;I DAT read: 00:53:51.5564 LVL= 30784, 27505, 32754, 26531, AGC= 70, IDX= 202, 0.02, 2.877,-2.292, 2.844, 2.675, PHS= 0.304, 1.361, 0.124, RAW= 337.7, -28.7, CAL= 337.6, -31.5, ROT= 172.4, 31.5 Ygot valid direction response: 00:53:51.5564 LVL= 30784, 27505, 32754, 26531, AGC= 70, IDX= 202, 0.02, 2.877,-2.292, 2.844, 2.675, PHS= 0.304, 1.361, 0.124, RAW= 337.7, -28.7, CAL= 337.6, -31.5, ROT= 172.4, 31.5 %BDAT read: Rx Time:00:53:51.5564 )5TRx dataTimestamp_ set to:1761699232.403181=@DAT read: $Low SNR acquisition =2Received low SNR in chirpX#Rx 1: Read direction message, but no range.`direction in FSK: [-0.845150,0.112767,-0.522499]y!%`gx sMvN޼?5QN!%@x%qk! %g)%FI%㥛>i%?5?%=%v@%;%)@ %L )%@@I%L ?!%|B84-jh0>J9޿ %)%?I%@@i%L ?I9@ @@0@Ye9aYmAԁ E  E E &E "E :*E Z:VE 4ZE a @a @a @a @^A r;A I I) O= > Z,,hY@A?`޿?Ǝ?6{6ſ`!?iB-@IB ];BCYRByV)IIbDbVDbyj%j]=ٔn;Q-n>9lYl=rlGyrFrEr>tQ 5z 5vƊ?Q 9z 5vC8)v BY|y~Q I~K@vxDIvo;iv{;v 5yɮ!AgO5DNOT Ignoring new targets: 38.38 m.19*9"9 99AAAʎIIIjQZUf@颕>BɢZ=) ;k?i)3O顡iBsi-\O;5};I1I1ԡ9@ @@4@B%>B%ȍCB%)IB%!BB%B =B!B%^DB%X;B%v E^A c; AQ Ia Iq O} >śZ,FhY@AE: E:E8E8"E::*E::VE8ZE8BE:69Y=lGyeL8E>Q 5 5Ɗ?Q 9 5=)BYSG?Q E:yQ IK@DIL:i: 5y lBɮ VA EgO5DNOT Ignoring new targets: 38.38 m.11*1"1 1999=BʎAAAjAZMf@uBBɢuV=)q ui?iy)}T߼yyi}uiv;;II@ @@4@1^A! Y AU .AIY Ii O} >Z,`hY@A2{@2G @2 <ٱ2lV0 :AHRS rotation from veh to nav: [[0.877400,0.471321,0.089590],[-0.479684,0.865157,0.146311],[-0.008550,-0.171349,0.985173]]2H?`*?c?$޿`]?T? ſ`?i2{@I2@^;0YFByF)IbDNVDNyV=%Vw=ٔVG;Q-Z?9Z ?YZ ?=ZlGyZF^9E^?`Q 5f 5bĸƊ?Q 9j 5bcA)bBYhyjQ IjK@bDIbK:ib :b 5ynzBɮrxArEgO DNOT Ignoring new targets: 38.38 m.  * "   ʎ9jZ8f@EBɢ*=)  nk?i ) ټ  ivi5=ܖ;=Z;I9I9E} E}E}'Ey"E};*E}?:VE}'4ZEya@a@a@a@9@ @@/@iԙ^AM`;AU?AU?Aa Ii Iy O > A! A% AAB- >B) B- )IB- &BB- @ =B) B) B- X;B- y EBBBBC =BB =C5`Z,]zhY@AB@BY @Bζ<ٱB^5 JAHRS rotation from veh to nav: [[0.877165,0.471199,0.092484],[-0.480102,0.864251,0.150237],[-0.009138,-0.176185,0.984315]]BH ?(?`?@޿?@:?ȶ9ƿ?iB@IBx^;BCYRByR)IbDZVDZ02ybL%fH=ٔf:Q-f>9hYh=jlGyhjGEj>pQ 5v 5rƊ?Q 9v 5rF)rBYtyvQ IzK@rDIrW:ir:rr 5y|ɮ~A|gO%DNOT Ignoring new targets: 38.38 m.!!*)") )))11ʎ111j9Z= f@eHBɢela=)i md?ii)m[Լiiim'xiuu;Թ}I;II9@ @@/@E EE&E"E*E1:VE4^A[R;ZEBED9 $Z,:hY@AYBy)I  iMb@Mb@Mb@ 9#~j?Q뱿 rh?YE?y\AI@ @)@Y@bDVDfy}l=%<=ٔQ->9Y=lGyFE>Q 5 5Ɗ?Q 9 5J) BYF?Q EM:yMQ IMK@DI=ԙ *Z,hY@A2Z @2&@21<ٱ23 :AHRS rotation from veh to nav: [[0.877021,0.471375,0.092949],[-0.480330,0.864600,0.147477],[-0.010847,-0.173987,0.984688]]2H@?@+?˷?`޿Ϊ??6`4Eƿ?i2Z @I2I^;2CYFByF)IbDzVDzβy % V=ٔT;Q->9"?Y"?=%lGy!-7E->1Q 5E 55Ɗ?Q 9E 55CO)5$BYIyMQ IMK@5DI5B;i5E9;5 5y]Bɮ]A]EgODNOT Ignoring new targets: 38.38 m.*" ʎjZf@OBɢ*&=) f?i)ȼiR{if;B;IIq9@ @@?0@@=@=B߾>BǍCBBBB =BB]DBX;Bu Eԡ^AAzA[AA I I! O= > 1Z,hY@AE- E-E-&E)"E-:*E-x:VE-4ZE)BE-59qYq=}lGy}F}]V:E}>Q 5 5vNJ?Q 9 5U))BYF?Q E:yxQ IK@DI:i: 5yٵBɮAEgODNOT Ignoring new targets: 38.38 m.*" BʎjZ`bq8Z,ihY@A2T@2 @2k><ٱ2* :AHRS rotation from veh to nav: [[0.877422,0.471325,0.089349],[-0.479578,0.866328,0.139572],[-0.011622,-0.165313,0.986173]]2H?/*?߶?`i޿? }?U͇(ſ๎?i2T@I2:^;0@Br@i@I@@@ DDDDDF _AID)HiH)xIxzDx ||~^A|i||iCM^A) )EI )    Y YUByU)IbDmVDmy}<%}v=ٔ}:Q-?9Y=lGyp:E?Q 5 5})NJ?Q 9 5X)+BYybQ IK@DIB:i: 5yɮAgODNOT Ignoring new targets: 38.38 m.*" ʎjZ@f@WBɢ 7=) a?i)i}i%%G3;% #;iI)IybEž4jE4rEַ/Ee EeEe$Ea"Ee;*Eez:VEe4ZEaa}@a}@a}@a}@9@ @@ 4@ ԙ^AEJ;B <A <B >B ȍCB B B C =B B ^DB X;B ` EA I I O > >Z,<0hY@A2@2d @2D<ٱ2/* :AHRS rotation from veh to nav: [[0.877258,0.471478,0.090148],[-0.479869,0.866080,0.140110],[-0.012017,-0.166172,0.986024]]2H@?,??`,޿?`?SEſ`?i2@I2N^;0Y-By-)IbD=VD=:2yM%J=ٔ :Q->9Y=lGyF|XE>Q 5 5s?NJ?Q 9 5])/BYyvQ IK@ʺDI:i 5yBɮaAEgODNOT Ignoring new targets: 38.38 m.*" ʎjZ f@[Bɢ%w=)! %Z?i!)%$N))i-2i-5jT;5;I1I99@ @@/@@\A@[A E) E-E-&E)"E)*E-~:VE-4ZE)BE-@A>) A I I O >Q ՀEZ,iY@AYeBye)I iiiMb@Mb@Mb@ 9 r?{GzQ?YC?yףu<@ @)@Yz@bD VD 0yօ%A=ٔ%Q-%>9!Y!=-lGy)-E->1Q 5= 55VNJ?Q 9= 55Ub)53BYED?Q EE:yEQ IEK@5ԺDI5:i5:58 5yMBɮUAUEgO}DNOT Ignoring new targets: 38.38 m.yy*y"y yyBʎjZ] g@颽_Bɢ"=) 2X?i)oiCi-w;ǁ;II)9@ @@/@Y^A[R;E-  E) E- #E) "E- ;*E) VE- 3ZE) a5 @a5 @a5 @a5 @ԁ A1 IA IQ O] >#KZ,0iY@A0NC @N@NY<ٱNdN+ VAHRS rotation from veh to nav: [[0.876932,0.471832,0.091459],[-0.480432,0.865825,0.139757],[-0.013245,-0.166497,0.985953]]NH?2? i?e޿ִ??J `Oſ ?iNC @IN^;NCY^Byb)IbDjVDjβyr<%ra=ٔr];Q-v>9tYt=vlGyvFzEz>|Q 5 5~iNJ?Q 9  5~}f)~6BY y Q I K@~ݺDI~ :i~:~f 5yɮAgOEDNOT Ignoring new targets: 38.38 m.AA*A"A AAIIIʎIQQjQZU`g@颅cBɢ(=) X?i)f顉iq퀼i;;IIM9@I @I@U/@QԉB>BɍCB)IB!BB= =BFDB_DBX;B E^AuX;A .AI I O >EE  EE EE 'EA "EE s:RZ,}JiY@A*Emx:VEm'4ZEiBEme09 ?Y ?=lGyE>!Q 5- 5%NJ?Q 95 5%k)%i=9@9 @9@A@A@I@M=1^AE ;i  ؀G) A u 9q Yu _AA ؟AI I O >XZ,kdiY@A2@2z@2u<ٱ2- :AHRS rotation from veh to nav: [[0.876524,0.472077,0.094065],[-0.481125,0.865281,0.140737],[-0.014954,-0.168617,0.985568]]2H| ?6? ?޿`b??s :ſƉ?i2@I2^;2CYB ByF)IIFR=)Fa=bDNVDNyVd %Vd=ٔV;Q-Z>9Z"?YZ"?=ZlGyZF^CE^>`Q 5f 5b-NJ?Q 9f 5bo)b@BYdyfQ IjK@bDIbW:ibp:bc 5ynBɮnAnEgODNOT Ignoring new targets: 38.38 m.*"     ʎjZ@0g@9EkBɢE{%'=)A MhP?iI)MH7顁ic"i9;;IIE EE%E"E:*E:VE 4ZEa@a@a@a@M9@I @I@M?0@Iqԑ^AmS;B >B B )IB BB > =B GDB B W;B EA I I O >^Z,w~iY@A6@6@6|<ٱ6,k/ >AHRS rotation from veh to nav: [[0.876472,0.471880,0.095529],[-0.481199,0.865030,0.142025],[-0.015617,-0.170450,0.985243]]6H ?F3?t?޿R?-?@Lſ?i6@I6^;6CYJ ByJ)IbDRVDR1yZ;%ZJ=ٔZR:Q-^>9\Y\=blGy`bgEb>dQ 5j 5fȩNJ?Q 9j 5f_t)fDBYhylQ InK@fDIf):if;f 5yrGBɮrArEgO DNOT Ignoring new targets: 38.38 m.*" ʎ!!j!Z%=g@MoBɢM =)Q UN?iQ)U4QQi]aieeA;e;IaIiԙ9@ @@4@@@@@E EE)E"E:*E:VEFA4ZEBE5 eZ,RiY@AYnByr)IieMb@Mb@Mb@aaaa a9eNbX9?bX9ȶ:v?YeE?yeEeT9Y=lGyFE>Q 5 5NJ?Q 9 5sy)HBYF?Q E:yQ IK@DI ;i ; 5yUBɮXAEgODNOT Ignoring new targets: 38.38 m.*" ֈBʎ  j Z `tKg@颵sBɢ =) E?i)C项ir;i;II9@ @@4@AA?1IIOf>QE EE'E"E%;*E:VE'4ZEa@a@a@a@y kZ,E.iY@A2@2@2^<ٱ2[/ :AHRS rotation from veh to nav: [[0.876332,0.471936,0.096533],[-0.481416,0.865011,0.141404],[-0.016768,-0.170389,0.985234]]2H ?54?[? ޿+? ?+@Oſ ?i2@I2_;2CYBByB)I DDbDNVDNyV<%VZ=ٔVKI;Q-Z>9XYX=ZlGyX^4E^>`Q 5f 5bNJ?Q 9f 5b})bKBYhyjQ IjK@bDIb:ib:b 5yncBɮnAn EgOeDNOT Ignoring new targets: 38.38 m.aa*a"a iiiiiʎqqqjqZWg@ xBɢ  F=)  nE?i )-i侃i==ʒ;=z;I9IAYB]>BYB])IB]BB]= =B]FDBYB]lW;B]EBɍCBɍCBÔCB> =B@ =Cs69@ @@/@ԁIIOI>ԩD =D =E  E E #E "E :*E :VE 3ZE BE <9YYY=]lGyeFek:Ee>iQ 5u 5mNJ?Q 9u 5m$)mPBY}HA?Q E}:y}Q I}K@mDIm ;im2 ;m 5yɮAgODNOT Ignoring new targets: 38.38 m.*" BʎjZfg@u|BɢuV=)q u4@?iq)}WXyyi}5iNג;Ū;II9@! @!@%/@!IIOA>) 9yZ,*iY@A6 @6@6'ߓ<ٱ6i+ BAHRS rotation from veh to nav: [[0.876787,0.471263,0.095685],[-0.480541,0.866117,0.137556],[-0.018050,-0.166588,0.985861]]6H ?`.)?~?-޿;?l? {Rſ@-?i6 @I6^;6CYJByJ)IbDVVDVyZ%^i=ٔ^;Q-^>9`Y`=blGy`b ;Ef>hQ 5r 5jNJ?Q 9r 5j.)jTBYtyvdQ IzK@j"DIjq;ij";j 5yrBɮ A gOUDNOT Ignoring new targets: 38.38 m.QQ*Q"Q YYaiiʎiiqjqZ}`qg@E] E]E](EY"E]:*E]:VE]c44ZEYam@am@am@am@额Bɢ=) BU >BQ BU )IBU BBQ BQ BQ BU 0W;BU Eԩ 2Z,MiY@A2@2 @2]<ٱ2n, :AHRS rotation from veh to nav: [[0.877118,0.470460,0.096595],[-0.479911,0.866366,0.138189],[-0.018674,-0.167565,0.985684]]2HZ??u?ݶ޿@D?*?b`rſ`?i2@I2|^;2C@YFByF)IIJ<)HbDnVDnfyv<%vG=ٔvl:Q-v>9xYx=zlGyzF~>:E~>Q 5  59Ȋ?Q 9  5)XBY y 2Q I K@,DIK:iB: 5yBɮA!EgOEDNOT Ignoring new targets: 38.38 m.AA*A"A IIIIIʎQQQjQZ]m~g@颅Bɢ=) h;?i)2顉ii;4;IIM9@Q @Q@U_0@QԩE EE%E"Es:*E:VE 4ZEBEe0 Z,tjY@A2~@2K@2#6<ٱ2/ :AHRS rotation from veh to nav: [[0.877447,0.469440,0.098558],[-0.479290,0.866258,0.140991],[-0.019190,-0.170950,0.985093]]2H ?`M ? ;?޿ b? ?`uſ?i2~@I28~^;2CY^Byb)IliMb@Mb@Mb@ 9Gz?B`"۹9Y=lGyT:E>Q 5 5*Ȋ?Q 9 5ݐ)]BY@??Q E:y#!Q IK@7DI. ;iu ;c 5yBɮA+EgO DNOT Ignoring new targets: 38.38 m.  * "  Bʎ!!j!Z%`2g@MBɢU=)Q U2?iQ)]rzYYi]viee4;eU;IaIi9@ @@4@9^A;bEjET4rE}0E} E}E}&Ey"E}D:*E}:VE}4ZEya@a@a@a@AA II IY i Ou >DZ,u3jY@A2 @2@2r <ٱ2/ :AHRS rotation from veh to nav: [[0.877530,0.469231,0.098811],[-0.479119,0.866426,0.140538],[-0.019668,-0.170669,0.985132]]2H ??K? ޿ ù?(? # yſ3?i2 @I2G^;0YBByF)IbDNVDNyV<%V\=ٔV:Q-V>9XYX=ZlGyZF^:E^>`Q 5f 5b<Ȋ?Q 9f 5b&)baBYdyf!Q IfK@b?DIb:ib:b 5ynBɮnBB)IBBBBGDBBnW;BE9@ @@i4@@=@=yԑ^AΒ;A?A>A I I1 OE > E  E E %E "E ~ ;*E ?:VE 4ZE BE V9Y=lGyFE>Q 5 5BUȊ?Q 9 5)eBYB?Q E:y!Q IK@KDI ;iG ; 5yζBɮA,EgODNOT Ignoring new targets: 38.38 m.* "    BʎjZg@EBɢEF<)I M)*?iI)MTgIIiMy iUUŏ;]d-;IYIY9@ @@g2@iIBDAT read: Response Not Received *response not receivedVZ,=,gjY@AN=@N @N/<ٱN) ^AHRS rotation from veh to nav: [[0.877942,0.468983,0.096297],[-0.478344,0.867695,0.135250],[-0.020127,-0.164805,0.986121]]NH ? ??1޿'?@O? Wſ M?iN=@IN];NCY!y!bD=VD=kٔM^9Q-M>9IYQ=UlGyQU!;EU>YQ 5e 5]gȊ?Q 9m 5])]iBYiym!Q ImK@]TDI]:i]:] 5yqɮyygODNOT Ignoring new targets: 38.38 m.*" ʎjZg@Bɢ=) f(?i)1`iyi;9<IIE= E=E=&E9"E=:*E=:VE=4ZE9aE@aE@aE@aE@u9@q @q@u/@q!^AQAA@AB>BȍCB)IBBBA =BB^DBW;BEA .AI I O >y >Z,hjY@A2"&@2 @2@<ٱ2g]% :AHRS rotation from veh to nav: [[0.878401,0.468531,0.094283],[-0.477498,0.868698,0.131757],[-0.020171,-0.160755,0.986788]]2H`?j?"?`R޿_?i?@ Ŀē?i2"&@I2Q];0YBByF)IbDNVDN02yVTx<%V<ٔV!8Q-V>9Z ?YZ ?=ZlGyXZ$;E^>`Q 5f 5b{Ȋ?Q 9f 5bz)bmBYdyf!Q IfK@b]DIb:ibp:b7 5yjݶBɮnƳAn-EgODNOT Ignoring new targets: 38.38 m.*"     ʎjZ̾g@Bɢv=) Y)?i)Wi цi  k; 9E"?YE"?=ElGyE FE :EM>IQ 5U 5M#Ȋ?Q 9U 5M)MsBY]IB?Q E]:y]L&Q I]K@MgDIM ;iM ;M 5ymBɮm)Am.EgO-DNOT Ignoring new targets: 38.38 m.))*1"1 1QQY]BʎYYajaZe@g@ԱBɢH<) !?i)mNiziS;9 Z,jY@A>d'@>1"@>FA<ٱ>  FAHRS rotation from veh to nav: [[0.878488,0.469247,0.089816],[-0.477370,0.869759,0.125049],[-0.019439,-0.152729,0.988077]]>H?%?)?9޿ ?@?瓿 ÿ`S?i>d'@I>M];9dYd=flGydjFEj>lQ 5r 5nȊ?Q 9r 5nC)nxBYpyr^&Q IrK@nqDInL;inH;nL 5yxɮzHAxgODNOT Ignoring new targets: 38.38 m.*" !!!!!ʎ)))j)Z- g@]Bɢ]\=)Y ]F?ia)ePGaaieEkimm;mBB)IBBBBBBW;B E9@ @@4@9^A5H<Ai i I I O >Ee  Ee Ee !Ea "Ee :*Ee e:VEe c3ZEa BEe 59Y=lGy!FF:E>Q 5 5Ȋ?Q 9 5)BYC?Q E:y^(Q IK@|DI2 ;i ;` 5y+BɮUA8EgODNOT Ignoring new targets: 38.38 m.*"   BʎjZ`g@EBɢEȀ<)A EK?iA)M3>IIiM饇iUU ;UA7Z,zjY@AF%@F @Ff<ٱF|L RAHRS rotation from veh to nav: [[0.878405,0.469277,0.090466],[-0.477528,0.869462,0.126500],[-0.019293,-0.154318,0.987833]]FH`? ?@(?`Џ޿?%1?`ÿS?iF%@IFJ];FCYZԉByZ)I \\bDfVDfk1yn̻%nm=ٔnڹQ-r?9pYp=rlGyr"FvʺEv?xQ 5~ 5z=Ȋ?Q 9~ 5z:)zBY|y~z(Q IK@zDIz<;iz8;zd 5y ɮ YA gODNOT Ignoring new targets: 38.38 m.*" ʎjZ=g@E EE"E"EO:*E:VE(3ZEa%@a%@a%@a%@eBɢe.f<)i m?ii)m(6iiiL);!} BɍCB)IBډBB> =BFDB_DBW;B EBYBYB]ȓCBYB]? =C]ȝ5! AY Ii Iy O >Z,OkY@A2j @27@2@<ٱ2 :AHRS rotation from veh to nav: [[0.878085,0.469838,0.090661],[-0.478120,0.869086,0.126847],[-0.019195,-0.154729,0.987770]]2H@E??5?`޿@?9XYX=ZlGyX^޺E^>`Q 5f 5byȊ?Q 9f 5b)bBYdyf(Q IjK@bDIbK:ib:b 5yn9BɮnAn9E|gO DNOT Ignoring new targets: 38.38 m.  * "   ʎjZ%yg@MBɢMQ<)I M?iI)UJ;0QQiU75i]]^;]ͤԁ Z,*kY@A6<@6 @63r<ٱ6_ >AHRS rotation from veh to nav: [[0.877732,0.470533,0.090474],[-0.478786,0.868665,0.127221],[-0.018730,-0.154983,0.987740]]6H`? 8?O)?o޿?H?-~ÿ?i6<@I6OY];6CYJ؉ByJ)IiMb@Mb@Mb@ 9S㥛?QI +?YD?y9<5 A9@ @)=AY@bD- VD-2yE;n=%EA=ٔE׏Q-M>9IYI=MlGyM#FU|EU>YYQ 5m 5]Ȋ?Q 9m 5][)]BYmSG?Q Em:ym%Q IuK@]DI];i];] 5y}GBɮ}A}:EgODNOT Ignoring new targets: 38.38 m.*" BʎjZ  h@颍Bɢ͸<) &?i)'项i{i@;;IIe>i!>M9@I @I@M/@I@Q@QԉԱE= E=E=&E9"E=:*E=:VE=4ZE9aE@aE@aE@aE@^A< A .AI) I9 OE >8Z,6kY@A2I@2 @2 <ٱ2G :AHRS rotation from veh to nav: [[0.877281,0.471508,0.089764],[-0.479646,0.868152,0.127486],[-0.017818,-0.154896,0.987770]]2H?1-? ?޿?wQ?>ÿ Л?i2I@I26];0YFƉByFu)IIJ=)J4=HJAbDRVDRkyV%ZT=ٔZMQ-Z>9^ ?Y^ ?=^lGy\c E>!Q 5% 5%U Ɋ?Q 9- 5%A)%BY)y-&Q I-K@%DI%:i%:% 5y1ɮ=A9gOeDNOT Ignoring new targets: 38.38 m.aa*a"a aiiiiʎqqqjqZu@h@颥Bɢ<) j ?i)E6!顩ii;*;IԹIBE>BEʍCBE)IBEՉBBE; =BABE`DBEX;BE E]9@Y @a@e0@i^Au;YA I I O >D= =D= 4=EE  EE EA EA "EE s:*EE ~:VEA ZEA BEE e09Y=lGy$F E>)Q 55 5-&Ɋ?Q 9= 5-2)-BY=8K?Q E=:y=E$Q I=K@-DI-a:i-:-0 5yEUBɮM+AIgOuDNOT Ignoring new targets: 38.38 m.qq*q"q qyyy}BʎjZ(h@颵Bɢ<)  ?i)项iviҕ;;II]9@Y @a@e/@aqԉ^Ae r;A ؟AI Թ I O >VZ,MikY@A2A@2@2~f<ٱ2c& :AHRS rotation from veh to nav: [[0.876542,0.472488,0.091814],[-0.481054,0.866367,0.134148],[-0.016161,-0.161754,0.986699]]2H` ? ==?`!?@޿`F?@+?YĿ` ?i2A@I23];2CYBʼnByFt)IbDNVDNyV%V|=ٔVQ-V ?9Z"?YZ"?=ZlGyXZE^ ?`Q 5f 5b7Ɋ?Q 9f 5b2)bBYdyff$Q IfK@bDIbB:ib:b 5ynBɮn:AnEEgODNOT Ignoring new targets: 38.38 m.*"     ʎjZ`(3h@EBɢE=)A E?iI)M`hIIiMUiUUޕ;U;IQIYbE 4jE4rEJ0E EE"E"E;*EI:VE(3ZEa@a@a@a@Ա@ @@4@^A#2;A>A?AAAEAAB]>BYB])IB]ЉBBYBYB]_DB]>X;B]3 E AE .AIQ Ia Ou >9 3Z,ckY@A2@2@2a.<ٱ2& :AHRS rotation from veh to nav: [[0.876129,0.473279,0.091676],[-0.481823,0.865860,0.134660],[-0.015646,-0.162151,0.986642]]2H? ?5J? x?@.޿@ ?9Z ?YZ ?=ZlGyZ%F^V E^>`Q 5f 5bMɊ?Q 9f 5bA)bBYhyj$Q IjK@bDIbW:ibN:b 5yYɮ](AYgODNOT Ignoring new targets: 38.38 m.*" ʎjZ@@h@BɢB<) W?i) !  i yi;%?;I!I)9@ @@'4@E  E E &E "E :*E $:VE 4ZE BE .Z,qkY@A 2=@2 @2<ٱ2A$ >AHRS rotation from veh to nav: [[0.876366,0.472962,0.091052],[-0.481377,0.866401,0.132759],[-0.016098,-0.160176,0.986957]]2H/ ?E? .O?޿?@>?@{ࢀĿ`'?i2=@I2=];2CYDyDiMb@Mb@Mb@ 9S㥛?"~jy&1?Y$F?yS㽙`< Af@ )AY@bD5VD5ky[;%;=ٔd:Q->9"?Y"?=lGy":E>Q 5 5dɊ?Q 9 5)BYLH?Q E:y#Q IK@̻DI>;i;U 5yBɮ_AgO DNOT Ignoring new targets: 38.38 m.  * "  BʎjZ%Nh@MÈBɢMĒ<)I M?iQ)U!QQiUi]]M;]i;IaIaq 9@  @ @ /@ ԙE EE%E"E:*E:VE 4ZEa-@a-@a-@a-@^AM; A .AI I O >0Z,RkY@A2@2@2<ٱ2lb$ :AHRS rotation from veh to nav: [[0.876360,0.473024,0.090790],[-0.481392,0.866433,0.132500],[-0.015988,-0.159823,0.987016]]2H@# ?`F?@=?!޿ѹ??_uĿ@?i2@I2];2CYB‰ByFp)ILbDNVDNk1yV4%Z\=ٔZQ-Z>9Z ?Y^ ?=^lGy^&F^1Eb>`Q 5f 5bgxɊ?Q 9j 5b&)bBYhyj#Q IjL@bջDIbl:ib:b 5yrBɮrArFEgO DNOT Ignoring new targets: 38.38 m.  * "   ʎjZ%Yh@MƈBɢMSu<)I MA>iI)UQQQiU! E5  E5 E5 &E1 "E5 :*E5 :VE5 4ZE1 BE5 69M"?YU"?=UlGyQU=:EU>YQ 5e 5]Ɋ?Q 9e 5])]BYmC?Q Em:ym Q ImL@]DI] ;i] ;] 5yuBɮu޷A}GEgODNOT Ignoring new targets: 38.38 m.!*A"A IIIIU2BʎQQQjQZ]@Pjh@ˈBɢ;]<) >i)uiui; 2;IIu9@q @y@}/@yQi߱IߵA Wo>yCE Gi,9Y#aAy ֊? pAԁ ^A A I I) O5 >նZ,EkY@A2L@2@2э<ٱ2G#8 >AHRS rotation from veh to nav: [[0.876351,0.472917,0.091422],[-0.481361,0.866687,0.130939],[-0.017311,-0.158755,0.987166]]2H ?ED?lg?@޿ ?`? RĿݖ?i2L@I2M];2CYDyJu)IbDPVDPyZ!%Zj=ٔZ;Q-^?9\Y\=^lGy^'FbxEb?dQ 5j 5fɊ?Q 9j 5f )fBYhyn Q InL@fDIf;if9:f 5ypɮr߷ApEz EzEz$Ex"Ez;*Ez&p:VEz4ZExa~@a~@a~@a~@gO%DNOT Ignoring new targets: 38.38 m.!)*)") )1119ʎ99AjAZEth@ψBɢE<)I M>iI)MIIiU$iUU ;]Ϧ;IYIYԡ9@ @@/@B<AB>BB{)IBˉBBBBB X;B E^A! AQ IY Ii O} >[,*lY@A^@^l@^|<ٱ^S!p vAHRS rotation from veh to nav: [[0.876001,0.473569,0.091406],[-0.481959,0.866719,0.128502],[-0.018369,-0.156622,0.987488]]^H@3?N? bf?@l޿ *? r?;ϒ 2 Ŀ?i^@I^BA];^CY ÉBy r)IbDVDy-a\%-D=ٔ-&;Q-5>91Y1=5lGy1=kٺE=>AQ 5M 5EɊ?Q 9M 5E)EBYIyM Q IUL@EDIE:iE-:E 5y]ϷBɮ].A]HEgODNOT Ignoring new targets: 38.38 m.*" ʎjZSh@ӈBɢ-<) 7>i)uֻqqiuci}} ;}fy;IyI E EE#E"E:*Ez:VE3ZEBE.[,b lY@A2@2O@2ᠠ<ٱ2N :AHRS rotation from veh to nav: [[0.875738,0.474082,0.091262],[-0.482388,0.866917,0.125527],[-0.019607,-0.153952,0.987884]]2H@ ?[W?\?@q޿Ƚ?A?ÿ`?i2@I2;];2C9YuBy}n)I yyiMb@Mb@Mb@ 9L7A`?B`"۹I +?Y+G?yν9<A (@) AYAbDEVDE:2y]3A%],=ٔef*;Q-m>9u ?Yu ?=ulGyu(F}͉E>Q 5 5}Ɋ?Q 9 5)BYH?Q E:yn Q IL@DIi_;iyH; 5y Bɮ2AREagO}DNOT Ignoring new targets: 38.38 m.yy*" ZBʎjZ`Uh@؈Bɢĩ<) %(>i!)%ǻ!)i-i-5;5J;I1I19@ @@=0@E= E=E='E9"E=:*E=Z:VE='4ZE9aM@aM@aM@aM@ԑ ^A ;B >B ɍCB u)IB ƉBB ? =B GDB B W;B EBʍCBʍCBB< =B< =C;5AI IY Ii O >Q[,"=lY@A6ܱ@6ָ@6Κ<ٱ6! BAHRS rotation from veh to nav: [[0.874033,0.476600,0.094443],[-0.485420,0.864905,0.127697],[-0.020824,-0.157456,0.987306]]6H??q-? !߿L?_X?R'Ŀ?i6ܱ@I6F];6CDFr@iDIHHH HLLLNCLIL)PiP)PIPPP PTV^ATiTTiXZI^A)Z XIX \)^X{A\\\Y\YfByfm)IbDnVDnk2yv轻%v[=ٔzU;Q-z>9xY|=~lGy|~TE~>Q 5  5OɊ?Q 9 5K)BYyF!Q IL@ DI3;i; 5yɮ6A!gODNOT Ignoring new targets: 38.38 m.*" ʎjZܝh@%܈Bɢ%{<)I MG>iI)MmIIiUF+iUUԕ;]r:IYIYA9@ @@4@i^A%r;E EE%E"E:*E:VE 4ZEBE<F[,dwWlY@A4B0ͱ@BǸ@Bw"<ٱB~n) NAHRS rotation from veh to nav: [[0.873155,0.477466,0.098118],[-0.487001,0.863082,0.133868],[-0.020767,-0.164671,0.986130]]BH? ͎?J?+߿ ]?"?C@ſ@`?iB0ͱ@IBa];@YEByMj)IiMb@Mb@Mb@ 9K7A?Zd;OZd;O?Y B?yjj<A@ @)AYAbDVDk1y-%-7=ٔ-Q-5>95"?Y5"?=5lGy5)F=E=>AQ 5M 5EɊ?Q 9M 5E)EBYMC?Q EM:yUvQ IUL@EDIE]:iEf:E 5y]Bɮ]tA]SEgODNOT Ignoring new targets: 38.38 m.*" [BʎjZ h@Bɢ<) >i) i@i͂;IIԙ9@ @@1@@[A@^A9 A .AI I O >E  E E !E "E s:*E :VE c3ZE a @a @a @a @1[,+qlY@AlYByg)II%=)=AbDVDβyH%S=ٔQ->9 ?Y ?=lGyE>Q 5 5ʊ?Q 9 5)BYyQ IL@DIp:i:B 5y(BɮATEgO}DNOT Ignoring new targets: 38.38 m.*" ʎjZph@Bɢ<) >i)CiWi4;H.II I@I @I@M/@IB5>B1B5o)IB5BB5= =B5FDB1B5(W;B5E1^Amጹa A ؟AI I O >#"[,%lY@A2@2ޮ@2y<ٱ21 :AHRS rotation from veh to nav: [[0.871652,0.479319,0.102354],[-0.489673,0.860617,0.139855],[-0.021053,-0.172025,0.984868]]2H? )?3?V߿+??ʎƿ@ ?i2@I25];2CYBByBf)IbDNVDN0yV%V^=ٔVpK:Q-V>9Z"?YZ"?=ZlGyZ*F^|E^>Q 5 5&ʊ?Q 9 5)BYy& Q I%L@'DI;i;" 5y)ɮ-A)9gO]DNOT Ignoring new targets: 38.38 m.YY*Y"Y YaaaaʎaiijiZm%h@额Bɢl2<) >i)S顡ipidȔ;AIIDyzD}@AE EE"E"E:*E:VE(3ZEBEB- T([,ޤlY@A2į@2@2<ٱ2b/ :AHRS rotation from veh to nav: [[0.871382,0.479810,0.102352],[-0.490124,0.860611,0.138302],[-0.021726,-0.170679,0.985087]]2H]? 3?3?/^߿@ ?@?@j?ſ`Յ?i2į@I2tO];0YBByB^)IԙiMb@Mb@Mb@ 9x&1?(\µZd;O?YA@?yA (@)AYAbD VD2y!%8=ٔ:Q->9Y=lGyE>Q 5 5"=ʊ?Q 9 5 )BYA?Q E:y @Q I L@1DI:if:Z& 5y5Bɮ AgO=DNOT Ignoring new targets: 38.38 m.99*A"A AAAIMkBʎIIIjQZUh@}Bɢ}䰯<) >i)g顁ini(@;FIIM9@I @I@I@I@U=@U=bE%J4jE%m4rE%0E EE#E"E:*E:VE3ZEa@a@a@a@^Am*AAqAu>A I I O >B% >B! B% h)IB% BB% ? =B% GDB% ^DB% W;B% E9 A/[,lY@A:@:@:d$<ٱ:w. FAHRS rotation from veh to nav: [[0.871249,0.480037,0.102418],[-0.490337,0.860648,0.137310],[-0.022232,-0.169851,0.985219]]:HE?@?@8?@a߿n?@`?Ė ſ?i:@I:Q];8YNByNX)I PPbDVVDVNy^Ҿ%b\=ٔb:Q-b>9dYd=flGyf+Ff2Ef>hQ 5n 5j]Pʊ?Q 9r 5j)jBYpyrSQ IrL@j:DIj;ij;j) 5yvCBɮvTAzUEgODNOT Ignoring new targets: 38.38 m.*" !!!!ʎ)))j)Z-h@]Bɢ]a <)Y ]X>iY)ewaaie7pimmcȓ;mHmSIiIq9@ @@0@^AqZ1Du=Du<E} E}E}$Ey"E}:*E}:VE}4ZEyBE}>a 5[,lY@A^@^@^<ٱ^+ fAHRS rotation from veh to nav: [[0.871293,0.480089,0.101799],[-0.490218,0.861174,0.134410],[-0.023138,-0.167014,0.985683]]^H?`ȹ?}?_߿?U4?x`ſ ?i^@I^ۢ];\YrByrJ)IimMb@Mb@Mb@iiii i9m-?MbXZd;O?Ym5>?ymʽim-Am@ mV@)m9AiYm3AbDVDyU%==ٔg ;Q->9Y=lGy˜9E>Q 5 5Jfʊ?Q 9 5)BY??Q E:yM#Q IL@EDIG ;im ;]- 5yBɮA_E)gOmDNOT Ignoring new targets: 38.38 m.ii*i"i qqqq}oBʎyyyjyZ@8h@Bɢ7T<) >i)|iIi%%D5;E9JIAII9@ @@4@Yԁ^A0:DA .AI! I9 Om >E  E E E "E V:*E :VE ZE a @a @a @a @Ա <[,[lY@A6۵@6@6<ٱ62$ >AHRS rotation from veh to nav: [[0.871695,0.479931,0.099064],[-0.489447,0.862664,0.127486],[-0.024274,-0.159616,0.986881]]6H`? 1?;\?@S߿@?yQ?AۘInĿ?i6۵@I6];6CYFByFC)IbDRVDRyZ%Z[=ٔZ%G;Q-Z>9^ ?Y^ ?=^lGy^,F-;E5>1Q 5E 55zʊ?Q 9E 55i)5BYAyE.#Q IEL@5NDI5;i5&:50 5yUBɮUһAQgO}DNOT Ignoring new targets: 38.38 m.yy*y"y yʎjZh@颽Bɢ<) _>i)mi-iO͒;IIԑQ@Q @Q@U/@QBA4=BBB\)IBBB> =BFDB_DBW;BEԹ^A5*:A9zA9A ؟AI I O > B[,a mY@A2F@2@2X<ٱ2 :AHRS rotation from veh to nav: [[0.872180,0.479474,0.096991],[-0.488540,0.863917,0.122375],[-0.025117,-0.154117,0.987733]]2H? ?mԸ?>D߿5?S?9 ÿ?i2F@I2];2CYBByB9)IbDNVDN1yV&%VK=ٔV ;Q-V>9Z"?YZ"?=ZlGyXZP-;E^>`Q 5f 5bʊ?Q 9f 5b)bBYdyf"Q IfL@bWDIb:ib:b(4 5ylɮnAlgODNOT Ignoring new targets: 38.38 m.*"     ʎjZi@Bɢ<) >i)@^ i i c;}ºIE= E=E=&E9"E=:*E=z:VE=4ZE9BE=B-= }99 Y= |[Af)I[,Pm&mY@AR˱@R|Ƹ@RQ<ٱR)b fAHRS rotation from veh to nav: [[0.872952,0.478385,0.095407],[-0.487098,0.865387,0.117652],[-0.026281,-0.149177,0.988461]]RH8?ܝ?`l? ,߿ ??@u?s隿`?ÿ@y?iR˱@IR];PYvByv2)IiuMb@Mb@Mb@qqqq q9u\(\?Zd;O?Yu:?yuju9Y=lGy-F]r;E>Q 5 5ʊ?Q 9 5")BYwiq)u}Oqqi}𦊼i}}%;/ III-9@) @)@)@)EM EMEIEI"EM:*EM:VEIZEIa]@a]@a]@a]@ԁ^AMNJκԩ Ay I I B >B ȍCB C)IB BB @ =B GDB ^DB X;B  EO >P[,|B@mY@A6ױ@6Ѹ@6<ٱ6@ BAHRS rotation from veh to nav: [[0.873603,0.477305,0.094852],[-0.485879,0.866396,0.115234],[-0.027178,-0.146755,0.988799]]6H?+?9H?߿??wԛ¿>?i6ױ@I6];4YRByR-)IbDZVDZyb%b]=ٔb\;Q-f>9dYd=flGydju;Ej>lQ 5r 5n|ʊ?Q 9r 5n/')nBYpyrc Q IvL@nkDInD;inQ;n>; 5yzBɮzAzaEgODNOT Ignoring new targets: 38.38 m.*"! !!!!)ʎ)))j)Z5i@]Bɢ]jɀ<)Y e8>ia)e¯Baaie`immrב;mr~:IiIqy9@ @@0@Ա^A9Ee EeEaEa"Ee(;*Eex:VEaZEaBEe =V[,s*ZmY@Al~B@~߸@~<ٱ~^  AHRS rotation from veh to nav: [[0.874364,0.476074,0.094023],[-0.484451,0.867598,0.112164],[-0.028175,-0.143622,0.989231]]~H?x??@߿\?˶?ڜ`3b¿ȧ?i~B@I~[];~CY}By)I%>%=iMb@Mb@Mb@ 9V-?+ηZd;O?Y|??yvj<-A@ d@)AYQA <bDVDy%:=ٔ;Q->9Y=lGy.Fq;E>Q 5 5 ʊ?Q 9 5E,)BY A?Q E:yQ IL@uDI ;i ;? 5yɮ¼AgO-DNOT Ignoring new targets: 38.38 m.))*)") )mBʎjZ -i@ BɢC=<)) -`>i))-x5))i5i55I;=r;I9I99@ @@0@1^A% rg:a AQ Ee  Ee Ee $Ea "Ee T;*Ee :VEe 4ZEa am @am @am @am @Iq I O >#d\[,smY@A2@2@2V<ٱ2~ :AHRS rotation from veh to nav: [[0.874458,0.475832,0.094381],[-0.484258,0.867727,0.112004],[-0.028602,-0.143647,0.989216]]2H?@t?V)? ޿j?C?I@c¿`?i2@I2];2CYBrByF)IbDNVDN:yZq%Z_=ٔZh:Q-^>9\Y\=^lGy`b5:Eb>dQ 5j 5fʊ?Q 9j 5f0)fBYhynQ InL@f~DIfB:if;fIB 5yrBɮrArkE9gODNOT Ignoring new targets: 38.38 m.*" ʎjZ8i@ Bɢ 7<)  *C>i)2,1i5si==;9I9IA9@ @@4@AIAM@ABU>BUɍCBU$)IBUBBU? =iBQBQBUnX;BUD EBɍCBɍCBB? =B? =CDv5ԙ^A5oM;Aa Ii Iy O > Lc[,,ԍmY@A2q@2>@2)<ٱ2R :AHRS rotation from veh to nav: [[0.875055,0.474348,0.096290],[-0.483135,0.868032,0.114456],[-0.029291,-0.146677,0.988751]]2H`t?[? x?޿`?M?l M¿أ?i2q@I2];2CYFbByF(IbDNVDNkyVU%VK=ٔVC:Q-V>9XYX=ZlGyZ/F^O;E^>`Q 5f 5bʊ?Q 9f 5b.5)bBYdyfMQ IfL@bDIb:ib:bE 5ynBɮnWAnlEgODNOT Ignoring new targets: 38.38 m.*"     ʎjZ 4Ei@EBɢEF <)A En>iI)MJ$IIiMDiUUgt;UB_;IQԙIE EE%E"EV:*E$:VE 4ZEBE9 vi[,ձmY@AB/@B@BR<ٱB JAHRS rotation from veh to nav: [[0.874687,0.474811,0.097347],[-0.483804,0.867423,0.116237],[-0.029251,-0.148768,0.988439]]BHp?Lc??޿?@?@ ÿK?iB/@IB];@YVfByV)IIZ=)Z4=i5Mb@Mb@Mb@1111 195-?MbX~jt?Y55>?y5ʽ5<5A51@ 5=A)5A1Y5AbDMVDMy]<%]?=ٔ]rĸQ-e>9aYa=elGyamtEm>qQ 5} 5u ˊ?Q 9} 5u':)uBY}??Q E}:y!Q IL@uDIu ;iuL ;uI 5yɮDAgODNOT Ignoring new targets: 38.38 m.*" aBʎjZRi@颭Bɢ;) >i)ƦiLi.R;';II9@ @@/@E- E-E-'E)"E-D:*E-x:VE-'4ZE)a=@a=@a=@a=@Aq^Arg;BM >BM ȍCBM )IBM oBBI BI BI BM X;BM [ EA I I O >ԙ ^p[,UmY@A2@2@2(<ٱ2Wv :AHRS rotation from veh to nav: [[0.874610,0.475052,0.096867],[-0.483963,0.867375,0.115934],[-0.028946,-0.148277,0.988522]]2H??g?N̸?>޿`?ڭ?` ¿ ?i2@I2];0YBTByF(IbDNVDNNynC%rS=ٔr4NQ-r>9tYt=vlGyv0FvZEv>xQ 5~ 5z^ˊ?Q 9 5z>)z BYy!Q IL@zDIz{;iz;zL 5y Bɮ ľAmEgO5DNOT Ignoring new targets: 38.38 m.99*9"9 99AAAʎAIIjIZM`G_i@uBɢ}iɽ;)y }=iy)a顁iݾi4;";IIq@ @@/@ԡ^AqZ;E= E=E=&E9"E=:*E=:VE=4ZE9BE=B- % nManaging dock network, ignoring radio surface power off[v[,%wmY@A5ڱ@5ո@5+<ٱ5V^ EAHRS rotation from veh to nav: [[0.873797,0.476357,0.097787],[-0.485471,0.866174,0.118577],[-0.028215,-0.151085,0.988118]]5H&?|??@߿?[?`x䜿Vÿ?i5ڱ@I5];5CY]GBy](IiMb@Mb@Mb@ 9X9v?:v~jt?Y=?yԽ-AG@ d@) AYAbDVD:y k% 8=ٔ ׺Q->9 ?Y ?=lGy@}E>!Q 5- 5%4ˊ?Q 9- 5%C)%BY-??Q E5:y5$Q I5L@%DI%u ;i% ;%P 5y=Bɮ=.A=nEgOeDNOT Ignoring new targets: 38.38 m.aa*a"i iiiquQBʎqqyjyZ} zmi@% Bɢ%*5;)A MĜ=iI)MIIiMiUU;U?q:IQIY9@! @!@%/@!@M=@M=! ^A bE-4jEO4rEL/E=  E= E= $E9 "E= s:*E= ga:VE= 4ZE9 aM @aM @aM @aM @A I I O >ϱ|[,>mY@A6ʱ@6Ÿ@6Q<ٱ62 >AHRS rotation from veh to nav: [[0.872888,0.477894,0.098404],[-0.487165,0.864845,0.121300],[-0.027135,-0.153820,0.987726]]6H?Е?0?-߿@Ϭ? ?`_ɛ`ÿt?i6ʱ@I6in];6CYJ;ByJ(I LLbDVVDVy^%^c=ٔ^DQ-b>9`Y`=blGyb1Ff(Ef>hQ 5n 5jGˊ?Q 9n 5j'H)jBYlyr$Q IrL@jDIj&;ij;jS 5ytɮv`AtgODNOT Ignoring new targets: 38.38 m.*" !!ʎ!!!j)Z-`xi@U#BɢU&:)Q U==iY) ieiJ;*&7IIQm9@q @q@u0@qB>BB(IBVBBA =BB]DBX;Br Eԁ^AU0::A ؟Aԩ I I O >[,znY@A6?@6 @6k<ٱ6U"@ >AHRS rotation from veh to nav: [[0.872036,0.479181,0.099695],[-0.488744,0.863412,0.125095],[-0.026135,-0.157813,0.987123]]6H???G߿??Ú53Ŀ@?i6?@I6W];6CYJ3ByJ(IbDVVDVJyZW%^J=ٔ^"Q-^>9b"?Yb"?=blGy`fEf>hQ 5j 5je[ˊ?Q 9n 5jL)jBYlyn$Q InL@jDIj;ij;jxW 5yv BɮvAvoEgODNOT Ignoring new targets: 38.38 m.*" !ʎ!!!j!Z-@i@U&BɢU)Q U ĉ[,(nY@A2@2Ѭ@2NE<ٱ2\& :AHRS rotation from veh to nav: [[0.871446,0.479960,0.101094],[-0.489845,0.862191,0.129147],[-0.025177,-0.162065,0.986459]]2H ??N?Y߿??@ǙĿ?i2@I2\];2CYZ,ByZ(IliEMb@Mb@Mb@AAAA A9EV-?!rh~jt?YE|??yEl罙AEZAE^@ EA)EAAYEAbD]VD]Nye%m@=ٔm&Q-m>9qYq=ulGyu2Fu?E}>Q 5 5pˊ?Q 9 5R)BYA?Q E:y'Q IL@üDI:if:2[ 5y\BɮAyEgODNOT Ignoring new targets: 38.38 m.*" UBʎjZ`i@*BɢX) @;i ) R+  i siÏ;*B B (IB ABB B B ^DB X;B ~ Ea A .AI I O >S[,BnY@A2p@2>@2~<ٱ2V* :AHRS rotation from veh to nav: [[0.870949,0.480613,0.102267],[-0.490766,0.861168,0.132432],[-0.024421,-0.165531,0.985902]]2H ?[?@2.?h߿?`?0ſ?i2p@I2m];2CYB"ByF(IIJ=)J%=bDNVDNyV[%VW=ٔVwQ-Z>9Z ?YZ ?=ZlGyX^4E^>`Q 5f 5b ˊ?Q 9f 5bV)bBYdyj#(Q IjL@b̼DIbK:ib:b^ 5ylɮnAl9gOMDNOT Ignoring new targets: 38.38 m.II*I"I IIQQQʎQYajaZei@=.BɢEKw)A EiI)M~bIIiUD/i]eC7;eע~IaIiM9@I @I@M3@IqԑD=D4=E EE!E"E:*E:VEc3ZEBE;80ؖ[,5\nY@AmY@m'@m\<ٱm. AHRS rotation from veh to nav: [[0.870601,0.480938,0.103690],[-0.491423,0.860177,0.136380],[-0.023602,-0.169688,0.985215]]mH? ?@m?ws߿?t? +Uſ ?imY@Im1];ԑmCY!By(Ii-Mb@Mb@Mb@)))) )9-S?1Zd:v?Y-/=?y-"۽-<-A) -jA)-| A)Y-AbDEVDE0yU%U2=ٔ]%Q-]>9]"?Y]"?=]lGye3Fe]ԺEe>iQ 5u 5mˊ?Q 9u 5m,\)m"BY}E??Q E}:y}L&Q I}L@m׼DImT ;im ;mb 5yiBɮ"AzE Gׂ9YJbAgODNOT Ignoring new targets: 38.38 m.*" ^Bʎ  j Z i@颵1Bɢ2ō) i)_{iLiEE?;M~IIIQ1@1 @1@5J4@1E%  E% E% &E! "E% ;*E% :VE% 4ZE! a- @a- @a- @a- @^A5 y1 A I I O >[,ynY@A8Y^Byb(IbDjVDj0yrր%rJ=ٔrQ-r>9tYt=vlGyv4FvEz>|Q 5~ 5~jˊ?Q 9 5~`)~'BYyQ IL@~DI~l:i~:~f 5y ɮWAgO=DNOT Ignoring new targets: 38.38 m.99*9"9 9AAAAʎIIIjIZU[i@}4Bɢ}Rx)y }8i):t顁iĖi;}IIAAB%>B!B%(IB%-BB%@ =B!B!B%X;B%x Eԡ}Um9@i @i@m2@i@}=@}= ^A 鑻E  E E E "E &:*E :VE ZE BE ];O[,unY@A6@6O@6*<ٱ6*3 >AHRS rotation from veh to nav: [[0.871111,0.479774,0.104800],[-0.490567,0.859959,0.140763],[-0.022589,-0.174032,0.984481]]6H#?@?@-Ժ?se߿ Ʉ??@!Fƿ ހ?i6@I6w];6CYFByJ(I LLbDVVDVy^dB=%^4=ٔ^Q-b>9`Y`=blGy`f];Ef>hQ 5n 5j:ˊ?Q 9n 5jbf)j.BYlyn%Q IrL@jDIjk:ij:j j 5yvwBɮv`AtgODNOT Ignoring new targets: 38.38 m.*" ʎjZi@8BɢJ) 0Ki)>iYii;IdIIIy9@ @@/@ԡ^A m AE  E E E "E l;*E :VE ZE a@a@a@a@I!I1OE>ӣ[,nY@A2@2@2Ϻ<ٱ23 >AHRS rotation from veh to nav: [[0.871836,0.478387,0.105109],[-0.489267,0.860592,0.141420],[-0.022802,-0.174722,0.984354]]2H?`?j?%P߿?`?`sYH]ƿ?i2@I2W];0\YbByb(IiMb@Mb@Mb@ 9)\(?X9vy&1?YGA?y`<A A) AYAbD VD2y\k%"=ٔ9Q->9Y=lGy5FA;E>Q 5 5ˊ?Q 9 5l)6BYC?Q E:y(Q IL@DI ;iT ;pn 5y Bɮ A {EgO5DNOT Ignoring new targets: 38.38 m.11*1"1 9999=gBʎAAAjAZM@ i@uR[,2nY@AE EE(E "E;*E:VEc44ZE BE3C9 Y = lGyLj;E>Q 5% 5ˊ?Q 9% 5Or)=BY)y-R(Q I-L@DIW:i:r 5y5Bɮ5A5EgODNOT Ignoring new targets: 38.38 m.*" ԑʎjZ i@M?BɢU)Q UͽiQ)U1#QYi]i]ew;e0IaIa%9@) @)@-/@1@I@M\A^ANJκA .AI I  O% >r [,\WnY@AY~ By(II <) 9 ?Y ?=lGy6FE > Q 5 5 )̊?Q 9 5 w) CBYF?Q E:y'Q IL@ DI  ;i  ; Mv 5y)ɮ-A)gODNOT Ignoring new targets: 38.38 m.*" BʎjZoi@%BBɢ%o!)) -@i))-)E5 E5E5"E1"E5&:*E5:VE5(3ZE1aE@aE@aE@aE@)AiE}iMM;U@jIQIQ9@ @@/@)BBB(IBBB? =BFDBBX;Bq EQ^A- "A] ؟AIi I ԉ O >K[,a2oY@A>@>ݸ@>V<ٱ> VAHRS rotation from veh to nav: [[0.874410,0.476361,0.092130],[-0.484654,0.866459,0.119830],[-0.022744,-0.149432,0.988510]]>H*?|? ͕?߿?@/?`@I>];>CY^By^(IbDf VDf2ynܼ%r^=ٔrQ-r>9v"?Yv"?=vlGytv<Ev>xQ 5} 5zP!̊?Q 9} 5z;|)zIBYy{&Q IL@zDIz/ j"[,G"oY@Af@f@f<ٱf rAHRS rotation from veh to nav: [[0.874880,0.475811,0.090491],[-0.483813,0.867247,0.117502],[-0.022569,-0.146581,0.988941]]fH?s?g*?޿}??`@(¿ h?if@If];fCYzByz(IiMb@Mb@Mb@ 9x&1?Zd;L7A`?YA?y+=A@ )YAbD5VD5:yM%M5=ٔUʹQ-U>9] ?Y] ?=]lGye7Feb ;Em>yQ 5 5}8̊?Q 9 5}Ӂ)}PBY8D?Q E:y1(Q IL@}"DI}o;i}kn;}}} 5yڹBɮZAEԩgODNOT Ignoring new targets: 38.38 m.*" BʎjZ;j@IBɢԴ?)  i)b7iqyiы;d-;II9@ @@80@@=@= bEȞ4jE4rE x0Ei  Em Em 'Ei "Ei *Em ą:VEm '4ZEi au @au @au @au @^A ] ;I I O >1 H[,:;oY@A>@>@>~<ٱ>" FAHRS rotation from veh to nav: [[0.875403,0.474642,0.091564],[-0.482863,0.867484,0.119646],[-0.022641,-0.148952,0.988585]]>HM?`?@p?9޿`m?&?N/ÿ`}?i>@I>A];>CY^ Byb(I ``bDjVDj{Uyr_(=%re=ٔvkT9Q-v>9|Y= lGy {E;E>!Q 5- 5%J̊?Q 9- 5%;)%WBY)y-'Q I-L@%+DI%6:i%N:% 5y1ɮ=BaBe(IBeBBaBeGDBaBeX;Bez EgODNOT Ignoring new targets: 38.38 m.*" ʎjZ`j@=KBɢ=K)A EiA)Ex=AAiEORxiMM'ŋ;Ui;IQIq 9@  @ @ 4@ 9^A5#2?;q I I O= >E]  E] E] %EY "E] V:*E] ]t:VE] 4ZEY BE] 99Y=lGy8F%(0;E%>)Q 55 5-_̊?Q 95 5-=)-^BY1y5|'Q I5L@-5DI-):i-:-1 5yEBɮE^AEEgOmDNOT Ignoring new targets: 38.38 m.ii*i"i qqqqqʎyyyjZ )j@颵OBɢ=) Hi) D项iXyviwŋ;͐;IIU9@Q @Q@]/@Yiԁ^A}cU;IIO5>ԩ [[,ooY@AF@F@F{<ٱF#L VAHRS rotation from veh to nav: [[0.876584,0.471407,0.096828],[-0.480681,0.867416,0.128590],[-0.023372,-0.159263,0.986959]]FH ?`+?ɸ?z޿?u?bĿ,?iF@IF];DY%By%(IiMb@Mb@Mb@ 9x&1?1ZdL7A`?Yy"۽A@ A)Y AbDVDyG;%@=ٔ :Q->9Y=lGy:U;E>Q 5 5ů?Q 9 5J)eBYC?Q E:y'"Q IL@?DIW;i; 5y!BɮCAEgO-DNOT Ignoring new targets: 38.38 m.))*)") )111=Bʎ999j9ZE`S7j@mRBɢm2~B)i $i)J:KiytiBڋ;;IID D R=E EE$E"E;*E:VE4ZEa%@a%@a%@a%@9@ @@@@@[AB]޾>B]ǍCBYBYB]B =BYB]]DB]X;B]b E^Ar;IQ Ia Om >ԙ C[,|oY@A6@6P @65<ٱ6$$ BAHRS rotation from veh to nav: [[0.877150,0.470479,0.096217],[-0.479682,0.867864,0.129298],[-0.022671,-0.159567,0.986927]]6H`?U?@?@޿`?،?@7lĿ@?i6@I6];6CԁYu Byu(II}=)}=bD VD2y%>=ٔպQ->9Y=lGy9FF/;E>Q 5 5%̊?Q 9 5c)lBYy!Q IL@JDI:i: 5yɮ_AgOUDNOT Ignoring new targets: 38.38 m.QQ*Q"Y YYYYaʎaaajaZmuEj@颕VBɢX) i)QS顙itori;a;IIԩ%9@! @!@%/@!E- E-E-"E)"E-:*E-~:VE-(3ZE)BE-6 x[,ˆoY@A.cGHX>9 Y qfAnr@iI     I)i)@CI !!!i!!i!!)- - EI) ))))11Y1Y=By=(Ionly read 0 of 1 data item for water mass range. Device response is::WD, +0 ,+0.00,571.45 a@a a@a a@a a@a bDVDN2y%`%G=ٔQ->9Y=lGy:FE>Q 5 5}̊?Q 9 5E)sBQ A+:YQ Ea:yQ IL@TDI;i> 5y.BɮAEgODNOT Ignoring new targets: 38.38 m.*" !!!!)ʎ)))j)Z5ARj@YBɢX?q) $&i)ci\i%ypi%-#;- ;I)II9@ @@/@E  E E %E "E &:*E :VE 4ZE a% @a% @a% @a% @^AM X;I Ay I I O >[,ZoY@AB:߾>B8B8B8B:A =B8B8B:X;B:\ EJ!5@J/@JZ<ٱJ0 VAHRS rotation from veh to nav: [[0.879301,0.468231,0.087114],[-0.475903,0.870950,0.122322],[-0.018597,-0.149016,0.988660]]JH@<#??M?1u޿ ?P? ÿ?iJ!5@IJb];JCYMByM(IbD]VD]02ym87=%mY=ٔm_1Q-u>9qYq=ulGyq}K=<E}>Q 5 5̊?Q 9 5)yBQ A :YQ E6:y Q IL@]DI ;iJ? 5y;BɮAE!gOeDNOT Ignoring new targets: 38.38 m.aa*i"i iiiqqʎqqqjyZ}@^j@颥\BɢXyh) i)Ld顩ini0y;2*i>u9@q @q@}-0@y@=@=Qԁ^AA ؟AI I O >E  E E 'E "E s:*E |:VE '4ZE BE e09"?Y"?=lGyt;E>Q 5 5Z̊?Q 9 5)BQ A9YQ E:y Q IL@gDI]:iT? 5yɮAgODNOT Ignoring new targets: 38.38 m.*" ʎ  j Z @Ukj@ԑ`Bɢ@+y) +i)e[mi^mi;7! [[,oY@A2kK@29F@2* <ٱ2w :AHRS rotation from veh to nav: [[0.880636,0.466511,0.082751],[-0.473532,0.872427,0.120990],[-0.015751,-0.145733,0.989199]]2H +.?@R?//?XN޿ ?1?!`d¿?i2kK@I2];2CY^By^(Ia}a} a}a} a}a} aa iMb@Mb@Mb@ 9rh|?&1y&1?Y;?yн`<(@ A)bAY AbDVD 8yc%J=ٔIfQ->9Y=lGy;FA;E>Q 5 5̊?Q 9 5%)BQ AT:Y=?Q E:yQ IL@pDIQ;i2:* 5yIBɮAgODNOT Ignoring new targets: 38.38 m.*"     ωBʎjZ`Oxj@EdBɢE)I M8iI)MdvIIiMegkiU]i;]HGBȍCB(IBBB@ =BBBqX;BC EBABABABABACEƗ5^A-*:\, pY@A2R@2jM@2o<ٱ2 >AHRS rotation from veh to nav: [[0.881066,0.465650,0.083022],[-0.472767,0.872406,0.124091],[-0.014646,-0.148583,0.988792]]2H@1?6?@?A޿?@pĿ? ÿ@.?i2R@I2I];0YFByF(IbDN VDN2yVڼ%V\=ٔZBQ-Z>9XYX=^lGy\^;E^>`Q 5f 5b̊?Q 9f 5b`)bBYhyjQ IjL@byDIb6:ibp:bj 5ynTBɮnHArEgODNOT Ignoring new targets: 38.38 m.  * "    ʎjZ3j@gBɢ) Ii)4iii;+RF \,6%pY@ArT@rO@r_<ٱr= zAHRS rotation from veh to nav: [[0.881210,0.465111,0.084500],[-0.472528,0.871818,0.129038],[-0.013652,-0.153638,0.988033]]rH2?@a?ˡ?=޿`?O?x iÿ@?irT@Ir ];rCY By(I I4=)=iMb@Mb@Mb@ 9Zd;O?ʡE~jt?Yj9Y=lGy Q 5 5 ͊?Q 9 5 V) BY=?Q E:y}Q IL@ DI ':i : U 5y-Bɮ-A-EgOUDNOT Ignoring new targets: 38.38 m.QQ*Q"Q QYYY]BʎaaajaZmj@额kBɢ) @i)M顡iOhi;UK#\,(~?pY@AB߾>BB(IBBBBBB.X;B" EVqW@V?R@VGR<ٱV! bAHRS rotation from veh to nav: [[0.881367,0.464657,0.085364],[-0.472259,0.871448,0.132476],[-0.012834,-0.157074,0.987503]]VH'4??`eڵ? |9޿@? ?H@Ŀ࠙?iVqW@IV];VCYjByj|(IbDrVDr1yzl%z^=ٔ~_Q-~>9~ ?Y ?=lGy=F]:E> Q 5 5 ͊?Q 9 5 i) BYy]Q IL@ DI U;i ;  5y%Bɮ%EA)gOMDNOT Ignoring new targets: 38.38 m.IQ*Q"Q QQQYYʎYaajaZeZj@y颕oBɢnf) fi)R顙ihhfi;.Y E%  E% E! E! "E% 2:*E% ]t:VE! ZE! BE% *9U"?YU"?=UlGyQU2:E]>aQ 5m 5e1͊?Q 9m 5e)eBYiymQQ ImL@eDIe:ieW:e- 5y}Bɮ}A}EgODNOT Ignoring new targets: 38.38 m.*" ʎjZࠫj@sBɢ]) ui)X}i֛di;4]y 4\,1spY@A2b@2\@2Y*=<ٱ2 :AHRS rotation from veh to nav: [[0.881990,0.463848,0.083306],[-0.471128,0.872170,0.131749],[-0.011545,-0.155449,0.987777]]2H B9??S?&޿? %?(ÿݛ?i2b@I2W];2CYBByBn(I DDiEMb@Mb@Mb@AAAA A9E +? ףp= S㥛?YE6?yEQE/9u ?Y} ?=}lGy}>F!;E>Q 5 5lE͊?Q 9 5k)BY\8?Q E:yQ IL@DIH:i ; 5yɮAgODNOT Ignoring new targets: 38.38 m.*" ։BʎjZ j@ wBɢ Y)  i)㒘ibi_;%[lB%ǍCB%(IB% BB%A =B!B!B%W;B%E^AjZX<ԑA% ؟AI) IA O] >Թ ##\,opY@A2e@2_@2C0<ٱ2r$ :AHRS rotation from veh to nav: [[0.882174,0.463246,0.084687],[-0.470799,0.871686,0.136055],[-0.010794,-0.159895,0.987075]]2H:? ѥ??!޿?`>j?@lwĿ?i2e@I2%y];2CYBByBh(IbDNVDN:yVּ%VX=ٔV Q-V>9Z"?YZ"?=ZlGyX^j:E^>`Q 5f 5bEX͊?Q 9f 5b)bBYdyfQ IfL@bDIbK:ib:b 5ynBɮnAnEgODNOT Ignoring new targets: 38.38 m.*"     ʎjZj@{Bɢ.<ʼ) i)z i ^`i  ;p! J)\,pY@Ac@^@<ٱ1S* -AHRS rotation from veh to nav: [[0.882119,0.463025,0.086453],[-0.470926,0.870746,0.141530],[-0.009746,-0.165559,0.986152]]HQ:? 3? !?#޿ &?`?@ 1ſ?ic@IK];Y=By=_(IiMb@Mb@Mb@ 9333333?bX9ȶZd;O?Y9?yEj<Ad@ x A)AY AbD VD 0yT%5=ٔ%Q-%>9!Y!=%lGy-?F-E->1Q 5= 55)o͊?Q 9= 55v)5BYE;?Q EE:yE Q IEM@5DI5:i5<:5 5yIɮU+AQgO}DNOT Ignoring new targets: 38.38 m.yy*y"y yyyBʎjZ`Xj@BɢѼ) i)iW^i;+nB ܾ>B B {(IB BB B B B V;B E.0\, pY@AJwa@JE\@JO<ٱJJ- VAHRS rotation from veh to nav: [[0.881981,0.463175,0.087050],[-0.471200,0.870150,0.144257],[-0.008930,-0.168250,0.985704]]JH09? ?H?#(޿@D?w? I7ſ?iJwa@IJv];HY^݈By^W(IIf<)f<bDnVDnkyvC%va=ٔvQ-v>9xYx=zlGyx~\E~>Q 5  5͊?Q 9  5p)BY y Q IM@DI:i:0 5yBɮxAEgOEDNOT Ignoring new targets: 38.38 m.AA*A"A IIIIQʎQQQjQZ]j@颅Bɢ+) եi)M顉i]iW;.iE  E E $E "E :*E :VE 4ZE BE &AHRS rotation from veh to nav: [[0.881817,0.463802,0.085362],[-0.471518,0.870331,0.142111],[-0.008382,-0.165565,0.986163]]2H 7??@ڵ?W-޿?0?[*;1ſ@?i2^@I2^];2C@YFڈByFS(IbD VD :yΉ%%G=ٔ%Q-%>9% ?Y- ?=-lGy-@F-&dE->1Q 5= 55Q͊?Q 9E 55)5BYAyE5Q IEM@5ŽDI5y;i5;5Ƶ 5yMɺBɮUAUEgO}DNOT Ignoring new targets: 38.38 m.yy*y"y yʎjZj@颽Bɢ') ai)oi[i;ĆeoC]rG聿9Y`A^AI I O \<\,{pY@A2`@2[@2% <ٱ2L' >AHRS rotation from veh to nav: [[0.881952,0.463755,0.084213],[-0.471264,0.870806,0.140027],[-0.008395,-0.163184,0.986560]]2H8?`)??1)޿? f?`w1@3Ŀ`?i2`@I2w];0YFƈByF:(IliMMb@Mb@Mb@IIII I9MZd;O? ףp= rh?YMj9yYy=}lGyY5:E>Q 5 5͊?Q 9 5)BY=?Q E:ygQ IM@ϽDI* ;i` ;g 5yBɮAEgODNOT Ignoring new targets: 38.38 m.*" BʎjZ^j@ Bɢ O) iži)ûiXi%% ;%jBA<BBBh(IBBBBBB3V;B&EA^Ajb<I I O >a :kC\,VqY@A2,_@2Y@29 <ٱ2* :AHRS rotation from veh to nav: [[0.881853,0.463704,0.085521],[-0.471449,0.870334,0.142322],[-0.008437,-0.165826,0.986119]]2H $8?R??@7,޿? 7?`0G 9ſ@I?i2,_@I2Z];0YFLjByF;(I HHbDRVDRyV;%ZX=ٔZN8Q-Z>9XY\=^lGy^AF^Eb>`Q 5f 5b ͊?Q 9j 5b)bBYhyjmQ IjM@bؽDIb:ibW:b 5ynBɮrArEgO DNOT Ignoring new targets: 38.38 m.  * "  ʎjZ%~k@9MBɢMi )Q U;ȾiQ)UͻQQihViF;ssg ИI\,@(qY@A]V@]Q@]Ҫ<ٱ]qi/ mAHRS rotation from veh to nav: [[0.881374,0.464205,0.087712],[-0.472346,0.869171,0.146394],[-0.008280,-0.170458,0.985330]]]H74? ? Qt?:޿???MſӇ?i]V@I]u~];]CYBy.(Iԑi=Mb@Mb@Mb@9999 99=Cl?:vy&1?Y=;??y=Խ=`e<=~A==A = A)99Y= AbD]VD]:2ye;%m1=ٔuQ-u>9yYy=}lGyy}4E>Q 5 5͊?Q 9 5 )BYA?Q E:y Q IM@DI] ;ia; 5y BɮEAEgODNOT Ignoring new targets: 38.38 m.*" ۉBʎjZ`Hk@ Bɢ ~ )  v׾i) \ڻi1'Ti;5Y B ۾>B B O(IB ׈BB B B B gU;B EB}ǍCB}ǍCByB}A =B}A =C}e4T}P\, BqY@A2P@2K@2{o<ٱ22 :AHRS rotation from veh to nav: [[0.881031,0.464585,0.089139],[-0.472989,0.868364,0.149081],[-0.008144,-0.173506,0.984799]]2H@g1?û?Ѷ?sE޿?`?@㭀t5ƿ`y?i2P@I2Mc];2CYBByB(IbDJVDJky%d=ٔ }ǹQ- >9 Y=lGyBFE>AQ 5U 5E~͊?Q 9U 5ET)EBYyy}/ Q I}M@EDIE;iE,;E 5yɮvAgO=DNOT Ignoring new targets: 38.38 m.99*A"A AAAIIʎIIIjQZU k@颽Bɢ*g) Ki)ilQi.s;Oy E  E E (E "E :*E :VE c44ZE BE .9XYX=ZlGy\^E^>`Q 5f 5bp͊?Q 9f 5b)bBYhyjh Q IjM@bDIb:ib:bL 5yvBɮvAvEgODNOT Ignoring new targets: 38.38 m.*" ʎjZ`-k@-Bɢ-h,)5,bQ ]iY)]ZYYi]J.Oiee;eOcCԩ \\,uqY@A2sB@2A=@2Z<ٱ25 5 :AHRS rotation from veh to nav: [[0.880199,0.465935,0.090303],[-0.474540,0.867165,0.151120],[-0.007895,-0.175868,0.984382]]2H@*??@?^޿ п? W?R+ ׂƿ?i2sB@I2Cb];2CYBByF(IiMb@Mb@Mb@ 9J +?Cl绿9AYA=ElGyMCFMEM>QQ 5 5U=Ί?Q 9 5U)UBYJ?Q E:y` Q IM@UDIUBiBm6(IBmˆBBmB =BiBm\DBmsU;BmE^AM*:< A I I O >9 yc\,'qY@A6<@67@6;ٱ64 BAHRS rotation from veh to nav: [[0.879876,0.466593,0.090053],[-0.475141,0.866896,0.150769],[-0.007719,-0.175446,0.984459]]6H'?? ?h޿?cL? tƿீ?i6<@I6@];6CYJByJ (IbDRVDRyZ]<%ZS=ٔ^Q-^>9\Y`=blGy`b\Eb>dQ 5j 5f)Ί?Q 9j 5f)fBYlyn Q InM@f DIfo;if;f^ 5yrQBɮrAvEgO DNOT Ignoring new targets: 38.38 m. *" !ʎ!!!j!Z-@+Fk@UBɢUg7)Q U]iQ)]i YYi]IieeÖ;eH0i\,qY@AYBy'I iMb@Mb@Mb@ 9Mb?Qy&1?YC?y`<A=A 5 A)AYAbDVD:y}%,=ٔQ->9Y=lGyDFE>Q 5 5AΊ?Q 9 5})BY E?Q E :y $Q I M@DILZ;i N; 5y^Bɮ9AEgO]DNOT Ignoring new targets: 38.38 m.YYa*i"i iqqy}BʎyyjZ Uk@=Bɢ=.)9 E iI)MIIiMfFieeG;ey2B] ƍCB] (IB] BB] E =BY BY B] U;B] E ^A.<A1IAIQOu ?Pr\,qY@A2>@28@2!;ٱ2<0 :AHRS rotation from veh to nav: [[0.879953,0.467057,0.086833],[-0.475023,0.867348,0.148527],[-0.005944,-0.171945,0.985089]]2H(?D?:?f޿`P? ?ZXxJƿ؅?i2>@I2@];2CYBByB'IbDNVDN:yV!<%V.=ٔV~xQ-V>9XYX=ZlGyX^ŝ9E^>`Q 5f 5bZΊ?Q 9f 5b))bBYdyf$Q IjM@b!DIbN:ib$:b 5ynkBɮnYAlgODNOT Ignoring new targets: 38.38 m.*"     ʎjZ`Ndk@MBɢM59)I Md iQ)UFQQiUWCi]]R;]4a y\,qY@AFG@F`B@F;ٱF1 NAHRS rotation from veh to nav: [[0.880514,0.466211,0.085689],[-0.474000,0.867677,0.149871],[-0.004478,-0.172580,0.984985]]FH +-?`h??@V޿ ?`.?`Wrƿ?iFG@IF1];FCYVByV'IbDbVDbβyj %jH=ٔjjQ-j>9r"?Yv"?=vlGyzEF~}9;E> Q 5 5 oΊ?Q 9 5 ,) BYy8$Q IM@ +DI :i ; 6 5y!ɮ%tA!gOMDNOT Ignoring new targets: 38.38 m.II*I"I IYaiqʎyjZqk@Bɢ%IK>Q)a eia)e+aaim@iuuzN;uyFBQ BU (IBU BBU C =BQ BQ BU MV;BU .EAAIYIqO?䇁\,krY@A2P@2uK@2*0;ٱ2e2 :AHRS rotation from veh to nav: [[0.881044,0.465489,0.084145],[-0.473026,0.867990,0.151130],[-0.002688,-0.172955,0.984926]]2H1?`? ?@F޿`?`7X?@]fb#ƿ?i2P@I2K];2C@YJByJ'IIN<)N49Y=lGy> ;E>Q 5 5Ί?Q 9 5)BYD?Q E:y"Q IM@8DI$;i#; 5ywBɮAEgODNOT Ignoring new targets: 38.38 m.*" BʎjZ@wk@5Bɢ5|<)1 5i9)=!(99i==iEE);EƷT\, %rY@AO9YjAYayabD}VD}:ԁٔQ->9Y=lGyFFE>Q 5 5ZΊ?Q 9 5V )BYyQ IM@DDIB:i[: 5yBɮAEgO]DNOT Ignoring new targets: 38.38 m.Ya*a"a aaaiqʎyjZk@=BɢEz<)I M,iQ)][1Yaie2:i%;%kYS;\,2?rY@ABzȾ>BzōCBxBxBzE =BxBz[DBzV;BzzEY By 'IiMb@Mb@Mb@ 9)\(?Cl绿Q?YGA?y;߽< A  A)(AYQAԩbDVDfy;%<ٔQ->9Y=lGyGFE>Q 5 5Ί?Q 9 5@)(BYoC?Q E:y Q IM@NDI ;i ; 5yBɮAƪEgODNOT Ignoring new targets: 38.38 m.*" BʎjZ6k@颅Bɢ N)  i)ݪ9顉iF7i\4;S/\,gYrY@A$$bAr@bm@b#ٱb*$ AHRS rotation from veh to nav: [[0.882969,0.464070,0.070741],[-0.469404,0.871218,0.143665],[0.005040,-0.160058,0.987095]]bHHA?R?? ޿ ?c?vt?|ĿG?ibAr@IbgB];bCY%By-(I 11bD=VD=:2yM<<Eu EuEu$Eq"EuV:*Euxv:VEu4ZEqBEu99Y=lGy!&<E>Q 5 5%Ί?Q 9 5)2BYyQ IM@XDI;iq;B 5yɮAgO%DNOT Ignoring new targets: 38.38 m.!!*!"! !)))1ʎ111j1Z=rk@eBɢX)  i ) @  i 4i;B ԙ T\,RsrY@AFx@Fs@FJٻٱF RAHRS rotation from veh to nav: [[0.883338,0.464041,0.066187],[-0.468691,0.872402,0.138722],[0.006631,-0.153560,0.988117]]FH MD? ٲ??ݿ?@? R){?@٧ÿ?iFx@IF7f];DYZByZ(Ii=Mb@Mb@Mb@9999 99=T㥛 ?Cl绿 rh?Y=A?y9=C =9=A = A)=A9Y9bDUVDU3yV~<%D=ٔxQ->9 ?Y ?=lGyHF;E>Q 5 5HΊ?Q 9 5)>BY9C?Q E:y{Q IM@bDI':i: 5yǻBɮAǪEgO%DNOT Ignoring new targets: 38.38 m.!!*!"! !!)))ʎ)11j1Z5Qk@QeBɢeT)i mii)m)Hiiiu2iu}E;}Y%BB(IBBBH =BBBGW;BEBƍCBƍCBBE =BE =CR6^A5<ԱA I I O > k<\,rY@A6@6y@6$ٱ6] BAHRS rotation from veh to nav: [[0.883691,0.463643,0.064231],[-0.468008,0.872960,0.137512],[0.007686,-0.151579,0.988415]]6H1G?U?lq?ݿ@I??@{?`fÿ ?i6@I6U];6CYJByJ (IbDR VDR2yZe<%Z]=ٔ^;Q-^>9\Y`=blGy`b0;Eb>dQ 5j 5fΊ?Q 9j 5f )fIBYlynRQ InM@fkDIf;if;f 5yrԻBɮrAvȪEgO DNOT Ignoring new targets: 38.38 m.*" ʎ!!j!Z%"k@U‰Bɢ] ])Y ]iY)eOaaie;I0immx;mii}!>Ա9@ @@/@^A}U<E EE$E"E:*E:VE4ZEBE.9 f\,TnrY@A2@2z@2Xٱ2 :AHRS rotation from veh to nav: [[0.883728,0.463572,0.064229],[-0.467913,0.872542,0.140454],[0.009068,-0.154177,0.988002]]2H@G?*?Hq?Hݿ ?@f?`z?ÿ?i2@I2F];2CYZByZ (IIb<)bp;`bAAbDfVDfkyn`<%nH=ٔre]Q-r>9r"?Yr"?=vlGyvIFvɂ9Ev>xQ 5~ 5z ϊ?Q 9~ 5z$)zTBYyAQ IM@zuDIz;iz;z 5y ɮ A gO5DNOT Ignoring new targets: 38.38 m.11*9"9 999AAʎAAIjIZM7k@uʼnBɢuW)y }iy)}5Vyi-igT;II59@9 @9@E/@A9^A D zD E  E E "E "E ;*E xv:VE (3ZE a @a @a @a @sN\, IrY@A$6b}@61x@6ٱ6BFԾ>BFƍCBF#(IBFBBFB =BDBF\DBFlW;BFE RAHRS rotation from veh to nav: [[0.883576,0.463835,0.064419],[-0.468188,0.872160,0.141904],[0.009636,-0.155543,0.987782]]6HBF?@y? }?`ݿ?)? *?ÿ@?i6b}@I6/e];6CYZByZ(IiEMb@Mb@Mb@AAAA A9EV-?EԸL7A`?YE|??yEƽE+=EAE|A EA)E(AAYEAbDuVDu:3y=%?=ٔQ->9Y=lGyG@E>Q 5 57#ϊ?Q 9 5))aBYFA?Q EU:yUQ IUM@DI}x\,#rY@A2@2z@2x&ٱ2 :AHRS rotation from veh to nav: [[0.883718,0.463630,0.063954],[-0.467909,0.872245,0.142300],[0.010191,-0.155678,0.987755]]2H`jG??M_?:ݿn?`6?`ބ?=ÿ@?i2@I2Z];2ChEe EeEe'Ea"Ee:*Eez:VEe'4ZEaBEe39 ?Y ?=lGyJF8:E>Q 5 5>:ϊ?Q 9 5.)mBYyQ IM@DI;i';: 5yBɮ AgO-DNOT Ignoring new targets: 38.38 m.))*)") 11111ʎ999j9ZEk@m̉BɢmY)i m(iq)uPfqqiu0)i}}$;},q^A) A9 zA9  A} ؟AI I O \,rY@A2y@2t@2t6ٱ2&k$ :AHRS rotation from veh to nav: [[0.883358,0.464142,0.065206],[-0.468567,0.871215,0.146387],[0.011136,-0.159866,0.987076]]2H wD?@?@\?ݿ?@Ӽ?aΆ?}vĿ@ ?i2y@I2y];2C@@i@I@@D F_AFTDDDJ_AIH)HiH)HIHJL LLN^APiPPiPRM^A)R TIT T)TTTTYXY^By^(I ``f=f=iMb@Mb@Mb@ 9^I +?RQMb?YX9?y½=`!AfA )AYAbDVD:y ;%W=ٔ_#Q->9"?Y"?=lGy%E%>)Q 55 5-ZMϊ?Q 95 5-2)-xBY5;?Q E5:y=Q I=M@-DI- ;i- ;- 5yEBɮEAEӪEgOmDNOT Ignoring new targets: 38.38 m.ii*i"i qqqyyʎyyyjZEk@-ΉBɢ-`)) M!iQ)Um0nQQiUu&i]];][BōCB0(IBBBF =BB[DBW;BE1^A <A9 IA a Ia Om >\,jsY@A2q@2k@2TGٱ2>* :AHRS rotation from veh to nav: [[0.882843,0.464811,0.067365],[-0.469510,0.869707,0.152219],[0.012166,-0.166014,0.986048]]2H@@?x?>?s ޿ ?{?Y??ſ@?i2q@I2~];2CY%By%(IbD5VD5JyE[(%MX=ٔMo2Q-M>9IYQ=UlGyUKFU5:EU>Q 5 5`ϊ?Q 9 57)BYy>Q IM@DI;i&; 5y"BɮAԪEgODNOT Ignoring new targets: 38.38 m.*" ʎj Z l@1=щBɢ=N m)9 =hi9)EiuAAiE$iMM衠;M$Թ \,(sY@A6d@6U_@6{3`ٱ6- BAHRS rotation from veh to nav: [[0.882110,0.466179,0.067520],[-0.470845,0.868468,0.155140],[0.013684,-0.168642,0.985582]]6H>:?`?@I? R"޿}?`?6?ſ ?i6d@I6s];6CYBy(IbD-VD-y=Hz=%EK=ٔEvQ-E>9IYI=MlGyIMwEM>QQ 5] 5Utϊ?Q 9e 5Uk;)UBYayeQ IeM@UDIU;iU;U^ 5ym.BɮiqgODNOT Ignoring new targets: 38.38 m.*" ʎjZAl@ԑ颭ԉBɢy]) i) } ii"iU]g;]sB} čCB} <(IB} ȈBB} G =By By B} W;B} E A I I O >Lp\,FsY@ABU@BP@BjٱB.- ZAHRS rotation from veh to nav: [[0.881233,0.468057,0.065959],[-0.472424,0.867525,0.155617],[0.015617,-0.168296,0.985613]]BH 3? ? ?0<޿`?B??@ſ$?iBU@IB];BCYbByb(IIf%=)fhjAiMb@Mb@Mb@ 9Q?kt~jt?Y(9Y=lGyLF5yE>Q 5 5ϊ?Q 9 5@)BY=?Q E:yLQ IM@DIP;iO; 5yɮ,AgO%DNOT Ignoring new targets: 38.38 m.!!*!") ))))1ʎ111j1Z=}"l@e׉Bɢe8f)i mii)m iiimW iuu;u^\i E  E E $E "E 2:*E z:VE 4ZE BE *AHRS rotation from veh to nav: [[0.880441,0.469750,0.064479],[-0.473824,0.866574,0.156653],[0.017712,-0.168475,0.985547]]2H@,? d??"S޿`?3 ?#? ſ@?i2H@I2];2CYFByF(IbDR VDR:2yV<%Z_=ٔZQ-Z>9\Y\=^lGy\bEb>dQ 5f 5fʟϊ?Q 9j 5fD)fBYhyjQ IjM@fDIfy:if:f 5yr;BɮrGArժEgO DNOT Ignoring new targets: 38.38 m.  * "   ʎjZ%2.l@MىBɢMcyu)I MiI)UhQQiU4 i!AEl;YY`9Y{aA2G ܻ\,ysY@A:A9@:4@:Yrٱ:/ FAHRS rotation from veh to nav: [[0.879520,0.471538,0.064006],[-0.475448,0.865166,0.159487],[0.019829,-0.170704,0.985123]]:H@%?-?b?`m޿ q?j?M?ſ` ?i:A9@I:];:CYNByN(Ii%Mb@Mb@Mb@!!!! !9%Gz?B`"۹I +?Y%p=?y%ν%9<%#A%fA %AA)!!Y%AbD=VD=yM%MA=ٔMѣQ-M>9QYQ=UlGyUMFUE]>aQ 5m 5e^ϊ?Q 9m 5eI)eBYmG??Q Em:ymQ ImM@eþDIe:ie:el 5y}Bɮ}A}֪EgODNOT Ignoring new targets: 38.38 m.*" ʎj1Z5Ci9@ @@/@Bʾ>BōCBBBF =BBBW;B@=@=^A/C< A .AI I O! 9 \,ׅsY@AYzByz(I |~A==bD VD P)y;%M=ٔ%Q-%>9% ?Y% ?=%lGy)-E->1Q 5= 55ϊ?Q 9= 55"N)5BYAyAQ IEM@5;DI5:i5:5 5yIɮM AIgOuDNOT Ignoring new targets: 38.38 m.qy*y"y yyyʎjZHl@颵މBɢc|) >i)项iiB9;2\,PsY@A 2f!@25@25\ٱ2>5 >AHRS rotation from veh to nav: [[0.878060,0.474291,0.063712],[-0.477968,0.862618,0.165638],[0.023601,-0.175892,0.984127]]2H?`Z?mO? ޿?3?*? ƿ}?i2f!@I2];2CY^Byb (IbDhVDhyU,%UG=ٔ]Q-]>9aYa=elGymNFmEm>Q 5 5ϊ?Q 9 5R)BYy Q IM@׾DI" B čCB B B B B ZDB W;B EBMōCBMōCBIBMF =BMF =CM5Au ؟AI I O >\,sY@A(2@2@2ݫͼٱ209 >AHRS rotation from veh to nav: [[0.877928,0.474450,0.064341],[-0.478134,0.861722,0.169770],[0.025104,-0.179809,0.983381]]2H@? d]?x?޿;??ʴ?ǿw?i2@I2];0YFByF(IiMb@Mb@Mb@ 9"~j?{Gz?YSC?y̽ף<7A )AYAbD-VD-ܲy= (=%=G=ٔ=!pQ-E>9E"?YE"?=ElGyAMEM>QQ 5] 5U$ϊ?Q 9] 5UW)UBY]E?Q Ee:yeZQ IeM@UDIU:iU:U 5y8Bɮ9AEgO5DNOT Ignoring new targets: 38.38 m.11*1"1 19999ʎAAajaZmcl@颵Bɢ#*) gi){项ii˶; E  E E %E "E ;*E :VE 4ZE BE L9Y= lGy OF?:E>!Q 55 5%Њ?Q 95 5%Y\)%BY1yMHQ IMM@%DI%;i%;% 5yaɮekAagODNOT Ignoring new targets: 38.38 m.*" ʎjZol@颅Bɢ|) #i)䡛顉ii;*4)\,4esY@A2*@2%@2\ٱ2K5 :AHRS rotation from veh to nav: [[0.878524,0.473913,0.060016],[-0.476891,0.862793,0.167820],[0.027751,-0.176055,0.983989]]2H? T? m?@b޿`?!{?j?@ƿ|?i2*@I2];2CYBByF(IiEMb@Mb@Mb@AAAA A9E?/$?YEfF?yAE9qYy=}lGyy*;E>Q 5 5AЊ?Q 9 5Na)BYH?Q E:yQ IM@DIi ;i ;/# 5yDBɮAEgODNOT Ignoring new targets: 38.38 m.*" ʎjZ|l@ Bɢ b)  %i)ii=;BBBBG =BBBW;BEQq^A<I I O >ԡ +],@tY@A26@2}1@2ٱ2G0 :AHRS rotation from veh to nav: [[0.879173,0.473129,0.056604],[-0.475618,0.864087,0.164747],[0.029036,-0.171763,0.984710]]2H."?G?9?`p޿?l??`Sſ ?i26@I2ϳ];2CYBByB(IbDJVDJyRm%RX=ٔV^Q-V>9TYX=ZlGyZPFZw;EZ>\Q 5b 5^3Њ?Q 9b 5^e)^BYdyf3Q IfM@^DI^[:i^:^}& 5yjPBɮjAnEgODNOT Ignoring new targets: 38.38 m.*"    ʎ  jZl@=BɢE )A E(iA)EԣIIiM7iMUs;Um`2 ;; ],/tY@AFD@Fy?@FٱF+ VAHRS rotation from veh to nav: [[0.879962,0.472039,0.053341],[-0.474105,0.865613,0.161058],[0.029853,-0.167014,0.985502]]FH(? 5?`O?W޿??ฑ?`ſ9Y=%lGy!53;E5>AQ 5M 5EJЊ?Q 9M 5Ej)EBYIyUQ IUM@E DIE:iE:E+* 5yYɮ]AYgODNOT Ignoring new targets: 38.38 m.*" 19ʎAIQjyZ@Pl@iI颽Bɢ@) (i)6i i&;CIB B B B F =B B B W;B EOU >ԁ $],HtY@A2cK@22F@2ٱ2( :AHRS rotation from veh to nav: [[0.880334,0.471579,0.051243],[-0.473373,0.866428,0.158807],[0.030492,-0.164061,0.985979]]2H +?W.?9Y=mGyQF);E>Q 5 5`Њ?Q 9 5o)BY!F?Q E:yQ IM@DI;i;- 5y[BɮAEgODNOT Ignoring new targets: 38.38 m.*" ʎ j Z `ƣl@5Bɢ5j=)9 =$i9)=4ά99iEw( iEE;;MjRE  E E %E "E :*E 1:VE 4ZE BE &9Yq=umGyy}E}>Q 5 5uЊ?Q 9 5xt)BYy Q IM@DI:i:L1 5yBɮAEgODNOT Ignoring new targets: 38.38 m.*" ʎjZl@Bɢ?Y)  'i )   i H is;-4Ja x],|tY@A2C@2>@2.ٱ2" >AHRS rotation from veh to nav: [[0.879832,0.472991,0.046639],[-0.474155,0.866742,0.154712],[0.032753,-0.158235,0.986858]]2H'?|E??X޿`Y?? Š? AĿW?i2C@I2];0YDyF (IIJ<)HiMb@Mb@Mb@ 9jt?1ZdX9v?Y@?y<`!AA A)YAbD-VD-02y=%=G=ٔE9Q-E>9AYA=MmGyMRFM,EM>QQ 5] 5UЊ?Q 9] 5U!y)U-BYeB?Q Ee:ye Q IeM@U&DIU ;iUe:U4 5yiɮmAigODNOT Ignoring new targets: 38.38 m.*" !ʎ!!!j!Z-`l@E= E=E=&E9"E=:*E= n:VE=4ZE9aE@aE@aE@aE@颕BɢS) x(i)E顙iei;3IDBÍCB6(IBˆBBI =BBYDBYW;BE59@1 @1@51@1y^AMNJN<ԡ Ay I I O >=_%],+tY@A6!<@66@6Q6 ٱ6 @ BAHRS rotation from veh to nav: [[0.879344,0.474099,0.044532],[-0.474955,0.866505,0.153580],[0.034225,-0.156200,0.987132]]6H#? W?̦?e޿h?@?酡?_ÿ`?i6!<@I6N];6CYJByJ (IbDVVDVfy^[;%^S=ٔ^yQ-^>9`Y`=bmGy`fEf>hQ 5j 5jЊ?Q 9n 5j})j! +],RdtY@AB 0@B*@B8ٱBZ" RAHRS rotation from veh to nav: [[0.878587,0.475554,0.043961],[-0.476221,0.865420,0.155760],[0.036027,-0.157784,0.986816]]BH c?zo??gz޿ ?`?`!r?B2Ŀ?iB 0@IB];BCYZByZ(I|bD~VD~y <% E=ٔ^Q->9Y=mGySFhE%>!Q 5- 5%Њ?Q 9- 5%)%KBY1y5O!Q I5M@%:DI%l:i%:%; 5y=BɮE AAgODNOT Ignoring new targets: 38.38 m.*" ʎjZ l@Bɢ3`) 'i) iiCF;#B B <(IB ȈBB K =B B B HW;B EA ԁ I I O >;q2],h>tY@A2 "@2@2@:ٱ2$ :AHRS rotation from veh to nav: [[0.877719,0.477162,0.043881],[-0.477695,0.864135,0.158361],[0.037644,-0.159958,0.986406]]2H`F?҉?w? ޿ ?)E?F?yĿ?i2 "@I2];2CYBByF(I DDiMb@Mb@Mb@ 9#~j?zGếZd;O?YE?Yy ׽j<A A)AYAbD}VD}k1y<%C=ٔ|Q->9Y=mGyTFnE>Q 5 5NЊ?Q 9 5)ZBYG?Q E:y Q IM@DDI:i:t? 5yɮ AgODNOT Ignoring new targets: 38.38 m.*" ʎjZZl@%Bɢ-c)) -%i))-w¼)1i565i==;=^ Ee  Ee Ee "Ea "Ee 2:*Ee v:VEe (3ZEa BEe *9 ?Y ?=mGy%aE%>)Q 55 5-Њ?Q 95 5-@)-hBY1y5 Q I=M@-NDI-;i-+;-B 5yEBɮE"AEEgOmDNOT Ignoring new targets: 38.38 m.ii*i"i iqqԱʎjZ l@ Bɢ P)1 5#i1)5Ƽ19i=i=E;E;IAIA9@ @@`0@^AH],tY@A6? @6@6("ٱ6, BAHRS rotation from veh to nav: [[0.876204,0.479696,0.046457],[-0.480312,0.861261,0.165920],[0.039579,-0.167694,0.985044]]6H` ? U?Bɧ?n޿s?9qYq=umGyuUF}"E}>Q 5 5 Њ?Q 9 57)xBYB?Q E:y %Q IM@XDI;i;zF 5yBɮAEgODNOT Ignoring new targets: 38.38 m.*" ʎE EE&E"E:*EZ:VE4ZEa%@a%@a%@a%@)QQjQZ]l@Bɢ拽)  %i )8˼ii%ȧ;%R;I!BE>BABEI(IBE҈BBEH =BABEZDBE'W;BEEBÍCBÍCBBH =BH =Cþ5IiIy)}ZA9@ @@ |2@ @\A@Ay^A- P;A] ؟AIa Iy O >ԙ ̭E],uY@A2@2@2 #ٱ21 :AHRS rotation from veh to nav: [[0.875825,0.480151,0.048845],[-0.480984,0.860009,0.170411],[0.039816,-0.172744,0.984162]]2H?ʺ?;? p޿0? ?b?zƿ@~?i2@I2];0YvByv$(IIz=)z=bDVDβy=%P=ٔQ->9"?Y"?=mGy!%E%>)Q 55 5- ъ?Q 95 5-)-BY1y=,%Q I=M@-aDI-;i-w;-I 5yAɮEAAgOmDNOT Ignoring new targets: 38.38 m.ii*i"i iqqqqʎyyyjyZ@ m@颭Bɢv) S"i)ϼ顱iui^ѧ;;IIqq@q @q@uy1@qE- E-E-'E)"E-;*E-$:VE-'4ZE)BE-A K],з1uY@A2@2@2$ٱ2!4 :AHRS rotation from veh to nav: [[0.875415,0.480796,0.049836],[-0.481712,0.859219,0.172327],[0.040034,-0.174864,0.983778]]2H f?]?"?\޿~?? V?@aƿ{?i2@I24];2CYFByF1(IbDNVDN0yVX=%VQ=ٔZ(Q-Z>9XYX=^mGy^VF^ E^>`Q 5f 5bъ?Q 9f 5b)bBYhyj[%Q IjM@bkDIb:ib. ;bTM 5ynBɮnArEgODNOT Ignoring new targets: 38.38 m.  * "    ʎjZm@颕Bɢ) i)^EӼ i 'i%UxЧ;U¢;IYI]9@Y @Y@]/@YD)zD-@AB5 þ>B5 čCB5 U(IB5 ܈BB1 B1 B1 B5 V;B5 bEQ E  E E "E "E D:*E :VE (3ZE BE 1<2E 1<JE ;:E ;^A ;I I O >rR],wKuY@A6@6@6$ٱ6(4 >AHRS rotation from veh to nav: [[0.875350,0.480931,0.049678],[-0.481815,0.859155,0.172357],[0.040211,-0.174808,0.983781]]6H??Wo?@޿2~???`ƿ"{?i6@I6];6CYFByJ,(IiMb@Mb@Mb@ 9Zd;?MbL7A`?Y>?y+=1"A7A )YbD-VD-1y=%=B=ٔEܹQ-E>9AYI=MmGyIM—EM>QQ 5] 5U0ъ?Q 9e 5Ul)UBYe@?Q Ee:yeQ IeM@UuDIU ;iU ;UQ 5ymBɮu)AuEgO5DNOT Ignoring new targets: 38.38 m.11*9"9 999AAʎAAAjIZMN%m@颵Bɢ⍽)  i)׼项idiΧ;IIe>i>Q9@ @@@ԉ^A;AzAZAԩ I I O > PExceeded connect timeout, disconnecting.E]  E] E] %EY "E] x;*E] :VE] 4ZEY BE] ?g<2E] ?g<JE] ;:E] ;GX],PeuY@A$$4b%@b@b1%ٱb3 nAHRS rotation from veh to nav: [[0.875174,0.481264,0.049554],[-0.482126,0.859007,0.172228],[0.040320,-0.174621,0.983810]]bH@l??2_?@&޿@|? ?`Ť? Yƿ^{?ib%@Ib-}];bCYzByz1(I ||bD VD y<%L=ٔQ->9Y!=%mGy%WF%iE->)Q 55 5-@Eъ?Q 95 5-)-BY9y=Q I=M@-DI-:i-B:-T 5yAɮMAIgOuDNOT Ignoring new targets: 38.38 m.qq*q"q qqyyyʎyjZ1m@颵Bɢ/m) i)\ۼ项i4iETǧ;E%,;IAIAԙ9@ @@/@^A፨;IYIO> _],<uY@A2&@2@2=#ٱ2d1 >AHRS rotation from veh to nav: [[0.875251,0.481201,0.048802],[-0.482028,0.859523,0.169906],[0.039812,-0.172234,0.984251]]2H ???޿`7?z?Fb? ƿ@~?i2&@I2];2CYFʈByF?(IliMMb@Mb@Mb@IIII I9M/$?zGếS㥛?YM9yYy=}mGyyi9E>Q 5 5Yъ?Q 9 5ΨQ =tI)BY>?Q E:y#Q IN@DI;iW;"X 5yBɮAEDD<gO DNOT Ignoring new targets: 38.38 m.  * " ʎ!!)j)Z- ?m@bEjE( 4rE]%0E EE$E"ED:*E~:VE4ZEa@a@a@a@AA@ABľ>BBh(IBBBG =BBBXV;B*E5Bɢ=9)9 =i9)=߼AAiEpiEM;MR;IIIq 9@ @@@1^A- ;I I O >a e],uY@A2@2@2ٱ2- :AHRS rotation from veh to nav: [[0.875604,0.480666,0.047720],[-0.481449,0.860484,0.166657],[0.039044,-0.168900,0.984860]]2H`?;?`n? ޿?`U? ?ſ@?i2@I2t];2CYFɈByDbDNVDN1yV̓%VX=ٔZ;Q-Z>9XYX=^mGy^XF^:E^>`Q 5f 5bmъ?Q 9f 5b3)bBYhyj"Q IjN@bDIb`:ib:bq[ 5ylɮnAp9gODNOT Ignoring new targets: 38.38 m.*" ʎjZKm@ɢBm) i)j!i%yHi%->ħ;->;I)I)9@ @@4@inManaging dock network, ignoring radio surface power offE EEE"E:*Exv:VEZEBE:8 %l],uY@A2N@2@2=ٱ2** :AHRS rotation from veh to nav: [[0.876016,0.480041,0.046444],[-0.480757,0.861533,0.163198],[0.038329,-0.165293,0.985500]]2H`R?`? ǧ?޿??̟?P(ſ@6?i2N@I2$]];2CYB؈ByFQ(IIJ%=)Jp;bDNVDNyVӔ=%ZJ=ٔZ:Q-Z>9\Y\=^mGy\b[;Eb>dQ 5j 5f[ъ?Q 9j 5f)fBYhyj"Q IjN@fDIf:if:f^ 5yrGBɮrArEgO DNOT Ignoring new targets: 38.38 m.  * "  ʎjZ%`Wm@MBɢMV)I MiQ)U!QQiU1ԙiѧ;+;II@ @@4@^Aϩ;DzDIAIYO}>E EE(E"E*E&p:VEc44ZEa@a@a@a@Bþ>BBu(IBBBF =BBB+V;BE! s],uY@A6.@6@6!ٱ6' BAHRS rotation from veh to nav: [[0.876544,0.479179,0.045366],[-0.479812,0.862446,0.161144],[0.038091,-0.163017,0.985888]]6H ?ު?1:?@=޿`(?]?஀? Ŀ`d?i6.@I6*q];4YNԈByRK(Ii-Mb@Mb@Mb@)))) )9-~jt?~jtX9v?Y-;?y-Ľ-<-#A-A ))))Y-AbDEVDEyU8%U@=ٔU:Q-]>9YYY=emGyeYFe';Ee>iQ 5u 5mŖъ?Q 9u 5m)mBY}j=?Q E}:y}xQ I}N@mDIm ;im] ;mb 5yRBɮAEgODNOT Ignoring new targets: 38.38 m.*" 199ʎ999jAZE em@颍Bɢ8K) i);项ii@;;IIM9@I @I@M/@I!Q^Am[R;A I ԉ E  E E #E "E a:*E :VE 3ZE BE (7y],uY@A2\@2,@2ٱ2҄% :AHRS rotation from veh to nav: [[0.877027,0.478399,0.044247],[-0.478939,0.863291,0.159207],[0.037967,-0.160820,0.986253]]2H???޿?@`?]p? ĕĿb?i2\@I2:]];2CYZ߈ByZZ(IbDfVDfkyrp=%rR=ٔr9Q-r>9tYt=vmGytz(;Ez>|Q 5 5~dъ?Q 9 5~)~BYy?Q I N@~DI~ ;i~:~f 5yɮAgO=DNOT Ignoring new targets: 38.38 m.99*9"A AAAAIʎIIIjIZU@qm@}Bɢ})y %i)E顁ii;P;III)[AQ9@ @@@@=@ԁ^A5X;A9zA9A) IQ Iq O > ~],vY@A2@2f@2ٱ2E$ :AHRS rotation from veh to nav: [[0.877514,0.477559,0.043672],[-0.478061,0.863978,0.158110],[0.037775,-0.159621,0.986455]]2H?R?"\?`޿?9Y= mGy ZF ;E >Q 5 5ъ?Q 9 5)BY%>?Q E%:y%Q I%N@DI:iQ:i 5y-]Bɮ-A- EE5 E5E5%E1"E52:*E5:VE5 4ZE1a=@a=@a=@a=@gOmDNOT Ignoring new targets: 38.38 m.ii*i"i iiiB}>ByB}(IB}BB}G =ByByB}V;B}EԱ ʎjZm@aɢe)a eYii)mwii+iTZ;Y| 9 I],_vY@A2*@2_%@2ٱ2! :AHRS rotation from veh to nav: [[0.878197,0.476489,0.041574],[-0.476770,0.865130,0.155694],[0.038219,-0.156551,0.986930]]2H/?~?5I?@g޿$? ?y? Ŀ?i2*@I2 ^];2CYF݈ByFV(IbDNVDN:yV~%Vb=ٔZLQ-Z>9XYX=ZmGy\^;Eb>dQ 5j 5fъ?Q 9j 5f)fBYhyjQ IjN@fDIft:ifk:fm 5yrhBɮr,ApgO DNOT Ignoring new targets: 38.38 m.  * "  ʎjZ%@m@MBɢMȖ)I MiQ)UQQiUݻi;5!s],i:4vY@A 64@6.@6ٱ6 BAHRS rotation from veh to nav: [[0.878748,0.475537,0.040833],[-0.475745,0.865829,0.154940],[0.038325,-0.155579,0.987080]]6H?1o?@ ?r޿ ߴ?@?]?ÿ (?i64@I6O];6CYuByu^(IbD VD2yk<%/=ٔvnQ->9Y=mGy[F#;E>Q 5 5ъ?Q 9 5 )-BYydQ IN@̿DI;i;)q 5yɮAPEB*** querying acoustic contact ***A AqgO5DNOT Ignoring new targets: 38.38 m.99*A"A iqqʎjZdm@IɢM)Q U!iQ)UQQi]cٻi];n/i!>ԡ]9@Y @Y@]/@Y@i@m\AE EEE"E;*E:VEZEa @a @a @a @B}¾>ByB}(IB}BB}H =ByByB}V;B} EBMčCBMčCBIBMG =BMG =CM(5  2Acoustic response timeout Querying Benthos address 50 with one ping in standard two-way mode.^Au &< A .AI I O >X],=QvY@A29@23@2ٱ2m :AHRS rotation from veh to nav: [[0.879017,0.475064,0.040536],[-0.475196,0.865958,0.155903],[0.038962,-0.156304,0.986940]]2H ? tg??`i޿?@? ?`Ŀ?i29@I2r];2C@BMr@i@I@@D DFDDDDJ _AIJD)Hix)xIx~D| ||||i|i) EI ) S{A   Y Y}By}b(II<)49} ?Y ?=mGye:E>Q 5 5WҊ?Q 9 5)} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246196 A],kvY@A2=@28@2| ٱ2~ :AHRS rotation from veh to nav: [[0.879285,0.474607,0.040077],[-0.474674,0.866243,0.155912],[0.039281,-0.156114,0.986958]]2H#?_? ?a޿@B??@?ÿ@(?i2=@I2];2CYBy^(IbD-VD-Ny=C%E[=ٔE[fQ-E>9IYI=MmGyM\FM:EM>QQ 5 5UҊ?Q 9 5U)UIBYy`Q IN@U߿DIUJO9 <)],ބvY@AE$ E&E&(E$"E$*E&i:VE&c44ZE$a*@a*@a*@a*@B>?@B:@Bl$ٱB, NAHRS rotation from veh to nav: [[0.879331,0.474605,0.039078],[-0.474515,0.866326,0.155928],[0.040150,-0.155656,0.986995]]BHz#?@_? ?v^޿@?s?@?ÿv?iB>?@IB ^;BV>BVÍCBV(IBVBBTBTBVYDBVV;BVEBCY]By]\(I=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750341iUMb@Mb@Mb@QQQQ Q9US?bX9ȶ~jt?YU/=?yQU9"?Y"?=mGy9E>Q 5 5W+Ҋ?Q 9 5)XBY>?Q E:yQ IN@DI:i:%| 5yɮAgODNOT Ignoring new targets: 38.38 m.*" ʎjZ m@ɢ1) Ni!)%!!i%Ǥϻi--cK;-"@.U],vvY@A6pB@6@=@6D(ٱ6 >AHRS rotation from veh to nav: [[0.879483,0.474474,0.037205],[-0.474155,0.866775,0.154525],[0.041070,-0.153543,0.987288]]6H$?`]?` ?X޿?x?@?Kÿ@ݗ?i6pB@I6^;4YfByfb(I hhbDnVDn1yvT<%vg=ٔz*Q-z>9z ?Y~ ?=~mGy~]FZ:E> Q 5 5 ~=Ҋ?Q 9 5 ) dBYyQ IN@ DI ;i ; = 5y%Bɮ%3A!gOMDNOT Ignoring new targets: 38.38 m.II*I"I IQQYYʎYYYjaZe m@颉ɢ)  i)顑i̻i; F }],ȖvY@A2CE@2@@2Q,ٱ2 :AHRS rotation from veh to nav: [[0.879605,0.474401,0.035180],[-0.473829,0.867181,0.153244],[0.042192,-0.151464,0.987562]]2H@%?\?%?8S޿`??%?+cÿ`?i2CE@I2^;2CYFByF`(IRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.506309TbDVVDVy^u%^N=ٔb"9Q-b>9b"?Yb"?=fmGydfc:Ef>hQ 5n 5jQҊ?Q 9n 5jJ)jrBYpyrQ IrN@jDIj;ij;j 5yvBɮvdAvEgOeDNOT Ignoring new targets: 38.38 m.ii*q" ʎjZm@ɢ>2) i) ^  i Sɻi@;JBCB(IBBBJ =BBBU;BEUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.758192^A% 0:D<1 AQ IY Iq O} >y],vY@A2B@2=@260ٱ2G :AHRS rotation from veh to nav: [[0.879425,0.474714,0.035483],[-0.474074,0.866596,0.155770],[0.043197,-0.153810,0.987156]]2H>$?a?*?9Y=mGy^F4E>Q 5 5VhҊ?Q 9 5K)BY??Q E:yQ IN@DI ;im ; 5yɮ2AgODNOT Ignoring new targets: 38.38 m.*"    ʎjZm@EBɢE)I M)iI)MFIIiU ƻiUU;]EA5>EE  EE EA EA "EE V:*EE $:VEA ZEA BEE 9= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2622424],FvY@A2 9@23@2L5ٱ2  :AHRS rotation from veh to nav: [[0.878820,0.475830,0.035517],[-0.475098,0.865703,0.157609],[0.044248,-0.155384,0.986863]]2HJ?s??/?g޿ֳ?,??ÿ a?i2 9@I2}^;2CYFByDIJ=)J<bDRVDR1yV`a;%ZZ=ٔZ 8Q-Z>9XY\=^mGy\bOEb>`Q 5f 5b{Ҋ?Q 9j 5b)bBYhyjQ IjN@bDIbl:ib:b҉ 5yrBɮrZArEgO DNOT Ignoring new targets: 38.38 m.  * "   ʎ!j!Z% m@aɢe<;)a mii)m$ iiiuûi;s14ԡ D5 %=D5 =E=  E= E9 E9 "E= :*E= ?:VE9 ZE9 aM @aM @aM @aM @{], wY@AB >BB (IB BB K =BBB kU;B Ef4@f/@f8ٱfr" nAHRS rotation from veh to nav: [[0.878541,0.476289,0.036248],[-0.475534,0.864935,0.160484],[0.045085,-0.158228,0.986373]]fH? {??&o޿ ?@?U? @Ŀ`]?if4@Ifq^;fCY%By%m(IԁiMb@Mb@Mb@ 9"~j?)\(9Y=mGy_FӘE>Q 5 5Ҋ?Q 9 5)BYfE?Q E:y`"Q IN@DI:i:ݍ 5yBɮAEgODNOT Ignoring new targets: 38.38 m.*"    ʎjZn@AɢE0)I MiI)M IIiM_iU]n;]\C/],B wY@A2o.@2?)@2<ٱ2b' :AHRS rotation from veh to nav: [[0.878138,0.476909,0.037837],[-0.476201,0.863761,0.164775],[0.045900,-0.162713,0.985605]]2H??d_?@z޿ ? X?@B?Ŀ?i2o.@I2^;2CYBByBn(IbDJVDJJyRG;%Vd=ٔVQ-V>9TYX=ZmGyXZ%EZ>\Q 5b 5^VҊ?Q 9f 5^-)^BYdyf"Q IfN@^#DI^-:i^:^Ր 5ynBɮnA]!E9gOMDNOT Ignoring new targets: 38.38 m.IQi 9YuAI*" ʎjZ`=n@E EE'E"E ;*E:VE'4ZEBEL,],:wY@A6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5221946'@6"@6Ӥ<ٱ6+ BAHRS rotation from veh to nav: [[0.877749,0.477460,0.039856],[-0.476904,0.862666,0.168436],[0.046039,-0.166852,0.984906]]6H?ൎ?`g?޿?Q? x?i[ſZ?i6'@I6uu^;6CYJByJz(I LLbDVVDVk2yZa;=%^I=ٔ^Q-^>9`Y`=bmGyb`FfEf>hQ 5j 5j}Ҋ?Q 9n 5j )jBYlyn"Q InN@j-DIj/;ij<;jb 5yvBɮvAv"EgODNOT Ignoring new targets: 38.38 m.*" !ʎ!!!j!Z-`jn@%Bɢ=|T)I MjYii)r$顙ii;%"B9B=(IB=BB=L =B9B=XDB=fU;B=EEDAT read: 00:54:51.8549 LVL= 32752, 31473, 32754, 32755, AGC= 69, IDX= 429,-0.41, 0.647, 2.024, 0.606, 0.700, PHS= 0.049, 1.369,-0.138, RAW= 336.5, -17.7, CAL= 336.5, -20.9, ROT= 173.5, 20.9 MYgot valid direction response: 00:54:51.8549 LVL= 32752, 31473, 32754, 32755, AGC= 69, IDX= 429,-0.41, 0.647, 2.024, 0.606, 0.700, PHS= 0.049, 1.369,-0.138, RAW= 336.5, -17.7, CAL= 336.5, -20.9, ROT= 173.5, 20.9 UPDAT read: Bearing 339.1, 6.6 (Local) ]~Local bearing/azimuth received: Bearing 339.1, 6.6 (Local) eDAT read: Range 11 to 50 : 247.2 m (Round-trip 329.7 ms) speed -0.5 m/s eR#Rx 1: Read range and direction messages.`direction in FSK: [-0.928199,0.105755,-0.356738]Fpublishing direction and range infoybγؿwd?OֿY3wCz )EI9H=id;?O @2+@ ú)&A@Iú>5tTx̔z'G?Afӿ 9@ )>I&A@iú>^A &< A1 IA IQ O] >],x TwY@AYBy~(IiMb@Mb@Mb@ 9{Gz?X9vQ?YC?y\=7A A)tAYpAbDVDyr<%:=ٔQ->9Y=mGyE>Q 5 5EҊ?Q 9 5`)BYeF?Q E:y$Q IN@8DI:if:8 5yuBɮuAu#E9=WKwY@AJ=uCR=uCj=&@=BIGlԹ\9@*JT-Ur=bγؿwd?OֿZ=&A@b=ú>=ϏhgbtA]@[%%IYz=Fhu R?<Yڿ2=B:=??"=ݓ?*=4]B==lp?9“9=LC=`$@gO addTargetRange:: Added new target pos. range: 247.199997 m, deltaT: 241.083577 s, deltaX: 208.600006 m, approachRate: 0.865260 m/s, rangeRepo size: 4 gO Added new target pos. range: 245.680008 m, bearing: 148.673129 deg, lat: 36.779269 deg, lon: -121.859589 deg, deltaT: 241.083577 s, deltaX: 207.304123 m, approachRate: 0.859885 m/s, posRepo size: 4 gOFNOT Ignoring new targets: 245.68 m.gOCompleted rollout at range: 247.20 m. Resuming terminal guidance.gObTransitioning guidance mode to: TERMINAL_GUIDANCE: ? (@ * "    ʎj`fn@Z@_?IɢM)I MiI)MQQiUCiUY]ZUAI](@IY@ @!@%/@!! E-  E- E- 'E) "E- ;*E- Z:VE- '4ZE) BE- @],mwY@A2@2@2{?ٱ2Q- >AHRS rotation from veh to nav: [[0.876684,0.479374,0.040313],[-0.478791,0.861329,0.169917],[0.046731,-0.168265,0.984633]]2H ??棤?@޿?@ڿ?'?`ſ?i2@I2^;2CYFByF(IbDNVDNβyV<%V^=ٔZQ-Z>9Z ?Y^ ?=^mGy^aFbEb>hQ 5n 5jeҊ?Q 9n 5j)jBYpyr&%Q IrN@jADIjC;ijD;jq 5yxɮzA|qSAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_TerminalS-Entering Terminal tracking update period 2.000000 s sec at 247.199997 m (mode 1.000000 count ).--*" ʎjZ`5z?IɢM)I MiI)UuQQiupi}Wᾉy}0`BIyIQm9@i @i@m/@i@u\A@u\A^AE ;ԉAu؟AIyIO~>Ա B% >B! B% (IB% (BB! B! B% YDB% kU;B% EBCBCEE  EE EE $EA "EE =;*EE ?:VEE 4ZEA BEE wI<2EE xI<JEE ~;:EE ~;BBK =BK =C5~],1wY@A2@2@2I?ٱ2Ѵ, :AHRS rotation from veh to nav: [[0.876611,0.479534,0.040008],[-0.478921,0.861354,0.169420],[0.046782,-0.167676,0.984731]]2H1 ??{?޿@7???`jvſ?i2@I2j];2C9"?Y"?=mGyʱE>Q 5 5Ҋ?Q 9 5a)BYgJ?Q E:y&Q IN@LDI& ;i ;J 5yBɮA$Ej@1PB*** querying acoustic contact *** *" ʎjZe?MBɢU>)Q UiQ)UVQYi]Ui]aeؽIaIaԩ9@ @@0@^A- 2D T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.! AY Iq I O >9],wY@AJ@Jo @Jy?ٱJD* ZAHRS rotation from veh to nav: [[0.876307,0.480159,0.039158],[-0.479482,0.861404,0.167571],[0.046730,-0.165619,0.985082]]JH ?`? ? ԯ޿? r??3ſʅ?iJ@IJ8];JCYnByn(IbDMVDM0y]>%]R=ٔeF 9Q-e>9aYa=mmGymbFmT׺Em>qQ 5} 5uӊ?Q 9 5u? )uBYy&Q IN@uUDIuq ;iu~ ;u 5yBɮtAr1q*" ʎjZ?ɢ)) Ui)Jiޱi ꞗ  \,I IE EE#E"E:*Eh:VE3ZEa @a @a @a @9@ @@4@)^Aee*DAT read: user:589> BDAT read: Tx time:00:54:54.4210 $Ping request sent.Qԁ K)],ewY@A"checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2499386x @6H@6 @ٱ6G^* >AHRS rotation from veh to nav: [[0.876058,0.480624,0.039028],[-0.479923,0.861182,0.167451],[0.046871,-0.165427,0.985108]]6H??@n? ޿͎?`o?w? ,ſ?i6x @I6];4YFByJ(IbDRVDRܲyZ30%ZV=ٔZ¹Q-Z>9^ ?Y^ ?=^mGy\b߭Eb>dQ 5j 5f,$ӊ?Q 9j 5f )fBYhyj&Q IjN@f_DIfK:if:f 5yr"Bɮr;Ar.Ezxq~S~rCompleted lineCaptureHoming:UpdatePingUpdateRate_Terminalq~S~Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal  * "  ʎj!Z%'?yɢ) i)O&iBi|YnqIII)ZAy@y @@4@@=@=^AaԱB>BB(IB7BBK =BBXDBU;BEE- E-E-$E)"E-;*E-:VE-4ZE)BE-Dchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502080 U],MwY@AYzBy~(I==i}Mb@Mb@Mb@yyyy y9}sh|??v/L7A`?Y}I?y}x齙yyy }A)yyY}AbDVDyN=%8=ٔQ->9Y=mGycFE>Q 5  5<ӊ?Q 9 5)+BY%AL?Q E%:y-"Q I5N@jDI;i?; 5y=,BɮE5AE/Eaa*i"i iiiqqʎqqyjyZ}@p@颡ɢm) Ci)ӷ顱iIi# IIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754803e9@a @a@e/@a^A=AɽA؟AIIO>)E-  E- E- 'E) "E- ;*E- :VE- '4ZE) a5 @a5 @a5 @a5 @ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006017Q Q;],wY@AJ @J@JK:ٱJ~x# ZAHRS rotation from veh to nav: [[0.876198,0.480542,0.036840],[-0.479787,0.862475,0.161061],[0.045623,-0.158797,0.986257]]JH ? 2?ܢ?ִ޿`e?@?[?rSĿj?iJ @IJot];JCYf+Byf(IbDvVDv0yz=%[=ٔ Z;Q- >9"?Y"?=mGy3:E>!Q 55 5%>Pӊ?Q 95 5%4)%Թ B >B CB (IB LBB B B B U;B EbE-4jEO4rE˖/E=  E= E= %E9 "E= ;*E= ҆:VE= 4ZE9 BE= +N9Y=mGydFC"<E>Q 5  5zfӊ?Q 9  5\)OBY >E?Q E :y #Q IN@~DI};i<; 5yɮ AP=B*** querying acoustic contact ***9 9AA*A"I IIIIQԑʎjZ{@%Bɢ%)! %̾i!)-u))i-Ҩi\ X=IIE9@A @A@E/@A@M[A@MZA^AA%?A%>AIIYIiO>u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762024 N^,"xY@AFl@Fg@F 3ٱFnx NAHRS rotation from veh to nav: [[0.881830,0.471042,0.022249],[-0.469524,0.872645,0.134306],[0.043848,-0.128881,0.990690]]FH@7?%?\Ȗ? ޿@?0?Is?,໳?iFl@IF q];FCYV:ByV(IIZ8>)Z>bDbVDb\yj=%jZ=ٔj;Q-j>9lYl=rmGypr<Er>tQ 5z 5vyӊ?Q 9z 5v#)v^BYxy~!Q I~N@vDIvU;iv;v/ 5y@BɮA0E*" ʎjZ `{ @ɢҭ)! %Uži!)%ۡ!!i-.i->)1I1I1E EE&E"E~ ;*E:VE4ZEa @a @a @a @@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014008^A}p!9A1I9IIO]v>a vw^,q9`Y`=fmGyfeFf<Ef>hQ 5n 5jʎӊ?Q 9n 5j()joBYpyrQ IrN@jDIj;ij;j 5ytɮvAt*" ʎ!!!j!Z%`@IɢU{)Q UiQ)UYYi]ieS>aaIaIi9@ @@4@q^A}hNBu>BqBu(IBu[BBuL =BqBqBuU;BuEDzD?AE EEE"E;*E|:VEZEBE]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518022 >_^,/VxY@A2~!@2N@2*ٱ2=½ :AHRS rotation from veh to nav: [[0.892046,0.451910,0.005664],[-0.450025,0.887031,0.103213],[0.041619,-0.094620,0.994643]]2H??k3w?4ܿb?0l? O?9?i2~!@I2x];0LY^QByb(Ii]Mb@Mb@Mb@YYYY Y9]jt?B`"۹V-?Y]@?y]ν]<]zA]A ]A)]AYY]AbDuVDuN2y.=%>=ٔ>;Q->9Y=mGyfF<E>Q 5 5ӊ?Q 9 5^-)BYB?Q E:yQ IN@DI:i:{ 5yJBɮA1E*"     ʎjZ@6@颹ɢz) i)iE8i\P>II5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7701639@ @@4@@>@!>^A}pAzA dC1Ame¿9iYmAIIO>E  E E #E "E ;*E ?:VE 3ZE a @a @a @a @!  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022244^,dpxY@AB@B꠺@BQa$ٱBh RAHRS rotation from veh to nav: [[0.899269,0.437372,-0.004667],[-0.435553,0.896405,0.082167],[0.040121,-0.071857,0.996608]]BH??sۿY???8e5?iB@IBp];BCYZXByZ(I \\b=ba=bDf VDf2|ynZ=%%V=ٔ-j|;Q-->9)Y1=5mGy15h+=E5>9Q 5E 5=`ӊ?Q 9M 5=1)=BYIyMQ IMN@=DI=:i=:=ݾ 5yU}BɮUA];E*" ʎjZi@ɢ:) i)ii6>II9@ @@/@)EBDAT read: Rx Time:00:54:57.1612 ETRx dataTimestamp_ set to:1761699297.961088Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275092a^A#I I9 OM >ԁ Ba Ba Be )IBe oBBa Ba Ba Be U;Be ED =D %=E%  E% E% %E! "E% ;*E% :VE% 4ZE! BE% D?y v /<  A A A) A Y (AbD%VD%02y5<%5E=ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526128ٔK;Q->9Y=mGygFJ=E>Q 5 5Bӊ?Q 9 56)BYS@?Q E:y Q IN@DIq;i; 5y%Bɮ%A%!I!I!ԩ9@ @@@^AI I! O= >} DAT read: 00:54:57.1612 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 486, 0.39,-2.236,-1.082,-2.255,-2.124, PHS=-0.010, 1.086,-0.175, RAW= 336.9, -15.0, CAL= 336.8, -18.2, ROT= 173.2, 18.2  Ygot valid direction response: 00:54:57.1612 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 486, 0.39,-2.236,-1.082,-2.255,-2.124, PHS=-0.010, 1.086,-0.175, RAW= 336.9, -15.0, CAL= 336.8, -18.2, ROT= 173.2, 18.2  PDAT read: Bearing 340.1, 5.4 (Local)  ~Local bearing/azimuth received: Bearing 340.1, 5.4 (Local)  DAT read: Range 11 to 50 : 252.0 m (Round-trip 336.0 ms) speed -0.4 m/s  R#Rx 1: Read range and direction messages. `direction in FSK: [-0.943289,0.112481,-0.312335] Fpublishing direction and range infoyI M am/K˼?IKӿYM |CI I M I I )M BIM #iM ?M 333M )@M M @ M )M \wA@IM >I I M gibIz8п M J)M :>IM \wA@iM >I I  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode. (^,;xY@A2'@2e"@2jٱ2pO :AHRS rotation from veh to nav: [[0.918856,0.393194,-0.033189],[-0.392812,0.919450,0.017625],[0.037446,-0.003158,0.999294]]2H@Eg?*?. #ٿ"l?@K ?,?@Ei6?i2'@I2*];2CYBgByB)IbDNVDNβyv$W=%vO=ٔzsm;Q-z>9xYx=~mGy|8=E>!Q 5- 5%ӊ?Q 9] 5%9)%BYaye?Q IeN@%DI%:;i%;% 5yiɮm{Aiy}xY@AJ}szCR}szCj}'@}Nmkr9+<@WSr}am/K˼?IKӿZ}\wA@b}>}ay_li1^T]@dCJUz}R+*b?ޞ8Bֿ2}B:}gK"}D?*}+B}6}Y\B?y“y}QC}> $@gO addTargetRange:: Added new target pos. range: 252.000000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 R!Z%gO5 Added new target pos. range: 250.449448 m, bearing: 150.023670 deg, lat: 36.779264 deg, lon: -121.859589 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 jQgOUFNOT Ignoring new targets: 250.45 m.R]Z]gOm  ProNav pure pursuit: ac range: 250.449448 m, nav range: 209.094574 m, bearing: 146.866741 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 151.180894 deg, new cmd heading: 146.866741 deg. gOmHeadingCmd: 2.563308 target range: 250.449448 and range: 252.00 m.> $@*" ʎjo@Z?E EEE"E:*E':VEZEa@a@a@a@!ɢ%*v)) -4iI)MO#"QQiUiU?YYI]> $@IY*DAT read: user:590> BDAT read: Tx time:00:54:58.4710 $Ping request sent.Y ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249685\.^,V xY@A2@2U @2kٱ2 = :AHRS rotation from veh to nav: [[0.929703,0.365438,-0.045911],[-0.366549,0.930217,-0.018399],[0.035983,0.033934,0.998776]]2H ?Uc?@u׿`V?@6ג@ll?_?@?i2@I2];2CYFkByF)IIJ4=)Ja=bDNVDNܲyVf<%VN=ٔZZq;Q-Z>9\Y\=^mGy^hF^ =E^>`Q 5f 5bӊ?Q 9f 5b=)bBYhyjHQ IjN@bDIb ;ib] ;bT 5ynBɮrAr=EjgOFNOT Ignoring new targets: 250.45 m.R%ݕ9Z-ݕ9gO  ProNav pure pursuit: ac range: 250.449448 m, nav range: 209.388306 m, bearing: 146.872956 deg, approach rate: 0.775208 m/s, LOS rate: 0.016378 deg/s, cmd heading: 146.866744 deg, new cmd heading: 146.872956 deg. gOHeadingCmd: 2.563417 target range: 250.449448 and range: 252.00 m.$@*"  ʎjZ[?1ɢew)) -ri))5#99i=Iiu $?yyI$@IB >B B )IB yBB B B B U;B EBCBCBBL =BL =C5Y9@ @@0@E EEE"E ;*E:VEZEBENQԱ d5^,xY@AY%nBy% )IiMb@Mb@Mb@ 9X9v?~jt/$?Y3?yĽ<AZA A)pAY\AbDVDymq<%:=ٔQ->9!Y!=%mGy!%E->)Q 55 5-Ԋ?Q 9= 5-A)-BY=v5?Q E=:y=9Q I=N@-DI- ;i-* ;-@ 5yMBɮMAM>EjigOuFNOT Ignoring new targets: 250.45 m.Ruvg9Z}vg9gO  ProNav pure pursuit: ac range: 250.449448 m, nav range: 209.705078 m, bearing: 146.878639 deg, approach rate: 0.705997 m/s, LOS rate: 0.012648 deg/s, cmd heading: 146.872959 deg, new cmd heading: 146.878639 deg. gOHeadingCmd: 2.563516 target range: 250.449448 and range: 252.00 m.$@*ԑ" ʎjZ?ɢot)  i)d$i i 9?I$@I%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755026U9@Y @Y@]]0@Y^AmE EE$E"E~ ;*E:VE4ZEa@a@a@a@ I I! O- > checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005728 ;^,-xY@A2@2@2 ٱ2= :AHRS rotation from veh to nav: [[0.949917,0.306863,-0.059110],[-0.310631,0.947856,-0.071251],[0.034163,0.086044,0.995705]]2H`e?@?C `ӿT?`=}?`??i2@I2q];0YBiByF)IbDNVDNkyV%V_=ٔV;Q-V>9XYX=ZmGyZiF^w*>E^>`Q 5f 5b-&Ԋ?Q 9f 5bD)bBYdyfQ IfN@bDIb:ib:b` 5ypɮvAxjgOFNOT Ignoring new targets: 250.45 m.R9Z9gO  ProNav pure pursuit: ac range: 250.449448 m, nav range: 209.956360 m, bearing: 146.887180 deg, approach rate: 0.662427 m/s, LOS rate: 0.022489 deg/s, cmd heading: 146.878642 deg, new cmd heading: 146.887180 deg. gOHeadingCmd: 2.563665 target range: 250.449448 and range: 252.00 m.$@*" ʎjZ7? ɢ n}{)  oi)$iTiM?I%$@I!@ @@4@@=@=%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257717!^AAzA[AI A I I) OU >B B B B B M =B B B U;B EE  E E 'E "E ;*E :VE '4ZE BE `9Y= mGy  =E >Q 5 5Z>Ԋ?Q 9 5G)BY%3?Q E%:y%jԾQ I%N@DI:i8:G 5y-Bɮ-A-?EPMB*** querying acoustic contact ***I IjQgO]FNOT Ignoring new targets: 250.45 m.R]:Z]:gOm  ProNav pure pursuit: ac range: 250.449448 m, nav range: 210.265717 m, bearing: 146.901047 deg, approach rate: 0.727354 m/s, LOS rate: 0.032555 deg/s, cmd heading: 146.887180 deg, new cmd heading: 146.901047 deg. gOuHeadingCmd: 2.563907 target range: 250.449448 and range: 252.00 m.u $@q*q"q qqyyyʎyjZ?颩ɢ$v) ri)%顱i#WiSd?I $@IQ59@1 @1@53@1y^AQi1 I5 A= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762504Թ A I I O >H^,a%yY@A6Ϲ@6@6ٱ6=@ FAHRS rotation from veh to nav: [[0.966283,0.251097,-0.056980],[-0.255427,0.962703,-0.089220],[0.032452,0.100766,0.994381]]6H@??@,Xп@v?׶?˹??i6Ϲ@I6˧];6CYNsByN)IbDjVDj1yrL#=%r^=ٔv;Q-v>9tYx=zmGyzjFz =Ez>|Q 5 5~RԊ?Q 9  5~fJ)~BY y žQ I N@~DI~-:i~:~ 5yBɮAj9gOEFNOT Ignoring new targets: 250.45 m.RE &:ZE &:gOU  ProNav pure pursuit: ac range: 250.449448 m, nav range: 210.519669 m, bearing: 146.914431 deg, approach rate: 0.689371 m/s, LOS rate: 0.036290 deg/s, cmd heading: 146.901045 deg, new cmd heading: 146.914431 deg. gO]HeadingCmd: 2.564141 target range: 250.449448 and range: 252.00 m.]$@Y*Y"Y aaaaiʎiiijiZuT@颙ɢx) 팾i)&顡iJitx?I$@IE EE$E"El;*EM:VE4ZEa@a@a@a@1@1 @1@5/@1Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013863^Au#A I I O > = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265713O^,=?yY@A2v@2F@27ٱ2= :AHRS rotation from veh to nav: [[0.972937,0.224770,-0.053587],[-0.228862,0.969349,-0.089354],[0.031860,0.099200,0.994557]]2HM"??? oYKͿ? ߶O?.e?i?i2v@I2];0YFrByJ)IbDbVDb0yfތ%jL=ٔj:Q-j>9lYl=nmGlypr=Ev>xQ 5  5zhԊ?Q 9  5zM)zBYyзQ IN@zDIz;iz;z 5y)ɮ-A1jgOFNOT Ignoring new targets: 250.45 m.R Q1:Z Q1:gO=  ProNav pure pursuit: ac range: 250.449448 m, nav range: 210.795731 m, bearing: 146.931087 deg, approach rate: 0.643224 m/s, LOS rate: 0.038756 deg/s, cmd heading: 146.914432 deg, new cmd heading: 146.931087 deg. gO=HeadingCmd: 2.564431 target range: 250.449448 and range: 252.00 m.E$@A*A"A AAAIIʎIIQjqZu@ɢB0s) ύi)_'igiJ?!)I-$@IYBBBBBBBBU;BEbEMŻ 4jEM( 4rEM8/E EE#E"E%;*E:VE3ZEBE KA >A) I9 II O] >}V^,*9[yY@A$Bd@B_@B0ٱBHz= NAHRS rotation from veh to nav: [[0.983768,0.173200,-0.046920],[-0.176754,0.980410,-0.086917],[0.030947,0.093800,0.995110]]BH{?j+?ƿ@_?@8@`?F??iBd@IBe];BCYVlByV)IIZN>)Z=\^Ai=Mb@Mb@Mb@9999 99=Cl?:vMbY=/?y=Խ==A=;A =A)=(A9Y=GAbDUVDU:y]L%e3=ٔe^;Q-e>9aYi=mmGymkFm=Eu>qQ 5} 5uԊ?Q 9 5uO)uBY1?Q E:y Q IN@uDIu:iu:u 5yBɮ'A@EjgOFNOT Ignoring new targets: 250.45 m.Rb:Zb:checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769907gOU  ProNav pure pursuit: ac range: 250.449448 m, nav range: 211.101105 m, bearing: 146.952330 deg, approach rate: 0.713426 m/s, LOS rate: 0.049557 deg/s, cmd heading: 146.931084 deg, new cmd heading: 146.952330 deg. gOUHeadingCmd: 2.564802 target range: 250.449448 and range: 252.00 m.U%$@Y*Y"Y YYYaaʎaajZ1Z@ɢvw) i)(iiiim9i}[?yI%$@I=9@9 @9@=/@9ԑE EE%E"E:*E :VE 4ZEa@a@a@a@^AY  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022210 A .AI I O >\^,tyY@A24@2R/@2Rٱ2= :AHRS rotation from veh to nav: [[0.987938,0.148514,-0.043846],[-0.151747,0.984923,-0.083061],[0.030849,0.088713,0.995579]]2H/?`?stlÿ}?C?⵶?`?i24@I2];2CYBsByF)IPbDNVDN1yV =%ZW=ٔZ9Q-Z>9^ ?Y^ ?=^mGy\b=Eb>dQ 5f 5fHԊ?Q 9j 5fQ)fBYhyjQ IjN@fDIf:if4:fO 5ymBɮmAmJEjgOFNOT Ignoring new targets: 250.45 m.Rb`:Zb`:gO  ProNav pure pursuit: ac range: 250.449448 m, nav range: 211.355377 m, bearing: 146.971835 deg, approach rate: 0.640104 m/s, LOS rate: 0.049043 deg/s, cmd heading: 146.952326 deg, new cmd heading: 146.971835 deg. gOHeadingCmd: 2.565142 target range: 250.449448 and range: 252.00 m.K+$@*" ʎjZ h^ @ɢ({) {i))i i/ܝ?IK+$@Iu9@q @y@}0@y BDAT read: Rx Time:00:55:01.2124  TRx dataTimestamp_ set to:1761699301.993084checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274766^AyA A AAB >B B )IB tBB B B B \U;B E! A ؟AI I O >E  E E E "E :*E h:VE ZE BE :89"?Y"?=mGylFM=E>Q 5 5"Ԋ?Q 9 5JT)BY/?Q E:yQ IN@ DII;i< 51y=BɮE/AMKEPeB*** querying acoustic contact ***a ajqgOuFNOT Ignoring new targets: 250.45 m.R}te:Z}te:gO  ProNav pure pursuit: ac range: 250.449448 m, nav range: 211.685486 m, bearing: 146.998525 deg, approach rate: 0.621251 m/s, LOS rate: 0.050151 deg/s, cmd heading: 146.971833 deg, new cmd heading: 146.998525 deg. gOHeadingCmd: 2.565608 target range: 250.449448 and range: 252.00 m.2$@*" ʎjZǟ@ɢ^ v) i)*ii?I2$@IIZA)YEDAT read: 00:55:01.2124 LVL= 32752, 30337, 32754, 32755, AGC= 71, IDX= 441,-0.18, 1.164, 2.272, 0.984, 1.055, PHS= 0.212, 1.262,-0.115, RAW= 343.1, -21.1, CAL= 343.0, -24.0, ROT= 167.0, 24.0 MYgot valid direction response: 00:55:01.2124 LVL= 32752, 30337, 32754, 32755, AGC= 71, IDX= 441,-0.18, 1.164, 2.272, 0.984, 1.055, PHS= 0.212, 1.262,-0.115, RAW= 343.1, -21.1, CAL= 343.0, -24.0, ROT= 167.0, 24.0 UPDAT read: Bearing 3.4, 7.9 (Local) U~Local bearing/azimuth received: Bearing 3.4, 7.9 (Local) eDAT read: Range 11 to 50 : 252.9 m (Round-trip 337.2 ms) speed -0.7 m/s eR#Rx 1: Read range and direction messages.m`direction in FSK: [-0.890131,0.205503,-0.406737]mFpublishing direction and range infoyyj {0uM?%-u,ڿY|Cv )GIY>i7?뽩@)=@ Pw־)q:@IPw>aIq:@iPw>T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.9@ @@/@@=@=ԁ 5 91 Y5 ֠A^A ?΅Թ E  E E E "E %;*E :VE ZE a@a@a@a@A.AIIO>k^,I*yY@A2ž@2@2ٱ2?= :AHRS rotation from veh to nav: [[0.994201,0.100455,-0.038381],[-0.103169,0.991689,-0.076874],[0.030340,0.080388,0.996302]]2H~?`s?`Ni?@Z?G?`?i2ž@I2];2C@B=r@i@I@@@ DDDDHHIH)LiL)LIPPP PTTTiTTiXZ-^A)Z \I\ \)bX{A```Y`n*DAT read: user:591> vBDAT read: Tx time:00:55:02.5210 v$Ping request sent.v9 ?Y ?=mGyG_=E>!Q 5m 5%rԊ?Q 9u 5%TV)!YqyuVQ IuN@%DI%+3Yryj {0uM?%-u,ڿZq:@bPw>֒0jpT@:ZzS&(n?J+#ڿ2SB:QU"u\?*.B(ݓ?z“6cC%'@gOU addTargetRange:: Added new target pos. range: 252.899994 m, deltaT: 4.032047 s, deltaX: 0.899994 m, approachRate: 0.223210 m/s, rangeRepo size: 2 gO] Added new target pos. range: 251.342865 m, bearing: 158.934974 deg, lat: 36.779090 deg, lon: -121.859611 deg, deltaT: 4.032047 s, deltaX: 0.893417 m, approachRate: 0.221579 m/s, posRepo size: 2 jagOFNOT Ignoring new targets: 251.34 m.RZgO ProNav: ac range: 251.342865 m, nav range: 227.531555 m, bearing: 150.104681 deg, approach rate: 0.000000 m/s, LOS rate: 0.050151 deg/s, cmd heading: 146.998525 deg, new cmd heading: 147.040479 deg. B:gOHeadingCmd: 2.566340 target range: 251.342865 and range: 252.90 m.>$@*" ʎj̜o@Z`j?AɢE8)A AiA)M|,IIiMxiU4ط?QQIU>$@IY@ @@0@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249922^A] y A I B- >B) B- )IB- oBB- L =B) B) B- U;B- zEI O >sr^,yyY@AD4zD4E: E:E:#E8"E:;*E::VE:3ZE8BE:@2E:@JE:;a>:E:;aBPv@v؊@vٱv+= AHRS rotation from veh to nav: [[0.996438,0.075979,-0.036584],[-0.078619,0.993916,-0.077132],[0.030501,0.079733,0.996349]]vH?]s?`Z )?꾳`;? gi?@?iv@Iv];tYoBy )IiMb@Mb@Mb@ 9uV?/$MbpYr(?y1x AA A)AYQAechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.505934bDVDky<%<ٔ,Q->9Y=mGymFR=E>Q 5 5Ԋ?Q 9 5X)BY+?Q E:yٍQ IN@!DI* ;i ; 5yBɮ+ALEj gOFNOT Ignoring new targets: 251.34 m.RG:ZG:gO% ProNav: ac range: 251.342865 m, nav range: 227.843964 m, bearing: 150.124299 deg, approach rate: 0.693681 m/s, LOS rate: 0.043501 deg/s, cmd heading: 147.040476 deg, new cmd heading: 147.079658 deg. B%8:gO-HeadingCmd: 2.567024 target range: 251.342865 and range: 252.90 m.- J$@)*1"1 1iiiqʎqqqjyZ}{?颡ɢy) >i) -顩iuqi?I J$@I9@ @@?0@@@@@  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757955) A I I O >x^,yY@A2aV@22Q@2Rٱ2dz= :AHRS rotation from veh to nav: [[0.998044,0.052013,-0.034679],[-0.054471,0.995757,-0.074174],[0.030674,0.075918,0.996642]]2H ?r?~@㫿99Y=mGy=E>Q 5 5KԊ?Q 9 5=Z)BYyQ IN@)DIa;i<; 5yBɮAMEjgOFNOT Ignoring new targets: 251.34 m.RL:ZL:gO ProNav: ac range: 251.342865 m, nav range: 228.077393 m, bearing: 150.140432 deg, approach rate: 0.647581 m/s, LOS rate: 0.044711 deg/s, cmd heading: 147.079654 deg, new cmd heading: 147.111887 deg. B:gOHeadingCmd: 2.567587 target range: 251.342865 and range: 252.90 m.XS$@*" ʎjZ @ve?1ɢ5)1 =i9)=,-99i=/jiE?AAIEXS$@IIQiQE EE%E"E ;*E$:VE 4ZEa@a@a@a@9@ @@4@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.010374A؟AI IO-N>qԡ ^,yY@A6@6@6>ٱ6>= >AHRS rotation from veh to nav: [[0.999048,0.028483,-0.033041],[-0.030783,0.996977,-0.071338],[0.030909,0.072288,0.996905]]6H3?@*?꠿౅`9b"?Yb"?=bmGybnFb/=Ef>dQ 5j 5f,Պ?Q 9n 5f[)fBvchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.262534YlyzjQ IzN@f1DIfa;ifC;f' 5y ɮ nA jQgO]FNOT Ignoring new targets: 251.34 m.ReX:ZeX:ԁgO ProNav: ac range: 251.342865 m, nav range: 228.321030 m, bearing: 150.158801 deg, approach rate: 0.628481 m/s, LOS rate: 0.047332 deg/s, cmd heading: 147.111893 deg, new cmd heading: 147.148590 deg. B>:gOHeadingCmd: 2.568227 target range: 251.342865 and range: 252.90 m.]$@*" ʎjZ[?iɢ'Y) ×i)=.顙ihdi7?I]$@IU9@Q @Y@]/@aԩBM>BIBIBIBIBIBIBMT;BMrEB B B B M =B M =C @4D=D<E EE'E"E ;*E5:VE'4ZEBELchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513865 ^,zY@A6[@6,@6ٱ6-= >AHRS rotation from veh to nav: [[0.999482,0.004931,-0.031814],[-0.007160,0.997498,-0.070337],[0.031387,0.070528,0.997016]]6H?42t?I@S} ?@?%??i6[@I6];4Y^iByb)IiEMb@Mb@Mb@AAAA A9Ex&?333333ÿ{GzYE7)?yEE#E AA EA)EAAYEzAbDeVDe:2yu;%u?=ٔuƒQ-u>9Y=mGyb=E>Q 5 5&Պ?Q 9 5}])Y-?Q E:y$jQ IN@:DI ;i ; 5y BɮANEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 251.34 m.Rc:Zc:gO ProNav: ac range: 251.342865 m, nav range: 228.599091 m, bearing: 150.179761 deg, approach rate: 0.661763 m/s, LOS rate: 0.049823 deg/s, cmd heading: 147.148585 deg, new cmd heading: 147.190454 deg. B]:gOuHeadingCmd: 2.568958 target range: 251.342865 and range: 252.90 m.ui$@y*y"y yyyʎjZ?ɢf.) 6i)/i*]i%z~?!!I-i$@I)checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767293-9@) @)@)@)AqIyIO>1E  E E )E "E l;*E ?:VE FA4ZE a @a @a @a @Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018406&^,ͱ2zY@A2ה@2<2(ٱ2= :AHRS rotation from veh to nav: [[0.999366,-0.017779,-0.030855],[0.015592,0.997445,-0.069720],[0.032016,0.069195,0.997089]]2H?4|?@?+ٱ`d?`?'?i2ה@I2];2CY^oBy^ )IbDjVDjJyrX<%rT=ٔrպQ-r>9tYt=vmGyvoFvTr=Ez>xQ 5~ 5z;Պ?Q 9 5z^)xYyRQ IN@zCDIz/;izn;zA 5y BɮAOEjgOFNOT Ignoring new targets: 251.34 m.Re:Ze:gO ProNav: ac range: 251.342865 m, nav range: 228.847122 m, bearing: 150.199963 deg, approach rate: 0.617530 m/s, LOS rate: 0.050242 deg/s, cmd heading: 147.190454 deg, new cmd heading: 147.230813 deg. B:gOHeadingCmd: 2.569663 target range: 251.342865 and range: 252.90 m.Zu$@*" ʎjZG@ɢ{)! %i!)%40!!i-Vi-{?)1I5Zu$@1I9A9@ @@/@AzA\AaA.AI I!O-N>iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270581ԉB= >B9 B9 B9 B= M =B9 B9 B= T;B= <E ^,LzY@AE* E*E*$E("E*D:*E*:VE*4ZE(BE*15checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5221139= ?Y= ?==mGy9ER=EE>IQ 5U 5MUՊ?Q 9U 5Mu`)MBYU.?Q E]:y]kFQ I]O@MLDIM;iM{:M5 5yeBɮeAaijgOFNOT Ignoring new targets: 251.34 m.R:Z:gO ProNav: ac range: 251.342865 m, nav range: 229.139923 m, bearing: 150.224739 deg, approach rate: 0.672103 m/s, LOS rate: 0.056799 deg/s, cmd heading: 147.230820 deg, new cmd heading: 147.280309 deg. B:gOHeadingCmd: 2.570526 target range: 251.342865 and range: 252.90 m.$@*" ʎjZ[@ɢy) ؅i)$1iVPi *?I$@Iaԡ9@ @@@II!O=> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774708 &(^,hfzY@A2@2@<=2Tٱ2= :AHRS rotation from veh to nav: [[0.997496,-0.064746,-0.028469],[0.062540,0.995404,-0.072528],[0.033034,0.070566,0.996960]]2H|?+ &?X?@4?`??i2@I2)];2CYBtByB)IbDNVDNN2yV%Zi=ٔZgQ-Z>9\Y\=^mGy^pF d=E >Q 5 5}iՊ?Q 9 5a)BY!y%.Q I%O@TDI;i/;Y 5y)ɮ-A1jQgOUFNOT Ignoring new targets: 251.34 m.R]:Z]:gOm ProNav: ac range: 251.342865 m, nav range: 229.370850 m, bearing: 150.245774 deg, approach rate: 0.643665 m/s, LOS rate: 0.058572 deg/s, cmd heading: 147.280312 deg, new cmd heading: 147.322339 deg. Bmc:gOuHeadingCmd: 2.571260 target range: 251.342865 and range: 252.90 m.u$@q*q"y yʎjZ`; @颹ɢ") i)2iJif@I$@IEu EuEu&Eq"Eu:*EuAr:VEu4ZEqa}@a@a@a@9@ @@Z2@IiIyO9>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031457I ^,BzY@A0J@J@=JٱJڐ= ZAHRS rotation from veh to nav: [[0.995732,-0.088361,-0.026635],[0.086211,0.993581,-0.073240],[0.032936,0.070631,0.996959]]JH ?@՞4F@?j?ڿ@ܠ? ??iJ@IJr];HYfByf")IvBDAT read: Rx Time:00:55:05.2135 zTRx dataTimestamp_ set to:1761699306.033967~checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284312bDVD:y-4=%-C=ٔ5t9Q-5>91Y1==mGy_=E> Q 5 5 GՊ?Q 9 5 b) BYyQ IO@ ^DI " ;i . ; & 5y%(Bɮ%A%PEjAgOMFNOT Ignoring new targets: 251.34 m.RM:ZU:gOe ProNav: ac range: 251.342865 m, nav range: 229.647781 m, bearing: 150.272815 deg, approach rate: 0.636268 m/s, LOS rate: 0.062054 deg/s, cmd heading: 147.322345 deg, new cmd heading: 147.376362 deg. Be":gOmHeadingCmd: 2.572203 target range: 251.342865 and range: 252.90 m.m$@i*i"i iiqqqʎyyyjyZ} @颡ɢ)v) yi)"p3顱iJXDi9@I$@II)[Aԉ@ @@4@B>BB)IByBBBBBS;BEA?A?IbEjE4rE}0E EE"E"EO:*Ek:VE(3ZEBE Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.533847 :^,h zY@A2@2=2$ٱ2= :AHRS rotation from veh to nav: [[0.993348,-0.112534,-0.024402],[0.110421,0.991027,-0.075312],[0.032659,0.072117,0.996861]]2H ?`ϼ@D? ?G?;v?I?i2@I2^;2CtYvByv+)IIz=)zp;iuMb@Mb@Mb@qqqq q9u#~j?'1ZĿYu%?yu"uu AuA uA)uAqYu(AbDVDβy<%C=ٔY-:Q->9Y=mGyqF}=E>Q 5 5>Պ?Q 9 5c)BY*?Q E:yfQ IO@fDIQ:i: 5yBɮjAQEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 251.34 m.RH:ZH:gO ProNav: ac range: 251.342865 m, nav range: 229.890976 m, bearing: 150.297694 deg, approach rate: 0.617184 m/s, LOS rate: 0.063071 deg/s, cmd heading: 147.376358 deg, new cmd heading: 147.426062 deg. B:gOHeadingCmd: 2.573070 target range: 251.342865 and range: 252.90 m./$@*" !!!!)ʎ)))j)Z5@>@iI)5DAT read: 00:55:05.2135 LVL= 32752, 29249, 32754, 32755, AGC= 64, IDX= 437, 0.06, 0.628, 1.838,-0.088, 1.075, PHS=-0.345, 0.808,-1.207, RAW= 355.3, 8.5, CAL= 355.3, 8.8, ROT= 154.7, -8.8 =Ygot valid direction response: 00:55:05.2135 LVL= 32752, 29249, 32754, 32755, AGC= 64, IDX= 437, 0.06, 0.628, 1.838,-0.088, 1.075, PHS=-0.345, 0.808,-1.207, RAW= 355.3, 8.5, CAL= 355.3, 8.8, ROT= 154.7, -8.8 EPDAT read: Bearing 343.9, 23.7 (Local) M~Local bearing/azimuth received: Bearing 343.9, 23.7 (Local) UDAT read: Range 11 to 50 : 216.2 m (Round-trip 288.3 ms) speed -0.3 m/s UR#Rx 1: Read range and direction messages.]^direction in FSK: [-0.893440,0.422327,0.152986]eFpublishing direction and range infoyb쿊|h?8C ?Y3XCAr )@IףiN?~o@>o@ nF>)3,@InFC~ wׁW? ] )!I3,@inF}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.颩ɢo) li)c4顱i&=i @I/$@IYu9@q @q@}4@yII O>E  E E %E "E :*E n:VE 4ZE a @a @a @a @ԁ  *DAT read: user:592>  BDAT read: Tx time:00:55:06.5710  $Ping request sent. 2Uٱ2= :AHRS rotation from veh to nav: [[0.990406,-0.136377,-0.022291],[0.134380,0.988112,-0.074677],[0.032210,0.070965,0.996959]]2Hh?t`Ӗ\3? ?@}?*??i2e@I2^;0YZByZ4)IbDf VDf2yE=%MP=ٔM:Q-M>9QYQ=UmGyQYU |=E}>Q 5 5uՊ?Q 9 5Pd)BYy`׽Q IO@oDIp:iF: 5yBɮ*A!%^hzY@AJ%VCR%VCj%G6@%XPg·V@" UЗo@@r%b쿊|h?8C ?Z%3,@b%nF%݄giC N@aMϙ@@z%m=DkJ?e?2%uB:%=K"%[ǒ?*%qB%B%[ǒ?%N3“!%gC%)@kOmaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 216.199997 m, deltaT: 4.041238 s, deltaX: -36.699997 m, approachRate: -9.081375 m/s, rangeRepo size: 2jigOmFNOT Ignoring new targets: 251.34 m.R:Z:gO ProNav: ac range: 251.342865 m, nav range: 230.133774 m, bearing: 150.324197 deg, approach rate: 0.581665 m/s, LOS rate: 0.063425 deg/s, cmd heading: 147.426068 deg, new cmd heading: 147.479018 deg. B&:gOHeadingCmd: 2.573994 target range: 251.342865 and range: 252.90 m.S$@*" ʎj`fk@Z ?)ɢJz) ^i)e4i8i@IS$@Iԁe9@a @a@e/@aIIOK>checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251597ԱB >B B *)IB BB K =B B B S;B E N^,zY@AE. E.E.&E,"E.:*E.:VE.4ZE,BE.B-U+ٱU= eAHRS rotation from veh to nav: [[0.986778,-0.160930,-0.019225],[0.159066,0.984373,-0.075553],[0.031083,0.071496,0.996956]]UH?]ĿF\??nW`Uԟ?M?@?iUN2@IU3^;UCYBy?)IԱi=Mb@Mb@Mb@9999 99=K7A?L7A`{Gz?Y= "?y=+=#<9=$A =A)=A9Y=A]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502871bDeVDe:yu#=%u9=ٔu&;Q-}>9yYy=}mGy}rFf=E>Q 5 5GՊ?Q 9 5d)BY%?Q E:y2>Q IO@xDI ;i; 5yBɮREjgOFNOT Ignoring new targets: 251.34 m.R:Z:gO ProNav: ac range: 251.342865 m, nav range: 230.385880 m, bearing: 150.356160 deg, approach rate: 0.603752 m/s, LOS rate: 0.076463 deg/s, cmd heading: 147.479016 deg, new cmd heading: 147.542872 deg. B ;gOHeadingCmd: 2.575109 target range: 251.342865 and range: 252.90 m.$@*" ʎjZ )?!ɢ% l)) -Ki))-5))i52i5!@99I=$@I9mp>im%>9@  @ @/@Am؟AIqIO> checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755101 _CA I e \Ay /9 \AY Ay ? yA>v^,zY@A6@6=>6uٱ6T(= >AHRS rotation from veh to nav: [[0.982439,-0.185896,-0.015997],[0.184230,0.980051,-0.074557],[0.029538,0.070301,0.997088]]6H $p?`qǿ@a ۔?`\?+@.??8?%?i6@I6f^;4YFByFL)IbDRVDRyVu=%Zm=ٔZ;Q-Z?9Z"?Y^"?=^mGy\b>=Eb?dQ 5f 5fՊ?Q 9j 5fd)fBYhyjQ IjO@fDIfS:ifl:f 5yrBɮr#ArSEjgO FNOT Ignoring new targets: 251.34 m.R :Z :gO ProNav: ac range: 251.342865 m, nav range: 230.582565 m, bearing: 150.382635 deg, approach rate: 0.568607 m/s, LOS rate: 0.076470 deg/s, cmd heading: 147.542878 deg, new cmd heading: 147.595781 deg. B ;gOHeadingCmd: 2.576032 target range: 251.342865 and range: 252.90 m.$@*" ʎjZBY?aɢel)a e6ii)m-6iiim m-i@I$@IEU EUEU"EQ"EU:*EU˭:VEU(3ZEQa]@a]@ae@ae@9@ @@/@Amchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006870A.AIIOn>iԙ d^,j{Y@AF_@FW>F߼ٱFʔ= NAHRS rotation from veh to nav: [[0.977513,-0.210563,-0.011436],[0.209100,0.974884,-0.076677],[0.027294,0.072562,0.996990]]FHG?ʿ@k@??2? ?`i?@X?iF_@IF.^;D^checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258963YVBy^Z)IbDjVDjfync=%rF=ٔr;Q-r>9v ?Yv ?=vmGyvsFvW|=Ez>xQ 5~ 5zՊ?Q 9 5zd)zBYyp;Q IO@zDIz":iz:z 5y ɮAj1gO=FNOT Ignoring new targets: 251.34 m.R=:Z=:gOM ProNav: ac range: 251.342865 m, nav range: 230.813385 m, bearing: 150.415544 deg, approach rate: 0.560676 m/s, LOS rate: 0.079860 deg/s, cmd heading: 147.595784 deg, new cmd heading: 147.661538 deg. BU';gOUHeadingCmd: 2.577180 target range: 251.342865 and range: 252.90 m.U$@Y*Y"Y YYYaaʎaaijiZuЎ?1ɢ=Ic)9 =Li9)=69AiE0'iime @iiIu$@Iq9@ @@_0@BaAe<Bm>BmCBmI)IBmBBmN =BiBmWDBmS;BmEԙI1Ee EeEe%Ea"Ees:*Ee:VEe 4ZEaBEed0mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510894 +^,e{Y@A2ۂ<2sr>2lQѼٱ2֞= :AHRS rotation from veh to nav: [[0.971735,-0.235985,-0.006570],[0.234690,0.968665,-0.081295],[0.025549,0.077455,0.996668]]2Hs?@4οuz@Q ?M?`ϴr)?Գ?@?i2ۂ9Y=mGyz=E>Q 5 5֊?Q 9 5d)BY?Q E:yI Eu  Eu Eu $Eq "Eu :*Eu [:VEu 4ZEq a} @a} @a} @a} @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014847^,B5{Y@A68=6ņ>69ٱ6!= >AHRS rotation from veh to nav: [[0.965292,-0.261163,-0.002144],[0.260127,0.962131,-0.081474],[0.023341,0.078089,0.996673]]6H?@п a??~۴???i68=I6 ^;6CYFˉByF|)IIJ>)J>bDRVDR:yZl=%Z\=ٔZ;Q-Z>9\Y\=^mGy^tFb=Eb>dQ 5j 5fd֊?Q 9j 5fBd)fBYhyjS=Q IjO@fDIf:ifu:f 5yrBɮrApj gO FNOT Ignoring new targets: 251.34 m.RE:ZE:gO% ProNav: ac range: 251.342865 m, nav range: 231.236084 m, bearing: 150.480315 deg, approach rate: 0.524377 m/s, LOS rate: 0.082736 deg/s, cmd heading: 147.729506 deg, new cmd heading: 147.790956 deg. B%j;gO-HeadingCmd: 2.579439 target range: 251.342865 and range: 252.90 m.-%@)*)") ))111ʎ199j9ZE@iɢm.U)i mнii)u+s7qqiui$@I%@IQy@y @y@}2@yIIO>ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.266898ԩ Bm >Bi Bm b)IBm BBm P =Bi Bm VDBm T;Bm EB1B5CB5ʔCB1B1C5ʮ5^,.O{Y@AE EEE"E:*Exv:VEZEBEsU"ٱU}= eAHRS rotation from veh to nav: [[0.958542,-0.284945,0.001918],[0.284130,0.955246,-0.082310],[0.021621,0.079443,0.996605]]UH@`? <ҿm_?//?``?D#? YV?0?iUv=IU];UCỶBy5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518937iMb@Mb@Mb@ 9/$?T㥛 {Gzt?Y?yף;A )AYGAbDVDJym:%-=ٔLo;Q->9Y=mGyuFY=E>Q 5 52֊?Q 9 5c)BY?Q E:yP=Q IO@DI<:i:# 5yBɮAUEj gO FNOT Ignoring new targets: 251.34 m.R:Z:gO% ProNav: ac range: 251.342865 m, nav range: 231.478897 m, bearing: 150.521451 deg, approach rate: 0.515491 m/s, LOS rate: 0.087242 deg/s, cmd heading: 147.790950 deg, new cmd heading: 147.873138 deg. B-;gO5HeadingCmd: 2.580873 target range: 251.342865 and range: 252.90 m.5-%@1*1"1 11999ʎ9AAjaZez@颉ɢAR) нi)_7顑i*`i$@I-%@IA]9@Y @Y@]/@YII OL>q checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771005ԙ x^,h{Y@A.=.Z>."ٱ.bY= :AHRS rotation from veh to nav: [[0.951148,-0.308692,0.005190],[0.308028,0.947697,-0.083604],[0.020889,0.081118,0.996486]].Ho?`ӿ5Bu?༶?S? gc?@)Ĵ?5?i.=I._^;.CYRӉByR)IbDZVDZ0ybZ1=%bq=ٔb ;Q-f?9dYd=fmGydj=Ej?lQ 5r 5nC֊?Q 9r 5nb)nBYpyv=Q IvO@nDIn ;in ;n& 5yxɮzAxjgOFNOT Ignoring new targets: 251.34 m.R%:Z%:gO5 ProNav: ac range: 251.342865 m, nav range: 231.650711 m, bearing: 150.552083 deg, approach rate: 0.507007 m/s, LOS rate: 0.090323 deg/s, cmd heading: 147.873131 deg, new cmd heading: 147.934348 deg. B5L%;gO=HeadingCmd: 2.581941 target range: 251.342865 and range: 252.90 m.=>%@9*9"9 9AAAAʎIIIjIZM`( @yQɢUfR)Y ]챽iY)]8YYi]tie>%@aiIm>%@IiIy)yE= E=E9E9"E=;*E=c:VE9ZE9a}@a}@a}@a}@9@ @@/@AzAZAIqIO>ԡMchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022885 5^,J҂{Y@A6=68&>6ٱ6.V= >AHRS rotation from veh to nav: [[0.943163,-0.332243,0.007588],[0.331704,0.939741,-0.082817],[0.020385,0.080626,0.996536]]6Hd.?@xCտ,?:?\?w3ߔ??@?i6=I6];6CbBDAT read: Rx Time:00:55:09.2666 fTRx dataTimestamp_ set to:1761699310.069214fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.280008YjωByj)I llbDvVDvkyzn%zG=ٔ~:Q-~>9Y=mGy!y=E > Q 5 5 DY֊?Q 9 5 b) BYyb >Q IO@ DI ;i ; +* 5y%Bɮ-A-VEjIgOUFNOT Ignoring new targets: 251.34 m.RU`:ZU`:gOe ProNav: ac range: 251.342865 m, nav range: 231.855286 m, bearing: 150.590434 deg, approach rate: 0.497983 m/s, LOS rate: 0.093274 deg/s, cmd heading: 147.934343 deg, new cmd heading: 148.010978 deg. Bm*;gOmHeadingCmd: 2.583279 target range: 251.342865 and range: 252.90 m.mqT%@q*q"q qqqyyʎyyjZq @颩ɢS) i)%f8项iIi(%@IqT%@I59@1 @1@=/@9IIO=B>BBu)IBƉBBO =BBB6T;BE DADE<Ee EeEe%Ea"EeD:*EeǙ:VEe 4ZEaBEe12P>2xٱ2= :AHRS rotation from veh to nav: [[0.934871,-0.354868,0.009222],[0.354426,0.931618,-0.080438],[0.019954,0.078467,0.996717]]2Hv?`&ֿ@??`?@n?`l??i2~>I2\r^;2CYrʉByvz)IiuMb@Mb@Mb@qqqq q9urh|?i|?5~jthYu?yuuDu AujA uA)uAAqYuAbDVDܲyOؼ%@=ٔ:Q->9Y=mGyvFh=E>Q 5 5Ro֊?Q 9 5`)Y?Q E:y0>Q IO@DID;i;- 5yɮAP-B*** querying acoustic contact ***) )9jAgOMFNOT Ignoring new targets: 251.34 m.R:Z:gO ProNav: ac range: 251.342865 m, nav range: 232.061035 m, bearing: 150.631945 deg, approach rate: 0.471967 m/s, LOS rate: 0.095137 deg/s, cmd heading: 148.010978 deg, new cmd heading: 148.093926 deg. B.;gO HeadingCmd: 2.584727 target range: 251.342865 and range: 252.90 m. )l%@ * "  )111ʎ999j9Z=`@DAT read: 00:55:09.2666 LVL= 32752, 31073, 32754, 32755, AGC= 65, IDX= 453,-0.17,-0.464, 0.239,-1.534,-0.275, PHS=-0.088, 0.559,-1.304, RAW= 10.0, 10.2, CAL= 9.9, 11.4, ROT= 140.1, -11.4 Ygot valid direction response: 00:55:09.2666 LVL= 32752, 31073, 32754, 32755, AGC= 65, IDX= 453,-0.17,-0.464, 0.239,-1.534,-0.275, PHS=-0.088, 0.559,-1.304, RAW= 10.0, 10.2, CAL= 9.9, 11.4, ROT= 140.1, -11.4  PDAT read: Bearing 355.0, 38.8 (Local) ~Local bearing/azimuth received: Bearing 355.0, 38.8 (Local) DAT read: Range 11 to 50 : 218.6 m (Round-trip 291.5 ms) speed -0.6 m/s %R#Rx 1: Read range and direction messages.-^direction in FSK: [-0.752030,0.628794,0.197657]-Fpublishing direction and range infoy4L#RĠ?g4L?YZCay )AIX9i?y馿¸2>K6>;0> %K>)C~@I%K!տuYɬ? ɽ)"6IC~@i%KET****** received valid address query ******ER****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɢT) ׽i)8i[i)l%@I)l%@Iae9@a @a@a@aAm>Am>ԉA؟AIIO>EU  EU EU 'EQ "EU :*EU 1]:VEU '4ZEQ ae @ae @ae @ae @ *DAT read: user:593>  BDAT read: Tx time:00:55:10.6209  $Ping request sent. 2&Q>2ٱ22ؗ= :AHRS rotation from veh to nav: [[0.926468,-0.376257,0.009352],[0.375840,0.923551,-0.076144],[0.020012,0.074060,0.997053]]2H?ؿ`'? ??@-~~???i2+H+>I2^;2CYډBy%)IbD5VD5k2yE=%MP=ٔM3Q-M>9M"?YU"?=UmGyUwFUp=E]>YQ 5e 5]W֊?Q 9m 5]_)YYiymG>Q ImO@]DI]:i]:]R1 5y}Bɮ}A}WE{Y@AJ?YCR?YCj.6@KK ldONYSa@+>cxE@r4L#RĠ?g4L?ZC~@b%Kf9pKiZGfN@%H@z )K)?dݫB?2uB:\J"w擊?*jVB-B.“]C0@gO addTargetRange:: Added new target pos. range: 218.600006 m, deltaT: 8.076195 s, deltaX: -34.299988 m, approachRate: -4.247048 m/s, rangeRepo size: 3 gO Added new target pos. range: 217.247330 m, bearing: 163.098459 deg, lat: 36.779060 deg, lon: -121.859962 deg, deltaT: 8.076195 s, deltaX: -34.095535 m, approachRate: -4.221733 m/s, posRepo size: 3 jgOFNOT Ignoring new targets: 217.25 m.RZgO ProNav: ac range: 217.247330 m, nav range: 221.694427 m, bearing: 158.147293 deg, approach rate: 0.000000 m/s, LOS rate: 0.095137 deg/s, cmd heading: 148.093924 deg, new cmd heading: 148.167604 deg. BgOHeadingCmd: 2.586013 target range: 217.247330 and range: 218.60 m.;%@*"   ʎ   j@3Sk@ZiIAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251385B >B B )IB ЉBB N =B B WDB 2T;B  ^,q{Y@AbEjE 4rE/EJ EJEJ%EH"EJ:*EJS:VEJ 4ZEHBEJ$'>#ٱ·= AHRS rotation from veh to nav: [[0.917520,-0.397610,0.007925],[0.397150,0.915056,-0.070319],[0.020708,0.067667,0.997493]]HS\?qrٿ#;?@j?#H?ta4?R?v?i%B>I1^;CYՉBy)II=)<A5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503041iMb@Mb@Mb@ 9v?:vy&1|Y?yԽ` AA AA)YAbDVD1y\%5=ٔɺQ->9 ?Y ?=mGyQ=E>Q 5 5ę֊?Q 9 5])Y$?Q E:yr>Q IO@DI:i#:E5 5yBɮ0AXEjgOFNOT Ignoring new targets: 217.25 m.R :Z% :gO5 ProNav: ac range: 217.247330 m, nav range: 221.917557 m, bearing: 158.188289 deg, approach rate: 0.498045 m/s, LOS rate: 0.091416 deg/s, cmd heading: 148.167608 deg, new cmd heading: 148.249519 deg. B5M';gO=HeadingCmd: 2.587442 target range: 217.247330 and range: 218.60 m.=%@9*9"9 99AAAʎjZ@I?1ɢ=/O)9 =i9)=7V9aaieim%@iiIm%@Ii@ @@%4@!Ae؟AIyIO>A  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755040o^,>{Y@A2Z>2)>2Ϯٱ2.l= >AHRS rotation from veh to nav: [[0.907943,-0.419067,0.004817],[0.418551,0.906120,-0.061332],[0.021338,0.057702,0.998106]]2H ?ڿs? ?`?fٕ??{?i2Z>I2-^;2CYDyF)IbDRVDRyV|%Zs=ٔZvQ-Z?9^"?Y^"?=^mGy^xFb=Eb?dQ 5f 5f_֊?Q 9j 5f\)dYhyjZ>Q IjO@fDIf:if:f58 5ypɮr2ApjgO FNOT Ignoring new targets: 217.25 m.R N:Z N:gO% ProNav: ac range: 217.247330 m, nav range: 222.081024 m, bearing: 158.219761 deg, approach rate: 0.486949 m/s, LOS rate: 0.093681 deg/s, cmd heading: 148.249515 deg, new cmd heading: 148.312412 deg. B%r+;gO%HeadingCmd: 2.588540 target range: 217.247330 and range: 218.60 m.-%@)*)") )))11ʎ119j9Z= ?aɢmT)i mii)m9iqiuܺiu%@I%@IQE EEE"EO:*E]t:VEZEa@a@a@a@9@ @@/@AzAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007172IIOA>yԩ =_,|Y@A2,r>2+>2Wٱ2cNN= :AHRS rotation from veh to nav: [[0.897860,-0.440275,0.002290],[0.439724,0.896451,-0.054938],[0.022135,0.050334,0.998487]]2HE?u-ܿIb?o$?? }?dũ?@?i2,r>I2I^;2C@YF҉ByF)IRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259089bDVVDV02y^c%^J=ٔ~Q-~>9Y=mGy oh=E >Q 5 5֊?Q 9 5Z)YyI>Q I%O@DI;i;; 5y-Bɮ-`A)jqgOuFNOT Ignoring new targets: 217.25 m.R:Z:gO ProNav: ac range: 217.247330 m, nav range: 222.278381 m, bearing: 158.259549 deg, approach rate: 0.472633 m/s, LOS rate: 0.095200 deg/s, cmd heading: 148.312408 deg, new cmd heading: 148.391913 deg. B9.;gOHeadingCmd: 2.589927 target range: 217.247330 and range: 218.60 m._%@*" ʎjZ?IɢUR) 8i)C9项ihdϺi_%@I_%@IB<A<B>BB)IBՉBBBBBPT;BEM9@I @I@M/@II9IaE EE#E"E>:*Eg:VE3ZEBEUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510894! h$_,|Y@A2>2>2.ٱ2B= >AHRS rotation from veh to nav: [[0.886787,-0.462176,0.001710],[0.461615,0.885516,-0.052665],[0.022827,0.047492,0.998611]]2H`?HݿN\?@?@%V?_? P??i2>I2>^;2CYn׉Byn)I ppv=v=iMb@Mb@Mb@ 9 +?1Zd~jtY?y"۽D AA A)AYbDVD!3y<%7=ٔgϺQ->9Y = mGy yF e=E >yQ 5 5}\֊?Q 9 5}X)}BYH?Q E:yW>Q IO@}DI}v:i}:}? 5yBɮnAYEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 217.25 m.R:Z:gO ProNav: ac range: 217.247330 m, nav range: 222.488174 m, bearing: 158.303307 deg, approach rate: 0.469137 m/s, LOS rate: 0.097759 deg/s, cmd heading: 148.391911 deg, new cmd heading: 148.479344 deg. B2;gOHeadingCmd: 2.591453 target range: 217.247330 and range: 218.60 m._%@*" ʎjZ?!ɢ%xP)) -ܢi))-/&:)1i5Yºi5_%@99I=_%@I9checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767196)`]A9@ @@/@۱9`]AY͙AIIIaOm5>QE  E E "E "E %;*E [:VE (3ZE a @a @a @a @ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018969X _,7|Y@AY։By )IbDVDfy-%-W=ٔ-Q-5>91Y1=5mGy1=E=>AAQ 5M 5E֊?Q 9U 5EV)EBYQyQQ IUO@EDIES*;iE`+;EB 5yYɮ]rAajgOFNOT Ignoring new targets: 217.25 m.R*:Z*:gO ProNav: ac range: 217.247330 m, nav range: 222.658630 m, bearing: 158.338779 deg, approach rate: 0.450209 m/s, LOS rate: 0.093618 deg/s, cmd heading: 148.479338 deg, new cmd heading: 148.550228 deg. BT+;gO HeadingCmd: 2.592690 target range: 217.247330 and range: 218.60 m. %@ * "   ʎjZ@IɢM@|R)I MLiI)Uf:QQiUhi]%@YYI]%@IaIi)mZA@ @@0@A?AyIIOM1>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270912ԙB >B B )IB ډBB O =B B VDB ZT;B E }:_,IQ|Y@AE: E:E:'E8"E::*E:k:VE:'4ZE8BE:.??ٱK= AHRS rotation from veh to nav: [[0.862834,-0.505462,0.004936],[0.504946,0.861418,-0.054665],[0.023379,0.049659,0.998493]]HW?,8t?(?@??l??ij>Ib];YىBy)IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.527027iMb@Mb@Mb@ 9@5^I ?V-~jtxYb?yĻA )YAbDVDy%xT<%%/=ٔ%%Q-->9)Y)=-mGy-zF5L=E5>9Q 5E 5=r֊?Q 9E 5=T)=BYMj?Q EM:yM>Q IMO@=DI=,;i=;= G 5yUBɮUAUZEjgOFNOT Ignoring new targets: 217.25 m.R:Z:gO ProNav: ac range: 217.247330 m, nav range: 222.863342 m, bearing: 158.383588 deg, approach rate: 0.448858 m/s, LOS rate: 0.098160 deg/s, cmd heading: 148.550221 deg, new cmd heading: 148.639758 deg. B3;gOHeadingCmd: 2.594253 target range: 217.247330 and range: 218.60 m.>&@*" ʎjZw@颩ɢxN) 蚽i)V:顱icũi>&@I>&@I9@ @@@I9IqO|>  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7789771 `_,@k|Y@A2j>2 ?2rüٱ2T= :AHRS rotation from veh to nav: [[0.849729,-0.527173,0.007109],[0.526682,0.848175,-0.056613],[0.023815,0.051850,0.998371]]2H0? }???$?@f b???i2j>I2];0YF׉ByF)IHJALN@AbDRVDR:2yVA%Z}=ٔZ(Q-Z ?9XY\=^mGy\^=Eb ?`Q 5f 5b& ׊?Q 9j 5bR)`Yhyj>Q IjO@bDIb6:ib :bI 5ypɮrApjgO FNOT Ignoring new targets: 217.25 m.R 6:Z 6:gO% ProNav: ac range: 217.247330 m, nav range: 223.001923 m, bearing: 158.415452 deg, approach rate: 0.432237 m/s, LOS rate: 0.099322 deg/s, cmd heading: 148.639752 deg, new cmd heading: 148.703439 deg. B%5;gO-HeadingCmd: 2.595365 target range: 217.247330 and range: 218.60 m.-t&@)*)") )))11ʎ119j9Z=@. @ ɢ (T)  4i):1i=YiEt&@AAIEt&@IIE} E}E}#Ey"E}:*E}e:VE}3ZEya@a@a@a@ 9@  @ @ 4@IIO>Auchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.031777qԙ bH!_,Va|Y@A2;>2t?2żٱ2 X= :AHRS rotation from veh to nav: [[0.836275,-0.548241,0.008699],[0.547777,0.834658,-0.057325],[0.024167,0.052705,0.998318]]2H`?`0Ё?c??`Y=??7?i2;>I2 ];2CYBωByF)IbDNVDN0yV/%VK=ٔVdQ-Z>9XYX=ZmGyZ{F^4~=E^>bBDAT read: Rx Time:00:55:13.3187 fTRx dataTimestamp_ set to:1761699314.109256fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.284111hQ 5n 5ju׊?Q 9r 5jP)hYpyr}>Q IrO@jDIjj;ijU;jgM 5yvBɮzAz[EjQgO}FNOT Ignoring new targets: 217.25 m.R}:Z:gO ProNav: ac range: 217.247330 m, nav range: 223.172287 m, bearing: 158.456565 deg, approach rate: 0.411543 m/s, LOS rate: 0.099238 deg/s, cmd heading: 148.703436 deg, new cmd heading: 148.785599 deg. B5;gOHeadingCmd: 2.596799 target range: 217.247330 and range: 218.60 m.1&@*" ʎjZG @Yɢ]^?V)Y ]ýiY)e]9;aaieeim1&@iiIm1&@qIqAQAQB]>B]CBYBYB]P =BYB]UDBYB]EB%ÿCB%ÿCB%ÓCB%O =B%O =C%em5 @ @@2@A1zA1ԡA}.AE EE&E"E:*Ek:VE4ZEBE.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.534996 '_,Z|Y@AR_'>R8?RƼٱRrj= bAHRS rotation from veh to nav: [[0.822182,-0.569083,0.012658],[0.568707,0.820284,-0.060879],[0.024262,0.057252,0.998065]]RHQO?@5.?2???+8ؘ?P?%?iR_'>IRn ^;RCYrډByr)IiMb@Mb@Mb@ 9X9v?9 ?Y ?=mGyf=E>Q 5 50׊?Q 9 5N)Y'?Q E:y@>Q IO@DIf:io:KQ 5yBɮ4AREP-B*** querying acoustic contact ***) )j9gO=FNOT Ignoring new targets: 217.25 m.RE:ZE:gO] ProNav: ac range: 217.247330 m, nav range: 223.361267 m, bearing: 158.503467 deg, approach rate: 0.431685 m/s, LOS rate: 0.107048 deg/s, cmd heading: 148.785603 deg, new cmd heading: 148.879329 deg. B]C;gO]HeadingCmd: 2.598434 target range: 217.247330 and range: 218.60 m.eL&@a*a"a aaaiiʎiiqjqZu@颡ɢO) i)y;顩ḭԱiL&@IL&@IDAT read: 00:55:13.3187 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 443, 0.03, 0.106,-0.034,-1.481,-0.129, PHS= 0.337, 0.141,-1.396, RAW= 36.0, 11.2, CAL= 34.0, 12.0, ROT= 116.0, -12.0 %Ygot valid direction response: 00:55:13.3187 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 443, 0.03, 0.106,-0.034,-1.481,-0.129, PHS= 0.337, 0.141,-1.396, RAW= 36.0, 11.2, CAL= 34.0, 12.0, ROT= 116.0, -12.0 -PDAT read: Bearing 359.7, 61.4 (Local) -~Local bearing/azimuth received: Bearing 359.7, 61.4 (Local) =DAT read: Range 11 to 50 : 220.2 m (Round-trip 293.6 ms) speed -0.4 m/s =R#Rx 1: Read range and direction messages.m9@i @i@m/@i^direction in FSK: [-0.428792,0.879153,0.207912]Fpublishing direction and range infoyuRqۿt"?hٜ?Y3\C )EID>iNb>!| ?+H>? PwV>)@IPwV;ļ5?g9 Gqk? һ)hGI@iPwVT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.A؟AIIOf> Eu  Eu Eu %Eq "Eu :*Eu ga:VEu 4ZEq a} @a} @a} @a} @e *DAT read: user:594> m BDAT read: Tx time:00:55:14.6709 m $Ping request sent.m 2Fn!?2żٱ2|= :AHRS rotation from veh to nav: [[0.807445,-0.589700,0.016921],[0.589449,0.805264,-0.064037],[0.024137,0.061681,0.997804]]2H ?`S?? ?`dA???i2{/>I2];2CYRByR)I TTV=T Zp9"?Y"?=mGy|F=E>Q 5 5B׊?Q 9 5K)BYyX>Q IO@ DI :i:T 5yɮAv7|Y@AJZCRZCj**@i^WuWfpc h@/ӷF@ruRqۿt"?hٜ?Z@bPwV Gg{,X@=Ԙ(K@zF~uG?nD?2eB:r<"`:?*\BB“B_C1@gO] addTargetRange:: Added new target pos. range: 220.199997 m, deltaT: 4.040183 s, deltaX: 1.599991 m, approachRate: 0.396019 m/s, rangeRepo size: 4 gOm Added new target pos. range: 218.832306 m, bearing: 152.835942 deg, lat: 36.779060 deg, lon: -121.859962 deg, deltaT: 4.040183 s, deltaX: 1.584976 m, approachRate: 0.392303 m/s, posRepo size: 4 jqgOuFNOT Ignoring new targets: 218.83 m.R}ZygO ProNav: ac range: 218.832306 m, nav range: 223.521637 m, bearing: 158.545262 deg, approach rate: 0.000000 m/s, LOS rate: 0.107048 deg/s, cmd heading: 148.879327 deg, new cmd heading: 148.965690 deg. BgOHeadingCmd: 2.599942 target range: 218.832306 and range: 220.20 m.re&@*" ʎj`fk@Z?1ɢ==L)9 =piA)E;AAiM {iure&@qyI}re&@Iԡ9@ @@/@Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.252112A.AIIO>BU >BU CBQ BQ BU R =BQ BQ BU kT;BU E 24_,6|Y@ADzDE. E.E.)E,"E.:*E.1]:VE.FA4ZE,BE.&2E.&-E'?--ļٱ-3{= ]AHRS rotation from veh to nav: [[0.792363,-0.609675,0.021370],[0.609579,0.789892,-0.066963],[0.023945,0.066086,0.997527]]-H [?u??F?y$!???i-x>I-];-CYމBy)Ii=Mb@Mb@Mb@9999 99=m?v/9m ?Ym ?=umGyqu\=Eu>yQ 5 5}V׊?Q 9 5}H)}BY?Q E:y+>Q IO@}DI}' checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754880Y :_,|Y@A2m>2?.?2¼ٱ2= :AHRS rotation from veh to nav: [[0.776937,-0.629112,0.024206],[0.629128,0.774356,-0.067606],[0.023787,0.067754,0.997418]]2H?!`ɘ?!? ?`N[?WX? ?i2m>I2];2CyYBy)IbDVDy8<%W=ٔ(9Q->9"?Y"?=mGy}F=E>Q 5 5f׊?Q 9 5E)Yy >Q I O@DI;im;\ 5yɮ5Aj9gO=FNOT Ignoring new targets: 218.83 m.REk;ZEk;EU EUEU'EQ"EUa:*EUR:VEU'4ZEQae@ae@ae@ae@gOm ProNav: ac range: 218.832306 m, nav range: 223.843262 m, bearing: 158.637218 deg, approach rate: 0.397590 m/s, LOS rate: 0.116644 deg/s, cmd heading: 149.066010 deg, new cmd heading: 149.149471 deg. BmxU;gOuHeadingCmd: 2.603149 target range: 218.832306 and range: 220.20 m.u&@q*q"q yyyyyʎjZ`=?QɢUL)Q UiiQ)]6W{4?6k'¼ٱ6m= BAHRS rotation from veh to nav: [[0.761393,-0.647732,0.026911],[0.647857,0.758711,-0.068109],[0.023698,0.069292,0.997315]]6HU]?7?>?@\G?oXD?!??i6I>I6];6CDFr@iDIDHH HHHHLLRchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258982IL)TiT)TIXZX XXZ^AXi\\i\^E^A)bl bӮEI` `)bO{A`ddYdYjByj)IIna=)nBCB)IB߉BBQ =BBBGT;B E 9@  @ @4@IAYIbEjEƻ 4rEOJ0E EE#E"E:*EP:VE3ZEBE+Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510900qԡ G_, }Y@AF?F:?F=ٱF= RAHRS rotation from veh to nav: [[0.745485,-0.665957,0.027443],[0.666109,0.742942,-0.065850],[0.023465,0.067370,0.997452]]FH?@O?P?-?`۰ +?-?? ?iF?IF^;DYUBy])IiMb@Mb@Mb@ 9Q?!rhMbY\?yl罙 A)AYAbD-VD-:2y=N<%=7=ٔEY :Q-E>9AYA=MmGyM~FM^=EM>QQ 5] 5U߇׊?Q 9] 5U?)QYeC?Q Ee:ye?Q IeO@U+DIU:iUQ:Uc 5qyiɮu=AqPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 218.83 m.R;Z;gO ProNav: ac range: 218.832306 m, nav range: 224.127213 m, bearing: 158.727249 deg, approach rate: 0.352843 m/s, LOS rate: 0.114396 deg/s, cmd heading: 149.227189 deg, new cmd heading: 149.329425 deg. B[Q;gOHeadingCmd: 2.606290 target range: 218.832306 and range: 220.20 m.u&@*" ʎjZW?ɢH) (8i) f<checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764260项i<#iu&@Iu&@IPExceeded connect timeout, disconnecting.9@ @@4@AzAԹAIIO%>E  E E %E "E ;*E T:VE 4ZE a @a @a @a @e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014855 M_,g_:}Y@A2k ?2@?2 Rٱ29= :AHRS rotation from veh to nav: [[0.729148,-0.683764,0.028463],[0.683962,0.726685,-0.064224],[0.023230,0.066296,0.997530]]2H@.U?d_%??A?pɗ???i2k ?I2u];2CY-By-)IbD=VD=fy <%W=ٔ!:Q->9Y=mGy}=E>Q 5 5i׊?Q 9 5<)BYyD?Q IO@2DIF:i:Uf 5yBɮQAUEjgOFNOT Ignoring new targets: 218.83 m.R;Z;gO ProNav: ac range: 218.832306 m, nav range: 224.257568 m, bearing: 158.771606 deg, approach rate: 0.343685 m/s, LOS rate: 0.116879 deg/s, cmd heading: 149.329423 deg, new cmd heading: 149.418085 deg. BU;gOHeadingCmd: 2.607837 target range: 218.832306 and range: 220.20 m.&@*"     ʎ jZh@AɢEG)A EiA)MUi߹I߽Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267150B>BCB)IBBBBBBT;BE) T_,6>T}Y@AE> E>E>'E<"E>:*E>L_:VE>'4ZE<BE>##;az:E>;azu*?uG?u ٱuᖆ=-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521239 EAHRS rotation from veh to nav: [[0.712588,-0.700938,0.030076],[0.701223,0.710194,-0.062537],[0.022475,0.065654,0.997589]]uH?n`^̞?@jp?`?`p@?`ΰ?`@?iu*?Iu];uCY}By})I ==)iMb@Mb@Mb@ 9|?5^?"~jMbY ?yS㽙 AA A)pAYzAbDVD2ygk<%*=ٔ:Q->9Y!=-mGy-F-DH=E->1Q 5= 55׊?Q 9= 558)5BYE?Q EE:yE?Q IEO@5:DI5c2;i52;5j 5yiɮmBAijgOFNOT Ignoring new targets: 218.83 m.R];Z];gO  ProNav: ac range: 218.832306 m, nav range: 224.418121 m, bearing: 158.829073 deg, approach rate: 0.323534 m/s, LOS rate: 0.115721 deg/s, cmd heading: 149.418079 deg, new cmd heading: 149.532931 deg. B S;gOHeadingCmd: 2.609842 target range: 218.832306 and range: 220.20 m.'@*" ʎ!!!j)Z-`+@Qɢ]D)Y eia)eLԱ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770930 nManaging dock network, ignoring radio surface power offZ_,n}Y@A2Um?2CM?2Sٱ2\= :AHRS rotation from veh to nav: [[0.695237,-0.718115,0.030924],[0.718450,0.692968,-0.060216],[0.021813,0.064081,0.997706]]2H`a??q? ?,? Ԯ@V?`g?5?i2Um?I2 ^;2C@Y`yb)IbDnVDn1yz7;%z=ٔ~ ;Q-~?9Y=mGy  Q=E ?Q 5 5׊?Q 9 5k6)Yy?Q IO@@DI@m 5y Bɮ`AVEjgOFNOT Ignoring new targets: 218.83 m.R;Z;gO ProNav: ac range: 218.832306 m, nav range: 224.513794 m, bearing: 158.865064 deg, approach rate: 0.306750 m/s, LOS rate: 0.115347 deg/s, cmd heading: 149.532935 deg, new cmd heading: 149.604886 deg. BS;gOHeadingCmd: 2.611098 target range: 218.832306 and range: 220.20 m.:'@*"     ʎjZ xg @AɢEIfF)A EiI)M-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022952 a_,}Y@A2v?2MS?2Nyٱ2 9x= :AHRS rotation from veh to nav: [[0.678120,-0.734322,0.030416],[0.734657,0.676096,-0.056341],[0.020808,0.060551,0.997948]]2H(?U%?N??@جN?@?1?i2v?I2];2CBBDAT read: Rx Time:00:55:17.3706 FTRx dataTimestamp_ set to:1761699318.141232Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276072Y^By^)IbDfVDfklyrI<%rK=ٔv#;Q-v>9tYt=vmGyvFzp=Ez>|Q 5 5~"׊?Q 9 5~2)~BY y !?Q I O@~GDI~:i~:~p 5yɮMAj9gO=FNOT Ignoring new targets: 218.83 m.RE;ZE;gOU ProNav: ac range: 218.832306 m, nav range: 224.636734 m, bearing: 158.913631 deg, approach rate: 0.321007 m/s, LOS rate: 0.126743 deg/s, cmd heading: 149.604885 deg, new cmd heading: 149.701965 deg. BUg;gO]HeadingCmd: 2.612792 target range: 218.832306 and range: 220.20 m.]7'@Y*a"a aaaiiʎiiijqZu`w @Yɢ]AB)Y ]iY)eE EE&E"E:*E&p:VE4ZEBE:89Y=mGyN\=E>Q 5 5&׊?Q 9 5.)Y?Q E:y*?Q IO@ODI;i;t 5yBɮAMEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 218.83 m.R;Z;gO  ProNav: ac range: 218.832306 m, nav range: 224.760269 m, bearing: 158.966717 deg, approach rate: 0.273877 m/s, LOS rate: 0.117625 deg/s, cmd heading: 149.701969 deg, new cmd heading: 149.808081 deg. B DW;gOHeadingCmd: 2.614644 target range: 218.832306 and range: 220.20 m.UV'@*" ʎ!!AjAZM=@DAT read: 00:55:17.3706 LVL= 20464, 21201, 31218, 24707, AGC= 64, IDX= 462, 0.23,-2.368, 3.064, 2.176,-2.994, PHS= 0.728,-0.180,-1.157, RAW= 58.8, 7.5, CAL= 57.1, 8.1, ROT= 92.9, -8.1 Ygot valid direction response: 00:55:17.3706 LVL= 20464, 21201, 31218, 24707, AGC= 64, IDX= 462, 0.23,-2.368, 3.064, 2.176,-2.994, PHS= 0.728,-0.180,-1.157, RAW= 58.8, 7.5, CAL= 57.1, 8.1, ROT= 92.9, -8.1 PDAT read: Bearing 343.6, 83.7 (Local) ~Local bearing/azimuth received: Bearing 343.6, 83.7 (Local) DAT read: Range 11 to 50 : 221.6 m (Round-trip 295.5 ms) speed -0.3 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.050088,0.988756,0.140901]Fpublishing direction and range infoy[i(>/?:N ?Y]CORy `)@I5^:?iQ8G\? > ? >)d?I?>? )AId?iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Y颙ɢfF) i)+<顡i=iUV'@IUV'@IY@Y @Y@e0@aAyzAyII O%o>ԉE  E E %E "E >:*E L_:VE 4ZE a @a @a @a @Ա = *DAT read: user:595> = BDAT read: Tx time:00:55:18.6709 E $Ping request sent.E 9xYx=zmGyzF~}=E~>!Q 5- 5%׊?Q 9- 5%p+)%BY)y-0?Q I5O@%VDI%:i%:%w 5yYɮ]AYԙ>}Y@AJ8\CR8\Cj@_ ҙ&87k@??@r[i(>/?:N ?Zd?bXSeA|Lv7`@  kUE@zexY#?Q]?2C:,"#?*iX BSBw擊?“SB]CD1@gO% addTargetRange:: Added new target pos. range: 221.600006 m, deltaT: 4.031687 s, deltaX: 1.400009 m, approachRate: 0.347251 m/s, rangeRepo size: 4 gOe Added new target pos. range: 220.221024 m, bearing: 143.095517 deg, lat: 36.779091 deg, lon: -121.859962 deg, deltaT: 4.031687 s, deltaX: 1.388718 m, approachRate: 0.344451 m/s, posRepo size: 4 jagOmFNOT Ignoring new targets: 220.22 m.RZgO ProNav: ac range: 220.221024 m, nav range: 221.687927 m, bearing: 158.698313 deg, approach rate: 0.000000 m/s, LOS rate: 0.117625 deg/s, cmd heading: 149.808083 deg, new cmd heading: 149.898672 deg. BgOuHeadingCmd: 2.616225 target range: 220.221024 and range: 221.60 m.u=p'@q*q"q qyyyyʎj@3k@Z`?ɢ F>)  i ) k< i*Ti=p'@I=p'@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2515899@ @@>1@I9IQO]v>BBB)IBBBBHDBBS;BEB]ȽCB]ȽCBYB]R =B]R =C]~5 u_,I}Y@AE& E&E&-E$"E&m:*E&:VE&t4ZE$BE&Q9Y=mGy;=E>Q 5 5#׊?Q 9 5&)BYY ?Q E:y6?Q IO@^DI߾W{_,}Y@AB|'3?Bj?B6؄ٱB"[b= NAHRS rotation from veh to nav: [[0.607379,-0.793682,0.034040],[0.794247,0.605820,-0.046414],[0.016216,0.055227,0.998342]]BH`o?em?wj?b?çך?F? k?iB|'3?IBA ^;BCY^By^)IbDjVDjyz<%z=ٔz~o;Q-~?9|Y|=mGyF s=E ?Q 5 5׊?Q 9 5#)BYy s2_,7 ~Y@Ai0I06checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259268B9A9BE>BABE)IBEBBEQ =BEGDBABES;BEE>?v? jdٱWt= AHRS rotation from veh to nav: [[0.571000,-0.819922,0.041087],[0.820832,0.569352,-0.045533],[0.013941,0.059725,0.998118]]HE?@<R ?AD?!8?@!P?>?@?i>?IT];CYBy)IbD VD 02y7%-=ٔA;Q->9!Y!=%mGy!%Q=E->1Q 5= 55؊?Q 9= 55)5BY9y=G?Q I=O@5lDI5K:i5 :5 5yIɮMAIjqgOuFNOT Ignoring new targets: 220.22 m.R};Z};gO ProNav: ac range: 220.221024 m, nav range: 221.995941 m, bearing: 158.859535 deg, approach rate: 0.222885 m/s, LOS rate: 0.128206 deg/s, cmd heading: 150.100428 deg, new cmd heading: 150.220972 deg. Bj;gOHeadingCmd: 2.621850 target range: 220.221024 and range: 221.60 m.f'@*" ʎjZg?ɢUuA)z< i)<i N9if'@If'@I!DYDYEm EmEm%Ei"Em:*Em[:VEm 4ZEiBEm'\_,#~Y@AY~By~)IiMb@Mb@Mb@ 9ˡE? ףp= {GzY?yQ# AA A)YAbDVDy4=%b=ٔQ->9Y=mGyFE>Q 5 5؊?Q 9 5i)BY ?Q E:yK?Q IO@rDI:i:- 5yBɮAOEPB*** querying acoustic contact *** j!gO%FNOT Ignoring new targets: 220.22 m.R-;Z-;gO= ProNav: ac range: 220.221024 m, nav range: 222.072708 m, bearing: 158.905655 deg, approach rate: 0.212273 m/s, LOS rate: 0.127485 deg/s, cmd heading: 150.220968 deg, new cmd heading: 150.313176 deg. B=Oi;gOEHeadingCmd: 2.623460 target range: 220.221024 and range: 221.60 m.E'@A*I"I IIIQQʎYaijyZ?颩ɢ7) @Eu  Eu Eq Eq "Eu :*Eu e:VEq ZEq a} @a} @a} @a} @ԡ % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014914]_,$<~Y@A2LpD?2F|?2YRٱ2q}= :AHRS rotation from veh to nav: [[0.552438,-0.832371,0.044390],[0.833455,0.550767,-0.044809],[0.012849,0.061751,0.998009]]2H?`ɢJ?@?? 1P?۝?`?i2LpD?I2 ^;2C9|Y=mGy vs=E >!Q 55 5%L&؊?Q 95 5%{)%BYAyEQ?Q IEO@%yDI%y;i%-;%~ 5yUBɮUAQjgOFNOT Ignoring new targets: 220.22 m.Rx;Zx;gO ProNav: ac range: 220.221024 m, nav range: 222.149307 m, bearing: 158.954554 deg, approach rate: 0.197924 m/s, LOS rate: 0.126306 deg/s, cmd heading: 150.313175 deg, new cmd heading: 150.410939 deg. B'g;gOHeadingCmd: 2.625166 target range: 220.221024 and range: 221.60 m.(@*" ʎj Z @颱ɢIo4) piԱ9@ @@_0@AzAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267356AIIOm>1B9B9B=)IB=BB=R =B9B9B=tS;B=Ea n_,V~Y@AD?AzD@AbE1jE5 4rE5١0E EE&E"Es:*E*:VE4ZEBEd0?iRp$J?IR];RCYfByf)IbDrVDr1Ay =%A=ٔ ;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521250Q->9!Y)=UmGy]FeK=Em>Q 5 5$4؊?Q 9 5)BYycW?Q IO@DI.;i+;~ 5y Bɮ A PEjqgOuFNOT Ignoring new targets: 220.22 m.R};Z};gO ProNav: ac range: 220.221024 m, nav range: 222.236755 m, bearing: 159.013995 deg, approach rate: 0.188634 m/s, LOS rate: 0.128170 deg/s, cmd heading: 150.410943 deg, new cmd heading: 150.529777 deg. Bj;gOHeadingCmd: 2.627240 target range: 220.221024 and range: 221.60 m.$(@*" ʎijZA@ɢ"1) `4=i!)Em!~_,et~Y@AVQU?V܆?VCٱV= ^AHRS rotation from veh to nav: [[0.494407,-0.867620,0.052891],[0.869177,0.492784,-0.041174],[0.009660,0.066329,0.997751]]VH`^?`?K?lj?bȃ?`??iVQU?IV^;VCYfByj)IiUMb@Mb@Mb@QQQQ Q9UMb?#~j9Y=mGy=E>Q 5 5?؊?Q 9 5)BY?Q E:ye?Q IO@DIj:i:8 5yBɮ)AFEjgOFNOT Ignoring new targets: 220.22 m.R4 ;Z4 ;gO ProNav: ac range: 220.221024 m, nav range: 222.303513 m, bearing: 159.068319 deg, approach rate: 0.151748 m/s, LOS rate: 0.123450 deg/s, cmd heading: 150.529774 deg, new cmd heading: 150.638390 deg. Ba;gOHeadingCmd: 2.629136 target range: 220.221024 and range: 221.60 m.C(@ * "    ʎ%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023140j9Z== @颁ɢ2) x =i)<顉i.#:iC(@IC(@I;)9@ @@?1@AIIO>Q  BDAT read: Rx Time:00:55:21.3716  TRx dataTimestamp_ set to:1761699322.173159 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276072K[_,#~Y@AAAB>BCB)IBBBN =BBVDBR;BlE4ZS[?Zn?Zk" ٱZ= bAHRS rotation from veh to nav: [[0.474646,-0.878708,0.050821],[0.880137,0.473284,-0.036898],[0.008370,0.062243,0.998026]]ZH `?a0?*?HJ?L䢿@@$? Jޯ??iZS[?IZ];ZCYj Byj)I pr<bDvVDvy],̼%]V=ٔeZV;Q-e>9aYa=mmGymFmj=Em>qQ 5} 5u*J؊?Q 9} 5u )uBYyk?Q IO@uDIu;iu;u 5yɮ B9 Y Aȅ_,~Y@AFga?F*?F}ٱF{m= RAHRS rotation from veh to nav: [[0.454824,-0.889278,0.048161],[0.890549,0.453681,-0.033102],[0.007587,0.057945,0.998291]]FH@?t ?`?@ ? ???iFga?IF^;FCYZByZ)I`iEMb@Mb@Mb@AAAA A9Ejt?MbX9y&1|YE?yEʡE`EAE~A EA)EpAAYADAT read: 00:55:21.3716 LVL= 32752, 30993, 32754, 32755, AGC= 69, IDX= 441,-0.32,-1.323,-2.106,-3.126,-1.994, PHS= 0.774,-0.067,-1.176, RAW= 55.5, 5.6, CAL= 54.4, 4.8, ROT= 95.6, -4.8 Ygot valid direction response: 00:55:21.3716 LVL= 32752, 30993, 32754, 32755, AGC= 69, IDX= 441,-0.32,-1.323,-2.106,-3.126,-1.994, PHS= 0.774,-0.067,-1.176, RAW= 55.5, 5.6, CAL= 54.4, 4.8, ROT= 95.6, -4.8 PDAT read: Bearing 35.7, 83.8 (Local) ~Local bearing/azimuth received: Bearing 35.7, 83.8 (Local) DAT read: Range 11 to 50 : 222.3 m (Round-trip 296.5 ms) speed -0.1 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.097241,0.991737,0.083678]Fpublishing direction and range infoys丿p:O?U]k?YL^Cy )EI$F?iL7+w?+=s? =)?I#1a{b?X쿻=? ;-) ǽI?i T****** received valid address query ****** R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.bD5VD5yER=%E+=ٔE(:Q-E>9IYI=MmGyF?=E>Q 5M 5;V؊?Q 9M 5)BYU[?Q EU:yUq?Q IUO@DI@z0 *cQ~?d'?2PB:K"%9G?*NdBB%9G?Nd“ZC41@gO addTargetRange:: Added new target pos. range: 222.300003 m, deltaT: 4.031851 s, deltaX: 0.699997 m, approachRate: 0.173617 m/s, rangeRepo size: 4 gOM Added new target pos. range: 220.923218 m, bearing: 158.643806 deg, lat: 36.779128 deg, lon: -121.859955 deg, deltaT: 4.031851 s, deltaX: 0.702194 m, approachRate: 0.174162 m/s, posRepo size: 4 jQgOUFNOT Ignoring new targets: 220.92 m.R]ZYgO ProNav: ac range: 220.923218 m, nav range: 218.739578 m, bearing: 158.643306 deg, approach rate: 0.000000 m/s, LOS rate: 0.137656 deg/s, cmd heading: 150.739393 deg, new cmd heading: 150.881181 deg. BgOHeadingCmd: 2.633373 target range: 220.923218 and range: 222.30 m.1(@*" ʎjk@Z u?1ɢ5U/)1 5`K=i1)=7<9Yi]Se:ie1(@aaIe1(@IiqqqqE EE&E"E:*Ec:VE4ZEa@a@a@a@U *DAT read: user:596> U BDAT read: Tx time:00:55:22.6709 ] $Ping request sent.] EM_,u~Y@A2,g?2?2޻ٱ2r= :AHRS rotation from veh to nav: [[0.434645,-0.899194,0.050337],[0.900576,0.433531,-0.031835],[0.006804,0.059169,0.998225]]2H`9?2ũ? ??L {?lK? u?i2,g?I2@];2CYBy)IԑI<)p=bDVDy%8=ٔ:Q->9Y=mGy=V=E>Q 5 5`؊?Q 9 5)BYyiw?Q IO@DII:i: 5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250836yɮLAPB*** querying acoustic contact *** jgO%FNOT Ignoring new targets: 220.92 m.R-!;Z-!;gO= ProNav: ac range: 220.923218 m, nav range: 218.789963 m, bearing: 158.699150 deg, approach rate: 0.127039 m/s, LOS rate: 0.140774 deg/s, cmd heading: 150.881187 deg, new cmd heading: 150.992851 deg. B=Ѐ;gO=HeadingCmd: 2.635322 target range: 220.923218 and range: 222.30 m.E(@A*A"A AAIIIʎIQQjQZU`?yɢ?2) (=i)<顉i6:i(@I(@IBm>BmCBm)IBm BBmO =BiBmUDBmR;Bm=E9@ @@/@ԱAIIQIaOuy>E EE%E"E:*ER:VE 4ZEBE9Y=mGyFr}=E>Q 5 5i؊?Q 9 5n)BY@?Q E:y^?Q IO@DI :i: 5yɮjgOFNOT Ignoring new targets: 220.92 m.Rk;Zk;gO  ProNav: ac range: 220.923218 m, nav range: 218.825729 m, bearing: 158.750331 deg, approach rate: 0.090695 m/s, LOS rate: 0.129759 deg/s, cmd heading: 150.992847 deg, new cmd heading: 151.095191 deg. B xm;gOHeadingCmd: 2.637109 target range: 220.923218 and range: 222.30 m.c(@*" ʎ!!AjIZMq?频ɢnj2) i)<顙iq :ic(@Ic(@I]9@Y @Y@]/@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754885AIIO>A E  E E 'E "E 2;*E ]t:VE '4ZE a @a @a @a @_,~Y@A2r?2`?2Tٱ2:= >AHRS rotation from veh to nav: [[0.392894,-0.917495,0.061952],[0.919565,0.391562,-0.032855],[0.005886,0.069878,0.997538]]2H +%?\9Y=mGyi=E>Q 5 5gr؊?Q 9 5)BYyF?Q IO@DI:i:Z 5yBɮZAHEjgOFNOT Ignoring new targets: 220.92 m.R$;Z$;gO ProNav: ac range: 220.923218 m, nav range: 218.858856 m, bearing: 158.804362 deg, approach rate: 0.088218 m/s, LOS rate: 0.143864 deg/s, cmd heading: 151.095191 deg, new cmd heading: 151.203237 deg. B;gOHeadingCmd: 2.638994 target range: 220.923218 and range: 222.30 m.H(@*!"! !!!))ʎ)))j1Z5?Yɢ]/)a e/=ia)e;aaie:imH(@iiImH(@IqQ 9@  @ @0@A].AIiyIO[> checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258773ԩ Bm <Am 4=Bu >Bu CBu )IBu BBu R =Bu HDBq Bu R;Bu )EB)B-ʾCB)B-Q =B-P =C-ʻ5t_,Y@A6x?69m ?Ym ?=mmGyuFui=Eu>yQ 5 5}z؊?Q 9 5})}BYy,?Q IO@}DI}|:i}:}Ϧ 5yɮSAjgOFNOT Ignoring new targets: 220.92 m.R;Z;gO ProNav: ac range: 220.923218 m, nav range: 218.887512 m, bearing: 158.858567 deg, approach rate: 0.072426 m/s, LOS rate: 0.136981 deg/s, cmd heading: 151.203231 deg, new cmd heading: 151.311627 deg. Bz;gOHeadingCmd: 2.640886 target range: 220.923218 and range: 222.30 m.G)@*" ʎjZ?E EE,E"E:*Ei:VEg4ZEBE'  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762717_,W,Y@AJlD~?J{ ?JAٱJ,= ZAHRS rotation from veh to nav: [[0.351753,-0.933864,0.064564],[0.936080,0.350551,-0.029455],[0.004874,0.070798,0.997479]]JH? 6I?^?no?e)cs??X?iJlD~?IJ*^;JCYbByb)IlieMb@Mb@Mb@aaaa a9eMb?T㥛 MbpYe?yeee AeA eA)eAaYe\AbDVDyϻ%G=ٔ:Q->9"?Y"?=mGy>X=E>Q 5 5 ؊?Q 9 5)BY?Q E:y/?Q IP@DI4;iqF;i 5yBɮA?EjgOFNOT Ignoring new targets: 220.92 m.R;Z;gO ProNav: ac range: 220.923218 m, nav range: 218.911423 m, bearing: 158.912811 deg, approach rate: 0.055537 m/s, LOS rate: 0.125978 deg/s, cmd heading: 151.311626 deg, new cmd heading: 151.420101 deg. Bf;gOHeadingCmd: 2.642779 target range: 220.923218 and range: 222.30 m.L#)@*" ʎjZ`@Iɢm"x/)q u2=iq)u+;qqiu:i}L#)@yyIL#)@I E EE&E"E:*Ek:VE4ZEa@a@a@a@9@ @@4@A ?A ?Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.016270AIIYIiOu>a _,FY@A2?2?2ߥٱ2= :AHRS rotation from veh to nav: [[0.330974,-0.941494,0.063609],[0.943628,0.329880,-0.027300],[0.004719,0.069059,0.997601]]2H.? H?32? ?@ Ts? ׭?Y?i2?I2];0YBByB)IbDJVDJβyZ=%ZZ=ٔ^9Q-^>9`Y`=bmGybFbq=Ef>dQ 5j 5f7؊?Q 9n 5f)fBYlyn?Q InP@fDIf ;if ;f 5ytɮvAtj gOFNOT Ignoring new targets: 220.92 m.Rr;Zr;gO- ProNav: ac range: 220.923218 m, nav range: 218.929108 m, bearing: 158.962039 deg, approach rate: 0.049769 m/s, LOS rate: 0.138525 deg/s, cmd heading: 151.420103 deg, new cmd heading: 151.518551 deg. B-};gO5HeadingCmd: 2.644498 target range: 220.923218 and range: 222.30 m.5s?)@1*1"1 199AAAʎAIIjIZM @qɢ*) e=i)i;i)Z:is?)@  I s?)@I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268891B>BBBBS =BBBiR;BEM9@I @I@M/@IqAYIaIqOY>ԑE EE$E"ED:*EVE4ZEBE1ʄ?> ?>W]ٱ>³= FAHRS rotation from veh to nav: [[0.310040,-0.948672,0.062419],[0.950712,0.309042,-0.025299],[0.004711,0.067186,0.997729]]>H`?@[W?;l?@V? 虿@Ks?3? f?i>ʄ?I>}^;)^=^A^Ai=Mb@Mb@Mb@9999 99=v/?A`"{GzY=x ?y=Y=#=^A=hA =pA)=ZA9Y=AbDUVDU2ٔe7Q-e>9iYi=mmGyiuS=Eu>yQ 5 5}؊?Q 9 5})}BY) ?Q E:yN?Q IP@}DI}:i}:ԑ}h 5yBɮAPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 220.92 m.R ;Z- ;gOu ProNav: ac range: 220.923218 m, nav range: 218.939590 m, bearing: 159.022305 deg, approach rate: 0.024481 m/s, LOS rate: 0.140738 deg/s, cmd heading: 151.518553 deg, new cmd heading: 151.639080 deg. BuȀ;gO}HeadingCmd: 2.646601 target range: 220.923218 and range: 222.30 m.}a)@*" ʎjZ`n^@ɢ,) i)%4;!)i-y):i-a)@11I5a)@I1Թ9@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774803A-.AI9IQOew> E  E E %E "E :*E g:VE 4ZE a @a @a @a @_,5_zY@A2?2џ?2ٱ2"5= :AHRS rotation from veh to nav: [[0.288326,-0.955446,0.063174],[0.957520,0.287360,-0.024078],[0.004851,0.067432,0.997712]]2Hs? $,??`d?@ѧ s?;C?A?i2?I2];2CYBByF)IbDNVDNy^ml%^<ٔMQ->9% ?Y% ?=%mGy%F- m=E->1Q 55 55Ș؊?Q 9= 55)5BY9y=8?Q I=P@5DI5;i5;5ش 5yIɮMAIechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.026863jygOFNOT Ignoring new targets: 220.92 m.R*!;Z*!;gO ProNav: ac range: 220.923218 m, nav range: 218.944626 m, bearing: 159.077813 deg, approach rate: 0.012782 m/s, LOS rate: 0.140902 deg/s, cmd heading: 151.639079 deg, new cmd heading: 151.750092 deg. B;gOHeadingCmd: 2.648539 target range: 220.923218 and range: 222.30 m.)@*" ʎjZ`T @ɢ-) (6=i);ik:i)@I)@I9@ @@0@)A؟AI!I9OEQ>Q BDAT read: Rx Time:00:55:25.3719  TRx dataTimestamp_ set to:1761699326.209127 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279829A A B >B B B B R =B B B >R;B Ey _,GY@A2C?2?2ٱ2= :AHRS rotation from veh to nav: [[0.265933,-0.961788,0.065150],[0.963977,0.264948,-0.023472],[0.005313,0.069045,0.997599]]2H ??`? ?@ u?`?U?i2C?I2];2CYRByR)IbD^VD^:yb ;%fI=ٔfQ-f>9j"?Yj"?=jmGyhnq=En>pQ 5v 5r5؊?Q 9v 5r)rBYtyv5?Q IvP@rDIr1:ir:rK 5y|ɮ~A|j!gO%FNOT Ignoring new targets: 220.92 m.R-C";Z-C";gO= ProNav: ac range: 220.923218 m, nav range: 218.944916 m, bearing: 159.133561 deg, approach rate: 0.000738 m/s, LOS rate: 0.141861 deg/s, cmd heading: 151.750097 deg, new cmd heading: 151.861591 deg. B=ρ;gOEHeadingCmd: 2.650485 target range: 220.923218 and range: 222.30 m.E)@A*A"A AIIIIʎQQQjQZ]Py @颁ɢ!-) 9=i):顉i:i)@I)@IQbE-4jEž4rES0E EE$E"E:*Ega:VE4ZEBE5ԩ E DAT read: 00:55:25.3719 LVL= 31328, 32753, 32754, 32755, AGC= 67, IDX= 428,-0.32, 2.866, 1.748, 1.241, 2.241, PHS= 0.727,-0.447,-1.044, RAW= 70.7, 9.8, CAL= 69.4, 12.5, ROT= 80.6, -12.5 M Ygot valid direction response: 00:55:25.3719 LVL= 31328, 32753, 32754, 32755, AGC= 67, IDX= 428,-0.32, 2.866, 1.748, 1.241, 2.241, PHS= 0.727,-0.447,-1.044, RAW= 70.7, 9.8, CAL= 69.4, 12.5, ROT= 80.6, -12.5 _, Y@A"PDAT read: Bearing 285.7, 77.5 (Local) "~Local bearing/azimuth received: Bearing 285.7, 77.5 (Local) *DAT read: Range 11 to 50 : 222.6 m (Round-trip 296.8 ms) speed 0.2 m/s *R#Rx 1: Read range and direction messages.F?FZu?FQtٱF3=.\direction in FSK: [0.159455,0.963186,0.216440]ZFpublishing direction and range infoyIME2i?9cl?K?YM^CIM`zMI I)MCIM:?iM/侉MˡM?M%/>M ? Mf_>)M?IMf_IIM |?)nk? M{\)M~/IM?iMf_IIrT****** received valid address query ******rR****** received valid ping request ******rQuerying Benthos address 50 with one ping in standard two-way mode. NAHRS rotation from veh to nav: [[0.244398,-0.967256,0.068457],[0.969658,0.243362,-0.023201],[0.005782,0.072050,0.997384]]FHkH? @^?p? &?—w?q??iF?IFw^;FCY By )I ==ԱiMb@Mb@Mb@ 9%C?Zd;~jthYZ?yyDt AA ) AYAbDuVDuf?y_f;%&=ٔyQ->9Y=mGyF-9=E>Q 5 5؊?Q 9 5Q)BYE?Q E:y?Q IP@DI;iJ; 5yɮAIM_Y@AJM6]CRM6]CjM.@MGϏA@ӂ#;P?2MB:M1B"MQ/?*MLBM[CMQ/?ML“M-BMSCMͫ.@gO addTargetRange:: Added new target pos. range: 222.600006 m, deltaT: 4.036066 s, deltaX: 0.300003 m, approachRate: 0.074331 m/s, rangeRepo size: 4 gO Added new target pos. range: 221.213593 m, bearing: 156.374229 deg, lat: 36.779223 deg, lon: -121.859874 deg, deltaT: 4.036066 s, deltaX: 0.290375 m, approachRate: 0.071945 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 221.21 m.RZgO ProNav: ac range: 221.213593 m, nav range: 211.961075 m, bearing: 156.373704 deg, approach rate: 0.000000 m/s, LOS rate: 0.141861 deg/s, cmd heading: 151.861593 deg, new cmd heading: 152.006095 deg. BgOHeadingCmd: 2.653007 target range: 221.213593 and range: 222.60 m.)@*"   ʎ   j@3k@ZP1?Yɢ]6.) @=i)S:顁i\;i)@I)@IE EE'E"E:*Ec:VE'4ZEa@a@a@a@=9@9 @9@9@9}*DAT read: user:597> BDAT read: Tx time:00:55:26.7209 $Ping request sent.9 }_,IY@A2+x?2oc?2~ֻٱ2@R= >AHRS rotation from veh to nav: [[0.222138,-0.972426,0.071003],[0.974993,0.221056,-0.022859],[0.006533,0.074305,0.997214]]2Ho?B-? %3?@K?hh@z?@?-?i2+x?I2x6^;0YVByV)IbDbVDby%%-z=ٔ-Q--?9)Y1=5mGy15=E5?Q 5 5ܫ؊?Q 9 5)BYys?Q IP@DIV:i: 5yBɮ\A6Ej9gOEFNOT Ignoring new targets: 221.21 m.RE";ZM";gO} ProNav: ac range: 221.213593 m, nav range: 211.948517 m, bearing: 156.421284 deg, approach rate: -0.037527 m/s, LOS rate: 0.142194 deg/s, cmd heading: 152.006092 deg, new cmd heading: 152.101258 deg. B};gOHeadingCmd: 2.654668 target range: 221.213593 and range: 222.60 m.)@*" ʎjZ?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249970ɢ,) x;=i):  i ; i5)@11I5)@I9B>BBBBBBTDBgR;BE9@ @@4@AA5.AI9IQO]v>D@AzDE EE$E"E;*E:VE4ZEBE`9 ?Y ?=mGyF6]=E>Q 5 5؊?Q 9 5)BY?Q E:yS?Q IP@DI':is: 5 UCyBɮAm7Ex[A9 x[AY IAPB*** querying acoustic contact *** jIgOMFNOT Ignoring new targets: 221.21 m.RU;ZU;gOe ProNav: ac range: 221.213593 m, nav range: 211.921967 m, bearing: 156.478877 deg, approach rate: -0.060480 m/s, LOS rate: 0.131209 deg/s, cmd heading: 152.101264 deg, new cmd heading: 152.216464 deg. Be p;igOHeadingCmd: 2.656678 target range: 221.213593 and range: 222.60 m.*@*" ʎjZ`? ɢ 0) 8=i)y:i;i*@I%*@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754365u9@y @y@y@yԩIIO> E  E E &E "E m:*E z:VE 4ZE a @a @a @a @9_,Y@A2\?2G?2 ٱ2^= :AHRS rotation from veh to nav: [[0.177030,-0.981408,0.074149],[0.984168,0.175859,-0.022089],[0.008639,0.076885,0.997003]]2H ?g`k?M~??z?@?q?i2\?I2^;2CYFByF)IIJC=)Jx>LNATbDZVDZ0y5<%5R=ٔ5aQ-5>Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0059979IYI=UmGyQ]s=Ee>iQ 5} 5m؊?Q 9 5mF)iYyO?Q IP@mDImu;im~;m 5yɮAjgOFNOT Ignoring new targets: 221.21 m.R1;Z1;gO ProNav: ac range: 221.213593 m, nav range: 211.891785 m, bearing: 156.534219 deg, approach rate: -0.084727 m/s, LOS rate: 0.155376 deg/s, cmd heading: 152.216462 deg, new cmd heading: 152.327160 deg. B -;gOHeadingCmd: 2.658611 target range: 221.213593 and range: 222.60 m.&*@*" !!))ʎ)11j9Z=`ѭ? ɢ N.)  `=i)Z:顑i;i&*@I&*@Ii>i!>E9@A @A@E/@AIAIYOew>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257812B >B B B B B B B R;B DE! `,Y@A2M?28?2_#ٱ2= :AHRS rotation from veh to nav: [[0.154374,-0.985350,0.072486],[0.987962,0.153210,-0.021390],[0.009971,0.074915,0.997140]]2H?o?b? _?Y畿k?-? ?i2M?I2];2CYVByZ)IbDbVDbyj%jQ=ٔj^Q-n>9lYl=nmGyrFr;r=Er>tQ 5z 5v؊?Q 9z 5v)vBYxyz@?Q I~P@vD|Iv:iv<;v 5y ɮ A j1gO5FNOT Ignoring new targets: 221.21 m.R";Z";gO ProNav: ac range: 221.213593 m, nav range: 211.857666 m, bearing: 156.588516 deg, approach rate: -0.089296 m/s, LOS rate: 0.142132 deg/s, cmd heading: 152.327166 deg, new cmd heading: 152.435778 deg. B;gOHeadingCmd: 2.660506 target range: 221.213593 and range: 222.60 m.E*@*" ʎjZ|?iDqDu<E} E}E}#Ey"E}:*E}1]:VE}3ZEyBE}&Qԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761837K `,=a/Y@AjT6?j!?jY6ٱjL= zAHRS rotation from veh to nav: [[0.131878,-0.988781,0.070149],[0.991203,0.130743,-0.020553],[0.011151,0.072243,0.997325]]jH@]?`L??,?` ,ֆ? }~??ijT6?Ij^;jCY By)IYiMb@Mb@Mb@ 9sh|??{Gz{GztY ?y#ף^A )AYbDVD1y;%;=ٔ\1Q->9Y=mGyU=E>Q 5 5؊?Q 9 5)Y^ ?Q E:y®?Q IP@DI:i: 5yɮAjgOFNOT Ignoring new targets: 221.21 m.RL;ZL;gO ProNav: ac range: 221.213593 m, nav range: 211.810272 m, bearing: 156.650919 deg, approach rate: -0.105084 m/s, LOS rate: 0.138396 deg/s, cmd heading: 152.435779 deg, new cmd heading: 152.560614 deg. BG};gOHeadingCmd: 2.662685 target range: 221.213593 and range: 222.60 m.ni*@*" ʎjZ @aɢm\0)  =i)#:is+;ini*@Ini*@IԁE EEE"E:*Ei:VEZEa@a@a@a@@ @@/@IAIQOeU>echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014611Ա 6`,oFIY@A2^?2?25Dٱ2Ŏ= :AHRS rotation from veh to nav: [[0.110066,-0.991601,0.067912],[0.993852,0.108974,-0.019586],[0.012020,0.069650,0.997499]]2H F-?3@b?? ?8?Ա? ?i2^?I2h];0YUByU)Ie=e=bDmVDm0y}5<%}?=ٔ}^Q->9Y=mGyFR=E>Q 5 58؊?Q 9 5)BYy?Q IP@DI:i:| 5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265904yɮAjgOFNOT Ignoring new targets: 221.21 m.R(;Z(;gO ProNav: ac range: 221.213593 m, nav range: 211.759094 m, bearing: 156.711859 deg, approach rate: -0.124000 m/s, LOS rate: 0.147688 deg/s, cmd heading: 152.560608 deg, new cmd heading: 152.682516 deg. B$;gOHeadingCmd: 2.664813 target range: 221.213593 and range: 222.60 m.J*@*"    ʎjZ C@BU>BQBU)IBU BBQBQBQBUS;BUmEBBýCBBR =BR =C/4ɢY/) `=ia)e:aaie2;imJ*@iiIuJ*@Iqu9@q @u@u0@yA?A>II Om> E EE"E"E:*E&p:VE(3ZEBE+9Y=mGya=E>Q 5 5؊?Q 9 5u)BY?Q E:y>?Q IP@ DI ;i ; 5yBɮ%A.EPB*** querying acoustic contact *** j!gO%FNOT Ignoring new targets: 221.21 m.RMO;ZMO;gO] ProNav: ac range: 221.213593 m, nav range: 211.704224 m, bearing: 156.767898 deg, approach rate: -0.132917 m/s, LOS rate: 0.135783 deg/s, cmd heading: 152.682513 deg, new cmd heading: 152.794620 deg. B]x;gOeHeadingCmd: 2.666769 target range: 221.213593 and range: 222.60 m.eY*@a*a" ʎjZf@ɢ3) iE  E E %E "E a:*E :VE 4ZE a @a @a @a @ԩ `,|Y@A2ͤ?2Ӹ?2fٱ2}= :AHRS rotation from veh to nav: [[0.065103,-0.995850,0.063594],[0.997779,0.064065,-0.018240],[0.014090,0.064640,0.997809]]2H?G?`?f?y?ی?B? ?i2ͤ?I2e ^;2C-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022775YBy)IbDVDyͨ<%M=ٔ"Q->9 Y = mGy Fq=E>Q 5% 5؊?Q 9% 5>)BY!y% ?Q I-P@DIy:iN:g 5y1qɮ5AyjgOFNOT Ignoring new targets: 221.21 m.RC;ZC;gOU ProNav: ac range: 221.213593 m, nav range: 211.648926 m, bearing: 156.819853 deg, approach rate: -0.138856 m/s, LOS rate: 0.130496 deg/s, cmd heading: 152.794624 deg, new cmd heading: 152.898561 deg. BUn;gO]HeadingCmd: 2.668583 target range: 221.213593 and range: 222.60 m.]*@Y*a"a aaaiiʎijZ @9ɢ=1)9 =BDAT read: Rx Time:00:55:29.4209 TRx dataTimestamp_ set to:1761699330.241116checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274873AI AI BQ BQ BQ BQ BU S =BQ BQ BU GS;BU E n%`,ɖY@A2ŧ?2U?2Uzٱ2$.= :AHRS rotation from veh to nav: [[0.041960,-0.997142,0.062826],[0.999002,0.040911,-0.017900],[0.015278,0.063514,0.997864]]2H{?``\??D?`ZTSJ? zB??i2ŧ?I2^;2CYBy)IIJ>);AbDVD:y^E<%O=ٔEQ->9Y=mGy=p=E>Q 5 5؊?Q 9 5ס)BYy?Q IP@DIU;i: 5yɮ AjgOFNOT Ignoring new targets: 221.21 m.R9#;Z9#;gO- ProNav: ac range: 221.213593 m, nav range: 211.587341 m, bearing: 156.873218 deg, approach rate: -0.164634 m/s, LOS rate: 0.142702 deg/s, cmd heading: 152.898566 deg, new cmd heading: 153.005327 deg. B-;gO5HeadingCmd: 2.670447 target range: 221.213593 and range: 222.60 m.5*@9*9"9 999AAʎAAAjIZM @E] E]E]'EY"E]:*E]1]:VE]'4ZEYBE]#ԩ % DAT read: 00:55:29.4209 LVL= 18016, 25937, 24562, 27379, AGC= 65, IDX= 434, 0.44,-0.754,-2.540,-2.369,-1.636, PHS= 0.984,-0.859,-0.777, RAW= 92.3, 7.3, CAL= 92.0, 6.5, ROT= 58.0, -6.5 - Ygot valid direction response: 00:55:29.4209 LVL= 18016, 25937, 24562, 27379, AGC= 65, IDX= 434, 0.44,-0.754,-2.540,-2.369,-1.636, PHS= 0.984,-0.859,-0.777, RAW= 92.3, 7.3, CAL= 92.0, 6.5, ROT= 58.0, -6.5 5 PDAT read: Bearing 261.2, 58.7 (Local) = ~Local bearing/azimuth received: Bearing 261.2, 58.7 (Local) M DAT read: Range 11 to 50 : 221.8 m (Round-trip 295.8 ms) speed 0.1 m/s U R#Rx 1: Read range and direction messages.3+`,Y@A\direction in FSK: [0.526513,0.842597,0.113203]Fpublishing direction and range infoy`:1?9b?5?Y]C`FQe_ j)AIm{?im[yF?3?w>? V=)?IV轩]H?B9\ݿ A:? v)s/I?iV轩2T****** received valid address query ******2R****** received valid ping request ******2Querying Benthos address 50 with one ping in standard two-way mode.@Z~?Z¬?ZٱZo= AHRS rotation from veh to nav: [[0.018646,-0.997783,0.063889],[0.999691,0.017554,-0.017601],[0.016441,0.064197,0.997802]]ZH`?@[?w?? Ր?6o??iZ~?IZX'^;XY5 By5)Ii]Mb@Mb@Mb@YYYY Y9]x&?QMb`Y]7 ?y]]Y]~A ]A)YYY]\AbDVDky%/=ٔx#Q->ԩ9"?Y"?=mGyFL=E>Q 5 5H؊?Q 9 5C)BYn ?Q E:y?Q IP@DI;i; 5yɮ*AY@AJj\CRj\Cj#@_^]@~#7g@Vm8@r`:1?9b?5?Z?bV K)fb]@ .]C@z{y[9״@?]n}?2B:5"0(*?*ueB~B`:?\“SBUC%-@gO addTargetRange:: Added new target pos. range: 221.800003 m, deltaT: 4.032813 s, deltaX: -0.800003 m, approachRate: -0.198373 m/s, rangeRepo size: 4 gO Added new target pos. range: 220.417526 m, bearing: 146.792778 deg, lat: 36.779236 deg, lon: -121.859794 deg, deltaT: 4.032813 s, deltaX: -0.796066 m, approachRate: -0.197397 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 220.42 m.RZgO- ProNav: ac range: 220.417526 m, nav range: 213.026947 m, bearing: 155.009406 deg, approach rate: 0.000000 m/s, LOS rate: 0.142702 deg/s, cmd heading: 153.005322 deg, new cmd heading: 153.143347 deg. B)gO5HeadingCmd: 2.672856 target range: 220.417526 and range: 221.80 m.5+@1*1"1 11999Em EiEm"Ei"Ema:*EiVEm(3ZEiau@au@au@au@ʎqyyj}k@Z}?ɢ5) ` UBDAT read: Tx time:00:55:30.7709 U$Ping request sent.]2`,kʀY@A6S?6?6Nٱ6l.= >AHRS rotation from veh to nav: [[-0.004630,-0.997870,0.065064],[0.999838,-0.005752,-0.017068],[0.017406,0.064974,0.997735]]6Hr`??Kw ;zґ?'? r?i6S?I6g^;6CYJByJ)IbDR VDR2yZ݉%Z=ٔZuMQ-^?9^ ?Yj ?=nmGyllr7=Er?tQ 5z 5v؊?Q 9z 5v)vBYxyz?Q I~P@v$DIv:iv ;v 5yɮ5Aj)gO-FNOT Ignoring new targets: 220.42 m.R5!;Z5!;gOE ProNav: ac range: 220.417526 m, nav range: 212.964218 m, bearing: 155.051056 deg, approach rate: -0.212785 m/s, LOS rate: 0.141323 deg/s, cmd heading: 153.143346 deg, new cmd heading: 153.226670 deg. BEQ;gOMHeadingCmd: 2.674310 target range: 220.417526 and range: 221.80 m.M'+@I*I"I QQQQQʎYYYjaZe ?颉ɢz5) SBBBBR =BBUDB>S;BE59@1 @1@5/@1 AyIIO?>9bE3jE#4rEI"0E} E}EyEy"E}:*E}g:VEyZEyBE}&99Y9==mGyEFEX=EE>IQ 5U 5M[؊?Q 9U 5M{)MBY]c ?Q E]:y]?Q I]P@M,DIM2 ;iM:M 5yaɮe[AaPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 220.42 m.R;Z;gO ProNav: ac range: 220.417526 m, nav range: 212.865662 m, bearing: 155.110863 deg, approach rate: -0.218860 m/s, LOS rate: 0.132872 deg/s, cmd heading: 153.226674 deg, new cmd heading: 153.346343 deg. B+s;gOHeadingCmd: 2.676399 target range: 220.417526 and range: 221.80 m.J+@*" ʎjZ??颉ɢv(;) i)9顑i.V;iJ+@IJ+@IaA@A @A@A@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753656A؟AԑIIO>Թ E}  E} E} &Ey "E} :*E} :VE} 4ZEy a @a @a @a @>`,=Y@AJ=ҳ?J?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005044JٱJ= %AHRS rotation from veh to nav: [[-0.052141,-0.996450,0.066104],[0.998451,-0.053303,-0.015938],[0.019404,0.065170,0.997685]]JH5 @-?O?JQ@ޓ?? ?iJ=ҳ?IJS^;JCYm Bym)IbD}VD}yy=%V=ٔ7!Q->ԑ9"?Y"?=mGy}=E>Q 5 5?؊?Q 9 5 )BYy?Q IP@3DI!;i"; 5ypBɮA$EjgOFNOT Ignoring new targets: 220.42 m.R;Z;gO ProNav: ac range: 220.417526 m, nav range: 212.777420 m, bearing: 155.161306 deg, approach rate: -0.230488 m/s, LOS rate: 0.131811 deg/s, cmd heading: 153.346339 deg, new cmd heading: 153.447266 deg. B:q;gO HeadingCmd: 2.678160 target range: 220.417526 and range: 221.80 m. f+@ *" ʎ!j!Z%`?颙ɢ`4) checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256778B<A<BBB)IBBBBBTDB(S;BxE E`,Y@A2p?2?2qٱ2= :AHRS rotation from veh to nav: [[-0.076108,-0.994845,0.067017],[0.996890,-0.077298,-0.015337],[0.020438,0.065641,0.997634]]2H {@(??@ɳ@,i?Ͱ? ?i2p?I2`^;2CYfByf)IbDrVDrk1yv7b%zU=ٔz0Q-z>9xY|=~mGy~F~=E>Q 5  5؊?Q 9 5)BYy?Q IP@9DI:ip:F 5yɮAjgOFNOT Ignoring new targets: 220.42 m.Ry;Zy;gO ProNav: ac range: 220.417526 m, nav range: 212.684937 m, bearing: 155.211155 deg, approach rate: -0.232613 m/s, LOS rate: 0.125435 deg/s, cmd heading: 153.447262 deg, new cmd heading: 153.547004 deg. Be;gOHeadingCmd: 2.679901 target range: 220.417526 and range: 221.80 m.+@*" ʎjZ!?!ɢ-:)) -di))-j911i5'+`;E= E=E=%E9"E=:*E=҆:VE= 4ZE9BE=5+GM`]Aa9`]AY?AQy  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761165dK`,1Y@A2?27?2ۮٱ2= :AHRS rotation from veh to nav: [[-0.099706,-0.992678,0.068182],[0.994788,-0.100919,-0.014569],[0.021343,0.066374,0.997566]]2HYbt?M?չw֍ ە?`??i2?I29^;2CY-By5)I99iMb@Mb@Mb@ 9%C?~jtYZ?yQA $A) AYbDVDyS<%<=ٔMQ->9Y=mGy._=E>Q 5 5؊?Q 9 5)BY p?Q E :y '?Q I P@ADIU:i: 5yɮAQjgOFNOT Ignoring new targets: 220.42 m.R ;Z ;gO ProNav: ac range: 220.417526 m, nav range: 212.577835 m, bearing: 155.264564 deg, approach rate: -0.245408 m/s, LOS rate: 0.122442 deg/s, cmd heading: 153.547010 deg, new cmd heading: 153.653883 deg. B`;gOHeadingCmd: 2.681766 target range: 220.417526 and range: 221.80 m.+@*"   ʎ  1j1Z5I@颙ɢ9)  ;i)d9顡ie;i+@I+@IEM EMEM$EI"EM:*EM1]:VEM4ZEIa]@a]@a]@a]@@ @@4@ԉAzAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012883AIIO>ԩ R`,!KY@A2^?2?2˝ٱ2= :AHRS rotation from veh to nav: [[-0.123970,-0.989907,0.068663],[0.992030,-0.125213,-0.014079],[0.022534,0.066371,0.997541]]2H`R퓱??\Ռ`9? ? ?i2^?I2 +^;2CYRByR)IbDZVDZy<%X=ٔNQ->9Y!=%mGy%F%^=E%>)Q 55 5-؊?Q 95 5-z)-BY9y=H?Q I=P@-GDI-;i-j;-` 5yEqBɮEAIjigOmFNOT Ignoring new targets: 220.42 m.Ru;Zu;gO ProNav: ac range: 220.417526 m, nav range: 212.481049 m, bearing: 155.310248 deg, approach rate: -0.267977 m/s, LOS rate: 0.126544 deg/s, cmd heading: 153.653889 deg, new cmd heading: 153.745298 deg. Bg;gO HeadingCmd: 2.683362 target range: 220.417526 and range: 221.80 m. 3+@ * "  YYʎYaajaZe~"@}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265008BBB)IBBBBBB=S;BEԱ)ɢ-6)Q U@DQzDUAAE] E]E]#EY"E] :*E]]t:VE]3ZEYBE]I"9 ?Y ?=mGyDE=E>Q 5- 5-؊?Q 9- 5s)BY-?Q E-:y-X?Q I5P@ODI3;i7: 5y9ɮ=A9PmB*** querying acoustic contact ***i ijygO}FNOT Ignoring new targets: 220.42 m.R#;Z#;gO ProNav: ac range: 220.417526 m, nav range: 212.343918 m, bearing: 155.368539 deg, approach rate: -0.271600 m/s, LOS rate: 0.115526 deg/s, cmd heading: 153.745304 deg, new cmd heading: 153.861962 deg. BlS;gOHeadingCmd: 2.685398 target range: 220.417526 and range: 221.80 m.+@*" ʎjZ`d@ɢ 7)  @;i )$9ipo;i%+@!!I%+@I)checking for new query: numPingsReceived=0, elapsed TxPingTime=2.76945199@ @@/@A% ؟AI) I9 OM >a E]  E] E] 'EY "E] s:*E] :VE] '4ZEY ae @ae @am @am @%_`,‡Y@A:?:?:Zbмٱ:8= FAHRS rotation from veh to nav: [[-0.170348,-0.982907,0.069818],[0.985056,-0.171692,-0.013681],[0.025435,0.066444,0.997466]]:Hſ`s@߱?`?`ſ  ? s?=?i:?I:I^;8Y^By^)I ``f=f= j4BDAT read: Rx Time:00:55:33.4697 TRx dataTimestamp_ set to:1761699334.273090checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273862B>BBBBBGDBUDB-S;B{EBQBQBQBQBQCU4 * f`,GYY@A2&?2i?2ݼٱ2h= :AHRS rotation from veh to nav: [[-0.193779,-0.978609,0.069091],[0.980672,-0.195166,-0.013851],[0.027039,0.065071,0.997514]]2H@ȿ`Pﯱ? a?1ȿ^`"???i2&?I2.^;2CPYRByR)IbD^VD^y])<%]D=ٔ]J|Q-e>9aYa=emGyamrj=Em>qQ 5} 5u؊?Q 9} 5ui)uBYyy}c?Q IP@u[DIu;iu;u 5yɮ,AjgOFNOT Ignoring new targets: 220.42 m.Rh;Zh;gO ProNav: ac range: 220.417526 m, nav range: 212.127609 m, bearing: 155.453695 deg, approach rate: -0.300109 m/s, LOS rate: 0.115761 deg/s, cmd heading: 153.935935 deg, new cmd heading: 154.032368 deg. BS;gOHeadingCmd: 2.688372 target range: 220.417526 and range: 221.80 m.I,@*" ʎjZ @DDR=1ɢ=7)9 E@;iA)E9AIiM}iv;i]I,@YYI]I,@IYE EE&E"ED:*E&p:VE4ZEBE1!  DAT read: 00:55:33.4697 LVL= 23024, 32753, 32754, 32755, AGC= 67, IDX= 421,-0.27, 2.395, 0.426, 1.192, 1.670, PHS= 0.827,-1.199,-0.522, RAW= 109.2, 10.0, CAL= 110.8, 11.4, ROT= 39.2, -11.4  Ygot valid direction response: 00:55:33.4697 LVL= 23024, 32753, 32754, 32755, AGC= 67, IDX= 421,-0.27, 2.395, 0.426, 1.192, 1.670, PHS= 0.827,-1.199,-0.522, RAW= 109.2, 10.0, CAL= 110.8, 11.4, ROT= 39.2, -11.4  PDAT read: Bearing 279.9, 40.4 (Local)  ~Local bearing/azimuth received: Bearing 279.9, 40.4 (Local)  DAT read: Range 11 to 50 : 220.9 m (Round-trip 294.6 ms) speed -0.4 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.759656,0.619560,0.197657] Fpublishing direction and range infoy  aiO?o?g4L?Y \C Y   ) CI FS?i x ˡ ? ¸2> ? %K>) %/?I %K 7R,:?nԴǿ)L? A) R3I %/?i %K  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.5l`,H7Y@A2)?2?2ٱ2@= :AHRS rotation from veh to nav: [[-0.217071,-0.973608,0.070485],[0.975746,-0.218506,-0.013239],[0.028291,0.065901,0.997425]]2H˿`'K ?O9?˿ 2`b?`ް??i2)?I2B^;I2CY By)IiMb@Mb@Mb@ 9K7A?{GztMb`Y ?yףGAA ) AY AbDVDy=%(=ٔ(Q- >9 Y = mGy FF=E>Q 5%5J؊?Q 9%5c)BY-?Q E-:y-?Q I-P@cDI;i=;U5yIɮMAIi|Y@AJ[CR[CjI@V8pd@A Ja@NE@raiO?o?g4L?Z%/?b%KQHdD`@\YzL@zo 5"#D͵M?'?2lC:%":?*n[BB0(*?ue“WCw$@gO addTargetRange:: Added new target pos. range: 220.899994 m, deltaT: 4.031464 s, deltaX: -0.900009 m, approachRate: -0.223246 m/s, rangeRepo size: 4 gO  Added new target pos. range: 219.525360 m, bearing: 141.345046 deg, lat: 36.779340 deg, lon: -121.859470 deg, deltaT: 4.031464 s, deltaX: -0.892166 m, approachRate: -0.221301 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 219.53 m.REZAgO] ProNav: ac range: 219.525360 m, nav range: 215.687149 m, bearing: 147.236888 deg, approach rate: 0.000000 m/s, LOS rate: 0.115761 deg/s, cmd heading: 154.032363 deg, new cmd heading: 154.149613 deg. BYgOHeadingCmd: 2.690418 target range: 219.525360 and range: 220.90 m./,@*" ʎj̜k@Z=]?E= E=E=$E9"E=:*E=ga:VE=4ZE9aE@aE@aE@aE@aɢer3)a e BDAT read: Tx time:00:55:34.7709 $Ping request sent. s`,8́Y@A2A?2^,?2nٱ2= :AHRS rotation from veh to nav: [[-0.240567,-0.967907,0.072693],[0.970187,-0.242051,-0.012213],[0.029417,0.067588,0.997280]]2H`ο@? ?ο@Rp?jM??i2A?I28^;0YNByR)ITVAԙbDXVDXB9B9B9B9B=P =B9B9B=R;B=UE]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250824yej)%ef=ٔmOQ-m>9iYi=mmGyq}=E}>Q 55ζ؊?Q 95^)BYy?Q IP@iDIQ;i;h5yɮ%AjgOFNOT Ignoring new targets: 219.53 m.R_:Z_:gO ProNav: ac range: 219.525360 m, nav range: 215.558334 m, bearing: 147.269799 deg, approach rate: -0.381955 m/s, LOS rate: 0.097644 deg/s, cmd heading: 154.149610 deg, new cmd heading: 154.215472 deg. B2;gOHeadingCmd: 2.691568 target range: 219.525360 and range: 220.90 m.B,@*" ʎjZ@?颡ɢ_6) @ E EE%E"E:*E:VE 4ZEBE'?X?CпkȇȞ?Hΰ?@?iN?I 8^;Y%By%)IiMb@Mb@Mb@ 9x&1?{Gzt?{GztY?yף;ףQA )Y AbD VD2yۼ%C=ٔʺQ->9Y=mGyFi=E>Q 55؊?Q 95Y)BY?Q E:y?Q IP@pDI:i<: 5yɮIq E  E E 'E "E :*E n:VE '4ZE a @a @a @a @@/`,.Y@AB_?B/K?BٱBz= JAHRS rotation from veh to nav: [[-0.286656,-0.955461,0.070159],[0.957551,-0.288066,-0.010663],[0.030398,0.064125,0.997479]]BH`Xҿ@#?`B?oҿ@Vօ ?{j?X?iB_?IB6M^;@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014577Y]By])I m9Y=mGyȁ=E%>!Q 5E5%$؊?Q 9E5%T)%BYIyM?Q IMP@%vDI%ؗ;i%>;%] 5Qy]EBɮ]A]EP}B*** querying acoustic contact ***y yjgOFNOT Ignoring new targets: 219.53 m.R^:Z^:gO ProNav: ac range: 219.525360 m, nav range: 215.253265 m, bearing: 147.339744 deg, approach rate: -0.383385 m/s, LOS rate: 0.085839 deg/s, cmd heading: 154.289944 deg, new cmd heading: 154.355457 deg. B;gOHeadingCmd: 2.694011 target range: 219.525360 and range: 220.90 m.j,@*" ʎjZ0?ɢ/) =i)N9i;ij,@Ij,@I 9@ @@@A?A>I)I9OE0>ԁB5<A1B=>B9B=)IB= BB=Q =B9B9B=R;B=<Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.266676Թ Y`,<Y@A2"`?2fK?2Iٱ2;= :AHRS rotation from veh to nav: [[-0.309025,-0.948455,0.070263],[0.950570,-0.310381,-0.009009],[0.030353,0.064006,0.997488]]2Hӿ@Y@?k?Hӿs@?b?k?i2"`?I2'L^;0YLyR)IV=V=bDZVDZym"%mR=ٔum8Q-u>9yY=mGyFBy=E>Q 55؊?Q 95O)BYy?Q IP@|DIkO;iP;5y"BɮGAEjgO%FNOT Ignoring new targets: 219.53 m.R-:Z-:gOE ProNav: ac range: 219.525360 m, nav range: 215.100708 m, bearing: 147.372341 deg, approach rate: -0.390407 m/s, LOS rate: 0.083476 deg/s, cmd heading: 154.355459 deg, new cmd heading: 154.420698 deg. BM;gO]HeadingCmd: 2.695150 target range: 219.525360 and range: 220.90 m.]U},@Y*Y"Y YaaaaʎiiijiZm?bE}» 4jE}O4rE}8/Eq EuEu%Eq"Eq*EuV:VEu 4ZEqBEu#I  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770717`,4Y@AY%By%)IiMb@Mb@Mb@ 9rh|?~jtx?{Gzt?Y>y;ף;;A )Yp AbDVD1y+=%A=ٔQ->9Y=mGyE>Q 55U؊?Q 95J)BY>Q E:y?Q I P@DIK ;ie ;e5yɮ"Aj1gO=FNOT Ignoring new targets: 219.53 m.REF:ZEF:gOU ProNav: ac range: 219.525360 m, nav range: 214.940186 m, bearing: 147.406637 deg, approach rate: -0.391055 m/s, LOS rate: 0.083613 deg/s, cmd heading: 154.420701 deg, new cmd heading: 154.489344 deg. BU;gO]HeadingCmd: 2.696348 target range: 219.525360 and range: 220.90 m.],@Y*Y"Y YYaaaʎaiijiZmh@颙ɢW*) `K=i)i 9顡iM;i,@I,@I1]9@Y @Y@],0@aIIO*>EM EMEM#EI"EM:*EMk:VEM3ZEIaU@aU@aU@aU@achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.022714ԑ ;k`,VNY@A2g?2R?2ٱ2w= :AHRS rotation from veh to nav: [[-0.353443,-0.933043,0.067145],[0.934978,-0.354646,-0.006543],[0.029918,0.060466,0.997722]]2HΞֿ}`f0? V? ֿ=z͢?@k?@V?i2g?I2f^;2C@YjByj)IbDvVDvy~<%~\=ٔE[:Q-E>9AYA=MmGyMFM=EM>QQ 5]5U؊?Q 9e5UBF)UBYaye?Q IeP@UDIUl;iUy;U5yiɮu AqjgOFNOT Ignoring new targets: 219.53 m.R:Z:gO ProNav: ac range: 219.525360 m, nav range: 214.789185 m, bearing: 147.435946 deg, approach rate: -0.397237 m/s, LOS rate: 0.077158 deg/s, cmd heading: 154.489344 deg, new cmd heading: 154.548004 deg. B4 ;gOHeadingCmd: 2.697371 target range: 219.525360 and range: 220.90 m.,@*" ʎjZ` @B>BB)IBBBP =BBBR;BFEɢ)') w=i)8!!i%';i%,@))I-,@I)I9)=ZA}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274760ԩ9@ @@4@AzA\AAI!I9OEQ>E EE%E"Ea:*Ega:VE 4ZEBE()u9AYA=MmGyMFM2=EM>QQ 5]5U!؊?Q 9]5U?)UBYe?Q Ee:yeo?Q IeP@UDIUi ;iU ;Ue5yiɮmAqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.778863jgOFNOT Ignoring new targets: 219.53 m.R}:Z}:gO ProNav: ac range: 219.525360 m, nav range: 214.558075 m, bearing: 147.476875 deg, approach rate: -0.430227 m/s, LOS rate: 0.076274 deg/s, cmd heading: 154.548002 deg, new cmd heading: 154.629948 deg. B ;gOHeadingCmd: 2.698802 target range: 219.525360 and range: 220.90 m.+,@*" ʎjZW@ɢA&)  =i ) 8  i ȫ;i+,@I+,@IQ9@ @@0@A! I9 IQ Oe >ԁ E%  E% E! E! "E% O:*E% ]t:VE! ZE! a- @a- @a- @a- @H}`,x Y@A2_?2AK?2ٱ2= :AHRS rotation from veh to nav: [[-0.396657,-0.915085,0.072677],[0.917488,-0.397763,-0.000812],[0.029652,0.066358,0.997355]]2Hbٿ`H?@\? tٿPJ@\??`U?i2_?I2ښ^;2C @)B`AB@@DFaAiDIFFDIDiH JH)HH J`AJ 0NNFLLLIL)PiP)PIPRR F TTV`AViTTiXX)X XIXYXrchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.030606Y9y=)IYbDMVDM:yvH;%=ٔ[8Q-?9Y=mGy=E?Q 55ʍ؊?Q 95 <)BYy@Q IP@DI;ih;5yBɮ A EPEB*** querying acoustic contact ***A AjQgOFNOT Ignoring new targets: 219.53 m.R:Z:gO ProNav: ac range: 219.525360 m, nav range: 214.432358 m, bearing: 147.498079 deg, approach rate: -0.426549 m/s, LOS rate: 0.071985 deg/s, cmd heading: 154.629950 deg, new cmd heading: 154.672383 deg. B;gOHeadingCmd: 2.699542 target range: 219.525360 and range: 220.90 m.M,@*" ʎjZ 2 @IɢU)Q U=iQ)UU8YYi]o;i]M,@aaIeM,@Iaԉ%9@! @!@-/@)AIԱIO>AAB>BCB)IB!BBQ =BBBR;B_EBDAT read: Rx Time:00:55:37.4936 TRx dataTimestamp_ set to:1761699338.313111checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283776 `, Y@AY]1By])IbD}VD}02Աy*[=%F=ٔQ->9Y=mGyE>E EE$E"E:*EL_:VE4ZEBEl%i>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535408m9@i @i@m/@iAu?Au>AIIOuy> 9  DAT read: 00:55:37.4936 LVL= 18000, 24433, 25842, 29299, AGC= 67, IDX= 151,-0.03, 1.934,-0.079, 0.933, 1.202, PHS= 0.834,-1.236,-0.313, RAW= 116.4, 8.0, CAL= 117.7, 9.1, ROT= 32.3, -9.1  Ygot valid direction response: 00:55:37.4936 LVL= 18000, 24433, 25842, 29299, AGC= 67, IDX= 151,-0.03, 1.934,-0.079, 0.933, 1.202, PHS= 0.834,-1.236,-0.313, RAW= 116.4, 8.0, CAL= 117.7, 9.1, ROT= 32.3, -9.1  PDAT read: Bearing 289.9, 34.0 (Local)  ~Local bearing/azimuth received: Bearing 289.9, 34.0 (Local)  DAT read: Range 11 to 50 : 238.8 m (Round-trip 318.5 ms) speed 0.3 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.834623,0.527627,0.158158] Fpublishing direction and range infoy  ;?I9Q?@\~>?Y nC PF q_ d sr) I U?i ?5 A "@ 5> x@ ">) ZQ?I " rmD? &;t"? `) -I ZQ?i "  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.TҬ`,ǵY@AY/By)I iMb@Mb@Mb@ 9Mb?y&1?Mbp?Y?y`e<;AA A)AYbDVD:2y .% 7=ٔ Q->9Y=mGyFE>!Q 5-5%F~؊?Q 9-5%1)%BYM?Q EM:yUe@Q IUP@%DI%N;i%l;%Z&5yYɮ]AYh>Y@AJQmCRQmCj K"@,p>h@:IM_@9"KLB@r;?I9Q?@\~>?ZZQ?b"pQsg|`@RI@z**K?n ?2C:k>"Sϙ?*BjBSϙ?“jB\^CDU&@gO] addTargetRange:: Added new target pos. range: 238.800003 m, deltaT: 4.039668 s, deltaX: 17.900009 m, approachRate: 4.431059 m/s, rangeRepo size: 4 gO Added new target pos. range: 237.316864 m, bearing: 145.292405 deg, lat: 36.779252 deg, lon: -121.859470 deg, deltaT: 4.039668 s, deltaX: 17.791504 m, approachRate: 4.404200 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 237.32 m.RZgO ProNav: ac range: 237.316864 m, nav range: 222.362061 m, bearing: 148.909106 deg, approach rate: 0.000000 m/s, LOS rate: 0.075798 deg/s, cmd heading: 154.733141 deg, new cmd heading: 154.804846 deg. BgOHeadingCmd: 2.701854 target range: 237.316864 and range: 238.80 m..,@*" E EE%E"E:*E:VE 4ZEa@a@a@a@ʎ  j m@Z 5?AYɢ])a eL=ia)mW7iiim};i.,@I.,@I*DAT read: user:600>  BDAT read: Tx time:00:55:38.8209  $Ping request sent. ԙ `,<ςY@A2?2@2ٱ2e= :AHRS rotation from veh to nav: [[-0.458268,-0.885933,0.071513],[0.888329,-0.459191,0.003924],[0.029362,0.065325,0.997432]]2H`BTݿ@Y`N?1m?@acݿcp?`?%?@?i2?I2^;2CYf=Byf*IbDrVDr:yv=%vt=ٔzb:Q-z?9xY|=~mGy|~P>E?Q 5 5pw؊?Q 95-)BYy@Q IP@DI:i:G)5B>BB)IB+BBO =BBVDB+S;BEBABECBABEP =BEP =CEv 5yBɮAEjgOFNOT Ignoring new targets: 237.32 m.R ^:Z ^:gO= ProNav: ac range: 237.316864 m, nav range: 222.216583 m, bearing: 148.930813 deg, approach rate: -0.443157 m/s, LOS rate: 0.066169 deg/s, cmd heading: 154.804844 deg, new cmd heading: 154.848287 deg. B=1:gOEHeadingCmd: 2.702612 target range: 237.316864 and range: 238.80 m.E,@A*A"A AIIIIʎQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249944qjZ'e?!ɢ%v)! %=i!)-T7))i-;;i5,@11I5,@I99@ @@/@ԡAII!OEs>E EEE"E:*E:VEZEBEB-9)Y)=5mGy5FER=EE>IQ 5U5Mm؊?Q 9]5M()MBYYy]:@Q I]P@MDIM;iML ;M,-5yeBɮeAijgOFNOT Ignoring new targets: 237.32 m.Rі:Zі:gO- ProNav: ac range: 237.316864 m, nav range: 222.020538 m, bearing: 148.958590 deg, approach rate: -0.464899 m/s, LOS rate: 0.065927 deg/s, cmd heading: 154.848284 deg, new cmd heading: 154.903886 deg. BMN:gOUHeadingCmd: 2.703583 target range: 237.316864 and range: 238.80 m.]-@Y*Y"Y YaaaiʎjZ _?QɢUNr)Q U=iQ)]6YYi]Ҋ;ie-@aaIe-@Iiqmchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754431 9@  @@ 0@A)zA-ZA1A1I9IIO]>I E  E E #E "E 2:*E g:VE 3ZE a @a @a @a @b`, UY@A2?2@2ٱ2!= >AHRS rotation from veh to nav: [[-0.499158,-0.863402,0.073339],[0.865991,-0.500000,0.007719],[0.030005,0.067364,0.997277]]2H5߿` _Ʋ?3?߿N?`?>??i2?I2"^;2CYF=ByF*IIJ<)J<bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005874iMb@Mb@Mb@ 9p= ף?Zd;O?{Gzt?Y?yj<ף;AA A)1AY AbDVDyʏ;%P=ٔ^Q->9Y=mGyF@z=E>Q 55d؊?Q 95F$) BYA?Q E:y@Q IP@DIy;i;05yɮAPB*** querying acoustic contact *** j gOFNOT Ignoring new targets: 237.32 m.R:Z:gO% ProNav: ac range: 237.316864 m, nav range: 221.840317 m, bearing: 148.981809 deg, approach rate: -0.464733 m/s, LOS rate: 0.059923 deg/s, cmd heading: 154.903882 deg, new cmd heading: 154.950357 deg. B-T:gO-HeadingCmd: 2.704394 target range: 237.316864 and range: 238.80 m.5-@1*1" ʎjZ@%?ɢ ) $=i)G6id;i-@!!I%-@I!Y9@ @@4@yA.AIIOn>B}<A}p<B>BCB*IB:BBN =BBB0S;BEuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257739ԩ `,9Y@A@Z*?Z@Z<ٱZZ = zAHRS rotation from veh to nav: [[-0.519942,-0.851168,0.071930],[0.853669,-0.520745,0.008577],[0.030156,0.065864,0.997373]]ZH\@<i?@BQ?@㐁?T?rܰ?z?iZ*?IZ#^;ZCYIBy*IbDVD1y%{=%-S=ٔ-͹Q-->95 ?Y5 ?=5mGy1==E=>AQ 5M5Ek[؊?Q 9M5E)EBYIyMS @Q IMP@EDIEp:iE:E35yYɮ]AYjgOFNOT Ignoring new targets: 237.32 m.R:Z:gO ProNav: ac range: 237.316864 m, nav range: 221.658188 m, bearing: 149.003909 deg, approach rate: -0.471436 m/s, LOS rate: 0.057254 deg/s, cmd heading: 154.950355 deg, new cmd heading: 154.994592 deg. B:gOHeadingCmd: 2.705166 target range: 237.316864 and range: 238.80 m.p!-@*" ʎE EE"E"E :*E~:VE(3ZEBEI"i)d6!i%݋;i%p!-@)iImp!-@Iiԩchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509993@ @@3@Au؟AIIO> } checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761793`, 7Y@A2fU?2T @2%ٱ2L= :AHRS rotation from veh to nav: [[-0.540900,-0.838011,0.071869],[0.840541,-0.541649,0.010311],[0.030287,0.065986,0.997361]]2H@ O e?@?`0U??`s? a?i2fU?I2ػ^;2CYfOByf*IliMb@Mb@Mb@ 9w/?y&1?{Gzt?Y?y`e<A A)AYbDVD1y<%B=ٔ8Q->9"?Y"?=mGyFp=E>Q 55P؊?Q 95 )BY?Q E:y @Q IP@DIm ;i ;75yɮuAj gO FNOT Ignoring new targets: 237.32 m.R:Z:gO% ProNav: ac range: 237.316864 m, nav range: 221.456696 m, bearing: 149.027953 deg, approach rate: -0.478157 m/s, LOS rate: 0.057111 deg/s, cmd heading: 154.994587 deg, new cmd heading: 155.042719 deg. B% :gO-HeadingCmd: 2.706006 target range: 237.316864 and range: 238.80 m.-3/-@)*)"1 11199ʎ99AjAZE{@iɢm4)q uZ>iq)u5yyi});i}3/-@I3/-@III)MYA E EE$E"E:*E|:VE4ZEa@a@a@a@9@ @@/@A?A?checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014131A19IAIYOew>a `,NPY@A2%~?2 @2ٱ2= :AHRS rotation from veh to nav: [[-0.561479,-0.824162,0.074148],[0.826938,-0.562123,0.013858],[0.030259,0.069096,0.997151]]2H@_Y?Fv?ca?@G?L??i2%~?I2~^;2CYFXByF)*I HHJ=J=bDRVDRyV>=%Z\=ٔZR8Q-Z>9XY\=fmGydf=Ef>hQ 5n5j@G؊?Q 9n5j)jBYpyr\ @Q IrP@jDIj;ij;j:5yvBɮv,AzEjB%>B!B%*IB%JBB!B!B!B% S;B%pE9gO=FNOT Ignoring new targets: 237.32 m.REw:ZEw:gOU ProNav: ac range: 237.316864 m, nav range: 221.276505 m, bearing: 149.048118 deg, approach rate: -0.483542 m/s, LOS rate: 0.054156 deg/s, cmd heading: 155.042712 deg, new cmd heading: 155.083074 deg. BU8:gO]HeadingCmd: 2.706710 target range: 237.316864 and range: 238.80 m.]:-@Y*Y"Y YaaaaʎiiijiZm`@ɢJ) 0>i)5!!i%P;i-:-@))I-:-@=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265847I)9@ @@/@iA9IIIaOuX>ԑbE]J4jE]#4rE]?/E EE%E"E;*EV:VE 4ZEBEh_9Y=mGyFX=E>Q 55:؊?Q 95)BYy @Q IP@DI;iu;>5yɮAjagOeFNOT Ignoring new targets: 237.32 m.Rmb:Zmb:gO ProNav: ac range: 237.316864 m, nav range: 221.050049 m, bearing: 149.071823 deg, approach rate: -0.472824 m/s, LOS rate: 0.049545 deg/s, cmd heading: 155.083079 deg, new cmd heading: 155.130537 deg. BX:gOHeadingCmd: 2.707539 target range: 237.316864 and range: 238.80 m.PH-@*" ʎjZ@|@IɢM7")I MB>iQ)UJ4QQiU;iePH-@IPH-@IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769863}9@y @@@AIIO>E  E E E "E f;*E x:VE ZE a @a @a @a @ `,˜Y@A2?2 @2'ٱ29= :AHRS rotation from veh to nav: [[-0.601190,-0.795399,0.076885],[0.798546,-0.601584,0.020532],[0.029922,0.073739,0.996829]]2H<s@??,@;?ˣ?`??i2?I2_^;0Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021898YviByv>*IiuMb@Mb@Mb@qqqq q9u/$?l?~jtx?Yu1?yu=u;quA uA)uGAqYu AbDVDyT.=%T=ٔ-9Q->9Y=mGy=E>Q 55/؊?Q 95 )!BY?Q E:y7@Q IP@DI:i]:.B5yBɮ0AEP B*** querying acoustic contact ***  jygO}FNOT Ignoring new targets: 237.32 m.RD:ZD:gO ProNav: ac range: 237.316864 m, nav range: 220.861435 m, bearing: 149.087888 deg, approach rate: -0.504023 m/s, LOS rate: 0.042966 deg/s, cmd heading: 155.130535 deg, new cmd heading: 155.162692 deg. BC:gOHeadingCmd: 2.708100 target range: 237.316864 and range: 238.80 m.Q-@*" ʎjZ@\ @IɢMo)I UrS>iQ)Uͩ3QQiU;v;i]Q-@YYI]Q-@Ia9@ @@/0@AzA[A)AAB!B!B%**IB%YBB!B!B!B%R;B%dEA1IAIQO]v>UBDAT read: Rx Time:00:55:41.5423 ]TRx dataTimestamp_ set to:1761699342.345103]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274814ay D`,N}Y@A>9p@>e@>*ٱ>= FAHRS rotation from veh to nav: [[-0.620542,-0.780321,0.077637],[0.783590,-0.620851,0.023017],[0.030240,0.075118,0.996716]]>Hyc`߳?,??O?@:??i>9p@I>^;)j=bDVDy%%%R=ٔ-VQ-->9)Y)=5mGy5F5߀=E5>9Q 5E5=#$؊?Q 9E5= )=&BYIyM@Q IMP@=DI=p:i=g:=E5yQɮ]CAYjygOFNOT Ignoring new targets: 237.32 m.RL?:ZL?:E EE#E"E:*EAr:VE3ZEBE'i)<3id\;i hZ-@  I hZ-@IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5259119@ @@4@e+Gy9Y/AԁAII1Oa>ԩiY I] A DAT read: 00:55:41.5423 LVL= 25232, 32753, 32754, 32755, AGC= 68, IDX= 156,-0.26, 1.225,-0.615, 0.546, 0.643, PHS= 0.684,-1.213,-0.141, RAW= 124.3, 8.2, CAL= 125.0, 9.4, ROT= 25.0, -9.4  Ygot valid direction response: 00:55:41.5423 LVL= 25232, 32753, 32754, 32755, AGC= 68, IDX= 156,-0.26, 1.225,-0.615, 0.546, 0.643, PHS= 0.684,-1.213,-0.141, RAW= 124.3, 8.2, CAL= 125.0, 9.4, ROT= 25.0, -9.4  PDAT read: Bearing 303.9, 27.0 (Local)  ~Local bearing/azimuth received: Bearing 303.9, 27.0 (Local)  DAT read: Range 11 to 50 : 237.9 m (Round-trip 317.2 ms) speed 0.3 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.894138,0.416943,0.163326] Fpublishing direction and range infoyY ] p\ǜ?m3?$vz?Y] mCY ] b] ]  ] )] DI] /?i] C] Nb] - @] C>] X @ ] '>)] f>I] 'Y Y ] >˕?ERژ?h[7? ] =)] V;I] f>i] 'Y Y  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.n`,VY@A2@2A@2Zٱ2h&= :AHRS rotation from veh to nav: [[-0.639076,-0.765324,0.076553],[0.768536,-0.639355,0.024027],[0.030556,0.074189,0.996776]]2H`Os}?ٗ?u ?`J?@ ??i2@I2^;2CԱYjBy?*IE EE$E"EO:*Ee:VE4ZEa@a@a@a@iMb@Mb@Mb@ 9p= ף?y&1?Mb`?Y?y`<;AA pA)AY A ;p;bDVDy<%=ٔ'Q->9Y=mGy /=E>Q 55}؊?Q 95$)+BYP?Q E:yX@Q IP@DIm ;i;vJ5yɮ.AjOY@AJmlCRmlCj =,@lj@nX@yNC@rp\ǜ?m3?$vz?Zf>b'yٝiYY@u*E!J@z9BC+s+?(zK?2B:O"?*zBB“Bb\C&@*DAT read: user:601> BDAT read: Tx time:00:55:42.8709 $Ping request sent.i1)5^211i5t;i=g-@99I=g-@IA 9@  @ @ 0@ A ?A >A .AI! I1 1 OE >DL`,҃Y@A2@2z@2Cٱ2"= JAHRS rotation from veh to nav: [[-0.657512,-0.749705,0.074971],[0.752793,-0.657819,0.024021],[0.031309,0.072232,0.996896]]2H W ` R1?? ??}? ?i2@I2^;2CPRq@iPIPPP TTTTTBr>BpBr=*IBrhBBpBpBpBrS;BruETI~D)|i|)I   ^A i  i15^A)5 1I1 9)=O{A999Y9YEiByM>*IbD}VD}:y%=ٔ;Q-)?9 ?Y ?=mGyF˼=E)?Q 55r ؊?Q 95).BYy@Q IP@DI;iB;L5yBɮ AE5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250838jigOmFNOT Ignoring new targets: 236.43 m.Ru:Zu:gO ProNav: ac range: 236.426651 m, nav range: 220.251617 m, bearing: 149.133829 deg, approach rate: -0.484897 m/s, LOS rate: 0.033656 deg/s, cmd heading: 155.240883 deg, new cmd heading: 155.259250 deg. B`v:gOHeadingCmd: 2.709785 target range: 236.426651 and range: 237.90 m.m-@*" ʎjZ@?!IɢUHʼ)Q UrS>iQ)Uɦ1QYi]d;i]m-@aaIem-@Ii9@ @@/@QA)I1IIOUu>E EEE"E:*E]t:VEZEBE#9Y=mGy~^=E>!Q 5-5%h׊?Q 9-5%C)%3BY1y5t@Q I5Q@%DI%{;i%;%P5y9ɮ=A9ԉjgOFNOT Ignoring new targets: 236.43 m.R:Z:gO ProNav: ac range: 236.426651 m, nav range: 220.024872 m, bearing: 149.148053 deg, approach rate: -0.517292 m/s, LOS rate: 0.032484 deg/s, cmd heading: 155.259257 deg, new cmd heading: 155.287735 deg. Bm:gOHeadingCmd: 2.710282 target range: 236.426651 and range: 237.90 m.Du-@*" ʎjZ?1ɢ5)9 =b>i9)=7099i=k;iDu-@IDu-@IMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7557269@ @@@ԹAm؟AIyIO> E  E E E "E s:*E L_:VE ZE a @a @a @a @Xa,Y@A2^@2@2ٱ2w= :AHRS rotation from veh to nav: [[-0.693533,-0.716609,0.074044],[0.719663,-0.693856,0.025475],[0.033120,0.070955,0.996929]]2Hm1v@? z?@4!?)?*??i2^@I2:^;0Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006752\YoByE*IiMb@Mb@Mb@ 9NbX9?:v?~jt?Y?y<D< A)AYf AbDVD:y5)%=C=ٔ=Q-=>9E"?YE"?=EmGyEFEv=EE>qQ 5}5u(׊?Q 9}5u^)u9BY?Q E:y@Q IQ@uDIu:iu:uKT5yɮAPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 236.43 m.Rz:Zz:gO ProNav: ac range: 236.426651 m, nav range: 219.813904 m, bearing: 149.160198 deg, approach rate: -0.513894 m/s, LOS rate: 0.029611 deg/s, cmd heading: 155.287739 deg, new cmd heading: 155.312051 deg. BX:gOHeadingCmd: 2.710707 target range: 236.426651 and range: 237.90 m.8|-@*" ʎjZ@?ɢ3)! %^>i!)%C#0!)i-;i58|-@11I58|-@I99@ @@/@BA4=BBBI*IBrBBBBBPS;BEBƿCBƿCBBN =BN =C;4!A II)OE>Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258823A ca,Y@A2/+ @2 @2 ٱ2]= :AHRS rotation from veh to nav: [[-0.710353,-0.699987,0.073604],[0.703027,-0.710678,0.026249],[0.033935,0.070392,0.996942]]2H5`Jfײ?3?``?_?6??i2/+ @I2^;0YflByfA*I9bD}VD}y%j=ٔQ-?9Y=mGyE EE&E"E:*E[:VE4ZEBEa2EaJEA;a:EA;ax=E>Q 55׊?Q 95,)?BYy4@Q IQ@DI:i:UW5yBɮAEjgOFNOT Ignoring new targets: 236.43 m.R9Z9gO ProNav: ac range: 236.426651 m, nav range: 219.635727 m, bearing: 149.169324 deg, approach rate: -0.512848 m/s, LOS rate: 0.026289 deg/s, cmd heading: 155.312054 deg, new cmd heading: 155.330321 deg. Bs@:gOHeadingCmd: 2.711025 target range: 236.426651 and range: 237.90 m.q-@*!"! !!!))ʎ)))j1Z5@lp?ɢ߼) PX>i)/iv;iq-@Iq-@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.511904i9@ @@0@AII!OMt>ԙ e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7627364 a,X9Y@A:1 @:ѥ@:,? ٱ:h= BAHRS rotation from veh to nav: [[-0.726830,-0.683065,0.071701],[0.685952,-0.727187,0.025858],[0.034477,0.067978,0.997091]]:H@0BZ?`Q?@Ez? ?f?@+?i:1 @I:ʜ^;:CYJuByJM*IIN8>)N>iEMb@Mb@Mb@AAAA A9ES㥛?l?Mbp?YE?yE=E;AE A E A)EAAYEp AbDUVDU1ye9=%mM=ٔmQ-m>9iYq=umGyuFuu=Eu>ԙ!Q 5-5%׊?Q 955%)%DBY54?Q E=:y=)@Q I=Q@% DI%a;i% a;%Z5yIɮMAIjgOFNOT Ignoring new targets: 236.43 m.R9Z9gO ProNav: ac range: 236.426651 m, nav range: 219.421494 m, bearing: 149.177655 deg, approach rate: -0.507016 m/s, LOS rate: 0.019735 deg/s, cmd heading: 155.330318 deg, new cmd heading: 155.346996 deg. Bx:gOHeadingCmd: 2.711317 target range: 236.426651 and range: 237.90 m.6-@*" ʎjZq*@ɢܼ) j>i)3.i;i6-@B;gI6-@IE EE%E"Ea:*Ek:VE 4ZEa@a@a@a@9@ @@z0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014770AIIYIiOu> 'a,]4SY@A:= @:2@:cٱ:uc=BF>BDBFV*IBF|BBDBDBDBFS;BFE RAHRS rotation from veh to nav: [[-0.743220,-0.665436,0.069417],[0.668136,-0.743615,0.025114],[0.034908,0.065045,0.997272]]:Hu@AKXű?^a? o?`~ߡ?Ц? ?i:= @I: ^;:CYXyX b49|Y|=~mGy|~=E> Q 55 ׊?Q 95 y) IBYy@Q IQ@ DI u:i ; 1^5y%tBɮ%A%EjIgOMFNOT Ignoring new targets: 236.43 m.RU9ZU9gOe ProNav: ac range: 236.426651 m, nav range: 219.231552 m, bearing: 149.183828 deg, approach rate: -0.524066 m/s, LOS rate: 0.017047 deg/s, cmd heading: 155.346997 deg, new cmd heading: 155.359354 deg. Be9gOmHeadingCmd: 2.711532 target range: 236.426651 and range: 237.90 m.m-@i*i"i qqqqyʎyyyjZ`@颩ɢ ϼ) i).顱ivˆ;i-@,;oI-@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2669201@1 @1@5m3@1!IYIiO}7>DzD@AE EE$E"E:*Ei:VE4ZEBE9!Y!=-mGy-FYerX=Em>Q 55׹׊?Q 95)OBYy< @Q IQ@DIyiQ)Ur-YYi];ieM-@eVv;e]IeM-@I-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771028ԉ@ @@4@ԩII O >E  E E E "E *E k:VE ZE a @a @a @a @ "!a,ꆄY@A2G@2$=@2.ٱ20b= :AHRS rotation from veh to nav: [[-0.774119,-0.629477,0.067066],[0.632087,-0.774413,0.027374],[0.034705,0.063583,0.997373]]2H $@>+?:??`ġ?F?z?i2G@I2ͮ^;2CFchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022900YJByJb*I LLiMb@Mb@Mb@ 9L7A`?Zd;O?y&1|?Y+?yj<=`;AC A )Y AbDVD:y41=%M=ٔJ:Q->9Y=mGyV~=E>Q 55׊?Q 95)TBY?Q E:y"@Q IQ@DI ;i. ;ve5yjBɮAEjgO FNOT Ignoring new targets: 236.43 m.R $9Z$9gO% ProNav: ac range: 236.426651 m, nav range: 218.797043 m, bearing: 149.193206 deg, approach rate: -0.562425 m/s, LOS rate: 0.009007 deg/s, cmd heading: 155.371791 deg, new cmd heading: 155.378134 deg. B%݃9gO-HeadingCmd: 2.711860 target range: 236.426651 and range: 237.90 m.--@)*)") ))111ʎ999j9Z=` @iɢm.)i m>ii)uDV,Աqih;i-@h^;AJI-@I}9@ @@/@B>BB\*IBBBBBBS;BE=BDAT read: Rx Time:00:55:45.6170 =TRx dataTimestamp_ set to:1761699346.377144Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.275856^AM7 I I) O5 >9 'a,ƠY@A6:@6@6 ٱ60= BAHRS rotation from veh to nav: [[-0.789098,-0.610726,0.065860],[0.613316,-0.789299,0.029165],[0.034172,0.063407,0.997403]]6HK@5ܰ?H?`A Qݝ?~?m;??i6:@I6^;6CYJ{ByJT*IR@AR@AbDVVDV3yZ{%^[=ٔb:Q-b>9`Y`=bmGyfFf=Ef>hQ 5n5j׊?Q 9n5j)jYBYpyrG$@Q IrQ@j#DIj;ij;jh5ytɮvAtPB*** querying acoustic contact *** j!gO-FNOT Ignoring new targets: 236.43 m.R- 8Z- 8gO= ProNav: ac range: 236.426651 m, nav range: 218.599808 m, bearing: 149.195122 deg, approach rate: -0.525688 m/s, LOS rate: 0.005110 deg/s, cmd heading: 155.378129 deg, new cmd heading: 155.381964 deg. BE9gOEHeadingCmd: 2.711927 target range: 236.426651 and range: 237.90 m.E6-@I*I"I IIIQQʎQQYjYZ]? @DyD}<bE4jE4rE..E EE%E"E:*E&p:VE 4ZEBE.i)̖+顱is;i6-@H;6I6-@Ii@q @q@u/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.528596^AUIIO$>9i m DAT read: 00:55:45.6170 LVL= 25584, 31665, 28130, 28659, AGC= 73, IDX= 186,-0.23, 2.094, 0.603, 2.125, 1.387, PHS= 0.809,-0.739, 0.694, RAW= 146.2, -10.2, CAL= 146.6, -12.1, ROT= 3.4, 12.1 u Ygot valid direction response: 00:55:45.6170 LVL= 25584, 31665, 28130, 28659, AGC= 73, IDX= 186,-0.23, 2.094, 0.603, 2.125, 1.387, PHS= 0.809,-0.739, 0.694, RAW= 146.2, -10.2, CAL= 146.6, -12.1, ROT= 3.4, 12.1 } PDAT read: Bearing 296.7, 4.5 (Local)  ~Local bearing/azimuth received: Bearing 296.7, 4.5 (Local)  DAT read: Range 11 to 50 : 256.4 m (Round-trip 341.9 ms) speed 0.8 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.976062,0.057989,-0.209619] Fpublishing direction and range infoyA E ɺ;?3?9hʿYE 3CA E cE {E m E o)E IIE O?iE /=E 1?E N#@E K6E #@ E @X)E s=IE @X>A A E {ztB?> Pu?qƿ E >)E s.7>IE s=iE @X>A A  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.J-a,oY@A$fe]@fS @f ٱf>= mAHRS rotation from veh to nav: [[-0.803709,-0.591288,0.066557],[0.594067,-0.803719,0.033469],[0.033703,0.066439,0.997221]]fH ??`"?@A?`$?@9Y=mGyC=E>Q 55}׊?Q 9m5[)aBYmd?Q Em:ym&@Q ImQ@,DIhuM!Zj\`@:6 SEzuiv"? n ƿ2uC:u/T"u]C?*ugBuAqun[“ujBubCu"@gO% addTargetRange:: Added new target pos. range: 256.399994 m, deltaT: 4.031774 s, deltaX: 18.500000 m, approachRate: 4.588551 m/s, rangeRepo size: 4 gO5 Added new target pos. range: 254.813080 m, bearing: 147.709487 deg, lat: 36.779252 deg, lon: -121.859294 deg, deltaT: 4.031774 s, deltaX: 18.386429 m, approachRate: 4.560382 m/s, posRepo size: 4 j9gO=FNOT Ignoring new targets: 254.81 m.R=ZAgOu ProNav: ac range: 254.813080 m, nav range: 226.774155 m, bearing: 145.784670 deg, approach rate: 0.000000 m/s, LOS rate: 0.005110 deg/s, cmd heading: 155.381968 deg, new cmd heading: 155.387382 deg. BqgO}HeadingCmd: 2.712021 target range: 254.813080 and range: 256.40 m.}‘-@y*y"y yyʎj`fp@Z@R?ɢ5ټ) >i)v*99i=J;iE‘-@E@*;EBq$IE‘-@II*DAT read: user:602> BDAT read: Tx time:00:55:46.8709 $Ping request sent. 4a,=}ԄY@ABBBb*IBBBBBBS;BELR%@R!@RfٱR4= ZAHRS rotation from veh to nav: [[-0.817487,-0.571942,0.067808],[0.574992,-0.817233,0.038915],[0.033157,0.070802,0.996939]]RH (YM[?Uf?&@??` ??iR%@IRF^;RCYrByr]*IIva=)v=bDzVDz1y],<%]y=ٔ]J:Q-e ?9aYa=emGyeFm=Em ?qQ 5}5u}׊?Q 9}5u()ueBYyyC(@Q IQ@u1DIu;iu ;uo5yɮxAjgOFNOT Ignoring new targets: 254.81 m.RiaZiagO ProNav: ac range: 254.813080 m, nav range: 226.604340 m, bearing: 145.781027 deg, approach rate: -0.573626 m/s, LOS rate: -0.012317 deg/s, cmd heading: 155.387377 deg, new cmd heading: 155.380085 deg. BTgOHeadingCmd: 2.711894 target range: 254.813080 and range: 256.40 m.-@*" ʎjZ ?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250870颙ɢ) >i)8)顡iv;i-@;I-@I9@ @@*1@^AeIIIOE>E EE&E"E:*E]t:VE4ZEBE+99YA=MmGyI}E}>)Q 555-j׊?Q 9=5-)-mBY9y9Q I=Q@-:DI-:i-:-Et5yeVBɮmyAmEjgOFNOT Ignoring new targets: 254.81 m.RyMZyMgO ProNav: ac range: 254.813080 m, nav range: 226.342560 m, bearing: 145.775399 deg, approach rate: -0.521671 m/s, LOS rate: -0.011227 deg/s, cmd heading: 155.380083 deg, new cmd heading: 155.368815 deg. B`gOHeadingCmd: 2.711697 target range: 254.813080 and range: 256.40 m.s-@*" ʎ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754880jZ_q?ɢܼ) p>i)(iĂ;is-@MB;MIMs-@IIU9@Q @Q@U-0@QE  E E %E "E :*E Ar:VE 4ZE a @a @a @a @! ^Au 3J checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007149IAIIO>1Ca,e Y@A>@><$@>R]ٱ>= FAHRS rotation from veh to nav: [[-0.841253,-0.537254,0.060428],[0.539705,-0.841111,0.035374],[0.031822,0.062372,0.997546]]>H@01y? CE? a?J?F??i>@I>^;>CYR~ByRX*Ii%Mb@Mb@Mb@!!!! !9%{Gz?i|?5?:v?Y%?y%q=%T<%|A%- A %- A)%fA!Y%AbDEVDEkyu<%u<=ٔ}I;Q-}>9yYy=mGyF=E>Q 55[׊?Q 95_)sBY?Q E:y+@Q IQ@@DI;i :w5yɮ`AjIgOMFNOT Ignoring new targets: 254.81 m.RU.ZU.gOe ProNav: ac range: 254.813080 m, nav range: 226.138214 m, bearing: 145.768136 deg, approach rate: -0.522785 m/s, LOS rate: -0.018598 deg/s, cmd heading: 155.368813 deg, new cmd heading: 155.354274 deg. Be%gOHeadingCmd: 2.711444 target range: 254.813080 and range: 256.40 m.K-@*" ʎjZɠ?ԩ ɢ 'Ϳ)  z}>i )(i;iK-@!:׽IK-@I!BAp<BBBBBBBBS;BE9@ @@4@^AuCchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260471AIIO> E=  E= E= #E9 "E= :*E= x:VE= 3ZE9 BE= s@>%@>ٱ>qL= FAHRS rotation from veh to nav: [[-0.851817,-0.521162,0.052898],[0.522893,-0.852000,0.026071],[0.031482,0.049868,0.998259]]>HB[`y??Cb? h?`I??i>@I>ʦ^;>CYRByR_*I TTV=V=bD^VD^:2yf<%fT=ٔfg:Q-f>9hYh=jmGyhjS=En>rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510852tQ 5z5vK׊?Q 9z5v$)vzBY|y~ -@Q I~Q@vGDIv;ivK;v!{5yLBɮ "A EPMB*** querying acoustic contact ***I IjQgO]FNOT Ignoring new targets: 254.81 m.ReZegOu ProNav: ac range: 254.813080 m, nav range: 225.940811 m, bearing: 145.760071 deg, approach rate: -0.503824 m/s, LOS rate: -0.020603 deg/s, cmd heading: 155.354278 deg, new cmd heading: 155.338133 deg. BugOHeadingCmd: 2.711162 target range: 254.813080 and range: 256.40 m.-@*" !!ʎ!!!j)Z-@?频ɢP)  >i)8C'顙i;i-@:o"I-@IM9@I @I@M/@Q^A-N!nManaging dock network, ignoring radio surface power off!AIIO>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762688I >Pa,!AY@A 2"@2,'@2wٱ2= >AHRS rotation from veh to nav: [[-0.861993,-0.504894,0.045275],[0.505917,-0.862465,0.014215],[0.031871,0.035158,0.998873]]2H@s(:.?w0?P@?YQ?I?`?i2"@I2ܨ^;2CY\y`iMb@Mb@Mb@ 9HzG?S㥫?{Gzt?Y= ?y/]=ף;A A  A)YAAABAbDVDNyE;%==ٔkQ->9Y=mGyFU;=E>Q 559׊?Q 95)BY ?Q E:yt-@Q IQ@NDIv:i:~5E EE'E"E:*E n:VE'4ZEa @a @a @a @ySBɮ:Aj9gO=FNOT Ignoring new targets: 254.81 m.REѹZEѹgOU ProNav: ac range: 254.813080 m, nav range: 225.710205 m, bearing: 145.750250 deg, approach rate: -0.537758 m/s, LOS rate: -0.022926 deg/s, cmd heading: 155.338132 deg, new cmd heading: 155.318469 deg. BU'gO]HeadingCmd: 2.710819 target range: 254.813080 and range: 256.40 m.]~-@Y*Y"Y YaaaaʎiiijiZm @颙ɢv) >i)e&顡i?;i~-@: I~-@Iqchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.016111%9@! @!@-/@)ԙ^A5'B B B i*IB BB B B B T;B EBqBqBqBqBqCu-^4 Ii Iy O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266753iVa,ZY@A2tP@2F(@2dٱ2Dn< :AHRS rotation from veh to nav: [[-0.871139,-0.489288,0.041405],[0.489931,-0.871737,0.006462],[0.032932,0.025915,0.999122]]2H_ }P߿3?[?Ewz?ܠ?U??i2tP@I2^;2CYJByJ`*IpbD%VD%y;%N=ٔ-Q->9Y=mGy<=E>Q 55*)׊?Q 95G)BYy.@Q IQ@UDI:i ';e5yIBɮAj gO FNOT Ignoring new targets: 254.81 m.RvZvgO% ProNav: ac range: 254.813080 m, nav range: 225.496841 m, bearing: 145.740108 deg, approach rate: -0.536242 m/s, LOS rate: -0.025514 deg/s, cmd heading: 155.318474 deg, new cmd heading: 155.298171 deg. B%:gO-HeadingCmd: 2.710464 target range: 254.813080 and range: 256.40 m.-@x-@)*)") ))1qqʎyyyjyZ}@ɢ"s) '>i)1%顉iA};i@x-@:{I@x-@IE EE&E"E:*E:VE4ZEBE'! f\a,tY@A o@Ve*@ٱً< AHRS rotation from veh to nav: [[-0.886800,-0.460415,0.040042],[0.460729,-0.887540,-0.001566],[0.036260,0.017060,0.999197]]H`qwݿ@c?|?f7Y?x?k?io@I־^;Yya*IIC>)=Ai5Mb@Mb@Mb@1111 195oʡ?A`"?Mbp?Y5 ?y5Y=5;5A5^A 5 A)11Y5\AbDMVDM1y];%]==ٔeQ-e>9aYa=mmGymFuchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770912}B=E}>Q 55׊?Q 95)BY ?Q E:y0@Q IQ@]DI ;i? ;%5yɮAjAgOEFNOT Ignoring new targets: 254.81 m.RmeZmegO ProNav: ac range: 254.813080 m, nav range: 225.264969 m, bearing: 145.727252 deg, approach rate: -0.521389 m/s, LOS rate: -0.028938 deg/s, cmd heading: 155.298175 deg, new cmd heading: 155.272437 deg. BSgOHeadingCmd: 2.710015 target range: 254.813080 and range: 256.40 m.p-@*" ʎjZʘ@)颩ɢ->) >i)$顱ițz;ip-@ꗠ:Ip-@I@ @@/@Q^Am+IIO>E EE'E"E:*Ek:VE'4ZEa@a@a@a@% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022712y zca,Y@AY~By~^*I  bDVD y%V%%a=ٔ-Q-->9)Y)=-mGy)5E5>9Q 5E5=׊?Q 9E5=)=BYAyIQ IMQ@=cDI=9:i=:=M5yUBɮUJAUEYjygOFNOT Ignoring new targets: 254.81 m.RZgO ProNav: ac range: 254.813080 m, nav range: 225.069733 m, bearing: 145.716405 deg, approach rate: -0.564799 m/s, LOS rate: -0.031405 deg/s, cmd heading: 155.272439 deg, new cmd heading: 155.250727 deg. BegOHeadingCmd: 2.709636 target range: 254.813080 and range: 256.40 m.j-@*" ʎjZ@Q9 @ɢ w)0 )>i)#iw;i-j-@5r:5I5j-@I1Bm>BiBmo*IBmBBiBiBiBmT;BmEԉ9@ @@<0@BDAT read: Rx Time:00:55:49.6128 TRx dataTimestamp_ set to:1761699350.409419checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276122Թ^AI1 IA OM > E%  E% E% %E! "E% :*E% ]t:VE% 4ZE! BE% I"rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5269399lYI=MmGyMFU =EU>YQ 5e5]E֊?Q 9e5])]BYiymn1@Q ImQ@]jDI]:i] :]ތ5yqɮuSAqPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 254.81 m.RZԹgO ProNav: ac range: 254.813080 m, nav range: 224.850021 m, bearing: 145.703348 deg, approach rate: -0.538478 m/s, LOS rate: -0.032033 deg/s, cmd heading: 155.250733 deg, new cmd heading: 155.224592 deg. B~jgOHeadingCmd: 2.709180 target range: 254.813080 and range: 256.40 m.5c-@*" ʎjZ@~@ɢ5)  >i ) #  i t;i5c-@ᕑ:KȾI5c-@I9@ @@4@^AĎIIO5P>DAT read: 00:55:49.6128 LVL= 27312, 32753, 27618, 32755, AGC= 70, IDX= 399, 0.29, 1.426, 0.122, 1.608, 0.510, PHS= 1.018,-0.343, 1.054, RAW= 151.3, -23.9, CAL= 153.0, -25.4, ROT= 357.0, 25.4 Ygot valid direction response: 00:55:49.6128 LVL= 27312, 32753, 27618, 32755, AGC= 70, IDX= 399, 0.29, 1.426, 0.122, 1.608, 0.510, PHS= 1.018,-0.343, 1.054, RAW= 151.3, -23.9, CAL= 153.0, -25.4, ROT= 357.0, 25.4 PDAT read: Bearing 295.3, -1.1 (Local) ~Local bearing/azimuth received: Bearing 295.3, -1.1 (Local) DAT read: Range 11 to 50 : 253.2 m (Round-trip 337.7 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [0.902097,-0.047277,-0.428935]Fpublishing direction and range infoyg *?l=4hVsۿY3}Cjk )FIM?iy?)@վ*@ )b@I>xe?U?#d?FtHٿ  ?)p>IQwVi> T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.A %pa,dX…Y@A2 @2Z,@2^#ٱ2: :AHRS rotation from veh to nav: [[-0.898542,-0.437353,0.036668],[0.437073,-0.899288,-0.015775],[0.039875,0.001852,0.999203]]2Hۿ4Ƣ?`?@B'`rj?Y^?x?i2 @I2^;0YRByVc*I \\i=Mb@Mb@Mb@9999 99=V-??Mb?Y= ?y=L==<9=A 9)=A9Y=AbDUVDUβye<%e@=ٔmQ-m>9iYi=mmGyiu<Eu>yQ 55}h֊?Q 95})}BY)?Q E:y1@Q IQ@}qDI};i}:}p5E EE$E"E:*Ee:VE4ZEa@a@a@a@y BɮAcY@AJ{CR{Cj(@6_l@='<9Zrg *?l=4hVsۿZQwVb>n#Wiw\[@bXz⍫-Zc?$:P)"ٿ2:B:J"(?*?RBn(?“oCT%@gO addTargetRange:: Added new target pos. range: 253.199997 m, deltaT: 4.031955 s, deltaX: -3.199997 m, approachRate: -0.793659 m/s, rangeRepo size: 4 gO Added new target pos. range: 251.632248 m, bearing: 151.163492 deg, lat: 36.779098 deg, lon: -121.859294 deg, deltaT: 4.031955 s, deltaX: -3.180832 m, approachRate: -0.788906 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 251.63 m.RZgO ProNav: ac range: 251.632248 m, nav range: 239.013550 m, bearing: 148.011312 deg, approach rate: 0.000000 m/s, LOS rate: -0.032033 deg/s, cmd heading: 155.224587 deg, new cmd heading: 155.196794 deg. BgOHeadingCmd: 2.708695 target range: 251.632248 and range: 253.20 m.B[-@*!"! !!!IIʎIIQjU`fo@ZU?颙ɢ<) ]>i*DAT read: user:603> BDAT read: Tx time:00:55:50.9209 $Ping request sent.BI BI BM u*IBM BBI BI BI BM T;BM E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250764ԡ |va,n4܅Y@Ara@r W-@r^2ٱrEB zAHRS rotation from veh to nav: [[-0.906786,-0.420504,0.030261],[0.419333,-0.907021,-0.038369],[0.043582,-0.022103,0.998805]]rH`c ڿ ?Z?@Q*`\P?L6?ira@Ir^;pYBy[*IIMAAbDUVDUf?ye.%eJ=ٔezQ-m>9m ?Ym ?=mmGymFuF=Eu>yQ 55}֊?Q 95})}BYy#3@Q IQ@}yDI}:i}:}5yɮ)AjgOFNOT Ignoring new targets: 251.63 m.R. Z. gO ProNav: ac range: 251.632248 m, nav range: 238.794754 m, bearing: 147.999806 deg, approach rate: -0.577932 m/s, LOS rate: -0.030420 deg/s, cmd heading: 155.196788 deg, new cmd heading: 155.173755 deg. B^gOHeadingCmd: 2.708293 target range: 251.632248 and range: 253.20 m.T-@*" ʎjZ?ɢG)! %>i!)% N!!!i%l;i-T-@-:5dp;I5T-@I1qDzDbEmĞ4jEm4rEmͰ/E EE&E"E*E:VE4ZEBEJ}a,Y@AFchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754768YEByEh*IiMb@Mb@Mb@ 9> ףp=? ףp= ?~jtx?Y?yQ8=;AA  A)YfAbD VDf2y!=%=ٔQ->9Y=mGyFE> Q 55 ֊?Q 95 ) BYa?Q E:yg2@Q IQ@ DI ;i ; 5y%Bɮ-A-ߪE1jQgOUFNOT Ignoring new targets: 251.63 m.R]Z]gOm ProNav: ac range: 251.632248 m, nav range: 238.489227 m, bearing: 147.984586 deg, approach rate: -0.558019 m/s, LOS rate: -0.027833 deg/s, cmd heading: 155.173756 deg, new cmd heading: 155.143278 deg. BmKgOuHeadingCmd: 2.707761 target range: 251.632248 and range: 253.20 m.uK-@q*q"y yyyʎjZ`9?qɢuh)q u>iq)} yyi}\e;iK-@ی:Mn:IK-@IE- E-E)E)"E-m:*E-5:VE)ZE)a5@a5@a5@a=@Y=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006947- +ԉ 9@  @ @ 0@ ^A NJNB} >By B} {*IB} BB} O =By By B} S;B} E IyIO>Fхa,wfY@AF? @Fk5.@FAٱF}: RAHRS rotation from veh to nav: [[-0.912237,-0.408920,0.024643],[0.406923,-0.911442,-0.060724],[0.047292,-0.045367,0.997850]]FH` 1+ڿ;? ?*<6? Z:c?iF? @IFۉ^;FC T)V`AVV EXXZ`AiZ^I\\I\i^b`A ^9\)`` b`AbH``ddId)did)hIj`Ajh hln`Anillipp)p pIpYpYvByvj*IbDVD1yy;%U=ٔQ->9Y=mGy%=E%>)Q 555-֊?Q 955-)-BY1y=H3@Q I=Q@-DI-;i-;-5yEBɮEAEުE]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258852jqgO}FNOT Ignoring new targets: 251.63 m.R}Z}gO ProNav: ac range: 251.632248 m, nav range: 238.275436 m, bearing: 147.973172 deg, approach rate: -0.556657 m/s, LOS rate: -0.029746 deg/s, cmd heading: 155.143280 deg, new cmd heading: 155.120431 deg. BYgOHeadingCmd: 2.707362 target range: 251.632248 and range: 253.20 m.lE-@*" ʎjZ Wj?Iɢ) >i)!&iU2`;ilE-@ ߏ: `o Ba,i3Y@A2 @24y.@2Q7Hٱ2Yb :AHRS rotation from veh to nav: [[-0.913844,-0.405450,0.022345],[0.403115,-0.912451,-0.070225],[0.048861,-0.055167,0.997281]]2H5>ٿ? ?@2;]?@>?i2 @I2t^;2CY%By-u*IbDmVDm !yu=%/=ٔXQ->9Y=mGyF <E> Q 55 ֊?Q 9E5 ) BYAyE3@Q IEQ@ DI i)< idY;i=-@:ཋi1I@ @@/@^A;IIOj>qEu  Eu Eu #Eq "Eu ;*Eu 1]:VEu 3ZEq a} @a} @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014759ԡ Aa,MY@A2A @2.@2Nٱ2x :AHRS rotation from veh to nav: [[-0.915111,-0.402722,0.019659],[0.400031,-0.912939,-0.080733],[0.050461,-0.066016,0.996542]]2H`H1ٿ!??@6񪴿@֩? g氿?i2A @I2W^;2CY By o*I==iMb@Mb@Mb@ 9(\?~jt?{Gz?Yz?y=#< AOA  A)AY=AbDVDyμ%Y=ٔNQ->9Y=mGyc<E>Q 55֊?Q 95)BY?Q E:y2@Q IQ@DI: ;i ;y5yBɮkAݪEjgOFNOT Ignoring new targets: 251.63 m.R8 Z8 gO- ProNav: ac range: 251.632248 m, nav range: 237.801620 m, bearing: 147.947787 deg, approach rate: -0.577354 m/s, LOS rate: -0.030210 deg/s, cmd heading: 155.091015 deg, new cmd heading: 155.069608 deg. B-&]ԑgO5HeadingCmd: 2.706475 target range: 251.632248 and range: 253.20 m.6-@*" ʎjZ`@iɢu$)q u>iq)u.*yyi}R;i}6-@%:<BqBu*IBuBBuM =BqBuWDBuS;BuEa@a @a@e/@aiIA checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268590^AM hW<I I O > Ga,%fY@AD zD E& E&E$E$"E&:*E&z:VE$ZE$BE&.3?u|?@3޷E?W?`H?iB# @IB~^;BCYRByRr*IbD^VD^yfP<%f[=ٔftQ-f>9hYh=jmGyjFj;En>pQ 5v5ro֊?Q 9v5r̽)rBYtyv3@Q IvQ@rDIr:ir:r5y~Bɮ~7A~ܪEj!gO%FNOT Ignoring new targets: 251.63 m.R-P Z-P gO= ProNav: ac range: 251.632248 m, nav range: 237.590103 m, bearing: 147.936597 deg, approach rate: -0.566785 m/s, LOS rate: -0.030012 deg/s, cmd heading: 155.069610 deg, new cmd heading: 155.047209 deg. B=[gOEHeadingCmd: 2.706084 target range: 251.632248 and range: 253.20 m.E|0-@A*A"A AAIIIʎIQQjQZU@ɢ%/)! %>i!)%M!)i-K;i-|0-@5:]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5189745"Q % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7736265/a,ƀY@A 2 @2;.@2sZٱ2? >AHRS rotation from veh to nav: [[-0.916370,-0.400166,0.011516],[0.396767,-0.911664,-0.106979],[0.053308,-0.093463,0.994195]]2HRRٿ?d?`Z,b)K?`1@q?i2 @I2f^;2CYFByFq*IiMMb@Mb@Mb@IIII I9M ףp= ?J +?~jth?YMQ?yMH=MD;MC AME@ MC A)IIYMAbDeVDek1yu%u@=ٔ}S`Q-}>9yY=mGyo;E>Q 55[֊?Q 95)BY?Q E:y.4@Q IQ@DI;i;t5yɮ;AjgOFNOT Ignoring new targets: 251.63 m.RfZfgO ProNav: ac range: 251.632248 m, nav range: 237.343063 m, bearing: 147.922421 deg, approach rate: -0.579862 m/s, LOS rate: -0.033309 deg/s, cmd heading: 155.047207 deg, new cmd heading: 155.018825 deg. BsgOHeadingCmd: 2.705589 target range: 251.632248 and range: 253.20 m.^(-@*" ʎjZR @)ɢ5)1 5>i1)=>W99i= iD;iE^(-@Epǣ:E|ƿBi Bm *IBm BBm N =Bi Bm VDBm S;Bm EB)B)B)B)B)C-]5O >]Ya,EY@A: !@:/@:aٱ:eڽ JAHRS rotation from veh to nav: [[-0.916893,-0.399049,0.008131],[0.395312,-0.910741,-0.119500],[0.055091,-0.106355,0.992801]]:H0W@ٿŦ?L?`$4? :?Pi: !@I:y^;8fBDAT read: Rx Time:00:55:53.6067 jTRx dataTimestamp_ set to:1761699354.442178nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277466YvByzz*IbDVDy-a!=%-O=ٔ-`Q-5>9="?Y="?=EmGyEFE;EE>QQ 5e5UH֊?Q 9e5U)UBYiymG4@Q IuQ@UDIUIW;iUQ;U5yBɮA۪EjgOFNOT Ignoring new targets: 251.63 m.RZgO ProNav: ac range: 251.632248 m, nav range: 237.112961 m, bearing: 147.909100 deg, approach rate: -0.576616 m/s, LOS rate: -0.033413 deg/s, cmd heading: 155.018820 deg, new cmd heading: 154.992153 deg. BtgOHeadingCmd: 2.705123 target range: 251.632248 and range: 253.20 m. -@*" ʎjZ " @ɢ.) >i)Hi=;;i -@m^:ja,|Y@A2!@2/@2_gٱ2 :AHRS rotation from veh to nav: [[-0.917133,-0.398548,0.005236],[0.394550,-0.909640,-0.129942],[0.056551,-0.117108,0.991508]]2H`&Yρٿ ru?`O@?7? n?i2!@I28^;2CYFByFs*IbDRVDRyZ%ZR=ٔZvQ-Z>9\Y\=^mGy\b;Eb>dQ 5j5fC6֊?Q 9j5f)fBYhyjS4@Q IjQ@fDIf:if:fK5ypɮr Apj)gO5FNOT Ignoring new targets: 251.63 m.R5Z5gOE ProNav: ac range: 251.632248 m, nav range: 236.889099 m, bearing: 147.896072 deg, approach rate: -0.576206 m/s, LOS rate: -0.033564 deg/s, cmd heading: 154.992155 deg, new cmd heading: 154.966075 deg. BMugOMHeadingCmd: 2.704668 target range: 251.632248 and range: 253.20 m.MI-@Q*Q"Q QQQʎjZ%@频ɢpD) j>i)L顡in3;iI-@=:FiB`X>%/@=].@ V=)@IV轩w?;?_RMG? iB$?)^Ii ڽiV轩T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.!@! @!@%,4@!aE  E E $E "E a:*E Ar:VE 4ZE a @a @a @a @^A m<ԁ  *DAT read: user:604>  BDAT read: Tx time:00:55:54.9709  $Ping request sent. 4ka,VΆY@A2$!@2/@2|mٱ20 :AHRS rotation from veh to nav: [[-0.917116,-0.398601,0.003833],[0.394399,-0.908759,-0.136408],[0.057856,-0.123591,0.990645]]2H`Yٿgo?=? `uR?]?i2$!@I2^;2CYYByx*IiMMb@Mb@Mb@IIII I9Mn??Mb?YM?yML=M9} ?Y} ?=mGyF9E>Q 55 ֊?Q 95)BY?Q E:y4@Q IQ@DI ;i" ;T5yBɮA  Y@AJ QCR QCj T')@ +i@Z#)6A,7@r pRA?*Wj\5?Z i ڽb V Y  fQ֗X@  #C@z ў$#?XINW?2 \B: @5" v?* B %B  ?R“ %B eC (@kOaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 211.199997 m, deltaT: 4.033508 s, deltaX: -42.000000 m, approachRate: -10.412772 m/s, rangeRepo size: 4jgOFNOT Ignoring new targets: 251.63 m.RHZHgO ProNav: ac range: 251.632248 m, nav range: 236.625900 m, bearing: 147.880443 deg, approach rate: -0.570917 m/s, LOS rate: -0.033939 deg/s, cmd heading: 154.966078 deg, new cmd heading: 154.934785 deg. BsxgOHeadingCmd: 2.704122 target range: 251.632248 and range: 253.20 m.V-@*" !!!ʎ!))j-`ffj@Z5n?Yɢ])a e>ia)e'Maaie5*;imV-@m`:uBB*IBBBBBWDBkS;BEԉ@  @ @ /@ checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250894Ա^A- 8<A5 ?A5 ? A] ؟AIa Iy O >a,2Y@AE EEE"E2:*EL_:VEZEBE*!@>Z/@>+rٱ>T JAHRS rotation from veh to nav: [[-0.917081,-0.398689,0.003241],[0.394278,-0.908082,-0.141181],[0.059231,-0.128197,0.989978]]>H`Xٿ*j?;?`:¿yS?h`?i>!@I>}^;>CYRByRy*IbD^VD^yf;%fj=ٔf4Q-f>9j"?Yj"?=jmGyhj9En>pQ 5v5r,֊?Q 9v5rγ)rBYtyv4@Q IvQ@rDIr:ir:ra5y|ɮ~A|PB*** querying acoustic contact *** j!gO%FNOT Ignoring new targets: 251.63 m.R- Z- gO= ProNav: ac range: 251.632248 m, nav range: 236.426682 m, bearing: 147.868584 deg, approach rate: -0.576126 m/s, LOS rate: -0.034324 deg/s, cmd heading: 154.934782 deg, new cmd heading: 154.911044 deg. B=D{gOEHeadingCmd: 2.703708 target range: 251.632248 and range: 253.20 m.E -@A*A"I IIIQQʎQQQԹjQZx?=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502308IɢM2w)I U>iQ)udqqiuj";i} -@}:)9 :}a,= Y@A2!@2 /@2!yٱ2I :AHRS rotation from veh to nav: [[-0.916784,-0.399373,0.003004],[0.394731,-0.907222,-0.145379],[0.060786,-0.132096,0.989371]]2HJVRٿph?FC?ț¿@J?@?i2!@I2P^;2CY y z*IiMb@Mb@Mb@ 9K?A`"?Mbp?Y^?yY=;Az@ )E@YpAbDVD0y[r:%.=ٔXQ->9 ?Y ?=mGyFE>Q 55lՊ?Q 95v)BY?Q E:y4@Q IQ@DI ;i ;}5yBɮAڪEj!gO-FNOT Ignoring new targets: 251.63 m.E= E=E=#E9"E=:*E=&p:VE=3ZE9aE@aE@aE@aE@RE0!ZE0!gO] ProNav: ac range: 251.632248 m, nav range: 236.150711 m, bearing: 147.852047 deg, approach rate: -0.587237 m/s, LOS rate: -0.035231 deg/s, cmd heading: 154.911040 deg, new cmd heading: 154.877927 deg. B]gOeHeadingCmd: 2.703130 target range: 251.632248 and range: 253.20 m.e-@a*a"a aaiqqʎqqqjyZ}@1?颡ɢ) >i))J顩iګ;i-@we:hB B *IB ɊBB M =B B B OS;B EA ؟AI I Թ O >٨a,Y@AVchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259041-=`BPC1A got IPBS message with 6 sticks (min is 7).AEq@iAIAAI IIIIIQIQ)QiQ)YI]_AYY Ye@Ce^AeieYEaimYCm1^A)m"۽ msEIiYiYBy*I@AbDVD yR=%^=ٔQ->9"?Y"?=mGyE>Q 55Պ?Q 95)BYyQ IQ@DI;i:5yBɮAЪEjԑgOFNOT Ignoring new targets: 251.63 m.RZgO ProNav: ac range: 251.632248 m, nav range: 235.934418 m, bearing: 147.839058 deg, approach rate: -0.562517 m/s, LOS rate: -0.033812 deg/s, cmd heading: 154.877927 deg, new cmd heading: 154.851925 deg. BwgOHeadingCmd: 2.702676 target range: 251.632248 and range: 253.20 m.,@*" ʎjZ6]?QɢU4s[)U UU>iQ)]@YYi]= ;ie,@e:ej4 a,5Y@A2 @2.@2⁽ٱ2{ >AHRS rotation from veh to nav: [[-0.915329,-0.402700,0.002297],[0.397689,-0.904806,-0.152218],[0.063377,-0.138416,0.988344]]2H`Jٿb?s?*{ÿz9?@?i2 @I2 ^;0YrByv*IbD~VD~Ny % V=ٔ G߻Q- >9Y=mGyF E>!Q 5-5%*Պ?Q 9-5%)%BY)y5t4@Q I5Q@%DI%:i%:% 5yIɮUAYjgOFNOT Ignoring new targets: 251.63 m.R$Z$gO ProNav: ac range: 251.632248 m, nav range: 235.710480 m, bearing: 147.825776 deg, approach rate: -0.605817 m/s, LOS rate: -0.035966 deg/s, cmd heading: 154.851932 deg, new cmd heading: 154.825342 deg. BgOHeadingCmd: 2.702212 target range: 251.632248 and range: 253.20 m. ,@*" ʎjZ@F?)ɢM`) <>ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763759)9i;i ,@R:x_a,OY@A2 @2Y.@2Ƅٱ2% >AHRS rotation from veh to nav: [[-0.914560,-0.404447,0.001473],[0.399227,-0.903328,-0.156896],[0.064787,-0.142903,0.987614]]2HDwٿ"X?@?` /Ŀ@㕰?J¿?i2 @I2Q^;0YUByU*IiMb@Mb@Mb@ 9~jt?V-?Y?ym=7@  A)/@YbDVDyt<%;=ٔtTQ- >9 Y = mGy jE>Q 5%5Պ?Q 9%5)BY%Z?Q E-:y-4@Q I-Q@DIL:i:5y5Bɮ5mA=ϪEjYgOeFNOT Ignoring new targets: 251.63 m.Re%Ze%gOu ProNav: ac range: 251.632248 m, nav range: 235.452606 m, bearing: 147.810139 deg, approach rate: -0.597142 m/s, LOS rate: -0.036248 deg/s, cmd heading: 154.825348 deg, new cmd heading: 154.794042 deg. BugO}HeadingCmd: 2.701666 target range: 251.632248 and range: 253.20 m.},@y*" ʎjZ`@Q9ɢUW)Q U>iY)]YYi]:ie,@eS:eL.BB*IBӊBBBBBRS;B@ @@1@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268959^A- m<ԩ I I Aa I I O > cG \A 5 u95 \AY= ADQ zDQ Ee  Ee Ee 'Ea "Ee :*Ee Ar:VEe '4ZEa BEe #AHRS rotation from veh to nav: [[-0.913563,-0.406697,0.000132],[0.401296,-0.901484,-0.162134],[0.066059,-0.148067,0.986769]]2H;RڿM!?֮?`@Ŀ`6?¿?i2 @I2\^;0YFByF*I N9YYY=]mGyeFe}ûEe>iQ 5u5mՊ?Q 9u5m)mBYqy}4@Q I}Q@mDIm;imY;m75yyBɮHAΪEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 251.63 m.R#Z#gO ProNav: ac range: 251.632248 m, nav range: 235.224442 m, bearing: 147.796416 deg, approach rate: -0.591970 m/s, LOS rate: -0.035641 deg/s, cmd heading: 154.794039 deg, new cmd heading: 154.766565 deg. BsgOHeadingCmd: 2.701186 target range: 251.632248 and range: 253.20 m.<,@*" ʎjZ`#@ ɢ A) >i%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522403)!!i% :i-<,@-q:-³EM EMEM)EI"EMO:*EMk:VEMFA4ZEIaU@aU@a]@a]@AIIO?Va,Y@A>v @>l.@>‰ٱ> FAHRS rotation from veh to nav: [[-0.912555,-0.408951,-0.001239],[0.403392,-0.899644,-0.167082],[0.067214,-0.152972,0.985942]]>H3 A,ڿLT +?`bſ4?@ÿ֌?i>v @I>)K^;L>CYRByV*Ii5Mb@Mb@Mb@1111 195S?Dl?Y5?y5O=15A1 5 A)5@1Y5AbDMVDM:2y<%=ٔ(Q->9Y=mGy E>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026483Q 55NՊ?Q 95)BY?Q E:y5@Q IQ@DI ;i;5yɮ(AjgO%FNOT Ignoring new targets: 251.63 m.R%]-Z%]-gO5 ProNav: ac range: 251.632248 m, nav range: 234.914459 m, bearing: 147.776435 deg, approach rate: -0.587082 m/s, LOS rate: -0.037892 deg/s, cmd heading: 154.766568 deg, new cmd heading: 154.726553 deg. B=gO=HeadingCmd: 2.700488 target range: 251.632248 and range: 253.20 m.=,@A*A"A AAAIIʎIQQjQZUX] @yɢزk) د>i)顉i:i,@xP:B9B=*IB=݊BB=N =B9B=VDB=JS;B=E^A] U< BDAT read: Rx Time:00:55:57.7082  TRx dataTimestamp_ set to:1761699358.478513 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280994 A I I O >a,[Y@A2Q @2G.@2vٱ2r# :AHRS rotation from veh to nav: [[-0.911574,-0.411126,-0.002955],[0.405420,-0.897681,-0.172636],[0.068322,-0.158569,0.984981]]2H+`Oڿ5he?ιƿ }?KĿ`?i2Q @I2?d^;0YbByb*IbDjVDjܲyr<%rZ=ٔvAQ-v>9tYt=zmGyzFzĻEz>|Q 5 5Պ?Q 9 5B)BY y y5@Q I Q@DI:i:5ynBɮAͪEjAgOMFNOT Ignoring new targets: 251.63 m.RM+ZM+gO] ProNav: ac range: 251.632248 m, nav range: 234.694458 m, bearing: 147.762355 deg, approach rate: -0.586823 m/s, LOS rate: -0.037590 deg/s, cmd heading: 154.726557 deg, new cmd heading: 154.698371 deg. BegOeHeadingCmd: 2.699996 target range: 251.632248 and range: 253.20 m.e,@i*i"i iiiqqʎqqyjyZ}8] @颡ɢ) ӳ>i)顩i:i,@:%Ia,Y4Y@A&^direction in FSK: [0.903334,0.001577,-0.428935]&Fpublishing direction and range infoyim9?cjJY?hVsۿYmyCiiii i)mGImĀ?im mv?m%@mBҾmp'@ m)m:Im>iim9}?bx'?Tٿ m6>)mga>Im:im>iiFT****** received valid address query ******FR****** received valid ping request ******FQuerying Benthos address 50 with one ping in standard two-way mode.YBy *IiUMb@Mb@Mb@QQQQ Q9U^I +?㥛 ?{GztYUX?yU=UףUAU@ Q)U@QYQbDVDyEc=%E=ٔMQ-M>9M ?YM ?=UmGyUFUEU>YQ 5e5]fgՊ?Q 9e5]ɢ)]BYm{?Q Em:ym5@Q ImQ@] DI]":i]:]5ycBɮA̪EimؾY@AJmZxCRmZxCjm)@m- l@M0I?Zrm9?cjJY?hVsۿZm:bm>mP׮Ti'?[@ 7[jVzm`υTz%KX?f ׿2mB:mZL"mE"?*mwoBmRm?mwo“mAmNcCm3)@gO% addTargetRange:: Added new target pos. range: 249.899994 m, deltaT: 8.069641 s, deltaX: -3.300003 m, approachRate: -0.408940 m/s, rangeRepo size: 4 E] E]E]'EY"E]:*E]L_:VE]'4ZEYae@ae@ae@ae@gOm Added new target pos. range: 248.353317 m, bearing: 151.926544 deg, lat: 36.779086 deg, lon: -121.859474 deg, deltaT: 8.069641 s, deltaX: -3.278931 m, approachRate: -0.406329 m/s, posRepo size: 4 jigOFNOT Ignoring new targets: 248.35 m.RZgO ProNav: ac range: 248.353317 m, nav range: 227.304703 m, bearing: 151.346320 deg, approach rate: 0.000000 m/s, LOS rate: -0.037590 deg/s, cmd heading: 154.698375 deg, new cmd heading: 154.657499 deg. BgOHeadingCmd: 2.699283 target range: 248.353317 and range: 249.90 m. ,@*" ʎjiQ)Uj QQiU|:i] ,@]:e BDAT read: Tx time:00:55:59.0208 $Ping request sent.c9QYY=]mGyYYE]>aQ 5m5emTՊ?Q 9u5e)e"BYqyqQ IuQ@eDIe ;ieH;e"5yyɮ}Aj1gO5FNOT Ignoring new targets: 248.35 m.R= Z= gOM ProNav: ac range: 248.353317 m, nav range: 227.073746 m, bearing: 151.334500 deg, approach rate: -0.588469 m/s, LOS rate: -0.030147 deg/s, cmd heading: 154.657503 deg, new cmd heading: 154.633839 deg. BM\gOUHeadingCmd: 2.698870 target range: 248.353317 and range: 249.90 m.UH,@Q*Q"Q YYYYYʎaaajiZm D?频ɢ~5) >i)J 顙i^:iH,@Y:ti C^a,Y@AR@RG-@R{.ٱR) ZAHRS rotation from veh to nav: [[-0.908879,-0.417026,-0.005316],[0.411168,-0.893831,-0.178903],[0.069856,-0.164787,0.983852]]RH`ڿuP?`DJƿ ?ſ{?iR@IR2A^;RCY~By~*IbDVD1y% %%N=ٔ%y~Q-%>9-"?Y-"?=-mGy-F-E5>1Q 5E55?AՊ?Q 9E55)5'BYAyEq5@Q IEQ@5DI5;i5#:55yMXBɮUAU˪EPuB*** querying acoustic contact ***q qjgOFNOT Ignoring new targets: 248.35 m.RW ZW gO ProNav: ac range: 248.353317 m, nav range: 226.839478 m, bearing: 151.322888 deg, approach rate: -0.613801 m/s, LOS rate: -0.030455 deg/s, cmd heading: 154.633844 deg, new cmd heading: 154.610596 deg. B^gOHeadingCmd: 2.698464 target range: 248.353317 and range: 249.90 m.,@*" ʎ Qj ZN?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755749ɢ&) %>i!)Mp IQiUR':i,@ :3b,cY@A2@2r-@2Ꮍٱ2* :AHRS rotation from veh to nav: [[-0.908717,-0.417376,-0.005593],[0.411551,-0.893637,-0.178994],[0.069710,-0.164956,0.983834]]2H@5HڿvV?@Dƿ{ر?`Kſ {?i2@I2.^;2CYBʊByB*IiMMb@Mb@Mb@IIII I9MV-?+?MbpYM?yM=MM$AM@ M- A)M@IYMzA ]4<]bDeVDeyuͥ=%u==ٔ}9Q-}>9yYy=mGy|E>Q 55+Պ?Q 95)-BY2?Q E:y5@Q IQ@!DI:i:^5yMBɮ AjgOFNOT Ignoring new targets: 248.35 m.RZgO ProNav: ac range: 248.353317 m, nav range: 226.577896 m, bearing: 151.309542 deg, approach rate: -0.610269 m/s, LOS rate: -0.031172 deg/s, cmd heading: 154.610594 deg, new cmd heading: 154.583871 deg. B1dgOHeadingCmd: 2.697998 target range: 248.353317 and range: 249.90 m.,@*" ʎjZ`?)1ɢ=xY)9 =>i9)=?5 9AiE9iE,@Ml:MBB*IBBBBBBZS;BE9@ @@1@^A<A?A?Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261303A II)O5q>ԁE}  E} E} %Ey "E} D:*E} z:VE} 4ZEy BE} 19XYX=^mGy^F^ۺE^>`Q 5f5bՊ?Q 9f5b')b2BYhyj5@Q IjQ@b)DIb:ib:b5yɮAechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510032jgOFNOT Ignoring new targets: 248.35 m.R:Z:gO ProNav: ac range: 248.353317 m, nav range: 226.349548 m, bearing: 151.297905 deg, approach rate: -0.575069 m/s, LOS rate: -0.029338 deg/s, cmd heading: 154.583874 deg, new cmd heading: 154.560575 deg. BVgOHeadingCmd: 2.697591 target range: 248.353317 and range: 249.90 m.T,@*" !!!ʎ)))j1ZU S?ԑ颹ɢH묻) >i)Jipm9i-T,@5P5;5}t b,;FY@AY~ڊBy~*IiMb@Mb@Mb@ 9-?RQ?~jtxY5?y=ĻA@  A)@YAbDVDy=%:=ٔQ->9Y=mGyE>Q 55Պ?Q 95-)6BY ?Q E:yU7@Q IQ@2DI:i :5yBBɮAʪEjgO%FNOT Ignoring new targets: 248.35 m.R%(Z-(E= E=E=!E9"E=%;*E=:VE=c3ZE9aM@aM@aM@aM@gOM ProNav: ac range: 248.353317 m, nav range: 226.081772 m, bearing: 151.282449 deg, approach rate: -0.637671 m/s, LOS rate: -0.036849 deg/s, cmd heading: 154.560569 deg, new cmd heading: 154.529621 deg. BUgO]HeadingCmd: 2.697051 target range: 248.353317 and range: 249.90 m.]z,@Y*Y"Y YYaaaʎaiijiZm ̛@颙ɢM) >i)ad顡iYi7iz,@(;E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269446b,`Y@AB"@B-@BٱB$' JAHRS rotation from veh to nav: [[-0.907536,-0.419924,-0.006549],[0.414405,-0.892859,-0.176270],[0.068173,-0.162685,0.984320]]BH@ ڿz?`Mƿs?`Ŀ?iB"@IBޝ_;@Ym؊Bym*IquAAbD}VD}0yN%N=ٔ|;Q->9Y=mGyF)˻E>Q 55Ԋ?Q 95`);BYy.7@Q IQ@:DI$:i:5y6BɮwAɪEjgOFNOT Ignoring new targets: 248.35 m.RZgO ProNav: ac range: 248.353317 m, nav range: 225.839661 m, bearing: 151.268595 deg, approach rate: -0.609921 m/s, LOS rate: -0.034937 deg/s, cmd heading: 154.529615 deg, new cmd heading: 154.501878 deg. BgOHeadingCmd: 2.696567 target range: 248.353317 and range: 249.90 m. ,@ * "    ʎjZ@@!ɢ%(y)! %>i))-f)Q)imndUiu,@u ;ukwԩ Ub,]zY@A@U@U-@UĊٱU{& AHRS rotation from veh to nav: [[-0.907033,-0.421005,-0.006783],[0.415598,-0.892566,-0.174938],[0.067596,-0.161494,0.984556]]UH@jڿ{(?_dƿ M?ѫĿ{?iU@IU_;UCǕCǕ_AiǑIǑǑI3CiOUA ) C w@T<CI)i)CI ^A     ]A`ei Fi9=^A)=K7 AIAYAYBy*Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.776182I}>)}=ԱbDM VDMf2y]=%]%=ٔ]:Q-]>9aYa=emGyam+Em>qQ 5}5uԊ?Q 9}5u)u@BYyy}7@Q I}Q@uDDIu:iu:uM5yɮ4APB*** querying acoustic contact *** j gOFNOT Ignoring new targets: 248.35 m.RZgO- ProNav: ac range: 248.353317 m, nav range: 225.537506 m, bearing: 151.251365 deg, approach rate: -0.595262 m/s, LOS rate: -0.033990 deg/s, cmd heading: 154.501884 deg, new cmd heading: 154.467377 deg. B-xgO5HeadingCmd: 2.695964 target range: 248.353317 and range: 249.90 m.5,@1*1"1 19999ʎ9jZ@ɢ8_) >i)i#i,@9;"q$b,^Y@A2-@2x-@28Sٱ2^p' :AHRS rotation from veh to nav: [[-0.906467,-0.422201,-0.007962],[0.416927,-0.891833,-0.175518],[0.067003,-0.162421,0.984444]]2H Xۿ|N ?awƿ@'?6Ŀ?i2-@I2a_;2CTY-By-*IAAAAAAB>BCB+IBBBM =BBWDB&S;BEiMb@Mb@Mb@ 9\(\?Mb?~jthY?y=D;A  A)z@Y AbD-VD-y=4 =%=p=ٔ=:Q-=?9AYA=EmGyEFMEM?QQ 5]5UԊ?Q 9]5U)UDBY]?Q E]:y](7@Q IeQ@UJDIU;iU6;UH5ym+BɮmAmȪEjgOFNOT Ignoring new targets: 248.35 m.R"Z"gO ProNav: ac range: 248.353317 m, nav range: 225.334106 m, bearing: 151.239690 deg, approach rate: -0.618527 m/s, LOS rate: -0.035534 deg/s, cmd heading: 154.467378 deg, new cmd heading: 154.444008 deg. BgOHeadingCmd: 2.695556 target range: 248.353317 and range: 249.90 m.,@*" ʎjZs @颁ɢ`;)͗ >i)"顉iDg'i,@`;3cE5  E5 E5 &E1 "E5 :*E5 :VE5 4ZE1 BE5 B-9Y=mGyE>Q 55Ԋ?Q 95)HBYy7@Q IQ@RDI9:i:5y]%Bɮ]AYjgOFNOT Ignoring new targets: 248.35 m.RoZogO ProNav: ac range: 248.353317 m, nav range: 225.105164 m, bearing: 151.226619 deg, approach rate: -0.567694 m/s, LOS rate: -0.032443 deg/s, cmd heading: 154.444005 deg, new cmd heading: 154.417837 deg. BmgOHeadingCmd: 2.695100 target range: 248.353317 and range: 249.90 m.|,@*" yyʎyyyjZN@IiɢuĂ:)q u>iq)uyyi}Lei|,@;QUiٞ/>ԡ -@|="-@ |=)D@I|ゥp??5ޒ٪? 9?)Ii|ゥ T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.^A a<A ?A ? EQ EUEU#EQ"EQ*EUc:VEU3ZEQa]@a]@a]@a]@A.AIIO>@3b,<͈Y@AB_@BU-@BٱB * ZAHRS rotation from veh to nav: [[-0.905644,-0.423903,-0.010754],[0.418914,-0.890478,-0.177650],[0.065731,-0.165392,0.984035]]BH8!ۿ {?~;ƿӰ?+ſ7}?iB_@IBa;@YfByf*I hhiMb@Mb@Mb@ 9\(\? ףp= ?MbPYyQ=A@ A)YAbDVD*DAT read: user:606> BDAT read: Tx time:00:56:03.0708 $Ping request sent.9 ?Y ?=mGyFE>Q 55TԊ?Q 95Q =tI)NBY?Q E:y6@Q IR@[DI-;iS;5yBɮAE4,Y@AJEvCREvCj)@CE un@T+8Q5m<@rE ?q(mu"޽?Zb|L'^~j\@!)\G@zU(D.!?hg(?2B:S"uՎ?*ȥ̥BBE"??R“eC+J)@gO] addTargetRange:: Added new target pos. range: 247.800003 m, deltaT: 4.036356 s, deltaX: -2.099991 m, approachRate: -0.520269 m/s, rangeRepo size: 4 gOm Added new target pos. range: 246.270569 m, bearing: 151.317438 deg, lat: 36.779042 deg, lon: -121.859462 deg, deltaT: 4.036356 s, deltaX: -2.082748 m, approachRate: -0.515997 m/s, posRepo size: 4 jigOuFNOT Ignoring new targets: 246.27 m.RuZqgO ProNav: ac range: 246.270569 m, nav range: 229.627823 m, bearing: 151.556042 deg, approach rate: 0.000000 m/s, LOS rate: -0.032443 deg/s, cmd heading: 154.417832 deg, new cmd heading: 154.386732 deg. BgOHeadingCmd: 2.694557 target range: 246.270569 and range: 247.80 m.s,@*" ʎjn@Z?ɢ@;) ?i):i7is,@ ; QWBmCBm$+IBm$BBiBiBiBmS;BmzEi^ALM<m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251374A I I1 O= >ԑ ~f9b,mY@A2B@27-@26"ٱ2d* :AHRS rotation from veh to nav: [[-0.904924,-0.425411,-0.011714],[0.420585,-0.889780,-0.177202],[0.064961,-0.165281,0.984105]]2H$@9ۿ^? yƿF?'ſ`}?i2B@I2Ha;0YB ByF+IbDN VDN2ynvL=%r\=ٔr;Q-r>9tYt=vmGytvEv>xQ 5~5zԊ?Q 95z)zRBYy6@Q IR@zcDIz<;izY;z15y BɮrAEj1gO=FNOT Ignoring new targets: 246.27 m.R=ZEgOM ProNav: ac range: 246.270569 m, nav range: 229.405304 m, bearing: 151.544380 deg, approach rate: -0.607308 m/s, LOS rate: -0.031858 deg/s, cmd heading: 154.386727 deg, new cmd heading: 154.363381 deg. BM7igOUHeadingCmd: 2.694149 target range: 246.270569 and range: 247.80 m.Ul,@Q*Y"Y YYYaaʎaaijiZm9?频ɢ;) ?i)q顡i]6il,@ ;QArJAb,iY@ABr(@B-@B烽ٱBU* JAHRS rotation from veh to nav: [[-0.904302,-0.426704,-0.012698],[0.422014,-0.889085,-0.177294],[0.064363,-0.165686,0.984076]]BH @ OۿjE?asƿ@z?`35ſ}?iBr(@IB%a;BCYVByV +IlieMb@Mb@Mb@aaaa a9erh|?{Gz?MbP?Ye?yeף=e:aet@ eGA)ed@aYeGAyybDVDy<%&=ٔ:Q->9"?Y"?=mGyF6PE>Q 55nԊ?Q 95)YBY>?Q E:yb5@Q IR@lDI;i;|5yBɮ+AEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 246.27 m.RZgO ProNav: ac range: 246.270569 m, nav range: 229.109192 m, bearing: 151.530200 deg, approach rate: -0.602058 m/s, LOS rate: -0.028868 deg/s, cmd heading: 154.363382 deg, new cmd heading: 154.334985 deg. BSSgO HeadingCmd: 2.693654 target range: 246.270569 and range: 247.80 m. d,@*" ʎ!j!Z% ,?Iɢvg;) ?i)#ifDѺid,@4 ;5By B} =+IB} 8BB} N =By By B} R;B} eEB1B1B1B1B1C5'5a II IY Oe >sGb,AY@A2J@2-@2=؂ٱ2_+ :AHRS rotation from veh to nav: [[-0.903993,-0.427333,-0.013539],[0.422754,-0.888680,-0.177561],[0.063846,-0.166237,0.984017]]2HlYۿj e?`p@Nƿ.X? CGſ}?i2J@I2]Ha;2CY^Byb+IbDjVDj1yrJz=%rV=ٔr:Q-v>9tYt=vmGytz Ez>|Q 55~[Ԋ?Q 95~)~^BY y U5@Q I R@~tDI~w:i~ :~5yBɮAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258913AjIgOMFNOT Ignoring new targets: 246.27 m.RUiZUigOe ProNav: ac range: 246.270569 m, nav range: 228.879059 m, bearing: 151.519203 deg, approach rate: -0.600464 m/s, LOS rate: -0.028723 deg/s, cmd heading: 154.334982 deg, new cmd heading: 154.312965 deg. BeBRgOmHeadingCmd: 2.693269 target range: 246.270569 and range: 247.80 m.m^,@i*i"i iqqyyʎyyyjZ`pM?颩ɢ%<) ?i)顱iLi^,@@;h1\{Nb,˽9IYI=MmGyMFMEU>YQ 5]5]DԊ?Q 9e5]Y)]eBYayaQ IeR@]}DI][:i]t:] 5ymBɮulAuEjgOFNOT Ignoring new targets: 246.27 m.RZgO ProNav: ac range: 246.270569 m, nav range: 228.594254 m, bearing: 151.505561 deg, approach rate: -0.599762 m/s, LOS rate: -0.028764 deg/s, cmd heading: 154.312961 deg, new cmd heading: 154.285644 deg. BRgOHeadingCmd: 2.692792 target range: 246.270569 and range: 247.80 m.V,@*" ʎjZ?checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764890)iɢu};)y ?i)9i` i%V,@%;%ߦ9B B V+IB MBB M =B B B S;B rEI IO->QVb,ZY@AYm3Bym7+IԱi%Mb@Mb@Mb@!!!! !9%rh|?9YYY=]mGy]FYEe>iQ 5u5m*,Ԋ?Q 9u5mτ)mlBYu?Q Eu:yu4@Q IuR@mDIm:imH:mQ5yBɮ&A j1gO5FNOT Ignoring new targets: 246.27 m.R=bZ=bgOM ProNav: ac range: 246.270569 m, nav range: 228.292847 m, bearing: 151.492041 deg, approach rate: -0.587280 m/s, LOS rate: -0.026379 deg/s, cmd heading: 154.285641 deg, new cmd heading: 154.258564 deg. BMAgOUHeadingCmd: 2.692320 target range: 246.270569 and range: 247.80 m.UN,@Q*Q"Q QYYaaʎaaajiZm@频ɢ&5<) ?i)K顡iiN,@?A;tQ@) u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518861w\b,|HtY@ANC@N,@NvٱN' VAHRS rotation from veh to nav: [[-0.903134,-0.429083,-0.015382],[0.425111,-0.888600,-0.172248],[0.060240,-0.162102,0.984933]]NHy`vۿ5?@jo@: ƿ ׮?ĿĿ ?iNC@IN`;LYb7Byb;+If=f=bDnVDnܲyr<%ve=ٔv%9xYx=zmGyx~E~>|Q 5 5~Ԋ?Q 9 5~)~rBY y e4@Q I R@~DI~:i~:~o5yɮAjAgOEFNOT Ignoring new targets: 246.27 m.RMZMgO ProNav: ac range: 246.270569 m, nav range: 228.077698 m, bearing: 151.482505 deg, approach rate: -0.634454 m/s, LOS rate: -0.028147 deg/s, cmd heading: 154.258566 deg, new cmd heading: 154.239476 deg. B NgOHeadingCmd: 2.691987 target range: 246.270569 and range: 247.80 m.I,@*" ʎ  j ZM`a@!ɢQx<) ?i)_&顑i`,iI,@ E; 1ԑ E=  E= E= $E9 "E= ;*E= z:VE= 4ZE9 aE @aE @aE @aE @[cb,Y@A2V@2,@2coٱ2i$ :AHRS rotation from veh to nav: [[-0.903048,-0.429246,-0.015903],[0.425537,-0.888976,-0.169234],[0.058505,-0.159594,0.985448]]2HxۿH 9Y=mGyFr`E>aQ 5m5eԊ?Q 9m5eD)ewBYu`!?Q Eu:yu@4@Q IuR@eDIe ;ie ;e5y}Bɮ}A}EPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 246.27 m.RZgO ProNav: ac range: 246.270569 m, nav range: 227.758575 m, bearing: 151.468514 deg, approach rate: -0.620050 m/s, LOS rate: -0.027222 deg/s, cmd heading: 154.239482 deg, new cmd heading: 154.211462 deg. BFGgOHeadingCmd: 2.691498 target range: 246.270569 and range: 247.80 m.A,@*" ʎjZ @ ɢ hU<)  % ?i ) ^i;=iA,@l;$(ib,MJY@A2n@2 ,@2ehٱ26" :AHRS rotation from veh to nav: [[-0.903012,-0.429293,-0.016607],[0.425851,-0.889327,-0.166580],[0.056742,-0.157496,0.985888]]2H z`yۿ@$A?]u{RſM ?(Ŀ@e?i2n@I2?_;2C @)B`AB@@DF aAiF/]IDDIFLCiFz`A J#H)HH LN@LLLLIP)PiP)PIRz`ARףP TVُCV`AVTiTTiXX)X XIXY\YnKBynT+IbDVDyv=%_=ٔϝ;Q->9Y=mGyWE>Q 55ӊ?Q 95r~){BYy<4@Q IR@DI;i<;5yBɮiAEj!gO-FNOT Ignoring new targets: 246.27 m.)R5Z5gOE ProNav: ac range: 246.270569 m, nav range: 227.545273 m, bearing: 151.459154 deg, approach rate: -0.621988 m/s, LOS rate: -0.027318 deg/s, cmd heading: 154.211465 deg, new cmd heading: 154.192728 deg. BEGbE4jE4rE0EU EUEQEQ"EU:*EUxv:VEQZEQBEU5iY IY qb,ĉY@ADAT read: 00:56:05.7468 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 348, 0.24,-1.551,-3.111,-1.242,-1.754, PHS= 0.305,-1.313, 0.467, RAW= 154.7, 6.4, CAL= 154.1, 6.5, ROT= 355.9, -6.5 &Ygot valid direction response: 00:56:05.7468 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 348, 0.24,-1.551,-3.111,-1.242,-1.754, PHS= 0.305,-1.313, 0.467, RAW= 154.7, 6.4, CAL= 154.1, 6.5, ROT= 355.9, -6.5 2PDAT read: Bearing 327.1, -1.7 (Local) 6~Local bearing/azimuth received: Bearing 327.1, -1.7 (Local) =DAT read: Range 11 to 50 : 203.8 m (Round-trip 271.8 ms) speed 0.4 m/s ER#Rx 1: Read range and direction messages.M^direction in FSK: [0.991029,-0.071038,0.113203]MFpublishing direction and range infoy?d2/5?YKC )HI(>ib>3,@=!,@ V=)@IV轩 Y#? b?[R ? "?)IiiV轩T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.e@eQ,@e$Xٱe AHRS rotation from veh to nav: [[-0.902719,-0.429815,-0.018926],[0.426975,-0.889616,-0.162101],[0.052837,-0.154412,0.986593]]eH`ۿBa`S?w Ŀj ?ÿ*?ie@Ie_;aYJByR+II8>)=AE EEE"EV:*E:VEZEa@a@a@a@i=Mb@Mb@Mb@9999 99=p= ף?p= ף?MbY=%?y==== A=@ =A)99Y=@bDUVDUܲy^%=ٔ;Q->9Y=mGyFE>Q 55ӊ?Q 95B{)BY%?Q E:y3@Q IR@DI:i7:5yɮoA>ÉY@AJJCRJCjE\)@|,i@.1ٺ,)B6@r?d2/5?ZibVA|+Ne͂dW@^c_*_A@z %&뿓氏?S0df?2B:r/"Og?*/B/B(?wo“/BF]C(@kOaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 203.800003 m, deltaT: 4.032369 s, deltaX: -44.000000 m, approachRate: -10.911700 m/s, rangeRepo size: 4jgOFNOT Ignoring new targets: 246.27 m.R޹Z޹gO ProNav: ac range: 246.270569 m, nav range: 227.191010 m, bearing: 151.445318 deg, approach rate: -0.622258 m/s, LOS rate: -0.024342 deg/s, cmd heading: 154.192723 deg, new cmd heading: 154.165006 deg. B12gOHeadingCmd: 2.690687 target range: 246.270569 and range: 247.80 m.74,@*" *DAT read: user:607> BDAT read: Tx time:00:56:07.1208 $Ping request sent.0`)i74,@;B) B- +IB- pBB- N =B) B- VDB- S;B- EE 9@A  @I @M /@I Y ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250561^A &<A?A?I!I9OE?xb,Y@A24@2Ҵ,@2/Oٱ2 >AHRS rotation from veh to nav: [[-0.902281,-0.430646,-0.020803],[0.428150,-0.889284,-0.160814],[0.050754,-0.154007,0.986765]]2H}ಏۿ@wMf?uĿi?}ÿ ?i24@I2_;2CYUMByUW+I yPCbDeVDey<%X=cGx[Aٔ;Q-> 9Y1=5mG=ܼ9=x[AY=Ay9]rOEm>iy?bAQ 558ӊ?Q 95x)BYy2@Q IR@DIn;i;P!5yBɮ1AEjgO%FNOT Ignoring new targets: 246.27 m.R-]Z-]gO= ProNav: ac range: 246.270569 m, nav range: 226.930481 m, bearing: 151.435198 deg, approach rate: -0.667083 m/s, LOS rate: -0.025940 deg/s, cmd heading: 154.165006 deg, new cmd heading: 154.144744 deg. B==gOEHeadingCmd: 2.690333 target range: 246.270569 and range: 247.80 m.El.,@A*A"A AIIIIʎQQQjQZU]4?颁ɢ#Ʒ<) &?i)Ӽ顉i[mil.,@;o ~b,wY@A6 @6,@6DKGٱ6g BAHRS rotation from veh to nav: [[-0.902191,-0.430731,-0.022827],[0.428585,-0.889214,-0.160041],[0.048637,-0.154171,0.986846]]6Hۿ` m?pt@<|Ŀ`?ÿ>?i6 @I6j_;6CYJUByJ`+I Rp;PbDVVDV:y^G-=%^^=ٔ^վ;Q-b>9`Y`=bmGybFf.Ef>hQ 5n5jӊ?Q 9n5jv)jBYlyr2@Q IrR@jDIj;ijD;j?$5yvBɮvAvEjgOFNOT Ignoring new targets: 246.27 m.RZgO- ProNav: ac range: 246.270569 m, nav range: 226.715515 m, bearing: 151.426855 deg, approach rate: -0.640639 m/s, LOS rate: -0.024888 deg/s, cmd heading: 154.144747 deg, new cmd heading: 154.128045 deg. B-16gO5HeadingCmd: 2.690042 target range: 246.270569 and range: 247.80 m.5),@1*1"1 1999AʎAAAjAZMd?qɢu<)q u*?iy)}ϼyyi}zi),@;;I),@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.7556291@1 @9@=4@9^A5<IIO>E EE#E"E:*E:VE3ZEa@a@a@a@) - checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006627cͅb,*VY@A:@:$,@: C@ٱ:$} BAHRS rotation from veh to nav: [[-0.901988,-0.431049,-0.024796],[0.429204,-0.888925,-0.159989],[0.046922,-0.154951,0.986807]]:HMۿ d x?rzĿ?@oÿ?i:@I:`;8YJaByNp+IBpApBz>BzCBz+IBzBBzP =BzHDBxBzS;BzEiMb@Mb@Mb@ 9/$?l?Mb`Y?y= A fA)Y@bDVD1y`=%9=ٔ~;Q->9Y=mGy,E>Q 55Qӊ?Q 95t)BY?Q E:y64@Q IR@DI~ ;i? ;E(5yɮAPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 246.27 m.RZgO ProNav: ac range: 246.270569 m, nav range: 226.435928 m, bearing: 151.414496 deg, approach rate: -0.606340 m/s, LOS rate: -0.026836 deg/s, cmd heading: 154.128041 deg, new cmd heading: 154.103292 deg. BsDgOHeadingCmd: 2.689610 target range: 246.270569 and range: 247.80 m.",@*" ʎjZ ?)9ɢ=H<)9 =0?iA)EʼAAiE螅iM",@M/;MDx b,.2Y@A02<@2ڑ,@28ٱ2 >AHRS rotation from veh to nav: [[-0.901609,-0.431749,-0.026345],[0.430191,-0.888667,-0.158764],[0.045134,-0.154477,0.986965]]2Hǡۿ@,@?`ocRĿ?ÿ7?i2<@I2 A`;2Crchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510908YM_ByMl+IbDeVDeβymY%mQ=ٔur;Q-u>9qYy=}mGy}FK1E>Q 55ӊ?Q 95r)BYy%4@Q IR@DI;i7;+5yBɮAEjgOFNOT Ignoring new targets: 246.27 m.R@Z@gO ProNav: ac range: 246.270569 m, nav range: 226.210739 m, bearing: 151.404581 deg, approach rate: -0.608117 m/s, LOS rate: -0.026802 deg/s, cmd heading: 154.103288 deg, new cmd heading: 154.083438 deg. B3DgOHeadingCmd: 2.689263 target range: 246.270569 and range: 247.80 m.,@*" ʎjZe?)ɢ--<)) -/?i))5Ƽ11i5X}i=,@=;= Wޒb,_ LY@A2W@2|,@2f0ٱ2 :AHRS rotation from veh to nav: [[-0.901145,-0.432587,-0.028381],[0.431381,-0.888291,-0.157637],[0.042982,-0.154297,0.987089]]2H.ۿ@@?lu-Ŀ`?@ÿ 9yYy=}mGyyNE>Q 55pӊ?Q 95p)BY?Q E:E EE$E"E:*E:VE4ZEa@a@a@a@y+4@Q IR@DI';i; /5yɮeAjgOFNOT Ignoring new targets: 246.27 m.RZgO ProNav: ac range: 246.270569 m, nav range: 225.963699 m, bearing: 151.393658 deg, approach rate: -0.606734 m/s, LOS rate: -0.026857 deg/s, cmd heading: 154.083440 deg, new cmd heading: 154.061569 deg. BDgOHeadingCmd: 2.688882 target range: 246.270569 and range: 247.80 m.,@*"    ʎ jZФ@颹ɢ8M<) b4?i)ޜii,@';;I,@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0153299@ @@@B>BB+IBBBBBBS;BEBBBBBC59^A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266657b,W@fY@A2o@2d,@2)ٱ2 :AHRS rotation from veh to nav: [[-0.900562,-0.433654,-0.030521],[0.432748,-0.887559,-0.158017],[0.041436,-0.155511,0.986965]]2Hh@ۿ@@#? f9Ŀ7?@ÿ7?i2o@I2`;0YBiByFy+IIJN>)JR=bDNVDNβyV7;%VU=ٔZ;Q-Z>9\Y\=^mGy^F^}E^>`Q 5f5b]ӊ?Q 9j5bn)bBYhyn4@Q InR@bDIb#;ib$;bf25yrKBɮrArEj gO FNOT Ignoring new targets: 246.27 m.RZgO- ProNav: ac range: 246.270569 m, nav range: 225.728485 m, bearing: 151.383329 deg, approach rate: -0.615783 m/s, LOS rate: -0.027070 deg/s, cmd heading: 154.061569 deg, new cmd heading: 154.040889 deg. B-*FgO5HeadingCmd: 2.688521 target range: 246.270569 and range: 247.80 m.5,@1*1"1 11999ʎ9AAjAZE`@ɢ5<) 4?i)?_ixi,@;r~;I,@IIQ)UZA9@ @@0@9E EEE"E2:*Ex:VEZEBE*ԑ Jb,6Y@A2\@2Q,@2$ٱ2! :AHRS rotation from veh to nav: [[-0.900108,-0.434473,-0.032240],[0.433811,-0.886990,-0.158293],[0.040178,-0.156466,0.986866]]2Hgۿ ?9bBĿ`'?Ŀ`g?i2\@I2a;2CYBkByF|+IbDLVDLynO<%nH=ٔr,J;Q-r>9r ?Yr ?=rmGytv9Ev>xQ 5~5zHӊ?Q 95z\l)zBYy3@Q IR@zDIz!;iz";z55y ?BɮNAEj1gO=FNOT Ignoring new targets: 246.27 m.REZEgOU ProNav: ac range: 246.270569 m, nav range: 225.478836 m, bearing: 151.372418 deg, approach rate: -0.611717 m/s, LOS rate: -0.026763 deg/s, cmd heading: 154.040888 deg, new cmd heading: 154.019043 deg. BUCgO]HeadingCmd: 2.688139 target range: 246.270569 and range: 247.80 m.]z ,@Y*Y"Y YaaaaʎiiijiZmb@y颙ɢR<) 5?i)顡iաiz ,@(;/$;Iz ,@I}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778906U9@Y @Y@]0@aԱ^AU#2;E EEE"EO:*EAr:VEZEa@a@a@a@A ؟AI I O >= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032646 q*b,wܙY@AA6AAA6AAB:>B8B:+IB:BB8B8B8B:S;B:En"K@n@,@n4ٱn[# ~AHRS rotation from veh to nav: [[-0.899716,-0.435082,-0.034840],[0.434768,-0.886288,-0.159593],[0.038558,-0.158736,0.986568]]nH@zbۿ`֡>?x\`mĿ彣? tQĿ?in"K@Inc;nCY}gBy}w+IiMb@Mb@Mb@ 9Q?ʡE?MbY(?y-= A@ KA) @Y@ <4<bD%VD%1y-G%57=ٔ5gm;Q-5>9="?Y="?==mGy=²FE?EE>AQ 5M5E2ӊ?Q 9U5E!j)EBY]?Q E]:y]5@Q I]R@EDIE-;iE6-;E95yaɮe^AiPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 246.27 m.R{Z{gO% ProNav: ac range: 246.270569 m, nav range: 225.207825 m, bearing: 151.359354 deg, approach rate: -0.604469 m/s, LOS rate: -0.029175 deg/s, cmd heading: 154.019045 deg, new cmd heading: 153.992884 deg. B-UgOUHeadingCmd: 2.687683 target range: 246.270569 and range: 247.80 m.U,@Q*Q"Q QQYYYʎYaajaZef @ ɢ<) 3?i)/iҀi,@%;%;I%,@I! BDAT read: Rx Time:00:56:09.8499 TRx dataTimestamp_ set to:1761699370.589949checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2888499@ @@%0@!1^AA E  E E #E "E :*E ą:VE 3ZE BE B-yhb, Y@A:5@:@+,@:eٱ:# BAHRS rotation from veh to nav: [[-0.899189,-0.436042,-0.036421],[0.435970,-0.885725,-0.159439],[0.037263,-0.159245,0.986536]]:H(ۿ ĥ? WhĿ +?!bĿ@?i:5@I:Wc;8YNkByN|+I PPbDVVDV02y^<%bb=ٔbj;Q-b>9`Yd=fmGydfmEf>nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.538735pQ 5v5r ӊ?Q 9v5rPh)pYtyv4@Q IzR@rDIr:ir;r =5y~3Bɮ~A|j!gO-FNOT Ignoring new targets: 246.27 m.R-1Z51gOE ProNav: ac range: 246.270569 m, nav range: 224.987778 m, bearing: 151.348800 deg, approach rate: -0.606396 m/s, LOS rate: -0.029112 deg/s, cmd heading: 153.992885 deg, new cmd heading: 153.971757 deg. BEUgOMHeadingCmd: 2.687314 target range: 246.270569 and range: 247.80 m.M+@I*I"I IIQQQʎYYYjYZ]`t@颉ɢ=) 5?i)^>顑ifi+@}?;};I+@I) @  @@4@@=@=a^A ϩ;DAT read: 00:56:09.8499 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 185, 0.12, 2.150, 0.509, 2.474, 1.947, PHS= 0.305,-1.393, 0.483, RAW= 154.9, 6.8, CAL= 154.3, 6.9, ROT= 355.7, -6.9 Ygot valid direction response: 00:56:09.8499 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 185, 0.12, 2.150, 0.509, 2.474, 1.947, PHS= 0.305,-1.393, 0.483, RAW= 154.9, 6.8, CAL= 154.3, 6.9, ROT= 355.7, -6.9 PDAT read: Bearing 326.6, -3.2 (Local) ~Local bearing/azimuth received: Bearing 326.6, -3.2 (Local) DAT read: Range 11 to 50 : 243.6 m (Round-trip 324.9 ms) speed 0.8 m/s R#Rx 1: Read range and direction messages. ^direction in FSK: [0.989963,-0.074435,0.120137] Fpublishing direction and range infoyAƭ?E0rjƹI?YsC )FI IiMK>c-@=Z,@ Ϣ=)@IϢd~ ?441?U~P? ?)I)iϢ T****** received valid address query ****** R****** received valid ping request ******I I O5 > Querying Benthos address 50 with one ping in standard two-way mode.Lb,͊Y@A2@2O ,@2vٱ2G" >AHRS rotation from veh to nav: [[-0.898401,-0.437547,-0.037786],[0.437754,-0.885256,-0.157141],[0.035307,-0.157717,0.986853]]2HܿX'?T3Ŀ?0ĿL?i2@I2Dd;0Y~cBy~r+IEE EEEE!EA"EE:*EE:VEEc3ZEAaM@aM@aM@aM@iMMb@Mb@Mb@IIII I9MCl??I +YM;?yM=M94M AM@ MS@)M@IYMQ@bDVD 3y> %,=ٔx;Q->9Y=mGyòFцE>Q 55ӊ?Q 95f)BY M!?Q E :y 5@Q I R@DI;i;-A5y&Bɮ AEc ƊY@AJrCRrCj(@eH)m@ &2H)=@rAƭ?E0rjƹI?Z)bϢ3jݥ]@pܱD@IzKRO7Bԡy?h0&?2B:P"Ud?*NsBfBE"?“%B+`CWQ)@gOm addTargetRange:: Added new target pos. range: 243.600006 m, deltaT: 8.076000 s, deltaX: -4.199997 m, approachRate: -0.520059 m/s, rangeRepo size: 4 gO} Added new target pos. range: 242.091187 m, bearing: 150.851685 deg, lat: 36.779042 deg, lon: -121.859474 deg, deltaT: 8.076000 s, deltaX: -4.179382 m, approachRate: -0.517506 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 242.09 m.RZgO ProNav: ac range: 242.091187 m, nav range: 224.169052 m, bearing: 151.581114 deg, approach rate: 0.000000 m/s, LOS rate: -0.029112 deg/s, cmd heading: 153.971752 deg, new cmd heading: 153.943999 deg. BgOHeadingCmd: 2.686830 target range: 242.091187 and range: 243.60 m.+@*" ʎj@3sn@Z+?ɢ2<*DAT read: user:608> BDAT read: Tx time:00:56:11.1708 $Ping request sent.I I O% > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253296!vb,%Y@A@YnBy+IbDVDyE=%Mi=ٔMQ-M>9IYQ=UmGyUIJFUEU>aQ 5m5eҊ?Q 9m5eKd)eBYiyqQ IuR@eDIep:ie:e?D5yyɮ}AyjgOFNOT Ignoring new targets: 242.09 m.RZgO ProNav: ac range: 242.091187 m, nav range: 223.951981 m, bearing: 151.570019 deg, approach rate: -0.627068 m/s, LOS rate: -0.032082 deg/s, cmd heading: 153.943994 deg, new cmd heading: 153.921783 deg. BjgOHeadingCmd: 2.686442 target range: 242.091187 and range: 243.60 m.+@*" ʎjZl?ɢ7 =)  {7?i ) p  i [i+@;,{;I+@IԱ9@ @@/@bE4jEË3rE8/EU EUEU%EQ"EU;*EU:VEU 4ZEQBEU2C ^b,UY@A2@2+@2ٱ2 >AHRS rotation from veh to nav: [[-0.897350,-0.439482,-0.040221],[0.440141,-0.884578,-0.154262],[0.032217,-0.156129,0.987211]]2H @z ܿϗF+?`wNؾÿ ~? ÿ;?i2@I2#c;2CY^aBybp+IIf=)f=bDjVDj 3lyv+%vP=ٔv59xYx=zmGyx~ڻE~>Q 5 5Ҋ?Q 9 5^b)BY y 5@Q I R@ DI$:i:G5yBɮAEjgOFNOT Ignoring new targets: 242.09 m.Ro Zo gO ProNav: ac range: 242.091187 m, nav range: 223.710037 m, bearing: 151.557790 deg, approach rate: -0.593674 m/s, LOS rate: -0.030039 deg/s, cmd heading: 153.921783 deg, new cmd heading: 153.897299 deg. B[gOHeadingCmd: 2.686015 target range: 242.091187 and range: 243.60 m.+@*"   ʎ  jZH?}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758900颉ɢH<) 0?i)4iûi5+@5P;5}:I5+@I919@ @@/@@@[A1E] E]E]$EY"E]l;*E]:VE]4ZEYae@ae@ae@ae@^A- r;I I O >- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010768a BE >BE CBA BA BA BA BA BE S;BE EQb,Y@A)YMnByM+IiUMb@Mb@Mb@QQQQ Q9Uףp= ?y&1?9Y=mGyŲFE>Q 55Ҋ?Q 95>`)BYZ!?Q E:y6@Q IR@DI;i6;K5yBɮAEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 242.09 m.Rx!Zx!gO ProNav: ac range: 242.091187 m, nav range: 223.428070 m, bearing: 151.542201 deg, approach rate: -0.637528 m/s, LOS rate: -0.035292 deg/s, cmd heading: 153.897303 deg, new cmd heading: 153.866086 deg. B,gOHeadingCmd: 2.685470 target range: 242.091187 and range: 243.60 m.+@*" ʎ   j Z ?9ɢ=<)9 =C7?iA)E:AAiEʻiM+@Mm;M%;IM+@IQY9@ @@/@}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263732]Gu\Au9\AYAԉ^A5 ?B:DY D] a=E}  E} Ey Ey "E} s:*E} Ǚ:VEy ZEy BE} d0wb,pA5Y@A6@6+@6qٱ6; BAHRS rotation from veh to nav: [[-0.896545,-0.440879,-0.042813],[0.442020,-0.884197,-0.151043],[0.028737,-0.154341,0.987600]]6H~]7ܿ 륿 J?WK_Uÿ@'m? pÿj?i6@I6zc;6CYJlByJ|+I Rpe;ij[f;jN5yxɮzA|jgO%FNOT Ignoring new targets: 242.09 m.R-LZ-LgO5 ProNav: ac range: 242.091187 m, nav range: 223.216125 m, bearing: 151.530567 deg, approach rate: -0.613773 m/s, LOS rate: -0.033725 deg/s, cmd heading: 153.866089 deg, new cmd heading: 153.842798 deg. B=vgOEHeadingCmd: 2.685063 target range: 242.091187 and range: 243.60 m.E+@A*A"A AAIIIʎIQQjQZU?ԙIɢMӂ=)Q e 6?ia)eiiimлi+@7c; n:I+@I9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767332^A"5;! A= ؟AIQ Ia Ou >(b,OY@A2@2+@2܃ܼٱ2 :AHRS rotation from veh to nav: [[-0.896390,-0.441123,-0.043538],[0.442449,-0.884446,-0.148308],[0.026915,-0.152205,0.987982]]2H9\;ܿJQ?aM¿`? r{ÿ`?i2@I2 c;2CYFtByF+Ii Mb@Mb@Mb@     9 K?V-?I +Y ^?y =Ee EeEe&Ea"Ee:*EeM:VEe4ZEaam@am@am@am@ 94 ^A  E@) @ Y f@bDVDy0=%;=ٔa;Q->9"?Y"?=mGyƲFE>Q 55IҊ?Q 95\)BY9?Q E:y7@Q IR@$DIg1;i:R5yBɮ5AEj9gO=FNOT Ignoring new targets: 242.09 m.RE ZE gOU ProNav: ac range: 242.091187 m, nav range: 222.952042 m, bearing: 151.515146 deg, approach rate: -0.600080 m/s, LOS rate: -0.035081 deg/s, cmd heading: 153.842798 deg, new cmd heading: 153.811922 deg. BUggO]HeadingCmd: 2.684525 target range: 242.091187 and range: 243.60 m.]@+@Y*Y"Y YaaaaʎiiijiZu @颙ɢ<) ?:?i)顡iJI׻i@+@;;:I@+@II)YAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0196919@ @@2@@@=)BBBBBO =BGDBBS;BQ^Aq:A I I O >y  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270816[b,@hY@A>@>y+@>μٱ>| ZAHRS rotation from veh to nav: [[-0.896477,-0.440889,-0.044117],[0.442370,-0.884897,-0.145828],[0.025255,-0.150248,0.988326]]>H 7ܿO?Q}¿`ܙ?O;ÿ]?i>@I>b;9xYx=zmGy|~9E~>Q 5 5Ҋ?Q 9 5[)BYy7@Q IR@+DI:i:U5yɮ0A!jAgOMFNOT Ignoring new targets: 242.09 m.RM ZM gOe ProNav: ac range: 242.091187 m, nav range: 222.728363 m, bearing: 151.502044 deg, approach rate: -0.599904 m/s, LOS rate: -0.035176 deg/s, cmd heading: 153.811926 deg, new cmd heading: 153.785694 deg. BegOeHeadingCmd: 2.684067 target range: 242.091187 and range: 243.60 m.m+@i*i"i iiiqqʎqqyjyZ}@颡ɢj=) :?i):顩i;ݻi5+@5%;=X:I=+@I9Y@ @@n4@Eu EuEu%Eq"Eu:*Eu:VEu 4ZEqBEu:8I I! O5 > $b,҂Y@AYvByv+IbD|VD|yEa=%ME=ٔMQ-M>9IYQ=UmGyUDzFUEU>aQ 5e5e|Ҋ?Q 9m5eEY)eBYiyiQ ImR@e3DIe:ieF:elY5yuBɮ}AyjgOFNOT Ignoring new targets: 242.09 m.R !Z !gO ProNav: ac range: 242.091187 m, nav range: 222.479523 m, bearing: 151.487435 deg, approach rate: -0.598938 m/s, LOS rate: -0.035200 deg/s, cmd heading: 153.785698 deg, new cmd heading: 153.756449 deg. B׀gOHeadingCmd: 2.683556 target range: 242.091187 and range: 243.60 m.c+@*" ʎjZ@ɢLC=) @?i)   i ic+@;5 ;Ic+@I]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774883Ա9@ @@/@E EE$E"E:*E:VE4ZEa@a@a@a@^A5] ;  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026774I) I9 OM >A @AA @AB >B B B B B B B S;B EBB˾CBBP =BO =C^49 6b,묜Y@AB@B.+@B㱯ٱB# JAHRS rotation from veh to nav: [[-0.896062,-0.441539,-0.046002],[0.443410,-0.885192,-0.140794],[0.021445,-0.146558,0.988970]]BH,Bܿ@ `?}S¿?@j¿?iB@IBOc;BCYe}Bye+IiMb@Mb@Mb@ 9$C?)\(?:vY?yG=Tt A @)@Yp@bD%VD%y5w%5/=ٔ599Y9==mGy9=EE>AQ 5U5EeҊ?Q 9U5E+W)E{BYU?Q EU:yU6@Q IUR@E?i)gi0]is+@q;Y>:Is+@IuBDAT read: Rx Time:00:56:13.8404 uTRx dataTimestamp_ set to:1761699374.625923uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.280637@ @@@@@Ai ^A I I! O- >E  E E &E "E ;*E :VE 4ZE BE @AHRS rotation from veh to nav: [[-0.895893,-0.441838,-0.046420],[0.443828,-0.885442,-0.137876],[0.019817,-0.144125,0.989361]]6H'Gܿ_ħg?U @J?r¿ب?i64@I6+c;6CBCDiDIDDIDiD HH)HJ&C Jnr@JHLLbchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.530947|I|)|i|)I^A   ]A Xi  i1^A)н VEIYY}By+IbDVD1yM *=%MZ=ٔUm;Q-e>9aYi=mmGymȲFm Eu>yQ 55}2SҊ?Q 95}wU)}xBYy6@Q IR@}DDI}:i}:}`5yɮAjgOFNOT Ignoring new targets: 242.09 m.RZgO ProNav: ac range: 242.091187 m, nav range: 221.974945 m, bearing: 151.459186 deg, approach rate: -0.598692 m/s, LOS rate: -0.033566 deg/s, cmd heading: 153.725196 deg, new cmd heading: 153.699880 deg. BugOHeadingCmd: 2.682569 target range: 242.091187 and range: 243.60 m.6+@*" ʎjZ@ɢf@!=) B?i)%:g}!!i%7i-6+@-;--:I-6+@I1y9@ @@/@ԙDAT read: 00:56:13.8404 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 347,-0.20,-0.674,-2.191,-0.390,-0.857, PHS= 0.285,-1.290, 0.423, RAW= 154.2, 7.1, CAL= 153.6, 7.4, ROT= 356.4, -7.4 Ygot valid direction response: 00:56:13.8404 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 347,-0.20,-0.674,-2.191,-0.390,-0.857, PHS= 0.285,-1.290, 0.423, RAW= 154.2, 7.1, CAL= 153.6, 7.4, ROT= 356.4, -7.4  PDAT read: Bearing 326.8, -3.5 (Local) - ~Local bearing/azimuth received: Bearing 326.8, -3.5 (Local) = DAT read: Range 11 to 50 : 199.0 m (Round-trip 265.4 ms) speed 0.4 m/s E R#Rx 1: Read range and direction messages.^AM ?B: I  ^direction in FSK: [0.989714,-0.062268,0.128796] Fpublishing direction and range infoIY O >y0N{U? )᯿OZ_|?YGC )DI>iu>9>,@=+@  A>)" @I A#"F?󚾠,?+ä? a?)WI)i A T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.b,fЋY@AF3@Fј+@F&ٱF_Y NAHRS rotation from veh to nav: [[-0.895729,-0.442061,-0.047462],[0.444223,-0.885452,-0.136528],[0.018328,-0.143375,0.989499]]LFHϩJܿL'n? U@y`Ē? Z¿?iF3@IFRb;FCEA EEEAEA"EA*EE:VEAZEAaM@aM@aM@aM@Y]By]+IieMb@Mb@Mb@aaaa a9e^I +?A`"?{GztYeX?ye=eףeAa e@)e@aYez@ }4<}4<bD}VD}yU<%F=ٔwl;Q->9Y=mGyE>Q 55 ?Ҋ?Q 95S)vBY?Q E:y6@Q IR@LDI'@z9?q?2B:+"EȪ홊?*/8BB“/B]C*)@kOaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 199.000000 m, deltaT: 4.036322 s, deltaX: -44.600006 m, approachRate: -11.049665 m/s, rangeRepo size: 4jgOFNOT Ignoring new targets: 242.09 m.RZ*DAT read: user:609> BDAT read: Tx time:00:56:15.2208 $Ping request sent.BB+IBBBP =BHDBWDBS;BE9@ @@/@! ^A #2: checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251143I I O >kb,>Y@A2@2E+@21_ٱ2c :AHRS rotation from veh to nav: [[-0.895224,-0.442913,-0.049002],[0.445305,-0.885066,-0.135503],[0.016646,-0.143127,0.989564]]2H`@Xܿ?vR -X ?Q¿?i2@I2b;2C|Y=By=+I AAbDUVDUy=%]=ٔ;Q->9Y=mGyɲFnSE>Q 55,Ҋ?Q 95Q)tBYy6@Q IR@SDI:i(:g5yBɮAEjgOFNOT Ignoring new targets: 242.09 m.R,Z,gO ProNav: ac range: 242.091187 m, nav range: 221.510880 m, bearing: 151.433686 deg, approach rate: -0.629744 m/s, LOS rate: -0.034571 deg/s, cmd heading: 153.673000 deg, new cmd heading: 153.648826 deg. B}gOHeadingCmd: 2.681678 target range: 242.091187 and range: 243.60 m.+@*"   ʎ   jZL?ɢzm:=) H?i)%Zh!!i%Biu+@u;ur:Iu+@Iy)EU EUEU%EQ"EU:*EUv:VEU 4ZEQBEU<c,Y@AZ@Zy+@ZwٱZ rAHRS rotation from veh to nav: [[-0.894932,-0.443402,-0.049921],[0.445946,-0.885006,-0.133774],[0.015135,-0.141981,0.989754]]ZHG`ܿ@6`b?QU?k,¿?iZ@IZb;ZCY~By~+IbD-VD-ky=%%=O=ٔEz;Q-E>9E ?YE ?=MmGyIMEM>QYQ 5}5UҊ?Q 9}5UP)UrBYy~6@Q IR@UZDIU;iU;Uk5yɮA=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754815jygO}FNOT Ignoring new targets: 242.09 m.R Z gO ProNav: ac range: 242.091187 m, nav range: 221.276169 m, bearing: 151.420830 deg, approach rate: -0.553421 m/s, LOS rate: -0.030346 deg/s, cmd heading: 153.648821 deg, new cmd heading: 153.623081 deg. B$^gOHeadingCmd: 2.681229 target range: 242.091187 and range: 243.60 m.@+@*" ʎjZ`r?ɢv"=) D?i)z^ii%@+@%p;%kM:I%@+@I)ԑ9@ @@4@E] E]E]'EY"E]:*E]:VE]'4ZEYae@ae@ae@am@Ա^Aq: checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007980 I I O- >By A} 4=B >B B +IB BB N =B GDB B S;B E$c,Y@A2v@2|l+@2X@_ٱ2 >AHRS rotation from veh to nav: [[-0.894590,-0.443920,-0.051411],[0.446679,-0.884730,-0.133156],[0.013626,-0.142084,0.989761]]2H@|.iܿR@c?OB `?/¿?i2v@I2c;0YFByF+IiEMb@Mb@Mb@AAAA A9ECl?MbX?Mbp?YEd?yE=E;EGAE|@ E@)E@AYE@QUAAbD]VD]:ym=%mG=ٔu8q;Q-u>9qYq=}mGy}ʲF}E>Q 55.Ҋ?Q 95!N)qBYr?Q E:y5@Q IR@cDI ;i ;n5yBɮAEԹjgOFNOT Ignoring new targets: 242.09 m.RyZygO ProNav: ac range: 242.091187 m, nav range: 221.028503 m, bearing: 151.408039 deg, approach rate: -0.648770 m/s, LOS rate: -0.033544 deg/s, cmd heading: 153.623085 deg, new cmd heading: 153.597474 deg. BugOHeadingCmd: 2.680782 target range: 242.091187 and range: 243.60 m.+@*" ʎjZr?)ɢ52=)1 5H?i1)==U99i=MiE+@E7;E9IE+@IA9@ @@/@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258814^AI I O >bEɻ 4jEO4rE(/Em  Em Em %Ei "Em &:*Em :VEm 4ZEi BEm ];9pYt=vmGytz?9Ez>Q 5 5ъ?Q 95CL)Yy5@Q IR@jDI>i;i];r5y--Bɮ-dA)PeB*** querying acoustic contact ***a ajygO}FNOT Ignoring new targets: 242.09 m.R Z gO% ProNav: ac range: 242.091187 m, nav range: 220.794556 m, bearing: 151.395927 deg, approach rate: -0.593491 m/s, LOS rate: -0.030757 deg/s, cmd heading: 153.597472 deg, new cmd heading: 153.573223 deg. B%'agO-HeadingCmd: 2.680358 target range: 242.091187 and range: 243.60 m.-+@)*)"I IIQQQʎQYYjYZ]?颡ɢZ*=) -J?i)1Jii+@;:I+@II)9@ @@/@@@\AAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762902i^A9I) IA OM >ԙ 76c,\QY@A6|@6Yr+@67ٱ6 BAHRS rotation from veh to nav: [[-0.894777,-0.443047,-0.055531],[0.446372,-0.884426,-0.136174],[0.011219,-0.146633,0.989127]]6HZܿ@n`\?6M`*n`?¿@?i6|@I6b;6CYJByJ+IE% E%E%"E!"E%;*E%A:VE%(3ZE!a-@a-@a-@a-@i5Mb@Mb@Mb@1111 195jt?EԸ?Y5 ?y5=55A5@ 1)11Y5@bDMVDM0y]C=%]B=ٔe6;Q-e>9aYa=mmGym˲Fm3:Em>qQ 5}5uъ?Q 9}5u J)uoBY"?Q E:y%5@Q IR@usDIu;iu;uu5yHBɮAEjgOFNOT Ignoring new targets: 242.09 m.RZgO ProNav: ac range: 242.091187 m, nav range: 220.533875 m, bearing: 151.383037 deg, approach rate: -0.634818 m/s, LOS rate: -0.031427 deg/s, cmd heading: 153.573224 deg, new cmd heading: 153.547414 deg. BfgOHeadingCmd: 2.679908 target range: 242.091187 and range: 243.60 m.+@*" ʎjZ|@q颹ɢ 6=) DN?i)?i= i+@;q*:I+@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0161209@ @@/@B5>B5CB5+IB5BB5M =B1B1B5S;B5Eԡ^Arg:II O > go> - GE `]Ae checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266728i e9 `]AY A `c,kY@AR@R{+@R)ٱR ZAHRS rotation from veh to nav: [[-0.895036,-0.442431,-0.056261],[0.445874,-0.884715,-0.135927],[0.010364,-0.146745,0.989120]]RH@"Pܿ8ά 2?O f z9?¿@ߦ?iR@IRnc;RCYrByr+I zp9Y=mGy=:E=>AQ 5M5Eiъ?Q 9M5EH)EnBYQyU/5@Q IUR@E{DIEp:iEg:E(y5y]Q J!c,jY@A6Ǘ@6d+@6o-#ٱ6 BAHRS rotation from veh to nav: [[-0.895525,-0.441485,-0.055917],[0.444901,-0.885392,-0.134700],[0.009959,-0.145504,0.989308]]6H@#@JAܿ '@@y?@"U=e? ¿@h?i6Ǘ@I6b;4YJByJ+IbDVVDVy^*=%^O=ٔ^b:Q-^>9`Y`=bmGyb̲Ff7;Ef>hQ 5n5jъ?Q 9n5jF)jlBYlynA5@Q InR@jDIj;ij];j|5ytɮvTAtj gOFNOT Ignoring new targets: 242.09 m.RZgO- ProNav: ac range: 242.091187 m, nav range: 220.042374 m, bearing: 151.358501 deg, approach rate: -0.630265 m/s, LOS rate: -0.031632 deg/s, cmd heading: 153.522695 deg, new cmd heading: 153.498290 deg. B-ggO5HeadingCmd: 2.679050 target range: 242.091187 and range: 243.60 m.5u+@1*1"1 19999ʎAAAjAZM@qɢu.M=)q }wS?iy)}*yyi}ߝiu+@ ;Ts;Iu+@I{>i>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7713509@ @@1@@=@=1Y^A1E= E=E=&E9"E=~ ;*E=~:VE=4ZE9aM@aM@aM@aM@IIO>ԉ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023216B% >B! B% +IB% BB% N =B! B! B% S;B% E(s'c,1?Y@A0> @>+@>D"ٱ>z JAHRS rotation from veh to nav: [[-0.896102,-0.440385,-0.055338],[0.443738,-0.886107,-0.133835],[0.009904,-0.144485,0.989457]]>HެD/ܿ 3U2f?Z@!H?`|~¿?i> @I>3b;>CY^By^+Ii}Mb@Mb@Mb@yyyy y9}V-?K?~jtx?Y}?y}^=};}A}|@ }@)}@yY}@bDVDNyt<%<=ٔB9Q->9Y=mGybD;E>Q 55ъ?Q 95C)Y?Q E:y5@Q IR@DI*:i:Z5y/BɮAEjgOFNOT Ignoring new targets: 242.09 m.R Z gO ProNav: ac range: 242.091187 m, nav range: 219.778366 m, bearing: 151.345455 deg, approach rate: -0.608764 m/s, LOS rate: -0.030117 deg/s, cmd heading: 153.498284 deg, new cmd heading: 153.472161 deg. By\gOHeadingCmd: 2.678595 target range: 242.091187 and range: 243.60 m.n+@!*!"! !!!))ʎ))1j1Z5jo @Yɢeb==)a e U?ia)eaiimbimn+@if;;In+@Iԑ9@ @@4@5BDAT read: Rx Time:00:56:17.9160 5TRx dataTimestamp_ set to:1761699378.657902=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277000Թ^Ar; DA DE =EM  EM EM %EI "EM T;*EM :VEM 4ZEI BEM G-c,>Y@A>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527757Xbr@b+@b "ٱbB- rAHRS rotation from veh to nav: [[-0.896653,-0.439357,-0.054574],[0.442622,-0.886821,-0.132794],[0.009946,-0.143226,0.989640]]bH@blܿ@%S?` e^?:U¿!?ibr@Ibb;bCY~By~+I  bDVDβy%BL%%R=ٔ%Q-->9)Y)=-mGy-ͲF5 Q;E5>9Q 5E5=ъ?Q 9E5=A)9YAyM#5@Q IMR@=DI=;i=;=5yU"BɮU AQmPExceeded connect timeout, disconnecting.P}B*** querying acoustic contact ***y yj!gO%FNOT Ignoring new targets: 242.09 m.R- Z- gO= ProNav: ac range: 242.091187 m, nav range: 219.541077 m, bearing: 151.333622 deg, approach rate: -0.606763 m/s, LOS rate: -0.030290 deg/s, cmd heading: 153.472165 deg, new cmd heading: 153.448474 deg. B=]gOHeadingCmd: 2.678181 target range: 242.091187 and range: 243.60 m.Rg+@*" ʎjZ@@!ɢ%<=)! %&P?i!)-.))i-i5Rg+@5;;5;I5Rg+@I9@ @@4@-DAT read: Range 11 to 50 : 218.2 m (Round-trip 291.0 ms) speed 0.4 m/s 5X#Rx 1: Read range message, but no direction.y!Y%3ZC!5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.^AU ϩ;A I I) O5 > ~4c,ҌY@A20@2+@2M ٱ2 >AHRS rotation from veh to nav: [[-0.896944,-0.438831,-0.054020],[0.442034,-0.887291,-0.131607],[0.009822,-0.141923,0.989829]]2HijܿuJJ?@d~`?*¿?i20@I2b;2CYFByF+IE EEE"El;*E?:VEZEa@a@a@a@)i-Mb@Mb@Mb@)))) )9-~jt?l?y&1|Y-$?y-=-`)) -@)-@)Y-3@bDMVDM1yUs<%]I=ٔ]S9Q-]>9aYa=emGyam?:Em>qQ 5}5uvъ?Q 9}5u?)uiBY}%?Q E}:y}2@Q I}R@uDIu;iu:uO5y!ɮ-A)gOu addTargetRange:: Added new target pos. range: 218.199997 m, deltaT: 8.065981 s, deltaX: -25.400009 m, approachRate: -3.149029 m/s, rangeRepo size: 4 jqgO}FNOT Ignoring new targets: 242.09 m.RhZhgO ProNav: ac range: 242.091187 m, nav range: 219.280914 m, bearing: 151.323048 deg, approach rate: -0.605367 m/s, LOS rate: -0.024633 deg/s, cmd heading: 153.448478 deg, new cmd heading: 153.427305 deg. BS4gOHeadingCmd: 2.677812 target range: 242.091187 and range: 218.20 m.Da+@*" ʎj`fFk@Zk?*DAT read: user:610> BDAT read: Tx time:00:56:19.1708 $Ping request sent.BB+IBBBM =BBXDBS;BEBCBCBBN =BN =Cʢ5-9@) @)@-`3@)@1@1ԁ^AU ;Ա I I O >U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247937:c,Y@AYBy+IbD-VD-:2yE|ü%EM=ٔEQ-E>9IYI=MmGyMβFMEU>YQ 5m5]>bъ?Q 9m5]U=)]gBYiyqQ IuR@]DI]0;i]$;]͊5yBɮAEԙjgOFNOT Ignoring new targets: 242.09 m.RZgOm ProNav: ac range: 242.091187 m, nav range: 219.025452 m, bearing: 151.312641 deg, approach rate: -0.671788 m/s, LOS rate: -0.027399 deg/s, cmd heading: 153.427304 deg, new cmd heading: 153.406466 deg. BmHgOHeadingCmd: 2.677448 target range: 242.091187 and range: 218.20 m.O[+@*" ʎjZ ?1ɢ5 J=)9 =CO?i9)=ޑ99i=7 iEO[+@E :;MG;IMO[+@IE5 E5E5#E1"E5:*E5&p:VE53ZE1BE5l% Ac,gY@A2@2+@2'9&ٱ2 :AHRS rotation from veh to nav: [[-0.897479,-0.438036,-0.051540],[0.440941,-0.888406,-0.127693],[0.010145,-0.137328,0.990474]]2H$ܿ c`b8?@m9XYX=ZmGyX^-O;E^>`Q 5f5bNъ?Q 9f5b ;)beBYdyj3@Q IjR@bDIb":ib:b(5yn BɮnAnEjgOFNOT Ignoring new targets: 242.09 m.R gZ ggO ProNav: ac range: 242.091187 m, nav range: 218.779968 m, bearing: 151.302529 deg, approach rate: -0.647637 m/s, LOS rate: -0.026709 deg/s, cmd heading: 153.406472 deg, new cmd heading: 153.386224 deg. BCgOHeadingCmd: 2.677095 target range: 242.091187 and range: 218.20 m.U+@*" ʎjZ+?ɢO=) J?i)߲iP iU+@\;%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7523143 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005019B A <B B B B B L =B B B T;B Ey Gc,B Y@A2@2+@2>%ٱ2bk :AHRS rotation from veh to nav: [[-0.897371,-0.438329,-0.050915],[0.441161,-0.888508,-0.126216],[0.010086,-0.135725,0.990695]]2H`D ܿ@`;?n'ç?m_Ƴ?i2@I2bb;2CQYBy+Ii Mb@Mb@Mb@     9 #~j?#~j?~jtY %?y = D A  d@)  Y @bD%VD%1y5<<%5(=ٔ=t9Q-=>99Y9==mGyEϲFE^EE>IQ 5U5M>5ъ?Q 9U5M]8)MaBY]5'?Q E]:y]3@Q I]R@MDIM;iM:Mi5yaɮeAajgOFNOT Ignoring new targets: 242.09 m.RZgO ProNav: ac range: 242.091187 m, nav range: 218.466339 m, bearing: 151.288862 deg, approach rate: -0.644148 m/s, LOS rate: -0.028109 deg/s, cmd heading: 153.386228 deg, new cmd heading: 153.358855 deg. BMgO-HeadingCmd: 2.676617 target range: 242.091187 and range: 218.20 m.-M+@)*1"1 11199ʎ999jAZE?颱ɢ2=) K?i)ϻ项i"iM+@;WyMNc,T;Y@A6I@6+@6ʾٱ6 >AHRS rotation from veh to nav: [[-0.897329,-0.438303,-0.051871],[0.441265,-0.888448,-0.126275],[0.009262,-0.136199,0.990638]]6H( ܿ@ގ=?+n)?@nN?i6I@I6]>b;6C D)F`AF9DDDJ`AiJʽIHIif`A  E)   `A + I)i)I`At !%`A%ti%E!i)))) )I)Y)Y=By=+IbDMVDMy]L%][=ٔe;Q-e>9e"?Ye"?=emGyim;Em>qQ 5}5u!ъ?Q 9}5u@6)u^BYy3@Q IR@uDIuF:iu:u5yBɮAEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 242.09 m.RZgO ProNav: ac range: 242.091187 m, nav range: 218.226013 m, bearing: 151.278372 deg, approach rate: -0.643689 m/s, LOS rate: -0.028129 deg/s, cmd heading: 153.358852 deg, new cmd heading: 153.337848 deg. BMgOHeadingCmd: 2.676250 target range: 242.091187 and range: 218.20 m.G+@*" ʎjZ@s?ɢٟV=)! %F?i!)%'!!i-%Y%iG+@Z;@J0Uc,@UY@AE EE%E"Ea;*E&p:VE 4ZEa@a@a@a@R@R+@Rz ٱRr ZAHRS rotation from veh to nav: [[-0.896974,-0.438814,-0.053674],[0.442001,-0.887816,-0.128133],[0.008574,-0.138656,0.990304]]RH ܿ@!{I?h fC?x?iR@IRa;RCY]By]+IiEMb@Mb@Mb@AAAA AY9EGz?~jt?MbpYEp?yE=EEAE@ E@)AAYE@quBAbD}VD}:y`=%9=ٔI:Q->9Y=mGyвFE>Q 55 ъ?Q 953)\BY?Q E:y~3@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012061Q IR@DIn;im;5yBɮlAEjgOFNOT Ignoring new targets: 242.09 m.RsZsgO  ProNav: ac range: 242.091187 m, nav range: 217.956314 m, bearing: 151.266616 deg, approach rate: -0.609641 m/s, LOS rate: -0.026605 deg/s, cmd heading: 153.337842 deg, new cmd heading: 153.314303 deg. B BgOHeadingCmd: 2.675839 target range: 242.091187 and range: 218.20 m.@+@*" ʎ!!j!Z%CB@QɢUfB=)Q UeJ?iQ)]4YYi]G(ie@+@eZ;e>BBBBBBB%T;BEԁ9@ @@4@ԩ^A X<m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264301 A .AI) I9 OM >W[c,oY@AF@F4+@FNٱF!l VAHRS rotation from veh to nav: [[-0.896595,-0.439414,-0.055076],[0.442787,-0.887371,-0.128500],[0.007592,-0.139599,0.990179]]FH@[ܿ2V?Wer ?d?iF@IF Ba;DYBy+IbD VD2yVf%Y=ٔ*;Q->9 ?Y ?=mGyE>Q 55Њ?Q 951)ZBYyp3@Q IR@DI;i;ќ5yɮAj gOFNOT Ignoring new targets: 242.09 m.RPZPgO- ProNav: ac range: 242.091187 m, nav range: 217.726089 m, bearing: 151.256615 deg, approach rate: -0.613924 m/s, LOS rate: -0.026699 deg/s, cmd heading: 153.314306 deg, new cmd heading: 153.294281 deg. B-sCgO5HeadingCmd: 2.675490 target range: 242.091187 and range: 218.20 m.5:;+@1*1"1 11199ʎAAAjAZE`A@iɢugQ=)q uD?iq)}Oyyi}|{+i:;+@k ;Qi!>ԹbEjE4rEn/E= E=E9E9"E=;*E=:VE9ZE9BE=d82bc,6Y@A6@6?+@6B@ܻٱ6-Q >AHRS rotation from veh to nav: [[-0.895762,-0.440821,-0.057337],[0.444483,-0.886228,-0.130518],[0.006721,-0.142399,0.989787]]6H h6ܿJ[`ir?`[ Դ{? :¿T?i6@I6%a;4YZByZ+Ii9I=AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768044bDVD:2yMS%G=ٔ  ;Q- >9 "?Y "?= mGyѲFE>yQ 55}Њ?Q 95}/)}WBYyP3@Q IR@}DI}:i}:}5yBɮAEjgOFNOT Ignoring new targets: 242.09 m.RZgO ProNav: ac range: 242.091187 m, nav range: 217.467896 m, bearing: 151.245508 deg, approach rate: -0.611418 m/s, LOS rate: -0.026332 deg/s, cmd heading: 153.294280 deg, new cmd heading: 153.272040 deg. B@gOHeadingCmd: 2.675102 target range: 242.091187 and range: 218.20 m.4+@*" ʎjZ@ɢ@=) ??i)%e;!!i%u.i-4+@-!;-;I-4+@I1Y9@ @@@@@@@Ee EeEe$Ea"Ee;*Ee:VEe4ZEaam@am@au@au@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020462ԩ B >B CB +IB BB K =B B B $T;B EA .AI I O >\hc,Y@A@Yf~Byf+IiMMb@Mb@Mb@IIII I9M/$?V-?y&1YM?yMh=M`eMAMf@ Mz@)M@IYMG@ e49 ?Y ?=mGyE>Q 55Њ?Q 95x-)TBY?Q E:y2@Q IS@DI ;i ;ƣ5yɮAjgOFNOT Ignoring new targets: 242.09 m.RZgO ProNav: ac range: 242.091187 m, nav range: 217.240082 m, bearing: 151.236284 deg, approach rate: -0.608784 m/s, LOS rate: -0.024675 deg/s, cmd heading: 153.272040 deg, new cmd heading: 153.253573 deg. B4gOHeadingCmd: 2.674779 target range: 242.091187 and range: 218.20 m./+@*" BʎjZ @5Bɢ5O=) &??G1i9)EZQ]9aYeAQie!G1i/+@t!;_;I/+@IԱmBDAT read: Rx Time:00:56:21.8927 uTRx dataTimestamp_ set to:1761699382.692858uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277059E9@A @A@E/@AA؟AIIO>Eq  Eu Eu "Eq "Eq *Eu :VEu (3ZEq BEu AAHRS rotation from veh to nav: [[-0.894042,-0.443545,-0.062908],[0.447960,-0.883688,-0.135752],[0.004621,-0.149548,0.988744]]6Hcܿ`^? +GN`ir?a$ÿɣ?i6`@I6`;6CYFoByF+IbDRVDR:2yZ%ZX=ٔZ;Q-Z>9^"?Y^"?=^mGy^ҲFb'Eb>dQ 5j5fЊ?Q 9j5fX+)fOBYhyjm2@Q IjS@fDIf:ift:lf5yrBɮvAvEPEB*** querying acoustic contact ***A AjQgOUFNOT Ignoring new targets: 242.09 m.R}ֹZ}ֹgO ProNav: ac range: 242.091187 m, nav range: 217.009430 m, bearing: 151.227184 deg, approach rate: -0.594315 m/s, LOS rate: -0.023473 deg/s, cmd heading: 153.253572 deg, new cmd heading: 153.235352 deg. B+gOHeadingCmd: 2.674461 target range: 242.091187 and range: 218.20 m.`*+@*" ʎjZ@颹ɢ<@=) 7?i)<4im 4i=`*+@=";Erن;IE`*+@IQ e9@a @a@e/@a9DAT read: 00:56:21.8927 LVL= 32016, 30321, 25906, 23075, AGC= 73, IDX= 202, 0.11, 0.251,-1.033, 0.265,-0.615, PHS= 0.968,-0.373, 0.836, RAW= 144.9, -21.6, CAL= 146.0, -23.8, ROT= 4.0, 23.8 Ygot valid direction response: 00:56:21.8927 LVL= 32016, 30321, 25906, 23075, AGC= 73, IDX= 202, 0.11, 0.251,-1.033, 0.265,-0.615, PHS= 0.968,-0.373, 0.836, RAW= 144.9, -21.6, CAL= 146.0, -23.8, ROT= 4.0, 23.8 PDAT read: Bearing 295.9, 7.3 (Local) ~Local bearing/azimuth received: Bearing 295.9, 7.3 (Local) DAT read: Range 11 to 50 : 238.2 m (Round-trip 317.7 ms) speed 0.8 m/s R#Rx 1: Read range and direction messages.AIIO>^direction in FSK: [0.912731,0.063824,-0.403545]Fpublishing direction and range infoyy}1=c5?V?QٿY}3nCy}}}qv}2e }#Z)}II}w?i}}V?}!@}}e#@ }ȭԾ)}5=I}ȭ>yy}3?m䉺 ?<׿ }L>)}s>I}5=i}ȭ>yyT****** received valid address query ******R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.q ouc,֍Y@AE EE'E"E:*E:VE'4ZEa@a@a@a@:C@:]9+@:Zٱ:>! FAHRS rotation from veh to nav: [[-0.893270,-0.444397,-0.067672],[0.449507,-0.881952,-0.141791],[0.003328,-0.157077,0.987581]]:H૕`pܿR ?`84&¿Bk?ĿC?i:C@I:`;:CYLyP9iMb@Mb@Mb@ 9-?sh|??{GzY5?y=#AO@ )@Y@bDVDy%z:%%5=ٔ%;;Q-->9)Y)=-mGy)5.{E5>9Q 5E5=Њ?Q 9E5=()=KBYE?Q EM:yM3@Q IMS@=DI=n:i=@:=5yUBɮUAUEp̍Y@AJlCRlCj2+@Mhk@6? 8.@|Au Wr1=c5?V?QٿZ5=bȭ>>?xl(h|*:VX@RXză@ g BDAT read: Tx time:00:56:23.2208 $Ping request sent. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250732 D{c,Y@ABM$@B+@BٱB ' JAHRS rotation from veh to nav: [[-0.892409,-0.445458,-0.071926],[0.451223,-0.880306,-0.146491],[0.001939,-0.163185,0.986594]]BH aܿ i@?w+7¿_?<Ŀ,?iBM$@IBa;@YVgByVw+IbD^VD^0yf0%fc=ٔj|;Q-j>9j ?Yj ?=jmGyjӲFnEn>pQ 5v5rЊ?Q 9v5r&)rGBYxyz]3@Q IzS@rDIr[:ir:r,5y|ɮ~Aj!gO%FNOT Ignoring new targets: 236.73 m.R-ɹZ-ɹgO= ProNav: ac range: 236.734879 m, nav range: 216.173843 m, bearing: 153.257297 deg, approach rate: -0.647349 m/s, LOS rate: -0.022036 deg/s, cmd heading: 153.213834 deg, new cmd heading: 153.198682 deg. B=Q!gOEHeadingCmd: 2.673821 target range: 236.734879 and range: 238.20 m.E+@A*A"I IIIQQʎQQQԙj1Z=`4?i)8iϺ顩ig9i+@i"";y;I+@IE= E=E9E9"E=s:*E=:VE9ZE9BE=d0 c, Y@AYybD-VD-kEchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754850ٔMQ-M>9QYQ=UmGyQUE]>aQ 5m5eЊ?Q 9m5e$)eBBYiyiQ ImS@eDIe-:ie:eױ5y}Bɮ}AyjgOFNOT Ignoring new targets: 236.73 m.RZgO ProNav: ac range: 236.734879 m, nav range: 215.914246 m, bearing: 153.248449 deg, approach rate: -0.618203 m/s, LOS rate: -0.021095 deg/s, cmd heading: 153.198684 deg, new cmd heading: 153.180968 deg. BlgOHeadingCmd: 2.673512 target range: 236.734879 and range: 238.20 m.+@*" ʎjqZu?BɢL@A=)! %v4?i!)%4ف!!i%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006786Bu >Bq Bu +IBu BBq Bq Bq Bu S;Bu EBmCBmCBiBmK =BmK =CmV*5y c,[$Y@A2@2*@2D9ٱ2/* :AHRS rotation from veh to nav: [[-0.891324,-0.447093,-0.075161],[0.453367,-0.879087,-0.147190],[-0.000266,-0.165270,0.986248]]2H +ܿ= ?z!!¿`h1'ſX?i2@I2a;0Yf^Byfl+IiUMb@Mb@Mb@QQQQ Q9Ujt?EԸ? rhYU ?yU=UCUAU"@ UM@)U@QYU@bDmVDmy}Ů%}<ٔ;Q->9"?Y"?=mGyԲFͿE>Q 55InЊ?Q 95w");BY"?Q E:yW4@Q IS@DI ;i" ;l5yBɮAEjgOFNOT Ignoring new targets: 236.73 m.R^ܹZ^ܹgO ProNav: ac range: 236.734879 m, nav range: 215.656540 m, bearing: 153.238580 deg, approach rate: -0.628089 m/s, LOS rate: -0.024083 deg/s, cmd heading: 153.180967 deg, new cmd heading: 153.161204 deg. BK0gOHeadingCmd: 2.673167 target range: 236.734879 and range: 238.20 m.,+@*" މBʎj Z 6?Q颱ɢJ=) '0?i)项i}>i,+@d!;yJ :I,+@IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.2589679@ @@/@@=@=ԁ^A0::ԱAzAWAEe  Ee Ee (Ea "Ee :*Ee :VEe c44ZEa BEe 5  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510790/Վc,6>Y@AFB@F*@Fۉ:ٱF) RAHRS rotation from veh to nav: [[-0.890973,-0.447668,-0.075902],[0.454056,-0.878821,-0.146654],[-0.001052,-0.165129,0.986272]]FH؂ܿ`On@?L¿q;Q "ſ@?iFB@IFq(a;FCYXyZk+IbDfVDf:yjϔ%nU=ٔnn;Q-n>9pYp=rmGypvSEv>xQ 5z5zZЊ?Q 9~5zm )z4BY|y~K4@Q I~S@zDIz;iz~ ;zƸ5y ɮ A P%B*** querying acoustic contact ***! !j1gO5FNOT Ignoring new targets: 236.73 m.R=۹Z=۹gOM ProNav: ac range: 236.734879 m, nav range: 215.415695 m, bearing: 153.229385 deg, approach rate: -0.627761 m/s, LOS rate: -0.023993 deg/s, cmd heading: 153.161200 deg, new cmd heading: 153.142790 deg. BM/gOUHeadingCmd: 2.672846 target range: 236.734879 and range: 238.20 m.U+@Q*Q"Q YYYaaʎaaajiZm#?颕BɢI=) Q0?i)P[8顙iD@i+@9!;'9I+@IԱ@ @@0@]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762799^Arg: A I! I9 OE >9 Eu  Eu Eu #Eq "Eu :*Eu :VEu 3ZEq a @a @a @a @Zc,XY@ARR@R*@Ru:ٱR' bAHRS rotation from veh to nav: [[-0.890974,-0.447824,-0.074955],[0.454053,-0.879118,-0.144874],[-0.001016,-0.163113,0.986607]]RH܂@'ܿ :02? !>¿PĿH?iRR@IR`;RCYr]Byrj+I ttiMb@Mb@Mb@ 9/$? ףp= ?:vY?yQ=T )@YbDVDky{%6=ٔިQ->9Y=mGyղF7E>Q 5 5DЊ?Q 9 5).BYd?Q E:y3@Q IS@DIh;i ;5ysBɮXA%EjAgOEFNOT Ignoring new targets: 236.73 m.RM͹ZM͹gO] ProNav: ac range: 236.734879 m, nav range: 215.141037 m, bearing: 153.219329 deg, approach rate: -0.612801 m/s, LOS rate: -0.022464 deg/s, cmd heading: 153.142786 deg, new cmd heading: 153.122649 deg. B]r$gOeHeadingCmd: 2.672494 target range: 236.734879 and range: 238.20 m.e& +@auchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014958*a"q qyyy}݉BʎB>BB+IBuBBL =BBBS;BEjZed@颭Bɢt6=) G0?i);:顱iͱCi& +@b!;ě?:I& +@Ie>i%>]9@Y @Y@]/@Y! ^A} 9% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266811A I I O >c,mrY@AY~WBy~c+IbDVDy%%%Y=ٔ%Q-%>9)Y)=-mGy)-E5>1Q 5E5562Њ?Q 9E55)5(BYAyAQ IES@5DI5;i5;55yQɮUnAQjqgO}FNOT Ignoring new targets: 236.73 m.R͹Z͹gO ProNav: ac range: 236.734879 m, nav range: 214.910568 m, bearing: 153.210872 deg, approach rate: -0.612546 m/s, LOS rate: -0.022504 deg/s, cmd heading: 153.122651 deg, new cmd heading: 153.105717 deg. B$gOHeadingCmd: 2.672199 target range: 236.734879 and range: 238.20 m.N+@*" ʎjZ`*@ɢBW=) -?i)ߚ:iFiN+@6!;~:IN+@IDzDYe9@a @a@m_0@iE  E E %E "E s:*E :VE  4ZE BE d0Ic,JY@A6@6@*@61)9ٱ6@ BAHRS rotation from veh to nav: [[-0.891177,-0.448143,-0.070504],[0.453655,-0.880493,-0.137586],[-0.000420,-0.154598,0.987977]]6H _ܿ ?@,i &;ÿ?i6@I6M`;6CYJUByJa+IbDVVDVkyZ"%^Q=ٔ^ǺQ-^>9b ?Yb ?=bmGybֲFf͕:Ef>hQ 5j5jЊ?Q 9n5jrchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770936)j#BYtyv3@Q IvS@j&DIji;ijlj;je5yzfBɮzAA~EjgO%FNOT Ignoring new targets: 236.73 m.R%ιZ%ιgO5 ProNav: ac range: 236.734879 m, nav range: 214.671204 m, bearing: 153.202015 deg, approach rate: -0.609391 m/s, LOS rate: -0.022574 deg/s, cmd heading: 153.105712 deg, new cmd heading: 153.087978 deg. B5?%gO=HeadingCmd: 2.671889 target range: 236.734879 and range: 238.20 m.=<+@A*A"A AAAIIʎIIIjQZU@N@}Bɢ}@J=) <-?i)t:顁iHi<+@.!;}Y:I<+@I @ @@4@ԱE EE&E"E:*E:VE4ZEa@a@a@a@^AΒ{:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023026AAB>BB|+IBkBBJ =BBYDBT;BEI1 IA OU > c,(Y@A2@2<*@2T ٱ2 :AHRS rotation from veh to nav: [[-0.891454,-0.447995,-0.067900],[0.453112,-0.881377,-0.133659],[0.000033,-0.149918,0.988698]]2H ʆܿa?=4R?@0ÿk?i2@I2{_;2CYNKByRT+IIV;>)VliEMb@Mb@Mb@AAAA A9E\(\??:vYE?yE=AE-AEO@ Ez@)AAYAbD]VD]βym>%m?=ٔmQ-m>9qYq=umGyq]:E>Q 55- Њ?Q 9 5)BY ?Q E :y !5@Q I S@.DI :i:D5yYBɮ5AEj9gOEFNOT Ignoring new targets: 236.73 m.RMlZMlgO] ProNav: ac range: 236.734879 m, nav range: 214.403122 m, bearing: 153.190725 deg, approach rate: -0.607564 m/s, LOS rate: -0.025618 deg/s, cmd heading: 153.087981 deg, new cmd heading: 153.065373 deg. B];gOeHeadingCmd: 2.671495 target range: 236.734879 and range: 238.20 m.e*@a*a"a aiiimˉBʎqqqjqZ} @颥Bɢ==) (?i)c;顩i5Ki*@!;e ;I*@IiIBDAT read: Rx Time:00:56:25.8804 TRx dataTimestamp_ set to:1761699386.726757 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2774899@ @@4@1^A0::D<D<bE-4jEș4rE- 0E  E E %E "E a:*E xv:VE 4ZE BE ( checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526904\c,Y@AA`@+@^ٱW  AHRS rotation from veh to nav: [[-0.891806,-0.447835,-0.064232],[0.452418,-0.882581,-0.127945],[0.000609,-0.143162,0.989699]]HTܿ@{qh?>` C? S¿?i`@I8_;CY%_By%m+IbD5VD5yEa=%E==ٔMQ-M>9IYI=MmGyUײFUB:EU>YQ 5e5]ϊ?Q 9e5])]BYiym35@Q ImS@]7DI]:i]:]5yqɮuAyPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 236.73 m.R|Z|gO ProNav: ac range: 236.734879 m, nav range: 214.151474 m, bearing: 153.180027 deg, approach rate: -0.604626 m/s, LOS rate: -0.025734 deg/s, cmd heading: 153.065373 deg, new cmd heading: 153.043951 deg. Bc<gOHeadingCmd: 2.671121 target range: 236.734879 and range: 238.20 m.*@*" ʎjZ@6@-Bɢ-B,O=)1 53?i1)5=;11i5G Ni=*@=/!;E^;IE*@IAi9@ @@/@-DAT read: 00:56:25.8804 LVL= 32752, 32753, 32194, 32755, AGC= 71, IDX= 308, 0.13,-0.906,-2.456,-0.554,-0.990, PHS= 0.186,-1.421, 0.391, RAW= 155.9, 9.8, CAL= 155.8, 10.6, ROT= 354.2, -10.6 5Ygot valid direction response: 00:56:25.8804 LVL= 32752, 32753, 32194, 32755, AGC= 71, IDX= 308, 0.13,-0.906,-2.456,-0.554,-0.990, PHS= 0.186,-1.421, 0.391, RAW= 155.9, 9.8, CAL= 155.8, 10.6, ROT= 354.2, -10.6 UPDAT read: Bearing 328.4, -7.2 (Local) U~Local bearing/azimuth received: Bearing 328.4, -7.2 (Local) ]DAT read: Range 11 to 50 : 191.5 m (Round-trip 255.4 ms) speed 0.7 m/s eR#Rx 1: Read range and direction messages.m^direction in FSK: [0.977903,-0.099332,0.183951]mFpublishing direction and range infoy +J?`vm =η?Y?Cԑ} )GIv>>iT㵿'1>X$.@%/>.@ q=>)@Iq=?ƕ?,BP? P ?)"0I)QϽiq=T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A] ;IQ Ia Om > 0c,َY@AE EE&E"E:*EVE4ZEa"@a"@a"@a"@N( @N*@N^}ٱNHE VAHRS rotation from veh to nav: [[-0.891662,-0.448459,-0.061841],[0.452702,-0.883009,-0.123919],[0.000967,-0.138490,0.990363]]NH}ܿ?A,ЫO??iN( @IN~_;NCԉU*DAT read: user:612> ]BDAT read: Tx time:00:56:27.2708 ]$Ping request sent.]BuCBuu+IBufBBuI =BqBqBuNT;BuEY`Byn+IiEMb@Mb@Mb@AAAA A9Eףp= ?B`"۹?y&1|YE?yE=E`EAA EM@)E@AYE@bD]VD]kym;%m,=ٔm.EQ-m>9qYq=umGyuزFu/ԹE>Q 55/ϊ?Q 95P)BY ?Q E:y"5@Q IS@@DI:i:(5yLBɮAÜΎY@AJS>CRS>Cjj;&@\GœCg@G2]֬WA@r +J?`vm =η?Z)QϽbq=gތce&#'X@H+OOB@z-Ze_>?d_3?29B:"wO?* C#&BQBEȪ홊?“)>C&@kOMaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 191.500000 m, deltaT: 4.031575 s, deltaX: -46.699997 m, approachRate: -11.583562 m/s, rangeRepo size: 4jIgOMFNOT Ignoring new targets: 236.73 m.RUZUgOe ProNav: ac range: 236.734879 m, nav range: 213.849197 m, bearing: 153.167229 deg, approach rate: -0.614799 m/s, LOS rate: -0.026065 deg/s, cmd heading: 153.043953 deg, new cmd heading: 153.018322 deg. Be>gOmHeadingCmd: 2.670674 target range: 236.734879 and range: 238.20 m.mQ*@i*i"q qqqy}щBʎyyjg@Z?颭BɢiE=) <4?i)j;项i.QiQ*@T!;\-];IQ*@I %KCI@I @I@U0@QcG%b9)Y-A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250400^A qZ; I I O >qTc,Y@A2@2*@2<ٱ2B :AHRS rotation from veh to nav: [[-0.891572,-0.448782,-0.060779],[0.452877,-0.883079,-0.122776],[0.001427,-0.136989,0.990571]]2H ڸܿ@{?.B@BnG`W?@ވò?i2@I2e_;2C@@i@I@@IDiD DD)DD J-r@HHHHHIL)LiL)NCILPP PPRA^AR/ݽiV FTiTV5^A)Vƽ TIXYXY\y9 AAbDMVDMk2y!%=ٔúQ-?9Y=mGy(E?Q 55Cϊ?Q 95)BYy5@Q IS@FDI:i:5y>BɮzAEjgOFNOT Ignoring new targets: 236.73 m.RZgO ProNav: ac range: 236.734879 m, nav range: 213.665497 m, bearing: 153.159441 deg, approach rate: -0.630193 m/s, LOS rate: -0.026741 deg/s, cmd heading: 153.018326 deg, new cmd heading: 153.002737 deg. BCgOHeadingCmd: 2.670402 target range: 236.734879 and range: 238.20 m.*@* "    ʎ!j!Z%\?Bɢ;Sv=)  4?i )5Q;11i5tSi=*@=gn!;=a;I=*@IAEm EmEm%Ei"Ema:*Em]t:VEm 4ZEiBEia}2Eia}JEm;a}:Em;a}I)ZA!A@A @A@E/@Auchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503702Q^Am yb];I I O >y ?c, Y@A2@2*@2Sٱ2T :AHRS rotation from veh to nav: [[-0.891381,-0.449105,-0.061198],[0.453254,-0.882823,-0.123227],[0.001315,-0.137580,0.990490]]2H0#ܿZU?@ ˋ@{U?:?i2@I2۵_;0^checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754393Y^Byk+IbD-VD-Ny=i!%=O=ٔ=9Q-=>9AYA=EmGyAE!EM>IQ 5]5Mcϊ?Q 9]5M)M BYYy]5@Q I]S@MNDIM;iM;M15ymBɮmAmxEjgOFNOT Ignoring new targets: 236.73 m.RZ-gO= ProNav: ac range: 236.734879 m, nav range: 213.420715 m, bearing: 153.149073 deg, approach rate: -0.620278 m/s, LOS rate: -0.026304 deg/s, cmd heading: 153.002740 deg, new cmd heading: 152.981979 deg. B=@gOEHeadingCmd: 2.670039 target range: 236.734879 and range: 238.20 m.E*@A*I"I IQIQYYʎYajZ?BɢqhZ=) 64?i).;i Vim*@m!;m\;Im*@IiE9@I @I@U/@QyE= E=E=#E9"E=:*E=:VE=3ZE9a]@a]@ae@ae@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006487B}<A}4<ByByByByByByByB}aT;B}$Eԩ^A qZ;A ?A A I I) O= >[c,@'Y@A2*@2*@2:Tٱ20 :AHRS rotation from veh to nav: [[-0.891358,-0.448977,-0.062457],[0.453300,-0.882526,-0.125170],[0.001078,-0.139883,0.990167]]2H@ ܿ@i@?=Q?`s?i2*@I2O__;0YMaByMp+IiMb@Mb@Mb@ 9jt?MbX?Mb`Y ?y=xA z@)@Y@bDVDyT<%@=ٔ:Q->9Y=mGyٲF E> Q 55 ϊ?Q 95  ) BY"?Q E:y4@Q IS@ WDI :i *: 5y%Bɮ-~A)jIgOUFNOT Ignoring new targets: 236.73 m.R]Z]gO ProNav: ac range: 236.734879 m, nav range: 213.153763 m, bearing: 153.138039 deg, approach rate: -0.628014 m/s, LOS rate: -0.025990 deg/s, cmd heading: 152.981976 deg, new cmd heading: 152.959881 deg. BA>gOHeadingCmd: 2.669654 target range: 236.734879 and range: 238.20 m.*@*" ȉBʎaaijiZm?BɢZ=) 6?ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259598)];;ieYi *@!;Ec,$AY@A2U@2*@2 ٱ2 :AHRS rotation from veh to nav: [[-0.891058,-0.449492,-0.063024],[0.453889,-0.882272,-0.124822],[0.000502,-0.139830,0.990175]]2H@{ܿ _"` ?;Tq@?``?i2U@I2L^;2CYBjByB{+IIv=)vp=bD~VD~y A=% Z=ٔ :Q->9"?Y"?=mGybE>!Q 5-5%ϊ?Q 9-5% )%BY)y54@Q I5S@%_DI%7;i%e;%-5y9ɮ=YA9jagOeFNOT Ignoring new targets: 236.73 m.RmyZmygO} ProNav: ac range: 236.734879 m, nav range: 212.918655 m, bearing: 153.128340 deg, approach rate: -0.628433 m/s, LOS rate: -0.025952 deg/s, cmd heading: 152.959887 deg, new cmd heading: 152.940469 deg. B}=gOHeadingCmd: 2.669315 target range: 236.734879 and range: 238.20 m.*@*" ʎjZyv?Bɢ0|=) ;?i)rk;ii\i*@!;[;I*@I!-5t>i5>Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.7631289@ @@O0@y E  E E #E "E ;^A= d;*E :VE 3ZE ae @ae @ae @ae @Ա AYIachecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015117B>BB|+IBkBBBBBfT;B'EBECBABABEI =BEJ =CE5IO>ܳc,N`Y@A|YuiByuy+Ii Mb@Mb@Mb@     9 ףp= ?/$?Mbp?Y ?y = ; A  7@) @ Y \@ ;;bD%VD%y5x%5=ٔ=Q-=>99Y9==mGyEڲFEEE>IQ 5U5Mvϊ?Q 9U5M)MBY], ?Q E]:y]3@Q I]S@MiDIMd;iMP:M5yeBɮe*AewEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 236.73 m.RC˹ZC˹gO ProNav: ac range: 236.734879 m, nav range: 212.593094 m, bearing: 153.116681 deg, approach rate: -0.619317 m/s, LOS rate: -0.022213 deg/s, cmd heading: 152.940476 deg, new cmd heading: 152.917122 deg. B"gOHeadingCmd: 2.668907 target range: 236.734879 and range: 238.20 m.`*@*" ʼnBʎjZ@Bɢe,R=) c, zY@AE EE(E"E:*E҆:VEc44ZEBE59Y=mGy۲FE>Q 55cϊ?Q 95)BYyQ IS@qDI;i* ;5yBɮAvEjgOFNOT Ignoring new targets: 236.73 m.Re̹Ze̹gO  ProNav: ac range: 236.734879 m, nav range: 212.355835 m, bearing: 153.108161 deg, approach rate: -0.621344 m/s, LOS rate: -0.022337 deg/s, cmd heading: 152.917116 deg, new cmd heading: 152.900058 deg. B #gOHeadingCmd: 2.668609 target range: 236.734879 and range: 238.20 m.*@*" !ʎ!!!j)Z-@UBɢUmx=)Q U8??iY)]ej;aaie cim*@mG8";m(;Im*@Iqqqyyechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.535493ԑ9@ @@4@  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786655^A t;A I I O >qc,J|Y@AR@R=*@R)7v;ٱR$ nAHRS rotation from veh to nav: [[-0.889141,-0.451893,-0.072257],[0.457618,-0.879254,-0.132278],[-0.003757,-0.150680,0.988575]]RHsܿr@I?"{`nzIÿi?iR@IRDž_;RCY~rBy~+I  bD%VD%Jy]T<%]5=ٔm9yE EE)E"E:*E~:VEFA4ZEaM@aM@aU@aU@Yy=}mGy~ E>Q 55Kϊ?Q 95)BYy93@Q IS@{DI:BCB+IBuBBBBBT;B<E=Bɢ=I^=)A E5B?iA)E4c,Y@A$zĝ@z`*@z=;ٱz AHRS rotation from veh to nav: [[-0.888662,-0.452202,-0.076108],[0.458530,-0.878249,-0.135752],[-0.005455,-0.155536,0.987815]]zH oܿ{X?`T``Wvÿ.?izĝ@Iz+`;zCYzBy+IiMb@Mb@Mb@ 9w/?kt?~jtxY&?y =ĻA9@ )@Y@@A@AbDVDy =% ;=ٔ-};Q-->9)Y)=5mGy5ܲF5/'E5>9Q 5E5=C6ϊ?Q 9e5=)=BYm](?Q Em:ym2@Q ImS@=DI=;i=>;=5yqɮu{AyjgOFNOT Ignoring new targets: 236.73 m.R\ʹZ\ʹgO5 ProNav: ac range: 236.734879 m, nav range: 211.789276 m, bearing: 153.088913 deg, approach rate: -0.669445 m/s, LOS rate: -0.022115 deg/s, cmd heading: 152.878772 deg, new cmd heading: 152.861502 deg. B5!igOuHeadingCmd: 2.667937 target range: 236.734879 and range: 238.20 m.uy*@q*q"q qyۉBʎjZe @D=D<E EE!E"E:*E]t:VEc3ZEBE+gc,HΏY@A2@27*@2{;ٱ2$ :AHRS rotation from veh to nav: [[-0.888173,-0.452586,-0.079467],[0.459456,-0.877340,-0.138474],[-0.007048,-0.159501,0.987173]]2H`k +ܿW@g?@+|jĿ?i2@I2`;2CYBrByF+IbDNVDNܲyV)%VN=ٔV;Q-Z>9Z ?YZ ?=ZmGyX^.E^>`Q 5f5b!ϊ?Q 9f5bS)bBYdyf2@Q IjS@bDIb;ib:bV5yn˿BɮnfAntEj|gO FNOT Ignoring new targets: 236.73 m.R 5ȹZ 5ȹgO ProNav: ac range: 236.734879 m, nav range: 211.532944 m, bearing: 153.080516 deg, approach rate: -0.667095 m/s, LOS rate: -0.021879 deg/s, cmd heading: 152.861505 deg, new cmd heading: 152.844691 deg. B* gO%HeadingCmd: 2.667643 target range: 236.734879 and range: 238.20 m.%*@!*)") )))11ʎ111j9Z=\#@eBɢe׼=)i mC?ii)mc˦?F0?|Tsտ >)>I;i >=T****** received valid address query ******=R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.ԩ@ @@/@E EE%E"E:*Exv:VE 4ZEa@a@a@a@^A9B>BB+IBzBBL =BBXDBT;BQE *DAT read: user:613>  BDAT read: Tx time:00:56:31.2708  $Ping request sent. ! jc,sY@A2@2Sy*@27" <ٱ2&& :AHRS rotation from veh to nav: [[-0.887913,-0.452621,-0.082127],[0.459932,-0.876816,-0.140199],[-0.008553,-0.162257,0.986711]]2H`iܿ?o?8Ŀ#?i2@I28}`;2CYNqByLiMb@Mb@Mb@ 9 r??9"?Y"?=mGyݲF*E%>!Q 5-5% ϊ?Q 955%)%BY=%?Q E=:y=#4@Q I=S@%DI%H<;i%;;%=5yUBɮ]2A]sE  яY@AJ RCR RCj ֵ&@ ;Vh@dp:ӽ?(ӶSr ?N? Wz?׿Z ;b > *Fd[_X@v=Sz 1stĥ2#J?Cͷ ;ؿ2 B: '" oz?* ݸB  oz? C#&“ B @C '@gO addTargetRange:: Added new target pos. range: 211.300003 m, deltaT: 8.083702 s, deltaX: -26.899994 m, approachRate: -3.327682 m/s, rangeRepo size: 4 gO Added new target pos. range: 210.000061 m, bearing: 149.246814 deg, lat: 36.779204 deg, lon: -121.859552 deg, deltaT: 8.083702 s, deltaX: -26.734818 m, approachRate: -3.307249 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 210.00 m.R%Z!gOU ProNav: ac range: 210.000061 m, nav range: 192.537094 m, bearing: 150.174336 deg, approach rate: 0.000000 m/s, LOS rate: -0.021879 deg/s, cmd heading: 152.844689 deg, new cmd heading: 152.824479 deg. BQgO]HeadingCmd: 2.667290 target range: 210.000061 and range: 211.30 m.]*@Y*Y"Y aaaam؉Bʎjij@Z{?Bɢ**p=)) -D?i))5ٺ<11i5uoi=*@E ;EwIE*@IIIY)Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.2506669@ @@/@9q bEȻ 4jEr 4rEsq0E  E E #E "E :*E n:VE 3ZE BE .5sd,7Y@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501393 Vz@VIp*@V\#<ٱVJ& bAHRS rotation from veh to nav: [[-0.887647,-0.452912,-0.083382],[0.460416,-0.876692,-0.139386],[-0.009971,-0.162116,0.986721]]VHgܿXsw?` g@jk@8Ŀ8?iVz@IV&/`;VCYj`Byjn+I prbDvVDv0y~%~Z=ٔ>x;Q->9 ?Y ?=mGy úE >Q 55Ί?Q 95)BY!y%4@Q I%S@DI:iM:y5y)ɮ-vA)PMB*** querying acoustic contact ***I IjYgO]FNOT Ignoring new targets: 210.00 m.Re/Ze/gOu ProNav: ac range: 210.000061 m, nav range: 192.302475 m, bearing: 150.160666 deg, approach rate: -0.658939 m/s, LOS rate: -0.038439 deg/s, cmd heading: 152.824485 deg, new cmd heading: 152.797113 deg. BugO}HeadingCmd: 2.666813 target range: 210.000061 and range: 211.30 m.}*@y*y"y ʎjZ@?颽Bɢ=) =?i)K'<iqi*@ ;4I*@Ia9@ @@o0@ԑ^Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753735A I I Թ O >d,Y@AEN ENEN,EL"EN&:*ENk:VENg4ZELaZ@a^@a^@a^@`h@]*@G<B=<A=<BE>BECBABABEJ =BABEYDBET;BE^Eٱ$ eAHRS rotation from veh to nav: [[-0.887100,-0.453762,-0.084579],[0.461416,-0.876617,-0.136518],[-0.012197,-0.160131,0.987020]]Hc o ݿ@և?@ my.Ŀ?ih@I_;CYjBy{+IiEMb@Mb@Mb@AAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005363AA A9EMb?bX9ȶ?~jtYE#?yEE=EDEAE"@ E7@)E@AYE@bDuVDu02y$=%(=ٔY;Q->9Y=mGy޲FE>Q 55Ί?Q 95)BY$?Q E:y2@Q IS@DI:i ;5yBɮAjgOFNOT Ignoring new targets: 210.00 m.RyZygO ProNav: ac range: 210.000061 m, nav range: 191.995529 m, bearing: 150.144440 deg, approach rate: -0.633544 m/s, LOS rate: -0.033544 deg/s, cmd heading: 152.797110 deg, new cmd heading: 152.764606 deg. BugOHeadingCmd: 2.666245 target range: 210.000061 and range: 211.30 m.ģ*@*"    BʎjZ` ?EBɢERs=)A EC?iI)M3 d, 6Y@A2V@2K*@2k<ٱ2" :AHRS rotation from veh to nav: [[-0.886568,-0.454595,-0.085683],[0.462375,-0.876568,-0.133559],[-0.014392,-0.158027,0.987330]]2H^ݿRﵿ`? xXy ;:Ŀ4?i2V@I2s`;0YBdByFs+IbDNVDNyV%V=ٔZ ;Q-^ ?9^"?Yb"?=bmGy`hf^En ?tQ 5~5veΊ?Q 9~5v8)vBYy2@Q IS@vDIvgo;iv[O;v5yBɮArEjgOFNOT Ignoring new targets: 210.00 m.RZgO ProNav: ac range: 210.000061 m, nav range: 191.789459 m, bearing: 150.133580 deg, approach rate: -0.598814 m/s, LOS rate: -0.031593 deg/s, cmd heading: 152.764612 deg, new cmd heading: 152.742868 deg. BFggOHeadingCmd: 2.665866 target range: 210.000061 and range: 211.30 m.*@*" ))ʎ)))j1Z5R0?颕Bɢ!=) @?i)<<顙imwi*@;zܺI*@Ii>EM EMLEM"EI"EM ;*EM;VEM(3ZEIBEMOd,aOY@A6 K@6@*@6?<ٱ6!" BAHRS rotation from veh to nav: [[-0.886228,-0.454919,-0.087453],[0.462955,-0.876468,-0.132201],[-0.016509,-0.157647,0.987358]]6H [ fݿUc@ ? 琿`-Ŀn?i6 K@I6j`;4YJaByJo+IRAARAAbDVVDVy^%^J=ٔb;Q-b>9`Y`=bmGyf߲FfںEf>hQ 5n5jΊ?Q 9n5j)jBYpyr2@Q IrS@jDIj;ij;j 5ytɮv AtjgOFNOT Ignoring new targets: 210.00 m.RZgO- ProNav: ac range: 210.000061 m, nav range: 191.536942 m, bearing: 150.120289 deg, approach rate: -0.663171 m/s, LOS rate: -0.034950 deg/s, cmd heading: 152.742865 deg, new cmd heading: 152.716249 deg. B-gO5HeadingCmd: 2.665401 target range: 210.000061 and range: 211.30 m.5*@1*1"1 199AAAʎAIIjIZM8@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761366颅Bɢ=) ??i)TE<顉iyi*@a ;%jI*@I1@1 @9@=/@9iE EE&E"E:*E~:VE4ZEa@a@a@a@^AeA?AB>BB+IBuBBI =BBBT;BiE= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013801A I1 II OU > /d,iY@AYr]Byvj+IimMb@Mb@Mb@iiii i9m+?K?QYmv?ym^=mumAmO@ m @)m @iYibDVDk1y#%==ٔQ->9Y=mGyE>Q 55Ί?Q 95Թ)BY6 ?Q E:y?3@Q IS@DIg5;i_3;5yBɮAqEjgOFNOT Ignoring new targets: 210.00 m.RZgO  ProNav: ac range: 210.000061 m, nav range: 191.271667 m, bearing: 150.105776 deg, approach rate: -0.613583 m/s, LOS rate: -0.033615 deg/s, cmd heading: 152.716254 deg, new cmd heading: 152.687188 deg. B vgOHeadingCmd: 2.664894 target range: 210.000061 and range: 211.30 m.*@*" ӉBʎ!!!j!Z%@UBɢU΀=)Q U>?iY)]CP= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517272 d,AY@AB4@BT**@B2<ٱB NAHRS rotation from veh to nav: [[-0.885505,-0.455565,-0.091331],[0.464113,-0.876532,-0.127632],[-0.021910,-0.155407,0.987608]]BH@V'ݿxa`? =Vo\ÿ@{?iB4@IB`;@Yn`Bynn+IIr8>)r=bDvVDv1yn<%T=ٔe9 Y = mGy F gE>Q 5%5Ί?Q 9%5n)BY!y%+3@Q I%S@DI;i:/5y-dBɮ5A5hEPMB*** querying acoustic contact ***I IjYgO]FNOT Ignoring new targets: 210.00 m.ReYZeYgOu ProNav: ac range: 210.000061 m, nav range: 191.035065 m, bearing: 150.092886 deg, approach rate: -0.614457 m/s, LOS rate: -0.033517 deg/s, cmd heading: 152.687185 deg, new cmd heading: 152.661373 deg. Bu[ugO}HeadingCmd: 2.664443 target range: 210.000061 and range: 211.30 m.}>*@y*y"y yʎjZ@颽މBɢR=) @?i)#Y<it~i>*@;I>*@I99@ @@/@AiߑIߑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769704^A0:ĺiA! I9 IQ Om >ԙ @'d,6rY@AE EE7E"E:*E~:VEԺ4ZEa2@a2@a2@a2@B>BB|+IBkBBBBZDBT;BdEBaBeCBaBaBaCe5]6+@] *@]U<ٱ]֠ mAHRS rotation from veh to nav: [[-0.885183,-0.455924,-0.092652],[0.464600,-0.876720,-0.124533],[-0.024453,-0.153281,0.987880]]q]HkS`-ݿ`?f῿ ÿ?i]6+@I]`;]CYNByX+Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021536iMb@Mb@Mb@ 9Cl?|?5^?{GzY;?y=ףA@  @)Y@ 4<p<bDVDy%%=ٔݨ;Q->9Y=mGy E>Q 55xΊ?Q 95)BY{!?Q E:y74@Q IS@DI:ij: 5yVBɮAgEjgOFNOT Ignoring new targets: 210.00 m.R(Z(gO ProNav: ac range: 210.000061 m, nav range: 190.730560 m, bearing: 150.074696 deg, approach rate: -0.617212 m/s, LOS rate: -0.036929 deg/s, cmd heading: 152.661367 deg, new cmd heading: 152.624929 deg. B+gO HeadingCmd: 2.663808 target range: 210.000061 and range: 211.30 m. {*@ *" aquBԩʎyjZ @额܉Bɢ*i=) ;9?i)8g<顩ii{*@!;C=I{*@Iu9@q @q@u/@q DAT read: 00:56:33.9838 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 199,-0.12, 2.496, 1.200, 2.553, 1.657, PHS= 0.942,-0.412, 0.852, RAW= 146.6, -20.4, CAL= 148.0, -22.8, ROT= 2.0, 22.8  Ygot valid direction response: 00:56:33.9838 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 199,-0.12, 2.496, 1.200, 2.553, 1.657, PHS= 0.942,-0.412, 0.852, RAW= 146.6, -20.4, CAL= 148.0, -22.8, ROT= 2.0, 22.8  BDAT read: Rx Time:00:56:33.9838  TRx dataTimestamp_ set to:1761699394.816472 @DAT read: $Low SNR acquisition  2Received low SNR in chirp] X#Rx 1: Read direction message, but no range.e ^direction in FSK: [0.921302,0.032173,-0.387516]y  `sM{?x?h%ؿ    ) JI &q?i Ҿ Z? #@ K MQ%@ %˾) 5=I %> \?_{?CXֿ ߡ>) >I 5=i %>} T****** received valid address query ******} R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse ^A eA zA [AA.AIIO >ԋ.d,Y@A 6@6*@6<ٱ6lE> E>E>)E<"E> ;*E>:VE>FA4ZE<BE>LLK;aF:E>K;aF RAHRS rotation from veh to nav: [[-0.884802,-0.456112,-0.095325],[0.465173,-0.876549,-0.123597],[-0.027183,-0.153702,0.987743]]6HMP0ݿ?gd?@ ՛ÿ?i6@I6`;4YVByb+IbDVDfy%=%-,=ٔ-Ѽ;Q-->95 ?Y5 ?=5mGy5F5jE=>9MT****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapseQQ 5U5=aΊ?Q 9]5=N)=BYYy],4@Q I]S@=DI=;i=;=5ymHBɮmAmfEjgOFNOT Ignoring new targets: 210.00 m.R'Z'gO ProNav: ac range: 210.000061 m, nav range: 190.438431 m, bearing: 150.057252 deg, approach rate: -0.613641 m/s, LOS rate: -0.036700 deg/s, cmd heading: 152.624935 deg, new cmd heading: 152.589992 deg. BTgOHeadingCmd: 2.663198 target range: 210.000061 and range: 211.30 m.q*@*" ʎjZ ^@ډBɢ*+=) =?i)hq<i6iq*@N;i Iq*@I 9@ @@/@qԡ ^A  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA ؟AI I O >n5d,֐Y@AD@F *@@}<ٱ(* ]AHRS rotation from veh to nav: [[-0.884433,-0.456352,-0.097579],[0.465759,-0.876240,-0.123577],[-0.029108,-0.154744,0.987526]]HEM4ݿ` ? ) Νÿϙ?i@I`;C с)х`AЅ,ЁЁщэaAiэ`eIэxFщIґiҕz`A ҕ#ё)ґҙ әҝҝ@FҙӡӡIӡ)ӡiӡ)ԩIԭ`Aӭө ԩԩԭ`AԵGaiԱԱiձ) IYYLByU+IbDVD:y-e%-]=ٔ-;Q-->95"?Y5"?=UmGyQ]E]>aQ 5m5e;NΊ?Q 9m5eQ)eBYiym 4@Q ImS@eDIe:ie:e5y:BɮAeEjgOFNOT Ignoring new targets: 210.00 m.R"Z"gOm ProNav: ac range: 210.000061 m, nav range: 190.207626 m, bearing: 150.043482 deg, approach rate: -0.596212 m/s, LOS rate: -0.035612 deg/s, cmd heading: 152.589991 deg, new cmd heading: 152.562420 deg. BuXԱE EE%E"E;*E]t:VE 4ZEa@a@a@a@gOHeadingCmd: 2.662717 target range: 210.000061 and range: 211.30 m. i*@*" !!QYʎjZ@M@B>BÍCBi+IB\BBG =BBBT;BEEE؉BɢEk=)A E9?iA)M\{IUi*@IYeT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseIi)m[A9@ @@/@ ^A A T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseI!I1O=>9 Y = mGy FE>Q 5%55Ί?Q 9%5)BY% ?Q E%:y-4@Q I-S@DI:i:25y1ɮ5A1jYgO]FNOT Ignoring new targets: 210.00 m.Re+Ze+gOu ProNav: ac range: 210.000061 m, nav range: 189.906708 m, bearing: 150.025668 deg, approach rate: -0.632756 m/s, LOS rate: -0.037519 deg/s, cmd heading: 152.562425 deg, new cmd heading: 152.526739 deg. BuTgO}HeadingCmd: 2.662094 target range: 210.000061 and range: 211.30 m.}_*@y*" BʎjZ@=։Bɢ=5u=)9 =5?iA)EVCd,PY@A2{@2 *@2=ٱ2 :AHRS rotation from veh to nav: [[-0.884328,-0.456736,-0.096729],[0.465786,-0.877223,-0.116285],[-0.031741,-0.147889,0.988494]]2HjL@);ݿ8ø`p?7 Ľ@_@¿?i2{@I2_;2CY5>By5D+I99bDEVDEfyװ%c=ٔ/;Q->9Y=mGyFRE>Q 55#Ί?Q 95)BYy4@Q IS@DIt:i:Y5y-BɮAdEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 210.00 m.R&Z&gO ProNav: ac range: 210.000061 m, nav range: 189.685379 m, bearing: 150.012500 deg, approach rate: -0.612731 m/s, LOS rate: -0.036497 deg/s, cmd heading: 152.526744 deg, new cmd heading: 152.500377 deg. BgO-HeadingCmd: 2.661634 target range: 210.000061 and range: 211.30 m.55X*@9*9"9 AIIIQʎQQQjQZ]@i颅ԉBɢ u=) 4?i)A<顑iWti5X*@;OzI5X*@IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse 9@  @ @ 4@ԙE EE'E"Ea:*E]t:VE'4ZEa@a@a@a@^AIB>BBV+IBMBBBBBlT;B0EIA i Iy O > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseId,s(Y@A Y~9Y=mGyE>Q 55$Ί?Q 95)xBY?Q E:y4@Q IS@DI :i ;5yɮAjgOFNOT Ignoring new targets: 210.00 m.R9*Z9*gO ProNav: ac range: 210.000061 m, nav range: 189.444931 m, bearing: 149.997476 deg, approach rate: -0.594709 m/s, LOS rate: -0.037205 deg/s, cmd heading: 152.500379 deg, new cmd heading: 152.470294 deg. B-gOHeadingCmd: 2.661109 target range: 210.000061 and range: 211.30 m.O*@*" BʎjZe@U҉BɢUGB=)Q ]4?iY)]΋ bEMʞ4jEMʅ04rEM1E  E E &E "E :*E c:VE 4ZE BE l%+IbDbVDbk1yja%jY=ٔj ;Q-n>9lYl=nmGynFr|Er>tQ 5z5v͊?Q 9z5v)vmBYxyz}4@Q I~S@vDIv<;ivj;v,"5yBɮAj)gO-FNOT Ignoring new targets: 210.00 m.R5 )Z5 )=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapsegOM ProNav: ac range: 210.000061 m, nav range: 189.221130 m, bearing: 149.983583 deg, approach rate: -0.594482 m/s, LOS rate: -0.036949 deg/s, cmd heading: 152.470299 deg, new cmd heading: 152.442480 deg. BM=gOUHeadingCmd: 2.660623 target range: 210.000061 and range: 211.30 m.]G*@Y*Y"Y YYYaaʎaaijiZm@5@颕ЉBɢ=) d4?i)U<顙i7iG*@:;YIG*@I9@ @@/@@=@=^A-"IIO>iIT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse! Vd,I*\Y@A2@2k)@2=ٱ2L :AHRS rotation from veh to nav: [[-0.882785,-0.459184,-0.099203],[0.468466,-0.876235,-0.112921],[-0.035073,-0.146158,0.988639]]2H?DcݿXeZ?` a輿%M¿?i2@I2^;2CY^3Byb6+I dddf=bDjVDj0yr%vI=ٔv~D;Q-v>9tYx=zmGyxzCEz>|Q 5 5(͊?Q 9 5)aBY yj4@Q IS@DI:i:%5yBɮ%xA%cEE EE%E"E*EM:VE 4ZEa@a@a@a@jygOFNOT Ignoring new targets: 210.00 m.BBB=+IB8BBBBBT;B;ERZgO ProNav: ac range: 210.000061 m, nav range: 188.979401 m, bearing: 149.968628 deg, approach rate: -0.541714 m/s, LOS rate: -0.033557 deg/s, cmd heading: 152.442473 deg, new cmd heading: 152.412525 deg. BugOHeadingCmd: 2.660100 target range: 210.000061 and range: 211.30 m.?*@*" ʎjZ %@)MT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseUΉBɢU=)Y ]2?iY)]Pt T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse7\d,vY@AaY6By;+IiUMb@Mb@Mb@QQQQ Q9U+?B`"۹?I +YU?yU=U9UAUO@ U@)U @QYQbDmVDmN2y}Ji<%}3=ٔ}Q-}>9Y=mGyFE>Q 55]͊?Q 95X)TBY!?Q E:y3@Q IS@DI\ ;iL:)5yɮjAjgOFNOT Ignoring new targets: 210.00 m.R5Z5gO ProNav: ac range: 210.000061 m, nav range: 188.698288 m, bearing: 149.952176 deg, approach rate: -0.677289 m/s, LOS rate: -0.039696 deg/s, cmd heading: 152.412529 deg, new cmd heading: 152.379577 deg. BKgOHeadingCmd: 2.659525 target range: 210.000061 and range: 211.30 m.5*@*" BʎjZ@5̉Bɢ5Ə=)1 5_5?i1)=ř<99i=6iE5*@Ek;E9IE5*@IIԉDzD@AE EE$E"E*Exv:VE4ZEBEa2EaJE;a:E;a9@ @@/@]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseԱ^A"5 I I O% > cd,vY@A2@2M)@2=ٱ2  :AHRS rotation from veh to nav: [[-0.881814,-0.460764,-0.100500],[0.470100,-0.875791,-0.109529],[-0.037550,-0.143829,0.988890]]2H@7)}ݿa?z@ 9 h¿`?i2@I2^;2CYB3ByB7+IHHbDNVDN0yV%Vm=ٔV;Q-Z?9XYX=ZmGyX^zE^?`Q 5f5b͊?Q 9f5bv)bIBYdyf3@Q IjS@bDIbg:ib=:b,5ynBɮn?AvbEj gOFNOT Ignoring new targets: 210.00 m.R#Z#gO- ProNav: ac range: 210.000061 m, nav range: 188.484879 m, bearing: 149.939770 deg, approach rate: -0.615181 m/s, LOS rate: -0.035804 deg/s, cmd heading: 152.379581 deg, new cmd heading: 152.354739 deg. B- gO5HeadingCmd: 2.659092 target range: 210.000061 and range: 211.30 m.5.*@1*1"1 119ʎjZ@@EɉBɢE=)A E4?iA)M A%>AAAABBB*+IB)BBF =BBBT;B^EIA } T****** received valid address query ******} R****** received valid ping request ******} received new query, but waiting for acoustic response period to elapseI O >9 $id,{Y@A2۬@2w)@2=ٱ2 :AHRS rotation from veh to nav: [[-0.881166,-0.461682,-0.101957],[0.471195,-0.875291,-0.108815],[-0.039004,-0.143926,0.988820]]2H23ݿ@ (?cLۻQ`'l¿i?i2۬@I2d_;0Y^/Byb1+IiMb@Mb@Mb@ 91Zd?bX9ȶ?I +Y"?yE=94A )Y@bDVD1y%9=ٔzW;Q->9Y=mGyF]<E>Q 55͊?Q 95 )>BY?Q E:y2@Q IS@!DI ;i ;05yBɮ A aEP-B*** querying acoustic contact ***) )j1gO=FNOT Ignoring new targets: 210.00 m.REZEgOU ProNav: ac range: 210.000061 m, nav range: 188.218948 m, bearing: 149.925401 deg, approach rate: -0.601888 m/s, LOS rate: -0.032568 deg/s, cmd heading: 152.354732 deg, new cmd heading: 152.325954 deg. BUingO]HeadingCmd: 2.658589 target range: 210.000061 and range: 211.30 m.]T&*@Y*Y"Y YaaaeBʎiiijiZm@@MljBɢuP=)q u4?iq)}#E  E E %E "E :*E e:VE 4ZE BE 59XYX=ZmGyX^G9E^>`Q 5f5b͊?Q 9f5b)b5BYhyj2@Q IjS@b(DIb[:ib:b35ylɮn-ApjgOFNOT Ignoring new targets: 210.00 m.%T****** received valid address query ******%R****** received valid ping request ******%received new query, but waiting for acoustic response period to elapseR%8Z-8gO5 ProNav: ac range: 210.000061 m, nav range: 187.998825 m, bearing: 149.913543 deg, approach rate: -0.600678 m/s, LOS rate: -0.032396 deg/s, cmd heading: 152.325950 deg, new cmd heading: 152.302206 deg. B='mgOHeadingCmd: 2.658175 target range: 210.000061 and range: 211.30 m.*@*" ʎjZ`V@y颅ĉBɢZ=) 2?i)kR<顉i_Li*@u;[I*@II[A)-9@) @)@-`4@1ԡ^AmyT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseIIO > wd,oݑY@A:@:B)@:R+=ٱ:1C BAHRS rotation from veh to nav: [[-0.880422,-0.462570,-0.104338],[0.472332,-0.874943,-0.106662],[-0.041952,-0.143190,0.988806]]:H@j,ݿ`굺:?.Nz T¿K?i:@I:`;8YJ%ByJ&+I TVbDZVDZkyb0%bI=ٔbU;Q-b>9dYd=fmGyfFf;OEj>hQ 5r5j[͊?Q 9r5j)j+BYpyr2@Q IvS@j0DIjS;ijp;jS75yzBɮzAz`Ej!gO-FNOT Ignoring new targets: 210.00 m.R-pZ-pgO= ProNav: ac range: 210.000061 m, nav range: 187.754532 m, bearing: 149.900374 deg, approach rate: -0.601089 m/s, LOS rate: -0.032444 deg/s, cmd heading: 152.302208 deg, new cmd heading: 152.275837 deg. BEmEq EuEu#Eq"Eq*Eu:VEu3ZEqa@a@a@a@gOHeadingCmd: 2.657715 target range: 210.000061 and range: 211.30 m.*@*" ʎjZx @BYBYB]+IB]BB]G =BYBYB]U;B]|EBÍCBÍCBBG =BG =C·4EBɢEɊ=)q u2?iy)}uC<顁i(i*@t;aI*@I5T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse9@ @@/@) ^A A zA I) I9 OM > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsef1}d,UY@A} s@}h)@}9=ٱ}W AHRS rotation from veh to nav: [[-0.879269,-0.463779,-0.108604],[0.474178,-0.873876,-0.107223],[-0.045178,-0.145776,0.988286]]}H"ݿ@tͻX?@r!ƨ¿ ?i} s@I}b;yY)By++I =i-Mb@Mb@Mb@)))) )9-'1Z?kt?:vY-"?y- =-T-A-f@ -@)-d@)Y-@bDEVDEβyU<%U3=ٔ];Q-]>9YYY=emGyaeEe>iQ 5u5m^p͊?Q 9u5m )mBY}T$?Q E}:y}1@Q I}S@m:DIm ;im:mP;5yɮAjgOFNOT Ignoring new targets: 210.00 m.R^Z^gO ProNav: ac range: 210.000061 m, nav range: 187.466385 m, bearing: 149.886056 deg, approach rate: -0.634047 m/s, LOS rate: -0.031554 deg/s, cmd heading: 152.275844 deg, new cmd heading: 152.247163 deg. BfgOHeadingCmd: 2.657214 target range: 210.000061 and range: 211.30 m.*@*" BʎjZ G[!@IBɢֹ=) W5?i)4<i*i*@;NǻI*@IEm EmEm&Ei"Em:*Emz:VEm4ZEiBEm.c d,Y@AHYz!Byz!+IbDVDf?3ym%uJ=ٔuQ-u>9qYy=}mGy}F}E}>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseQ 55\͊?Q 95)BYyQ IS@BDI5yMBɮMAMVEjgOFNOT Ignoring new targets: 210.00 m.R!Z!gO ProNav: ac range: 210.000061 m, nav range: 187.211334 m, bearing: 149.873345 deg, approach rate: -0.587447 m/s, LOS rate: -0.029316 deg/s, cmd heading: 152.247157 deg, new cmd heading: 152.221701 deg. BVgOHeadingCmd: 2.656770 target range: 210.000061 and range: 211.30 m.*@*" ʎjZv:"@%Bɢ%=)! %2?i))-<))i-ei5*@5a;5AI5*@I959@1 @9@=/@9E EE%E"E:*E:VE 4ZEa@a@a@a@BIAIBQBQBU+IBUBBQBQBQBU+U;BUE! ^A} &t T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA I I O >d,6,Y@A,N{@N]q)@NB=ٱNG VAHRS rotation from veh to nav: [[-0.879425,-0.462617,-0.112236],[0.473658,-0.873904,-0.109270],[-0.047533,-0.149257,0.987655]]NH@@$@ݿ@jP?` % GVÿ`ߚ?iN{@INid;NCYmBym+IԁiMb@Mb@Mb@ 9 r?#~j?~jtY#?y=D-AO@ )YG@bD VD 1y{]%%*=ٔ%(;Q-%>9)Y)=-mGy)-b:E->1Q 5=55C͊?Q 9E55)5BYE$?Q EE:yED1@Q IES@5LDI5P ;i5 ;5C5yMBɮUAUUEPB*** querying acoustic contact *** eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapsejgOFNOT Ignoring new targets: 210.00 m.RZgO ProNav: ac range: 210.000061 m, nav range: 186.907303 m, bearing: 149.858875 deg, approach rate: -0.623676 m/s, LOS rate: -0.029732 deg/s, cmd heading: 152.221694 deg, new cmd heading: 152.192707 deg. BYgOHeadingCmd: 2.656264 target range: 210.000061 and range: 211.30 m.:*@*" !!!%Bʎ)))j)Z-8#@ԱBɢl=) y2?i)ʻ<ii:*@;TI:*@I@ @@/@@\A@\A E  E E E "E s:*E :VE ZE BE d0A > T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseI AI!I1OE>d,LY@A2x@2zn)@20oH=ٱ2 :AHRS rotation from veh to nav: [[-0.879283,-0.462566,-0.113554],[0.473781,-0.873898,-0.108784],[-0.048915,-0.149451,0.987558]]2H#`ݿ `oR?`BٻV 9!ÿ ?i2x@I2Nd;0@B_Ai@I@@IDiFKUA DD)DJC Jr@HHHLLIL)LiL)PIPPP PPPV`iTTiTT)VĽ Z9EIXYXY^By^+I1bDjVDjβy]ý%]G=ٔe'];Q-e>9aYi=mmGymFmeE>Q 55.͊?Q 95$)BYyA1@Q IS@TDI:i:F5yBɮATEjgOFNOT Ignoring new targets: 210.00 m.RZgOM ProNav: ac range: 210.000061 m, nav range: 186.644638 m, bearing: 149.846349 deg, approach rate: -0.684413 m/s, LOS rate: -0.032684 deg/s, cmd heading: 152.192707 deg, new cmd heading: 152.167619 deg. BUCogOUHeadingCmd: 2.655826 target range: 210.000061 and range: 211.30 m.U)@Y*Y"Y YYYaaʎaajZ@#@Bɢl=) 1?i); <iiiE)@M;MIM)@IIa@ @@0@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԉ^A= 3E=  E= E= *E9 "E= 2:*E= :VE= (N4ZE9 aE @aE @aE @aE @B >B B +IB BB B B B 5U;B E AQ Iy I O > d,oeY@Ar9Y=mGy^O:E>Q 55͊?Q 95)BYr?Q E:yG1@Q IT@]DI ;i ;yJ5yɮAjgOFNOT Ignoring new targets: 210.00 m.RmMZmMgO} ProNav: ac range: 210.000061 m, nav range: 186.387573 m, bearing: 149.834030 deg, approach rate: -0.598018 m/s, LOS rate: -0.028698 deg/s, cmd heading: 152.167626 deg, new cmd heading: 152.142954 deg. B}RgO}HeadingCmd: 2.655396 target range: 210.000061 and range: 211.30 m.)@*" BʎjZ$@Bɢ t=)  /?i ) < i.i)@;|I)@II9@ @@ 0@ DAT read: 2Acoustic response timeout^A 9 A I I O >M2d,Y@A2@2*)@2T=ٱ2 :AHRS rotation from veh to nav: [[-0.879864,-0.460661,-0.116748],[0.472385,-0.874620,-0.109048],[-0.051877,-0.151097,0.987157]]2H'y{ݿ9㽿;?껿@'Wÿɖ?i2@I2&e;2CbEm 4jEmO4rEm 0Er ErEr%Ep"Ers:*Erg:VEr 4ZEpBEpaz2EpazJEr,;a~:Er-;a~Y By+I=a= p;4<bDVDy;%Y=ٔ;Q->9Y=mGyFI;E>Q 55͊?Q 95)BYyZ1@Q IT@dDI$:i_:M5y|BɮAjgO%FNOT Ignoring new targets: 210.00 m.R%Z%gO= ProNav: ac range: 210.000061 m, nav range: 186.166122 m, bearing: 149.823308 deg, approach rate: -0.586106 m/s, LOS rate: -0.028411 deg/s, cmd heading: 152.142956 deg, new cmd heading: 152.121486 deg. B=OgO=HeadingCmd: 2.655021 target range: 210.000061 and range: 211.30 m.E)@A*A"A AAAIIʎIIQjQZ %@EBɢE =)A ES,?iA)E#\d,4Y@A2H@2)@2z[=ٱ23 :AHRS rotation from veh to nav: [[-0.880091,-0.460146,-0.117069],[0.471765,-0.875314,-0.106127],[-0.053638,-0.148630,0.987437]]2H)@ sݿ@5g1?@+ ovOÿ?i2H@I2Hd;2CYBByF+IbDNVDN0yVf%V^=ٔVĜ;Q-Z>9XYX=ZmGyX^:E^>`Q 5f5b̊?Q 9f5bp)bBYdyje1@Q IjT@bkDIb:ib:bP5ylɮnAljgOFNOT Ignoring new targets: 210.00 m.R BZ BgO ProNav: ac range: 210.000061 m, nav range: 185.949753 m, bearing: 149.812760 deg, approach rate: -0.587782 m/s, LOS rate: -0.028689 deg/s, cmd heading: 152.121481 deg, new cmd heading: 152.100360 deg. BRgO%HeadingCmd: 2.654652 target range: 210.000061 and range: 211.30 m.%)@!*!"! !))))ʎ111j1Z5tQ&@=Bɢ=$o=)A E"+?iA)EwBčCB+IB BBBBBT;ByEԡ2Acoustic response timeout!Yq~9YK\A^A 7A I I! O5 > Nd,Y@A2@2)@2d=ٱ2U :AHRS rotation from veh to nav: [[-0.880261,-0.459646,-0.117757],[0.471191,-0.876010,-0.102891],[-0.055863,-0.146056,0.987698]]2H@+@jݿN%@'?@E@ W ¿`8?i2@I2Vd;2CYBByF*Ii Mb@Mb@Mb@     9 ~jt?Q?y&1Y $?y \= `e A |@ ) @ Y @bD%VD%:y53%5A=ٔ==;Q-=>99Y9=EmGyEFE:EE>IQ 5U5Mo̊?Q 9U5M)MBY]%?Q E]:y]K0@Q I]T@MsDIM:iM:MT5yunBɮuAuSEM2Acoustic response timeoutPUB*** querying acoustic contact ***Q QjgOFNOT Ignoring new targets: 210.00 m.R!Z!gO ProNav: ac range: 210.000061 m, nav range: 185.679352 m, bearing: 149.801010 deg, approach rate: -0.593024 m/s, LOS rate: -0.025805 deg/s, cmd heading: 152.100362 deg, new cmd heading: 152.076830 deg. B<gOHeadingCmd: 2.654241 target range: 210.000061 and range: 211.30 m.)@*" BʎjZ ?'@mBɢu2=)q u|'?iq)uH,d,N͒Y@A2r@2 )@2Xl=ٱ2\ >AHRS rotation from veh to nav: [[-0.880066,-0.460048,-0.117641],[0.471326,-0.876432,-0.098585],[-0.057750,-0.142208,0.988151]]2H) lqݿ4*? `<@t3¿ ?i2r@I2c;2CYbByb*IIf=)fp=hhhj@AbDnVDn0yv%vP=ٔz;Q-z>9z ?Yz ?=zmGy|~1 E~>Q 5 5̊?Q 9 59)BYyJ0@Q IT@|DI:i:X5y`BɮA%REjAgOEFNOT Ignoring new targets: 210.00 m.RM ZM gO] ProNav: ac range: 210.000061 m, nav range: 185.429214 m, bearing: 149.790115 deg, approach rate: -0.694513 m/s, LOS rate: -0.030292 deg/s, cmd heading: 152.076826 deg, new cmd heading: 152.055006 deg. B]]gOeHeadingCmd: 2.653861 target range: 210.000061 and range: 211.30 m.e)@a*i"i iiiqqʎqqqjyZ}z'@颥Bɢ$q=) i%?i)*<顩iyi)@2 ;1}I)@IQU9@Q @Y@]/@Ym2Acoustic response timeouty^AuybݺIq I O >ԩ E  E E 'E "E :*E :VE '4ZE a @a @a @a @B ƾ>B B *IB BB E =B B [DB T;B ]E$Zd,9Y@A<j2Acoustic response timeout=@=)@=t=ٱ=n) MAHRS rotation from veh to nav: [[-0.879322,-0.461373,-0.118017],[0.472474,-0.876233,-0.094781],[-0.059681,-0.139103,0.988478]]=H@g# $ݿ@Z6 =? C z`!`?i=@I=˰c;9YBy*IiMb@Mb@Mb@ 9x&1?333333?{GzYA ?y=#A@ )Y@bD-VD-y=[%=6=ٔEy;Q-E>9AYA=EmGyEFMGEM>QQ 5]5Ů?Q 9]5U)UBYel!?Q Ee:ye0@Q IeT@UDIUX:iU:U \5yiɮmAqjgOFNOT Ignoring new targets: 210.00 m.RzZzgO ProNav: ac range: 210.000061 m, nav range: 185.151199 m, bearing: 149.777066 deg, approach rate: -0.620624 m/s, LOS rate: -0.029174 deg/s, cmd heading: 152.055010 deg, new cmd heading: 152.028872 deg. BUgOHeadingCmd: 2.653404 target range: 210.000061 and range: 211.30 m.a)@*" BʎjZ(@uBɢuh@=)u\ }?iy)}TTx time:00:56:43.7208 }5?d, Y@A2\p@2e)@2Zz=ٱ2?+ :AHRS rotation from veh to nav: [[-0.878447,-0.462682,-0.119403],[0.473920,-0.875544,-0.093928],[-0.061084,-0.139098,0.988393]]2H`<@ݿ.@T?u@ [F ?i2\p@I2c;2CYN܊ByR*IbDZVDZJEf EdEf(Ed"Ef:*EdVEfc44ZEdBEf;89)Y)=-mGy)-E5>1Q 5U55̊?Q 9]55C)5BYYy]0@Q I]T@5DI5;i5Q;5=_5ymRBɮmAmQEjgOFNOT Ignoring new targets: 210.00 m.RZgO ProNav: ac range: 210.000061 m, nav range: 184.923508 m, bearing: 149.766470 deg, approach rate: -0.609003 m/s, LOS rate: -0.028374 deg/s, cmd heading: 152.028878 deg, new cmd heading: 152.007661 deg. BOgOHeadingCmd: 2.653034 target range: 210.000061 and range: 211.30 m.P)@*" ʎ!!j!Z%g)@mBɢmV=) ?i)<顉iiiP)@z ;%fCIP)@IDAT read: 2Acoustic response timeout 9@ @@0@1^AΒ{I1 IA OM >a  2Acoustic response timeout*id,Y@A2FO@2D)@2=ٱ2> :AHRS rotation from veh to nav: [[-0.877416,-0.464057,-0.121620],[0.475654,-0.874517,-0.094731],[-0.062398,-0.140968,0.988046]]2H`ݿ" q? M@; ¿`?i2FO@I2nc;2CYBЊByB*IJ=J= J49XYX=ZmGyZF^E^>`Q 5f5b̊?Q 9f5b)bBYhyj0@Q IjT@bDIb$:ib:bb5ylɮnApjgOFNOT Ignoring new targets: 210.00 m.R NZ NgO ProNav: ac range: 210.000061 m, nav range: 184.681732 m, bearing: 149.755349 deg, approach rate: -0.632599 m/s, LOS rate: -0.029136 deg/s, cmd heading: 152.007663 deg, new cmd heading: 151.985392 deg. B%IUgO%HeadingCmd: 2.652646 target range: 210.000061 and range: 211.30 m.%)@)*)") )))11ʎ1199jAZE`[\*@mBɢm=)i m,?iq)u {B=ōCB=*IB=BB=D =B9B9B=T;B=UEBčCBčCBBBF =C~5i2Acoustic response timeoutԙ^Am 7II O > d,4Y@A6 @6o)@6]=ٱ6 >AHRS rotation from veh to nav: [[-0.875970,-0.465651,-0.125878],[0.478088,-0.872795,-0.098287],[-0.064098,-0.146278,0.987165]]6H ;ݿ?`Y)h9¿ږ?i6 @I6Ld;4YFÊByJ*Ii]Mb@Mb@Mb@YYYY Y9]On?/$?{GzY]?y]=]ף]CA]@ Y)]@YYYbDVDܲԙyv%;=ٔ~;Q->9Y=mGyӻE>=2Acoustic response timeoutQ 5u5~̊?Q 9u5i)BYu+?Q Eu:y}1@Q I}T@DI;iX;yf5yʼBɮAPEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 210.00 m.RZgO ProNav: ac range: 210.000061 m, nav range: 184.422791 m, bearing: 149.742144 deg, approach rate: -0.565200 m/s, LOS rate: -0.028864 deg/s, cmd heading: 151.985397 deg, new cmd heading: 151.958950 deg. BKSgOHeadingCmd: 2.652184 target range: 210.000061 and range: 211.30 m.b)@*" {BʎjZF+@Bɢ=) h?i)<i䗐i%b)@% ;%λI%b)@I)E EE#E"E~ ;*E҆:VE3ZEBEVd,vPY@A2@2C(@2=ٱ2 :AHRS rotation from veh to nav: [[-0.874520,-0.466873,-0.131317],[0.480500,-0.870814,-0.103931],[-0.065830,-0.153987,0.985877]]2H =ݿ@?@ 8`:ڰ ܵÿN?i2@I2d;0YFByF*IbDNVDNyVj%VL=ٔV;Q-V>9XYX=ZmGyZF^E^>`Q 5f5b*l̊?Q 9f5b()bBYdyf|1@Q IjT@bDIb:ibn;bi5ynBɮnAljgOFNOT Ignoring new targets: 210.00 m.R zZ zgO% ProNav: ac range: 210.000061 m, nav range: 184.187790 m, bearing: 149.730368 deg, approach rate: -0.620646 m/s, LOS rate: -0.031141 deg/s, cmd heading: 151.958950 deg, new cmd heading: 151.935368 deg. B%cgO-HeadingCmd: 2.651772 target range: 210.000061 and range: 211.30 m.-)@)*)") ))111ʎ999j9ZE`,@%Bɢ%=)) s ?i)3<顑i i)@p ;SI)@IeFΞAm2Acoustic response timeout 9@  @ @ 4@ i^AXһE  E E $E "E x;*E |:VE 4ZE a @a @a @a @I) I9 BI BI BM *IBM ɊBBI BI BI BM T;BM dEO% >ԙ - 2Acoustic response timeoutd,'PjY@Av@v](@v9=ٱv$ ~AHRS rotation from veh to nav: [[-0.873724,-0.467094,-0.135753],[0.481723,-0.869599,-0.108349],[-0.067442,-0.160063,0.984800]]vH`ݿ^`?ļ@C|Ŀ{?iv@Iv-.d;vCY By*IAqiMb@Mb@Mb@ 9ʡE?~jt?{GzY?y=ZA  @)@Y@AAbDVD1y%9=ٔVp;Q->9Y=mGyFXE>Q 55V̊?Q 95)uBY?Q E:yP2@Q IT@DI ;i ;m5yBɮOAFEj!gO%FNOT Ignoring new targets: 210.00 m.R-Z-gO= ProNav: ac range: 210.000061 m, nav range: 183.919159 m, bearing: 149.715756 deg, approach rate: -0.609667 m/s, LOS rate: -0.033210 deg/s, cmd heading: 151.935372 deg, new cmd heading: 151.906106 deg. B=sgOEHeadingCmd: 2.651262 target range: 210.000061 and range: 211.30 m.EF)@A*A"A AAIʎjZ,@]Bɢm2=)i m?ii)u]d,쉓Y@A 2Acoustic response timeoutF@Fw(@F=ٱFK* RAHRS rotation from veh to nav: [[-0.873508,-0.466345,-0.139664],[0.481875,-0.869051,-0.112012],[-0.069139,-0.165144,0.983843]]FHݿ ? Dˬ`l#ſ{?iF@IFc;DYZByZ*IbDfVDf:yj%n0=ٔnp;Q-n>9lYp=rmGyprEv>tQ 5z5v?̊?Q 9~5v )vcBY|y~H2@Q I~T@vDIv-:ivF:vq5yBɮ A EEj)gO5FNOT Ignoring new targets: 210.00 m.R5Z5gOE ProNav: ac range: 210.000061 m, nav range: 183.636932 m, bearing: 149.700403 deg, approach rate: -0.609828 m/s, LOS rate: -0.033227 deg/s, cmd heading: 151.906112 deg, new cmd heading: 151.875358 deg. BM;sgOMHeadingCmd: 2.650725 target range: 210.000061 and range: 211.30 m.M{)@Q*Q"Q QQQYYʎYYYjaZm -@颕Bɢx=) >i)ݞ<顙iQi%{)@%f;%)k I%{)@I!A9@ @@/@i2Acoustic response timeout^AԑA) I1 II OU > |d,lY@AE EE#E"E:*EM:VE3ZEa@a@a@a@B&>B&ÍCB&*IB&BB&F =B$B&ZDB&T;B&aEJT@J(@JJ=ٱJ+ VAHRS rotation from veh to nav: [[-0.873297,-0.466047,-0.141961],[0.482004,-0.868906,-0.112577],[-0.070884,-0.166739,0.983450]]JH ݿ+¿`(?Ѽ`v%Wſkx?iJT@IJc_c;HY^By^m*IbDfVDffynf%nK=ٔr;Q-r>9pYp=vmGyvFv Ev>xQ 5}5z],̊?Q 9}5z)zRBYyy}C2@Q IT@zDIzi)q<ii؝)@1;I؝)@I9@ @@@  2Acoustic response timeout^A  A AM ؟AIY Ii O} >7d,ԿY@A2@2R(@2=ٱ2+ :AHRS rotation from veh to nav: [[-0.873075,-0.466019,-0.143410],[0.482133,-0.868989,-0.111378],[-0.072718,-0.166385,0.983376]]2H;Aݿ D[¿D?K`Lſw?i2@I21d;2CYBByFb*I HHN>N=iMb@Mb@Mb@ 9Cl?J +?/$Y;?y= A@ )&@Y@ )-p;bD= VD=2yM%M3=ٔT;Q->9"?Y"?=mGyUE>Q 55̊?Q 95 )>BbE-4jE4rEE0E EE&E"E ;*E^:VE4ZEBEOi)Z<ii)@l;=!I)@I@ @@/@@@@@%2Acoustic response timeout!IA I I O >ԉ d,ٓY@A2h@2(@24=ٱ2& :AHRS rotation from veh to nav: [[-0.873247,-0.465804,-0.143057],[0.481485,-0.869976,-0.106371],[-0.074908,-0.161768,0.983982]]2HݿO¿@?;@,-@ʹĿ@|?i2h@I2wd;2CB2Acoustic response timeoutYJxByJQ*IbDRVDRyZ약%ZU=ٔ^;Q-^>9Y=mGyF\:E>!Q 5-5%i̊?Q 9-5%)%.BY)y-h2@Q I5T@%DI%g:i%:%|5y=}Bɮ9=DEjagOeFNOT Ignoring new targets: 210.00 m.RmbZmbgO} ProNav: ac range: 210.000061 m, nav range: 182.869308 m, bearing: 149.658177 deg, approach rate: -0.622679 m/s, LOS rate: -0.034617 deg/s, cmd heading: 151.816418 deg, new cmd heading: 151.790794 deg. B}j}gOHeadingCmd: 2.649249 target range: 210.000061 and range: 211.30 m.L)@*" ʎjZ+0@Bɢ2~=) >i)e<iciL)@O;LIL)@IQ@ @@$0@E- E-E-)E)"E-D:*E-:VE-FA4ZE)a=@a=@a=@a=@BE>BECBEb*IBEBBEJ =BABEYDBET;BAԙAIIO%M> KCM2Acoustic response timeout+GԱI ܻ9 Y sA ^Ed,wY@A22@2(@2v=ٱ2_" :AHRS rotation from veh to nav: [[-0.873243,-0.465758,-0.143236],[0.481080,-0.870796,-0.101370],[-0.077516,-0.157429,0.984483]]2H @ݿU¿? _س@&Ŀ@?i22@I2d;0YNkByRA*Ia~@a~ a~@a~ a~@a~ a~@a bDVD02y4r%D=ٔ;Q->9!Y!=%mGy!%;d:E%>)Q 5=5-cˊ?Q 9E5-)-BQ AE+:YAQ EM:yMs2@Q IMT@-DI-߄;i->-5yeoBɮeAeCEjAgOEFNOT Ignoring new targets: 210.00 m.RMZMgO} ProNav: ac range: 210.000061 m, nav range: 182.620026 m, bearing: 149.644247 deg, approach rate: -0.576185 m/s, LOS rate: -0.032243 deg/s, cmd heading: 151.790791 deg, new cmd heading: 151.762892 deg. B}lgOHeadingCmd: 2.648762 target range: 210.000061 and range: 211.30 m.R)@*" ԱʎjZ 0@uBɢuPn=)y }>iy)}A>AII O>E5 E5E5#E1"E57;*E5҆:VE53ZE1BE5Z9XY\=^mGy^Fb(ȹEb>dQ 5j5fˊ?Q 9j5fb)f BQ Aj :YhQ Ej]:yjt2@Q IjT@fDIf :ifiL?f5ypɮr3Apj gO FNOT Ignoring new targets: 210.00 m.RG)ZG)gO% ProNav: ac range: 210.000061 m, nav range: 182.379776 m, bearing: 149.630779 deg, approach rate: -0.659132 m/s, LOS rate: -0.036999 deg/s, cmd heading: 151.762896 deg, new cmd heading: 151.735925 deg. B%lgO-HeadingCmd: 2.648292 target range: 210.000061 and range: 211.30 m.-})@)*1"1 11199ʎ99AjAZE 0@Bɢy=) >i)r<i[i})@C ;λI})@I!9@ @@4@AIIOI>92Acoustic response timeouti B% >B% ÍCB% 7*IB% cBB% I =B! B% ZDB% (U;B% EEE  EE EE "EA "EE :*EE :VEE (3ZEA BEE 5<2EE 5<JEE ;:EE ;V e,,'Y@A 6@6(@66=ٱ6y& >AHRS rotation from veh to nav: [[-0.872824,-0.466303,-0.144013],[0.481064,-0.871742,-0.092968],[-0.082191,-0.150424,0.985199]]6H@-ݿo¿?O@̷q Aÿ ?i6@I6h;6CYFVByJ'*IbDRVDR1yZ u%ZJ=ٔ^t;Q-^>9\Y\=bmGy`bʸEb>dQ 5j5f#ˊ?Q 9j5f)fBQ An9YlQ En3:ynx2@Q InT@fDIf ;if?fŃ5yraBɮr,AvBEj gOFNOT Ignoring new targets: 210.00 m.RZgOm ProNav: ac range: 210.000061 m, nav range: 182.131363 m, bearing: 149.616797 deg, approach rate: -0.614993 m/s, LOS rate: -0.034661 deg/s, cmd heading: 151.735931 deg, new cmd heading: 151.707930 deg. Bm}gOHeadingCmd: 2.647803 target range: 210.000061 and range: 211.30 m.u)@*" ʎjZb1@2Acoustic response timeout额Bɢ El=) &>i) =QQiUimu)@qR:ûIu)@I9@ @@4@ԙ 2Acoustic response timeout ^A [RӻA zA A I! I1 O= >3e, @Y@AXY NBy *Iaa aa aa aa iMb@Mb@Mb@ 9rh|?:v?MbpY?y=@ )AY=@bDVDNy%;=ٔQ->9Y=mGyFE>Q 55Աˊ?Q 95Ú)BQ AT:Y*?Q E:y3@Q IT@DI;i;5yɮMAE EE&E"E:*E:VE4ZEa@a@a@a@P-B*** querying acoustic contact ***) )j9gO=FNOT Ignoring new targets: 210.00 m.REV)ZEV)gOU ProNav: ac range: 210.000061 m, nav range: 181.868469 m, bearing: 149.600541 deg, approach rate: -0.597683 m/s, LOS rate: -0.037012 deg/s, cmd heading: 151.707927 deg, new cmd heading: 151.675367 deg. BUxgO]HeadingCmd: 2.647234 target range: 210.000061 and range: 211.30 m.]Jl)@Y*Y"a aaaimXBʎiiqjqZu1@=Bɢ=i=)A E>ia)eY=aaimimJl)@m:uuIuJl)@Iq%2Acoustic response timeout%9@! @!@-/@) ^A] F˻9 A I I O >9Y=mGy9E>Q 5E5ˊ?Q 9M5q)BYIyM3@Q IMT@DIOgi)=i.ib)@:֡Ib)@II[A)IBþ>BčCB *IB?BBF =BBBpU;BEBÍCBÍCBĔCBF =BG =CV.6E5 E5E5%E1"E5:*E5:VE5 4ZE1BE53?e,c{tY@A:@:(@:=ٱ: FAHRS rotation from veh to nav: [[-0.872825,-0.466855,-0.142206],[0.480274,-0.873427,-0.080388],[-0.086677,-0.138463,0.986567]]:H /@ݿ3¿ϼ?O|0&?i:@I:be;:C H)J`AJJELLR`AiRףIPPITiZv`A Z94X)Xb@C b`AbH``dhIh)hih)pIr`Arry F ttv`Avtittixx)| |I|YY;By*IyiMb@Mb@Mb@ 9S?B`"۹?{Gzt?Y?y=ף;(@  @)Y@bD VD2y%O=ٔ F;Q->9Y=mGyFܷ:E>Q 55;ˊ?Q 95T)BY?Q E:y~3@Q IT@DIe:i:ߎ5yEBɮ&A@EjAgOMFNOT Ignoring new targets: 210.00 m.Ru*Zu*gO ProNav: ac range: 210.000061 m, nav range: 181.367722 m, bearing: 149.569443 deg, approach rate: -0.600709 m/s, LOS rate: -0.037308 deg/s, cmd heading: 151.642685 deg, new cmd heading: 151.613080 deg. BgOHeadingCmd: 2.646147 target range: 210.000061 and range: 211.30 m.{Z)@2Acoustic response timeout*" ZBʎjZ2@=Bɢ=hf=)9 =>i9)E=AAiEYim{Z)@mN5:m¤Im{Z)@Iqԩ9@9 @A@E/@A}PExceeded connect timeout, disconnecting.E= E=E=(E9"E= ;*E=:VE=c44ZE9aE@aE@aE@aE@^A! A- ?A- > e 2Acoustic response timeoutI! I1 OE > a#e,8,Y@A2>@2(@2v=ٱ2UL :AHRS rotation from veh to nav: [[-0.872695,-0.466941,-0.142725],[0.480359,-0.873457,-0.079553],[-0.087517,-0.137985,0.986560]]2HZݿD¿2?[]g |?i2>@I2 e;0Y%:By%*IbD= VD=f2y}%}^=ٔ}&;Q->9Y=mGyĹE>Q 55wˊ?Q 95f)BYy|3@Q IT@DI:iV:5yɮ+AjgOFNOT Ignoring new targets: 210.00 m.R/Z/gO ProNav: ac range: 210.000061 m, nav range: 181.150055 m, bearing: 149.555917 deg, approach rate: -0.615124 m/s, LOS rate: -0.038272 deg/s, cmd heading: 151.613083 deg, new cmd heading: 151.585998 deg. BgOHeadingCmd: 2.645675 target range: 210.000061 and range: 211.30 m.R)@*" ʎ  jZ@73@=Bɢ=lr=)A Eز>iA)E^=AAiM.iMR)@U:U}IUR)@IQ9@ @ @ 0@ 2Acoustic response timeout^Ayb]AIYIiO}>B ̾>B ōCB )IB !BB E =B B [DB U;B EE]  E] E] %EY "E] :*E] 1:VE] 4ZEY BE] 69IYI=MmGyMFM6A:EM>QQ 5]5Uwdˊ?Q 9e5UO)UBYaye3@Q IeT@UDIUY;iUv;U5ym7Bɮu/AqjgOFNOT Ignoring new targets: 210.00 m.R*Z*gO ProNav: ac range: 210.000061 m, nav range: 180.914139 m, bearing: 149.541197 deg, approach rate: -0.597768 m/s, LOS rate: -0.037347 deg/s, cmd heading: 151.585995 deg, new cmd heading: 151.556516 deg. BgOHeadingCmd: 2.645160 target range: 210.000061 and range: 211.30 m.NJ)@*" ʎjZf3@Bɢd=) %2Acoustic response timeout E>i))-W=))i-#牼i5NJ)@=E:=PI=NJ)@I9}@ @@0@@=@=) i I  2Acoustic response timeout^A5 vтY I I O >0e,”Y@AjnManaging dock network, ignoring radio surface power offYBy)IiMb@Mb@Mb@ 9Zd;?333333?Mb?Y?y=< AV@ d@)xAY@D=D%=E EE&E"E:*E:VE4ZEa@a@a@a@bDVDyr%;=ٔQ->9Y=mGyE>Q 55Oˊ?Q 95)BY?Q E:y0@Q IT@DI:i:S5yBɮmA5EP-B*** querying acoustic contact ***1 1jgOFNOT Ignoring new targets: 210.00 m.R{Z{gO ProNav: ac range: 210.000061 m, nav range: 180.653244 m, bearing: 149.528350 deg, approach rate: -0.569480 m/s, LOS rate: -0.028082 deg/s, cmd heading: 151.556515 deg, new cmd heading: 151.530786 deg. BMgOHeadingCmd: 2.644711 target range: 210.000061 and range: 211.30 m.B)@*" !EeBʎAIIjIZMV3@颕BɢPX=) >i),=顙iuӈiB)@Z:Ew=IB)@I2Acoustic response timeout &Q@Q @Q@U4@Q) ^A= [RSI I O >)6e,iܔY@A2Acoustic response timeout:+@:(@:籰=ٱ:} BAHRS rotation from veh to nav: [[-0.873615,-0.464892,-0.143778],[0.478927,-0.873743,-0.084869],[-0.086170,-0.143002,0.985964]]:H ݿOg¿?9M¿?i:+@I:d;8YJByJ)IbDTVDTyZl %^`=ٔ^爻Q-^>9`Y`=bmGybFfA};Ef>hQ 5n5j>ˊ?Q 9n5j)jBYlyn0@Q IrT@jDIj ;ij ;j5ytɮvԷAtjgOFNOT Ignoring new targets: 210.00 m.RZ%gO5 ProNav: ac range: 210.000061 m, nav range: 180.435684 m, bearing: 149.517511 deg, approach rate: -0.630917 m/s, LOS rate: -0.031470 deg/s, cmd heading: 151.530779 deg, new cmd heading: 151.509076 deg. B5_fgO=HeadingCmd: 2.644332 target range: 210.000061 and range: 211.30 m.<)@*" ʎjZ@84@颭BɢU=) Ԅ>i)=iki<)@I:6I<)@I QBUԾ>BUƍCBU)IBUBBUA =BQBU\DBUU;BUEE EE'E"E*Ex:VE'4ZEBEB-M>e,Y@A>2Acoustic response timeout:"@:R)@:=ٱ: FAHRS rotation from veh to nav: [[-0.874752,-0.463037,-0.142846],[0.477293,-0.874225,-0.089006],[-0.083666,-0.146038,0.985735]]:HfݿH¿`?ɶ*k@_¿`#?i:"@I:e;8YPyR)IV=V=i}Mb@Mb@Mb@yyyy y9}V-?l?~jth?Y}|?y}=}D;} A}@ }z@)}AyY}(A <p<bDVD:2y&";%=ٔQ->9Y=mGydx;E>Q 55$ˊ?Q 95j)BY ?Q E:y0@Q IT@(DI;ih;5yBɮAjgOFNOT Ignoring new targets: 210.00 m.R Z gO ProNav: ac range: 210.000061 m, nav range: 180.112045 m, bearing: 149.501875 deg, approach rate: -0.617328 m/s, LOS rate: -0.029879 deg/s, cmd heading: 151.509073 deg, new cmd heading: 151.477744 deg. BZgO%HeadingCmd: 2.643785 target range: 210.000061 and range: 211.30 m.%3)@!*!"! !)))5pBʎ111j1Z=@4@e|BɢeRO=)a ex>i)p =iOi3)@:yF:I3)@IA9@ @@/@D?AzD?AbEjE-4rE:0E- E-E-$E)"E-2:*E-:VE-4ZE)a=@a=@a=@a=@i-2Acoustic response timeout^A ԙ A1 I9 II O] >1Ee,Y@Af7@f:-)@f`=ٱf vAHRS rotation from veh to nav: [[-0.875489,-0.462023,-0.141613],[0.476246,-0.874613,-0.090790],[-0.081910,-0.146928,0.985750]]fH@Ǒݿ_ ¿z?=¿C?if7@Ifzd;fCYBy)IbDVDy% %%T=ٔ-Q-->9)Y)=-mGy-F5X;E5>9Q 5E5= ˊ?Q 9E5=)=BYIyM0@Q IMT@=0DI=M:i=E:=x5yQɮUطAYyjgOFNOT Ignoring new targets: 210.00 m.R Z gO ProNav: ac range: 210.000061 m, nav range: 179.873688 m, bearing: 149.490226 deg, approach rate: -0.616625 m/s, LOS rate: -0.030175 deg/s, cmd heading: 151.477750 deg, new cmd heading: 151.454422 deg. B\gOHeadingCmd: 2.643378 target range: 210.000061 and range: 211.30 m.-)@*" ʎ1j1Z5@!5@颅yBɢN=) u>i)Z =顉ibi-)@:;I-)@I2Acoustic response timeoutԡ9@ @@@BA<Bؾ>BǍCB)IBBB@ =BB]DBU;BEE5 E5E5%E1"E5:*E5:VE5 4ZE1BE56^Ke,F/Y@AG@l=)@=ٱϻ AHRS rotation from veh to nav: [[-0.876098,-0.461243,-0.140382],[0.475455,-0.874822,-0.092889],[-0.079965,-0.148126,0.985730]]H@ݿ m?Ƿ@x¿?iG@IYd;CYBy)Ii]Mb@Mb@Mb@YYYY Y9]T㥛 ?ʡE?{GztY]!?y]=]ף]AY ]@)]AYY]AbDVDN2y &% /=ٔ ӈQ->9 ?Y ?=mGyF%^ ;E->1Q 5E55ʊ?Q 9E552)5tBYM;"?Q EM:yM0@Q IUT@59DI57z;i5q;55y]ܷBɮeAe4EjgOFNOT Ignoring new targets: 210.00 m.R Z gO ProNav: ac range: 210.000061 m, nav range: 179.581482 m, bearing: 149.475640 deg, approach rate: -0.614366 m/s, LOS rate: -0.030719 deg/s, cmd heading: 151.454418 deg, new cmd heading: 151.425196 deg. B`gOHeadingCmd: 2.642868 target range: 210.000061 and range: 211.30 m.$)@*" wBʎjZ͗5@5wBɢ5`I=)9 =v>i9)= =AAiE~iE$)@M>:MR;IM$)@II2Acoustic response timeout9@ @@/@)^A ;EE  EE EE $EA "EE :*EE :VEE 4ZEA ae @ae @am @am @y I I O >XRe,KY@A2a@2hW)@2ɝ=ٱ2Բ :AHRS rotation from veh to nav: [[-0.876998,-0.460135,-0.138387],[0.474145,-0.875407,-0.094072],[-0.077859,-0.148117,0.985900]]2H@]`rݿ cX?`U `|¿~?i2a@I2Whd;2CYV߉ByV)II^4=)^=bDbVDb0yjڽ%jf=ٔn»Q-n>9lYl=rmGypr;Er>tQ 5z5voʊ?Q 9z5v )vhBY|y~1@Q I~T@vADIv ;iv;v5yηBɮA3EP%B*** querying acoustic contact ***! !j)=2Acoustic response timeoutgO=FNOT Ignoring new targets: 210.00 m.REZEgOU ProNav: ac range: 210.000061 m, nav range: 179.361679 m, bearing: 149.464522 deg, approach rate: -0.634414 m/s, LOS rate: -0.032127 deg/s, cmd heading: 151.425198 deg, new cmd heading: 151.402937 deg. BU.kgO]HeadingCmd: 2.642480 target range: 210.000061 and range: 211.30 m.]c)@Y*Y"Y aaaaiʎiiijqZu5@ԑ颥uBɢi)$ =顩iic)@:;Ic)@IIZA)ZA-9@) @)@-0@)Թ^AMoM;2Acoustic response timeoutI) I9 OE > AXe,@dY@A2l@2,b)@2=ٱ2 :AHRS rotation from veh to nav: [[-0.877432,-0.460285,-0.135095],[0.473635,-0.875917,-0.091863],[-0.076049,-0.144589,0.986565]]2H Puݿ@JP? Y w¿?i2l@I2d;2CBFݾ>BFȍCBF)IBFՉBBF? =BDBDBFU;BFEYRȉByRx)IbD^VD^1yf%fK=ٔf"Q-j>9hYh=jmGyjFnz:En>pQ 5v5rʊ?Q 9v5r)r[BYtyv1@Q IzT@rIDIr:ir:r*5y|ɮ~A|j!gO%FNOT Ignoring new targets: 210.00 m.R-sZ-sE EE&E"E:*Ez:VE4ZEBE+iy)}D =yyi}Pi)@:;I)@I 9@  @@0@M2Acoustic response timeout)^A5;YIIO>y  2Acoustic response timeout^e,~Y@A2br@2g)@2 M=ٱ2 :AHRS rotation from veh to nav: [[-0.877716,-0.460632,-0.132032],[0.473386,-0.876259,-0.089870],[-0.074297,-0.141383,0.987163]]2H @@zݿm K?`O `$¿֖?i2br@I2c;0AYủByu})Ii Mb@Mb@Mb@     9 Mb?p= ף?{GztY  ?y =  lA @ @) A Y GAbD]VD]:ym<%m&=ٔmjQ-m>9qYq=umGyqu =:E}>Q 55ʊ?Q 95})KBY`!?Q E:y/@Q IT@SDI:i3:v5yBɮ̷A2EjgOFNOT Ignoring new targets: 210.00 m.RZgO ProNav: ac range: 210.000061 m, nav range: 178.805847 m, bearing: 149.437961 deg, approach rate: -0.621261 m/s, LOS rate: -0.028129 deg/s, cmd heading: 151.377401 deg, new cmd heading: 151.349723 deg. BMgOHeadingCmd: 2.641551 target range: 210.000061 and range: 211.30 m.,)@*" \BʎjZ6@%pBɢ%d/==)! -$8>i))-g =))i-ׂi5,)@5':=;I=,)@I9E} E}EyEy"E}:*E}~:VEyZEya@a@a@a@q9@ @@A1@M2Acoustic response timeoutԙ^A ϩ;Ia Iq O > 8ee,`Y@A2Iv@2k)@29=ٱ2t :AHRS rotation from veh to nav: [[-0.877926,-0.460811,-0.129995],[0.473229,-0.876406,-0.089253],[-0.072799,-0.139875,0.987489]]2H@`}ݿcI? Fٶi`?i2Iv@I2c;0TTiTITXIXiZOUA XX)X^&C ^q@\\```I`)`i`)dIddd dhj=^Ajlij Fhill)nҽ lIlYlYvByv\)I zpi). =i=i )@,:W;I )@I2Acoustic response timeoutU9@Q @Q@U/@QAyAyB޾>BBh)IBBB> =BB^DBU;BEBEǍCBEǍCBABE@ =BEA =CEP76^Au;E EE'E"E:*E:VE'4ZEBE5 m 2Acoustic response timeout9 le,~Y@AM`i@M^)@M=ٱM^ uAHRS rotation from veh to nav: [[-0.877621,-0.461599,-0.129258],[0.473958,-0.875947,-0.089897],[-0.071727,-0.140158,0.987528]]MH yԊݿSU? {\ә?iM`i@IMc;MCYByZ)I i}Mb@Mb@Mb@yyyy y9}K7A?Dl?{GzY} "?y}O=}#}A}@ }@)}AyY}AbDVD02y۬%'=ٔQ->9Y=mGyҺE>Q 55|ʊ?Q 95Yx)1BY#?Q E:y$0@Q IT@cDI ;i ;5yɮAjgO}FNOT Ignoring new targets: 210.00 m.R Z gO ProNav: ac range: 210.000061 m, nav range: 178.297028 m, bearing: 149.414469 deg, approach rate: -0.626780 m/s, LOS rate: -0.029299 deg/s, cmd heading: 151.331392 deg, new cmd heading: 151.302670 deg. B{VgOHeadingCmd: 2.640730 target range: 210.000061 and range: 211.30 m.)@*" OBʎ2Acoustic response timeoutjZ7@lBɢ*.=)) ->i))-X=))i531i=)@=:=H;I=)@IA9@ @@4@a E  E E E "E :*E ~:VE ZE a @a @a @a @^A5 ;ԑ u 2Acoustic response timeoutI)I9Om>se,ܸЕY@A2n]@2S)@2T=ٱ2\ :AHRS rotation from veh to nav: [[-0.877341,-0.461912,-0.130041],[0.474633,-0.875217,-0.093371],[-0.070685,-0.143640,0.987102]]2H@-ݿ.c`?!緿lb¿W?i2n]@I21c;2CYBy=)IQbD%VD%ܲye%eM=ٔe,Q-e>9iYi=mmGymFuEu>yQ 55}Ӂʊ?Q 95}u)}$BYy0@Q IT@}kDI}:i}t:}5yBɮ*APB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 210.00 m.RZgO ProNav: ac range: 210.000061 m, nav range: 178.047363 m, bearing: 149.402851 deg, approach rate: -0.626527 m/s, LOS rate: -0.029196 deg/s, cmd heading: 151.302665 deg, new cmd heading: 151.279396 deg. BUgOHeadingCmd: 2.640324 target range: 210.000061 and range: 211.30 m.(@*" ʎjZR 8@jBɢ*=)! %d=i!)-&=11i5ki=(@E}:E(#;IE(@IQy@ @@/@2Acoustic response timeoutԩ^A`;Be ݾ>Ba Be C)IBe BBa Ba Be ]DBe V;Be EI I O > E  E E E "E s:*E n:VE ZE BE e09xYx=~mGy|ҁ:E>!Q 5-5%xnʊ?Q 9-5%Xs)%BY1y50@Q I5T@%sDI%1:i%:%{5y=Bɮ=AE0EjgOFNOT Ignoring new targets: 210.00 m.RZԹgO ProNav: ac range: 210.000061 m, nav range: 177.801590 m, bearing: 149.391362 deg, approach rate: -0.621248 m/s, LOS rate: -0.029082 deg/s, cmd heading: 151.279401 deg, new cmd heading: 151.256391 deg. BTgOHeadingCmd: 2.639922 target range: 210.000061 and range: 211.30 m.|(@*" ʎjZr8@2Acoustic response timeoutuhBɢLM&=) =i)=i$i5|(@=!:Ej;IE|(@IY@ @@@ 2Acoustic response timeout^A [R;Ii Iy O >9 e,}[Y@A>[@>KQ)@>Ev=ٱ>1 NAHRS rotation from veh to nav: [[-0.877393,-0.461564,-0.130919],[0.474782,-0.874571,-0.098533],[-0.069018,-0.148610,0.986484]]>HDݿ b?`{s9`/ÿG?i>[@I>c;>CYZzByZ)Ii=Mb@Mb@Mb@9999 99= r?9iYi=mmGyuFuEu>yQ 55}Yʊ?Q 95}p)} BY$?Q E:yM0@Q IT@}|DI}:i}:}5yɮkAjgOFNOT Ignoring new targets: 210.00 m.RB ZB DU@AzDU@AE] E]E]$EY"E]O:*E]k:VE]4ZEYae@ae@ae@ae@gOm ProNav: ac range: 210.000061 m, nav range: 177.538864 m, bearing: 149.378775 deg, approach rate: -0.638962 m/s, LOS rate: -0.030656 deg/s, cmd heading: 151.256397 deg, new cmd heading: 151.231187 deg. Bmj`gOHeadingCmd: 2.639482 target range: 210.000061 and range: 211.30 m.G(@*" #BʎjZ8@5fBɢ5=)1 = =i9)==99i=}iEG(@E-y:Es;IEG(@II=BDAT read: Response Not Received =*response not received=TDAT read: user:616>Tx time:00:56:56.1708 AMԙ 7e,EY@A>DAT read: B2Acoustic response timeoutYzmByz)IbD VD 1yz%O=ٔQ->9!Y!=%mGy!%E->)Q 5=5-Fʊ?Q 9=5-3n)-BY9y9Q I=T@-DI-<;i-j;-5yMVBɮMAM&EjigOuFNOT Ignoring new targets: 210.00 m.R}e Z}e gO ProNav: ac range: 210.000061 m, nav range: 177.288864 m, bearing: 149.366763 deg, approach rate: -0.633219 m/s, LOS rate: -0.030467 deg/s, cmd heading: 151.231194 deg, new cmd heading: 151.207136 deg. B_gO-HeadingCmd: 2.639062 target range: 210.000061 and range: 211.30 m.-f(@1*1"1 11199ʎ999jAZE@D9@iUcBɢU_=)Q ]B B )IB ~BB = =B FDB ^DB V;B E=9@9 @9@=0@9Em EmEm'Ei"EmT;*Emc:VEm'4ZEiBEmG a^e,8Y@A6]Y@6N)@6J=ٱ6y{ BAHRS rotation from veh to nav: [[-0.877390,-0.461268,-0.131983],[0.474941,-0.873999,-0.102745],[-0.067960,-0.152832,0.985913]]6H`@iݿne?Meÿ?i6]Y@I6!d;6CYJWByJ(I LLiMb@Mb@Mb@ 9ףp= ?333333?:vY?y=TA@ &@)AY\AbD5VD51yECֽ%EH=ٔM *Q-M>9IYI=UmGyUFU<EU>YQ 5e5]!2ʊ?Q 9e5]k)]BYm?Q Em:ym0@Q ImT@]DI]a:i]H:]"5yqɮuAyjgOFNOT Ignoring new targets: 210.00 m.RZgO ProNav: ac range: 210.000061 m, nav range: 177.037827 m, bearing: 149.354079 deg, approach rate: -0.613379 m/s, LOS rate: -0.031037 deg/s, cmd heading: 151.207138 deg, new cmd heading: 151.181733 deg. B3cgOHeadingCmd: 2.638619 target range: 210.000061 and range: 211.30 m."(@*" )BʎjZ9@}aBɢ} =) i)n=顁iIzi"(@7:;I"(@II)2Acoustic response timeoutm9@i @i@m4@q@u\A@u\AbEǞ4jET4rEb/E} EyE}&Ey"E}D:*EyVE}4ZEya@a@a@a@^AII ) O5 >E 2Acoustic response timeout,Fe,JQY@A J8`@JU)@J1(=ٱJC VAHRS rotation from veh to nav: [[-0.877621,-0.461132,-0.130913],[0.474592,-0.874274,-0.102021],[-0.067408,-0.151666,0.986131]]JH y0ݿ_? Aiÿa?iJ8`@IJ>d;JCY^SBy^(IbDfVDfyn %rQ=ٔrlQ-r>9pYt=vmGytvM:Ev>xQ 5~5z"ʊ?Q 95z[i)zBYy0@Q IT@zDIz<;izz;z5y DBɮ ķA%EP-B*** querying acoustic contact ***) )j1gO=FNOT Ignoring new targets: 210.00 m.REZEgOU ProNav: ac range: 210.000061 m, nav range: 176.798111 m, bearing: 149.341896 deg, approach rate: -0.613135 m/s, LOS rate: -0.031204 deg/s, cmd heading: 151.181729 deg, new cmd heading: 151.157330 deg. BUmdgO]HeadingCmd: 2.638193 target range: 210.000061 and range: 211.30 m.]((@Y*Y"Y YaaaaʎiiijiZm :@U_Bɢuj=)y }๼iy)}=顁ixi((@Vk;`B ɍCB (IB `BB < =B B B U;B EA I I O >E  E E #E "E :*E ]t:VE 3ZE BE . C G \A0pe,kY@A9Y=mGyF;E>Q 55c ʊ?Q 95f)BYy0@Q IT@DI(4;i55;F5y6Bɮ̷A$E2Acoustic response timeoutjYgOeFNOT Ignoring new targets: 210.00 m.Rm Zm gO ProNav: ac range: 210.000061 m, nav range: 176.536392 m, bearing: 149.328481 deg, approach rate: -0.592286 m/s, LOS rate: -0.030404 deg/s, cmd heading: 151.157332 deg, new cmd heading: 151.130462 deg. B^gOHeadingCmd: 2.637724 target range: 210.000061 and range: 211.30 m.y(@*" ʎjZ4:@\Bɢ &=) Ki)=IIiU~viMy(@U0;]l:e,ĈY@AR[@Ru)@Rg=ٱR< ZAHRS rotation from veh to nav: [[-0.878699,-0.460010,-0.127590],[0.472949,-0.875197,-0.101733],[-0.064868,-0.149737,0.986596]]E^ E^E^$E\"E^:*E^k:VE^4ZE\af@af@af@af@RHLpݿT@D?3 @0*ÿ 1?iR[@IRLc;PYn1Byn(IppieMb@Mb@Mb@aaaa a9eX9v?333333?~jtxYe?yaeĻeMAa e=@)aaYe(AyybD}VD}yP%3=ٔ_Q->9"?Y"?=mGy!;E>Q 55hɊ?Q 95d)BY?Q E:y 1@Q IT@DI ;i" ;;5yɮAjagOeFNOT Ignoring new targets: 210.00 m.RZgO ProNav: ac range: 210.000061 m, nav range: 176.259644 m, bearing: 149.313946 deg, approach rate: -0.610582 m/s, LOS rate: -0.032117 deg/s, cmd heading: 151.130462 deg, new cmd heading: 151.101348 deg. BkgOHeadingCmd: 2.637216 target range: 210.000061 and range: 211.30 m.&(@*" ԩBʎjZ:@%YBɢ%Y<)! MdiI)My=IQiUotiU&(@];]/.1 T=e,*Y@A@2/@2})@2<[=ٱ2; :AHRS rotation from veh to nav: [[-0.879023,-0.460393,-0.123920],[0.472582,-0.875751,-0.098617],[-0.063120,-0.145249,0.987380]]2H` wݿ5>?(>(@¿ ?i2/@I2Hc;0Yz*Byz(IbD VD :yv %S=ٔQ->9!Y!=%mGy%F-p:E->1Q 5555Ɋ?Q 9=55a)5BY9y=1@Q I=T@5DI5;i5D;55yM'BɮMAM#EjigOuFNOT Ignoring new targets: 210.00 m.R}cZ}cgO ProNav: ac range: 210.000061 m, nav range: 176.022598 m, bearing: 149.301416 deg, approach rate: -0.637489 m/s, LOS rate: -0.033745 deg/s, cmd heading: 151.101352 deg, new cmd heading: 151.076256 deg. BwgOHeadingCmd: 2.636778 target range: 210.000061 and range: 211.30 m.(@*" ʎjZ/P;@WBɢu<) Pi)7=iri(@l;:BABE(IBEge,kY@A 6Ҋ@6l)@6]{=ٱ6Z >AHRS rotation from veh to nav: [[-0.879195,-0.460808,-0.121126],[0.472492,-0.875973,-0.097071],[-0.061372,-0.142575,0.987879]]6H@^"}ݿ@P=?@ٸl?¿`?i6Ҋ@I6cb;6CYb%Byb(IiEMb@Mb@Mb@AAAA A9E-?V-?~jthYE5?yEh=EDE7AE @ ES@)ECAAYEzAbD]VD]kymOռ%mE=ٔusQ-u>9qYq=umGy2Acoustic response timeouti9E> Q 55 Ɋ?Q 95 (_) BY@?Q E:y0@Q IT@ DI  ;i  ; e5y%Bɮ%зA%"EjIgOMFNOT Ignoring new targets: 210.00 m.RUpZUpgOe ProNav: ac range: 210.000061 m, nav range: 175.758118 m, bearing: 149.287894 deg, approach rate: -0.612317 m/s, LOS rate: -0.031351 deg/s, cmd heading: 151.076258 deg, new cmd heading: 151.049174 deg. BeegOmHeadingCmd: 2.636305 target range: 210.000061 and range: 211.30 m.m:(@i*i"i qqqy}BʎyyyjZʾ;@颭TBɢ<) i)q =顱ipi:(@ ;AOe,G֖Y@ABt@B)@Bt=ٱBJ JAHRS rotation from veh to nav: [[-0.879356,-0.460749,-0.120176],[0.472397,-0.875842,-0.098702],[-0.059779,-0.143565,0.987834]]BH#|ݿþ@;?`DJ@U`¿U?iBt@IBb;BCPYjByn(I ppr=r= v49 Y = mGy F9E>Q 5%5Ɋ?Q 9%5\)BY!y%0@Q I%T@DI;i/:5y1ɮ5A1PMB*** querying acoustic contact ***I IjYgO]FNOT Ignoring new targets: 210.00 m.ReZegOu ProNav: ac range: 210.000061 m, nav range: 175.529541 m, bearing: 149.276166 deg, approach rate: -0.611594 m/s, LOS rate: -0.031421 deg/s, cmd heading: 151.049169 deg, new cmd heading: 151.025682 deg. BufgO}HeadingCmd: 2.635895 target range: 210.000061 and range: 211.30 m.}(@y*y" ʎjZ@S<@颽QBɢL#<) $i)̎ =iLoi(@_;*IE  E E %E "E O:*E $:VE 4ZE BE 9 Y = mGyE>Q 5%5֦Ɋ?Q 9%5qZ)BY)y-0@Q I-T@DI:i:25y5 Bɮ5A9jYgOeFNOT Ignoring new targets: 210.00 m.ReZegOu ProNav: ac range: 210.000061 m, nav range: 175.281097 m, bearing: 149.263393 deg, approach rate: -0.613509 m/s, LOS rate: -0.031588 deg/s, cmd heading: 151.025687 deg, new cmd heading: 151.000103 deg. Bu=ggO}HeadingCmd: 2.635449 target range: 210.000061 and range: 211.30 m.}2(@y*" ʎjZ-<@颽NBɢl<) ni) =)i-NfmiE2(@mv;u"Nae,r Y@A2@27z)@2l=ٱ2  :AHRS rotation from veh to nav: [[-0.879209,-0.461108,-0.119881],[0.472929,-0.875134,-0.102367],[-0.057710,-0.146697,0.987497]]2Hz"˂ݿwD?4 ¿`?i2@I2Ic;2CYFByF(IER EREPEP"ERD:*ER~:VEPZEPaZ@aZ@aZ@aZ@i%Mb@Mb@Mb@!!!! !9%Zd;O?333333?Y%j?y%=%%A! %=@)%A!Y!bD=VD=yMƇ:%MF=ٔU`Q-U>9QԙYQ=mGyF]E>Q 55Ɋ?Q 95W)BY ?Q E :y ;1@Q I T@DI;i;5yɮAj9gOEFNOT Ignoring new targets: 210.00 m.REZZMZgO] ProNav: ac range: 210.000061 m, nav range: 175.019638 m, bearing: 149.249220 deg, approach rate: -0.605353 m/s, LOS rate: -0.032862 deg/s, cmd heading: 151.000101 deg, new cmd heading: 150.971714 deg. B]pgOeHeadingCmd: 2.634953 target range: 210.000061 and range: 211.30 m.e(@a*a"a aaiimBʎiqqjqZu<@颥KBɢ <)  i)b =顩i!ki(@CA ;I(@IDAT read: 00:56:58.8676 LVL= 30816, 32753, 32754, 32755, AGC= 75, IDX= 235,-0.02, 2.278, 0.998, 2.369, 1.253, PHS= 1.127,-0.211, 1.072, RAW= 147.9, -28.2, CAL= 149.2, -29.3, ROT= 0.8, 29.3 Ygot valid direction response: 00:56:58.8676 LVL= 30816, 32753, 32754, 32755, AGC= 75, IDX= 235,-0.02, 2.278, 0.998, 2.369, 1.253, PHS= 1.127,-0.211, 1.072, RAW= 147.9, -28.2, CAL= 149.2, -29.3, ROT= 0.8, 29.3 PDAT read: Bearing 284.8, 1.9 (Local) ~Local bearing/azimuth received: Bearing 284.8, 1.9 (Local) DAT read: Range 11 to 50 : 219.5 m (Round-trip 292.7 ms) speed 0.4 m/s TDAT read: user:617>Tx time:00:56:59.9708 R#Rx 1: Read range and direction messages.^direction in FSK: [0.871984,0.012176,-0.489382]Fpublishing direction and range infoyqu`K?dʃ?6Z R߿Yu[Cqu`xqq q)uKIuA?iubXuL7?u4%@udur&@ u)ud)u\>-9@) @)@54@1Iud% DAT read: % 2Acoustic response timeout) e,#Y@A2z@2Vp)@2Mh=ٱ2F :AHRS rotation from veh to nav: [[-0.878972,-0.461495,-0.120130],[0.473485,-0.874560,-0.104674],[-0.056754,-0.148885,0.987224]]2H #ݿM?e@˺ÿW?i2z@I2Zc;2CYBByFu(IbDNVDNyVc%VU=ٔV#Q-V>9Z ?YZ ?=ZmGyX^QٺE^>`Q 5f5bɊ?Q 9f5bU)bBYdyj01@Q IjT@bDIb:ib:b&5ynBɮnַAr!Eb0Y@AJ,ZCR,ZCj$@ _ g@ш„@@ h\Zr`K?dʃ?6Z R߿Zd<b?5YscIRX@-tlf&]z1Y.濽_L?RM>2B:";F?*ށ+Bz@“.C&@gO- addTargetRange:: Added new target pos. range: 219.500000 m, deltaT: 28.988133 s, deltaX: 8.199997 m, approachRate: 0.282874 m/s, rangeRepo size: 4 gO Added new target pos. range: 218.175568 m, bearing: 147.554904 deg, lat: 36.779204 deg, lon: -121.859552 deg, deltaT: 28.988133 s, deltaX: 8.175507 m, approachRate: 0.282029 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 218.18 m.BA<B>BɍCB(IBBBBBBqV;BKERZgO  ProNav: ac range: 218.175568 m, nav range: 174.799286 m, bearing: 149.237291 deg, approach rate: 0.000000 m/s, LOS rate: -0.032862 deg/s, cmd heading: 150.971715 deg, new cmd heading: 150.947521 deg. B gOHeadingCmd: 2.634531 target range: 218.175568 and range: 219.50 m.)(@*" !ʎ!!!j%pk@Z-(?颕HBɢU<) T%i) =顙iii)(@ ;Kԉ ߵe,5=Y@A2T@2x)@2b=ٱ2P* :AHRS rotation from veh to nav: [[-0.879291,-0.461005,-0.119673],[0.473062,-0.874504,-0.107024],[-0.055316,-0.150718,0.987028]]2H&#ݿ@袾@F?edRJÿ?i2T@I2c;2CYBByF_(IiEMb@Mb@Mb@AAAA Eq6D9EZd;?333333?MbpYE?yAEEAE7@ E5A)AAYEAbD] VD]2ym %m?=ٔm/\Q-u>9u"?Yu"?=umGyuF}?:E}>Q 55kɊ?Q 950S)~BY" ?Q E:y 1@Q IT@DI*:i:5yݶBɮA EjgOFNOT Ignoring new targets: 218.18 m.RjZj2Acoustic response timeoutgO ProNav: ac range: 218.175568 m, nav range: 174.535492 m, bearing: 149.223180 deg, approach rate: -0.621824 m/s, LOS rate: -0.033313 deg/s, cmd heading: 150.947522 deg, new cmd heading: 150.919258 deg. BsgOHeadingCmd: 2.634038 target range: 218.175568 and range: 219.50 m.(@*" BʎjZ]?5EBɢ5<)1 5Bi9)=ds =99i=OhiE(@E ;E \) ؝e,WY@A2@2?})@2 [=ٱ2U~ :AHRS rotation from veh to nav: [[-0.879496,-0.460843,-0.118791],[0.472873,-0.874366,-0.108970],[-0.053649,-0.152012,0.986921]]2H$s~ݿi C?{廿w#uÿ`ܔ?i2@I2c;2CYFByFc(IbDNVDNyVr<%VW=ٔV:Q-Z>9Z ?YZ ?=ZmGyX^(6:E^>`Q 5f5bYɊ?Q 9f5bP)btBYdyf 1@Q IjU@bDIb:ib(:b55ylɮn׷ApP~B*** querying acoustic contact ***| |jgO FNOT Ignoring new targets: 218.18 m.RBZBgO% ProNav: ac range: 218.175568 m, nav range: 174.302002 m, bearing: 149.210637 deg, approach rate: -0.614638 m/s, LOS rate: -0.033060 deg/s, cmd heading: 150.919259 deg, new cmd heading: 150.894141 deg. B%rgO-HeadingCmd: 2.633600 target range: 218.175568 and range: 219.50 m.-(@)*)") )1111ʎ999j9ZE=?BBɢ,<) 5i)U =iffi5(@=O ;=$eBBn(IBBBBBBV;B{E^AhW@>))@>5T=ٱ>J^ FAHRS rotation from veh to nav: [[-0.880180,-0.459746,-0.117968],[0.471794,-0.874625,-0.111542],[-0.051897,-0.153833,0.986733]]>H`o*{lݿ$3`1?`8`ΰÿ Q?i>@I>d;>CYjByjZ(I ppr=r= tvbDzVDzy%E=ٔeQ->9 "?Y "?= mGy F eI;E>Q 5%5DɊ?Q 9%5kN)jBY!y%!1@Q I%U@DIi=:5y5Bɮ5A5EjYgO]FNOT Ignoring new targets: 218.18 m.Re?Ze?gOu ProNav: ac range: 218.175568 m, nav range: 174.046432 m, bearing: 149.196764 deg, approach rate: -0.616121 m/s, LOS rate: -0.033495 deg/s, cmd heading: 150.894137 deg, new cmd heading: 150.866350 deg. Bu2ugOHeadingCmd: 2.633115 target range: 218.175568 and range: 219.50 m.(@*" ʎjZ?>Bɢ)y<) ǯe,DY@A2h@2)@2oN=ٱ2 :AHRS rotation from veh to nav: [[-0.880733,-0.458995,-0.116758],[0.470926,-0.874931,-0.112807],[-0.050378,-0.154337,0.986733]]2H.@-`ݿ@㽿#?n༿˩ Oÿ`Q?i2h@I2-ud;2CD@zD@bE 4jE 4rE 5/EF EFXEF"ED"EFa:*EF;VEF(3ZEDaJ@aJ@aN@aN@PYV؈ByVQ(Ii5Mb@Mb@Mb@1111 5A95x&1?ʡE?{GzY5!?y5=5#5dA5M@ 5bA)5ZA1Y5=AbDVDN2y %>=ٔ\gQ->9 ?Y ?=mGyW;E>Q 55E/Ɋ?Q 95K)^BY"?Q E:y/1@Q IU@DI2 ;i ;5yBɮնA Ej)gO5FNOT Ignoring new targets: 218.18 m.R=Z=gOM ProNav: ac range: 218.175568 m, nav range: 173.777237 m, bearing: 149.182029 deg, approach rate: -0.624914 m/s, LOS rate: -0.034258 deg/s, cmd heading: 150.866352 deg, new cmd heading: 150.836837 deg. BMzgOMHeadingCmd: 2.632599 target range: 218.175568 and range: 219.50 m.U|(@Q*Q"Q QQYY]BʎYaajaZe?颕;Bɢ.<) (Ei)3 =顙ici|(@O;q 2Acoustic response timeoute,Y@A6@6N)@6H=ٱ6 BAHRS rotation from veh to nav: [[-0.881462,-0.457815,-0.115887],[0.469705,-0.875364,-0.114526],[-0.049012,-0.155383,0.986638]]6H4`LݿǪ@?`Q` @ÿ ?i6@I6c;4YJɈByJ>(IbDRVDRyZG%Z_=ٔ^AtQ-^>9b"?Yb"?=bmGybFb};Ef>dQ 5j5fɊ?Q 9n5fI)fUBYlynE1@Q InU@fDIfv;if;f5ytɮvAt|jgOFNOT Ignoring new targets: 218.18 m.R6Z6gO- ProNav: ac range: 218.175568 m, nav range: 173.547653 m, bearing: 149.169318 deg, approach rate: -0.623752 m/s, LOS rate: -0.034580 deg/s, cmd heading: 150.836832 deg, new cmd heading: 150.811377 deg. B-#}gO5HeadingCmd: 2.632155 target range: 218.175568 and range: 219.50 m.5;u(@1*1"9 999AAʎAAIjIZM@u8BɢuE<AyAyB>BBU(IB܈BB< =BBB2W;BE) ]i)=顙iai;u(@>;ԉ e,Y@A2@2)@2D=ٱ2 :AHRS rotation from veh to nav: [[-0.881999,-0.457038,-0.114861],[0.468797,-0.875784,-0.115026],[-0.048022,-0.155299,0.986700]]2HV9 @ݿ@g?l Tr@eÿ ?i2@I2խc;0YFByF/(IIJY>)J9Y=mGyp ;E>Q 55aɊ?Q 95G)HBY"?Q E:y2@Q IU@DI*:i:52Acoustic response timeoutyBɮ AEjgOFNOT Ignoring new targets: 218.18 m.R2Z2gO ProNav: ac range: 218.175568 m, nav range: 173.279251 m, bearing: 149.152544 deg, approach rate: -0.621910 m/s, LOS rate: -0.038927 deg/s, cmd heading: 150.811383 deg, new cmd heading: 150.777783 deg. B {gO HeadingCmd: 2.631569 target range: 218.175568 and range: 219.50 m. k(@ *" Bʎ!j!Z% H@M5BɢMpI<)Q U@oiQ)U}=YYi]B_iek(@eJ;ee,ؗY@A6@6A)@6RB=ٱ62l! >AHRS rotation from veh to nav: [[-0.882211,-0.456573,-0.115089],[0.468449,-0.875758,-0.116634],[-0.047538,-0.156810,0.986484]]6H;}8ݿv?`5۽V@WĿG?i6@I6c;4YRByR-(IbDZVDZyb%bX=ٔfQ-f>9dYd=fmGyjFj׌:Ej>lQ 5r5n_Ȋ?Q 9r5nD)nE  E E )E "E &:*E :VE FA4ZE BE ];9] ?Ye ?=emGyeFe<:Ee>iQ 5u5mȊ?Q 9}5mjA)m*BY}#?Q E}:y}1@Q I}U@mDIm ;im* ;m 5yqBɮAEjgOFNOT Ignoring new targets: 218.18 m.R'&Z'&gO ProNav: ac range: 218.175568 m, nav range: 172.675064 m, bearing: 149.116454 deg, approach rate: -0.627257 m/s, LOS rate: -0.036316 deg/s, cmd heading: 150.748094 deg, new cmd heading: 150.705460 deg. B섺gOHeadingCmd: 2.630306 target range: 218.175568 and range: 219.50 m.V(@*" BʎjZ D@-Bɢ{<) zi)8=iP\i%V(@%J;%im绿>-@q=>-@ 4QO>).@I4QOMuM?^R?ؙaY? 50?)%=I)+Ƚi4QO:publishing transmit ping timeQFpublishing direction and range infoyza2?njxo?Y )Ii )IMuM?^R?ؙaY? )Ii 9@  @ @ 4@ ԑ E  E E &E "E ;*E x:VE 4ZE a @a @a @a @^A- R5<AYIaIyO?f,mXY@A26@2)@2cB=ٱ2 vAHRS rotation from veh to nav: [[-0.882120,-0.456841,-0.114720],[0.468639,-0.875706,-0.116263],[-0.047347,-0.156320,0.986571]]2HS: <ݿE^-? mý@= MĿ@?i26@I2Hb;0 |)`A#  aAi GaI Ii '!)!! %`A-Ľ))11I1)9i9)9IE`AEGaA AIM`AU,iQQiYY)Y YIYYYYuBy}(IbDVDyǼ%g=ٔ۾9Q->9Y=mGyE>Q 557Ȋ?Q 95I?)BYy1@Q IU@ DIp:iY; 5ybBɮ۶AE?Y@AJKWCRKWCj%@p6#B9 B= #(IB= BB= = =B9 B9 B= W;B= EBɍCBɍCBBBCd!5A I I O > f, -Y@AE& E&E&'E$"E&2:*E&:VE&'4ZE$BE& *9QYQ=UmGy]F];E]>aQ 5m5eȊ?Q 9m5e<)eBYiyu1@Q IuU@e)DIe@;iez;e5y}TBɮ}AyjgOFNOT Ignoring new targets: 215.30 m.Rs)Zs)gO ProNav: ac range: 215.295135 m, nav range: 178.697830 m, bearing: 148.982024 deg, approach rate: -0.659099 m/s, LOS rate: -0.037036 deg/s, cmd heading: 150.678235 deg, new cmd heading: 150.648351 deg. BgOHeadingCmd: 2.629310 target range: 215.295135 and range: 216.60 m.F(@*" ʎjZ`B? 'Bɢ Ħf,5FY@A2͜@2f)@2xK=ٱ2 >AHRS rotation from veh to nav: [[-0.880287,-0.460085,-0.115827],[0.471835,-0.874514,-0.112234],[-0.049655,-0.153450,0.986908]]2HP+ rݿ٦`2?  fcl@?ÿ@?i2͜@I2?b;2CYRByV'Ii}Mb@Mb@Mb@yyyy y9}Cl?K?{GzY}d?y}^=}#}Ay }A)} AyY}AbDVDy8%K=ٔg;Q->9Y=mGyԻE>Q 55uȊ?Q 95:)BY&?Q E:y2@Q IU@1DI:i :(5yɮAjgOFNOT Ignoring new targets: 215.30 m.R-Z-gO ProNav: ac range: 215.295135 m, nav range: 178.468430 m, bearing: 148.967525 deg, approach rate: -0.599820 m/s, LOS rate: -0.037959 deg/s, cmd heading: 150.648346 deg, new cmd heading: 150.619311 deg. BgOHeadingCmd: 2.628803 target range: 215.295135 and range: 216.60 m.O>(@*" !!!%Bʎ)))j)Z-?]%Bɢ]0<)a eia)ef=aaimhVimO>(@mJ";7(@I1EU EUEU*EQ"EU;*EU|:VEU(N4ZEQa]@a]@a]@ae@9@ @@0@@=@>a^A<ԉ A I I O >ef,`Y@A(JlT@JJ)@JߙV=ٱJ% RAHRS rotation from veh to nav: [[-0.878073,-0.462682,-0.122121],[0.475653,-0.871827,-0.116927],[-0.052369,-0.160757,0.985604]]JH+ݿYCq?@ЪಓĿ?iJlT@IJa;JCYBy'IbD-VD-0y=%=P=ٔ=;Q-=>9AYA=EmGyEFM`8EM>QQ 5]5UyȊ?Q 9]5Uw8)UBYYy]2@Q IeU@U8DIU:iU:U5yuEBɮuAuEP B*** querying acoustic contact ***  jgOFNOT Ignoring new targets: 215.30 m.R%"Z%"gO5 ProNav: ac range: 215.295135 m, nav range: 178.232758 m, bearing: 148.952958 deg, approach rate: -0.574692 m/s, LOS rate: -0.035570 deg/s, cmd heading: 150.619318 deg, new cmd heading: 150.590144 deg. B51gO=HeadingCmd: 2.628294 target range: 215.295135 and range: 216.60 m.=5(@9*9"9 AAAʎjZ ?"Bɢ5<) ќiY)e=aaienZTim5(@m3:$;mg}ff,yzY@A\YMByU'IiMb@Mb@Mb@ 9ʡE?|?5^?~jtY?y=DA@ )YbDVD:y % 1=ٔQ->9Y=mGyE>!Q 5-5%sȊ?Q 9-5%5)%BY5?Q E5:y53@Q I5U@%BDI%~ ;i% ;%5y9ɮ=A9jagOmFNOT Ignoring new targets: 215.30 m.Rm}CZm}CgO} ProNav: ac range: 215.295135 m, nav range: 177.951324 m, bearing: 148.933974 deg, approach rate: -0.632418 m/s, LOS rate: -0.042728 deg/s, cmd heading: 150.590139 deg, new cmd heading: 150.552111 deg. B}dgOHeadingCmd: 2.627630 target range: 215.295135 and range: 216.60 m.+(@*" BʎjZ ?BɢV{/<) Ji)n=iRi+(@$&;0 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000314]9@a @a@e1@aEm  Em Em 'Ei "Em 2:*Em |:VEm '4ZEi a} @a} @a} @a} @^A uE checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252308$f,Y@Az@z1)@zZ=ٱz( AHRS rotation from veh to nav: [[-0.876490,-0.464953,-0.124834],[0.478458,-0.870022,-0.118913],[-0.053319,-0.163954,0.985026]]zH 5 ݿ!?7q LtĿ U?iz@Iza;zCY-zBy-'I5=5a=bD= VD=f2yM%Ml=ٔU3;Q-U?9YYY=]mGy] F]@Ee?aQ 5m5erbȊ?Q 9u5e4)eBYqyub3@Q IuU@eHDIe;ie;e5y7BɮAEjgOFNOT Ignoring new targets: 215.30 m.R9Z9gO ProNav: ac range: 215.295135 m, nav range: 177.740082 m, bearing: 148.919922 deg, approach rate: -0.608832 m/s, LOS rate: -0.040548 deg/s, cmd heading: 150.552109 deg, new cmd heading: 150.523972 deg. BigOHeadingCmd: 2.627139 target range: 215.295135 and range: 216.60 m. #(@*" 111ʎ199j9Z=7@颅Bɢ<) Ki)=iOi #(@R';eB >B ʍCB 'IB BB < =B B _DB W;B Eԙ j +f,:WY@AE& E&E&$E$"E&D:*E&v:VE&4ZE$BE&19Y=mGyjE>Q 55MȊ?Q 951)BYyI3@Q IU@QDIq;iu;Q"5y(BɮAEj)gO-FNOT Ignoring new targets: 215.30 m.RU7ZU7gOe ProNav: ac range: 215.295135 m, nav range: 177.485321 m, bearing: 148.903059 deg, approach rate: -0.606399 m/s, LOS rate: -0.040195 deg/s, cmd heading: 150.523968 deg, new cmd heading: 150.490195 deg. BegOmHeadingCmd: 2.626549 target range: 215.295135 and range: 216.60 m.mc(@i*i"i iʎjZ@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7561205Bɢ= <)9 E#iA)E BDAT read: Rx Time:00:57:06.4149  TRx dataTimestamp_ set to:1761699427.073163 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008127 1f,DȘY@AJ@Jq(@JY=ٱJќ) RAHRS rotation from veh to nav: [[-0.874609,-0.468350,-0.125333],[0.481927,-0.868066,-0.119194],[-0.052973,-0.164649,0.984929]]JH qݿ ?2 9`;ſ?iJ@IJa;JCYukByu'IiMb@Mb@Mb@ 9Cl?|?5^?QY;?yuIAd@ A) AYG AbDVDD-=D)bE€'4jE$4rE60E5 E5E5#E1"E5:*E5c:VE53ZE1a=@a=@a=@a=@y%i%E4=ٔEƧQ-E>9IYI=MmGyM FUEU>YQ 5e5]67Ȋ?Q 9e5]G/)]BYmr!?Q Em:ym2@Q ImU@]ZDI]R;i];]H&5yuBɮu(AuEjgOFNOT Ignoring new targets: 215.30 m.R%>7Z=>7gOM ProNav: ac range: 215.295135 m, nav range: 177.206192 m, bearing: 148.884973 deg, approach rate: -0.617137 m/s, LOS rate: -0.040051 deg/s, cmd heading: 150.490200 deg, new cmd heading: 150.453970 deg. BUgOUHeadingCmd: 2.625917 target range: 215.295135 and range: 216.60 m.U(@Y*Y"Y YYaaeBʎaiijiZm` @颵Bɢ0<) /i)63<iJi(@*;LE"8f,Y@ADAT read: 00:57:06.4149 LVL= 29168, 32753, 32754, 30531, AGC= 73, IDX= 170,-0.42,-0.592,-1.823,-0.459,-1.240, PHS= 0.750,-0.537, 0.737, RAW= 149.5, -14.7, CAL= 151.0, -17.0, ROT= 359.0, 17.0 %Ygot valid direction response: 00:57:06.4149 LVL= 29168, 32753, 32754, 30531, AGC= 73, IDX= 170,-0.42,-0.592,-1.823,-0.459,-1.240, PHS= 0.750,-0.537, 0.737, RAW= 149.5, -14.7, CAL= 151.0, -17.0, ROT= 359.0, 17.0 )5PDAT read: Bearing 294.7, -1.1 (Local) 5~Local bearing/azimuth received: Bearing 294.7, -1.1 (Local) =DAT read: Range 11 to 50 : 215.1 m (Round-trip 286.9 ms) speed 0.7 m/s EBDAT read: Tx time:00:57:07.4754 M$Ping request sent.MqqiqIqqIyiy yy)y}C ɁȁȁȁɁɁIɉ)ɉiɉ)ʉIʉɉɑ ʑʑʕ^Aʕ)iʑʝi˙˝^A)˝V ˝EI˙YYjBy'IAbDVD0yD%P=ٔQ->9Y=mGyE>aaef%?-6-z? <п eb?)eU>Ieie>aa:publishing transmit ping timeIFpublishing direction and range infoyaeIQژ?:Y/兗7ҿYaaaaa a)aIaiaaaaa a)aIa Q 55 #Ȋ?Q 95 -) BYyQ IU@ bDI :i : )5y%Bɮ%A%Eaaef%?-6-z? <п a)aIaiaaaae~Y@AJeUCReUCjen$@e-Cۍi@)& =@gAOreIQژ?:Y/兗7ҿZebe>e-_)e.BD[@ҫdQzeOHvV!S?B~տ2e$B:eJ)B>BB'IBlBB; =BBBW;B E 11+G"eL[i?*e4v9YABefaeށ+yM?MߒAY“efe4Ce~$@gOu addTargetRange:: Added new target pos. range: 215.100006 m, deltaT: 3.529495 s, deltaX: -1.500000 m, approachRate: -0.424990 m/s, rangeRepo size: 4 gO Added new target pos. range: 213.806488 m, bearing: 147.207522 deg, lat: 36.779156 deg, lon: -121.859445 deg, deltaT: 3.529495 s, deltaX: -1.488647 m, approachRate: -0.421773 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 213.81 m.RZgO ProNav: ac range: 213.806488 m, nav range: 180.083527 m, bearing: 147.262959 deg, approach rate: 0.000000 m/s, LOS rate: -0.040051 deg/s, cmd heading: 150.453973 deg, new cmd heading: 150.416861 deg. BgO%HeadingCmd: 2.625269 target range: 213.806488 and range: 215.10 m.E= E=E='E9"E=:*E=ą:VE='4ZE9BE=<9iYi=umGyu FqEu>yQ 55}Ȋ?Q 95} *)}BY"?Q E:y2@Q IU@}mDI}C&صGf,V Y@A2(K@2@(@2T=ٱ23. >AHRS rotation from veh to nav: [[-0.870280,-0.475748,-0.127580],[0.489820,-0.863180,-0.122464],[-0.051862,-0.169070,0.984239]]2HT@r޿@T`5Y?*Yſ ~?i2(K@I2a;0Y-VBy-'I1bDEVDEP)y];%]V=ٔe>Q-e>9e"?Ye"?=mmGyim>Em>qQ 5}5uNJ?Q 9}5u')uBYy)2@Q IU@utDIu:iu=:u15yɮAjgOFNOT Ignoring new targets: 213.81 m.RPZPgO ProNav: ac range: 213.806488 m, nav range: 179.517380 m, bearing: 147.222746 deg, approach rate: -0.654871 m/s, LOS rate: -0.045479 deg/s, cmd heading: 150.369005 deg, new cmd heading: 150.336301 deg. BwgOHeadingCmd: 2.623863 target range: 213.806488 and range: 215.10 m.a'@*" ʎjZ? Bɢ5b;) i)Y<!i%Ci%a'@-0<.;-;I-a'@I)u*DAT read: user:619> uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.977982@ @@/@aB>BˍCB'IBXBB: =BB`DBB EEm EmEm#Ei"Em&:*Emx:VEm3ZEiBEm^; }Mf,p#:Y@A2@2(@2XS=ٱ2Ȱ, >AHRS rotation from veh to nav: [[-0.868908,-0.478401,-0.127009],[0.492275,-0.861995,-0.120954],[-0.051617,-0.167621,0.984499]]2H @޿A`n?v@mtſ?i2@I2sa;0YFPByF'I HHbDR VDR:2yV%ZW=ٔZ$)Q-Z>9XY\=^mGy^ Fb*Eb>`Q 5f5bNJ?Q 9j5b%)bBYhyj1@Q IjU@b|DIb:ib:b55yrɵBɮrArEjgO FNOT Ignoring new targets: 213.81 m.R AZ AgO% ProNav: ac range: 213.806488 m, nav range: 179.282806 m, bearing: 147.206649 deg, approach rate: -0.616055 m/s, LOS rate: -0.042331 deg/s, cmd heading: 150.336302 deg, new cmd heading: 150.304065 deg. B%gO-HeadingCmd: 2.623301 target range: 213.806488 and range: 215.10 m.-)'@)*)") ))111ʎ999j9Z=?m Bɢmn;)i mpii)u Ee  Ee Ee &Ea "Ee 2:*Ee n:VEe 4ZEa au @au @au @au @9 ETf,`TY@AZ @Z'@Z@R=ٱZ*vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.734269 vAHRS rotation from veh to nav: [[-0.867530,-0.481102,-0.126222],[0.494715,-0.860883,-0.118902],[-0.051459,-0.165595,0.984850]]ZH_޿@(@j?Z[pX92ſ?iZ @IZa;ZCY~DBy'IiMb@Mb@Mb@ 9+?bX9ȶ?y&1|Yv?yE=`A@ -A) AY= AbDVDyz]%7=ٔQ->9 Y = mGy 2ͻE>Q 5%5NJ?Q 9-5")BY- ?Q E-:y-0@Q I-U@DI ;i ;95y=Bɮ=ܵA9jYgOeFNOT Ignoring new targets: 213.81 m.Re/Zm/gO} ProNav: ac range: 213.806488 m, nav range: 179.008774 m, bearing: 147.189459 deg, approach rate: -0.611209 m/s, LOS rate: -0.038399 deg/s, cmd heading: 150.304064 deg, new cmd heading: 150.269632 deg. B}gOHeadingCmd: 2.622700 target range: 213.806488 and range: 215.10 m.P'@*" BʎjZ ?Bɢ;) ¾i)^<i=iP'@ŗ.;~?;IP'@IiA5:qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.9856479@ @@/@B >B B 'IB HBB 8 =B B B W;B  EBMʍCBMʍCBMʔCBM; =BM; =CMJ6ԑ ^A Eu  Eu Eq Eq "Eu :*Eu xv:VEq ZEq BEu &9Y=mGy FE>Q 55NJ?Q 95)vBYyQ IU@DI;i:I=5yɮеAjYgOeFNOT Ignoring new targets: 213.81 m.Rm*Zm*gO} ProNav: ac range: 213.806488 m, nav range: 178.709259 m, bearing: 147.170610 deg, approach rate: -0.591543 m/s, LOS rate: -0.037290 deg/s, cmd heading: 150.269626 deg, new cmd heading: 150.231864 deg. yB}}gOHeadingCmd: 2.622041 target range: 213.806488 and range: 215.10 m.'@*" ʎjZT@Bɢ;) 缾i)j<i:i'@k.;ޤv;I'@IU9@Y @Y@e/0@aԱ^Am"5;checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489312A.AIIO> #[cf,{Y@A6\@6'@6WT=ٱ6N. BAHRS rotation from veh to nav: [[-0.865791,-0.483470,-0.129083],[0.497701,-0.858753,-0.121811],[-0.051959,-0.169708,0.984124]]6H@,޿΅T?z/Y@ſ }?i6\@I6`;6CYJ8ByJ'IE% E%E%"E!"E%s:*E%:VE%(3ZE!a-@a-@a-@a-@iMb@Mb@Mb@ 9T㥛 ?/$?y&1|Y!?y=IA ) AY AE@AAbDMVDMy]R%]O=ٔ]:Q-e>9e ?Ye ?=emGyamqEm>qQ 5}5uNJ?Q 9}5ud)ukBY}v"?Q E:y/@Q IU@uDIu;iu;u@5yBɮҵAEPB*** querying acoustic contact *** jgO=FNOT Ignoring new targets: 213.81 m.R=-.Z=-.gOM ProNav: ac range: 213.806488 m, nav range: 178.463455 m, bearing: 147.156197 deg, approach rate: -0.648340 m/s, LOS rate: -0.038069 deg/s, cmd heading: 150.231869 deg, new cmd heading: 150.203002 deg. BMWgOuHeadingCmd: 2.621537 target range: 213.806488 and range: 215.10 m.uC'@y*y"y yyyBʎjZ @%Bɢ-p':)) -xɾi))U'9"?Y"?=mGyFٺE%>!Q 555%NJ?Q 955%)%]BY1y5/@Q I5U@%DI% ;i% ;%IE5yEBɮEAEEjagOmFNOT Ignoring new targets: 213.81 m.R 'Z 'gOM ProNav: ac range: 213.806488 m, nav range: 178.139816 m, bearing: 147.137250 deg, approach rate: -0.622749 m/s, LOS rate: -0.036524 deg/s, cmd heading: 150.203004 deg, new cmd heading: 150.165042 deg. BUgOUHeadingCmd: 2.620874 target range: 213.806488 and range: 215.10 m.Uh'@Y*Y"Y aaʎjZ d @ԩ Bɢ f;) 5ξi)i<i4ih'@MS.;0O:-BDAT read: Rx Time:00:57:10.1631 -TRx dataTimestamp_ set to:1761699430.8532795checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246464I%h'@IA9@ @@1@ ^A% rg: checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498175Ai Iy I O >) Qrf,əY@ARݲ@Rv'@RdN=ٱR1. ZAHRS rotation from veh to nav: [[-0.865753,-0.483961,-0.127490],[0.497925,-0.858600,-0.121971],[-0.050434,-0.169077,0.984312]]RH>9޿Q? y~9@~ҩSſz?iRݲ@IRc^;RCYb,Byb}'IiMMb@Mb@Mb@IIII I9M{Gz?9yYy=}mGyF.:E>Q 55jsNJ?Q 95D)SBY$?Q E:y.@Q IU@DI\ ;i ;H5yɮɵAjIgOMFNOT Ignoring new targets: 213.81 m.RUZUgO ProNav: ac range: 213.806488 m, nav range: 177.876617 m, bearing: 147.123435 deg, approach rate: -0.610336 m/s, LOS rate: -0.032083 deg/s, cmd heading: 150.165042 deg, new cmd heading: 150.137371 deg. BjgOHeadingCmd: 2.620391 target range: 213.806488 and range: 215.10 m.~'@*" BʎjZXV @Du%=DuR=E} EyEyEy"E}O:*EyVEyZEya@a@a@a@颍Bɢ@׋) [оi)x<顙i 2i~'@>.;;I~'@I9@ @@4@!uDAT read: 00:57:10.1631 LVL= 22512, 26721, 22178, 22963, AGC= 72, IDX= 150,-0.35,-1.273,-2.500,-1.232,-1.910, PHS= 0.739,-0.546, 0.633, RAW= 145.8, -13.3, CAL= 146.6, -15.7, ROT= 3.4, 15.7 }Ygot valid direction response: 00:57:10.1631 LVL= 22512, 26721, 22178, 22963, AGC= 72, IDX= 150,-0.35,-1.273,-2.500,-1.232,-1.910, PHS= 0.739,-0.546, 0.633, RAW= 145.8, -13.3, CAL= 146.6, -15.7, ROT= 3.4, 15.7 PDAT read: Bearing 295.4, 3.1 (Local) ~Local bearing/azimuth received: Bearing 295.4, 3.1 (Local) DAT read: Range 11 to 50 : 212.7 m (Round-trip 283.6 ms) speed 0.6 m/s BDAT read: Tx time:00:57:11.2269 $Ping request sent.AAEĦO ?(C3 ?u'rͿ E>)E9m>IEs=iEK>AA:publishing transmit ping timeFpublishing direction and range infoyAEZjuL}?8d;?RlyQѿYAAAAA A)AIAiAAAAA A)AIAAAEĦO ?(C3 ?u'rͿ A)AIAiAAA^Am q: A I I O >E|xf,)Y@A`Y~%By~u'I  p;bDVD:y%%%P=ٔ%Q-%>9)Y)=-mGy)-E5>1Q 5E55_NJ?Q 9E55)5IBYAyAQ IEU@5DI5;i5:5YL5yUBɮUAUEqu֙Y@AJumSCRumSCju](@ub~ei@ng$(@p;!LruZjuL}?8d;?RlyQѿZus=buK>uSoqebrX@K'q&Qzuëe^gM\Yj?a4Կ2uB:us."u{??*uBu~uL[i?u“qu~ACu''@gO addTargetRange:: Added new target pos. range: 212.699997 m, deltaT: 3.778234 s, deltaX: -2.400009 m, approachRate: -0.635220 m/s, rangeRepo size: 4 gO% Added new target pos. range: 211.425949 m, bearing: 150.728836 deg, lat: 36.778995 deg, lon: -121.859430 deg, deltaT: 3.778234 s, deltaX: -2.380539 m, approachRate: -0.630067 m/s, posRepo size: 4 j!gO-FNOT Ignoring new targets: 211.43 m.R-Z)gO= ProNav: ac range: 211.425949 m, nav range: 193.495789 m, bearing: 149.645087 deg, approach rate: 0.000000 m/s, LOS rate: -0.032083 deg/s, cmd heading: 150.137366 deg, new cmd heading: 150.111960 deg. B9gOEHeadingCmd: 2.619948 target range: 211.425949 and range: 212.70 m.E:'@A*A"I IIIIQʎQQYj]`fj@Z]@?颅Bɢ,) Ծi)Z<顉ii/i:'@l7.;z";I:'@IB]>BYB]'IB]/BBYBYBYB]W;BYM9@I @I@M/@IE EE&E"E:*Ee:VE4ZEBE&A A .AI I O% >G~f,qY@A2x@2'@2xH?=ٱ2 0. :AHRS rotation from veh to nav: [[-0.867988,-0.480915,-0.123763],[0.494385,-0.860306,-0.124328],[-0.046683,-0.169101,0.984492]]2HM޿쮿?ӿ槿`ſ`?i2x@I2^;2CYBByBY'IbDNVDN2yV%%VR=ٔVEQ-Z>9Z ?YZ ?=ZmGyZF^y0<E^>`Q 5f5bLNJ?Q 9f5b)b@BYdyf.@Q IjU@bDIb:ib:bO5ynBɮrɵAvE9j)gOeFNOT Ignoring new targets: 211.43 m.RʹZʹgO ProNav: ac range: 211.425949 m, nav range: 193.247711 m, bearing: 149.636075 deg, approach rate: -0.607064 m/s, LOS rate: -0.022081 deg/s, cmd heading: 150.111958 deg, new cmd heading: 150.093911 deg. B!gOUHeadingCmd: 2.619633 target range: 211.425949 and range: 212.70 m.]'@Y*a"a aaiʎjZ 2?Bɢ%4)! %2i!)Mq҅f,mY@A2@2?(@26=ٱ2M* :AHRS rotation from veh to nav: [[-0.869099,-0.479827,-0.120134],[0.492619,-0.861554,-0.122684],[-0.044635,-0.165805,0.985148]]2H|޿@?ّ1h@cڦ9ſU?i2@I2];2CYBByB_'IiMb@Mb@Mb@ 9MbX9?ʡE?MbpY!?y=@ A)? AY AbD-VD-fy=и<%=:=ٔ=Q-=>9AYA=EmGyAM^;EM>QQ 5]5U6NJ?Q 9]5U()U6BY]"?Q E]:y]/@Q IeU@UDIU:iU:US5ymMBɮ A EP%B*** querying acoustic contact ***! !j1gO5FNOT Ignoring new targets: 211.43 m.R=Z=gOm ProNav: ac range: 211.425949 m, nav range: 192.970764 m, bearing: 149.625067 deg, approach rate: -0.655572 m/s, LOS rate: -0.026095 deg/s, cmd heading: 150.093912 deg, new cmd heading: 150.071865 deg. Bm?gOuHeadingCmd: 2.619248 target range: 211.425949 and range: 212.70 m.uá'@q*y"y yyyBʎjZ`?颵Bɢ8d) i)<项iT)iá'@r/;vB̍CBn'IB BB7 =BBBW;B EM cGu \A ÿ9 \AY YA^A 0;ԑ E  E E E "E :*E ]t:VE ZE BE m%E f,+2Y@AYz By~U'IQ AA bDVDy`%B=ٔQ->9"?Y"?=mGyFE>Q 55"NJ?Q 95p ),BYyQ IU@DIp:i:DW5y>BɮɴAEjgOFNOT Ignoring new targets: 211.43 m.RZgO ProNav: ac range: 211.425949 m, nav range: 192.705917 m, bearing: 149.614510 deg, approach rate: -0.661818 m/s, LOS rate: -0.026416 deg/s, cmd heading: 150.071865 deg, new cmd heading: 150.050723 deg. B_AgOHeadingCmd: 2.618879 target range: 211.425949 and range: 212.70 m.'@*" !!!!ʎ!))j)Z5@?]Bɢ]4)Y ]`iY)esK uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.501519i}'@}K0;}*M ];4YJByJG'IiMb@Mb@Mb@ 9"~j? rh?I +YS#?yC=94vA@ ZA)Y AbD-VD-0y=:p%EQ=ٔELQ-E>9M ?YM ?=MmGyIMs(<EM>QQ 5]5UNJ?Q 9e5U )U#BYeF$?Q Ee:ye.@Q IeU@UDIU ;iU ;UZ5ym/BɮuAuEjgOFNOT Ignoring new targets: 211.43 m.RҹZҹgO ProNav: ac range: 211.425949 m, nav range: 192.458115 m, bearing: 149.605531 deg, approach rate: -0.635431 m/s, LOS rate: -0.023056 deg/s, cmd heading: 150.050718 deg, new cmd heading: 150.032736 deg. B(ԹgOHeadingCmd: 2.618565 target range: 211.425949 and range: 212.70 m.'@*" ׈BʎjZ@7P?E EE#E"E:*E:VE3ZEa@a@a@a@额BɢФ) /i)(D<i$i'@X1;|J9 f,&fY@A2p@2$f(@2 =ٱ27 :AHRS rotation from veh to nav: [[-0.871898,-0.477564,-0.108288],[0.488114,-0.865293,-0.114074],[-0.039223,-0.152317,0.987553]]2Hj޿`@C=?z@3@"ÿ?i2p@I2 ];2CYBByFA'IbDNVDN02yV%VT=ٔVQ-Z>9Z"?YZ"?=ZmGyZF^\;E^>`Q 5f5bƊ?Q 9f5bA)bBYdyf.@Q IjU@bDIbF:ib:b ^5ipIpvchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257305ylɮvдAtjgOFNOT Ignoring new targets: 211.43 m.RԹZԹgO- ProNav: ac range: 211.425949 m, nav range: 192.213379 m, bearing: 149.596536 deg, approach rate: -0.632121 m/s, LOS rate: -0.023262 deg/s, cmd heading: 150.032741 deg, new cmd heading: 150.014729 deg. B-H*gO5HeadingCmd: 2.618251 target range: 211.425949 and range: 212.70 m.5l'@1*1"1 999AAʎAAAjIZMb@@uBɢuj ) i)<<iʃ"il'@ܠ2;(DZBYB]['IB]BBYBYBYB]X;B]* E 9@  @ @ 4@ AE EEE"E:*Exv:VEZEBE3ԙ <f,Y@A2x@2,n(@2)=ٱ2 :AHRS rotation from veh to nav: [[-0.872191,-0.477543,-0.106001],[0.487717,-0.865613,-0.113346],[-0.037628,-0.150557,0.987885]]2H`޿@"6?` 6 D`vEÿ?i2x@I2MD^;0YBByB+'I V;TbD^VD^ky% E=ٔzQ->9!Y)=-mGy1E:EE>YQ 5u5]Ɗ?Q 9}5]m)]BYy.@Q IU@]DI];i];]a5yBɮشAjIygOFNOT Ignoring new targets: 211.43 m.R͹Z͹gO= ProNav: ac range: 211.425949 m, nav range: 191.944229 m, bearing: 149.586574 deg, approach rate: -0.606502 m/s, LOS rate: -0.022481 deg/s, cmd heading: 150.014723 deg, new cmd heading: 149.994770 deg. B=$gOEHeadingCmd: 2.617903 target range: 211.425949 and range: 212.70 m.E'@A*A"A IIIaaʎaaijiZ#@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760898Bɢ) 5i)m,Ae ? checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014853 IA IQ O] >.f,Y@AJu@Jk(@J}=ٱJX VAHRS rotation from veh to nav: [[-0.872157,-0.477855,-0.104865],[0.487881,-0.865425,-0.114068],[-0.036245,-0.150647,0.987923]]JH ,޿kغr9?3੎ eHÿ?iJu@IJz^;JCY^By^,'Ii=Mb@Mb@Mb@9999 99=Mb?Dl?I +Y= ?y=O=9=IA=@ =A)99Y9bDUVDU:yeK;%eD=ٔmZQ-m>9iYq=umGyuFu˹Eu>yQ 55}Ɗ?Q 95})}BY!?Q E:y3/@Q IU@}DI}:i};}Re5yɮִAPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 211.43 m.RZgO ProNav: ac range: 211.425949 m, nav range: 191.688721 m, bearing: 149.576843 deg, approach rate: -0.658596 m/s, LOS rate: -0.025114 deg/s, cmd heading: 149.994765 deg, new cmd heading: 149.975279 deg. B7gOHeadingCmd: 2.617562 target range: 211.425949 and range: 212.70 m.$'@*" BʎjZ! @Bɢ%dN=)! -i))-<))i-Lim$'@mV5;mdeE  E E #E "E 2:*E g:VE 3ZE BE *9AYA=EmGyAM;EM>QQ 5]5UbƊ?Q 9]5U.)UBYYy]>/@Q IeU@UDIUz;iU;Uh5ymBɮmAmEjgOFNOT Ignoring new targets: 211.43 m.R۹Z۹gO ProNav: ac range: 211.425949 m, nav range: 191.440689 m, bearing: 149.567321 deg, approach rate: -0.625132 m/s, LOS rate: -0.024031 deg/s, cmd heading: 149.975272 deg, new cmd heading: 149.956203 deg. B/gOHeadingCmd: 2.617229 target range: 211.425949 and range: 212.70 m.'@*1"1 11999ʎ9AAjAZE4 @]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516915颵Bɢvj) h i)!<项i=i'@-B7;uvu DAT read: 00:57:13.9125 LVL= 24160, 28433, 24306, 21747, AGC= 73, IDX= 159, 0.29, 2.475, 1.225, 2.492, 1.611, PHS= 0.966,-0.341, 0.837, RAW= 144.8, -22.5, CAL= 146.0, -24.6, ROT= 4.0, 24.6 } Ygot valid direction response: 00:57:13.9125 LVL= 24160, 28433, 24306, 21747, AGC= 73, IDX= 159, 0.29, 2.475, 1.225, 2.492, 1.611, PHS= 0.966,-0.341, 0.837, RAW= 144.8, -22.5, CAL= 146.0, -24.6, ROT= 4.0, 24.6  PDAT read: Bearing 286.7, 5.1 (Local)  ~Local bearing/azimuth received: Bearing 286.7, 5.1 (Local)  DAT read: Range 11 to 50 : 211.1 m (Round-trip 281.5 ms) speed 0.4 m/s  BDAT read: Tx time:00:57:14.9707  $Ping request sent. A A E v*u?h?ؿ E +>)E >IE 5=iE >A A  :publishing transmit ping time  Fpublishing direction and range infoyA E h?_oQ?ޫ^;!YmʇBym'IE EE&E"E:*EǙ:VE4ZEa@a@a@a@i Mb@Mb@Mb@     9 ?+?:vY  ?y = T vA  p A) ( A Y  AM@AIԩbDVDy %$=ٔ#Q->9Y=%mGy%F%Q:E%>IQ 5U5MͦƊ?Q 9U5M )MBY]F!?Q E]:y].0@Q I]U@MDIMn:iM:M-m5yBɮߴAEquv6ɚY@AJuQCRuQCjum(@u²vg@ /*@ͪo{Uruh?_oQ?ޫu5md{ 4V@fWzuX#Q?+uܿ2uǶB:um#"uuo+ې?*u6Buqq“qu ?Cu '@gO addTargetRange:: Added new target pos. range: 211.100006 m, deltaT: 3.787499 s, deltaX: -1.599991 m, approachRate: -0.422440 m/s, rangeRepo size: 4 gOM Added new target pos. range: 209.837402 m, bearing: 150.785625 deg, lat: 36.778995 deg, lon: -121.859430 deg, deltaT: 3.787499 s, deltaX: -1.588547 m, approachRate: -0.419418 m/s, posRepo size: 4 jIgOUFNOT Ignoring new targets: 209.84 m.RUZQgO ProNav: ac range: 209.837402 m, nav range: 191.128632 m, bearing: 149.553908 deg, approach rate: 0.000000 m/s, LOS rate: -0.024031 deg/s, cmd heading: 149.956202 deg, new cmd heading: 149.931275 deg. BgOHeadingCmd: 2.616794 target range: 209.837402 and range: 211.10 m.y'@*" Bʎj@3cj@Z m? Bɢ @,) Ni)<ii]y'@]|9;e4łf,TY@A2a@2(@2=ٱ2L NAHRS rotation from veh to nav: [[-0.873138,-0.476485,-0.102913],[0.486373,-0.865703,-0.118321],[-0.032714,-0.153365,0.987628]]2H~޿@}X ?ճIJտtÿ?i2a@I2s^;0YVByV&Ib=bp=bDfVDfyn%n=ٔrKQ-r?9pYp=vmGytv,x:Ev?xQ 5~5zƊ?Q 9~5z$)zBYy30@Q IU@zDIzg:iz:zo5y ɮ 8A j1gO5FNOT Ignoring new targets: 209.84 m.R=VZ=VgOM ProNav: ac range: 209.837402 m, nav range: 190.939896 m, bearing: 149.545759 deg, approach rate: -0.659096 m/s, LOS rate: -0.028488 deg/s, cmd heading: 149.931272 deg, new cmd heading: 149.914957 deg. BMPgOUHeadingCmd: 2.616510 target range: 209.837402 and range: 211.10 m.Ut'@Q*Q"Y YYYaaʎaaajiZm`?颕Bɢݽ) i)3Q<顙iUit'@D:;4BB)'IBBBBBaDBX;Bw EI9@ @@D0@E EEE"ED:*E:VEZEBE1 mf,Y@A2Ԥ@2l(@2QV<ٱ2 :AHRS rotation from veh to nav: [[-0.873703,-0.475583,-0.102299],[0.485469,-0.865844,-0.120973],[-0.031042,-0.155357,0.987370]]2H_@o޿`@0@?``{ɟ ÿ?i2Ԥ@I2%^;2CYFByF&IbDRVDRNyf%fL=ٔjQ-j>9hYl=nmGynFn-;Er>pQ 5v5rDƊ?Q 9z5r)rBYxyzC0@Q IzU@r DIr|:ir:rTs5|yBɮAEjgOFNOT Ignoring new targets: 209.84 m.R=ZEgO ProNav: ac range: 209.837402 m, nav range: 190.690460 m, bearing: 149.534888 deg, approach rate: -0.580670 m/s, LOS rate: -0.025339 deg/s, cmd heading: 149.914961 deg, new cmd heading: 149.893192 deg. B}9gOHeadingCmd: 2.616130 target range: 209.837402 and range: 211.10 m.n'@*" )1ʎ111j1Z= ?颅Bɢ$}) i)vʻ<顉i7in'@<; f,Y@A2@2(@2<ٱ2 :AHRS rotation from veh to nav: [[-0.874049,-0.475421,-0.100063],[0.484957,-0.866154,-0.120805],[-0.029237,-0.154115,0.987620]]2H6 Lm޿`` ?`@ F` ÿ?i2@I2l^;2CYFByF&IiUMb@Mb@Mb@QQQYQ Q9UCl?(\µ?QYU;?yU=UuUAU@ Q)U AQYUQ A m49 ?Y ?=mGy :E>Q 55BoƊ?Q 95 )BY ?Q E:y1@Q IU@DI:i:w5yBɮAEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 209.84 m.RtZtgO ProNav: ac range: 209.837402 m, nav range: 190.425751 m, bearing: 149.522367 deg, approach rate: -0.661928 m/s, LOS rate: -0.031354 deg/s, cmd heading: 149.893187 deg, new cmd heading: 149.868109 deg. BegOHeadingCmd: 2.615692 target range: 209.837402 and range: 211.10 m.g'@* "    BʎjZ?EBɢEQt)I MYiI)M3;]BB 'IBχBBBBBX;B E^AUe<A ؟AI I O > E5  E5 E5 #E1 "E5 :*E5 :VE5 3ZE1 BE5 &9e"?Ym"?=mmGymFmEm>qQ 5}5u[Ɗ?Q 95u)uBYyQ IU@uDIu7;iue;uz5yɮAjԹgOFNOT Ignoring new targets: 209.84 m.RZ=*DAT read: user:621> Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.754287gO ProNav: ac range: 209.837402 m, nav range: 190.179306 m, bearing: 149.510677 deg, approach rate: -0.619488 m/s, LOS rate: -0.029423 deg/s, cmd heading: 149.868106 deg, new cmd heading: 149.844696 deg. BudWgO}HeadingCmd: 2.615283 target range: 209.837402 and range: 211.10 m.}`'@y*y"y yʎjZh?ވBɢ) i)<i i`'@4@;9 ǩf,S]OY@A2@2(@2$<ٱ2Z" :AHRS rotation from veh to nav: [[-0.874205,-0.475456,-0.098520],[0.484891,-0.865465,-0.125901],[-0.025405,-0.157835,0.987139]]2H}m޿8t? 3Ŀࣖ?i2@I2I^;2CYFByF&IiMb@Mb@Mb@ 9~jt?K?QY?y^=A  A)( AY AbD-VD-y=.%=L=ٔEQ-E>9E ?YM ?=MmGyIMl9EM>QQ 55UbHƊ?Q 95UY)UBYm?Q E:y1@Q I U@U%DIU*yf,iY@A.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5095296V@6(@6Z<ٱ6$ BAHRS rotation from veh to nav: [[-0.873837,-0.476272,-0.097848],[0.485648,-0.864704,-0.128189],[-0.023557,-0.159536,0.986911]]6H y;{޿ ?`}h9kĿƔ?i6V@I6^;6CYJByN&IRAAR@AbDVVDV `bCyz@%~J=B>BB&IBBBBBBX;B E=+GٔEU`]AQ->9"?¿9`]AYFAY "?= mGy FqE>Q 5583Ɗ?Q 9%5)BY!y%1@Q I%U@-DI:i_:)߁5yMBɮUHAUEjgOFNOT Ignoring new targets: 209.84 m.RqZqgO ProNav: ac range: 209.837402 m, nav range: 189.672562 m, bearing: 149.484658 deg, approach rate: -0.661696 m/s, LOS rate: -0.033974 deg/s, cmd heading: 149.819790 deg, new cmd heading: 149.792580 deg. BxgOHeadingCmd: 2.614374 target range: 209.837402 and range: 211.10 m.Q'@ * "   ʎ!jAZM @؈BɢmUǼ) $i)4<iiQ'@_E;/f,Y@A2`@2}(@2k,<ٱ25% :AHRS rotation from veh to nav: [[-0.873065,-0.477791,-0.097328],[0.487101,-0.863669,-0.129649],[-0.022114,-0.160600,0.986772]]2H& ޿y긿@,?`,R`Ŀ`?i2`@I2^;2CYFByF&IbDNVDN:2y%I=ٔCnQ->9Y=%mGy!%ǐE->AQ 5]5E!Ɗ?Q 9e5E)EBYiym1@Q IuU@E5DIEo;iE;E&5yBɮ%AEԩj1gOFNOT Ignoring new targets: 209.84 m.R5Z5gOM ProNav: ac range: 209.837402 m, nav range: 189.445648 m, bearing: 149.473114 deg, approach rate: -0.582642 m/s, LOS rate: -0.029677 deg/s, cmd heading: 149.792578 deg, new cmd heading: 149.769462 deg. BM@Yuchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013627gO}HeadingCmd: 2.613970 target range: 209.837402 and range: 211.10 m.}JK'@y*y" ʎjZ`C@ՈBɢCCż) %'&i!)%I¦G f,~Y@Ansb@n X(@n<<ٱn# vAHRS rotation from veh to nav: [[-0.871963,-0.480153,-0.095573],[0.489136,-0.862662,-0.128688],[-0.020657,-0.158959,0.987069]]nH``Ӻ޿zw`N?@x`:'XĿ?insb@In^;nCYBy&IiMb@Mb@Mb@ 9S?:v?QY?y=  A)Y( A ;bDVDy<%'=ٔBQ->9Y=mGyFE>Q 55w Ɗ?Q 95)BY?Q E:y2@Q IU@>DI:i:i5yBɮسAPB*** querying acoustic contact *** jgO FNOT Ignoring new targets: 209.84 m.R $Z$gO% ProNav: ac range: 209.837402 m, nav range: 189.152466 m, bearing: 149.456373 deg, approach rate: -0.629058 m/s, LOS rate: -0.035976 deg/s, cmd heading: 149.769465 deg, new cmd heading: 149.735931 deg. B%gO-HeadingCmd: 2.613385 target range: 209.837402 and range: 211.10 m.-A'@)*)") ))115yBʎ199j9Z= @m҈BɢmZ¼)i mX"ii)u qB!B%&IB%BB%6 =B!B!B%X;B% E=9@9 @9@9@9A E%  E% E! E! "E% :*E% :VE! ZE! BE% .f,Y@A2 @2w(@2X<ٱ25# :AHRS rotation from veh to nav: [[-0.870014,-0.483753,-0.095181],[0.492631,-0.860700,-0.128492],[-0.019764,-0.158679,0.987132]]2H&޿]E?@ڊlr<OĿ?i2 @I2^;2C @)B`ABj<@@DFaAiDIDDIHiH HH)HL N`ANjTx time:00:57:18.7207 UR#Rx 1: Read range and direction messages.]^direction in FSK: [0.971438,-0.064523,0.228351]]Fpublishing direction and range infoyXZt(?ug&I :?YZ39CXZkZZu Z)ZGIZ'>iZZdZ>Z>+@ZȭT>Z+@ Zk>im'iiiiquA)q qIqYqY~By&I)Z@IZkXXZ>^c4 ?^'6b?cW\? Z?)ZgTIZӇiZkXXT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.)bDVDkyџ%J=ٔQ->9Y=mGyF<"E>Q 55Ŋ?Q 95)BYy2@Q IU@FDII:i:5yaɮeAaXZ*Y@AJZ8CRZ8CjZI&@Z'нZf@wˡ'V;wE@rZt(?ug&I :?ZZӇbZkZϬ;cL1#f,P՛Y@AYU|ByU&II]=)]<ԑiMb@Mb@Mb@ 9Q?:v?~jtY(?yDvA&@  A)Y AbDVD1y % D=ٔQ->9 ?Y ?=mGyE>!Q 5-5%Ŋ?Q 9-5%n)%BY5q?Q E5:y52@Q I5U@%NDI%;i% ;%5y=uBɮ=AEEjagOeFNOT Ignoring new targets: 209.84 m.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.273541R (Z (gO ProNav: ac range: 209.837402 m, nav range: 188.655731 m, bearing: 149.428579 deg, approach rate: -0.658564 m/s, LOS rate: -0.036859 deg/s, cmd heading: 149.708376 deg, new cmd heading: 149.680261 deg. B醺gO%HeadingCmd: 2.612413 target range: 209.837402 and range: 211.10 m.%1'@!*!"! !iiquwBʎqyyjyZ}?̈Bɢ޼) (i);<ii1'@UL;d kB B &IB BB B B B Y;B EBBBBB7 =Cʺ4) A ؟AI I O >4f,Y@AB@B.'@BIn<ٱBL& NAHRS rotation from veh to nav: [[-0.866343,-0.490076,-0.096302],[0.499129,-0.856442,-0.131823],[-0.017874,-0.162271,0.986584]]BHi]߿D ?@g@M OĿ@?iB@IBpc_;BCY5By5&IQM@AIbDeVDeyE<%B=ْٔQ->9"?Y"?=mGyFE> Q 55 Ŋ?Q 95 ) BYy2@Q IU@ WDI :i : G5y%gBɮ%AE5 E5E1E1"E5:*E51]:VE1ZE1BE5+Tg, Y@AZchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.031548-Ji@-^'@-ш<ٱ-I* =AHRS rotation from veh to nav: [[-0.864488,-0.493125,-0.097412],[0.502377,-0.854069,-0.134845],[-0.016701,-0.165509,0.986067]]-H@\߿︿`x? TB i/ſۍ?i-Ji@I-_;-CԱYzBy&IiMb@Mb@Mb@ 9On?B`"۹?y&1|Y?y=` ) AYz AbDVDyW%1=ٔP&Q->9 ?Y ?=mGyE>Q 55Ŋ?Q 95j)BY?Q E:y1@Q IU@`DIm X g,)Y@A2.@2Y$'@2f<ٱ2E, >AHRS rotation from veh to nav: [[-0.862703,-0.496142,-0.097914],[0.505471,-0.851946,-0.136698],[-0.015596,-0.167422,0.985762]]2HB߿ ,? %CN`nſ\?i2.@I2_;0@@i@IDDIhih hh)hl nq@lllppIp)pip)tIttt txz9^Azlizq Fzi~LC~(^A)~н |I|Y|Y}By&I ==bDVD1y-<%5P=ٔ5M8Q-5>9="?Y="?==mGy=F=E=>AQ 5M5EKŊ?Q 9U5E0Q =UtI)EBYQyU1@Q IUV@EgDIEy;iE;E5y]XBɮemAeEuchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.533632PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 209.84 m.RZgO ProNav: ac range: 209.837402 m, nav range: 187.890366 m, bearing: 149.388255 deg, approach rate: -0.648878 m/s, LOS rate: -0.033561 deg/s, cmd heading: 149.623640 deg, new cmd heading: 149.599505 deg. BugOHeadingCmd: 2.611004 target range: 209.837402 and range: 211.10 m.'@*" BB͍CB&IBBBBBBOY;B EʎjZ.|?ˆBɢT) "i)<!i%i'@rM;R;I'@I=9@9 @9@=/@9E EE&E"E:*Ex:VE4ZEBE5g,BY@A 6@6&@68k<ٱ6Х- BAHRS rotation from veh to nav: [[-0.861461,-0.498303,-0.097869],[0.507620,-0.850422,-0.138217],[-0.014356,-0.168749,0.985555]]6H`2߿ l>?6  f ſ?i6@I6_;6CY-vBy-&I 9=<bDEVDEy%F=ٔDQ->9Y=mGyĻE>Q 55Ŋ?Q 95)yBYyu1@Q IV@oDIt:iI:\5yɮAjgOFNOT Ignoring new targets: 209.84 m.R Z gO ProNav: ac range: 209.837402 m, nav range: 187.644379 m, bearing: 149.375711 deg, approach rate: -0.598653 m/s, LOS rate: -0.030568 deg/s, cmd heading: 149.599502 deg, new cmd heading: 149.574381 deg. B_gOHeadingCmd: 2.610565 target range: 209.837402 and range: 211.10 m.'@*"   ʎ  jZ`/@=BɢE7)A EF$iA)E·E checking for new query: numPingsReceived=0, elapsed TxPingTime=6.289569g,h\Y@A2@2P&@2[<ٱ2 , >AHRS rotation from veh to nav: [[-0.860219,-0.500686,-0.096627],[0.509748,-0.849326,-0.137119],[-0.013414,-0.167208,0.985830]]2H`  O?-!xgſ?i2@I2^;0LYzBy&IiMb@Mb@Mb@ 9$C?Zd;O?Mb`Y?yj=+A@ ( A)( AYp AbDVDy <%B=ٔQ- >9 Y = mGy F%E>Q 5%5|Ŋ?Q 9%5J)sBY%?Q E-:y-]0@Q I-V@wDI@:i:5y5JBɮ5=A5EjigOmFNOT Ignoring new targets: 209.84 m.RuKZuKgO ProNav: ac range: 209.837402 m, nav range: 187.391510 m, bearing: 149.364135 deg, approach rate: -0.599103 m/s, LOS rate: -0.027462 deg/s, cmd heading: 149.574381 deg, new cmd heading: 149.551199 deg. BIgOHeadingCmd: 2.610161 target range: 209.837402 and range: 211.10 m. '@*" BʎjZ`@Bɢ/Uڼ) q i)-x<iZ i '@`M;DE8I '@Ii9@ @@ /@ @@\Achecking for new query: numPingsReceived=0, elapsed TxPingTime=6.541466BB̍CB&IB}BBBBBY;B E^A- q:) I) IA O] >E=  E9 E= &E9 "E= D:*E9 VE= 4ZE9 BE= 1AHRS rotation from veh to nav: [[-0.859238,-0.502726,-0.094738],[0.511421,-0.848670,-0.134936],[-0.012565,-0.164393,0.986315]]2H~U@@]?@N(Eỉ ſ ?i2@I2_;2CYFxByF&IHJA|bD VD y`%Z=ٔQ-%>9!Y!=%mGy!-ũE->1Q 5=55jŊ?Q 9=55)5oBY9yE?0@Q IEV@5DI5;i5a;5L5yM;BɮM AIjigOuFNOT Ignoring new targets: 209.84 m.R}2Z}2gO ProNav: ac range: 209.837402 m, nav range: 187.166367 m, bearing: 149.353933 deg, approach rate: -0.605097 m/s, LOS rate: -0.027452 deg/s, cmd heading: 149.551199 deg, new cmd heading: 149.530771 deg. BHgOHeadingCmd: 2.609804 target range: 209.837402 and range: 211.10 m. '@*" ʎjZ@BɢС) i)]T<ifi '@.L;阺I '@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=6.794264u9@q @q@uQ0@q)Y^A"I I O > BDAT read: Rx Time:00:57:21.3679  TRx dataTimestamp_ set to:1761699442.204222 checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051102 nManaging dock network, ignoring radio surface power offA E#g,ocY@A2@2&@29<ٱ20$ >AHRS rotation from veh to nav: [[-0.858346,-0.504814,-0.091683],[0.512946,-0.848275,-0.131591],[-0.011343,-0.159979,0.987055]]2Hwn'x j? %;@/zĿ?i2@I2U_;2CY^|Byb&IԹiMb@Mb@Mb@ 9+?K?Y?y^=A  A) AYAAAAbD VD y<%;=ٔt7Q-%>9!Y!=%mGy%F-E->1Q 5=55UŊ?Q 9=55=)5jBYEo!?Q EE:yE/@Q IEV@5DI5V;i5:55yIɮMAIjgOFNOT Ignoring new targets: 209.84 m.R~Z~gO ProNav: ac range: 209.837402 m, nav range: 186.893829 m, bearing: 149.342224 deg, approach rate: -0.621012 m/s, LOS rate: -0.026719 deg/s, cmd heading: 149.530777 deg, new cmd heading: 149.507325 deg. BCgOHeadingCmd: 2.609395 target range: 209.837402 and range: 211.10 m.T'@*" BʎjZf @D1zD1bE}» 4jE}( 4rEyE= E=E=$E9"E=;*E=k:VE=4ZE9aE@aE@aE@aE@颥Bɢ ɼ) Bi) v<顱iUݻiT'@ K;IT'@IE9@A @A@E0@A checking for new query: numPingsReceived=0, elapsed TxPingTime=7.297913^A 0:ĺI I O >9 a*g,>Y@A2|@2&@2-,<ٱ2c# >AHRS rotation from veh to nav: [[-0.857648,-0.506196,-0.090581],[0.514129,-0.847658,-0.130945],[-0.010498,-0.158875,0.987243]]2Hq2`X0s?  +VĿ`~?i2|@I2_;2CYDyF&IbDPVDP%G9QBBB&IBBBBBBY;B!EDAT read: 00:57:21.3679 LVL= 27408, 32753, 26994, 31459, AGC= 69, IDX= 67,-0.20, 2.162, 0.351, 2.504, 2.057, PHS= 0.207,-1.662, 0.403, RAW= 154.9, 10.7, CAL= 154.8, 11.7, ROT= 355.2, -11.7 Ygot valid direction response: 00:57:21.3679 LVL= 27408, 32753, 26994, 31459, AGC= 69, IDX= 67,-0.20, 2.162, 0.351, 2.504, 2.057, PHS= 0.207,-1.662, 0.403, RAW= 154.9, 10.7, CAL= 154.8, 11.7, ROT= 355.2, -11.7 PDAT read: Bearing 318.3, -7.5 (Local) ~Local bearing/azimuth received: Bearing 318.3, -7.5 (Local) DAT read: Range 11 to 50 : 182.3 m (Round-trip 243.1 ms) speed 0.2 m/s TDAT read: user:623>Tx time:00:57:22.4707 R#Rx 1: Read range and direction messages.^direction in FSK: [0.975789,-0.081939,0.202787]Fpublishing direction and range infoyY]ߒg9?1m ?Y]L6CY]kY]ri ]z)]EI]S>i]jԿ]V>]c-@]t;?>],@ ]Q>)]a@I]QYY] J?[L?j? ]?)]>I]i]QYYT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.=99Y=$Ay%?=ٔXQ->9Y=mGyQE>Q 5%5R@Ŋ?Q 9-5u)eBY)yM/@Q IUV@DI;i;5ye-BɮeIJAeEY]Y@AJ]65CR]65Cj]A1g,մĜY@A2Xx@2m&@21<ٱ2" JAHRS rotation from veh to nav: [[-0.857087,-0.507377,-0.089281],[0.515084,-0.847180,-0.130285],[-0.009533,-0.157653,0.987449]]2HAmm<۶{?0&-Ŀ-?i2Xx@I2$_;2CYRsByV&IbDnVDnfyv?%vi=ٔv4Q-v>9Y=mGyFME>!Q 5-5%>/Ŋ?Q 9-5%7)%aBYIyM/@Q IUV@%DI%y;i%;%5y]Bɮ]бA]֩EPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 181.21 m.R$ Z$ gO ProNav: ac range: 181.211243 m, nav range: 185.247971 m, bearing: 149.108863 deg, approach rate: -0.682425 m/s, LOS rate: -0.029974 deg/s, cmd heading: 149.482201 deg, new cmd heading: 149.463077 deg. Bm[gOHeadingCmd: 2.608623 target range: 181.211243 and range: 182.30 m.&@*" ʎjZ`?1 Bɢ@)=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.055638 i)>e<顩ieqջai&@xI;riI&@I9@ @@4@ԁE  E E &E "E D:*E e:VE 4ZE a% @a% @a% @a% @Ա  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.305471^A yb]IY Iq O} >^\7g,ޜY@A>w@>m&@>R<ٱ># FAHRS rotation from veh to nav: [[-0.857080,-0.507338,-0.089561],[0.515107,-0.846879,-0.132137],[-0.008809,-0.159386,0.987177]]>H3m`<`q{? `D fĿ`?i>w@I>KF_;9Y=mGyJfE>Q 55DŊ?Q 95/)^BYC#?Q E:yS-@Q IV@DI:ia:5ayɮaajgOFNOT Ignoring new targets: 181.21 m.RZgO% ProNav: ac range: 181.211243 m, nav range: 184.975266 m, bearing: 149.099894 deg, approach rate: -0.616308 m/s, LOS rate: -0.020300 deg/s, cmd heading: 149.463076 deg, new cmd heading: 149.445112 deg. B%gO-HeadingCmd: 2.608309 target range: 181.211243 and range: 182.30 m.-&@)*)") ))115Bʎ19YjaZem?颭Bɢk) i)p]<顱ihѻi&@mAI;%PI%&@I!ԑ 9@  @ @ /@  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.557513B>B͍CBBBBBBY;B!EԹ^Am vтE  E E $E "E a:*E ]t:VE 4ZE BE (=g,,Y@AR~@Rs&@R;ٱR/$ ^AHRS rotation from veh to nav: [[-0.857281,-0.507146,-0.088726],[0.514791,-0.846945,-0.132946],[-0.007723,-0.159647,0.987144]]RH@n:Ŷ@+y?,^ ToĿ?iR~@IRpL_;RCYfmByf&IbDnVDnyvK%vT=ٔzY8Q-z>9z ?Yz ?=~mGy~F~"~:E~>Q 5 5sŊ?Q 9 5x)\BYyY-@Q IV@DIY;i;5yٳBɮA%թEjAgOEFNOT Ignoring new targets: 181.21 m.RM>˹ZM>˹gO] ProNav: ac range: 181.211243 m, nav range: 184.730621 m, bearing: 149.091797 deg, approach rate: -0.670229 m/s, LOS rate: -0.022211 deg/s, cmd heading: 149.445113 deg, new cmd heading: 149.428898 deg. B]"gOeHeadingCmd: 2.608026 target range: 181.211243 and range: 182.30 m.e&@a*i"i iiiqqʎqqyjyZ}S?B5checking for new query: numPingsReceived=0, elapsed TxPingTime=8.809398ɢm)i mBii)udV  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.064302A ؟AI I O >1 Dg,Y@AJ@Jz&@Jrg;ٱJ>y$ ZAHRS rotation from veh to nav: [[-0.857505,-0.506907,-0.087916],[0.514432,-0.847035,-0.133758],[-0.006665,-0.159925,0.987107]]JH p8@9v?`L{pxĿ`?iJ@IJ5:_;JCYboByb&IiMb@Mb@Mb@ 9RQ?T㥛 ?Mb`?Y"?y=;A  A)Yp AbD VD2y"<%<=ٔMQ->9"?Y"?=mGy:E>Q 5 5KĊ?Q 9 5X)YBY [#?Q E :y ,@Q I V@DI:i& ;5yɮAjAgOEFNOT Ignoring new targets: 181.21 m.RM>ZM>gO] ProNav: ac range: 181.211243 m, nav range: 184.454178 m, bearing: 149.083422 deg, approach rate: -0.634832 m/s, LOS rate: -0.019260 deg/s, cmd heading: 149.428898 deg, new cmd heading: 149.412124 deg. B] gOeHeadingCmd: 2.607733 target range: 181.211243 and range: 182.30 m.e&@a*a"a aiiEy E}E}%Ey"Ey*E}xv:VE} 4ZEya@a@a@a@iBʎjZ q? }Bɢ}_)y }i)|WM<顁iɻi&@VG;׆I&@I@ @@0@Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.3136469^A% i AY Ia Iq O >Jg,,Y@A >E@BB<AB<BF>BDBDBDBF5 =BDBDBF Z;BF(!EBM͍CBM͍CBIBM6 =BM6 =CMz 5Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.566284>݃&@>k;ٱ>Z% bAHRS rotation from veh to nav: [[-0.857802,-0.506526,-0.087218],[0.513952,-0.847102,-0.135172],[-0.005414,-0.160777,0.986976]]>Hsw5`SKr?uPMo-vTĿN?i>E@I>.o_;>CYjmByj&IppbDvVDv0yz#>%z[=ٔ~[Q-~>9Y=mGy FE:E > Q 55 -Ċ?Q 95 ) WBYy,@Q IV@ DI ;i D; $5y-ʳBɮ-vA-ԩEjagOuFNOT Ignoring new targets: 181.21 m.RZgO ProNav: ac range: 181.211243 m, nav range: 184.217499 m, bearing: 149.076192 deg, approach rate: -0.631107 m/s, LOS rate: -0.019305 deg/s, cmd heading: 149.412123 deg, new cmd heading: 149.397643 deg. BR gOHeadingCmd: 2.607481 target range: 181.211243 and range: 182.30 m.&@*" ʎjZ@EBɢEyh)A MoqiI)uyEQg,FY@A2@2&@2;ٱ2% :AHRS rotation from veh to nav: [[-0.858203,-0.505991,-0.086374],[0.513293,-0.847337,-0.136198],[-0.004273,-0.161220,0.986909]]2H fv1l?c@n q ޢĿ”?i2@I29t_;2CYBbByB&IbDNlVDNܲy zL% I=ٔ 7Q->9Y=mGy:E%>!Q 5-5%bĊ?Q 955%)%UBY1y5,@Q I5V@%DI%:i%:%5y=BɮEfAEөEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 181.21 m.RHZHgO ProNav: ac range: 181.211243 m, nav range: 183.959045 m, bearing: 149.068212 deg, approach rate: -0.630179 m/s, LOS rate: -0.019483 deg/s, cmd heading: 149.397643 deg, new cmd heading: 149.381662 deg. BgOHeadingCmd: 2.607202 target range: 181.211243 and range: 182.30 m.e&@*" ʎjZ`@BɢW ) {i)j><  i (0»i e&@F; Ie&@I!9@ @Q  2Acoustic response timeoutWg,˅`Y@A2@25&@24;ٱ2" :AHRS rotation from veh to nav: [[-0.858761,-0.505520,-0.083537],[0.512368,-0.848135,-0.134704],[-0.002755,-0.158481,0.987358]]2H`z7-bQe?#=@TfIĿ@p?i2@I2u_;0YB_ByB&I DDi Mb@Mb@Mb@     9 )\(?L7A`?9Y=mGy!F$;E>Q 55Ċ?Q 95)PBY -"?Q E :y -@Q I V@DI;i3;r5yɮrAj9gO=FNOT Ignoring new targets: 181.21 m.REZEgOU ProNav: ac range: 181.211243 m, nav range: 183.688721 m, bearing: 149.059518 deg, approach rate: -0.634462 m/s, LOS rate: -0.020436 deg/s, cmd heading: 149.381660 deg, new cmd heading: 149.364246 deg. B]gO]HeadingCmd: 2.606898 target range: 181.211243 and range: 182.30 m.]j&@a*a"a aaaimyBʎiiqjqZu`@额BɢȚ) i)`5<顡iGdij&@pF;:Ij&@Iԁ@ @@=4@B>BB&IB}BBBBB)Z;B7!EiIA2Acoustic response timeoutԱ^AvI9 IQ Oe > E  E E $E "E &:*E z:VE 4ZE BE ^;m@>&@>}:ٱ>" FAHRS rotation from veh to nav: [[-0.859320,-0.504784,-0.082230],[0.511436,-0.848580,-0.135446],[-0.001408,-0.158447,0.987366]]>H@0'@ ]?'JV WGĿ?i>m@I>gt_;>CYNYByRz&I Vp9dYd=fmGyhj A;Ej>lQ 5r5nʥĊ?Q 9r5n")nLBYtyv(-@Q IvV@nDIn:inV:n5yzBɮzOAzҩEjAgOEFNOT Ignoring new targets: 181.21 m.RMZMgO] ProNav: ac range: 181.211243 m, nav range: 183.456360 m, bearing: 149.051944 deg, approach rate: -0.625076 m/s, LOS rate: -0.020399 deg/s, cmd heading: 149.364243 deg, new cmd heading: 149.349077 deg. B]TgOeHeadingCmd: 2.606633 target range: 181.211243 and range: 182.30 m.e&@a*a"a iiiiiʎqqqjqԹ=BDAT read: Rx Time:00:57:25.1495 ETRx dataTimestamp_ set to:1761699445.985153E2Acoustic response timeoutZM@{ @Bɢ^) 6!i)",<!i%i%&@-6;F;-:I-&@Ii@ @@ /@ ^Am "9 2Acoustic response timeoutII I O >I dg,^KY@Af@f&@fbj9ٱf" AHRS rotation from veh to nav: [[-0.859681,-0.504358,-0.081064],[0.510831,-0.848857,-0.135991],[-0.000224,-0.158319,0.987388]]fH#`X?)@%h@LY-CĿ?if@Ifzx_;fCY%XBy-x&IiMb@Mb@Mb@ 9Mb?Mb?QY ?y=uA=@ ( A)Y AbDVDky%:=ٔ<0Q->9Y=mGy"F:E> AQ 5M5EU EUEU&EQ"EUT;*EUga:VEU4ZEQa]@a]@a]@a]@EĊ?Q 9e5E)EFBYed!?Q Ee:ye,@Q IeV@EDIEž;iE BDAT read: Tx time:00:57:26.2207 Թ$Ping request sent.=z?=C~@=$+3=@ =-)=>I=-?99=>rs?\?\rI =)>)=f3?I=>i=-?99=:publishing transmit ping time=Fpublishing direction and range infoy9=Y_W?Kr?EY99999 9)9I9i99999 9]9@Y @Y@Y@Y@a@a)9I999=>rs?\?\rI 9)9I9i999^A} ] ;A} ?Ay I I O > jg,Y@AAA@AB>BB&IBxBBBBbDB6Z;B?!EB@B=&@BqܒٱBj9" JAHRS rotation from veh to nav: [[-0.860263,-0.503618,-0.079482],[0.509850,-0.849400,-0.136279],[0.001120,-0.157760,0.987477]]BHEXP?I.@q[R?|1Ŀh?iB@IB#_;BCY]PByen&IIm=)ma=bDVD:2y%%O=ٔ^Q->9Y=mGy<;E>Q 55}Ċ?Q 95=)BBYy-@Q IV@DI:i:5yBɮ;AquBY@AJuLCRuLCju(@u Oc@E-7@_w`ruY_W?Kr?EZu>bu-?uza'axS@ގP`zu0qC`@V?1*re2uB:u; "ulQ?*u\Bur{udQ?u?TZ“qu.Cu( &@kO]addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 206.000000 m, deltaT: 3.783986 s, deltaX: 23.699997 m, approachRate: 6.263236 m/s, rangeRepo size: 4jYgO]FNOT Ignoring new targets: 181.21 m.ReZegO ProNav: ac range: 181.211243 m, nav range: 182.931717 m, bearing: 149.035255 deg, approach rate: -0.601315 m/s, LOS rate: -0.019302 deg/s, cmd heading: 149.331185 deg, new cmd heading: 149.315652 deg. BM gOHeadingCmd: 2.606050 target range: 181.211243 and range: 182.30 m.&@*" ʎji@Z ?}Bɢ}))y }#iy){<顁i^i&@G.F;m;I&@IEu EuEu%Eq"Eu2:*Eu|:VEu 4ZEqBEu *Zqg,OȝY@A2@29&@2%ٱ2/! >AHRS rotation from veh to nav: [[-0.860975,-0.502663,-0.077795],[0.508641,-0.850075,-0.136587],[0.002526,-0.157167,0.987569]]2H@ [곿@F?3{d?Ŀ)?i2@I2j_;0YFDByF`&I`bBAbDbVDbβyn)s%nT=ٔn oQ-r>9pYp=rmGyr#Fv o;Ev>xQ 5~5zkĊ?Q 9~5z)z=BY|y-@Q IV@zDIz:iz:zW5y Bɮ0AѩEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 181.21 m.RȹZȹgO ProNav: ac range: 181.211243 m, nav range: 182.691132 m, bearing: 149.027413 deg, approach rate: -0.672415 m/s, LOS rate: -0.021945 deg/s, cmd heading: 149.315653 deg, new cmd heading: 149.299950 deg. B gOHeadingCmd: 2.605776 target range: 181.211243 and range: 182.30 m.&@*" !!AIʎIIIjIZU&?)UBɢUJ)Y ]'iYT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.)<iۯi&@gF; @;I &@I9@ @@0@IDE%=DE=bEjEǻ 4rE//EM EMEM#EI"EM:*EMk:VEM3ZEIa]@a]@a]@a]@ԁ ^AU ~;5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993284A I I ԩ O >lTxg,Y@AV @V'@VdٱVv ^AHRS rotation from veh to nav: [[-0.862281,-0.501186,-0.072693],[0.506407,-0.851946,-0.133192],[0.004824,-0.151661,0.988421]]VHΗ` @|4?`$Cn s?iÿ$?iV @IV_d`;TYfAByf\&IiUMb@Mb@Mb@QQQQ Q9UMb?~jt?~jtYQyU=UDQU&@ U A)QQYQbD VD yMF%M0=ٔMQ-M>9QYQ=UmGyQ]2;E]>aQ 5m5eTĊ?Q 9m5es)e8BYm!?Q Em:yu.@Q IuV@eDIe;ieK ;eb5y}XBɮ}ZA}ǩEjgOFNOT Ignoring new targets: 181.21 m.R Z gO ProNav: ac range: 181.211243 m, nav range: 182.401306 m, bearing: 149.015890 deg, approach rate: -0.650520 m/s, LOS rate: -0.025905 deg/s, cmd heading: 149.299944 deg, new cmd heading: 149.276861 deg. B=gOHeadingCmd: 2.605373 target range: 181.211243 and range: 182.30 m.m&@*" FBʎjZ`=g?Bɢ)  'i ) ob <  i mim&@*F;;Im&@I! Uo>UېCcG\A@ @@W1@%u9%\AY%uAB >B΍CB&IBiBB4 =BBBBZ;BF!E=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245984Q^A= ;AA zAE ]Ay E  E E &E "E ;*E xv:VE 4ZE BE 8r?z~g,Y@A$&@,F'@Fr'@FV»ٱF1 NAHRS rotation from veh to nav: [[-0.862579,-0.500899,-0.071115],[0.505887,-0.852311,-0.132832],[0.005923,-0.150554,0.988584]]FH?\4`:0?!FBx?`[Eÿ{?iF'@IF%`;DYV9ByVR&I \\bDbVDbJyj8%jf=ٔnJQ-n>9n ?Yn ?=nmGyr$Fr!:Er>tQ 5z5vDCĊ?Q 9z5v)v5BY|y~.@Q I~V@vDIv;iv ;v|5yIBɮ@A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497265j1gO5FNOT Ignoring new targets: 181.21 m.R=ѹZ=ѹgO ProNav: ac range: 181.211243 m, nav range: 182.178879 m, bearing: 149.006976 deg, approach rate: -0.571593 m/s, LOS rate: -0.022936 deg/s, cmd heading: 149.276858 deg, new cmd heading: 149.259007 deg. B'gOHeadingCmd: 2.605061 target range: 181.211243 and range: 182.30 m.R&@*" ʎjZ` ?ԉ额Bɢ ) !*i)0-<iniR&@BG;Jog,Y@A2,@2"'@2cDٱ2mX :AHRS rotation from veh to nav: [[-0.862729,-0.501025,-0.068359],[0.505616,-0.852813,-0.130625],[0.007149,-0.147257,0.989072]]2Hy`e.?=J P|H}? Q¿@{?i2,@I2ma;2CYF.ByFE&ILiMb@Mb@Mb@ 9X9v?l?{GzY?y=#vAS@ VA) AYG A -<-4<bD5VD5yErI%EB=ٔE>Q-E>9M"?YM"?=MmGyIM@:EU>DzDE EE$E"E ;*E:VE4ZEa@a@a@a@QQ 5]5U-Ċ?Q 9]5U)U1BY]?Q Ee:ye.@Q IeV@UDIU :iUn:Us5ym;Bɮm1AmƩEjgOFNOT Ignoring new targets: 181.21 m.RXZXgO ProNav: ac range: 181.211243 m, nav range: 181.899323 m, bearing: 148.995776 deg, approach rate: -0.660055 m/s, LOS rate: -0.026484 deg/s, cmd heading: 149.259004 deg, new cmd heading: 149.236570 deg. BAgOHeadingCmd: 2.604670 target range: 181.211243 and range: 182.30 m.&@*" >Bʎ!!!j!Z%?Bɢ}\#) -i)yK;iRvi &@ [H; C Rg,P0Y@Al!@['@h ٱX AHRS rotation from veh to nav: [[-0.862375,-0.502020,-0.065467],[0.506198,-0.852823,-0.128284],[0.008570,-0.143768,0.989574]]H j°@2?SJk ?f¿?i!@Ika;Y,ByC&IbD VD y%;=ٔ(UQ->9!Y!=%mGy%%FMe̺EM>QQ 5]5UĊ?Q 9]5Uf)U.BYYy].@Q I]V@U DIU:iU:U5yɮ8AjgOFNOT Ignoring new targets: 181.21 m.R߹Z߹gO% ProNav: ac range: 181.211243 m, nav range: 181.647263 m, bearing: 148.985695 deg, approach rate: -0.610341 m/s, LOS rate: -0.024446 deg/s, cmd heading: 149.236573 deg, new cmd heading: 149.216382 deg. B%2gO-HeadingCmd: 2.604317 target range: 181.211243 and range: 182.30 m.-"&@)*)") )1111ʎ999j9Z=&@Bɢ") A-i);ii"&@ I;<I"&@IAE EEE"ED:*E:VEZEBE1g,JY@A2@2&@2i'ٱ2 JAHRS rotation from veh to nav: [[-0.861412,-0.503999,-0.062888],[0.507804,-0.852120,-0.126599],[0.010218,-0.140988,0.989959]]2H j??@Dd4@ ? ¿?i2@I2$`;2CYV-ByTbD^VD^yfН:%fb=ٔfQ-j>9hYh=nmGylnȩEn>pQ 5v5rĊ?Q 9v5r )r+BYtyzc.@Q IzV@rDIr ;ir7;r$5y~,Bɮ~A~ũEPB*** querying acoustic contact *** j!gO-FNOT Ignoring new targets: 181.21 m.R-,ԉZ-,gO ProNav: ac range: 181.211243 m, nav range: 181.427109 m, bearing: 148.976992 deg, approach rate: -0.630030 m/s, LOS rate: -0.024936 deg/s, cmd heading: 149.216383 deg, new cmd heading: 149.198957 deg. B6gOHeadingCmd: 2.604013 target range: 181.211243 and range: 182.30 m.&&@*" ʎjZ`-@Bɢ=6) +i);i%i&&@S}I;&;I&&@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760308y@ @@/@ԡE EEE"E :*Ex:VEZEa@a@a@a@^AA I I O >} BDAT read: Rx Time:00:57:28.8286  TRx dataTimestamp_ set to:1761699449.513064 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010299 g,(dY@A2@2`&@2`Fٱ25 :AHRS rotation from veh to nav: [[-0.860204,-0.506199,-0.061733],[0.509806,-0.850759,-0.127702],[0.012123,-0.141321,0.989890]]2Hʆ2 xSP?j9@X ӈ?@¿,?i2@I2`;2CYb*Byb@&IiMb@Mb@Mb@ 9?/$?~jtY ?y=D`A&@ ? A)Yz AbDVD:y@%9=ٔQ->9Y=mGy&FʭE> Q 55 QÊ?Q 95 ') 'BYw!?Q E:y/@Q IV@ DI u ;i  ; 5y!ɮ%A)jIgOUFNOT Ignoring new targets: 181.21 m.R]Z]gOm ProNav: ac range: 181.211243 m, nav range: 181.151779 m, bearing: 148.965074 deg, approach rate: -0.625090 m/s, LOS rate: -0.027097 deg/s, cmd heading: 149.198953 deg, new cmd heading: 149.175082 deg. Bm]FgOuHeadingCmd: 2.603596 target range: 181.211243 and range: 182.30 m.uS&@q*q"q qyyy} BʎjZS @颵Bɢ!) U+i);项i꛻iS&@I;K;IS&@IM9@I @I@M0@IBBBn&IBPBBBBBuZ;B_!EB΍CB΍CBB4 =B4 =C/59checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262004^A-[R;YAa Ii Iy O >E  E E #E "E :*E Z:VE 3ZE BE m% BDAT read: Tx time:00:57:29.9207 $Ping request sent.i55^5">5!,@5Q>5!,@ 5f>)5@I5f115j?[?gZ? 5b?)5(PI5ii5f11:publishing transmit ping timeFpublishing direction and range infoy15*\?XiױNu?Y11111 1)1I1i11111 1)1I1115j?[?gZ? 1)1I1i111iYe3ByeK&IbD}VD}βyE==%E*=ٔEQ-M>9IYI=MmGyM'FUEU>YQ 5e5]Ê?Q 9e5])]#BYayaQ ImV@]%DI];i]n;]05yuBɮuAuĩE15o Y@AJ5CR5Cj5Y$@5Jflub@=EX+%PDl@@r5*\?XiױNu?Z5ib5f5A(^{S@&,-mB@z5VF[B꿻%ެ?Os?25B:5"5-?*5fB5B5g?56“5B5(C5%@gO% addTargetRange:: Added new target pos. range: 152.800003 m, deltaT: 7.311982 s, deltaX: -29.500000 m, approachRate: -4.034474 m/s, rangeRepo size: 4 gO5 Added new target pos. range: 151.890472 m, bearing: 147.134767 deg, lat: 36.779113 deg, lon: -121.859492 deg, deltaT: 7.311982 s, deltaX: -29.320770 m, approachRate: -4.009962 m/s, posRepo size: 4 jYgO]FNOT Ignoring new targets: 151.89 m.ReZagOu ProNav: ac range: 151.890472 m, nav range: 168.011612 m, bearing: 148.487673 deg, approach rate: 0.000000 m/s, LOS rate: -0.027097 deg/s, cmd heading: 149.175088 deg, new cmd heading: 149.148130 deg. BqԙgOHeadingCmd: 2.603126 target range: 151.890472 and range: 152.80 m.&@*" ʎjc@Zd?=|Bɢ= )A E$iA)E;AAiM)iM&@MLJ;up;Iu&@IqI) @  @ @ /@  ^AM ϩ;AQ zAU ZAE  E E &E "E :*E i:VE 4ZE a @a @a @a @A.AIIO>w g,Y@A(B/@Bő&@BDyٱB§ NAHRS rotation from veh to nav: [[-0.858151,-0.509478,-0.063316],[0.513172,-0.847571,-0.135194],[0.015214,-0.148509,0.988794]]BHu M`x5k?M`NM(? Uÿ3?iB/@IB,`;@YV0ByVH&Ii5Mb@Mb@Mb@1111 195Zd;?kt?~jtY5?y5 =15IA5=@ 5 A)5 A1Y5Q AbDMVDMySB%L=ٔQ->9 ?Y ?=mGy>!E>Q 55Ê?Q 95) BYt?Q E:y`/@Q IV@-DI;i;5yBɮzAéEjgOFNOT Ignoring new targets: 151.89 m.R%Z%gO5 ProNav: ac range: 151.890472 m, nav range: 167.770309 m, bearing: 148.475332 deg, approach rate: -0.626491 m/s, LOS rate: -0.032085 deg/s, cmd heading: 149.148136 deg, new cmd heading: 149.123420 deg. B5jgO=HeadingCmd: 2.602695 target range: 151.890472 and range: 152.80 m.=&@9*9"9 9AAAE!BʎIQQjQZU?}yBɢ7.) W$i)Ȗ;顉i$Fi&@KJ;s+;I&@Iԁ%9@! @!@%0@!ԩ^AEyb;B >B B [&IB @BB B B B Z; B {!EA I I O >U/g,+MY@A6m@6c&@67ٱ6ڵ BAHRS rotation from veh to nav: [[-0.856667,-0.511936,-0.063585],[0.515604,-0.845739,-0.137399],[0.016563,-0.150490,0.988473]]6Hi@aG?J@H?>Cÿ?i6m@I6P<`;6CYJByJ,&I R49dYd=fmGyf(FjoEj>lQ 5r5nÊ?Q 9r5n.)nBYpyr0/@Q IvV@n4DIn;in ;n5yxɮzկAxjgOFNOT Ignoring new targets: 151.89 m.R%T Z%T gO5 ProNav: ac range: 151.890472 m, nav range: 167.548065 m, bearing: 148.464163 deg, approach rate: -0.600792 m/s, LOS rate: -0.030234 deg/s, cmd heading: 149.123425 deg, new cmd heading: 149.101056 deg. B5T]gO=HeadingCmd: 2.602304 target range: 151.890472 and range: 152.80 m.=(&@A*A"A AAAIIʎIIQjQZU k?}vBɢ9) -i)oQ;顉i{i(&@i J;fC:I(&@IE EE!E"E2:*Ee:VEc3ZEBE *A g,'ўY@Ab/D@b9&@bﶓٱb߭ vAHRS rotation from veh to nav: [[-0.855342,-0.514009,-0.064683],[0.517749,-0.843790,-0.141261],[0.018031,-0.154316,0.987857]]bH^r `g? S¿@v?@ÿ?ib/D@Ib_;bCY 'By <&I)bDVDk2y}#f=%1=ٔ0PQ->9Y=mGyޮE> Q 555 ,Ê?Q 955 ,) BY9y=/@Q I=V@ =DI :i : 5yEBɮEfAIPeB*** querying acoustic contact ***a ajgOFNOT Ignoring new targets: 151.89 m.RZgO ProNav: ac range: 151.890472 m, nav range: 167.262177 m, bearing: 148.450020 deg, approach rate: -0.589566 m/s, LOS rate: -0.029217 deg/s, cmd heading: 149.101062 deg, new cmd heading: 149.072727 deg. BUgOHeadingCmd: 2.601810 target range: 151.890472 and range: 152.80 m.&@*" ʎjZ|?IuqBɢu)q u%iq)}"Sb;yyi}i&@uI;E  E E (E "E :*E Ar:VE c44ZE aE@aE@aE@aE@JI&@I@ @@4@@!@!qT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԡ ^A 9A% ?A! AM ؟AIY Ii O} >Ӻg,MiY@A(21&@2&@2 ٱ2# >AHRS rotation from veh to nav: [[-0.854377,-0.515406,-0.066309],[0.519305,-0.842145,-0.145306],[0.019050,-0.158581,0.987162]]2H W4~$?f¿ ԁ?bLĿ Ֆ?i21&@I2G`;2CYF1ByFH&IIN4=)N;i=Mb@Mb@Mb@9999 99= ףp= ?RQ?MbY=Q?y====A9 =VA)=A9Y9bDVDy%0=B- >B)B-a&IB-EBB)B)B)B-Z;B-!E]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757337%m>=ٔmQ-u>9}"?Y}"?=}mGy)FE>Q 55Ê?Q 95)BYC?Q E:y/@Q IV@FDI;i;5yBɮA©EjAgOeFNOT Ignoring new targets: 151.89 m.RmZmgO} ProNav: ac range: 151.890472 m, nav range: 167.005890 m, bearing: 148.435948 deg, approach rate: -0.594420 m/s, LOS rate: -0.032686 deg/s, cmd heading: 149.072731 deg, new cmd heading: 149.044545 deg. B}FoԁgOHeadingCmd: 2.601318 target range: 151.890472 and range: 152.80 m.{&@*" ʎjZ@?%mBɢ%)! -ei))-?;))i-Ǝi5{&@5H;5I={&@I9@ @@#4@ԱE EE'E"E:*E҆:VE'4ZEBE(g,`Y@A2O@2 &@2ٱ2&8 >AHRS rotation from veh to nav: [[-0.853803,-0.516190,-0.067596],[0.520232,-0.841123,-0.147888],[0.019482,-0.161433,0.986691]]2HYR M?z¿,?өĿ?i2O@I2r(`;0YF,ByFC&ILNAAbDRVDRkyZ%%Z`=ٔ^!Q-^>9\Y\=bmGy`bIEb>dQ 5j5f|Ê?Q 9j5fq)fBYlyn/@Q InV@fLDIfj;if;f5ypɮrApj gOFNOT Ignoring new targets: 151.89 m.RZgO- ProNav: ac range: 151.890472 m, nav range: 166.798050 m, bearing: 148.424594 deg, approach rate: -0.611769 m/s, LOS rate: -0.033464 deg/s, cmd heading: 149.044550 deg, new cmd heading: 149.021811 deg. B-tgO5HeadingCmd: 2.600921 target range: 151.890472 and range: 152.80 m.5~u&@1*1"1 11999ʎ9AAjAZE@+@jBɢy:) i)$;ii~u&@P5H;ZI~u&@I9@ @@/@ԩ=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262854^A D zD bEEJ4jEE( 4rEE]%0E  E E %E "E O:*E n:VE 4ZE a @a @a @a @A  I! IA OU >5g,!Y@A2{@2&@2gٱ2c% :AHRS rotation from veh to nav: [[-0.853951,-0.516060,-0.066706],[0.519953,-0.841231,-0.148254],[0.020393,-0.161285,0.986697]]2H`S u?\¿?Ŀ?i2{@I2lA`;2CBchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.512152YJ3ByJK&IliuMb@Mb@Mb@qqqq q9ul?ʡE?y&1|Yu?yu-=u`u`Au@ u A)uAqYu AbD VDf2y<%==ٔ Q->9Y=mGy*FX?:E>Q 55hÊ?Q 95Î)BY0?Q E:y'/@Q IV@UDIX:ia:5yBɮ߭AEjgOFNOT Ignoring new targets: 151.89 m.R= Z= gO ProNav: ac range: 151.890472 m, nav range: 166.541931 m, bearing: 148.411613 deg, approach rate: -0.590951 m/s, LOS rate: -0.029996 deg/s, cmd heading: 149.021805 deg, new cmd heading: 148.995805 deg. B[gOHeadingCmd: 2.600467 target range: 151.890472 and range: 152.80 m.%n&@!*!"! !!!)-Bʎ))1j1Z5@@]gBɢe\)a eia)e;iiim7}imn&@G;ĺIn&@I 9@ @@/@}rG`]A9`]AY}A9BBBn&IBPBBBBBZ;B!EUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767821^A"5A[AzA\Aa A I I O >)g,f;Y@A2@2 &@2 ٱ2=% :AHRS rotation from veh to nav: [[-0.853797,-0.516420,-0.065887],[0.520182,-0.841134,-0.147999],[0.021010,-0.160634,0.986790]]2HMR@ݰU?@¿? Ŀ`ɓ?i2@I2U`;2CEB EBEB&E@"EBa:*EB~:VEB4ZE@BEB(91Y1=5mGy15E=>9Q 5E5=|SÊ?Q 9E5=)=BYIyM"/@Q IMV@=]DI=;i=;=5yQɮ]AYjygOFNOT Ignoring new targets: 151.89 m.R Z checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016192gO ProNav: ac range: 151.890472 m, nav range: 166.273178 m, bearing: 148.397974 deg, approach rate: -0.592731 m/s, LOS rate: -0.030131 deg/s, cmd heading: 148.995809 deg, new cmd heading: 148.968486 deg. B\gOHeadingCmd: 2.599991 target range: 151.890472 and range: 152.80 m.?f&@*" ʎjZ`E@bBɢ[) i)R:iHi?f&@@F;l$I?f&@Ii9@ @@0@ԙ^A ?Bɺ iA IE AU BDAT read: Rx Time:00:57:32.5615 U TRx dataTimestamp_ set to:1761699453.298890] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270927A I! I1 OE >>g,HUY@Au@u[%@uGȭٱu#Ա AHRS rotation from veh to nav: [[-0.853374,-0.517207,-0.065192],[0.520867,-0.840885,-0.147004],[0.021212,-0.159406,0.986985]]uHNt?¿ ?jgĿa?iu@Iu?`;qE EEE"E:*E:VEZEa@a@a@a@ )Q8aAi/]IiFIi #E) @I)i) I v`A ף  `AiEiեA)ա աIաYYEBya&Ii=Mb@Mb@Mb@9999 99=K?/$?~jtxY=^?y===Ļ=vA=@ =VA)=CA9Y= A QQbD]VD]ym=%m*=ٔm޹Q-m>9qYq=umGyu+F}ݺE}>Q 55!=Ê?Q 95)BY?Q E:y.@Q IV@fDI ;ii ; 5yBɮ\AEP5B*** querying acoustic contact ***1 1jAgOEFNOT Ignoring new targets: 151.89 m.RMZMgO] ProNav: ac range: 151.890472 m, nav range: 165.986343 m, bearing: 148.384163 deg, approach rate: -0.582849 m/s, LOS rate: -0.028112 deg/s, cmd heading: 148.968489 deg, new cmd heading: 148.940819 deg. B]MgOeHeadingCmd: 2.599508 target range: 151.890472 and range: 152.80 m.eU^&@a*a"i iiiqu,BʎqqyjyZ}3 @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5202605^Bɢ5K7 )1 5P i1)=s:99i=iEU^&@E2F;E`IIEU^&@II 9@ @@/@9 ^A% 0:ĺB >B B z&IB ZBB 3 =B B B Z;B n!EDAT read: 00:57:32.5615 LVL= 28272, 27553, 26738, 20403, AGC= 70, IDX= 250,-0.12,-2.597, 2.501,-2.607, 2.272, PHS= 1.516, 0.274, 1.360, RAW= 143.4, -43.5, CAL= 145.1, -42.0, ROT= 4.9, 42.0 Ygot valid direction response: 00:57:32.5615 LVL= 28272, 27553, 26738, 20403, AGC= 70, IDX= 250,-0.12,-2.597, 2.501,-2.607, 2.272, PHS= 1.516, 0.274, 1.360, RAW= 143.4, -43.5, CAL= 145.1, -42.0, ROT= 4.9, 42.0 PDAT read: Bearing 264.6, 10.6 (Local) ~Local bearing/azimuth received: Bearing 264.6, 10.6 (Local) DAT read: Range 11 to 50 : 177.5 m (Round-trip 236.7 ms) speed 0.8 m/s *DAT read: user:626> BDAT read: Tx time:00:57:33.6707 $Ping request sent.m{?m- @m \Bm "@ mf;)m%=Imf;?iim>WyJ?1h?b| m>)mB?Im%=imf;?ii%:publishing transmit ping time-Fpublishing direction and range infoyimeї?S @?iYiiiii i)iIiiiiiii i)iIiiim>WyJ?1h?b| i)iIiiiiiAQIaI1O=?n&g,'wY@A@%@ٱ'! UAHRS rotation from veh to nav: [[-0.853365,-0.517357,-0.064107],[0.520880,-0.841173,-0.145299],[0.021246,-0.157385,0.987309]]H N@/Mi ? %¿?/%Ŀ?i@I_;CaaiaIaaIaimKUA ilj)ȉȑ ɕq@ȑȑȑɑəIə)əiə)ʙIʙɡɡ ʡʡʥ]AʥQiʥc FʩiYC]A)^: EIYYJByg&IbDVDk1E EE%E"E:*E|:VE 4ZEBEm%9Y=mGy,F E>AQ 5M5E'Ê?Q 9M5E)EBYIyU.@Q IUV@EoDIE:iE:E5y]Bɮ]A]EMsY@AJq0CRq0Cj_"@"+4T`@ f&@7']reї?S @?iZ%=bf;?"`m[Kޗ)R@Hm\z1|?iЯ2B:m": ?*i/B?lQ?f“C &@kOaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 177.500000 m, deltaT: 3.785165 s, deltaX: 24.699997 m, approachRate: 6.525474 m/s, rangeRepo size: 4jgOFNOT Ignoring new targets: 151.89 m.R=kZ=kgOM ProNav: ac range: 151.890472 m, nav range: 165.709900 m, bearing: 148.370802 deg, approach rate: -0.606851 m/s, LOS rate: -0.029380 deg/s, cmd heading: 148.940813 deg, new cmd heading: 148.914045 deg. BMWgOUHeadingCmd: 2.599041 target range: 151.890472 and range: 152.80 m.UV&@Q*Q"y yyyʎj0f@Z \?ZBɢ: ) i)t9i1iV&@ uE; J諺I V&@I 9@ @@@A^A q AA IQ Ii Ou >g,eY@AJ@J^%@J"sٱJ, ZAHRS rotation from veh to nav: [[-0.853402,-0.517542,-0.062085],[0.520812,-0.841719,-0.142353],[0.021416,-0.153819,0.987867]]JHO@ɯ~?[`8¿`?Sÿ@?iJ@IJtP_;JC1YEOByEm&IIu=)u=iMb@Mb@Mb@ 9ףp= ?V-?~jtxY?ym=A )-AY AbDVDy<%1=ٔkQ->9Y=mGy.9E>Q 55Ê?Q 95)Yk?Q E:y+@Q IV@yDI ;i;5yɮAjgO FNOT Ignoring new targets: 151.89 m.R ZgO% ProNav: ac range: 151.890472 m, nav range: 165.426056 m, bearing: 148.361459 deg, approach rate: -0.638407 m/s, LOS rate: -0.021050 deg/s, cmd heading: 148.914052 deg, new cmd heading: 148.895334 deg. B%gO-HeadingCmd: 2.598714 target range: 151.890472 and range: 152.80 m.-TQ&@)*)") ))1150Bʎ999j9Z=@x{?QmVBɢuZ)q uiq)uʶqyi}i}TQ&@D;cITQ&@IE EE(E"E:*Exv:VEc44ZEa@a@a@a@-9@) @)@-0@)y^AM NJκԩ Ay I I O > g,譟Y@A2*@2&@2RHٱ2hy :AHRS rotation from veh to nav: [[-0.853628,-0.517206,-0.061777],[0.520423,-0.841872,-0.142868],[0.021883,-0.154106,0.987812]]2HP@F M?{I¿h?`ÿ'?i2*@I2_;2CYvVByvv&I@A@AbD VD y% =%%w=YٔefQ-e?9iYi=mmGym-Fu:Eu?Q 55Ê?Q 95,)Yy+@Q IV@DI;iя;5yBɮAEjgO FNOT Ignoring new targets: 151.89 m.B  >B B &IB nBB 4 =B B B uZ;B `!EB B B B B C f5RZgO ProNav: ac range: 151.890472 m, nav range: 165.215347 m, bearing: 148.354469 deg, approach rate: -0.604240 m/s, LOS rate: -0.020069 deg/s, cmd heading: 148.895337 deg, new cmd heading: 148.881340 deg. BgOHeadingCmd: 2.598469 target range: 151.890472 and range: 152.80 m.SM&@*" ʎjZt?-SBɢ-g)) -i))5_¹11i5i=SM&@=~xD;=dйI=SM&@IAԁ9@ @@2@Eu EuEu#Eq"Eu2:*Eug:VEu3ZEqBEu *g,ǟY@A2q@2&@2ȷٱ2w :AHRS rotation from veh to nav: [[-0.853881,-0.516848,-0.061281],[0.519985,-0.842079,-0.143245],[0.022433,-0.154180,0.987788]]2HR:``?N U¿?)ÿ?i2q@I2> _;2CYFlByF&IbDNVDN:yVq=%VS=ٔZ6Q-Z>9XYX=^mGy\^:E^>`Q 5f5b*Š?Q 9f5bp})`Yhyj+@Q IjV@bDIb:ib:b5ylɮrNApjgOFNOT Ignoring new targets: 151.89 m.RZgO ProNav: ac range: 151.890472 m, nav range: 164.980423 m, bearing: 148.346614 deg, approach rate: -0.608760 m/s, LOS rate: -0.020384 deg/s, cmd heading: 148.881335 deg, new cmd heading: 148.865603 deg. B8gOHeadingCmd: 2.598195 target range: 151.890472 and range: 152.80 m.H&@*" ʎԹjZ ?%PBɢ%m()! %"i!)-l8))i-i5H&@]D;]Zql9I]H&@IY 9@  @ @ 3@ ^Ae"E  E E $E "E :*E :VE 4ZE a @a @a @a @A I I O >A 4g,Y@A2N%@2&@2мٱ2 :AHRS rotation from veh to nav: [[-0.854277,-0.516294,-0.060424],[0.519307,-0.842498,-0.143240],[0.023047,-0.153745,0.987842]]2H9Y=mGy.FA:E>Q 55Š?Q 95\z)BY?Q E:y+@Q IV@DI7:i:5yqBɮAEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 151.89 m.R3Z 3gO ProNav: ac range: 151.890472 m, nav range: 164.716217 m, bearing: 148.337760 deg, approach rate: -0.629023 m/s, LOS rate: -0.021114 deg/s, cmd heading: 148.865599 deg, new cmd heading: 148.847862 deg. BgO%HeadingCmd: 2.597885 target range: 151.890472 and range: 152.80 m.%C&@!*)") )))15FBʎ119j9Z=?MBɢU) .i)ihiC&@C;dz:IC&@I9@ @@/@AB>BB&IB}BBBBBZ;Bj!EqT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A 9AY Ia Iy O >ԙ 1g,Y@A298@2-&@2¼ٱ2 :AHRS rotation from veh to nav: [[-0.854862,-0.515440,-0.059437],[0.518312,-0.843100,-0.143300],[0.023751,-0.153309,0.987893]]2H@[`|~`n?@@W¿FR?ÿќ?i298@I2G_;0YBlByF&I Np9XY\=^mGy\^I;E^>`Q 5n5bŠ?Q 9r5bw)bBYxy~+@Q I~V@bDIb;ib.;b-!5ycBɮګAE5 E5E1E1"E5D:*E5ą:VE1ZE1BE51 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502720 "h,@Y@A2S@2eI&@2|ʼٱ2 :AHRS rotation from veh to nav: [[-0.855713,-0.514142,-0.058422],[0.516860,-0.843879,-0.143961],[0.024715,-0.153386,0.987857]]2Hbs@魿 ?@Qm¿N? #ÿ?i2S@I2׃_;0Y^pByb&IbD~VD~k2y= <%E4=ٔM Q-u>9} ?Y ?=mGy/Fi;E>Q 5 5޴Š?Q 9 5bt)BYAyE,@Q IEV@DIDQ = h,%/Y@ABd@Bt&@BxּٱBGl ZAHRS rotation from veh to nav: [[-0.857053,-0.512160,-0.056142],[0.514562,-0.845313,-0.143775],[0.026178,-0.152111,0.988017]]BHl c Kw?@ 4g¿RΚ?axÿ ՝?iBd@IB_;BCY|By&II;>)!%ABU>BUύCBU&IBUBBU3 =BQBUcDBUZ;BU|!Ei]Mb@Mb@Mb@YYYY Y9]V-?i|?5?MbpY]?y]q=]]A]@ ] A)]AYY]3 AbDuVDuNyg=%F=ٔhQ->9"?Y"?=mGy;E>Q 55Š?Q 95q)checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006838Y?Q E:yv,@Q IV@DIIn;i_m;(5yTBɮbAEjgOFNOT Ignoring new targets: 151.89 m.RӹZӹgO ProNav: ac range: 151.890472 m, nav range: 163.960892 m, bearing: 148.311099 deg, approach rate: -0.620499 m/s, LOS rate: -0.023115 deg/s, cmd heading: 148.812337 deg, new cmd heading: 148.794463 deg. B6))gOHeadingCmd: 2.596953 target range: 151.890472 and range: 152.80 m.|4&@*" IBʎjZX}@mCBɢm)i mǾii)u qqiuG}i}|4&@}sh,|HJY@A J@JZ&@Jv#ٱJ VAHRS rotation from veh to nav: [[-0.859218,-0.509086,-0.050755],[0.510783,-0.847962,-0.141634],[0.029066,-0.147619,0.988617]]JH~mJUX?@"!¿\Ý?.¿`?iJ@IJ`;JCY^~By^&IfAAdbDjVDjyr+<%r]=ٔrdQ-r>9tYt=vmGyv0Fz@<Ez>|Q 55~.Š?Q 95~o)~BYy,@Q IV@~DI~:i~:~+5yBɮtAEj9gO=FNOT Ignoring new targets: 151.89 m.RE۹ZE۹gOU ProNav: ac range: 151.890472 m, nav range: 163.734390 m, bearing: 148.302293 deg, approach rate: -0.614755 m/s, LOS rate: -0.023934 deg/s, cmd heading: 148.794469 deg, new cmd heading: 148.776832 deg. BU5/gO]HeadingCmd: 2.596646 target range: 151.890472 and range: 152.80 m.]q/&@Y*Y"Y YaaaaʎiiijiZm> @额ABɢX) Iþi)顡i}iq/&@E;be,]h,dY@A6@6&@6ٱ6ZDAT read: 00:57:36.3074 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 394,-0.13,-0.294,-1.908,-0.004,-0.478, PHS= 0.285,-1.385, 0.430, RAW= 154.1, 7.7, CAL= 153.6, 8.1, ROT= 356.4, -8.1 ^Ygot valid direction response: 00:57:36.3074 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 394,-0.13,-0.294,-1.908,-0.004,-0.478, PHS= 0.285,-1.385, 0.430, RAW= 154.1, 7.7, CAL= 153.6, 8.1, ROT= 356.4, -8.1 bPDAT read: Bearing 313.9, -3.3 (Local) b~Local bearing/azimuth received: Bearing 313.9, -3.3 (Local) jDAT read: Range 11 to 50 : 174.4 m (Round-trip 232.6 ms) speed 0.4 m/s j*DAT read: user:627> nBDAT read: Tx time:00:57:37.4207 r$Ping request sent.riBGB(>B!,@B >B+@ B>)B" @IB@@B# 8@?[ԭ?,G|2? BIu?)B IB)iB@@ :publishing transmit ping timepFpublishing direction and range infoy@BsE?ԯ:N ?Y@@@@@ @)@I@i@@@@@ @)@I@@@B# 8@?[ԭ?,G|2? @)@I@i@@@ -AHRS rotation from veh to nav: [[-0.860015,-0.507888,-0.049240],[0.509386,-0.848844,-0.141384],[0.030010,-0.146675,0.988730]]6H=@@6L?@)`¿纞?;¿ ?i6@I6/a;6CY=ByE&IiMb@Mb@Mb@ 9'1Z?:v?:vY"?yT=TIA@  A)Y AbDVD!yM[<%M)=ٔU&Q-U>9QYY=]mGyY]0Z;E]>aQ 55eyŠ?Q 95ek)aYd#?Q E:y+@Q IV@eDIe(C9]؀G !Ud9QYUQA@BN&eY@AJB]-CRB]-CjB.$@BCie@nV%8} hm8@rBsE?ԯ:N ?ZB)bBB al4!@zBBB&IBBB2 =BBBZ;B!EgO Added new target pos. range: 173.365173 m, bearing: 146.984543 deg, lat: 36.779184 deg, lon: -121.859580 deg, deltaT: 7.564018 s, deltaX: 21.474701 m, approachRate: 2.839060 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 173.37 m.RZgO- ProNav: ac range: 173.365173 m, nav range: 152.580399 m, bearing: 149.236811 deg, approach rate: 0.000000 m/s, LOS rate: -0.023934 deg/s, cmd heading: 148.776833 deg, new cmd heading: 148.749958 deg. B)gO5HeadingCmd: 2.596177 target range: 173.365173 and range: 174.40 m.5'&@Q1*Y"Y YYYaeDBʎaaijme@Zm`e?=Bɢg¼) ⻾i)9ii'&@F;AAHRS rotation from veh to nav: [[-0.860883,-0.506608,-0.047208],[0.507855,-0.849914,-0.140460],[0.031036,-0.144895,0.988960]]2H[!6+Y@?@2ǟ?@¿?i2@I2nb;0YFByF&IX \\^=^=bDbVDbN2yj}%j6=ٔnQ-n>9n ?Yn ?=rmGyr1Fr;Er>tQ 5z5v6dŠ?Q 9~5v0h)tY|y~+@Q I~V@vDIvp;ivz;v45yBɮ A EP%B*** querying acoustic contact ***! !j1gO5FNOT Ignoring new targets: 173.37 m.R=&ٹZ=&ٹgOM ProNav: ac range: 173.365173 m, nav range: 152.295181 m, bearing: 149.228028 deg, approach rate: -0.769190 m/s, LOS rate: -0.023731 deg/s, cmd heading: 148.749963 deg, new cmd heading: 148.732364 deg. BM-gOUHeadingCmd: 2.595870 target range: 173.365173 and range: 174.40 m.U"&@Q*Q"Q YYYYYʎaaajaZm`?-;Bɢ5R)1 5i1)5I99i=wi="&@EG;EE\D) zD- AAE5  E5 E5 'E1 "E5 :*E5 xv:VE5 '4ZE1 a= @a= @a= @a= @!'h,Y@A2e@2'@2ٱ2 2 :AHRS rotation from veh to nav: [[-0.861467,-0.505715,-0.046111],[0.506824,-0.850573,-0.140197],[0.031679,-0.144145,0.989049]]2H $@.ꛧ7?7+8?[s¿J?i2e@I2b;2CYFByF&IiMb@Mb@Mb@ 9x&1?X9v? rhY!?y}=CA )AY A 4<bDVDβy$<%>=ٔkúQ->9"?Y"?=mGy&4;E>Q 55XOŠ?Q 95!e)BY_"?Q E:y,@Q IV@DI" ;ii ;75yBɮAEj gOFNOT Ignoring new targets: 173.37 m.Rc׹Zc׹gO% ProNav: ac range: 173.365173 m, nav range: 152.022949 m, bearing: 149.217912 deg, approach rate: -0.632308 m/s, LOS rate: -0.023538 deg/s, cmd heading: 148.732369 deg, new cmd heading: 148.712101 deg. B-O,gO-HeadingCmd: 2.595516 target range: 173.365173 and range: 174.40 m.-&@)*1"1 1119=&Bʎ99AjAZE`?m8Bɢm8m)q uiq)uz\yyi}[8i}&@lI;pBB&IBBBBBBZ;B!E^A hW< checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248526ԡ A] .AIa Iq O >-h,Y@AY |By &IbD%VD%y5%5R=ٔ5Q-5>9= ?Y= ?==mGy=2F=EE>AQ 5M5E<Š?Q 9U5E`b)EBYQyQQ IUV@EDIE ;iEj;EH;5yYɮeͩAaijgOFNOT Ignoring new targets: 173.37 m.RiйZiйgO  ProNav: ac range: 173.365173 m, nav range: 151.777725 m, bearing: 149.208769 deg, approach rate: -0.609896 m/s, LOS rate: -0.022776 deg/s, cmd heading: 148.712097 deg, new cmd heading: 148.693782 deg. B &gOHeadingCmd: 2.595196 target range: 173.365173 and range: 174.40 m.&@*" ʎ!!j!Z-@C?U6BɢUO)Q UiQ)]oYYi]ie&@e~J;er ʣ4h,uӠY@A6@6&@6|ٱ6 BAHRS rotation from veh to nav: [[-0.861060,-0.506440,-0.045775],[0.507536,-0.850378,-0.138799],[0.031367,-0.142746,0.989262]]6H̍ 4@o=?`K6)b?`E¿ ?i6@I6Sa;6CYJByJ&IIV=)V>bD^VD^yf#=%fR=ٔfQ:Q-f>9j"?Yj"?=jmGyhnP En>pQ 5v5r)Š?Q 9v5r_)rBYtyv,@Q IvV@rDIr:ir1:r>5y~Bɮ~tA~Ej!gO%FNOT Ignoring new targets: 173.37 m.R-޹Z-޹gO= ProNav: ac range: 173.365173 m, nav range: 151.532074 m, bearing: 149.199651 deg, approach rate: -0.654140 m/s, LOS rate: -0.024319 deg/s, cmd heading: 148.693778 deg, new cmd heading: 148.675513 deg. i9I=AEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752569BM2gOMHeadingCmd: 2.594877 target range: 173.365173 and range: 174.40 m.Ux&@Q*Q"Q QQQYYʎYaajaZeM?颍3BɢM) \i)p顙iǀix&@[L;jY :h,PQY@A2@2&@2sٱ2 :AHRS rotation from veh to nav: [[-0.860410,-0.507347,-0.047891],[0.508699,-0.849492,-0.139958],[0.030324,-0.144784,0.988999]]2Hz/<@9CG? /@'D ?G¿@?i2@I2a;2CYB~ByB&Ii5Mb@Mb@Mb@1111 195-?T㥛 ?QY55?y5=5u5A5@ 5( A)11Y5AM@AIbDQVDQyu%u@=ٔu ;Q->9 ?Y ?= mGy 3FDE>B->B)B)B)B-3 =B)B)B-[;B-!EB]ύCB]ύCBYB]3 =B]3 =C]K95YyQ 55}Š?Q 95}u\)}BY?Q E:y-@Q IV@}DI};i};}B5yɮAjgO FNOT Ignoring new targets: 173.37 m.R-0ԹZ50ԹgO= ProNav: ac range: 173.365173 m, nav range: 151.249908 m, bearing: 149.188863 deg, approach rate: -0.605365 m/s, LOS rate: -0.023189 deg/s, cmd heading: 148.675514 deg, new cmd heading: 148.653898 deg. BE)gOEHeadingCmd: 2.594500 target range: 173.365173 and range: 174.40 m.EJ &@I*I"I IiBʎjZ`)@0Bɢټ) _i ) P  i?iJ &@_N;^Ah,@Y@An@nK&@nٱn| vAHRS rotation from veh to nav: [[-0.859769,-0.508163,-0.050673],[0.509837,-0.848397,-0.142438],[0.029391,-0.148299,0.988506]]nH9BP?&i;¿?v¿֡?in@Inb;nCYybDVDJy%D%%K=ٔ-;Q-->9)Y)=5mGy15A^E5>9Q 5E5=iŠ?Q 9E5=Y)=BYIyM-@Q IMW@=DI=F:i=:=E5yUӱBɮUSA]EPuB*** querying acoustic contact ***q qjygOFNOT Ignoring new targets: 173.37 m.R۹Z۹gO ProNav: ac range: 173.365173 m, nav range: 151.019577 m, bearing: 149.180153 deg, approach rate: -0.634089 m/s, LOS rate: -0.024013 deg/s, cmd heading: 148.653904 deg, new cmd heading: 148.636458 deg. B/gOHeadingCmd: 2.594196 target range: 173.365173 and range: 174.40 m.M&@*" ʎjZ@_@.Bɢ) Yi)=i_+iM&@O;OPE  E E )E "E :*E z:VE FA4ZE a @a @a @a @ (Gh,e!Y@Ar@r&@rٱr( zAHRS rotation from veh to nav: [[-0.858792,-0.509451,-0.054182],[0.511541,-0.846822,-0.145666],[0.028328,-0.152813,0.987849]]rH@9{mM^?`*`1¿? aÿu?ir@Ir}ja;rCY yBy &I iMb@Mb@Mb@ 9Zd;? rh?MbY?yC=A@  A)AYbDVD0yz%<=ٔl ;Q-%>9!Y!=%mGy%4F-CE->1Q 5=55?Q 9=55V)5 BY=?Q EE:yES-@Q IEW@5DI5;i5:5I5yMıBɮM.AI}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012278jqgOFNOT Ignoring new targets: 173.37 m.RIZIgO ProNav: ac range: 173.365173 m, nav range: 150.749802 m, bearing: 149.169399 deg, approach rate: -0.621976 m/s, LOS rate: -0.024839 deg/s, cmd heading: 148.636459 deg, new cmd heading: 148.614912 deg. B5gOHeadingCmd: 2.593820 target range: 173.365173 and range: 174.40 m.$&@*" BʎjZ;A@+Bɢ@) i)15i/i$&@SP;t;B΍CB&IBBBBBbDB[;B^ALM<) = BDAT read: Rx Time:00:57:40.0551 = TRx dataTimestamp_ set to:1761699460.859056M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268605A ؟AI! I9 OE >Q +Nh,]o;Y@Av@v,&@vBٱvi# %AHRS rotation from veh to nav: [[-0.857722,-0.510767,-0.058564],[0.513384,-0.844865,-0.150462],[0.027372,-0.159121,0.986880]]vHur@4X"@m? # WBÿ q?^Ŀ?iv@Ivך`;vCY5By5&I aabDmVDm1y=%S=ٔ!;Q->9"?Y"?=mGy.E>Q 55'?Q 95/T) BYy+-@Q IW@DI;i;M5yɮAj)gOMFNOT Ignoring new targets: 173.37 m.RU,ڹZU,ڹgOe ProNav: ac range: 173.365173 m, nav range: 150.508743 m, bearing: 149.159980 deg, approach rate: -0.609190 m/s, LOS rate: -0.023843 deg/s, cmd heading: 148.614917 deg, new cmd heading: 148.596048 deg. Be.gOmHeadingCmd: 2.593490 target range: 173.365173 and range: 174.40 m.E EE%E"Ea:*E:VE 4ZEBE(ԡ A I I O >Uh, @UY@A<>s@>zi&@>ؼٱ>( JAHRS rotation from veh to nav: [[-0.856685,-0.512078,-0.062185],[0.515160,-0.843127,-0.154103],[0.026483,-0.164053,0.986096]]>Hib֯@0|?ÿ@m? Ŀ@?i>s@I>r`;>CYRxByR&IbDZVDZkyb$%fY=ٔf;Q-f>9hYh=jmGyj5FjEj>DAT read: 00:57:40.0551 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 54, 0.49,-0.509,-2.039,-0.258,-0.611, PHS= 0.204,-1.382, 0.310, RAW= 153.2, 10.6, CAL= 153.0, 11.6, ROT= 357.0, -11.6 %Ygot valid direction response: 00:57:40.0551 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 54, 0.49,-0.509,-2.039,-0.258,-0.611, PHS= 0.204,-1.382, 0.310, RAW= 153.2, 10.6, CAL= 153.0, 11.6, ROT= 357.0, -11.6 %PDAT read: Bearing 317.6, -3.2 (Local) -~Local bearing/azimuth received: Bearing 317.6, -3.2 (Local) 5DAT read: Range 11 to 50 : 172.8 m (Round-trip 230.4 ms) speed 0.2 m/s =*DAT read: user:628> EBDAT read: Tx time:00:57:41.1706 E$Ping request sent.Eir`尿rR>rD +@rq=>r*@ r4QO>)rb@Ir4QOppr Q?h3x9?2A? rX]?)r|?=IrQwVir4QOppu:publishing transmit ping timeAuFpublishing direction and range infoyprIѮM?}?o?YQ 5}5]k?Q 95]rQ)]BYy-@Q IW@]DI];i].;]P5yBɮAEprWY@AJr+CYppppp p)pIpippppp p)pIpppr Q?h3x9?2A? p)pIpipppRr+CjrmA%@rq^zqe@LOI՜!h3EA@rrIѮM?}?o?ZrQwVbr4QOra-R֫*V@yv*C@zriνK`}GmO?sr?2rUB:r "rP2,?*r@5BraBpp“prCCrT&@gO addTargetRange:: Added new target pos. range: 172.800003 m, deltaT: 3.779983 s, deltaX: -1.599991 m, approachRate: -0.423280 m/s, rangeRepo size: 4 gO Added new target pos. range: 171.773514 m, bearing: 147.944476 deg, lat: 36.779184 deg, lon: -121.859580 deg, deltaT: 3.779983 s, deltaX: -1.591660 m, approachRate: -0.421076 m/s, posRepo size: 4 j!gO%FNOT Ignoring new targets: 171.77 m.R-Z)gO} ProNav: ac range: 171.773514 m, nav range: 150.264496 m, bearing: 149.150618 deg, approach rate: 0.000000 m/s, LOS rate: -0.023843 deg/s, cmd heading: 148.596052 deg, new cmd heading: 148.577208 deg. BygOHeadingCmd: 2.593162 target range: 171.773514 and range: 172.80 m.\%@*" ԉʎje@Z>?E EEE"E:*E]t:VEZEa@a@a@a@%Bɢ޼)  i)u!!i%i%\%@-%3R;-" B B &IB BB B B B [;B !EAiIqIO>jY\h,sY@AFV@FjL&@FOѼٱF=* RAHRS rotation from veh to nav: [[-0.855791,-0.513328,-0.064159],[0.516691,-0.842023,-0.155010],[0.025548,-0.165807,0.985827]]FHb/m@l? _ÿ8)?&9ſ?iFV@IF"a;FCYZwByZ&II^=)^=``i=Mb@Mb@Mb@9999 99=n?sh|?? rhY=?y===C9=@ =( A)99Y9bDQVDQye4%e$=ٔm:Q-m>9qYq=umGyu6Fu~iE}>yQ 55}a?Q 95}vN)}BY?Q E:y.@Q IW@} DI};i}R;}T5yƯBɮ:AEj9gOEFNOT Ignoring new targets: 171.77 m.REZEgOu ProNav: ac range: 171.773514 m, nav range: 149.981796 m, bearing: 149.136591 deg, approach rate: -0.579551 m/s, LOS rate: -0.028811 deg/s, cmd heading: 148.577214 deg, new cmd heading: 148.549107 deg. BuRgO}HeadingCmd: 2.592671 target range: 171.773514 and range: 172.80 m.}R%@y*" BʎjZH.?#Bɢd)! %i!)eЂaiimimR%@uR;u#-;IuR%@Iq=9@9 @9@=`4@9E} E}E}#Ey"E}:*E}x:VE}3ZEyBE}+o@23&@2Y-ϼٱ2b)+ :AHRS rotation from veh to nav: [[-0.855015,-0.514529,-0.064880],[0.517986,-0.841188,-0.155217],[0.025287,-0.166320,0.985748]]2H@H\w`X?%ÿ@?Iſ>?i2>@I2Va;2CYBpByF&IJAAJAAbDN VDN:2yV%VX=ٔZ%4:Q-Z>9XYX=ZmGyX^E^>`Q 5f5b?Q 9f5bL)bBYhyj.@Q IjW@bDIb:ibR:bX5ynBɮnAlP~B*** querying acoustic contact ***| |jgO FNOT Ignoring new targets: 171.77 m.R  Z  gO% ProNav: ac range: 171.773514 m, nav range: 149.759369 m, bearing: 149.125650 deg, approach rate: -0.612834 m/s, LOS rate: -0.030189 deg/s, cmd heading: 148.549101 deg, new cmd heading: 148.527187 deg. B%\gO%HeadingCmd: 2.592288 target range: 171.773514 and range: 172.80 m.-%@)*)") )))11ʎ11jZ2?Qe Bɢe)i mii)m»iiim+i}%@};S;};I}%@I 9@  @ @ /@T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ԁ^AUΒ;ԱbEjE4rE0E  E E %E "E ;*E :VE 4ZE a @a @a @a @A .AI I OE > oih,Y@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247871:9%@:&@:Lͼٱ:+ BAHRS rotation from veh to nav: [[-0.854231,-0.515787,-0.065211],[0.519285,-0.840429,-0.154988],[0.025135,-0.166258,0.985762]]:HU@Tੱ?`ÿ?`Gſ`\?i:9%@I:{=a;:CYfnByf&IiUMb@Mb@Mb@QQQQ Q9U5^I ?I +?~jtYU?yU9=UU3AUd@ U A)UAQYUQAbDmVDm:y}]%}==ٔ}T9Q->9 ?Y ?=mGy7F o]E >Q 551?Q 95NI)BY?Q E:y /@Q I%W@DI%;i;[5yMBɮMAMEԩEG\A595\AY5WAj9gO]FNOT Ignoring new targets: 171.77 m.ReZegOu ProNav: ac range: 171.773514 m, nav range: 149.492188 m, bearing: 149.112018 deg, approach rate: -0.558577 m/s, LOS rate: -0.028551 deg/s, cmd heading: 148.527190 deg, new cmd heading: 148.499877 deg. BuQgOHeadingCmd: 2.591812 target range: 171.773514 and range: 172.80 m.?%@*" ߇BʎjZ ?]Bɢe)a eii)F~̻顙ii?%@^S;;I?%@IA5AAA1B9B9B=&IB=BB9B9B9B=[[;B=!Em9@i @i@m/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499755^A X;) E  E E E "E 2:*E i:VE (N3ZE BE !*=ph,jiáY@AYjjByj&I llr=r=bDvVDv2y%-%%A=ٔ-Q-->9-"?Y5"?=5mGy15E=>9Q 5E5=:y?Q 9E5=F)=BYIyIQ IMW@=$DI=:i=:=_5yQɮ]AYjygOFNOT Ignoring new targets: 171.77 m.RZgO ProNav: ac range: 171.773514 m, nav range: 149.249313 m, bearing: 149.099583 deg, approach rate: -0.642375 m/s, LOS rate: -0.032941 deg/s, cmd heading: 148.499883 deg, new cmd heading: 148.474974 deg. B$qgOHeadingCmd: 2.591377 target range: 171.773514 and range: 172.80 m. %@*" ʎjZ?Bɢ0) i)ԻiN?~i %@W T;2-;I %@I5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7517989@ @@0@9^A#2;aAq I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.032835ԑ vh,80ݡY@AF|@F%@FѼٱFx- RAHRS rotation from veh to nav: [[-0.852960,-0.517734,-0.066418],[0.521350,-0.838776,-0.157000],[0.025574,-0.168542,0.985363]]FH`rK@F?@A Ŀ0?`ƒſ?iF|@IFPa;FCYZvByZ&I fp9!Y)=-mGy58FEĻEE>aQ 5}5eRf?Q 95e2D)eBYy.@Q IW@e,DIe;ieF;ec5y5Bɮ=AEED]=D]<Eu EuEu&Eq"Eu:*Eu&p:VEu4ZEqԙa@a@a@a@jgO%FNOT Ignoring new targets: 171.77 m.R%TZ%TgO ProNav: ac range: 171.773514 m, nav range: 149.006882 m, bearing: 149.087373 deg, approach rate: -0.531434 m/s, LOS rate: -0.026810 deg/s, cmd heading: 148.474980 deg, new cmd heading: 148.450519 deg. BCDgOHeadingCmd: 2.590950 target range: 171.773514 and range: 172.80 m.!%@*" ʎjZh@Bɢ%ݼ) i)qv޻!!i%}iM!%@MKT;Msz;IM!%@IQUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2565259@ @@/@^AM X;Bq Bq Bq Bq Bu 4 =Bq Bq Bu [;Bu !E Aq Iy I O >D}h,Y@A.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5076206@6%@6 Ӽٱ61 BAHRS rotation from veh to nav: [[-0.852337,-0.518523,-0.068232],[0.522358,-0.837597,-0.159917],[0.025770,-0.171944,0.984770]]6H@XF`w`'?'xĿ]c?Fƿ`;?i6@I6`;4YJ~ByJ&Ii}Mb@Mb@Mb@yyyy y9}l?|?5^?{GzY}?y}=}ף}zAy } A)}xAyY}\AbDVDy=%<=ٔVQ->9Y=mGy15E>Q 55bR?Q 95A)BY?Q E:y\0@Q IW@4DI;i;f5yɮkAjgOFNOT Ignoring new targets: 171.77 m.R?7Z?7gO ProNav: ac range: 171.773514 m, nav range: 148.754501 m, bearing: 149.072324 deg, approach rate: -0.670565 m/s, LOS rate: -0.040052 deg/s, cmd heading: 148.450514 deg, new cmd heading: 148.420366 deg. BgOHeadingCmd: 2.590424 target range: 171.773514 and range: 172.80 m.%%@!*!"! !!!)-ЇBʎ)11j1Z5@]Bɢem_)a eiaԩ)eA\iM}i%@mT;h;I%@I9@ @@0@E% E%E!E!"E%:*E%:VE!ZE!BE%+) 8h,cY@AY~{By~&II0>)<bD VD yEi%EO=ٔEQ-M>9IYI=MmGyM9FUEU>YQ 5e5]??Q 9e5]R?)]BYayaQ ImW@] BDAT read: Rx Time:00:57:43.7665  TRx dataTimestamp_ set to:1761699464.637067 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264754ah,ƈ+Y@A:@:L%@:׼ٱ:K0 BAHRS rotation from veh to nav: [[-0.851741,-0.519565,-0.067750],[0.523306,-0.837052,-0.159672],[0.026249,-0.171453,0.984843]]:HuAFX?@!pĿ ?,ſԃ?i:@I:C`;:CY^By^&IiEMb@Mb@Mb@AAAA A9EZd;O?MbX?{GzYEj?yE=AEAEM@ A)EAAYEAY]@AbDeVDe!ymŁ<%uH=ٔuQ-u>9yYy=}mGyy:3E>Q 551,?Q 95<)BY?Q E:y/@Q IW@DDI;i:;m5y|BɮAEjgOFNOT Ignoring new targets: 171.77 m.RZgO ProNav: ac range: 171.773514 m, nav range: 148.269333 m, bearing: 149.044474 deg, approach rate: -0.631830 m/s, LOS rate: -0.034896 deg/s, cmd heading: 148.392280 deg, new cmd heading: 148.364574 deg. BsgO}HeadingCmd: 2.589450 target range: 171.773514 and range: 172.80 m.}%@*" ևBʎjZU @ImBɢuzؼ)q uYiq)u?qyi}*|i}%@ T;\J;I%@IB>BύCBBB3 =BBcDB[;B!EB]΍CB]΍CBYBYBYC]í}4a@a @a@eA4@aԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.518386^AM ;ԩ E-  E- E- "E) "E- :*E- Ar:VE- (3ZE) BE- m%Hh,aEY@A2@22%@2ټٱ20 :AHRS rotation from veh to nav: [[-0.851826,-0.519490,-0.067248],[0.523151,-0.837177,-0.159523],[0.026572,-0.171067,0.984901]]2H(B@,7@?@(>kĿ`5?ſ@O?i2@I2R`;0@Y^Byb&IbDjVDj1y<%P=ٔ%5WQ-%>9!Y!=-mGy-:F-9E->1Q 5=55K?Q 9=55A:)5BYAyE/@Q IEW@5LDI5m ;i5h;5Fq5yIɮMAQjqgOuFNOT Ignoring new targets: 171.77 m.R}Z}gO ProNav: ac range: 171.773514 m, nav range: 148.028534 m, bearing: 149.031134 deg, approach rate: -0.612887 m/s, LOS rate: -0.034009 deg/s, cmd heading: 148.364577 deg, new cmd heading: 148.337853 deg. BxgOHeadingCmd: 2.588984 target range: 171.773514 and range: 172.80 m.%@*" ʎjZ8@DAT read: 00:57:43.7665 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 40, 0.30,-1.505,-3.134,-1.216,-1.728, PHS= 0.325,-1.362, 0.467, RAW= 154.0, 6.5, CAL= 153.3, 6.7, ROT= 356.7, -6.7 Ygot valid direction response: 00:57:43.7665 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 40, 0.30,-1.505,-3.134,-1.216,-1.728, PHS= 0.325,-1.362, 0.467, RAW= 154.0, 6.5, CAL= 153.3, 6.7, ROT= 356.7, -6.7  PDAT read: Bearing 311.4, -3.0 (Local)  ~Local bearing/azimuth received: Bearing 311.4, -3.0 (Local) M BɢM޼)I MiI)U]DAT read: Range 11 to 50 : 143.7 m (Round-trip 191.7 ms) speed 0.4 m/s e*DAT read: user:629> mBDAT read: Tx time:00:57:44.8706 m$Ping request sent.miV>,@V=<+@ |=)8@I|ゥQ c[?j?#?Q)i5 |i5%@=T;=;I=%@I9 }?)/IQki|ゥU:publishing transmit ping timeiUFpublishing direction and range infoyC.j#?+f3vEmu"޽?Y )Ii )IQ c[?j?#? )Iԩi-9@) @)@-/@1^AM vт; A .AI I O >pzh,]_Y@AB@B^%@B$ݼٱB;. JAHRS rotation from veh to nav: [[-0.851918,-0.519485,-0.066117],[0.522980,-0.837470,-0.158546],[0.026992,-0.169646,0.985135]]BHB@@?=KĿ ?ſ:?iB@IB}_;@YVByV&I XXhbDzVDzy<%%I=ٔ5Q-5>9E ?YE ?=MmGyQ]9Ee>yE EE$E"Ea:*E&p:VE4ZEa@a@a@a @Q 5U5}X?Q 9]5}7)}BYy/@Q IW@}TDI}[=i}n=}t5ymBɮAIY@AJCRCju#@ s[a@TRU 0@rC.j#?+f3vEmu"޽?ZQkb|^Ț&ea]g#DS@Bjt5@zxMS=ޟ?8a?2B: "V?*:,BʲBV?:,“3 Cmu#@kO}addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 143.699997 m, deltaT: 3.781084 s, deltaX: -29.100006 m, approachRate: -7.696207 m/s, rangeRepo size: 4jygOFNOT Ignoring new targets: 171.77 m.R Z gO ProNav: ac range: 171.773514 m, nav range: 147.774323 m, bearing: 149.016977 deg, approach rate: -0.543999 m/s, LOS rate: -0.030349 deg/s, cmd heading: 148.337857 deg, new cmd heading: 148.309493 deg. B+^gOHeadingCmd: 2.588489 target range: 171.773514 and range: 172.80 m.Ω%@*" ʎj`fa@ZK?E BɢE>ļ)A E>iA)MvIIiMv}iUΩ%@UG=U;U;;i߹I߽AIΩ%@I9@ @@/@)B >B B &IB BB B B B [;B "EQ ^Au ፨;A I I O >h,bJzY@ATYvByv&IiuMb@Mb@Mb@qqqq q9uS?+η?:vYu?yuv=uTqu @ u A)uxAqYq bDVDβy_==%6=ٔQ->9!Y!=%mGy%;F-E->)Q 555-P?Q 9=5-4)-BY={?Q E=:yE9/@Q IEW@-\DI-] ;i-;-x5yaɮedAajgOFNOT Ignoring new targets: 171.77 m.R%Z%gO ProNav: ac range: 171.773514 m, nav range: 147.505478 m, bearing: 149.002572 deg, approach rate: -0.673978 m/s, LOS rate: -0.036176 deg/s, cmd heading: 148.309498 deg, new cmd heading: 148.280637 deg. BigOHeadingCmd: 2.587985 target range: 171.773514 and range: 172.80 m.%@*" BʎjZ%?Bɢb) di)=99i=6~iE%@EU;Ev;IE%@IIE] E]E]%EY"E]:*E] n:VE] 4ZEYBE]&פh,OY@A>@>%@>M?ٱ>d+ FAHRS rotation from veh to nav: [[-0.852130,-0.519411,-0.063927],[0.522588,-0.838047,-0.156779],[0.027859,-0.167004,0.985563]]>HD  ]@ ?`G VĿ?a`ſ?i>@I>]_;9f"?Yf"?=fmGydjɠ:Ej>lQ 5r5n?Q 9r5n2)nBYpyvC/@Q IvW@ndDIn:inF:n{5xy~^Bɮ~'A~EPB*** querying acoustic contact *** j!gO%FNOT Ignoring new targets: 171.77 m.R-`Z-`gO= ProNav: ac range: 171.773514 m, nav range: 147.285690 m, bearing: 148.990707 deg, approach rate: -0.616019 m/s, LOS rate: -0.033305 deg/s, cmd heading: 148.280634 deg, new cmd heading: 148.256869 deg. B=sgOEHeadingCmd: 2.587570 target range: 171.773514 and range: 172.80 m.E%@A*A"A IIIQQʎQQQjYZ]ృ?颕BɢO̼) (^i)r 顱i~i%@{U;5Q;I%@IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.e9@a @i@m0@i!Q^Am[R;E EEE"E:*E:VEZEa@a@a@a@A I I O% >E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489949y h,Y@A2@2z%@2ٱ2O* :AHRS rotation from veh to nav: [[-0.852560,-0.518842,-0.062797],[0.521863,-0.838642,-0.156010],[0.028280,-0.165780,0.985757]]2H,H@[`z@?&`#ÿ ?C8ſR?i2@I2m_;0YBBB&IBBB2 =BBB[;B"EYBy&II )>) >iMb@Mb@Mb@ 9~jt?/$?{GztY?y=ףA p A)KAYfAbDVDfys<%"=ٔo[Q->9Y=mGyQ 55C?Q 95C/)Y!?Q E:y|.@Q IW@mDI:i:[5y Bɮ A Ej1gO5FNOT Ignoring new targets: 171.77 m.R= Z= gOM ProNav: ac range: 171.773514 m, nav range: 146.978867 m, bearing: 148.975564 deg, approach rate: -0.610076 m/s, LOS rate: -0.030174 deg/s, cmd heading: 148.256865 deg, new cmd heading: 148.226514 deg. BM\gOUHeadingCmd: 2.587041 target range: 171.773514 and range: 172.80 m.U%@Q*Q"Q QYYY]̇BʎaaajiZm`?ԉ颕Bɢ0) dNi)_ 顡igOchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.742003i%@V;;I%@I @ @@0@ԹEm  Em Em #Ei "Em :*Em z:VEm 3ZEi BEm 6=h,9Y=mGy|;E>Q 5 5t?Q 9 5G,)Yy.@Q IW@vDI$:i:a5y!ɮ%A!jIgOMFNOT Ignoring new targets: 171.77 m.RUP ZUP gOe ProNav: ac range: 171.773514 m, nav range: 146.698563 m, bearing: 148.961451 deg, approach rate: -0.607969 m/s, LOS rate: -0.030668 deg/s, cmd heading: 148.226511 deg, new cmd heading: 148.198232 deg. Be`gOmHeadingCmd: 2.586547 target range: 171.773514 and range: 172.80 m.m%@i*i"i iqqyyʎyjZWy@颭Bɢ⫼)  Bi) = 项iKi%@zW;yh,bY@A2@24&@2ٱ2 :AHRS rotation from veh to nav: [[-0.853530,-0.518076,-0.055534],[0.520187,-0.841161,-0.147832],[0.029875,-0.155067,0.987452]]2H`Pn`_?%¿?`:ÿ@5?i2@I2^;2C n&C)n`Anٽn1 Flr3Cr`AirQ8Ir\EpItiv`A vYv F)tt v~`AzzEx=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497764y}`AI})}pEiy)yIم`A؅؅F فمCفىiىىiڍCډ)ډ ډIڑYYBy&Ii +G `]A!U9U`]AYUAieMb@Mb@Mb@aaaa a9e~jt?ʡE?~jthYaye=eDeAe7@ eZA)eAaYe=AbD}VD}yn=%>=ٔQ->9Y=mGy=F9E>Q 555?Q 95m))Y?Q E:y-@Q IW@DIJ;i/;"5y BɮAEjgOFNOT Ignoring new targets: 171.77 m.R~Z~gO ProNav: ac range: 171.773514 m, nav range: 146.436874 m, bearing: 148.949308 deg, approach rate: -0.598273 m/s, LOS rate: -0.027812 deg/s, cmd heading: 148.198234 deg, new cmd heading: 148.173904 deg. BKgOHeadingCmd: 2.586123 target range: 171.773514 and range: 172.80 m.%@*" ևBʎj!Z%_-@mBɢm~ӛ)q u"iq)uFqqiuԙB>B΍CB&IBćBB4 =BBbDB[;B!Ei%@X;!|/h,Y@A2{@2 &@2dٱ2= :AHRS rotation from veh to nav: [[-0.853539,-0.518295,-0.053297],[0.520131,-0.841600,-0.145507],[0.030561,-0.151918,0.987921]]2H1P @I?c@¿CK?@ rÿ ?i2{@I2^;2CqYBy&I ==bDVDfy=%K=ٔ޺Q->9Y=mGy_9E>Q 55;?Q 9 5&)BY y -@Q I W@DI;i;5yBɮAEj9gOEFNOT Ignoring new targets: 171.77 m.REZEgOU ProNav: ac range: 171.773514 m, nav range: 146.191574 m, bearing: 148.937871 deg, approach rate: -0.620951 m/s, LOS rate: -0.028998 deg/s, cmd heading: 148.173905 deg, new cmd heading: 148.150995 deg. B]GTgO]HeadingCmd: 2.585723 target range: 171.773514 and range: 172.80 m.]{|%@a*a"a aaaiiʎiiqjqZu @额Bɢ~?) BDAT read: Rx Time:00:57:47.4633 TRx dataTimestamp_ set to:1761699468.165283checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003102i)/项i?΃i%{|%@%jLY;%'"Uh,DY@A2@2&@2mٱ2 :AHRS rotation from veh to nav: [[-0.853835,-0.517980,-0.051604],[0.519595,-0.842095,-0.144557],[0.031423,-0.150241,0.988150]]2HR`K@k?q؀¿?@;ÿ?i2@I2_;2CYUByYbDmVDm1y%Q=ٔ:Q->9Y=mGy>F:E>Q 55w?Q 95($)BYy-@Q IW@DI4:i:5yɮAPB*** querying acoustic contact *** DzD@AE EE%E"E:*E:VE 4ZEa@a@a@a@jgOUFNOT Ignoring new targets: 171.77 m.RZgO ProNav: ac range: 171.773514 m, nav range: 145.952408 m, bearing: 148.926622 deg, approach rate: -0.574125 m/s, LOS rate: -0.027049 deg/s, cmd heading: 148.150997 deg, new cmd heading: 148.128461 deg. BFgOuHeadingCmd: 2.585329 target range: 171.773514 and range: 172.80 m.} v%@y*" ʎ !j)Z-@ @颥BɢE{) xi) .顩i,i v%@WZ;46 BDAT read: Tx time:00:57:48.5706 $Ping request sent.i!A>iw,@ >+@ >)@I/??N*?Տqx'? o?)ʥ IӇim:publishing transmit ping timemFpublishing direction and range infoyB- ύCB- 'IB- ԇBB- 3 =B) B- cDB- [;B- !Ea ^A ԅ#<AAIQIaOm>ʋh,=Y@A 2x@2 &@2n2ٱ2O >AHRS rotation from veh to nav: [[-0.853779,-0.518250,-0.049786],[0.519635,-0.842305,-0.143182],[0.032269,-0.148117,0.988443]]2H'R`} ڠ?*S¿?}¿S?i2x@I2`;2CYFχByF 'IiUMb@Mb@Mb@QQQQ Q9U/$?9Y=mGy?F E>Q 55a?Q 95 )BY?Q E:yo-@Q IW@DI:iU:05yBɮ{AE*Y@AJ CR Cj4#@ K[a@q"̱$3@rnh,uVY@A2@2, &@2Mٱ2T :AHRS rotation from veh to nav: [[-0.853501,-0.518781,-0.049019],[0.520029,-0.841976,-0.143690],[0.033271,-0.148131,0.988408]]2H`Oۙ ? w qd¿?@¿ ?i2@I2,`;2CXYbByb&IIf=)f=bDjVDj0yr%rU=ٔv/+Q-v>9tYx=zmGyxz8Ez>|Q 55~O?Q 9 5~_)~BY y g-@Q I W@~DI~|:i~R:~5y߮BɮAEj9gOEFNOT Ignoring new targets: 140.56 m.REf9ZEf9gOU ProNav: ac range: 140.561127 m, nav range: 138.872849 m, bearing: 146.172203 deg, approach rate: -0.615418 m/s, LOS rate: -0.040522 deg/s, cmd heading: 148.104142 deg, new cmd heading: 148.073386 deg. BUQgO]HeadingCmd: 2.584368 target range: 140.561127 and range: 141.40 m.]Jf%@a*a"a aaaiiʎiiqjqZu?颥Bɢ) ڽi)EI顩i$&iJf%@s\;:v:a Ûh,ypY@AJ@J%@J ٱJo VAHRS rotation from veh to nav: [[-0.853016,-0.519573,-0.049070],[0.520771,-0.841283,-0.145053],[0.034084,-0.149287,0.988206]]JH`K`X `(? ¿s?ÿb?iJ@IJ `;JCY^LJBy^'IAi}Mb@Mb@Mb@yyyy y9}Zd;?Q?y&1|Y}?y}u=}`}A} @ y)yyYybDVD1yF=%?=ٔQ->9Y=mGy@FB>BB)'IBBBBBB[;B!EBύCBύCBBBCd#5E>Q 55;?Q 95?)BY?Q E:y+@Q IW@DI;iK ;U5yɮ^Aj!gO%FNOT Ignoring new targets: 140.56 m.R- Z- gO= ProNav: ac range: 140.561127 m, nav range: 138.604645 m, bearing: 146.157049 deg, approach rate: -0.617907 m/s, LOS rate: -0.034981 deg/s, cmd heading: 148.073392 deg, new cmd heading: 148.043025 deg. B= gOEHeadingCmd: 2.583838 target range: 140.561127 and range: 141.40 m.E]%@A*A"A IIIQULJBʎQQQjYZ]ܳ?颅Bɢ^e) i)aP顙ini]%@];&5ԑE  E E !E "E :*E v:VE c3ZE BE .9`Y`=bmGy`f:kEf>hQ 5n5j)?Q 9n5j)jBYpyr+@Q IrW@jDIj;ij;j5yvЮBɮvAtjgOFNOT Ignoring new targets: 140.56 m.R.Z.gO- ProNav: ac range: 140.561127 m, nav range: 138.376846 m, bearing: 146.144257 deg, approach rate: -0.618550 m/s, LOS rate: -0.034792 deg/s, cmd heading: 148.043025 deg, new cmd heading: 148.017399 deg. B-~gO5HeadingCmd: 2.583391 target range: 140.561127 and range: 141.40 m.5GV%@1*1"1 1999AʎAAAjAZM?uBɢu4N)q }p?iy)}yyi}揍iGV%@Rq^;s( h,y[Y@AE^ E^E^'E\"E^:*E^Ar:VE^'4ZE\ar@ar@ar@ar@@%@ٱ EAHRS rotation from veh to nav: [[-0.851175,-0.522634,-0.048520],[0.523718,-0.839500,-0.144775],[0.034932,-0.148640,0.988274]]H<`kרL?.¿?ÿ`?i@I`;CYUևByU'I YYiMb@Mb@Mb@ 9Zd;O?)\(?{GztYj?yGa=ף A )AY 15p<bD=VD=0yM<%M'=ٔM Q-U>9QYQ=UmGyUAF]E]>aQ 5m5e?Q 9m5e)eBYm ?Q Em:yu]+@Q IuW@eDIe ;ie ;eС5yyɮ}AyPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 140.56 m.R"Z"gO ProNav: ac range: 140.561127 m, nav range: 138.080017 m, bearing: 146.128547 deg, approach rate: -0.606302 m/s, LOS rate: -0.032158 deg/s, cmd heading: 148.017398 deg, new cmd heading: 147.985911 deg. BikgOHeadingCmd: 2.582841 target range: 140.561127 and range: 141.40 m.FM%@*" ևBʎjZ,6@ Bɢ:) i)ji1iFM%@%\_;%[7h,;Y@A6ĭ@6Y%@6يٱ6 # BAHRS rotation from veh to nav: [[-0.850161,-0.524174,-0.049665],[0.525339,-0.838148,-0.146722],[0.035281,-0.150828,0.987930]]6H4 m?`¿`e?@UNÿ?i6ĭ@I6=`;6CYZއByZ'IbDfVDf:2yU1=%Uj=ٔUjQ-]?9YYY=]mGyYeEe?iQ 55m?Q 95m)mBYy=+@Q IW@mDImbh,]ݣY@Ad={@=pq%@=ٱ= AHRS rotation from veh to nav: [[-0.848554,-0.526669,-0.050761],[0.527924,-0.836330,-0.147813],[0.035396,-0.152226,0.987712]]=H`Z'x^?6 ¿@_?!|ÿU?i={@I=l`;9YBy&'IbDVDy<%$=ٔnQ->9 ?Y ?=mGyBF%ƻE%>)Q 555-뿊?Q 955-)-BY1y5 +@Q I5W@-DI-:i-:-?5yE}BɮE]AE|EjigOmFNOT Ignoring new targets: 140.56 m.RuZugO ProNav: ac range: 140.561127 m, nav range: 137.562057 m, bearing: 146.101797 deg, approach rate: -0.626759 m/s, LOS rate: -0.032156 deg/s, cmd heading: 147.963672 deg, new cmd heading: 147.932306 deg. BekgOHeadingCmd: 2.581906 target range: 140.561127 and range: 141.40 m.=%@*" ʎjZ@Bɢ) @;i) ieWi=%@PM`;u;I=%@IEE EEEE#EA"EE:*EEg:VEE3ZEAaM@aM@aM@aM@}9@ @@4@-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012102)^AHB5 >B5 ύCB5 O'IB5 BB1 B1 B1 B5 [;B5 !Eh, Y@A%[@%$Q%@%Sٱ%f!9 =AHRS rotation from veh to nav: [[-0.847509,-0.528058,-0.053696],[0.529594,-0.834515,-0.152035],[0.035473,-0.157288,0.986915]]%H@@~@o?Xuÿ )?"Ŀϔ?i%[@I%W`;%CYUByU"'Ii Mb@Mb@Mb@     9 ~jt?i|?5?~jtxY ?y q= Ļ A  @ ) &@ Y QAbD%VD%ky5%5H=ٔ5GQ-=>9="?Y="?==mGy9EZEE>IQ 5U5M*ٿ?Q 9U5M )MBYUb?Q E]:y]T+@Q I]W@MDIM;iM~ ;Mɬ5yaɮemAajgOFNOT Ignoring new targets: 140.56 m.BDAT read: Rx Time:00:57:51.1603 TRx dataTimestamp_ set to:1761699471.945314checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265397RZgO ProNav: ac range: 140.561127 m, nav range: 137.316467 m, bearing: 146.088703 deg, approach rate: -0.605693 m/s, LOS rate: -0.032351 deg/s, cmd heading: 147.932308 deg, new cmd heading: 147.906073 deg. BlgOHeadingCmd: 2.581448 target range: 140.561127 and range: 141.40 m.r6%@*" ҇BʎjZ F @Bɢw) :i) y  i )ir6%@y`;є;Ir6%@II!)%ZAi@ @@/@E] E]E]%EY"E]&:*E]:VE] 4ZEYBE]^;Y i,-Y@AO?@4%@ٱ@% MAHRS rotation from veh to nav: [[-0.846605,-0.529251,-0.056156],[0.531061,-0.833077,-0.154782],[0.035136,-0.160861,0.986351]]H c |s?@ÿ^?Ŀ0?iO?@I, a;CYBy1'IԡbDVDk1%PExceeded connect timeout, disconnecting.yo=%B=ٔkQ:Q->9Y=mGyCFE>Q 55ſ?Q 95)BYy7+@Q IW@DI:i:y5ynBɮA{EjgOFNOT Ignoring new targets: 140.56 m.RZgO- ProNav: ac range: 140.561127 m, nav range: 137.060760 m, bearing: 146.075217 deg, approach rate: -0.606230 m/s, LOS rate: -0.032032 deg/s, cmd heading: 147.906080 deg, new cmd heading: 147.879058 deg. B-}jgO5HeadingCmd: 2.580976 target range: 140.561127 and range: 141.40 m.5.%@1*1"1 11999ʎ9AAjAZE@M @颕߇Bɢ1)  ]BDAT read: Tx time:00:57:52.2706 ]$Ping request sent.]iB`(>D +@ D>+@ PwV>)T@IPwVml I?`N4?Ʃ(U? a?)aCIQ]iPwV:publishing transmit ping timeYFpublishing direction and range infoy@0qBA?]vOhٜ?Y )Ii )Iml I?`N4?Ʃ(U? )Ii^A y;bEʻ 4jEJ4rEʻ0E}  E} E} #Ey "E} :*E} :VE} 3ZEy a @a @a @a @) A I I O= >- i,*Y@A)@%@ ٱ#'Gvÿ9YA AHRS rotation from veh to nav: [[-0.845899,-0.530234,-0.057513],[0.532216,-0.832177,-0.155651],[0.034670,-0.162274,0.986136]]Hbr?`2^ÿG?@hĿn?i)@I`;CY-By-5'IE=Ea=iMb@Mb@Mb@ 9rh|?Q?9Y=mGyIE>Q 55t?Q 9 5)Y ?Q E :y *+@Q I W@DI:i& ;T5yɮAY@AJ_ CR_ Cj#@km`@=Ga<@r@0qBA?]vOhٜ?ZQ]bPwV1iP\n1bR@CsDA@zŕqt??hUJ?2B:2""˚?*GNwBnB“@BC&#@gOe addTargetRange:: Added new target pos. range: 139.199997 m, deltaT: 3.779996 s, deltaX: -2.199997 m, approachRate: -0.582010 m/s, rangeRepo size: 4 gO} Added new target pos. range: 138.374146 m, bearing: 146.732757 deg, lat: 36.779266 deg, lon: -121.859555 deg, deltaT: 3.779996 s, deltaX: -2.186981 m, approachRate: -0.578567 m/s, posRepo size: 4 jygO}FNOT Ignoring new targets: 138.37 m.RZgO ProNav: ac range: 138.374146 m, nav range: 136.792908 m, bearing: 146.061121 deg, approach rate: 0.000000 m/s, LOS rate: -0.032032 deg/s, cmd heading: 147.879060 deg, new cmd heading: 147.850531 deg. BgOHeadingCmd: 2.580479 target range: 138.374146 and range: 139.20 m.&%@*" ͇Bʎj`ffa@Z?܇Bɢ"ջ) $=i)xi|B>B΍CB['IBBBBBB~[;B!Ei &%@dv`;@;I&%@Ii@ @@/@ԑ^A yb]; A1 IA IQ Om >i,FY@AE  E E 'E"E :*E ^:VE '4ZEBE .Y i,M`Y@A2n@2$@2A2 ٱ2' :AHRS rotation from veh to nav: [[-0.844804,-0.531828,-0.058874],[0.534027,-0.831142,-0.154978],[0.033489,-0.162366,0.986162]]2H @$@?඘Mÿv%?fĿ࣎?i2n@I2`;2CYBByF<'IbDNVDN0ynZ-=%nM=ٔn:Q-r>9pYp=rmGypv^"Ev>xQ 5~5z[?Q 9~5zQ)zBY|y+@Q IW@zDIz;iz;zͺ5y QBɮ gA yEj1gO5FNOT Ignoring new targets: 138.37 m.R=+Z=+gOM ProNav: ac range: 138.374146 m, nav range: 136.342850 m, bearing: 146.037630 deg, approach rate: -0.608153 m/s, LOS rate: -0.031729 deg/s, cmd heading: 147.828680 deg, new cmd heading: 147.803476 deg. BMEhgOUHeadingCmd: 2.579657 target range: 138.374146 and range: 139.20 m.U%@Q*Q"Q QYYYaʎaaajaZm?颕هBɢǝ) q=i)I顙i}i%@T,`;G:I%@IԱE= E=E=%E9"E=:*E=ą:VE= 4ZE9aE@aE@aE@aE@E9@A @I@M~1@I@U=@U=%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236242^Ae; Aa Iq I O >B >B B b'IB BB 5 =B B bDB [;B !E9 i,_zY@A68@6$@6ٱ6ll' BAHRS rotation from veh to nav: [[-0.844266,-0.532566,-0.059904],[0.534929,-0.830606,-0.154739],[0.032652,-0.162685,0.986138]]6H9 @ǫ#?`S{ÿ?Ŀ`p?i68@I61l`;6CYJByJ3'IIN>)NI?PPi%Mb@Mb@Mb@!!!! !9%7A`?Zd;?y&1|Y%?y%y=%`%A%@ !)!!Y%3AbD5VD5J2yE*%MC=ٔMc;Q-M>9IYQ=UmGyUEFU$EU>YQ 5m5]|?Q 9m5]h)YYmX?Q Em:ymQ+@Q ImW@]DI];i];]t5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488292yɮAjgOFNOT Ignoring new targets: 138.37 m.R Z gO ProNav: ac range: 138.374146 m, nav range: 136.097748 m, bearing: 146.024347 deg, approach rate: -0.583915 m/s, LOS rate: -0.031704 deg/s, cmd heading: 147.803477 deg, new cmd heading: 147.776861 deg. BhgOHeadingCmd: 2.579193 target range: 138.374146 and range: 139.20 m.%@*" BʎjZ@g?颽ׇBɢPq) C=i)i*i%@S_;:I%@I9@ @@4@9EM EMEM#EI"EM:*EMxv:VEM3ZEIBEM#$i,i:Y@A YBy='IbD5VD5yE"=%EK=ٔEQ-E>9IYI=MmGyIMEU>QQ 5e5Uj?Q 9e5U)UBYayaQ IeW@UDIU ;iUy;U5yuCBɮu,AuxEjgOFNOT Ignoring new targets: 138.37 m.RZgO ProNav: ac range: 138.374146 m, nav range: 135.861557 m, bearing: 146.011500 deg, approach rate: -0.588828 m/s, LOS rate: -0.032082 deg/s, cmd heading: 147.776866 deg, new cmd heading: 147.751129 deg. BjgO5HeadingCmd: 2.578744 target range: 138.374146 and range: 139.20 m.5# %@1*1"9 9999AʎAAAjAZM@;?ՇBɢ׍) X=i)Գi]i# %@y_; :I # %@I ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.9921489@ @@4@ԙ^A?B:AZAzAZAEe  Ee Ee )Ea "Ee :*Ee :VEe FA4ZEa am @am @am @am @ A I I OE >= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244189*i,Y@A2v@2 $@2+ٱ2) BAHRS rotation from veh to nav: [[-0.843853,-0.532931,-0.062423],[0.535661,-0.829914,-0.155915],[0.031287,-0.165007,0.985796]]2H@ @@#$?ৎÿ`?`ſ@?i2v@I2:V`;0PYZByZ;'IiMb@Mb@Mb@ 95^I ?I +?:vY?y9=T -A)Y AbD-VD-k1y=Yû%=;=ٔEM;Q-E>9AYA=EmGyMFFM4EM>QQ 5]5UV?Q 9]5U)UBYe?Q Ee:ye-@Q IeW@U DIU":iUL:U5yiɮm1AijgOFNOT Ignoring new targets: 138.37 m.RCZCgO ProNav: ac range: 138.374146 m, nav range: 135.603073 m, bearing: 145.992862 deg, approach rate: -0.591909 m/s, LOS rate: -0.042761 deg/s, cmd heading: 147.751130 deg, new cmd heading: 147.713783 deg. BgOHeadingCmd: 2.578092 target range: 138.374146 and range: 139.20 m.u$@*" BʎjZ@@uӇBɢuΉ)q u8=iy)},yyi}Yiu$@@v_;5:Iu$@B >BBn'IB BBBBB[;B"EBU΍CBU΍CBQBQBU4 =CUbm5I@ @@/@@ZA@ZAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.496236^A ] ;! A I I O% >E]  E] E] #EY "E] 2:*E] n:VE] 3ZEY BE] *9Y=mGy5׺E>QQ 5]5UC?Q 9e5U)UBYaye-@Q IeW@UDIU:iUs:UY5ym4BɮmAqPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 138.37 m.RcCZcCgO ProNav: ac range: 138.374146 m, nav range: 135.361862 m, bearing: 145.975469 deg, approach rate: -0.591195 m/s, LOS rate: -0.042705 deg/s, cmd heading: 147.713783 deg, new cmd heading: 147.678935 deg. BOgOHeadingCmd: 2.577484 target range: 138.374146 and range: 139.20 m.~$@*" ʎjZ)@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748295чBɢM)  D=i )   i i~$@=_;+:I~$@I9@ @@@9^A?B:i  BDAT read: Rx Time:00:57:54.8574  TRx dataTimestamp_ set to:1761699475.473193 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001341A .AI I O- >}8i,Y@AB@BQ$@BٱB( NAHRS rotation from veh to nav: [[-0.843477,-0.533547,-0.062239],[0.536270,-0.829713,-0.154890],[0.031001,-0.164023,0.985969]]BHݯ@)?oÿ?@Ŀ`?iB@IBy_;BCYVByV<'IbD^VD^yf߼%f`=ٔjc9Q-j>9j ?Yj ?=nmGynGFnv;Er>pQ 5v5r3?Q 9v5r)rBYxyxQ IzW@rDIr:ir:rp5y|ɮAj!gO-FNOT Ignoring new targets: 138.37 m.R-DZ-DYgO ProNav: ac range: 138.374146 m, nav range: 135.152451 m, bearing: 145.960322 deg, approach rate: -0.593108 m/s, LOS rate: -0.042965 deg/s, cmd heading: 147.678935 deg, new cmd heading: 147.648595 deg. BBgOHeadingCmd: 2.576954 target range: 138.374146 and range: 139.20 m.$@*" ʎjZ @-ЇBɢ-lMW)1 5=iQ)U(QQi]{i]$@]0_;e ;Ie$@IaE EE%E"E:*Ega:VE 4ZEa-@a-@a-@a-@ 9@  @ @ /@ ԉchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.254710Թ^AIAU?AQB B B h'IB BB 3 =B B cDB \;B '"EA} ؟AI I O > 8>i,Y@AYpytchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.507915iMb@Mb@Mb@ 9^I +?+?:vYX?y=@ A)YAbDMVDMyE0;%U)=ٔ]Q-e>9u"?Yu"?=umGyuHF}E}>Q 55 ?Q 95z)BY?Q E:y,@Q IW@!DIr#;i{!;5yBɮAmEjgOFNOT Ignoring new targets: 138.37 m.R/Z/gO- ProNav: ac range: 138.374146 m, nav range: 134.860245 m, bearing: 145.941315 deg, approach rate: -0.589047 m/s, LOS rate: -0.038399 deg/s, cmd heading: 147.648595 deg, new cmd heading: 147.610499 deg. B5gO5HeadingCmd: 2.576289 target range: 138.374146 and range: 139.20 m.=$@9*9"9 999AEBʎAiijiZmf @颽͇Bɢ7g) Ȩ=i)fi=i$@^;.E.;I$@IE- E-E-'E)"E-:*E-:VE-'4ZE)BE-.  BDAT read: Tx time:00:57:55.9706  $Ping request sent. i S > +@ > t*@  0 >) @I 0    .?T?d7?  W?) kdI 9i 0    :publishing transmit ping time  Fpublishing direction and range infoy  ?Öayjȗ?Y      ) I i      ) I    .?T?d7?  ) I i   ^A ;A A5 .AI9 II O] >hEi,Y@A%@%$@%21ٱ% " ]AHRS rotation from veh to nav: [[-0.841741,-0.536525,-0.060104],[0.539052,-0.829051,-0.148652],[0.029926,-0.157526,0.987061]]%H`7+Ů??` ÿ`?@)Ŀ?i%@I%@_;%CYmBy='II=)=AbDVD3y;%Q=ٔ5;Q->9 ?Y ?=mGyy E> Q 55 & ?Q 95 ) BYy,@Q IW@ (DI :i : 5y%Bɮ%A!9=ϡY@AJ=/CR=/Cj=!#@=R*`@r z7Dշ2@r=?Öayjȗ?Z=9b=0 =r?W[ҳŏR@x7@z=tJA%݉6I??2=ܕB:="=.j?*=?@9B=B=.j?=jXi5“=B=>C=U#@gO addTargetRange:: Added new target pos. range: 137.000000 m, deltaT: 3.780166 s, deltaX: -2.199997 m, approachRate: -0.581984 m/s, rangeRepo size: 4 gO Added new target pos. range: 136.186584 m, bearing: 146.043392 deg, lat: 36.779269 deg, lon: -121.859559 deg, deltaT: 3.780166 s, deltaX: -2.187561 m, approachRate: -0.578694 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 136.19 m.RZgO ProNav: ac range: 136.186584 m, nav range: 134.244583 m, bearing: 145.982301 deg, approach rate: 0.000000 m/s, LOS rate: -0.038399 deg/s, cmd heading: 147.610497 deg, new cmd heading: 147.580126 deg. BgO-HeadingCmd: 2.575759 target range: 136.186584 and range: 137.00 m.-=$@)*)") ))111ʎ199j= a@Z=?颵ˇBɢh*) =i)?项i"i=$@)^;7I=$@I99@ @@0@iD!zD%?AE- E-E-!E)"E- :*E-Z:VE-c3ZE)a5@a5@a=@a=@^A yb];y A I I O >mLi,_2Y@A^@^.$@^ٱ^T ! nAHRS rotation from veh to nav: [[-0.841301,-0.537256,-0.059736],[0.539740,-0.828763,-0.147760],[0.029877,-0.156552,0.987218]]^H21E?9¿`2?@ Ŀ`I?i^@I^_;\YzByz2'Ii}Mb@Mb@Mb@yyyy y9}Zd;?(\µ?BBBB6 =BBbDB\;B+"EyE,%M==ٔM8Q-M>9IYQ=UmGyUIFUEU>YQ 5e5]L?Q 9m5])]BYmt?Q Em:ym"-@Q ImW@]1DI]P:i]:]5yqɮ} AyjgOFNOT Ignoring new targets: 136.19 m.R@Z@gO ProNav: ac range: 136.186584 m, nav range: 133.987839 m, bearing: 145.964883 deg, approach rate: -0.617712 m/s, LOS rate: -0.041987 deg/s, cmd heading: 147.580130 deg, new cmd heading: 147.545227 deg. BgOHeadingCmd: 2.575150 target range: 136.186584 and range: 137.00 m.B$@*" BʎjZ N?ɇBɢvc) =i)M  i ݼiB$@$$^;L9IB$@I9@ @@4@9^A"AzAE  E E "E "E *E g:VE (3ZE BE J"ԁ Ri, LY@A2g@2$@2Yٱ2h:! :AHRS rotation from veh to nav: [[-0.840901,-0.537855,-0.059988],[0.540367,-0.828341,-0.147835],[0.029823,-0.156730,0.987191]]2H`6 J?ā`A¿ ?Ŀ?i2g@I2^;2CYBByF:'IbDNVDN1yn=%rf=ٔr9Q-r>9r"?Yv"?=vmGytv| Ev>xQ 5~5z澊?Q 95z)zBYy-@Q IW@z8DIzY;izv;z5y Bɮ AlEP-B*** querying acoustic contact ***) )j1gO=FNOT Ignoring new targets: 136.19 m.RE:ZE:gOe ProNav: ac range: 136.186584 m, nav range: 133.775131 m, bearing: 145.950471 deg, approach rate: -0.599107 m/s, LOS rate: -0.040658 deg/s, cmd heading: 147.545227 deg, new cmd heading: 147.516357 deg. BeДgOmHeadingCmd: 2.574646 target range: 136.186584 and range: 137.00 m.u$@qT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*q" ʎjZ@A?LJBɢ  ) @=i)n7 i΍i%$@-D];-ʪȷQI5$@I@ @@ 4@@[A@\Aԁ^A9Ա5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240598A .AI I O- > Yi,eY@A2"@2y$@2ٱ2& :AHRS rotation from veh to nav: [[-0.840626,-0.538349,-0.059402],[0.540790,-0.828223,-0.146947],[0.029910,-0.155651,0.987359]]2Hg`(:@i@'N?̀&¿@Ϡ?bÿ@r?i2"@I2^;2CYFByFE'I HHbDNVDN:3yV2=%VN=ٔZeQ-Z>9Z ?YZ ?=ZmGy\^dE^>`Q 5f5bkԾ?Q 9f5b)bBYhyj-@Q IjW@b?DIbg:ib:bo5ylɮnApjgOFNOT Ignoring new targets: 136.19 m.RJ3ZJ3bE)jE- 4rE-v0E EE%E"E*Ez:VE 4ZEa@a@a@a@gO ProNav: ac range: 136.186584 m, nav range: 133.536575 m, bearing: 145.934300 deg, approach rate: -0.577062 m/s, LOS rate: -0.039187 deg/s, cmd heading: 147.516363 deg, new cmd heading: 147.483964 deg. BngOHeadingCmd: 2.574081 target range: 136.186584 and range: 137.00 m.$@*" 199ʎ9AAjAZE?颍ŇBԹɢk[) $=i) i»i%$@ o>ېCA];]cGiߙIߝAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.496775=Fj8I=$@M9IYMnAIi9@ @@-4@B >BBBB4 =BBB[;B"E ^A= E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744778I I9 II Om >i}`i,Y@ABhr@Bg$@BPٱB! JAHRS rotation from veh to nav: [[-0.840036,-0.539183,-0.060178],[0.541697,-0.827423,-0.148106],[0.030063,-0.157012,0.987139]]BH@ϮU?`@z ¿Ȟ?`Ŀ?iBhr@IB^;@YRByVB'Ia @a  a @a  a @a  a @a  bDVDy%%%3=ٔ-4Q-->9)Y)=5mGy5JF5E5>9Q 5E5=R?Q 9E5=)=BQ AM+:YIQ EM:yM,@Q IMW@=HDI=;i=A>=5yUBɮ]kA]kEjgOFNOT Ignoring new targets: 136.19 m.R a9Z a9gO= ProNav: ac range: 136.186584 m, nav range: 133.263367 m, bearing: 145.915846 deg, approach rate: -0.598653 m/s, LOS rate: -0.040518 deg/s, cmd heading: 147.483961 deg, new cmd heading: 147.446978 deg. B=MgOEHeadingCmd: 2.573435 target range: 136.186584 and range: 137.00 m.E*$@A*A"A AAIIIʎIQqjqZu #?‡Bɢd) =i)i38ƻi*$@\;I*$@IE EE&E"E:*E:VE4ZEBE<A>I I O >y Yfi,\蛥Y@A2Da@2V$@2'ٱ2kE" :AHRS rotation from veh to nav: [[-0.839469,-0.540001,-0.060744],[0.542576,-0.826752,-0.148637],[0.030044,-0.157734,0.987024]]2H `G@\?`tÿÞ? 0Ŀ`?i2Da@I2]^;2CYBByF6'IbDNVDN ynIE%nO=ٔrQ8Q-r>9pYt=vmGyvKFv-Ev>xQ 5~5z?Q 9~5z)zBQ A :YQ Ee:y,@Q IW@zPDIz ;iz)Z?z5y Bɮ _AjEj1gO=FNOT Ignoring new targets: 136.19 m.R=9AZE9AgOM ProNav: ac range: 136.186584 m, nav range: 133.026733 m, bearing: 145.899915 deg, approach rate: -0.626166 m/s, LOS rate: -0.042232 deg/s, cmd heading: 147.446982 deg, new cmd heading: 147.415062 deg. BUgOUHeadingCmd: 2.572878 target range: 136.186584 and range: 137.00 m.U $@Y*Y"Y aaaaaʎiiijiZuC@额Bɢl) p=i)顡i5Ȼi $@@\;cFI $@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.249109QU9@Q @Q@U/@Q@]=@]=ԁE EEE"E :*E:VEZEa@a@a@a@^A"II9Oe> checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503818 li,õY@AB6 >B4B4B4B4B4B4B6[;B6!EB4Z@BO$@BٱBS2" JAHRS rotation from veh to nav: [[-0.839234,-0.540371,-0.060709],[0.542936,-0.826524,-0.148589],[0.030116,-0.157662,0.987034]]BH J7_?rÿ ֞?@E.ĿǕ?iB4Z@IB^;BCYRByR:'IIV;>)Va=aa aa aa aa iMb@Mb@Mb@ 9Q?ʡE? rhY?y-=ClAl@ A)@YAAAbDVDkye<%==ٔ:0Q->9Y=mGy΂E>Q 55?Q 95=)BQ AT:Yx?Q E:yX-@Q IW@XDI>;i;5yɮSAj gOFNOT Ignoring new targets: 136.19 m.R<Z<gO- ProNav: ac range: 136.186584 m, nav range: 132.774582 m, bearing: 145.882120 deg, approach rate: -0.583879 m/s, LOS rate: -0.041283 deg/s, cmd heading: 147.415058 deg, new cmd heading: 147.379401 deg. B-gO-HeadingCmd: 2.572256 target range: 136.186584 and range: 137.00 m.5ן$@1*1"1 1199={Bʎ9AAjAZE{@mBɢuРI)q u=iq)}*Cyyi}#K̻iן$@.[; Iן$@I-9@) @)@50@1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752523^AM"5IIO>i E  E E $E "E :*E ~:VE 4ZE BE 39Y=mGyLF#E>Q 55?Q 95)BYyI-@Q IW@`DI+;iz;'5y~BɮAiEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 136.19 m.RN<ZN<gO ProNav: ac range: 136.186584 m, nav range: 132.543381 m, bearing: 145.865837 deg, approach rate: -0.583348 m/s, LOS rate: -0.041157 deg/s, cmd heading: 147.379404 deg, new cmd heading: 147.346780 deg. BgOHeadingCmd: 2.571687 target range: 136.186584 and range: 137.00 m.u$@q*q"q qyyyyʎjZ E@BɢG9) |=i)iϻi$@[;{{I$@Iԉ9@ @@0@Թchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.255940^AA zA \AI I O > yi,zY@AE2 E2E2(E0"E2:*E2B:VE2c44ZE0a:@a:@a:@a:@>+=@>2$@>¶ٱ>" FAHRS rotation from veh to nav: [[-0.838273,-0.541824,-0.061033],[0.544425,-0.825588,-0.148346],[0.029990,-0.157582,0.987050]]>H"`V@?k?6k¿?@+Ŀ?i>+=@I>^;>CYRByR>'IbDZ VDZ2`yr9%rU=ٔz:Q-z>9Y = mGy%+E%>AQ 55Eu?Q 95E)EBYy;-@Q I%X@EgDIE BDAT read: Tx time:00:57:59.6705 gO ProNav: ac range: 136.186584 m, nav range: 132.313232 m, bearing: 145.849659 deg, approach rate: -0.466190 m/s, LOS rate: -0.032826 deg/s, cmd heading: 147.346783 deg, new cmd heading: 147.314372 deg. BMpgOHeadingCmd: 2.571121 target range: 136.186584 and range: 137.00 m.>$@*" ʎ$Ping request sent.ie9er>eJ*@eϢ=e)@jE`f`@ZE0b? ew>)e@Iewaaeg?e-?uI? e3H?)eXIeQ iewaam:publishing transmit ping timemFpublishing direction and range infoyaeb^$?i)Ȅ顱iBӻaeg?e-?uI? a)aIaiaaai%>$@%qfZ;% I%>$@I)Be >BaBaBaBe5 =BaBaBe[;Be!EB)B)B)B-4 =B-5 =C-~59@ @@70@@@I ^A #2?q A I I O>&i,Y@A25@2+$@2=ٱ2ԓ# :AHRS rotation from veh to nav: [[-0.838035,-0.542092,-0.061921],[0.544796,-0.825141,-0.149468],[0.029932,-0.158994,0.986826]]2H-X`n?@g@!ÿ?YĿ?i25@I2F^;2CE EE!E"E:*Exv:VEc3ZEBE+9aYa=emGyeMFmWEm>qQ 5}5u]?Q 9}5uQ)uBY}?Q E}:y} ,@Q I}X@urDIu;iu;u@5yqBɮǍAY@AJCRCjW'#@I.`@QaC-wsJ1@rb^$?BB?@9“BC5"@gO addTargetRange:: Added new target pos. range: 134.699997 m, deltaT: 3.530266 s, deltaX: -2.300003 m, approachRate: -0.651510 m/s, rangeRepo size: 4 gO Added new target pos. range: 133.898956 m, bearing: 146.062767 deg, lat: 36.779269 deg, lon: -121.859561 deg, deltaT: 3.530266 s, deltaX: -2.287628 m, approachRate: -0.648004 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 133.90 m.R Z gO= ProNav: ac range: 133.898956 m, nav range: 131.894257 m, bearing: 145.890940 deg, approach rate: 0.000000 m/s, LOS rate: -0.032826 deg/s, cmd heading: 147.314367 deg, new cmd heading: 147.283624 deg. B9gOEHeadingCmd: 2.570584 target range: 133.898956 and range: 134.70 m.Es$@A*A"A AIIIMuBʎQQQjqZ}@?ԱBɢ:) >i)Ii0c׻i5s$@=ĸY;=OI=s$@I99@ @@o0@^A ?Bɺ A%؟AI)I9OU>hՈi, %Y@A2:@2/$@2ٱ2ï$ :AHRS rotation from veh to nav: [[-0.838163,-0.541863,-0.062186],[0.544578,-0.825085,-0.150563],[0.030276,-0.160061,0.986643]]2H < V`֯`/m?g Eÿ?@|Ŀ?i2:@I2^;0@B_Ai@I@DIDiD DD)DH Jq@HHHLLIL)LiL)PIR^APP PV3CV-^AV/ݽiVT FTiVLCZ(^A)ZȽ XIXYXY^BybG'IbDjVDjβyr3;t%vR=ٔvgQ-v>9z"?Yz"?=zmGyx~*:E~>Q 5 5J?Q 9 5)BYy$,@Q IX@yDI;i ;5ydBɮAhEjAgOMFNOT Ignoring new targets: 133.90 m.RM?ZM?gO] ProNav: ac range: 133.898956 m, nav range: 131.658096 m, bearing: 145.876098 deg, approach rate: -0.666331 m/s, LOS rate: -0.041951 deg/s, cmd heading: 147.283617 deg, new cmd heading: 147.253881 deg. B]gOeHeadingCmd: 2.570065 target range: 133.898956 and range: 134.70 m.e{$@a*i"i iiiqqʎqqqjyZ}?%Bɢ%$v;)! -2>i))-*))i-ڻi5{$@5OY;5HI5{$@I9E EE#E"Ea:*E~:VE3ZEa@a@a@a@9@ @@4@ A^AΒ{A>A>B<A<BB͍CBn'IB BB7 =BBB[;B!EA- .AI1 II OU >i Yi,A>Y@AY=ByEM'IYiMb@Mb@Mb@ 9bX9?/$? rhYE?y=CAV@ A)@YbDVDy<%<=ٔQ->9 ?Y ?=mGyNFE> Q 55 M7?Q 95 ) BY?Q E:y,@Q IX@ DI i)H!!i%^޻i%q$@-X;-9I-q$@I1ԉ9@ @@/@@=@=E EE%E"EV:*Exv:VE 4ZEBE96ܕi,WXY@A2Z;@20$@2ٱ2fD% :AHRS rotation from veh to nav: [[-0.838194,-0.541826,-0.062093],[0.544505,-0.825001,-0.151287],[0.030745,-0.160618,0.986538]]2H{Vʯ@l?hf`b]ÿ{?!Ŀ?i2Z;@I2&^;2CY% By-S'II5C>)5u?11bD=VD=yM<%MU=ٔU{Q-U>9U"?YU"?=]mGyYerT9Ee>iQ 5u5m%?Q 9u5m!)mBYqy},@Q I}X@mDIm;im;m5y!BɮZAPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 133.90 m.ԹRp>Zp>gO ProNav: ac range: 133.898956 m, nav range: 131.178360 m, bearing: 145.843347 deg, approach rate: -0.607381 m/s, LOS rate: -0.041623 deg/s, cmd heading: 147.219072 deg, new cmd heading: 147.188263 deg. BYgOHeadingCmd: 2.568920 target range: 133.898956 and range: 134.70 m./i$@*" ʎjZ`?BɢF_;) <>i)i%i%/i$@-X;-u':I-/i$@I)9@ @@/@5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.^Arg:DD<E  E E #E "E :*E :VE 3ZE a @a @a% @a% @A I I! O- >A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971899 i,BU΍CBU{'IBU*BBU4 =BQBUcDBU[;BU"EYBy_'Ii5Mb@Mb@Mb@1111 195㥛 ?+?MbY5?y5=55A5(@ 5A)11Y5AbDMVDM:2y]=%]"=ٔejQ-e>9aYa=mmGymOFm Em>qQ 5}5u[?Q 9}5u)qY?Q E:yp,@Q IX@uDIu ;iu ;u75yBɮA]EjgOFNOT Ignoring new targets: 133.90 m.R/Z/gO ProNav: ac range: 133.898956 m, nav range: 130.884201 m, bearing: 145.824031 deg, approach rate: -0.583098 m/s, LOS rate: -0.038376 deg/s, cmd heading: 147.188268 deg, new cmd heading: 147.149549 deg. BvgOHeadingCmd: 2.568244 target range: 133.898956 and range: 134.70 m.^$@*" ʎjZw@9Bɢ;) W>i)ii^$@5L X;5S:I5^$@I9=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221725@ @@/@@ZA@a^A ԑ A zA ZAE  E E %E "E :*E :VE 4ZE BE J"]ţi,яY@A>5@><+$@>fٱ> FAHRS rotation from veh to nav: [[-0.837989,-0.542497,-0.058922],[0.544786,-0.825512,-0.147436],[0.031343,-0.155650,0.987315]]>H`"\ +n?@j2¿, ?Vÿ`?i>5@I>~^;>C L)LN/ݽN# FLPR`AiRIPTITiV`A V\V F)TX Z`AZ#XX\^`AI^#)\i\)`Ib`Ab'`` ddddihhihh)h hIhYlvchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.473279YrByzc'IbDVD:y<%j=ٔeܹQ->9Y=mGy NE%>)Q 555-?Q 955-e)-BY9y=l,@Q I=X@-DI-:i-:-G5yAɮEAIjgOFNOT Ignoring new targets: 133.90 m.R'(Z'(gO% ProNav: ac range: 133.898956 m, nav range: 130.680023 m, bearing: 145.810590 deg, approach rate: -0.557443 m/s, LOS rate: -0.036753 deg/s, cmd heading: 147.149554 deg, new cmd heading: 147.122631 deg. B%gO-HeadingCmd: 2.567774 target range: 133.898956 and range: 134.70 m.-jV$@)*)") )1111ʎ19yjyZ}T@BɢRA<) c>i)Si)ijV$@W;̞:IjV$@Iu9@q @q@u/@q!^A1checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726182I I) O5 >I i, zY@A6?2@6'$@6;Vٱ6I BAHRS rotation from veh to nav: [[-0.837863,-0.542890,-0.057063],[0.544953,-0.825764,-0.145399],[0.031815,-0.152921,0.987726]]6HZ_]7@p?lp¿@J?ÿs?i6?2@I6^;4bEJ4jE4rE 0E% E%E%#E!"E%f;*E%x:VE%3ZE!a-@a-@a5@a5@Y5By5m'IA IIM=M=bDU VDU2ye'=%eF=ٔmcQ-m>9iYi=umGyuPFuEu>yQ 55}C?Q 95})yYyj,@Q IX@}DI}1:i}:}5yBɮA\EjgOFNOT Ignoring new targets: 133.90 m.RW7ZW7gO ProNav: ac range: 133.898956 m, nav range: 130.440384 m, bearing: 145.794773 deg, approach rate: -0.606017 m/s, LOS rate: -0.040072 deg/s, cmd heading: 147.122630 deg, new cmd heading: 147.090938 deg. BgOHeadingCmd: 2.567221 target range: 133.898956 and range: 134.70 m.ZM$@*" ʎj+G!IZ@9Y}A5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981065qeBɢe[><)a e>x>ii)m߻iiim=iuZM$@uӕW;u":IuZM$@IyB>BύCB'IB9BB3 =BBB[;B!EQ@Y @Y@Y@Yԑ ^A 0:: BDAT read: Rx Time:00:58:02.2515  TRx dataTimestamp_ set to:1761699483.033206 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230333IA IQ Oe >DҰi,qæY@AB,@B!$@BٱB, ^AHRS rotation from veh to nav: [[-0.837648,-0.543456,-0.054787],[0.545260,-0.826058,-0.142546],[0.032210,-0.149276,0.988271]]BHc r?o`>¿}?@zÿ ?iB,@IBy_;BCYm$Bymt'IԉiMb@Mb@Mb@ 9A`"?333333?MbpY?y= A@ bA)Y@bD VD 1ya<%>=ٔ%yqQ-%>9!Y)=-mGy)-dE->1Q 5=55ٽ?Q 9=55)5BYEJ?Q EE:yE+@Q IEX@5DI5C ;i5e ;5 5yIɮMAQjqgO}FNOT Ignoring new targets: 133.90 m.R}{,Z}{,gO ProNav: ac range: 133.898956 m, nav range: 130.184357 m, bearing: 145.778627 deg, approach rate: -0.596621 m/s, LOS rate: -0.037699 deg/s, cmd heading: 147.090938 deg, new cmd heading: 147.058582 deg. BgOHeadingCmd: 2.566656 target range: 133.898956 and range: 134.70 m.D$@*" lBʎjZ` @UBɢU*O<)]T ]4>iY)]ٻ顙i#iD$@dW;v:ID$@IE- E)E)E)"E-s:*E)VE)ZE)BE-e0 i,D0ݦY@A2["@2$@2ٱ2C :AHRS rotation from veh to nav: [[-0.837316,-0.544099,-0.053460],[0.545754,-0.826024,-0.140843],[0.032473,-0.147106,0.988587]]2HKAi_@v?n$¿T?^¿@?i2["@I2C_;2CYF(ByFx'IbDNVDN:2yV<%Vf=ٔVNBQ-Z>9XYX=ZmGyZQF^ۺE^>`Q 5f5bwɽ?Q 9j5b,)bBYhyj+@Q IjX@bDIb:ib_:b5yBɮ%JA%[EPEB*** querying acoustic contact ***A AjIgOUFNOT Ignoring new targets: 133.90 m.RU(ZU(gO ProNav: ac range: 133.898956 m, nav range: 129.972290 m, bearing: 145.765257 deg, approach rate: -0.581789 m/s, LOS rate: -0.036741 deg/s, cmd heading: 147.058576 deg, new cmd heading: 147.031792 deg. BzgOHeadingCmd: 2.566189 target range: 133.898956 and range: 134.70 m.p<$@*" ʎjZ` @-Bɢ-T[<)) 5v>i1)UhӻQQi]1fi]p<$@]/W;eA:Iep<$@IaDAT read: 00:58:02.2515 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 416,-0.18, 2.370, 0.748, 2.629, 2.223, PHS= 0.249,-1.429, 0.362, RAW= 153.2, 9.4, CAL= 152.9, 10.2, ROT= 357.1, -10.2 Ygot valid direction response: 00:58:02.2515 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 416,-0.18, 2.370, 0.748, 2.629, 2.223, PHS= 0.249,-1.429, 0.362, RAW= 153.2, 9.4, CAL= 152.9, 10.2, ROT= 357.1, -10.2 PDAT read: Bearing 312.9, -2.7 (Local) ~Local bearing/azimuth received: Bearing 312.9, -2.7 (Local) DAT read: Range 11 to 50 : 132.6 m (Round-trip 176.9 ms) speed 0.5 m/s *DAT read: user:634> BDAT read: Tx time:00:58:03.3705 $Ping request sent.iuy鶿uX>uD +@u'>u{*@ uK6>)u8q@IuK6qqu2vg?k>:1L?d? u5x?)uX(IuQQOiuK6qq:publishing transmit ping timeFpublishing direction and range infoyqu,眅4t?ƥ5~ki?Yqqqqq q)qIqiqqqqq q)qIqqqu2vg?k>:1L?d? q)qIqiqqq@ @@4@!IiIyO8>EE EEEE&EA"EE:*EEi:VEE4ZEAaM@aM@aM@aM@Yi1 I1 ԁ i, Y@AB4B4B6'IB6HBB61 =B4B4B6[;B6"EB@B$@B^nٱB JAHRS rotation from veh to nav: [[-0.837026,-0.544562,-0.053295],[0.546208,-0.825836,-0.140185],[0.032326,-0.146449,0.988690]]BH` mI@z??m`?Ծ¿ Y?iB@IB^;BCYn0Byn'IIr=)rC=imMb@Mb@Mb@iiii i9mMb?Q?{GztYm ?ymu=mףim?@ mA)md@iYibDVDk2yS=%7=ٔ^9Q->9Y= mGy  E >Q 55y?Q 9%5)BY%@!?Q E%:y%*@Q I%X@DI":i*:5y)ɮ5*A1QTY@AJCRCj"@82`@Q@JA.`BW7@r,眅4t?ƥ5~ki?ZQQObK6",ڡZ: :R@"Y:<@zk0S?|58i?2ՑB:="mPƚ?*;BB=Z?;“B,CY"@gO addTargetRange:: Added new target pos. range: 132.600006 m, deltaT: 3.777490 s, deltaX: -2.099991 m, approachRate: -0.555922 m/s, rangeRepo size: 4 gO Added new target pos. range: 131.814667 m, bearing: 145.505873 deg, lat: 36.779274 deg, lon: -121.859562 deg, deltaT: 3.777490 s, deltaX: -2.084290 m, approachRate: -0.551766 m/s, posRepo size: 4 jgOFNOT Ignoring new targets: 131.81 m.RZgO ProNav: ac range: 131.814667 m, nav range: 129.174622 m, bearing: 145.632657 deg, approach rate: 0.000000 m/s, LOS rate: -0.036741 deg/s, cmd heading: 147.031788 deg, new cmd heading: 146.999245 deg. BgOHeadingCmd: 2.565621 target range: 131.814667 and range: 132.60 m."3$@*" xBʎj@3`@Z`_?Bɢ[\<) G>i)6.˻i}i "3$@ (V;:I"3$@IE9@A @A@E/@IԉIIOE>ԩEM  EM EM 'EI "EM :*EM Ar:VEM '4ZEI BEM 69Y=mGyRF E >Q 55?Q 95۶)BYy)@Q IX@DIL;ij;5y-Bɮ-A-ZEjQgOUFNOT Ignoring new targets: 131.81 m.R]Z]gOm ProNav: ac range: 131.814667 m, nav range: 128.942917 m, bearing: 145.620833 deg, approach rate: -0.633172 m/s, LOS rate: -0.032368 deg/s, cmd heading: 146.999249 deg, new cmd heading: 146.975559 deg. BmlgOuHeadingCmd: 2.565207 target range: 131.814667 and range: 132.60 m.u\,$@y*y"y yyyʎjZ#?颵Bɢ1<)  >i)û项iGi\,$@׷V;߸:I\,$@IԱ`Ի%a>i%>9@ @@0@ A .AI I! O5 >9 1i,*Y@A2@2#@2ٱ2 :AHRS rotation from veh to nav: [[-0.836445,-0.545419,-0.053648],[0.547105,-0.825240,-0.140198],[0.032195,-0.146619,0.988669]]2H'@tw ?@]h`{?i¿ -?i2@I2^;0YBAByB'IbDNVDNk2yV=%VP=ٔV9Q-V>9Z ?YZ ?=ZmGyXZ5E^>`Q 5f5b?Q 9f5bγ)bBYdyj)@Q IjX@bDIb_:ib:bP5E EE&E"E:*E]t:VE4ZEa @a @a @a @yyɮ}AyjgO FNOT Ignoring new targets: 131.81 m.R /Z/gOu ProNav: ac range: 131.814667 m, nav range: 128.696274 m, bearing: 145.608263 deg, approach rate: -0.578642 m/s, LOS rate: -0.029547 deg/s, cmd heading: 146.975562 deg, new cmd heading: 146.950374 deg. BuLXgOHeadingCmd: 2.564768 target range: 131.814667 and range: 132.60 m.(%$@*" ʎjZ$?eBɢē<)i m>ii)ܹ顱iAi(%$@GfV;0:I(%$@Im9B]<A]<Bm >Bm΍CBm'IBmXBBm5 =BiBmbDBm[;Bm"EB)B)B)B)B-4 =C-ƒ6U9@Q @Y@]/@Yi A ؟AI I O >vi,DY@A YrFByr'I tvAiMb@Mb@Mb@ 9V-?kt?~jthY|?y 0=D A(@ bA)z@Yz@bDVD1y<%;=ٔQ->9"?Y"?=mGySFE>Q 55|?Q 95J)BY?Q E:yN(@Q IX@DIX;iq ;"5yBɮmAjgO FNOT Ignoring new targets: 131.81 m.R ZgO% ProNav: ac range: 131.814667 m, nav range: 128.424301 m, bearing: 145.597501 deg, approach rate: -0.672032 m/s, LOS rate: -0.026650 deg/s, cmd heading: 146.950373 deg, new cmd heading: 146.928802 deg. B%CgO-HeadingCmd: 2.564391 target range: 131.814667 and range: 132.60 m.-$@)*)"1 1119=tBʎ99AjAZE?mBɢmH<)q uԲ>iq)uWqyi}ji}$@T9V;8:I$@IqEE EEEE%EA"EE:*EE:VEE 4ZEABEE3`i,[$cY@A6 @6#@6Bٱ6 >AHRS rotation from veh to nav: [[-0.836330,-0.545537,-0.054235],[0.547246,-0.824825,-0.142076],[0.032773,-0.148502,0.988369]]6H7` uī@ ? d/¿Ǡ?ÿ෠?i6 @I6\];6CYDyHbDRVDRkyZ2%Z8=ٔ^fQ-^>9\Y\=^mGybTFbԹEb>dQ 5j5f#h?Q 9j5f)fBYlynK(@Q InX@fDIf];ifH;f"5yrBɮr`ArPEP}B*** querying acoustic contact ***y yjgOFNOT Ignoring new targets: 131.81 m.ԑRڹZڹgO ProNav: ac range: 131.814667 m, nav range: 128.147781 m, bearing: 145.586536 deg, approach rate: -0.599851 m/s, LOS rate: -0.023836 deg/s, cmd heading: 146.928803 deg, new cmd heading: 146.906827 deg. B}.gOHeadingCmd: 2.564008 target range: 131.814667 and range: 132.60 m.$@*" ʎjZ@Bɢe<)a mx>ii)mϥiiim iu$@uU;ud:Iu$@IyDD=E EE#E"E:*E:VE3ZEa%@a%@a%@a%@E9@A @I@M0@IT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^A !B5 >B1 B5 'IB5 gBB1 B1 B1 B5 [;B5 !E A I I O >i,|Y@A6 @6#@6]oٱ6d >AHRS rotation from veh to nav: [[-0.835701,-0.546431,-0.054929],[0.548218,-0.824115,-0.142450],[0.032571,-0.149159,0.988277]]6H]|?`%_;¿@*?`ÿ`?i6 @I6Mq];4Y^EByb'IimMb@Mb@Mb@iiii i9mV-?ˡE?~jtxYm?ym'=mĻm Am@ mOA)md@iYm(@bDVD02yC%==ٔX9Q->9Y=mGy0E>Q 55T?Q 95E)BYI?Q E:y (@Q IX@DI;i;%5yɮcAjgOFNOT Ignoring new targets: 131.81 m.R ˹Z ˹gO= ProNav: ac range: 131.814667 m, nav range: 127.883652 m, bearing: 145.576499 deg, approach rate: -0.585276 m/s, LOS rate: -0.022287 deg/s, cmd heading: 146.906823 deg, new cmd heading: 146.886707 deg. B=&#gOEHeadingCmd: 2.563657 target range: 131.814667 and range: 132.60 m.E$@A*A"A IIIUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.512166qunBʎqqqjyZ} ;@Bɢ<) ^>i)JǛi i$@7U;:I$@I)@ @@;0@QEM  EM EM 'EI "EM D:*EM ą:VEM '4ZEI BEM 1ni,ɖY@A2@2y#@2aٱ2@g :AHRS rotation from veh to nav: [[-0.835151,-0.546956,-0.057983],[0.549109,-0.823056,-0.145116],[0.031648,-0.153033,0.987714]]2H@`M?xV`(¿:4?ÿZ?i2@I2iU];2CY^PByb'IdfAddbDjVDjNyUZ=%UN=ٔ];Q-]>9YYa=emGyeUFe+-Ee>iQ 5u5mB?Q 9u5m)mBYyy}'@Q I}X@mDIm;im";m?)5yBɮAOEjgOFNOT Ignoring new targets: 131.81 m.RZgO ProNav: ac range: 131.814667 m, nav range: 127.641098 m, bearing: 145.567368 deg, approach rate: -0.673856 m/s, LOS rate: -0.025416 deg/s, cmd heading: 146.886701 deg, new cmd heading: 146.868405 deg. B:gOHeadingCmd: 2.563337 target range: 131.814667 and range: 132.60 m. $@*" ʎjZM@-Bɢ-<)) -?>i1)511i5FLi= $@=aU;=09IE $@IAY9@ @@4@ԁeBDAT read: Rx Time:00:58:05.9485 eTRx dataTimestamp_ set to:1761699486.565113mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.017108^AԱA! I) I9 OM > E5  E5 E5 %E1 "E5 :*E5 x:VE5 4ZE1 aE @aE @aE @aE @i,Y@AB@B5#@B&ٱBg NAHRS rotation from veh to nav: [[-0.834707,-0.547328,-0.060797],[0.549859,-0.822263,-0.146763],[0.030337,-0.155934,0.987301]]BHඃ p?O%¿`?@ÿ@?iB@IBc];BCYVUByV'IbDbVDb 8yn`<%rR=ٔz \;Q-~>9|Y=mGyE> Q 55 ?1?Q 95 ) BYy'@Q IX@ DI ;i ; ,5y!ɮ-A1%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270466ԹjAgOmFNOT Ignoring new targets: 131.81 m.R}dZdgO ProNav: ac range: 131.814667 m, nav range: 127.401093 m, bearing: 145.558400 deg, approach rate: -0.526593 m/s, LOS rate: -0.019714 deg/s, cmd heading: 146.868410 deg, new cmd heading: 146.850440 deg. BPgOHeadingCmd: 2.563024 target range: 131.814667 and range: 132.60 m.$@AAB >BB'IBqBB4 =BBB[;B!E*"    ʎjZ @eBɢ)<) >i))顩ii$@T;\7I$@II)[A]9@Y @Y@]4@Y  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522197^A Β{9 I I O >Ai,˧Y@AF@F:#@F>ٱF RAHRS rotation from veh to nav: [[-0.834051,-0.548102,-0.062798],[0.550959,-0.821686,-0.145861],[0.028347,-0.156255,0.987310]]FH@ u? AK`¿?*Ŀ ?iF@IFm];DYZOByZ'IE EE'E"E:*E:VE'4ZEBE#9qYq=}mGy}VF}{1E}>Q 55?Q 955)Y?Q E:y(@Q IX@DI ;i ;05yBɮڈANEjAgOeFNOT Ignoring new targets: 131.81 m.RmZmgO} ProNav: ac range: 131.814667 m, nav range: 127.108711 m, bearing: 145.546165 deg, approach rate: -0.687799 m/s, LOS rate: -0.028848 deg/s, cmd heading: 146.850447 deg, new cmd heading: 146.825921 deg. B}-SgOHeadingCmd: 2.562596 target range: 131.814667 and range: 132.60 m.$@*" cBʎjZ @UDAT read: 00:58:05.9485 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417, 0.28, 2.360, 0.681, 2.622, 2.171, PHS= 0.290,-1.445, 0.407, RAW= 153.2, 8.4, CAL= 152.8, 8.9, ROT= 357.2, -8.9 ]Ygot valid direction response: 00:58:05.9485 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417, 0.28, 2.360, 0.681, 2.622, 2.171, PHS= 0.290,-1.445, 0.407, RAW= 153.2, 8.4, CAL= 152.8, 8.9, ROT= 357.2, -8.9 e8DAT read: $Error in header e*Received a bad headermBɢm'S<)i m>iq)uwqqiuOi}$@}[T;}=n/I$@IX#Rx 1: Read direction message, but no range.^direction in FSK: [0.986780,-0.048261,0.154710]y!%$x?Wj?!!!! !)%FI%z>i%%Nb>!%Q >%*@ %>)%@I%!%:{?P7Y?_R? %#}?)%HI%*Hi%T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԙ9@ @@/@^A= q T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse I9 Ia O} >i,*Y@AF@F#@F-ܼٱF) RAHRS rotation from veh to nav: [[-0.833488,-0.548834,-0.063864],[0.551883,-0.821301,-0.144535],[0.026874,-0.155714,0.987437]]FH dY?`H¿`ۄ?kÿ?iF@IFwT];DYZPByZ'I \^A^=^= bp9pYp=rmGypv`FEv>xQ 5~5zN ?Q 9~5z\)xY|y~r(@Q IX@zDIzF:iz:z35y yBɮ]A]MEPuB*** querying acoustic contact ***q qjygOFNOT Ignoring new targets: 131.81 m.RyZygO ProNav: ac range: 131.814667 m, nav range: 126.887657 m, bearing: 145.536984 deg, approach rate: -0.629063 m/s, LOS rate: -0.026171 deg/s, cmd heading: 146.825926 deg, new cmd heading: 146.807534 deg. B?gOHeadingCmd: 2.562275 target range: 131.814667 and range: 132.60 m.P#@*" ʎjZ@|@eBɢ<) ->i)que顉ikiP#@S;t.IP#@Iԡ=9@9 @A@E/@ADe=De< bEÞ4jE-4rEQ/E EE&E"EV:*Ek:VE4ZEa@a@a@a@5GIYe¿9YAyѼ?A T****** received valid address query ****** R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^AΒ{B >B ͍CB 'IB vBB 7 =B B B [;B "Ea I I O >3i,rY@A 27@2ʖ#@2qμٱ2˪ >AHRS rotation from veh to nav: [[-0.833162,-0.549127,-0.065575],[0.552452,-0.821011,-0.144008],[0.025241,-0.156209,0.987402]]2H`D`rɰ?@E n¿@ؙ? ÿ ˘?i27@I2E];2CYFQByF'IiMb@Mb@Mb@ 9~jt?J +?I +Y?y A@ )Y=@bDyVDyy;%@=ٔ|;Q->9Y=mGyWFɺE>Q 55iI)MQPIIiMiiU#@]@S;]II]#@IYmp>iiT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseq 9@  @ @ /@ԙE EE(E"ED:*E:VEc44ZEBE1 - T****** received valid address query ******- R****** received valid ping request ******- received new query, but waiting for acoustic response period to elapsej,xY@A6W@6#@6mٱ6 >AHRS rotation from veh to nav: [[-0.832829,-0.549531,-0.066421],[0.553027,-0.820941,-0.142189],[0.023610,-0.155152,0.987608]]6H@•e?@%EB3¿@-?ÿ}?i6W@I6)b];6CYFUByF'IPbDRVDR:2yZ<%ZY=ٔ^;Q-^>9\Y\=bmGy`bEb>dQ 5j5fV缊?Q 9j5f)fBYlyns(@Q InX@fDIf;ifD;f:5yrlBɮr\AvLEj gO FNOT Ignoring new targets: 131.81 m.R8Z8gO% ProNav: ac range: 131.814667 m, nav range: 126.400917 m, bearing: 145.516569 deg, approach rate: -0.607525 m/s, LOS rate: -0.025487 deg/s, cmd heading: 146.785820 deg, new cmd heading: 146.766628 deg. B-:gO-HeadingCmd: 2.561561 target range: 131.814667 and range: 132.60 m.-#@1*1"1 11199ʎ9AAjAZE@颭Bɢ@<) b>i)K;项ii#@R;SI#@I 9@  @ @ ?0@ T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A5NJκIIO>) E  E E $E "E s:*E ]t:VE 4ZE a @a @a @a @D j,u3Y@A2ӊ@2f#@2ٱ2n :AHRS rotation from veh to nav: [[-0.832473,-0.549858,-0.068152],[0.553634,-0.820656,-0.141469],[0.021859,-0.155500,0.987594]]2H per_?B`¿%b?@oÿ^?i2ӊ@I2&Y];2CvT****** received valid address query ******vR****** received valid ping request ******vreceived new query, but waiting for acoustic response period to elapse|Y=OBy='II}=)}<BBBBB8 =BBB\;B&"EAiMb@Mb@Mb@ )9bX9?y&1?QYE?y`e=u A@ /@)7@YG@99bD=VD=yM5%U=ٔU[;Q-U>9YYY=]mGy]XF]E]>aQ 5m5eм?Q 9u5e;)eBYu?Q Eu:yuB)@Q IuX@eDIe~:iee:e}?5yyɮqAjgOFNOT Ignoring new targets: 131.81 m.RZgO ProNav: ac range: 131.814667 m, nav range: 126.094734 m, bearing: 145.501917 deg, approach rate: -0.586376 m/s, LOS rate: -0.028128 deg/s, cmd heading: 146.766627 deg, new cmd heading: 146.737252 deg. BMgOHeadingCmd: 2.561048 target range: 131.814667 and range: 132.60 m.7#@*" JBʎjZ`@颅|Bɢ<) >i){顉isi7#@Q;fI7#@IQu9@q @y@}0@yT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseԁ ^A] ΒAa zAa A E  E E %E "E :*E g:VE 4ZE BE 6Lj,RY@Afd@f|#@fٱf ~AHRS rotation from veh to nav: [[-0.832382,-0.549852,-0.069307],[0.553825,-0.820667,-0.140653],[0.020461,-0.155461,0.987630]]fHޢc`@?B¿?&ÿ?ifd@If2];dY-QBy5'IbDEVDEβyu &<%uU=ٔun;Q-}>9yYy=}mGyyE>Q 55T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseſ?Q 95d)BYy?)@Q IX@#DIh;i-i;B5y(BɮZABEjgOFNOT Ignoring new targets: 131.81 m.RZgO ProNav: ac range: 131.814667 m, nav range: 125.869659 m, bearing: 145.491122 deg, approach rate: -0.545789 m/s, LOS rate: -0.026223 deg/s, cmd heading: 146.737257 deg, new cmd heading: 146.715629 deg. B?gOHeadingCmd: 2.560671 target range: 131.814667 and range: 132.60 m.#@*" ʎjZ<_@颵yBɢ3<) >i)i"i%#@%Q;%#I-#@I)@ @@0@1m T****** received valid address query ******u R****** received valid ping request ******u received new query, but waiting for acoustic response period to elapseԑ ^A A I I O >6pj,kY@A02x@2 y#@2ٱ2K >AHRS rotation from veh to nav: [[-0.832271,-0.549938,-0.069957],[0.554039,-0.820763,-0.139246],[0.019158,-0.154649,0.987784]]2H`豿 ?C+?ÿ?i2x@I2Gc];0YFWByF'IbDN VDN2yVT<%VY=ٔZb;Q-Z>9XYX=ZmGy^YF^x&E^>`Q 5j5bK?Q 9j5b)bBYpyr;)@Q IrX@b*DIbr;ib;b#F5yzBɮ~AAEP5B*** querying acoustic contact ***1 1jIgOMFNOT Ignoring new targets: 131.81 m.RUbZUbgO ProNav: ac range: 131.814667 m, nav range: 125.648430 m, bearing: 145.480495 deg, approach rate: -0.619422 m/s, LOS rate: -0.029809 deg/s, cmd heading: 146.715633 deg, new cmd heading: 146.694340 deg. B7ZE% E%E%"E!"E%V:*E%]t:VE%(3ZE!a-@a-@a5@a5@gO=HeadingCmd: 2.560299 target range: 131.814667 and range: 132.60 m.=#@9*9"9 9AAAIʎIIqjqZ}@wBɢ/<) >i)-i %i%#@%'yP;%zպI%#@I)ԉT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse@ @@4@B >BB'IBqBB7 =BBB\;B*"EB]͍CB]͍CBYB]7 =B]6 =C]n5^A?Bɺ A I I O >X!j,QY@AT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse`nP@nw#@nٱn vAHRS rotation from veh to nav: [[-0.832256,-0.549921,-0.070264],[0.554114,-0.821121,-0.136818],[0.017543,-0.152802,0.988101]]nHס L?F= ?ÿ@?inP@In.Q];nCY~VBy'IiMb@Mb@Mb@ 9^I +?Dl?Zd;OYX?yO=j A@ @)Y@bD VDf2y%;=ٔYr;Q->9Y=mGyO)E>Q 55?Q 95g)BYx?Q E:yX*@Q IX@2DI;i ;I5yɮAjgOFNOT Ignoring new targets: 131.81 m.RZgO ProNav: ac range: 131.814667 m, nav range: 125.387039 m, bearing: 145.465784 deg, approach rate: -0.588428 m/s, LOS rate: -0.033184 deg/s, cmd heading: 146.694336 deg, new cmd heading: 146.664854 deg. BrgOHeadingCmd: 2.559785 target range: 131.814667 and range: 132.60 m.#@*" iI)i'i#@O;UߣI#@IIE- E-E-'E)"E-:*E-:VE-'4ZE)BE-m%'j,Y@A>l~@>s#@>pٱ>FZ FAHRS rotation from veh to nav: [[-0.832150,-0.549931,-0.071425],[0.554329,-0.821248,-0.135173],[0.015678,-0.152077,0.988244]]>H@ @H ?GVM@ ?Awÿ?i>l~@I>Us];>CYLyLbDZVDZٔb;Q-b>9`Yd=fmGyfZFf"&Ef>hQ 5n5j?Q 9r5j)jBYpyrU*@Q IrX@j:DIj:ij{:j;M5yvBɮzAxjgOFNOT Ignoring new targets: 131.81 m.R%Y!Z%Y!gO5 ProNav: ac range: 131.814667 m, nav range: 125.162682 m, bearing: 145.453128 deg, approach rate: -0.624046 m/s, LOS rate: -0.035265 deg/s, cmd heading: 146.664857 deg, new cmd heading: 146.639500 deg. B5gO=HeadingCmd: 2.559342 target range: 131.814667 and range: 132.60 m.=C#@9*9"A AAAAIʎIIQjQZU@}qBɢ}=) >i)顁i)iC#@zaO;IC#@I-T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapseE9@A @A@M/@IAi^AD!zD%@AE5 E5E5%E1"E5:*E5:VE5 4ZE1a=@aE@aE@aE@A I I O >ԑ  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse-j,kY@AB >B΍CB'IBvBB5 =BBB\;B#"Eqy{@ q#@k_ٱb- MAHRS rotation from veh to nav: [[-0.832075,-0.549905,-0.072493],[0.554495,-0.821474,-0.133101],[0.013642,-0.150947,0.988448]]H\Ҙ厲k?Is 4?:Rÿ ]?iy{@I[g];CY]_By]'IiEMb@Mb@Mb@AAAA A9EV-?㥛 ?y&1YEh?yE=E`eEt AA E@)AAYE\@bD VD2ԙyF<%<ٔ bu;Q- >9Y=mGy[FkE}>Q 55r?Q 95)BY?Q E:yJ+@Q IX@DDI ;i ;R5yɮÆAjgOFNOT Ignoring new targets: 131.81 m.R%Z%gO ProNav: ac range: 131.814667 m, nav range: 124.846573 m, bearing: 145.433013 deg, approach rate: -0.567709 m/s, LOS rate: -0.036218 deg/s, cmd heading: 146.639503 deg, new cmd heading: 146.599170 deg. BgOHeadingCmd: 2.558638 target range: 131.814667 and range: 132.60 m.#@*" =T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse)5;Bʎ111j9Z=`Lc@颅mBɢ<) >i)'顩i<,i#@̛N;Ő6I#@Ie 9@a  @a @e /@a E=  E= E= $E9 "E= O;*E= |:VE= 4ZE9 BE= %Y9 ?Y ?=mGyͺE>!Q 5%5%b?Q 9-5%_)%BY)y-B+@Q I5X@%KDI%L;i%;%[U5y=Bɮ=A=@EԉjgOFNOT Ignoring new targets: 131.81 m.Rh Zh gO ProNav: ac range: 131.814667 m, nav range: 124.635201 m, bearing: 145.419552 deg, approach rate: -0.549609 m/s, LOS rate: -0.035060 deg/s, cmd heading: 146.599164 deg, new cmd heading: 146.572197 deg. BSgOHeadingCmd: 2.558167 target range: 131.814667 and range: 132.60 m.#@*" !!))ʎ))1j1Z5`=@}jBɢ}=) {>i)]%i/i #@ !N; cI#@I9@ @@/@ԹT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^AeA ؟AE  E E 'E "E D:*E x:VE '4ZE a @a @a @a @I I  O% >s9v"?Yv"?=vmGyv\FzcºEz>|Q 55~Q?Q 95~})~BYy:+@Q I X@~RDI~/;i~ ;~X5yɮAP-B*** querying acoustic contact ***) )ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapsejIgOMFNOT Ignoring new targets: 131.81 m.RU)ZU)gOe ProNav: ac range: 131.814667 m, nav range: 124.410187 m, bearing: 145.405222 deg, approach rate: -0.581596 m/s, LOS rate: -0.037105 deg/s, cmd heading: 146.572199 deg, new cmd heading: 146.543488 deg. BeχgOmHeadingCmd: 2.557666 target range: 131.814667 and range: 132.60 m.mΰ#@i*i"i iiqqqʎyyyjyZ @颭gBɢI=) >i),]9顱i1_1iΰ#@2M;$6uIΰ#@IB >BB'IBqBBBBB[;B"EU9@Y @Y@]0@a!^AQT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseIq I O >y cCj,?8Y@AJa@JLW#@JWٱJ~ RAHRS rotation from veh to nav: [[-0.831245,-0.551188,-0.072269],[0.555830,-0.821943,-0.124350],[0.009139,-0.143535,0.989603]]JHT@@\?ZM dտY?@Y_¿Ԫ?iJa@IJb];JCY^gByb'IiEMb@Mb@Mb@AAAA A9EQ?#~j?y&1YE?yE=AEZAE@ E@)AAYE@ YYbDeVDefyup<%u@=ٔu;Q-u>9yYy=}mGyy}hE>E EEE"E:*EVEZEBE3A%?EAjagOmFNOT Ignoring new targets: 131.81 m.RmY6ZY6gO ProNav: ac range: 131.814667 m, nav range: 124.152855 m, bearing: 145.387619 deg, approach rate: -0.581410 m/s, LOS rate: -0.039856 deg/s, cmd heading: 146.543484 deg, new cmd heading: 146.508204 deg. BᑺgOHeadingCmd: 2.557050 target range: 131.814667 and range: 132.60 m.#@*" /BʎjZ!@dBɢ =) ?i!)%.:!!i%3i-#@-M;->I-#@I1YET****** received valid address query ******ER****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapse9@ @@ 0@qԙ^A ?BɺA ?A >I I) O5 >  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse܅Ij, 'Y@AbP@bF#@b)ٱb nAHRS rotation from veh to nav: [[-0.830684,-0.552039,-0.072227],[0.556685,-0.821682,-0.122229],[0.008127,-0.141742,0.989870]]bH`N~} ]?8K nJ$?$¿?ibP@Ib];bCYzoByz'IbDVDk2y=%Q=ٔ);Q->9!Y!=%mGy%]F%+E->)Q 555- -?Q 955-x)-BY9y=+@Q I=X@-aDI-j;i-;-_5yEBɮMAM>EjigOuFNOT Ignoring new targets: 131.81 m.Ru8Zu8gO ProNav: ac range: 131.814667 m, nav range: 123.934242 m, bearing: 145.372703 deg, approach rate: -0.590572 m/s, LOS rate: -0.040366 deg/s, cmd heading: 146.508200 deg, new cmd heading: 146.478315 deg. BgOHeadingCmd: 2.556529 target range: 131.814667 and range: 132.60 m.+#@*" ʎjZ?H"@aBɢբ"=) ?i)*:ix36i+#@L;NI+#@IԹ!59A@1 @Q@U4@aa9YT]AbE5Ļ 4jE54rE5ij0E EE%E"ED:*E:VE 4ZEa@a@a@a@iYI]A]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseB>BB'IB{BBBBcDB[;B!E ^A NJκI I O >9 mPj,AY@AYtBy'IiMb@Mb@Mb@ 9x?{Gz?I +YK?yף=94A @) @Yz@bDVDfy;<%A=ٔQ->9Y=mGyE>Q 55 ?Q 95&u)BY?Q E:y+@Q IX@jDI;i ;c5yɮۅAj gO FNOT Ignoring new targets: 131.81 m.RG6ZG6gO% ProNav: ac range: 131.814667 m, nav range: 123.684181 m, bearing: 145.355844 deg, approach rate: -0.589754 m/s, LOS rate: -0.039840 deg/s, cmd heading: 146.478311 deg, new cmd heading: 146.444525 deg. B%ӑgO-HeadingCmd: 2.555939 target range: 131.814667 and range: 132.60 m.-#@)*)") )119="Bʎ999jAZEe!#@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse ^Bɢ *=)  u% ?iq)u:qqiu8i}#@}L;}[%I}#@I@ @@4@AE EE&E"EO:*E:VE4ZEBE e T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapsenVj,ʩ[Y@A 2p8@2.#@23ջٱ2r >AHRS rotation from veh to nav: [[-0.829859,-0.553095,-0.073622],[0.557935,-0.821004,-0.121085],[0.006527,-0.141560,0.989908]]2H4ز@?E@kYz?¿T?i2p8@I2٨];2CYMwByU'IY]@AbDeVDe0yuf<%u>=ٔ}Ut;Q-}>9yYy=}mGy^FdE>Q 55?Q 95(r)BYy+@Q IX@rDI/;i+;dg5yߩBɮA=EjgOFNOT Ignoring new targets: 131.81 m.RUT5Z]T5gOe ProNav: ac range: 131.814667 m, nav range: 123.431091 m, bearing: 145.338889 deg, approach rate: -0.590394 m/s, LOS rate: -0.039633 deg/s, cmd heading: 146.444529 deg, new cmd heading: 146.410549 deg. BmigOuHeadingCmd: 2.555346 target range: 131.814667 and range: 132.60 m.uˊ#@y*y"y yyyʎjZ$@颵ZBɢ"=) ^?i);项is;iˊ#@cK; ȺIˊ#@II)ZA@ @@/@@\A@\AE  E E (E "E :*E &p:VE c44ZE a @a @a @a @n\j,PuY@A6-@62##@6ٱ65@ BAHRS rotation from veh to nav: [[-0.829495,-0.553563,-0.074206],[0.558485,-0.820728,-0.120419],[0.005757,-0.141330,0.989946]]6H@8 ʶ%?`fCӾ@w? ¿ࢭ?i6-@I6];4HHiHIHHILiNOUA LL)LP Rq@PPPTTIT)TiT)TIXXX XXXZ"۽i\\i\^$^A)^ƽ bƼEI`Y`YfzByf'IIj<)jp<bDrVDryzBm<%zd=ٔz ;Q-z>2Acoustic response timeout9|Y= mGy  fE >Q 5%5?Q 9%5o)BY!y%~+@Q I%X@yDI!;i";j5y5Bɮ5A54EPMB*** querying acoustic contact ***I IjYgO]FNOT Ignoring new targets: 131.81 m.Re4Ze4gOu ProNav: ac range: 131.814667 m, nav range: 123.218750 m, bearing: 145.324675 deg, approach rate: -0.588435 m/s, LOS rate: -0.039458 deg/s, cmd heading: 146.410555 deg, new cmd heading: 146.382078 deg. BumgOHeadingCmd: 2.554849 target range: 131.814667 and range: 132.60 m.#@*" ʎ  j Z ࢽ$@B=>B=ύCB='IB=BB=3 =B9B9B=[;B=!EWBɢ.^1=) #?i)Ɖ;i=i5#@=J;EкIE#@IqԱ9@ @@@2Acoustic response timeout^AI I I O > ũcj,J]Y@A|Y]By]'IE EE&E"E:*EǙ:VE4ZEBE691Y1==mGy=_F=E=>AQ 5M5E⻊?Q 9M5El)EBYM/?Q EU:yU+@Q IX@EDIE|BʎjZH%@%TBɢ% L.=-2Acoustic response timeout1) ?i)JB;顉i@ix#@/J;TIx#@I%9@! @!@%/@!Y^A NJκԁ  2Acoustic response timeoutA1 IA IQ O] >ij,MY@A:%@:{#@:Hٱ:6 NAHRS rotation from veh to nav: [[-0.829238,-0.553648,-0.076412],[0.558880,-0.820403,-0.120795],[0.004190,-0.142873,0.989732]]:H {ඏ X?@n쾿)q?I¿?i:%@I:m];:CY5By5'I AE<bDEVDEβQy]%]X=ٔ];Q-e>9aYa=emGyamEm>qQ 5}5uѻ?Q 95ui)uBYy+@Q IX@uDIu:iu:uq5yɮ\AjgOFNOT Ignoring new targets: 131.81 m.R@Z@gOe ProNav: ac range: 131.814667 m, nav range: 122.737747 m, bearing: 145.292139 deg, approach rate: -0.620857 m/s, LOS rate: -0.042081 deg/s, cmd heading: 146.347089 deg, new cmd heading: 146.316875 deg. BegOHeadingCmd: 2.553711 target range: 131.814667 and range: 132.60 m.p#@*" ʎjZch&@MQBɢMa?=)I U9?iQ)UW_;QQi]G.Cip#@YI;SEIp#@IԁE EE%E"Ea:*E&p:VE 4ZEa@a@a@a@9@ @@0@@@52Acoustic response timeoutԩBM>BIBM'IBMBBIBIBIBMJ[;BM!EB-΍CB-΍CB)B-5 =B-4 =C-j5^A qA >A > A) I1 II OU >pj,J(éY@A21@2%'#@2C\ٱ2q :AHRS rotation from veh to nav: [[-0.829638,-0.553017,-0.076633],[0.558291,-0.820944,-0.119838],[0.003361,-0.142206,0.989831]]2HeP:`?@-E@pk?3¿ಬ?i21@I2K];2CYFByF'I HHiUMb@Mb@Mb@QQQQ Q9UOn?x&?MbYU?yU7=UUCAU@ U@)QQYQbDmVDmfy}=%}H=ٔ;Q->9Y=mGy`F:E>Q 55?Q 95f)BY?Q E:y*@Q IX@DI:i:@u5ԱyBɮA2EjgOFNOT Ignoring new targets: 131.81 m.RZgO ProNav: ac range: 131.814667 m, nav range: 122.494766 m, bearing: 145.278163 deg, approach rate: -0.594141 m/s, LOS rate: -0.034241 deg/s, cmd heading: 146.316872 deg, new cmd heading: 146.288866 deg. BzgOHeadingCmd: 2.553222 target range: 131.814667 and range: 132.60 m.g#@*"   DBʎ jZM)'@=OBɢEF=)A E2?iA)E};AIiMLEiUg#@U@OI;Ulu8IUg#@IQ2Acoustic response timeout9@ @@4@E EE$E"E:*EAr:VE4ZEBE&1 vj,ܩY@A2(@2?#@2q!ٱ2 :AHRS rotation from veh to nav: [[-0.829337,-0.553450,-0.076769],[0.558743,-0.820858,-0.118316],[0.002466,-0.141018,0.990004]]2Hܵ@$`9?`wD@I2d? ¿?i2(@I2^;2CYFByF'IbDNVDN yV(<%VY=ٔZ;Q-Z>9Z ?Y^ ?=^mGy\^E^>`Q 5f5bǮ?Q 9f5b2d)bBYhyj*@Q IjX@bDIbj;ib";bx5yrBɮrփApj gO FNOT Ignoring new targets: 131.81 m.RZgO% ProNav: ac range: 131.814667 m, nav range: 122.270653 m, bearing: 145.265277 deg, approach rate: -0.595506 m/s, LOS rate: -0.034304 deg/s, cmd heading: 146.288869 deg, new cmd heading: 146.263049 deg. B%{gO-HeadingCmd: 2.552772 target range: 131.814667 and range: 132.60 m.-`#@)*)") ))111ʎ999j9ZE'@mLBɢmK=)i mz ?ii)uc;qqiuLHi}`#@}H;}X!DI}`#@I)@) @)@-4@)92Acoustic response timeout^Am9iA ؟AI I O >D D <E  E E %E "E :*E ~:VE 4ZE a @a @a @a @ԑ }j,*Y@A2"@2#@2Bٱ2 :AHRS rotation from veh to nav: [[-0.829129,-0.553624,-0.077757],[0.559056,-0.820775,-0.117410],[0.001180,-0.140819,0.990035]]2H@9I`糿? CHVS?X¿@]?i2"@I2J^;0%BDAT read: Response Not Received %*response not received-*DAT read: user:636> -BDAT read: Tx time:00:58:15.8205 5$Ping request sent.59}"?Y}"?=}mGy}aFp&E>Q 55F?Q 95_)BYo?Q E:y|)@Q IX@DIm ;i ;}5yɮƃAPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 131.81 m.RiZigO ProNav: ac range: 131.814667 m, nav range: 121.915833 m, bearing: 145.246381 deg, approach rate: -0.599157 m/s, LOS rate: -0.032001 deg/s, cmd heading: 146.263051 deg, new cmd heading: 146.225149 deg. BBjgOHeadingCmd: 2.552110 target range: 131.814667 and range: 132.60 m.U#@*" EBʎjZ))@-HBɢ-0Y,=)1 5$?i1)5|U;99i= KiEU#@EQSH;E,8IEU#@IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250844i @i  @i @m &1@i @q @u [A ^A A zA E  E E &E "E :*E h:VE 4ZE BE K"9!Y)=-mGy)-E->1Q 5=55?Q 9=55])5BYAyAQ IEX@5DI5:i5t:5ǀ5yMwBɮA1EjgOFNOT Ignoring new targets: 131.81 m.R@Z@gO  ProNav: ac range: 131.814667 m, nav range: 121.705673 m, bearing: 145.235136 deg, approach rate: -0.580086 m/s, LOS rate: -0.031091 deg/s, cmd heading: 146.225143 deg, new cmd heading: 146.202615 deg. B cgOHeadingCmd: 2.551717 target range: 131.814667 and range: 132.60 m.UO#@*" !ʎ!!!j!IZ-`)@额FBɢ-W=) D&?i)N;顡ikLNiUO#@lG;%9IUO#@Ie9@a @a@eA4@ay-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753990^AΒ{ԩA .AI I! O5 > j,A.2Y@AV9@V/#@V2?;ٱVq ^AHRS rotation from veh to nav: [[-0.829923,-0.551249,-0.085750],[0.557863,-0.821183,-0.120198],[-0.004158,-0.147592,0.989040]]VHգ`?@!GCžqG¿6?iV9@IV^;TE EE'E"E:*E:VE'4ZEa @a @a @a @Y]Bye'IbDuVDuy%E=ٔR9 ?Y ?=mGybFb;E>Q 55q?Q 95Z)BYy)@Q IX@DI:i:h5yɮAjQgO]FNOT Ignoring new targets: 131.81 m.R]Z]gOm ProNav: ac range: 131.814667 m, nav range: 121.456978 m, bearing: 145.221631 deg, approach rate: -0.617153 m/s, LOS rate: -0.033583 deg/s, cmd heading: 146.202617 deg, new cmd heading: 146.175551 deg. BmugOHeadingCmd: 2.551245 target range: 131.814667 and range: 132.60 m.G#@*" ʎjZG*@Աchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006198额CBɢhL=) #?i);顡iPiG#@G;6 ;IG#@IBIAM<BU>BQBU (IBUBBU3 =BQBQBU[;BU!EA@A @A@E/@I ^Am 9M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258326A I I O >9 ޒj, LY@AN7@N4-#@N}P;ٱNP ZAHRS rotation from veh to nav: [[-0.829835,-0.551386,-0.085716],[0.557978,-0.821572,-0.116963],[-0.005930,-0.144888,0.989430]]NH@@}?@QJN@Jx`¿i?iN7@IN`_;NCY]Bye'Im=m=iMb@Mb@Mb@ 9\(\?x&?y&1Y?y7=`eA )Y@ 4<bDVDܲy ;%B=ٔ;Q->9Y=mGyE%>!Q 5-5%^?Q 955%V)%}BY5?Q E5:y5)@Q I5X@%DI% ;i% ;%5yEkBɮE{AE0EjigOmFNOT Ignoring new targets: 131.81 m.RuZugO ProNav: ac range: 131.814667 m, nav range: 121.201981 m, bearing: 145.206987 deg, approach rate: -0.603138 m/s, LOS rate: -0.034708 deg/s, cmd heading: 146.175556 deg, new cmd heading: 146.146208 deg. B~gOHeadingCmd: 2.550733 target range: 131.814667 and range: 132.60 m.4?#@*" 0Bʎj!Z%+@颍ABɢVMQ=) %?i)lr;顑i7DSi4?#@ʵG;6;I4?#@IE EE(E"E :*Ev:VEc44ZEBEa2EaJE;a%:E;a%e9@a @a@a@aAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510086i ^A ] ;A ?A >A ؟AI I O >.j,eY@A$R,@R!#@R;ٱR ZAHRS rotation from veh to nav: [[-0.829430,-0.552045,-0.085397],[0.558560,-0.821676,-0.113397],[-0.007568,-0.141754,0.989873]]RHZ`ܵ@?,K@~$¿@ ?iR,@IR^;RCYfByf'IbDnVDnβyv<%v_=ٔzg;Q-z>9z"?Yz"?=zmGyzcF~E~>Q 5 5ѐC5cGM\Air9\AYuAԙD%<D!bEƞ4jE{4rE5/E= E=E9E9"E=:*E=՚:VE9ZE9aE@aE@aE@aE@^A A .A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026431I I) O= >BM >BI BM (IBM BBI BI BI BM [;BM !E>j,Y@AH](@]G#@]<ٱ]i2 AHRS rotation from veh to nav: [[-0.829307,-0.551988,-0.086951],[0.558720,-0.821624,-0.112985],[-0.009074,-0.142280,0.989785]]]H୉dB@ ?J켿;6¿@Q?i](@I]$_;]CYBy'IiMb@Mb@Mb@ 9Zd;?Dl?~jtY?yO=A d@)Y(@bDVDyݶ%0=ٔgT;Q->9 ?Y ?=mGy]E>Q 558?Q 95P)pBY ?Q E:y)@Q IX@DI ;iP ;\5yɮJAPB*** querying acoustic contact *** j gO FNOT Ignoring new targets: 131.81 m.R["Z["gO ProNav: ac range: 131.814667 m, nav range: 120.692566 m, bearing: 145.177814 deg, approach rate: -0.619037 m/s, LOS rate: -0.035486 deg/s, cmd heading: 146.120764 deg, new cmd heading: 146.087739 deg. B⁺gOHeadingCmd: 2.549712 target range: 131.814667 and range: 132.60 m.{.#@*" Ա5BʎjZ R1-@ei%!>]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2786949@ @@/@E  E E &E "E V:*E $:VE 4ZE BE 9j,aśY@AR@R#@R/-<ٱR ZAHRS rotation from veh to nav: [[-0.828483,-0.553302,-0.086441],[0.559914,-0.821322,-0.109209],[-0.010570,-0.138878,0.990253]]RH@`!@?EH@'ܥ@@'?iR@IRe}_;RCYbByb'IIj]>)jR=hjAbDnVDn0yz(%zY=ٔz;Q-~>9|Y|=~mGy~dF{E> Q 55 '?Q 95 M) iBYy)@Q IX@ DI ;i ; 5y%Bɮ%OA%%EjIgOMFNOT Ignoring new targets: 131.81 m.RU!ZU!gOe ProNav: ac range: 131.814667 m, nav range: 120.458496 m, bearing: 145.164515 deg, approach rate: -0.620391 m/s, LOS rate: -0.035316 deg/s, cmd heading: 146.087733 deg, new cmd heading: 146.061084 deg. BeCgOmHeadingCmd: 2.549247 target range: 131.814667 and range: 132.60 m.m&#@q*q"q qqqyyʎyyjZ-@-:Bɢ- j=)) 5l&?i1)5<11i5i8Zi=&#@=FG;=O^:I=&#@IA!]9@Y @Y@]0@YImchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.782081^A ;y A ؟AI I O >D) zD- ?AE5  E5 E5 %E1 "E5 :*E5 ҆:VE5 4ZE1 a= @a= @a= @a= @0¬j,bY@A06@6w"@6[D<ٱ6Z >AHRS rotation from veh to nav: [[-0.827304,-0.555040,-0.086590],[0.561626,-0.820526,-0.106364],[-0.012013,-0.136626,0.990550]]6HFy@*`?`A@:D@|?i6@I6X_;6CYHyHbD~VD~y !Q% I=ٔi;Q->9"?Y"?=mGyE%>!Q 5-5%B?Q 955%xJ)%bBY1y5)@Q I5Y@%DI%:i%:%55yAɮERAAjagOmFNOT Ignoring new targets: 131.81 m.RmuZmugO ProNav: ac range: 131.814667 m, nav range: 120.206764 m, bearing: 145.150394 deg, approach rate: -0.620003 m/s, LOS rate: -0.034853 deg/s, cmd heading: 146.061082 deg, new cmd heading: 146.032780 deg. B"gOHeadingCmd: 2.548753 target range: 131.814667 and range: 132.60 m.#@*" ʎjZV.@8Bɢ]=) !'?i)v<iu\i#@F;@ކI#@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.034693B>BB'IBBB2 =BBB}[;B!Eԉ9@ @@4@^A] ;A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285994ũj,J]ϪY@A2y@2 "@2S<ٱ2 >AHRS rotation from veh to nav: [[-0.826182,-0.556679,-0.086785],[0.563256,-0.819630,-0.104643],[-0.012879,-0.135337,0.990716]]2HpO70?@h:ɺ a`R ?i2y@I2yt_;0\YbByb'IiMMb@Mb@Mb@IIII I9MʡE?㥛 ?~jtYM?yM=III I)IIYIbDVD:2yӂ%?=ٔ;Q->9Y=mGyeFE>Q 55?Q 957G)ZBY?Q E:y)@Q IY@DIa:i:5yBɮ$A$Ej!gO%FNOT Ignoring new targets: 131.81 m.R-&Z-&gO= ProNav: ac range: 131.814667 m, nav range: 119.943687 m, bearing: 145.134897 deg, approach rate: -0.614687 m/s, LOS rate: -0.036288 deg/s, cmd heading: 146.032778 deg, new cmd heading: 146.001716 deg. B=҄gOEHeadingCmd: 2.548211 target range: 131.814667 and range: 132.60 m.E#@A*A"A IIIIU/BʎQQQjYZ]/@颅6Bɢ\=) (?i)q<顉i^i#@jZF;qI#@IE] E]E](EY"E]:*E]]t:VE]c44ZEYBE]+ӹj,L8Y@A6Z@6"@6Ha<ٱ68 BAHRS rotation from veh to nav: [[-0.825205,-0.557656,-0.089763],[0.564666,-0.818345,-0.107068],[-0.013750,-0.139039,0.990191]]6HhP`?/h(९?i6Z@I6't_;4YJByJ'I LLbDVVDVky^t%^^=ٔ^;Q-b>9`Y`=bmGy`fmEf>hQ 5n5j}ﺊ?Q 9n5jfD)jSBYlyn)@Q IrY@jDIj];ij;j+5yvBɮvAv#EjgOFNOT Ignoring new targets: 131.81 m.R/$Z/$gO- ProNav: ac range: 131.814667 m, nav range: 119.716812 m, bearing: 145.121685 deg, approach rate: -0.615035 m/s, LOS rate: -0.035885 deg/s, cmd heading: 146.001714 deg, new cmd heading: 145.975239 deg. B5XgO5HeadingCmd: 2.547749 target range: 131.814667 and range: 132.60 m.=P#@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.790114A*A"I IIIIQʎQQQjQZ]@&0@颍4Bɢlh=) f%?i){ <顙i.`iP#@E; IP#@IU9@Q @Q@U/@YIEe EeEe#Ea"EeD:*Ee:VEe3ZEaam@am@am@am@^AuΒ{ychecking for new query: numPingsReceived=0, elapsed TxPingTime=4.042315B >B ЍCB 'IB BB 0 =B B dDB [;B !EBύCBύCBB2 =B2 =C=5A I I O >ԡ "j,%Y@AU@U,"@UQp<ٱU* eAHRS rotation from veh to nav: [[-0.824444,-0.558249,-0.093007],[0.565754,-0.817220,-0.109880],[-0.014667,-0.143209,0.989584]]UHa-VϷ? &! T¿?iU@IUO_;UCqY}vBy}'IiMb@Mb@Mb@ 9l?V-?QY?yh=u-A@ )Y@bD]VD]:2ym)%m1=ٔm;Q-u>9qYq=umGyufF}<E}>Q 55ۺ?Q 95A)KBY?Q E:y)@Q IY@DI ;i ;15yɮ8APB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 131.81 m.R1Z1gO ProNav: ac range: 131.814667 m, nav range: 119.444641 m, bearing: 145.105682 deg, approach rate: -0.590441 m/s, LOS rate: -0.034794 deg/s, cmd heading: 145.975240 deg, new cmd heading: 145.943163 deg. B~gOHeadingCmd: 2.547189 target range: 131.814667 and range: 132.60 m.$#@*" BʎjZ'0@%2Bɢ-RS=)) -!?i))-^*<)1i5dci5$#@=D;=`k0I=$#@I9Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.294375ԡ@ @@/@^A Em  Em Ei Ei "Em :*Em n:VEi ZEi BEm <8 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.5460108j,Y@A2@2"@2|<ٱ2w+ >AHRS rotation from veh to nav: [[-0.823893,-0.558477,-0.096449],[0.566535,-0.816203,-0.113361],[-0.015413,-0.148039,0.988861]]2HU] 鰸@!?U9`¿?i2@I2h_;0YFxByF'IbDNVDNkyVu<%Vl=ٔZN ;Q-Z?9Z ?YZ ?=ZmGyX^&5E^?`Q 5f5b˺?Q 9f5b|>)bDBYhyj)@Q IjY@bDIb :ib:b75yrBɮrApj gO FNOT Ignoring new targets: 131.81 m.RSZSgO ProNav: ac range: 131.814667 m, nav range: 119.240135 m, bearing: 145.093725 deg, approach rate: -0.590846 m/s, LOS rate: -0.034605 deg/s, cmd heading: 145.943166 deg, new cmd heading: 145.919210 deg. BR}gOHeadingCmd: 2.546771 target range: 131.814667 and range: 132.60 m.J"@*" ʎjZ 0@M0BɢMj=) #?i)1<顱ieiJ"@i"D;xvMIJ"@Im9@i @i@m/@imchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.7992409^A"5A[AzAA ؟AI I O >Y j,6Y@AE EE%E"E:*Exv:VE 4ZEa@a@a@a@V@VHv"@V餅<ٱVg ^AHRS rotation from veh to nav: [[-0.823458,-0.558519,-0.099866],[0.567142,-0.815328,-0.116576],[-0.016313,-0.152634,0.988148]]VHYb`ː&?+׽lÿ?iV@IV[C_;VCYfvByf'IbDrVDryzM%zF=ٔz;Q-z>9~"?Y~"?=~mGy~gFE> Q 55 s?Q 95 s;) =BYy)@Q IY@ DI :i I: ҧ5y!ɮ% A!jIgOMFNOT Ignoring new targets: 131.81 m.RUZUgOe ProNav: ac range: 131.814667 m, nav range: 118.996201 m, bearing: 145.079521 deg, approach rate: -0.591908 m/s, LOS rate: -0.034538 deg/s, cmd heading: 145.919205 deg, new cmd heading: 145.890738 deg. Be|gOmHeadingCmd: 2.546274 target range: 131.814667 and range: 132.60 m.m&"@i*i"i iiqqqʎqyyjyZG^1@颭.Bɢi=) #?i).9<顱i*gi&"@i`C;SWI&"@I1B>BύCchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.050726B'IBBB2 =BBcDBZ;B!E1@1 @1@50@1i^Ayb]ԉAe .AIq I O >u checking for new query: numPingsReceived=0, elapsed TxPingTime=5.303172Թ j,ePY@A2n@2d"@2R<ٱ2-& >AHRS rotation from veh to nav: [[-0.822827,-0.558939,-0.102676],[0.568024,-0.814453,-0.118388],[-0.017453,-0.155735,0.987645]]2H@TH`@-?  NNߑ ÿȚ?i2n@I2[&_;2CYRxByR'Ii%Mb@Mb@Mb@!!!! !9%kt?I +?MbY% ?y%9=%%CA%|@ !)%M@!Y%@bD= VD=:2yMOL<%MD=ٔU3;Q-U>9U ?YU ?=]mGyY]*Ee>aQ 5m5e?Q 9u5e8)e6BYu?Q Eu:yu,@Q IuY@eDIeH:ie "j,jY@A2K`@2U"@2?<ٱ2f" >AHRS rotation from veh to nav: [[-0.822298,-0.559301,-0.104919],[0.568745,-0.813859,-0.119008],[-0.018828,-0.157533,0.987334]]2HDPۺ(3?`! @Tw@G*Ŀ>?i2K`@I2<_;2CYFrByF'IbDRVDRyV-%ZU=ٔZj;Q-Z>9\Y\=^mGy^hF^Eb>`Q 5j5b?Q 9n5b56)b0BYpyr,@Q IrY@bDIb;ib ;bϮ5y|ɮ~A-checking for new query: numPingsReceived=0, elapsed TxPingTime=5.806436jQgOeFNOT Ignoring new targets: 131.81 m.ReHZmHgO ProNav: ac range: 131.814667 m, nav range: 118.546738 m, bearing: 145.045363 deg, approach rate: -0.577206 m/s, LOS rate: -0.043892 deg/s, cmd heading: 145.855083 deg, new cmd heading: 145.822290 deg. BgOHeadingCmd: 2.545079 target range: 131.814667 and range: 132.60 m."@*"     ʎ11j9Z=@=32@颍*BɢKm=) #?i)K<iZki"@lA;7ˁI"@I9@ @@4@EE EEEE!EA"EEV:*EE:VEEc3ZEAaM@aM@aM@aM@^AiAu>Au>B>BB'IBvBBBBBZ;B5!Echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.058766I IY Iy O >< j,@iY@A}_@}U"@}b.<ٱ}(# AHRS rotation from veh to nav: [[-0.822269,-0.559058,-0.106431],[0.568751,-0.813812,-0.119302],[-0.019918,-0.158631,0.987137]]}HP ?`43?` seNĿ?i}_@I}7N_;}CYqBy'IiMb@Mb@Mb@ 99Y=mGyiF;E>Q 55m?Q 952)'BY?Q E:yh*@Q IY@DIi ;i~ ;5yBɮA!EPB*** querying acoustic contact *** j!gO-FNOT Ignoring new targets: 131.81 m.R-+Z5+gO= ProNav: ac range: 131.814667 m, nav range: 118.274231 m, bearing: 145.027956 deg, approach rate: -0.586906 m/s, LOS rate: -0.037575 deg/s, cmd heading: 145.822285 deg, new cmd heading: 145.787392 deg. BEIgOMHeadingCmd: 2.544470 target range: 131.814667 and range: 132.60 m.M"@I*Q"Q QQQY]$BʎYYYjaZe2@额(Bɢ^;e=) q$?i)T<5checking for new query: numPingsReceived=0, elapsed TxPingTime=6.310951顡1iE7lmiM"@M_@;M^IU"@IY9@ @@3@yEM  EM WEM )EI "EM :*EM j;VEM FA4ZEI BEM K" checking for new query: numPingsReceived=0, elapsed TxPingTime=6.5619904j,6Y@A@Y lBy 'IbDVDy-?ʼ%-j=ٔ5Q-5>91Y1=5mGy1=E=>AQ 5M5E>s?Q 9M5Ej0)E!BYQyQQ IUY@EDIE:iE:E5yYɮ]ЁAYjgOFNOT Ignoring new targets: 131.81 m.RE)ZE)gO ProNav: ac range: 131.814667 m, nav range: 118.072929 m, bearing: 145.015046 deg, approach rate: -0.575901 m/s, LOS rate: -0.036997 deg/s, cmd heading: 145.787396 deg, new cmd heading: 145.761532 deg. BjgOHeadingCmd: 2.544019 target range: 131.814667 and range: 132.60 m.4"@*" ʎjZ2@&BɢLz=) #?i)\<i Ooi4"@?;kYGI4"@Iq@q @q@u/@qԩEchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.814234^AvтI9IQOe>+G `]AI m 09m `]AYu 9A ]j,VY@AbE-4jE 4rE0E EE*E"E*E&p:VE(N4ZEa"@a"@a"@a"@FP@FBF"@F$չ<ٱF NAHRS rotation from veh to nav: [[-0.821690,-0.559816,-0.106913],[0.569483,-0.813930,-0.114926],[-0.022683,-0.155319,0.987604]]FHIK ^`39? @k":`|ÿs?iFP@IFe_;DYZiByZ'IbDbVDbyj7%jP=ٔj;Q-n>p9lYp=rmGypvEEv>xQ 5z5z4b?Q 9~5z-)zBY|y~[*@Q IY@z&DIzj;iz;zq5y Bɮ ̀A Ej)gO5FNOT Ignoring new targets: 131.81 m.R5(Z=(gOM ProNav: ac range: 131.814667 m, nav range: 117.846954 m, bearing: 145.000586 deg, approach rate: -0.574768 m/s, LOS rate: -0.036849 deg/s, cmd heading: 145.761537 deg, new cmd heading: 145.732562 deg. BM߆gOUHeadingCmd: 2.543513 target range: 131.814667 and range: 132.60 m.U"@Q*Q"Q QQYYYʎaaajaZe@b3@颕%BɢLp=) 3"?i)Cd<顙i)qi"@?;fI"@IA9A9BABABE'IBEqBBABABEdDBE%Z;BE=!Echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.066760u9@q @q@u0@q@y@}\A 9^AjbAZAzA\AII)O=>U checking for new query: numPingsReceived=0, elapsed TxPingTime=7.319150i Fj,ѫY@AYntByr'IIv=)v9imMb@Mb@Mb@iiii i9mv?p= ף?{GztYm?ym=mףm^Am@ mz@)m@iYm@bDVD1yC=%<=ٔQ->9Y=mGyjFE>Q 55N?Q 95[*)BY?Q E:y)@Q IY@.DIe:i3:=5yBɮtAEjgO%FNOT Ignoring new targets: 131.81 m.R%Z-gO= ProNav: ac range: 131.814667 m, nav range: 117.587761 m, bearing: 144.986543 deg, approach rate: -0.596157 m/s, LOS rate: -0.032372 deg/s, cmd heading: 145.732563 deg, new cmd heading: 145.704415 deg. B=lgOEHeadingCmd: 2.543022 target range: 131.814667 and range: 132.60 m.E"@A*A"A AAIIM;BʎIQQjQZU 3@颅#Bɢ4Jp=) d(?i)*m<顉i6si"@<>>;fFI"@IE= E=E=%E9"E=O:*E=e:VE= 4ZE9BE= pj,Y@ARNE@R:"@R^<ٱRHg fAHRS rotation from veh to nav: [[-0.821250,-0.560444,-0.107007],[0.570022,-0.814106,-0.110930],[-0.024945,-0.152097,0.988051]]RHG@(d=?( e/wÿ?iRNE@IRc_;PYvjByv'I checking for new query: numPingsReceived=0, elapsed TxPingTime=7.822564bDuVDu!yD%O=ٔn;Q->9Y=mGykFDE>ԙQ 55Y=?Q 95[') BYy)@Q IY@6DIY;i3;5yɮAjgOFNOT Ignoring new targets: 131.81 m.RZ gO% ProNav: ac range: 131.814667 m, nav range: 117.351547 m, bearing: 144.973761 deg, approach rate: -0.591192 m/s, LOS rate: -0.032055 deg/s, cmd heading: 145.704409 deg, new cmd heading: 145.678794 deg. B%jgO-HeadingCmd: 2.542575 target range: 131.814667 and range: 132.60 m.-"@)*1"1 1199AʎAAIjIZM94@颍!BɢSlt=) O$?i)'v<顙iui"@Mk=;kZI"@I)9@ @@:0@DE=DE=EM EMEM&EI"EM:*EM:VEM4ZEIa]@a]@a]@a]@B=>B=ЍCB9B9B=1 =B9B9B=Z;B=!Echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.073907^A 7) A ؟AI! IA Om >hik,Y@AY5rBy5'IiMb@Mb@Mb@ 9l?L7A`?Mb`Y?y+=CA@ M@)@Y@bDVDky=%4=ٔQ->9"?Y"?=mGyE>Q 5-5=)?Q 9-5#)BY5}?Q E5:y5:)@Q I5Y@>DI;iu;5yEBɮEOAMEP}B*** querying acoustic contact *** checking for new query: numPingsReceived=0, elapsed TxPingTime=8.326080j)gO5FNOT Ignoring new targets: 131.81 m.R5+Z5+gOe ProNav: ac range: 131.814667 m, nav range: 117.081787 m, bearing: 144.958660 deg, approach rate: -0.561618 m/s, LOS rate: -0.031511 deg/s, cmd heading: 145.678796 deg, new cmd heading: 145.648525 deg. BmfgOmHeadingCmd: 2.542046 target range: 131.814667 and range: 132.60 m.m"@q*q"q qqqy}*BʎyyjZ /4@ Bɢk=) )?i)e<i%wi"@x<;O9I"@I9@ @@0@@%=@%=)E-  E- E- (E) "E- :*E- x:VE- c44ZE) BE- #Gk,!Y@AYzsByz'I ||bDVDܲy<%X=ٔQ->9% ?Y% ?=%mGy%lF!E%>11Q 5=55?Q 9=55'!)5BY9yAQ IEY@5FDI5:i5:55yIɮMHAjgOFNOT Ignoring new targets: 131.81 m.RZgO ProNav: ac range: 131.814667 m, nav range: 116.860596 m, bearing: 144.946225 deg, approach rate: -0.611286 m/s, LOS rate: -0.034430 deg/s, cmd heading: 145.648525 deg, new cmd heading: 145.623608 deg. B |gOHeadingCmd: 2.541611 target range: 131.814667 and range: 132.60 m.é"@*"   ʎjZ5@EBɢE"ч=)I Mo*?iI)M(D1 zD1 E=  E= E= $E9 "E= :*E= g:VE= 4ZE9 aM @aM @aM @aM @8k,T;Y@A>8@>-"@>Z<ٱ>XH VAHRS rotation from veh to nav: [[-0.820728,-0.561274,-0.106666],[0.570639,-0.814445,-0.105121],[-0.027872,-0.147143,0.988722]]>HfCnN B? .麿k¿@?i>8@I>_;<Bb>B`Bb'IBblBBb0 =B`B`Bb[;Bb!EBBЍCBBB1 =C5Y~nBy~'IbDVDk2y%%%J=ٔ%;Q-%>9-"?Y-"?=-mGy)5E5>echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.0820651Q 5m55?Q 9m55")5BYqyu.)@Q IuY@5MDI5:i5:5|5ԙyBɮ{AjgOFNOT Ignoring new targets: 131.81 m.RMZMgO= ProNav: ac range: 131.814667 m, nav range: 116.621834 m, bearing: 144.932832 deg, approach rate: -0.592225 m/s, LOS rate: -0.033288 deg/s, cmd heading: 145.623608 deg, new cmd heading: 145.596767 deg. BEsgOEHeadingCmd: 2.541143 target range: 131.814667 and range: 132.60 m.M"@I*I"I IIIʎjZ 9~5@EBɢE8xy=)I M(?iI)E݈<iZzi"@ ;;̒55k,UY@A> 1@>&"@><ٱ> FAHRS rotation from veh to nav: [[-0.820457,-0.561539,-0.107349],[0.570977,-0.814321,-0.104238],[-0.028883,-0.146816,0.988742]]>H/A :{rE? R¿ ƣ?i> 1@I>__;>CYNpByN'Ii%Mb@Mb@Mb@!!!! !9%㥛 ??Mbp?Y%?y%L=%;%A%@ %d@)!!Y!bD=VD=k1yM;%ME=ٔM ;Q-U>9QYQ=UmGyUmF]E]>aQ 5m5e9?Q 9m5e)eBYm ?Q Eu:yu'@Q IuY@eUDIe ;ie ;e5yyɮ}{AyjgOFNOT Ignoring new targets: 131.81 m.RZgO ProNav: ac range: 131.814667 m, nav range: 116.379929 m, bearing: 144.922135 deg, approach rate: -0.604236 m/s, LOS rate: -0.026775 deg/s, cmd heading: 145.596766 deg, new cmd heading: 145.575327 deg. BDgOHeadingCmd: 2.540769 target range: 131.814667 and range: 132.60 m."@*" E EE'E"EV:*Ek:VE'4ZEBE9[k,oY@AB9@BO/"@B<ٱBR NAHRS rotation from veh to nav: [[-0.820746,-0.560993,-0.107997],[0.570531,-0.814633,-0.104246],[-0.029497,-0.147175,0.988671]]BHCA?y@ۯc4¿0?iB9@IB_;BCYZmByZ'II1)5<bDEVDEβyMc%UJ=ٔUK:Q-U>9] ?Y] ?=]mGyYei:Ee>iQ 5m5m㹊?Q 9u5m)mBYqyu'@Q IuY@m]DIm;im;m5yڧBɮl{AEjgOFNOT Ignoring new targets: 131.81 m.RZgO ProNav: ac range: 131.814667 m, nav range: 116.144341 m, bearing: 144.911612 deg, approach rate: -0.583569 m/s, LOS rate: -0.026119 deg/s, cmd heading: 145.575332 deg, new cmd heading: 145.554244 deg. B3?gOHeadingCmd: 2.540401 target range: 131.814667 and range: 132.60 m."@*" ʎjZD6@Bɢ ˉ=)  (?i ) h;<i|~i"@9;-I"@I!9@ @@/@E EE%E"E:*E:VE 4ZEa@a@a@a@aA؟AIIOK>B>BBBBBBB[;B!E]9"?Y"?=mGynFE>2Acoustic response timeoutQ 55й?Q 95E)BY?Q E:y&@Q IY@eDIp&?iQ)]\M 2Acoustic response timeout l(k,PUY@A60@6%"@6/N<ٱ6Ro BAHRS rotation from veh to nav: [[-0.820378,-0.561534,-0.107978],[0.570998,-0.814588,-0.102016],[-0.030672,-0.145347,0.988905]]6H@n`E? hේ¿?i60@I6d^;6CYJeByJ'IbDVVDVyZ%Zn=ٔ^S:Q-^?9`Y`=bmGy`bEf?dQ 5j5f?Q 9n5f)fBYlyn&@Q InY@flDIf ;if ;f5yvBɮvxtAvEj gOFNOT Ignoring new targets: 131.81 m.R.Z.gO- ProNav: ac range: 131.814667 m, nav range: 115.672707 m, bearing: 144.893038 deg, approach rate: -0.669486 m/s, LOS rate: -0.026466 deg/s, cmd heading: 145.533231 deg, new cmd heading: 145.517015 deg. B-AgO5HeadingCmd: 2.539751 target range: 131.814667 and range: 132.60 m.5H"@1*1"1 11199ʎAAAjAZE 7@uBɢuD=)q u,&?iq)}JAAIIIYOe4>2Acoustic response timeoutI E  E E $E "E a:*E |:VE 4ZE a @a @a @a @.k,0Y@AB$B$B&'IB&bBB&/ =B$B$B&$[;B&!E@R%5@R*"@RL<ٱRX ZAHRS rotation from veh to nav: [[-0.820548,-0.561204,-0.108403],[0.570735,-0.814765,-0.102076],[-0.031037,-0.145628,0.988852]]RH AbPuC?`!Jȟ ¿୤?iR%5@IR;}^;PY`By 'I %2Acoustic response timeoutbD%VD%:2y5Ҽ%5B=ٔ=d:Q-=>9AYA=EmGyEoFE#C:EE>IQ 5U5ML?Q 9U5M&)MBYYy]&@Q I]Y@MtDIM;iM;M25yeBɮmrAm EjgOFNOT Ignoring new targets: 131.81 m.RRڹZRڹgO ProNav: ac range: 131.814667 m, nav range: 115.421265 m, bearing: 144.883038 deg, approach rate: -0.598562 m/s, LOS rate: -0.023859 deg/s, cmd heading: 145.517016 deg, new cmd heading: 145.496971 deg. B.gOHeadingCmd: 2.539401 target range: 131.814667 and range: 132.60 m."@*" ʎjZ z7@Bɢ=) #?i)U~5k,t ׬Y@A26@2,"@2M=ٱ2 :AHRS rotation from veh to nav: [[-0.820586,-0.561004,-0.109151],[0.570657,-0.814770,-0.102468],[-0.031448,-0.146371,0.988730]]2H =B@P`B?P;J¿?i26@I2^;0YB\ByF'IliMb@Mb@Mb@ 9`"?kt?Mbp?Y?y 0=;A@ )YbDmVDmy}%}F=ٔ}g:Q->9Y=mGyX9E>Q 55?Q 95 )BY5?Q E:y&@Q IY@|DI ;i" ;5yɮrAE EE"E"E:*Ega:VE(3ZEBEu>="ÿ?i 7@I 6^; Y5OB9y5'IbDMVDMfy]{%]L=ٔe30:Q-e>9aYa=emGympFm#Q9Em>qQ 5}5uE?Q 9}5u)uBYy&@Q IY@uDIu:iu:uL5yBɮrAEjgOFNOT Ignoring new targets: 131.81 m.RֹZֹgO ProNav: ac range: 131.814667 m, nav range: 114.939552 m, bearing: 144.864289 deg, approach rate: -0.598106 m/s, LOS rate: -0.023388 deg/s, cmd heading: 145.477948 deg, new cmd heading: 145.459396 deg. B5+gOHeadingCmd: 2.538745 target range: 131.814667 and range: 132.60 m.z"@*" ʎjZLJ8@Bɢ"=) ?i)L<iiz"@&6;wIz"@II[A)a@ @@@bEUĻ 4jEUę4rEUA0E EE#E"E:*Ek:VE3ZEa@a@a@a@BABABE'IBEXBBE0 =BABABE}[;BE!EU2Acoustic response timeoutԑ^A#2AzAԹ A .AI I O >\Bk, Y@AԑB@7"@=ٱ] AHRS rotation from veh to nav: [[-0.820982,-0.559874,-0.111938],[0.570074,-0.814690,-0.106278],[-0.031693,-0.151065,0.988016]]H`{E} @ >?5:Vÿ ӝ?iB@IG];YGBy'II <) =iMb@Mb@Mb@ 9\(\?kt?~jthY?yDt A@ d@)@Y\@bDVD2Acoustic response timeouty%6=ٔfQ->9 ?Y ?=mGyM:E>Q 55x?Q 95)BYE?Q E:y&@Q IY@DI@:i::5yiɮmsAiPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 131.81 m.RŹZŹgO% ProNav: ac range: 131.814667 m, nav range: 114.667900 m, bearing: 144.853987 deg, approach rate: -0.568947 m/s, LOS rate: -0.021626 deg/s, cmd heading: 145.459397 deg, new cmd heading: 145.438745 deg. B-PgO-HeadingCmd: 2.538385 target range: 131.814667 and range: 132.60 m.-t"@1*1"1 1119=#Bʎ99ajiZm`8@颱ɢ1s=) ?i)~ <项ikit"@-;6;1fԸIt"@I9@ @@@@=@=E EE%E"E:*E~:VE 4ZEBEm% } BDAT read: Tx time:00:58:28.2704 } $Ping request sent.} [Ik,@'Y@A2D@2`:"@2}=ٱ2 :AHRS rotation from veh to nav: [[-0.821078,-0.559504,-0.113077],[0.569940,-0.814541,-0.108126],[-0.031609,-0.153227,0.987685]]2HEF@t9~"?Y~"?=~mGy~qF9E> Q 55 g?Q 95 ) BYy&@Q IY@ DI :;i F; 5y%Bɮ% sA%EjIgOMFNOT Ignoring new targets: 131.81 m.RUZUgOe ProNav: ac range: 131.814667 m, nav range: 114.434921 m, bearing: 144.845098 deg, approach rate: -0.650624 m/s, LOS rate: -0.024876 deg/s, cmd heading: 145.438742 deg, new cmd heading: 145.420927 deg. Be6gOmHeadingCmd: 2.538074 target range: 131.814667 and range: 132.60 m.mo"@i*q"q qqqyyʎyyyjZ7 9@颭Bɢ߮=) ?i)d<顱i ,io"@5;u9Io"@Ia@a @i@m/@ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.249223^A9E  E E &E "E :*E ga:VE 4ZE a @a @a @a @A .AI I O >9 B A <B B B 'IB HBB B B B [;B "E5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500586>Pk,AY@AY~2By~'IbD VD y%"K%%H=ٔ-Q-->9- ?Y- ?=-mGy15E5>9Q 5E5=U?Q 9E5=)=BYIyIQ IMY@=DI=:i=:=,5yQɮU^sAQjgO FNOT Ignoring new targets: 131.81 m.R ˹Z ˹gO% ProNav: ac range: 131.814667 m, nav range: 114.187637 m, bearing: 144.835623 deg, approach rate: -0.579365 m/s, LOS rate: -0.022248 deg/s, cmd heading: 145.420929 deg, new cmd heading: 145.401938 deg. B%"gO-HeadingCmd: 2.537743 target range: 131.814667 and range: 132.60 m.-`j"@)*)") ))111ʎ999j9Z=9@iɢm4s=)i m?ii)u*KhVk,~ZY@AE2 E2E2(E0"E2:*E2xv:VE2c44ZE0BE0a:2E0a:JE2;a::E2;a:ZDR@ZG"@Zy=ٱZl" fAHRS rotation from veh to nav: [[-0.821555,-0.558342,-0.115334],[0.569272,-0.814450,-0.112252],[-0.031259,-0.157877,0.986964]]ZH-J`y7?@$P5Ŀ@5?iZDR@IZ];ZCYn&Bynu'I ppieMb@Mb@Mb@aaaa a9ev?:v?I +Ye?yeT=e94eAe@ ez@)e@aYaybDVDygq%D=ٔ[Q->9"?Y"?=mGyrF;E>Q 55nC?Q 95<)BYo?Q E:y'@Q IY@DI;iX;5yBɮisAEjgOFNOT Ignoring new targets: 131.81 m.R bZ bgO ProNav: ac range: 131.814667 m, nav range: 113.938698 m, bearing: 144.824225 deg, approach rate: -0.621057 m/s, LOS rate: -0.028498 deg/s, cmd heading: 145.401941 deg, new cmd heading: 145.379095 deg. BPgOHeadingCmd: 2.537344 target range: 131.814667 and range: 132.60 m.c"@*" BʎjZ`9@iIchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005035Bɢ%\k,'tY@A:V@:K"@:2<ٱ:" FAHRS rotation from veh to nav: [[-0.821700,-0.558162,-0.115172],[0.569089,-0.814486,-0.112916],[-0.030781,-0.158326,0.986907]]:H\K w{@5?@E 輿 @DĿཔ?i:V@I:];:CYNByNj'IbDZVDZ:ybE%bY=ٔbQ-b>9dYd=fmGydj!:Ej>hQ 5r5j2?Q 9r5jF)jBYpyr'@Q IrY@jDIj3;ijQ;j5yxɮzsAxjgOFNOT Ignoring new targets: 131.81 m.R%(Z%(gO5 ProNav: ac range: 131.814667 m, nav range: 113.714050 m, bearing: 144.813871 deg, approach rate: -0.596751 m/s, LOS rate: -0.027557 deg/s, cmd heading: 145.379101 deg, new cmd heading: 145.358354 deg. B5IgO5HeadingCmd: 2.536982 target range: 131.814667 and range: 132.60 m.=]"@9*9"9 9AAAAʎIIIjIZMxT:@yɢ}{=)y }k?iy)<顁iii]"@BэCB'IB/BB/ =BBB\;B."EBuЍCBqBqBu0 =Bu0 =Cuf4checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508627^A] ;1A .AI I! O5 >a ~ck,Y@AN[@NEQ"@Ni<ٱNt# ZAHRS rotation from veh to nav: [[-0.821913,-0.557890,-0.114969],[0.568819,-0.814531,-0.113948],[-0.030075,-0.159052,0.986812]]NHM =n 3? +`̞[Ŀ?iN[@IN_];NC]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760698)Y Byd'IiMb@Mb@Mb@ 9bX9?Mb?MbYE?y= A@ )@Y@bDVDk1yʚ%"=ٔQ->9 ?Y ?=mGysF2:E>Q 55?Q 95)BY7?Q E:y(@Q IY@DI ;i ;5yBɮsAP B*** querying acoustic contact ***  jgOFNOT Ignoring new targets: 131.81 m.R%0Z%0gO5 ProNav: ac range: 131.814667 m, nav range: 113.419617 m, bearing: 144.797166 deg, approach rate: -0.584746 m/s, LOS rate: -0.033264 deg/s, cmd heading: 145.358351 deg, new cmd heading: 145.324853 deg. B5sgO=HeadingCmd: 2.536397 target range: 131.814667 and range: 132.60 m.=UT"@9*9"9 BʎjZ@y:@5BYɢ5I]=)a ev?ia)egjk,Y@Ab/]@bR"@b<ٱbv! jAHRS rotation from veh to nav: [[-0.821986,-0.558138,-0.113232],[0.568760,-0.814702,-0.113014],[-0.029173,-0.157298,0.987120]]lbHMC@H3?` lߝV"Ŀ }?ib/]@Ib];bC p)ppttttivItxIxix zTx)|| ||||I)i) I    lAiiC) IYY% By%W'II-J>)->bD=VD=yM[%MW=ٔMQ-U>9QYQ=]mGyY]~y9E]>aQ 5m5e ?Q 9m5e)eBYiyu(@Q IuY@eDIe ;ie;e5y}}Bɮ}{sA}EjgOFNOT Ignoring new targets: 131.81 m.RZgO ProNav: ac range: 131.814667 m, nav range: 113.197296 m, bearing: 144.784475 deg, approach rate: -0.583899 m/s, LOS rate: -0.033396 deg/s, cmd heading: 145.324856 deg, new cmd heading: 145.299425 deg. BxtgOHeadingCmd: 2.535953 target range: 131.814667 and range: 132.60 m.M"@*" qqʎyyyjZ;;@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265085Bɢ,Yo=) M>i)2<iBBh'IBBBBBeDB \;B4"E^A! iY IY e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516865q A ؟AI I O >gqk,ŭY@A6h@6f^"@6&~<ٱ6$ BAHRS rotation from veh to nav: [[-0.822412,-0.558184,-0.109860],[0.568191,-0.815527,-0.109891],[-0.028255,-0.152797,0.987854]]6H2Q`.? !`ݎÿ ?i6h@I6];4YByF'IbD-VD-:29yE[%EK=ٔMQ-M>9M"?YM"?=MmGyUtFU:EU>YQ 5e5]?Q 9e5])]BYiym(@Q ImY@]DI]:i]t:]Y5yuHBɮuErAuEjgOFNOT Ignoring new targets: 131.81 m.RZgO ProNav: ac range: 131.814667 m, nav range: 112.961777 m, bearing: 144.770868 deg, approach rate: -0.587311 m/s, LOS rate: -0.034003 deg/s, cmd heading: 145.299420 deg, new cmd heading: 145.272149 deg. BxgOHeadingCmd: 2.535477 target range: 131.814667 and range: 132.60 m.CE"@*" ʎjZl;@Bɢhhl=) f>i) W< iKi-CE"@5y5;5;I5CE"@I99@ @@/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768788ԙ^A5 7;Aa Ii Iy O > E  E E %E "E m:*E ga:VE 4ZE BE R99YA=EmGyAEU:EE>IQ 5U5M+踊?Q 9]5M)MBY]?Q E]:y]^*@Q I]Y@MDIM;iMJ;M%5ye=Bɮm.rAijgOFNOT Ignoring new targets: 131.81 m.Ro6Zo6gO ProNav: ac range: 131.814667 m, nav range: 112.711784 m, bearing: 144.753570 deg, approach rate: -0.574991 m/s, LOS rate: -0.039874 deg/s, cmd heading: 145.272154 deg, new cmd heading: 145.237481 deg. BgOHeadingCmd: 2.534872 target range: 131.814667 and range: 132.60 m.Y;"@*" BʎjZ <@mBɢmw_=)q uD>iq)uA ? A .AI I O >ջ}k,xY@A6R@6v"@6A<ٱ6V BAHRS rotation from veh to nav: [[-0.823275,-0.557131,-0.108738],[0.566971,-0.816391,-0.109772],[-0.027616,-0.152024,0.987991]]6HDX`Bֻ$?  HGuÿ@?i6R@I6t];4YJByJ5'I LLbDVVDVy^3%^f=ٔ Q- >9 ?Y ?=mGyuF;E>!Q 5-5%Lظ?Q 9-5%)%BY)y-j*@Q I-Y@%DI%_:i%:%W5y9ɮ=ZrA9jagOeFNOT Ignoring new targets: 131.81 m.Rm88Zm88gO} ProNav: ac range: 131.814667 m, nav range: 112.501564 m, bearing: 144.738884 deg, approach rate: -0.575276 m/s, LOS rate: -0.040264 deg/s, cmd heading: 145.237484 deg, new cmd heading: 145.208057 deg. B}`gOHeadingCmd: 2.534359 target range: 131.814667 and range: 132.60 m.2"@*" ʎjZBj<@E EEE"Es:*Ei:VEZEa@a@a@a@Bɢ%h=) >i)R;<i,i2"@06;;I2"@IB#>BBH'IBBB. =BBB1\;BI"E9@ @@00@=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525923!^A;QA ؟AI) II Ou >y  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776623Ek,sY@AN@N="@Nx<ٱN VAHRS rotation from veh to nav: [[-0.823696,-0.556118,-0.110715],[0.566346,-0.816467,-0.112403],[-0.027886,-0.155289,0.987475]]NH[W ? uƼ"ÿf?iN@IN];LYbByb%'IiEMb@Mb@Mb@AAAA A9Ex?bX9ȶ?I +YEK?yEE=E9AA Ed@)E@AYAbD]VD]0ymv%m?=ٔu*:Q-u>9u"?Yu"?=}mGyy}:E>Q 55Ÿ?Q 95()BY?Q E:y+@Q IY@DI :iU: 5y2BɮorAEP=B*** querying acoustic contact ***9 9jAgOMFNOT Ignoring new targets: 131.81 m.RMOZUOQgO ProNav: ac range: 131.814667 m, nav range: 112.256203 m, bearing: 144.719265 deg, approach rate: -0.566107 m/s, LOS rate: -0.045364 deg/s, cmd heading: 145.208060 deg, new cmd heading: 145.168736 deg. B gOHeadingCmd: 2.533672 target range: 131.814667 and range: 132.60 m.'"@*" ՆBʎjZ]<@ Bɢ `X=)  ;>i1)5E<11i5勼i='"@=w6;=8a;I='"@IAE EE&E"EO:*EAr:VE4ZEBE Ίk,Q-Y@A:@:3"@:m<ٱ:P[" BAHRS rotation from veh to nav: [[-0.824265,-0.554892,-0.112618],[0.565481,-0.816815,-0.114211],[-0.028613,-0.157823,0.987053]]:H```Լk?Y#@<L@3Ŀ?i:@I:i];:CYJByJ'Ipr@AbDvVDvk2y~%~R=ٔ^:Q->9  ?Y  ?= mGy vF-;E>!Q 5-5%𳸊?Q 955%q)%uBY1y5+@Q I5Y@%DI%;(;i%A;%f5yAɮMrAIj GgO FNOT Ignoring new targets: 131.81 m.!R5!\checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280774Աv9YnAZ!\gO ProNav: ac range: 131.814667 m, nav range: 112.025978 m, bearing: 144.700670 deg, approach rate: -0.594442 m/s, LOS rate: -0.048113 deg/s, cmd heading: 145.168731 deg, new cmd heading: 145.131464 deg. BgOHeadingCmd: 2.533022 target range: 131.814667 and range: 132.60 m."@ * "   ʎj!Z%@F=@颕 BɢZ=) P>i)<顙ibE9jE=ǻ 4rE=ǃA0E EE(E"E:*Exv:VEc44ZEa@a@a@a@BA<B'>BҍCB0'IBBB- =BBB^\;Bb"E ^AM r;AI zAI U checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533641Ii Iy O >9 k,w-GY@A6@6"@6Ca<ٱ6! RAHRS rotation from veh to nav: [[-0.824718,-0.554097,-0.113211],[0.564763,-0.817424,-0.113403],[-0.029705,-0.157463,0.987078]]6Hd(e?V( k'Ŀ$?i6@I6^;6CYZByZ"'IbDbVDbyj C<%jM=ٔn3;Q-n>9pYp=rmGypv ;Ev>xQ 5z5z?Q 9~5z)zjBY|y~+@Q IY@zDIzY;iz;z5y 'Bɮ &rA Ej)gO5FNOT Ignoring new targets: 131.81 m.R5?cZ=?cgOM ProNav: ac range: 131.814667 m, nav range: 111.792000 m, bearing: 144.681582 deg, approach rate: -0.607587 m/s, LOS rate: -0.049669 deg/s, cmd heading: 145.131466 deg, new cmd heading: 145.093211 deg. BM̵gOUHeadingCmd: 2.532354 target range: 131.814667 and range: 132.60 m.U"@Q*Q"Q QQYYYʎaaajaZe@=@颕 BɢAk=) >i)Xr<顙i2i"@k8;J$i E  E E &E "E D:*E :VE 4ZE BE 19Y=mGywFE>Q 5 5ގ?Q 9 5)aBY ]?Q E:yw-@Q IY@DI\:i" ;5yBɮrAEjAgOEFNOT Ignoring new targets: 131.81 m.RM;wZM;wgO] ProNav: ac range: 131.814667 m, nav range: 111.545952 m, bearing: 144.657902 deg, approach rate: -0.560229 m/s, LOS rate: -0.054036 deg/s, cmd heading: 145.093217 deg, new cmd heading: 145.045752 deg. BeźgOeHeadingCmd: 2.531526 target range: 131.814667 and range: 132.60 m.e"@i*i"i iiiquۆBʎqyyjyZ}>@颥 BɢY=) E>i)c<顩i-Di5"@5Б9;=M- k,zY@APNK@N"@N(=ٱN ZAHRS rotation from veh to nav: [[-0.825877,-0.552634,-0.111909],[0.562913,-0.819542,-0.107142],[-0.032504,-0.151481,0.987926]]NHm-@b?`9mT@cÿ ?iNK@IN|3^;NCYbׇByb'I jp9xYx=zmGyx~;E~>Q 5 5~?Q 9 5)XBY y -@Q I Y@DIM:i:5y1BɮrAjAgOEFNOT Ignoring new targets: 131.81 m.RMz{ZMz{gO] ProNav: ac range: 131.814667 m, nav range: 111.338203 m, bearing: 144.637549 deg, approach rate: -0.559993 m/s, LOS rate: -0.054965 deg/s, cmd heading: 145.045747 deg, new cmd heading: 145.004965 deg. B]/ɺgOeHeadingCmd: 2.530814 target range: 131.814667 and range: 132.60 m.e!@a*a"a aiiiiʎqqqjqDyD}R=E EEE"E:*Ec:VEZEa@a@a@a@Zu`]n>@颽Bɢb=) 4>i)<ioi!@:;"YB9B='IB=އBB=, =B9B=fDB=\;B="EU9@Q @Q@U/@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.541225^AA?A?I!I9O]>)  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792715k,yY@Al%X@%"@%. =ٱ% 5AHRS rotation from veh to nav: [[-0.826073,-0.552963,-0.108791],[0.562527,-0.820748,-0.099679],[-0.034171,-0.143540,0.989054]]%H 0o߱ٻ7? C~_¿`U?i%X@I%C9^;%CYaye'IiMb@Mb@Mb@ 9On?EԸ?{GzY?y=# A@ z@)@YbDVD0y 4;%-=ٔg;Q->9Y=mGyxFn:E>Q 55h?Q 95o)NBY?Q E:y,@Q IY@DI:i:5y%BɮprAPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 131.81 m.RrZrgO ProNav: ac range: 131.814667 m, nav range: 111.058296 m, bearing: 144.611718 deg, approach rate: -0.573611 m/s, LOS rate: -0.053068 deg/s, cmd heading: 145.004971 deg, new cmd heading: 144.953179 deg. B=ºgOHeadingCmd: 2.529910 target range: 131.814667 and range: 132.60 m. !@*" ׆BʎjZj>@ Bɢ(W=) >i)%k,Y@A@\"@"x=ٱB -AHRS rotation from veh to nav: [[-0.826256,-0.552794,-0.108261],[0.562175,-0.821355,-0.096624],[-0.035507,-0.140697,0.989416]]Hp|@@V?@H T .^¿K?i@I%^;CYMЇByM 'IYbDVDJyI(%e=ٔt;Q->9Y=mGy;:E>Q 55X?Q 95)EBYy,@Q IY@DI;i;4!5yɮrAjgOFNOT Ignoring new targets: 131.81 m.R Z }checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296734gO ProNav: ac range: 131.814667 m, nav range: 110.846283 m, bearing: 144.592007 deg, approach rate: -0.614547 m/s, LOS rate: -0.057246 deg/s, cmd heading: 144.953184 deg, new cmd heading: 144.913686 deg. BѺgOHeadingCmd: 2.529221 target range: 131.814667 and range: 132.60 m.!@*" ʎjZOI?@5Bɢ=f*d=)9 =>i9)=́B9B= 'IB=χBB9B9B9B=\;B="EB5ҍCB5ҍCB1B5- =B5- =C5ë5^Am jb<- checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549030 A I I O > k,ȮY@A65@6"@6j%=ٱ6l< BAHRS rotation from veh to nav: [[-0.826319,-0.552534,-0.109100],[0.562040,-0.821432,-0.096750],[-0.036161,-0.141265,0.989311]]6H5q[ `;?+Iĸ¿ p?i65@I69\Y\=^mGybyFb9Eb>dQ 5j5fii)m1-k,QNY@AN)@N"@N,b=ٱN VAHRS rotation from veh to nav: [[-0.826301,-0.552096,-0.111431],[0.562031,-0.821140,-0.099247],[-0.036706,-0.144636,0.988804]]NHqĪ@)? F@Fh0ˢn¿H?iN)@IN.^;NCY^͇Byb'IIf<)frchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.052739iUMb@Mb@Mb@QQQQ Q9UbX9?Mb?~jthYUE?yU=UDUZAU@ U@)U&@QYU@bDm VDm:2y}μ%}?=ٔY:Q->9"?Y"?=mGyE>Q 553?Q 95)4BY0?Q E:y,@Q IY@DI ;i ;<(5yBɮpAEjgOFNOT Ignoring new targets: 131.81 m.RyZygO ProNav: ac range: 131.814667 m, nav range: 110.373016 m, bearing: 144.547837 deg, approach rate: -0.583836 m/s, LOS rate: -0.054566 deg/s, cmd heading: 144.871850 deg, new cmd heading: 144.825156 deg. BǺgOHeadingCmd: 2.527676 target range: 131.814667 and range: 132.60 m.q!@*" ҆BʎjZ @@BɢW_=) '>i)/<ii%q!@%]`A;%ޅYk,-Y@A>4@>"@>8=ٱ>^ JAHRS rotation from veh to nav: [[-0.825801,-0.552474,-0.113251],[0.562721,-0.820515,-0.100503],[-0.037399,-0.146724,0.988470]]>Hlݭ?A`%@¿`?i>4@I>E^;>CYRʇByR'IbDZVDZ02y  Z% R=ٔ _:Q- >9Y=mGyzFnE>!Q 5-5%H"?Q 9-5% )%-BY)y-,@Q I-Y@%DI%:i%:%+5y=ۥBɮ=pA9D]%=D]4=Ee EeEe#Ea"Ee:*EeAr:VEe3ZEaam@am@am@am@jygO}FNOT Ignoring new targets: 131.81 m.RswZswgO ProNav: ac range: 131.814667 m, nav range: 110.145515 m, bearing: 144.526639 deg, approach rate: -0.579266 m/s, LOS rate: -0.054085 deg/s, cmd heading: 144.825159 deg, new cmd heading: 144.782677 deg. BźgOHeadingCmd: 2.526934 target range: 131.814667 and range: 132.60 m.K!@*" ʎjZ:@@B.>BӍCB'IBɇBB+ =BEDBB\;B"EBɢ,h=) 8>i)!<iiK!@  B; 2} checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811339 ?k,Y@AY=ŇBy=&IiMb@Mb@Mb@ 9K?+?~jthY^?y= A@ @)@Y=@bDVDfyB%<=ٔQ->9Y=mGy{FE> Q 55 ?Q 95 ) $BY?Q E:y*@Q IY@ 'DI ;i t; n/5y%ХBɮ-UpA-EjqgO}FNOT Ignoring new targets: 131.81 m.R}TZ}TgO ProNav: ac range: 131.814667 m, nav range: 109.885017 m, bearing: 144.506428 deg, approach rate: -0.597396 m/s, LOS rate: -0.046460 deg/s, cmd heading: 144.782675 deg, new cmd heading: 144.742157 deg. B gOHeadingCmd: 2.526227 target range: 131.814667 and range: 132.60 m.!@*" ІBʎjZ r@@Bɢ^=) >i)<isi!@?D;Y nk,^/Y@AN @N"@Nc=ٱN nAHRS rotation from veh to nav: [[-0.825230,-0.553747,-0.111176],[0.563598,-0.820185,-0.098249],[-0.036780,-0.143737,0.988932]]NH`Hh@Kv ?>@&Ԣe¿ U?iN @IN];NCYtyt xxbDVDβٔ%غQ->9 ?Y ?=mGy6E%>!Q 5-5%f?Q 955%))%BY1y5*@Q I5Y@%.DI%;i%;%25yAɮAAP]B*** querying acoustic contact ***Y YjigOmFNOT Ignoring new targets: 131.81 m.RuWZuWgO ProNav: ac range: 131.814667 m, nav range: 109.659462 m, bearing: 144.488968 deg, approach rate: -0.608150 m/s, LOS rate: -0.047173 deg/s, cmd heading: 144.742159 deg, new cmd heading: 144.707167 deg. BgOHeadingCmd: 2.525616 target range: 131.814667 and range: 132.60 m.!@*" ʎjZ`@@BɢPi=) >i)EO<iIi!@DF;PBB&IBBBBBB:];B"Eԁ A ؟AI I O >iY IY e checking for new query: numPingsReceived=0, elapsed TxPingTime=8.576892`Sk,/IY@A,J]@J"@J=ٱJ / ZAHRS rotation from veh to nav: [[-0.824409,-0.555484,-0.108566],[0.564861,-0.819614,-0.095735],[-0.035803,-0.140250,0.989469]]JHa @ʻV?@G:T ?iJ]@IJ];HYjÇByj&IbDz VDz:2y@%<ٔQ->9%"?Y%"?=%mGy%|F-sE5>9Q 5M5=귊?Q 9U5=3)=BYQyU*@Q IUY@=6DI=IW;i=V;=C65ymťBɮmpAmEjgOFNOT Ignoring new targets: 131.81 m.R%RZ%RgOU ProNav: ac range: 131.814667 m, nav range: 109.415535 m, bearing: 144.470191 deg, approach rate: -0.597701 m/s, LOS rate: -0.046113 deg/s, cmd heading: 144.707161 deg, new cmd heading: 144.669523 deg. BUȨgO]HeadingCmd: 2.524960 target range: 131.814667 and range: 132.60 m.]!@Y*Y"a aaaaiʎiiij)Z-@"@@ԑBɢ-8_=)1 5*>i9)=Dk,dY@A2x@2cn"@2@=ٱ2>checking for new query: numPingsReceived=0, elapsed TxPingTime=9.080731 BAHRS rotation from veh to nav: [[-0.822784,-0.558148,-0.107225],[0.567262,-0.818145,-0.094088],[-0.035210,-0.138239,0.989773]]2H`?TYs@'?>.-@ӱ8?i2x@I2_p];2CYNȇByN'IiMb@Mb@Mb@ 9Q?p= ף?MbpY(?y= A @)@Y3@IMAAbDeVDe0y~<%3=ٔQ- >9 Y = mGy (ѻE>Q 5%5\ַ?Q 9%5)BY- ?Q E-:y-)@Q I-Y@?DI ;iK ;9:5y1ɮ5oA1jYgO]FNOT Ignoring new targets: 131.81 m.Re2Ze2gOu ProNav: ac range: 131.814667 m, nav range: 109.139809 m, bearing: 144.452606 deg, approach rate: -0.611085 m/s, LOS rate: -0.039071 deg/s, cmd heading: 144.669526 deg, new cmd heading: 144.634268 deg. BugO}HeadingCmd: 2.524344 target range: 131.814667 and range: 132.60 m.}ێ!@y*y"y BʎjZA@Bɢ2k=) O>i)<i6iێ!@,I;?kak,0~Y@A2M@2C"@2%=ٱ2 x :AHRS rotation from veh to nav: [[-0.821284,-0.559858,-0.109777],[0.569438,-0.816250,-0.097348],[-0.035104,-0.142461,0.989178]]2HG[`R`8?@븿2`)<¿X?i2M@I2ф];2C@YFByF&IIJ%=)J<bE-4jE--4rE-/ER ERER$EP"ER2:*ER:VER4ZEPaZ@aZ@aZ@aZ@Br">BrэCBr&IBrBBr. =BrFDBreDBrD];Br"EbD%VD%:2ye %eV=ٔmQ-m>9iYi=mmGyu}FuEu>Q 55ķ?Q 95Q =tI)BYy(@Q IZ@FDI:i:=5yBɮoAEjgOFNOT Ignoring new targets: 131.81 m.R%+Z%+gOU ProNav: ac range: 131.814667 m, nav range: 108.904816 m, bearing: 144.437891 deg, approach rate: -0.595863 m/s, LOS rate: -0.037393 deg/s, cmd heading: 144.634269 deg, new cmd heading: 144.604775 deg. BU݈gO]HeadingCmd: 2.523829 target range: 131.814667 and range: 132.60 m.]l!@Y*Y"a aaaiiʎiiijiZ@DA@BɢAj=) >i)$<iꮓil!@checking for new query: numPingsReceived=0, elapsed TxPingTime=9.584843%K;E] checking for new query: numPingsReceived=0, elapsed TxPingTime=9.8388146k,WY@AZZ.@Z#"@Z*=ٱZ fAHRS rotation from veh to nav: [[-0.820212,-0.560656,-0.113654],[0.571007,-0.814433,-0.103203],[-0.034702,-0.149546,0.988146]]ZH,?`gE? k`gġO$ÿ?iZZ.@IZ~n];XlY~By~&IieMb@Mb@Mb@aaaa a9eZd;?L7A`?Ye?ye+=ee Ae@ e@)e=@aYe@bD VD2yB%7=ٔ mQ->9Y=mGyE>Q 55?Q 9-56)BY-?Q E-:y5(@Q I5Z@ODI"`i)O<i1Fi|!@xQL;d6a k,uY@A2@2M"@2=ٱ2q" :AHRS rotation from veh to nav: [[-0.819214,-0.561046,-0.118813],[0.572438,-0.812502,-0.110246],[-0.034683,-0.158328,0.986777]]2H6j`jQ?9@DĿ?i2@I2k];0YBByB&I J;Jp;bDNVDNyV'%Vq=ٔVgQ-V?9XYX=ZmGyZ~F^EE^?`Q 5f5b?Q 9f5b)bBYdyf(@Q IjZ@bVDIb|:ib:bkD5ynBɮnpAnEPB*** querying acoustic contact ***! !j)gO-FNOT Ignoring new targets: 131.81 m.R51Z519gOM ProNav: ac range: 131.814667 m, nav range: 108.421463 m, bearing: 144.407992 deg, approach rate: -0.631120 m/s, LOS rate: -0.038852 deg/s, cmd heading: 144.570653 deg, new cmd heading: 144.544845 deg. BM5gOUHeadingCmd: 2.522784 target range: 131.814667 and range: 132.60 m.UIu!@Q*Q"Q YYYYaʎaaajaZmA@2Acoustic response timeout颕Bɢ5>;p=)1 5>i1)=N<99i=sʔiEIu!@EA"M;E$BB&IBBB0 =BBB];B"Eԑ^AIQIaOu> 2Acoustic response timeout k,AI̯Y@AFH@F!@F=ٱF) RAHRS rotation from veh to nav: [[-0.818492,-0.561303,-0.122512],[0.573457,-0.811143,-0.114866],[-0.034900,-0.164272,0.985797]]FH1 2\Y?@gmޡ`ſ ?iFH@IF];FCYZByZ&I \\bDfVDf1y=Ȼ%=B=ٔE:Q-E>9AYA=MmGyIMAEM>QQ 5]5U?Q 9]5U*)UBYaye(@Q IeZ@U^DIU;iU;UH5ymBɮmoAijgOFNOT Ignoring new targets: 131.81 m.ԙR/Z/gO ProNav: ac range: 131.814667 m, nav range: 108.159981 m, bearing: 144.392044 deg, approach rate: -0.627599 m/s, LOS rate: -0.038370 deg/s, cmd heading: 144.544848 deg, new cmd heading: 144.512875 deg. BqgOHeadingCmd: 2.522225 target range: 131.814667 and range: 132.60 m.$l!@*" ʎjZ`nA@Bɢd=) C>i)<i\i $l!@ M; E  E E $E "E *E ?:VE 4ZE BE #$Y@A62Acoustic response timeoutNk@N!@N8=ٱN- ZAHRS rotation from veh to nav: [[-0.817781,-0.561658,-0.125601],[0.574437,-0.809995,-0.118025],[-0.035446,-0.168668,0.985035]]NHB+`a?z6&@ſh?iNk@INzr];LYrByr&IimMb@Mb@Mb@iiii i9mRQ?Dl?QYm"?ymO=mum? Am(@ m@)m5AiYmf@bDVDfy\%E=ٔs:Q->9Y=mGyF8?E>Q 55z?Q 9U5Ű)BY#?Q E:yv(@Q IZ@gDI;i) <ii!c!@N;Ad&l,Y@ABF%>BDBF&IBFBBF. =BDBDBFK];BF"EBMэCBIBMCBM. =BICM 6Ej EjEj'Eh"Ej:*Ejx:VEj'4ZEhBEj><2Ej><JEj;:Ej;>@>!@>D!=ٱ>. MAHRS rotation from veh to nav: [[-0.817349,-0.562062,-0.126596],[0.575023,-0.809519,-0.118438],[-0.035913,-0.169601,0.984858]]>H 'jN4f? Q`%czſ?i>@I>];=ٔe;:Q-e>9m ?Ym ?=mmGyimݺEu>yQ 55}e?Q 95}@)}BYyi(@Q IZ@}pDI}|:i}:}~O5yfBɮanAިEjgOFNOT Ignoring new targets: 131.81 m.R9Z9gOM ProNav: ac range: 131.814667 m, nav range: 107.624641 m, bearing: 144.360079 deg, approach rate: -0.676455 m/s, LOS rate: -0.040456 deg/s, cmd heading: 144.481355 deg, new cmd heading: 144.448783 deg. BUgOUHeadingCmd: 2.521107 target range: 131.814667 and range: 132.60 m.UY!@Y*Y"Y YYYaaʎaaijiu2Acoustic response timeoutZm@IB@颵Bɢj_=) >i))<项iriY!@lO;U6l,fY@AJN@Jݳ!@J=ٱJ". VAHRS rotation from veh to nav: [[-0.816220,-0.563512,-0.127436],[0.576555,-0.808612,-0.117183],[-0.037013,-0.169121,0.984900]]JHxIO"s?%U@ſ@M?iJN@IJ/S];JCY^By^&II~<)~i}Mb@Mb@Mb@yyyy y9}Cl?Q?MbY}d?y}\=}} A}@ }@)}9AyY}@bDVDy%U=ٔ9<;Q->9Y=mGyFϢE>Q 55T?Q 95I)BYo?Q E:y(@Q IZ@wDI:iv:R5yɮnAjgOFNOT Ignoring new targets: 131.81 m.R5Z5gO ProNav: ac range: 131.814667 m, nav range: 107.392799 m, bearing: 144.345387 deg, approach rate: -0.624938 m/s, LOS rate: -0.039687 deg/s, cmd heading: 144.448788 deg, new cmd heading: 144.419342 deg. BCgOHeadingCmd: 2.520593 target range: 131.814667 and range: 132.60 m.%eQ!@!*!"! !!!)-ۆBʎ))1j1Z5xB@ԙBɢc=) Ш>i)<i▼ieQ!@HP;;IeQ!@I9E EE$E"EO:*Eg:VE4ZEa@a@a@a@9@ @@4@e2Acoustic response timeout^A5 <I I) O= >1 .T l,3Y@AN@N!@NM=ٱN. ZAHRS rotation from veh to nav: [[-0.815778,-0.564080,-0.127746],[0.577160,-0.808224,-0.116879],[-0.037318,-0.169078,0.984896]]NH @Yx?뽿fUſD?iN@IN];NCYbByf&IbDnVDnk2yv`%vY=ٔvT:Q-z>9xYx=zmGyx~WE~>Q 5 5C?Q 9 5])BY y (@Q IZ@~DIF:i:"V5y[BɮLnAP5B*** querying acoustic contact ***1 1jAgOMFNOT Ignoring new targets: 131.81 m.RMH/ZMH/gOe ProNav: ac range: 131.814667 m, nav range: 107.164558 m, bearing: 144.330954 deg, approach rate: -0.604561 m/s, LOS rate: -0.038311 deg/s, cmd heading: 144.419337 deg, new cmd heading: 144.390409 deg. Be:gOeHeadingCmd: 2.520088 target range: 131.814667 and range: 132.60 m.mI!@i*i"i iiiqqʎqqyjyZ}B@颥BɢKb=) >i)=顱iQTBDAT read: Response Not Received *response not received*DAT read: user:638> BDAT read: Tx time:00:58:40.7204 $Ping request sent.AU>IIO>i  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249956<l,2MY@A$Y-By-&IbD=VD=kye%A=ٔQ->9Y=mGyFE>Q 550?Q 95)BYyQ IZ@DI:i:Y5yɮnAjgOFNOT Ignoring new targets: 131.81 m.R0Z0gO ProNav: ac range: 131.814667 m, nav range: 106.907890 m, bearing: 144.314650 deg, approach rate: -0.606262 m/s, LOS rate: -0.038605 deg/s, cmd heading: 144.390404 deg, new cmd heading: 144.357716 deg. BMgOHeadingCmd: 2.519517 target range: 131.814667 and range: 132.60 m.?!@*"   ʎ  jZ*B@=BɢEX=)A E'>iA)Ep=AIiMiM?!@UHQ;U_ E  E E &E "E s:*E ]t:VE 4ZE a @a @a @a @fl,mgY@Ai(I(.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756046J@JP!@Jl=LٱJ, ZAHRS rotation from veh to nav: [[-0.814654,-0.565777,-0.127416],[0.578701,-0.807435,-0.114688],[-0.037992,-0.167167,0.985196]]JH +O?5\s eſ`?iJ@IJ%];JCYbByb&I ddj=j=iMb@Mb@Mb@ 9T㥛 ?~jt?MbY!?y=pA @)AY\@bDMVDMyr%;=ٔ :Q->9Y=mGyڎE>Q 55K?Q 95)BY?"?Q E:y(@Q IZ@DI};iy;]5yPBɮsnAݨEjgOFNOT Ignoring new targets: 131.81 m.R9Z9gO= ProNav: ac range: 131.814667 m, nav range: 106.633499 m, bearing: 144.296899 deg, approach rate: -0.626706 m/s, LOS rate: -0.040646 deg/s, cmd heading: 144.357715 deg, new cmd heading: 144.322122 deg. B=ƔgOEHeadingCmd: 2.518896 target range: 131.814667 and range: 132.60 m.E5!@A*I"I IIIQUކBʎQQYjYZ]9C@颥BɢU=) f>i)%=i,i5!@ "R; ;I5!@I]9@Y @Y@]/@Ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.005887) ^AE 8<I I O >mP l,UQY@AB&>BB&IBBB. =BBB];B #EER EREPEP"ER;*ER:VEPZEPBER@9qYy=}mGy}F}YE}>Q 55( ?Q 95)BYy(@Q IZ@DI;i;`5yFBɮnAܨEjgOFNOT Ignoring new targets: 131.81 m.R99Z99gO ProNav: ac range: 131.814667 m, nav range: 106.402847 m, bearing: 144.282048 deg, approach rate: -0.627368 m/s, LOS rate: -0.040483 deg/s, cmd heading: 144.322116 deg, new cmd heading: 144.292348 deg. B-gOHeadingCmd: 2.518377 target range: 131.814667 and range: 132.60 m.-!@*" ʎjZ?FC@%Bɢ-Y=)) ->i))-d=11i5wi=-!@=LjR;=m:;I=-!@I9]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2584139@ @@/@)Y^A 0;AzAIqIO>ԁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511966}&l,8Y@A6mh@6]!@6Ѕ=ٱ6w' VAHRS rotation from veh to nav: [[-0.813142,-0.568374,-0.125501],[0.580794,-0.806524,-0.110441],[-0.038448,-0.162695,0.985927]]6H@C`0mܕ?@ @E{,Ŀ?i6mh@I6.];6CY^pByb&IiMMb@Mb@Mb@QIIII I9Mv?ˡE?QYM?yM=MuMAMG@ M@)IIYM(AbDmVDmy}%}I=ٔ}a:Q-}>9Y=mGy[E>Q 55?Q 95)BYP?Q E:y)@Q IZ@DI;i:ld5yɮnAjQgOUFNOT Ignoring new targets: 131.81 m.R]?Z]?gO ProNav: ac range: 131.814667 m, nav range: 106.161079 m, bearing: 144.264435 deg, approach rate: -0.571826 m/s, LOS rate: -0.041753 deg/s, cmd heading: 144.292350 deg, new cmd heading: 144.257043 deg. BӘgOHeadingCmd: 2.517760 target range: 131.814667 and range: 132.60 m."!@*" ۆBʎjZ@i}C@Bɢ2P=) ƌ>i)A=i_ᘼie"!@eR;e;Ie"!@IiE EE#E"E:*Ec:VE3ZEa@a@a@a@ԁ9@ @@0@]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761946ԩ^AJ; rG A ؟AI I ! M 9Q YU hAOU >F,l,Y@A>Z@>O!@>7=ٱ>@' FAHRS rotation from veh to nav: [[-0.812624,-0.569089,-0.125621],[0.581500,-0.806094,-0.109868],[-0.038737,-0.162330,0.985976]]>H5@U`? M aգ6Ŀ@?i>Z@I>.;];>CYRjByR&IIV!>)V>TTbDZVDZ1yb%fW=ٔfG:Q-f>9j"?Yj"?=jmGyjFj6Ej>lQ 5r5n 越?Q 9v5nȗ)nBYtyv)@Q IvZ@nDIn:in(:ng5yz;BɮznA~ۨEPB*** querying acoustic contact *** j!gO%FNOT Ignoring new targets: 131.81 m.R-8OZ-8OgO= ProNav: ac range: 131.814667 m, nav range: 105.934929 m, bearing: 144.247992 deg, approach rate: -0.621607 m/s, LOS rate: -0.045291 deg/s, cmd heading: 144.257038 deg, new cmd heading: 144.224083 deg. BEƥgOEHeadingCmd: 2.517185 target range: 131.814667 and range: 132.60 m.M!@I*I"I IIIQQʎQQchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013974YjZC@EBɢUf?T=)Y ]>iY)]=YYi]3ie!@eES;m׾;Im!@Ii@ @@4@B!B!B%&IB%sBB%- =B!B!B%];B%#EDzD@AbEEƻ 4jEE( 4rEE8/E EEE"Ea:*E:VEZEBE(9 3l,{ΰY@A2J@2}@!@2=ٱ2& :AHRS rotation from veh to nav: [[-0.812077,-0.569825,-0.125816],[0.582244,-0.805620,-0.109405],[-0.039019,-0.162101,0.986002]]2H<@?`C ĿU?i2J@I27$];2CYFbByF&IbDNVDNyV?%VL=ٔZI8:Q-Z>9XYX=ZmGyX^E^>`Q 5f5b)ֶ?Q 9f5b̔)bBYdyj)@Q IjZ@bDIb:ib:b>k5yQɮ]nAYjgOFNOT Ignoring new targets: 131.81 m.R}>Z}>gO ProNav: ac range: 131.814667 m, nav range: 105.696442 m, bearing: 144.230696 deg, approach rate: -0.572792 m/s, LOS rate: -0.041634 deg/s, cmd heading: 144.224089 deg, new cmd heading: 144.189419 deg. BdgOHeadingCmd: 2.516580 target range: 131.814667 and range: 132.60 m.!@*" ʎjZ9C@Bɢ>O=) j>i)C=iƀi!@S;;I!@I!u9@q @q@u3@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519812I^Au#2;A}?A}?qA .AE  E E (E "E :*E z:VE c44ZE a @a @a @a @I I O >ԙ 9l,Y@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769940R;@R1!@Ra =ٱRU& jAHRS rotation from veh to nav: [[-0.811541,-0.570559,-0.125947],[0.582982,-0.805124,-0.109116],[-0.039146,-0.161977,0.986018]]RH`%B ʧ?  Ŀu?iR;@IRN];PYz`Byz&IiMb@Mb@Mb@ 9T㥛 ?{Gz?:vY!?yף=TA1@ @)9AY@bD)VD)y=:%E3=ٔE9Q-E>9M ?YM ?=MmGyMFMVEU>YQ 5e5]?Q 9e5]()]BYeZ"?Q Ee:ye(@Q IeZ@]DI]T:i]:]9o5qyu1Bɮ}nA}ڨEjgOFNOT Ignoring new targets: 131.81 m.RHZHgO ProNav: ac range: 131.814667 m, nav range: 105.410515 m, bearing: 144.211455 deg, approach rate: -0.649453 m/s, LOS rate: -0.043824 deg/s, cmd heading: 144.189419 deg, new cmd heading: 144.150831 deg. BggOHeadingCmd: 2.515907 target range: 131.814667 and range: 132.60 m.!@*" BʎjZD@BɢK=)  >i):z=  i ϙi!@S;a;I!@I9@ @@/@ԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.021912^A;A ؟AI! I9 OE > B% )>B! B% &IB% _BB% , =B! B! B% ];B% "E@l,XY@A2'@2!!@2^!=ٱ2 & :AHRS rotation from veh to nav: [[-0.810807,-0.571613,-0.125897],[0.583986,-0.804508,-0.108288],[-0.039387,-0.161323,0.986115]]2H"`Jh`?* ;ĿA?i2'@I2^E];0EB EBEB'E@"EB:*EB:VEB'4ZE@BEB.9}"?Y}"?=}mGyy XE>Q 55??Q 95")zBYy(@Q IZ@DI&;i';r5yBɮlAШEjgOFNOT Ignoring new targets: 131.81 m.R@Z@gO ProNav: ac range: 131.814667 m, nav range: 105.173729 m, bearing: 144.195599 deg, approach rate: -0.628023 m/s, LOS rate: -0.042148 deg/s, cmd heading: 144.150828 deg, new cmd heading: 144.119046 deg. BDgOHeadingCmd: 2.515352 target range: 131.814667 and range: 132.60 m. @*" ʎjZ`HD@-ކBɢ-O=)) -w>i1)5n9=11i5i= @=vT;=Ӝ;IE @IA=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2749879@ @@/@^Aϩ;1 A% .AI1 II OU > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528155]Fl,wY@AZ @Z9!@Z5"=ٱZ?# bAHRS rotation from veh to nav: [[-0.809764,-0.573235,-0.125239],[0.585407,-0.803749,-0.106233],[-0.039765,-0.159340,0.986423]]ZH@`W` ? P2\>eĿ Ɛ?iZ @IZQ:];XYQByp&IIiuMb@Mb@Mb@qqqq q9u+? rh?{GzYuv?yuC=u#u Au^@ u@)ufAqYu(AE EEE"Ef;*E&p:VEZEa@a@a@a@bD VD2y%+=ٔ3O:Q->9 ?Y ?=mGyFqE>Q 55?Q 95@)oBYp?Q E:y'@Q IZ@DI":i*:v5yɮmAj gO FNOT Ignoring new targets: 131.81 m.R"Z"gO ProNav: ac range: 131.814667 m, nav range: 104.878296 m, bearing: 144.178647 deg, approach rate: -0.618058 m/s, LOS rate: -0.035564 deg/s, cmd heading: 144.119041 deg, new cmd heading: 144.085041 deg. B%,gO-HeadingCmd: 2.514758 target range: 131.814667 and range: 132.60 m.- @)*)") ))115Bʎ199j9Z=D@m݆BɢmD=)i mh>ii)u_ =qqiuXi} @}4T;}Tz;I} @I9@ @@/@Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778132ԁԡ ^A ;A zA AU ؟AIY Ii O} >@Ml,6Y@A(6@6R @6"=ٱ6_! NAHRS rotation from veh to nav: [[-0.808946,-0.574713,-0.123739],[0.586540,-0.803237,-0.103834],[-0.039717,-0.156574,0.986867]]6H dZ ?`┺ U Ŀj?i6@I6Y];6C T)TTTTXXiZ#IXXI\i^`A ^xi\)\` bj`Ab``dfr`AIf)did)hIj`AjLh hlllillinCp)p pIpYpYvKByvh&IbDVDy %}=ٔQ- ?9"?Y"?=mGy捻E% ?!Q 5-5%㊶?Q 955%)%hBY1y5'@Q I5Z@%DI%];i%;%y5yEBɮElAAP]B*** querying acoustic contact ***Y YjigOmFNOT Ignoring new targets: 131.81 m.}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030062R}$!Z$!gO ProNav: ac range: 131.814667 m, nav range: 104.679001 m, bearing: 144.167302 deg, approach rate: -0.617506 m/s, LOS rate: -0.035220 deg/s, cmd heading: 144.085040 deg, new cmd heading: 144.062306 deg. BꀺgOHeadingCmd: 2.514362 target range: 131.814667 and range: 132.60 m.M @*" ʎjZD@܆BɢN=) P^>i)] =iiM @2T;C;IM @Iԁ9@ @@0@B&>BBn&IBPBB- =BBBp];B"EBeҍCBaBeœCBe- =BaCe+ 5E} E}E}&Ey"E}:*E}Ar:VE}4ZEyBE}PSl,cPY@A`Y]EBy]a&IIe=)e=bDuVDuyܼ%D=ٔQ->9Y=mGyFE>Q 55w?Q 95:)^BYyQ IZ@DI:i:*}5yɮmAjgOFNOT Ignoring new targets: 131.81 m.RO"ZO"gO ProNav: ac range: 131.814667 m, nav range: 104.421234 m, bearing: 144.152563 deg, approach rate: -0.618894 m/s, LOS rate: -0.035476 deg/s, cmd heading: 144.062309 deg, new cmd heading: 144.032758 deg. BفgOHeadingCmd: 2.513846 target range: 131.814667 and range: 132.60 m. @*" ʎ   j Z D@=چBɢ=7E=)9 =U>iA)E g =AAiEΚiM @M=T;Mm;IM @IQ%9@) @)@5 2@1checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536468^A"5;E  E E #E "E m:*E ~:VE 3ZE a @a @a @a @A A I I O >M checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787211Zl,oHjY@An@n @nc#=ٱnR vAHRS rotation from veh to nav: [[-0.807625,-0.576839,-0.122472],[0.588352,-0.802234,-0.101307],[-0.039813,-0.153875,0.987288]]nH`wu SZ?@Aﹿ@kb)ÿݗ?in@Inc5];nCYCBy^&IiUMb@Mb@Mb@QQQQ Q9UA`"?Q?MbpYU?yUu=UUZAUG@ Q)UOAQYUAbDmVDmy}@2%;=ٔg9Q->9Y=mGyקE>Q 55d?Q 95)VBY?Q E:y '@Q IZ@DI[K;iJ;5yݤBɮlAϨEjgOFNOT Ignoring new targets: 131.81 m.R  Z gO% ProNav: ac range: 131.814667 m, nav range: 104.159248 m, bearing: 144.138974 deg, approach rate: -0.591512 m/s, LOS rate: -0.030757 deg/s, cmd heading: 144.032762 deg, new cmd heading: 144.005517 deg. B-'agO5HeadingCmd: 2.513371 target range: 131.814667 and range: 132.60 m.5 @1*9"9 999AEBʎIIQjQZU`E@颕؆Bɢ`C=) T>i)D* =顙i] i @AT;s:I @IU9@Y @Y@]k1@Yqchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.037915^A] ~;Ae ?Ae ?ԙ B )>B B [&IB @BB B B B ];B "EIy I E  E E 'E "E 2:*E &p:VE '4ZE BE !*3,al, 넱Y@A2Ǻ@2V @2"=ٱ20 :AHRS rotation from veh to nav: [[-0.806899,-0.577728,-0.123062],[0.589348,-0.801433,-0.101853],[-0.039782,-0.154711,0.987158]]2H|@?V [^ÿ@͖?i2Ǻ@I2T];0Yz9By~R&I p<<bD VD JyL%%\=ٔ%,Q-%>9)Y)=-mGy-F-iZE->9Q 5=5=T?Q 9E5=})=OBYAyE&@Q IEZ@=DI=9:i=1:=:5yIɮU mAQjqgO}FNOT Ignoring new targets: 131.81 m.R}RZ}RgO ProNav: ac range: 131.814667 m, nav range: 103.938393 m, bearing: 144.127619 deg, approach rate: -0.603754 m/s, LOS rate: -0.031107 deg/s, cmd heading: 144.005523 deg, new cmd heading: 143.982765 deg. BcgOHeadingCmd: 2.512973 target range: 131.814667 and range: 132.60 m. @*" ʎjZLE@׆Bɢ$E=) D>i), =i%Wgl,ɞY@AY5ByN&I qiMb@Mb@Mb@ 97A`? rh?~jtxY?yC=Ļt@ E@)AYAbDVD:2y<%==ٔQ->9Y = mGy  E>Q 55B?Q 9%5mz)FBY%?Q E%:y%'@Q I%Z@DI:i:5y5ӤBɮ5lA5ΨEjYgO]FNOT Ignoring new targets: 131.81 m.Re Ze gOu ProNav: ac range: 131.814667 m, nav range: 103.684288 m, bearing: 144.112442 deg, approach rate: -0.586132 m/s, LOS rate: -0.035094 deg/s, cmd heading: 143.982765 deg, new cmd heading: 143.952336 deg. BusgO}HeadingCmd: 2.512442 target range: 131.814667 and range: 132.60 m.} @y*y" BʎjZ@E@颽ՆBɢ@@=) @>i)Of =ipi @sS;A:I @IE EE#E"Ea:*E:VE3ZEa@a@a@a@e9@a @a@e/@aԡchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.795547^AaIIO> [}ml,lY@A2@2 @2ܻ=ٱ2:% :AHRS rotation from veh to nav: [[-0.806332,-0.577855,-0.126146],[0.590193,-0.800058,-0.107605],[-0.038744,-0.161216,0.986158]]2Hx@}@%`? 6֣๢Ŀ?i2@I2s];2CYF0ByFG&IbDNVDN1yV%Vc=ٔZX=Q-Z>9XYX=ZmGy^F^l9E^>`Q 5f5b|2?Q 9f5bw)b?BYhyj'@Q IjZ@bDIb:ib:b&5ylɮnmApP~B*** querying acoustic contact ***checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046020| |jgOFNOT Ignoring new targets: 131.81 m.R Z gO ProNav: ac range: 131.814667 m, nav range: 103.473000 m, bearing: 144.099908 deg, approach rate: -0.562693 m/s, LOS rate: -0.033448 deg/s, cmd heading: 143.952343 deg, new cmd heading: 143.927224 deg. BtgOHeadingCmd: 2.512004 target range: 131.814667 and range: 132.60 m. @*" ʎjZOE@-ӆBɢ-A=)) -:9>i1)5 =1IiMߧi] @]rS;]X:I] @IY 9@  @ @ /@ AAAA@AB*>BBH&IB1BB, =BEDBfDB];B#EE EE&E"E :*E:VE4ZEBEK"checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298514Y Vetl,pұY@A2@2 @2>[=ٱ2$' :AHRS rotation from veh to nav: [[-0.805961,-0.578194,-0.126958],[0.590721,-0.799464,-0.109117],[-0.038408,-0.162941,0.985888]]2H o (@/?4*<Ŀ e?i2@I2h];2CYF$ByF9&IbDNVDN 8yVc%VJ=ٔVSZQ-Z>9XYX=ZmGyX^ѺE^>`Q 5f5b !?Q 9f5bt)b7BYdyf'@Q IjZ@bDIb:ib:b5ynɤBɮn#mAnͨEjgOFNOT Ignoring new targets: 131.81 m.R *&Z *&gO ProNav: ac range: 131.814667 m, nav range: 103.235893 m, bearing: 144.085874 deg, approach rate: -0.612186 m/s, LOS rate: -0.036318 deg/s, cmd heading: 143.927222 deg, new cmd heading: 143.899088 deg. BgO%HeadingCmd: 2.511513 target range: 131.814667 and range: 132.60 m.% @!*!"! !))))ʎ111j1Z5@E@eцBɢe6==)a e%>ii)mx =iiim;ٛiu @u6S;uz:Iu @II@ @@/@%checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552123i^A#2:I9IIO]>ԉE  E E %E "E 2:*E ]t:VE 4ZE a @a @a @a @i߹ I߽ A checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802950 kzl,JY@AJ@J$ @Jъ=ٱJ]x' VAHRS rotation from veh to nav: [[-0.805608,-0.578737,-0.126723],[0.591215,-0.799120,-0.108958],[-0.038209,-0.162698,0.985936]]JH`v8;?d仿"JĿ@Ɍ?iJ@IJe];JCY^%By\IbC=)b9qYq=}mGy}F@E>Q 55N?Q 955q).BY?Q E:y(@Q IZ@DIlK;iJ;o5yBɮlĄE imѐCԙ 5r91Y=xAjQgO]FNOT Ignoring new targets: 131.81 m.R]Z]gO ProNav: ac range: 131.814667 m, nav range: 102.981659 m, bearing: 144.070201 deg, approach rate: -0.529590 m/s, LOS rate: -0.032728 deg/s, cmd heading: 143.899095 deg, new cmd heading: 143.867672 deg. BogOHeadingCmd: 2.510965 target range: 131.814667 and range: 132.60 m. @*" BʎjZ^#F@φBɢN9=) 2+>i!)%y%=!!i%\i  @ R; &:I  @I 9@ @@@checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053939^A 0::B ->B ӍCB 6&IB "BB B B B ];B &#ED% =D! bE˞4jEw4rE/EE  EE EE $EA "EE :*EE :VEE 4ZEA BEE +|l,(HY@AF_@F @F£=ٱF% zAHRS rotation from veh to nav: [[-0.805680,-0.578890,-0.125566],[0.591132,-0.799344,-0.107760],[-0.037989,-0.161046,0.986215]]FH!C?9.Es)Ŀ?iF_@IF];FC}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306772YBy$&IbDVDy Ւ% 2=ٔJQ->9Y=mGyz9E>!Q 5-5%f?Q 9-5%m)%%BY1y5(@Q I5Z@%DI%L;i%;%l5y=Bɮ=kA=èEjagOeFNOT Ignoring new targets: 131.81 m.Rm=Zm=gO} ProNav: ac range: 131.814667 m, nav range: 102.711678 m, bearing: 144.053449 deg, approach rate: -0.664328 m/s, LOS rate: -0.041329 deg/s, cmd heading: 143.867676 deg, new cmd heading: 143.834084 deg. B}FgOHeadingCmd: 2.510378 target range: 131.814667 and range: 132.60 m. @*" ʎjZVF@͆Bɢ6=)  >i)=i>i @R;A/:I @I9@ @@0@A^Aq:M checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562423A1 y Ii I O >[l,A "Y@AYBy2&IiMb@Mb@Mb@ 9ʡE? rh?MbY?yC=AV@ @)AYbDVDyCb=%Q=ٔQ->9Y=mGyFE>Q 55赊?Q 95E EE'E"E:*EAr:VE'4ZEa@a@a@a@zj)BY?Q E:y?'@Q IZ@DI;;id;י5yBɮkA¨Ej!gO%FNOT Ignoring new targets: 131.81 m.R-PZ-PQgO ProNav: ac range: 131.814667 m, nav range: 102.471107 m, bearing: 144.040087 deg, approach rate: -0.609703 m/s, LOS rate: -0.033946 deg/s, cmd heading: 143.834085 deg, new cmd heading: 143.807297 deg. BxgOHeadingCmd: 2.509911 target range: 131.814667 and range: 132.60 m.a @*" BʎjZًF@EˆBɢE7==)A ER(>iI)M(=IIimcxiua @uƎR;u;I}a @Iychecking for new query: numPingsReceived=0, elapsed TxPingTime=7.810619%9@! @!@-4@)ԁԱ^AM ] ;AY Ia Iy O > = checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061884Hl,;Y@A2܃@2jy @2M~=ٱ2a :AHRS rotation from veh to nav: [[-0.804969,-0.580554,-0.122401],[0.592086,-0.799300,-0.102727],[-0.038197,-0.155164,0.987150]]2HMU@_? ޓKLiÿ?i2܃@I2];0YjByj"&I llbDvVDvky~<%~W=ٔ~:Q->9Y=mGy 5ME >Q 55׵?Q 95Zg)BYy%/'@Q I%Z@DIw;ia;*5y)ɮ-pkA)PEB*** querying acoustic contact ***I IjQgOUFNOT Ignoring new targets: 131.81 m.R]Z]gOm ProNav: ac range: 131.814667 m, nav range: 102.237175 m, bearing: 144.027156 deg, approach rate: -0.619736 m/s, LOS rate: -0.034334 deg/s, cmd heading: 143.807297 deg, new cmd heading: 143.781377 deg. BmV{gOuHeadingCmd: 2.509459 target range: 131.814667 and range: 132.60 m.u @q*y"y yyyʎjZ`F@颽ɆBɢ;=) .>i)ґ=ii @^R;^:I @IIZA)ԱBAB,>BB)&IBBB+ =BBB];B2#E@ @@/@@=@=E EE&E"E:*Ek:VE4ZEBE#9 0l,TUY@A2u@2Zk @2=ٱ2^ :AHRS rotation from veh to nav: [[-0.804453,-0.581529,-0.121161],[0.592771,-0.799091,-0.100379],[-0.038445,-0.152571,0.987544]]2H@k?&rsÿ?i2u@I2];2CY^By^#&IbDjVDj02yr;%rL=ٔr":Q-r>9v ?Yv ?=vmGyvFzf Ez>xQ 55zŵ?Q 95zd)zBYy#'@Q IZ@z%DIzH;iz;z5yvBɮkAEj1gOFNOT Ignoring new targets: 131.81 m.RZgO ProNav: ac range: 131.814667 m, nav range: 101.990791 m, bearing: 144.013578 deg, approach rate: -0.615585 m/s, LOS rate: -0.034008 deg/s, cmd heading: 143.781383 deg, new cmd heading: 143.754160 deg. BxgOHeadingCmd: 2.508983 target range: 131.814667 and range: 132.60 m./ @*" ʎjZEF@MƆBɢMZ9=)Q >i)U=顙i՜i/ @\R;(q:I/ @Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=8.5662279@ @@@9E EEE"Ea:*E҆:VEZEa@a@a@a@^A- q:i  checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818596A= ؟AIA IY Oe >+\l,oY@AFm@F,c @FKn=ٱFr VAHRS rotation from veh to nav: [[-0.804142,-0.581813,-0.121860],[0.593162,-0.798795,-0.100423],[-0.038914,-0.153036,0.987454]]FH5/2/?@J죿ÿ`9?iFm@IF`_];FCYb Byb&IiMb@Mb@Mb@ 9\(\?ˡE?~jtY?y=DA@ &@)bAYpABAbDVDk1y4%==ٔ:Q->9"?Y"?=mGy_E>Q 55E?Q 95`)BYS?Q E:y(@Q IZ@-DI":i :r5yɮgkAjgOFNOT Ignoring new targets: 131.81 m.R@Z%@gO- ProNav: ac range: 131.814667 m, nav range: 101.729233 m, bearing: 143.995366 deg, approach rate: -0.603934 m/s, LOS rate: -0.042159 deg/s, cmd heading: 143.754158 deg, new cmd heading: 143.717641 deg. B5OgO=HeadingCmd: 2.508346 target range: 131.814667 and range: 132.60 m.= @9*9"9 999AEBʎAIIjIZM@7$G@}ĆBɢ}~6=)y }Z >iy)}d=顁ii @Q;n:I @Ii-9@) @)@-/@)checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070041ԙ^A0::B B B &IB BB B B B ^;B @#EBUӍCBQBQBU, =BU, =CUT5 A I) I9 OM >E  E E %E "E O:*E Ar:VE 4ZE BE 9!Y!=-mGy-F-E->1Q 5=55?Q 9=55])5BYAyE(@Q IEZ@55DI5:i5:5̧5yMlBɮMjAI]checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322021jgOFNOT Ignoring new targets: 131.81 m.R*@Z*@gO ProNav: ac range: 131.814667 m, nav range: 101.497673 m, bearing: 143.979236 deg, approach rate: -0.601590 m/s, LOS rate: -0.042001 deg/s, cmd heading: 143.717644 deg, new cmd heading: 143.685311 deg. BgOHeadingCmd: 2.507782 target range: 131.814667 and range: 132.60 m. @*" ʎjZ@UG@Bɢ܂<=) l>i)=i$i @oQ;dx:I @I9@ @@ 0@^A] ; checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575038A 1 II Iq OU >ol,cY@A2W@2LM @2s$=ٱ2 :AHRS rotation from veh to nav: [[-0.803310,-0.582601,-0.123564],[0.594207,-0.798027,-0.100359],[-0.040139,-0.154042,0.987249]]2H`롿?`o@ ষÿ?i2W@I2[=];2CYBByB&IxiMb@Mb@Mb@ 9x? ףp= ?~jtxYK?yQ=ĻA@ E@)AYAbD5VD5y=%EH=ٔEGM:Q-E>9IYI=MmGyIMXEU>YQ 5e5]펵?Q 9e5]Z)]BYe ?Q Ee:ye)@Q IeZ@]=DI]X:i]:]^5yubBɮujAuEE EE$E"E:*Ei:VE4ZEa@a@a@a@j1gO=FNOT Ignoring new targets: 131.81 m.R=NZ=NgOm ProNav: ac range: 131.814667 m, nav range: 101.256241 m, bearing: 143.959993 deg, approach rate: -0.564947 m/s, LOS rate: -0.045134 deg/s, cmd heading: 143.685310 deg, new cmd heading: 143.646733 deg. Bm3gOuHeadingCmd: 2.507108 target range: 131.814667 and range: 132.60 m.uwt @q*y"y yyyBʎjZG@Bɢ--7=)) ->i1)5=11i=Gimwt @mYQ;m@:Iuwt @Iy!uchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.826678=9@9 @9@E0@AQ^Ae 0::ԑ A I I O > 9XYX=ZmGyZFZ.E^>9Q 5E5=6}?Q 9E5=W)=BYIyM)@Q IMZ@=DDI=:i=:=ܮ5yQɮUjAQYPuB*** querying acoustic contact ***q qjgOFNOT Ignoring new targets: 131.81 m.R_Z_gO ProNav: ac range: 131.814667 m, nav range: 101.020325 m, bearing: 143.941235 deg, approach rate: -0.613641 m/s, LOS rate: -0.048906 deg/s, cmd heading: 143.646733 deg, new cmd heading: 143.609129 deg. BgOHeadingCmd: 2.506452 target range: 131.814667 and range: 132.60 m.i @*" ʎj9Z= G@Bɢ<=) >i)|=A5@AA5?AB=+>B9B=&IB=BB9B9B9B=^;B=C#Eiiii @ Q;t:Ii @IԉE EE"E"EO:*E n:VE(3ZEBEa2EaJE;a:E;aE9@A @A@E2@A}2Acoustic response timeoutԱ^A q: A .AI I O >x~l,( ײY@A2:4@2) @2*,=ٱ2 :AHRS rotation from veh to nav: [[-0.801958,-0.584631,-0.122756],[0.595900,-0.797354,-0.095546],[-0.042021,-0.149774,0.987827]]2HLl@?@u` +ÿ G?i2:4@I2Rg];2CYBByB&IJ=J=bDNVDNyVZ%VJ=ٔV;Q-Z>9Z ?YZ ?=ZmGyX^:E^>`Q 5f5bl?Q 9f5bT)bBYdyf)@Q IjZ@bLDIb-:ib:bA5ynXBɮnjAnEjgOFNOT Ignoring new targets: 131.81 m.R YZ YgO ProNav: ac range: 131.814667 m, nav range: 100.790947 m, bearing: 143.923048 deg, approach rate: -0.598316 m/s, LOS rate: -0.047547 deg/s, cmd heading: 143.609126 deg, new cmd heading: 143.572670 deg. BgOHeadingCmd: 2.505816 target range: 131.814667 and range: 132.60 m.I_ @*" ʎjZG@ԹBɢ O;6=)  ,=i ) `= i,yiI_ @sP;:II_ @I!2Acoustic response timeout@ @@1@@@@@AzAE EE'E"E:*Ei:VE'4ZEa@a@a@a@A ؟AI I O > 2Acoustic response timeout9 l,yY@A>@> @>/=ٱ> FAHRS rotation from veh to nav: [[-0.801190,-0.585652,-0.122907],[0.596867,-0.796827,-0.093897],[-0.042945,-0.148589,0.987966]]>HX@v? ÿ@k?i>@I>T];>CYRByR&Ii]Mb@Mb@Mb@YYYY Y9]5^I ?(\µ?I +Y]?y]=]94]A]@ ]/@)]|AYYYbDuVDuy2<%==ٔx ;Q->9"?Y"?=mGyF;E>Q 55X?Q 95Q)BY?Q E:y(@Q IZ@TDI:i:5yɮjAjgOFNOT Ignoring new targets: 131.81 m.RFZFgO ProNav: ac range: 131.814667 m, nav range: 100.534889 m, bearing: 143.904324 deg, approach rate: -0.593120 m/s, LOS rate: -0.043482 deg/s, cmd heading: 143.572666 deg, new cmd heading: 143.535123 deg. B'gOHeadingCmd: 2.505161 target range: 131.814667 and range: 132.60 m.T @*" Bʎ  j Z %H@=Bɢ=RG7=)A E>iA)E1=AAiMiMT @UTUP;@c!8IT @Im9@i @i@m/@iA2Acoustic response timeoutAIIOf>iB5 )>B5 ҍCB5 %IB5 BB5 , =B1 B5 eDB5 ^;B5 <#EE  E E #E "E O:*E VE 3ZE BE a 2E a JE ;a :E ;a ԙ 3l,M Y@AFM@F @Fs3=ٱFUC NAHRS rotation from veh to nav: [[-0.800552,-0.586554,-0.122762],[0.597661,-0.796450,-0.092024],[-0.043797,-0.147040,0.988160]]FH@ Zm@ ?| ܎l`4¿?iFM@IFo];FCYVByV%IbDbVDb0yf9%jV=ٔj;Q-j>9lYl=nmGylr.Er>tQ 5z5vH?Q 9z5vN)vBYxyz(@Q IzZ@v[DIv[:iv:v[5yBɮAiAEj!gO-FNOT Ignoring new targets: 131.81 m.R-vFZ5vFE2Acoustic response timeoutgOM ProNav: ac range: 131.814667 m, nav range: 100.308762 m, bearing: 143.887834 deg, approach rate: -0.593467 m/s, LOS rate: -0.043377 deg/s, cmd heading: 143.535128 deg, new cmd heading: 143.502072 deg. BMŞgOUHeadingCmd: 2.504584 target range: 131.814667 and range: 132.60 m.UK @Q*Q"Q QʎjZ :XH@BɢZ4=) =i)/=idi%K @%O;%I%K @I)y9@ @@/@ԡA=.AIAIYOeU>2Acoustic response timeout l,=$Y@A2@2t@2%y5=ٱ2 >AHRS rotation from veh to nav: [[-0.799753,-0.587850,-0.121768],[0.598693,-0.795959,-0.089532],[-0.044290,-0.144505,0.988512]]2H`+,}(? x붿`>&¿?i2@I2]];2CYjByj%IIn=)n9- ?Y- ?=-mGy-FU0EU>YQ 5e5]1?Q 9e5]J)]BYe?Q Ee:ye)@Q IeZ@]eDI]:i]j:]5yɮViAjgOFNOT Ignoring new targets: 131.81 m.ROZOgO ProNav: ac range: 131.814667 m, nav range: 100.010376 m, bearing: 143.865567 deg, approach rate: -0.606263 m/s, LOS rate: -0.045376 deg/s, cmd heading: 143.502070 deg, new cmd heading: 143.457404 deg. BgOHeadingCmd: 2.503804 target range: 131.814667 and range: 132.60 m.S> @*" !!%Bʎ)))j)Z-H@M2Acoustic response timeout}Bɢ}1=)y }=iy)f=顁ii-S> @-%@O;5pCI5S> @I1Ii)i@ @@/@}9Y[AA ؟AI I! ) O5 > 2Acoustic response timeoutQ l,>Y@A2@2+@2e6=ٱ2r :AHRS rotation from veh to nav: [[-0.799254,-0.588541,-0.121704],[0.599331,-0.795578,-0.088642],[-0.044656,-0.143789,0.988600]]2H ~S' -? `u= ݦg¿@?i2@I2 ];2CYBByB&IbDNVDNNyV5=%V}=ٔV:Q-V ?9Z"?YZ"?=ZmGyZF^5&E^ ?`Q 5f5b+#?Q 9f5boH)bBYdyf(@Q IfZ@bkDIbg:ib:b`5ynBɮnhAnEPzB*** querying acoustic contact ***| |jgOFNOT Ignoring new targets: 131.81 m.R WZ WgO ProNav: ac range: 131.814667 m, nav range: 99.813263 m, bearing: 143.850875 deg, approach rate: -0.631823 m/s, LOS rate: -0.047188 deg/s, cmd heading: 143.457400 deg, new cmd heading: 143.427957 deg. BgO%HeadingCmd: 2.503290 target range: 131.814667 and range: 132.60 m.%5 @!*!") ))))1ʎ1jZH@BɢN@=) J>i) =  i iU5 @U8N;U|IU5 @IYB<A<B*>BB%IBBBBBB];B"#E1@ @@/0@bE5Ļ 4jE5 4rE5- 0E EE"E"E:*E&p:VE(3ZEBE& el,RXY@A02@2K@26=ٱ2> >AHRS rotation from veh to nav: [[-0.798895,-0.588747,-0.123059],[0.599815,-0.795013,-0.090423],[-0.044597,-0.146052,0.988271]]2Hπ`1?p@%qզ@ѱ¿?i2@I2(Y];2CYFByF%I LN4<bDn VDn:2yv%vG=ٔvQ-v>9z ?Yz ?=zmGyxz E~>Q 5 5E?Q 9 52E)BY y (@Q I Z@tDIw:iM:5yBɮDeAjAgOEFNOT Ignoring new targets: 131.81 m.RMRZMRgO] ProNav: ac range: 131.814667 m, nav range: 99.559532 m, bearing: 143.831976 deg, approach rate: -0.616997 m/s, LOS rate: -0.046073 deg/s, cmd heading: 143.427962 deg, new cmd heading: 143.390069 deg. B]gOeHeadingCmd: 2.502629 target range: 131.814667 and range: 132.60 m.e+ @a*a"a aiiiiʎqqqjqZu H@颥Bɢ~3=) =i)5\=顩ii+ @SN;JgI+ @IBDAT read: Tx time:00:58:53.1703 $Ping request sent.E EE&E"E:*Ek:VE4ZEa@a@a@a@ m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2504391l,/rY@A2@2l@26=ٱ2  :AHRS rotation from veh to nav: [[-0.798386,-0.589114,-0.124599],[0.600490,-0.794296,-0.092224],[-0.044638,-0.148451,0.987912]]2H`忿 67?`j@ڦ`mÿ`?i2@I2D];2ClYrByr%I ttimMb@Mb@Mb@iiii i9mCl?#~j?~jtxYmd?ym=mĻmAm@ m9A)iiYibDVDy"ǻ%@=ٔ78Q->9Y=mGyFGE>Q 554?Q 95A)BY?Q E:y(@Q IZ@|DI;i;5yBɮdAEjgOFNOT Ignoring new targets: 131.81 m.R;Z;gO ProNav: ac range: 131.814667 m, nav range: 99.301353 m, bearing: 143.814552 deg, approach rate: -0.606462 m/s, LOS rate: -0.041037 deg/s, cmd heading: 143.390068 deg, new cmd heading: 143.355128 deg. B4gO HeadingCmd: 2.502019 target range: 131.814667 and range: 132.60 m. ! @ * "  BʎjZ*I@Bɢ'|2=) 4=i)=i~i! @M;IYI! @I! @ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502900I^AΒ{B+>BB%IBۆBBBBfDB];B#ED =D R=E  E E 'E "E :*E xv:VE '4ZE BE 4l,yY@AR @R@R}5=ٱR ZAHRS rotation from veh to nav: [[-0.798261,-0.589198,-0.125004],[0.600681,-0.794028,-0.093283],[-0.044295,-0.149552,0.987761]]RHY@$8?`ha᷿`ӭ$ÿ?iR @IRa];RCYbކByb%IbDnVDnJyzv!%zU=ٔ~kjQ-~>9|Y=mGyE> Q 55 촊?Q 95 >) BY%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754543y(@Q I-Z@ DI d;i )f;  5y5|Bɮ5dA19jgOFNOT Ignoring new targets: 131.81 m.R1Z1gO ProNav: ac range: 131.814667 m, nav range: 99.068558 m, bearing: 143.798798 deg, approach rate: -0.573216 m/s, LOS rate: -0.038883 deg/s, cmd heading: 143.355125 deg, new cmd heading: 143.323543 deg. BQgOHeadingCmd: 2.501468 target range: 131.814667 and range: 132.60 m.  @*!"! !!!))ʎ)))j1Z5@\I@]Bɢ]=1=)a eT=ia)e=aaimxim  @m4M;uQIu  @Iq9@ @@/@iԙ^Avтchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006809I I O > E PExceeded connect timeout, disconnecting. l,Y@AV@VU@V'5=ٱV bAHRS rotation from veh to nav: [[-0.797811,-0.589719,-0.125417],[0.601285,-0.793512,-0.093787],[-0.044212,-0.150235,0.987661]]VH@` =?rd`e :ÿ?iV@IV@];VCYj҆Byj%Ii]Mb@Mb@Mb@YYYY Y9]Zd;?MbX9?9qYq=umGyuFu/ںE}>yE EE#E"E;*E$:VE3ZEa@a@a@a@Q 55}a״?Q 95};)}BYF ?Q E:y'@Q IZ@}DI} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510396 3l,3Y@A2@2 @2,5=ٱ2E :AHRS rotation from veh to nav: [[-0.797650,-0.589953,-0.125341],[0.601491,-0.793394,-0.093457],[-0.044310,-0.149937,0.987702]]2H`Y@@+ `i??|c췿%1ÿA?i2@I2&];2CYBΆByF%IIJ>)J?bDNVDN:2yV%Vi=ٔZr9Q-Z?9XYX=^mGy\-EE5?9Q 5E5=ƴ?Q 9E5=8)=BYAyE'@Q IEZ@=DI=g:i=:='5yUsBɮU!eAUEPmB*** querying acoustic contact ***i ijygO}FNOT Ignoring new targets: 131.81 m.R<Z<gO ProNav: ac range: 131.814667 m, nav range: 98.563705 m, bearing: 143.766641 deg, approach rate: -0.644694 m/s, LOS rate: -0.041222 deg/s, cmd heading: 143.287697 deg, new cmd heading: 143.259062 deg. B►gOHeadingCmd: 2.500342 target range: 131.814667 and range: 132.60 m. @*" ʎjZ@I@Bɢؔ,=) T=i)l=iRWi @/+L;hv?I @IAqAu@AB,>BӍCB%IBˆBBBBB];B#EBEҍCBABABABACE 59@ @@0@)E EE%E"E :*Ec:VE 4ZEBEK"y l,ٳY@A2@2E@2s5=ٱ2, :AHRS rotation from veh to nav: [[-0.797439,-0.590294,-0.125078],[0.601773,-0.793228,-0.093055],[-0.044285,-0.149475,0.987773]]2HA?@b{ҷ`!ÿ֛?i2@I2}8];2CYBByF%IbDNVDNyVE%VJ=ٔVS|Q-V>9XYX=ZmGyZF^4eE^>`Q 5f5b6?Q 9f5b4)buBYdyf'@Q IjZ@bDIb$:ib:b5ylɮneAljgOFNOT Ignoring new targets: 131.81 m.R 6Z 6gO ProNav: ac range: 131.814667 m, nav range: 98.322411 m, bearing: 143.751223 deg, approach rate: -0.621380 m/s, LOS rate: -0.039803 deg/s, cmd heading: 143.259065 deg, new cmd heading: 143.228153 deg. BgO%HeadingCmd: 2.499803 target range: 131.814667 and range: 132.60 m.%@!*!"! !))))ʎ111j1Z5`I@Bɢ!#=) ==i)=i+:i@qK;f{I@I1ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.0147989@ @@0@ԉnManaging dock network, ignoring radio surface power off^AΒ{EU EQEQEQ"EU:*EQVEQZEQa]@a]@ae@ae@IIԩO>M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266435 Dl,uY@AY~By~%IiMb@Mb@Mb@ 9\(\?Mb?I +Y?y=94;A 9A)AYA 4<<bDVD1y%;=ٔQ->9Y=mGyE>Q 55?Q 95Q1)jBY?Q E:y3&@Q IZ@DIq ;ie ;_5yiBɮ[eAEjgO FNOT Ignoring new targets: 131.81 m.R ZgO% ProNav: ac range: 131.814667 m, nav range: 98.058205 m, bearing: 143.737607 deg, approach rate: -0.603872 m/s, LOS rate: -0.031204 deg/s, cmd heading: 143.228152 deg, new cmd heading: 143.200847 deg. B%mdgO-HeadingCmd: 2.499326 target range: 131.814667 and range: 132.60 m.-@)*)") ))115Bʎ999j9Z=+J@ԱBɢs7"=)  <=i ) ;=)1i5i5@=.K;=2RI=@I9E9@A @A@E@0@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521902B.>BB%IBBB+ =BBB];B)#E ^AM 9E]  E] EY EY "E] :*E] S:VEY ZEY BE] .9 7-m,R Y@A2@2@28=ٱ2 Z :AHRS rotation from veh to nav: [[-0.796187,-0.591482,-0.127422],[0.603365,-0.791873,-0.094272],[-0.045142,-0.151940,0.987358]]2H \z`k@ZON?W0"`rÿp?i2@I2u];2CYBByF%I HHbDNVDN:yV%V\=ٔZT;Q-Z>9Z"?YZ"?=ZmGy^F^ E^>`Q 5f5b⑴?Q 9f5b=.)baBYhyj&@Q IjZ@bDIb:ib=:b5yn6Bɮn'dArEjgO FNOT Ignoring new targets: 131.81 m.R 2 Z 2 %checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774646gO- ProNav: ac range: 131.814667 m, nav range: 97.833839 m, bearing: 143.726265 deg, approach rate: -0.604773 m/s, LOS rate: -0.030642 deg/s, cmd heading: 143.200845 deg, new cmd heading: 143.178109 deg. B-P`gO5HeadingCmd: 2.498930 target range: 131.814667 and range: 132.60 m.5v@1*1"1 1ʎjZY]J@5Bɢ5:W=)9 ={Y m,6'Y@A ~@~@~Q:=ٱ~ AHRS rotation from veh to nav: [[-0.795876,-0.591749,-0.128118],[0.603740,-0.791582,-0.094320],[-0.045602,-0.152417,0.987264]]~Hw@)f`Q?`T@c%@Y hÿ੗?i~@I~Y];~CY=By=%IE EE$E"EO:*EB:VE4ZEa@a@a@a@i Mb@Mb@Mb@     9 l?Zd;?~jtxY ?y y= Ļ A @ )  Y AbD%VD%0y5%54=ٔ5˄:Q-5>99Y9==mGy9EuEE>IQ 55M~?Q 95M*)MWBY\?Q E:y%@Q IZ@MDIMtm,wBY@A2~Local bearing/azimuth received: Bearing 314.9, -7.5 (Local) :DAT read: Range 11 to 50 : 100.6 m (Round-trip 134.2 ms) speed 0.4 m/s :*DAT read: user:640> >BDAT read: Tx time:00:58:56.8218 >$Ping request sent.BimHʿmS>m*@m}>mX*@ mq>)mi@ImqiimFeBiBm%IBmBBiBiBiBm*^;BmM#Eiiii@Nv@;=ٱhX }AHRS rotation from veh to nav: [[-0.795248,-0.592466,-0.128702],[0.604547,-0.790954,-0.094419],[-0.045857,-0.152893,0.987178]]H@r{MysX?~O+@zÿ?i@Ib6];YBy%IbDVDy *% (=E5 E5E5&E1"E5:*E5|:VE54ZE1BE5(9IYI=MnGyMFuEu>yQ 55}@i?Q 95}y&)}MBYy%@Q I[@}DI}:i}:}5y#BɮdAEim-@Y@AJmBRmBjmJ~@m;0qX@?-+"f;@rmBm3BmmPƚ?i“mBmBmP @gO= addTargetRange:: Added new target pos. range: 100.599998 m, deltaT: 53.466400 s, deltaX: -32.000008 m, approachRate: -0.598507 m/s, rangeRepo size: 4 gOu Added new target pos. range: 100.010086 m, bearing: 142.785849 deg, lat: 36.779278 deg, lon: -121.859562 deg, deltaT: 53.466400 s, deltaX: -31.804581 m, approachRate: -0.594852 m/s, posRepo size: 4 jqgOuFNOT Ignoring new targets: 100.01 m.R}ZygO ProNav: ac range: 100.010086 m, nav range: 96.862808 m, bearing: 143.521080 deg, approach rate: 0.000000 m/s, LOS rate: -0.028184 deg/s, cmd heading: 143.151380 deg, new cmd heading: 143.123512 deg. BgOHeadingCmd: 2.497977 target range: 100.010086 and range: 100.60 m.@*" ʎj`f&Y@Z@ e?=BAɢ=D=)a eC;ia)e =aiimcim@uI;uD Iu@Iq9@ @@4@q ^A] ?Bɺԙ A.AIIO>m,WwaY@A2u@2Ik@2q;=ٱ2 :AHRS rotation from veh to nav: [[-0.794845,-0.592584,-0.130634],[0.605085,-0.790229,-0.097005],[-0.045747,-0.156148,0.986674]]2H_o`r`\?I Qո`&l@ÿԒ?i2u@I2ED];2CYFByFz%IbDNVDN:yV%V[=ٔZ/Q-Z>9Z ?YZ ?=ZnGyX^xE^>hQ 5v5jY?Q 9v5j#)jEBYxyz%@Q Iz[@jDIjg;ijT;j5y|ɮ~dA|PB*** querying acoustic contact *** j)gO-FNOT Ignoring new targets: 100.01 m.R5Z5gOu ProNav: ac range: 100.010086 m, nav range: 96.647415 m, bearing: 143.510061 deg, approach rate: -0.613369 m/s, LOS rate: -0.031449 deg/s, cmd heading: 143.123513 deg, new cmd heading: 143.101426 deg. B}7fgOHeadingCmd: 2.497591 target range: 100.010086 and range: 100.60 m.@*A"A AIQʎjZ?mBɢmq =)q *i)~=ii@\H;(I@I9Ee EeEe'Ea"Ee:*Eei:VEe'4ZEaam@am@am@am@9@ @@1@-T****** received valid address query ******-R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.q ːC+G\Ae9\AYA^A eA ?A ?ԉ A9 II IY Oe ><.m,Nz{Y@AYBy%IQiMb@Mb@Mb@ 9zG??MbY ?yL=A A)AYAbDVD0yǧ<%8=ٔQ->9Y=nGyFE>Q 55BB%IBBB* =BBBy^;Bu#EbEjEǙ4rE x/EU EUEU%EQ"EU;*EUx:VEU 4ZEQBEU4C %m,p@Y@A2c@2tY@29=ٱ2H :AHRS rotation from veh to nav: [[-0.794202,-0.593679,-0.129575],[0.605961,-0.789680,-0.096002],[-0.045328,-0.154762,0.986911]]2Hj`j @ d?E45Aÿǔ?i2c@I2N];2CYFByFw%IbDNVDN yVN$%V_=ٔVQQ-Z>9XYX=ZnGyX^BE^>`Q 5f5b7?Q 9f5b)b3BYdyj$@Q Ij[@bDIb-:ib:b+5ylɮndAljgOFNOT Ignoring new targets: 100.01 m.R Z gO ProNav: ac range: 100.010086 m, nav range: 96.171837 m, bearing: 143.490963 deg, approach rate: -0.613327 m/s, LOS rate: -0.024541 deg/s, cmd heading: 143.080401 deg, new cmd heading: 143.063134 deg. B3gO%HeadingCmd: 2.496923 target range: 100.010086 and range: 100.60 m.%@!*!") ))))1ʎ111j1ԹZ@?Bɢ  =)  &i ) Ư= ibi@ G;Ȫ3I@I!9@ @@0@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.457653^Ae!I I) O5 >Em  Em Em &Ei "Em O:*Em &p:VEm 4ZEi au @au @au @au @9 9;+m,Y@A>\@>hR@>9=ٱ>< NAHRS rotation from veh to nav: [[-0.793941,-0.594040,-0.129511],[0.606303,-0.789438,-0.095834],[-0.045312,-0.154609,0.986936]]>Hg`Γ@f?@C`3`:ÿ ?i>\@I>@];<vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.710241Y5|By=j%IiMb@Mb@Mb@ 9`"?~jt?I +Y?yD=94;A OA)1AYbDVDk2yo%%=ٔQ->9 Y =nGyFa[E>Q 5%5X"?Q 9%5`)'BY-T?Q E-:y-B$@Q I-[@DI ;i ;5y5Bɮ5dA=EjYgO]FNOT Ignoring new targets: 100.01 m.ReʹZeʹgOu ProNav: ac range: 100.010086 m, nav range: 95.867630 m, bearing: 143.479650 deg, approach rate: -0.592029 m/s, LOS rate: -0.022085 deg/s, cmd heading: 143.063134 deg, new cmd heading: 143.040438 deg. Bu!gO}HeadingCmd: 2.496527 target range: 100.010086 and range: 100.60 m.}@y*y" wBʎjZ?颽Bɢ8=) gi)Vu=ii@F;{b/I@IA}9@y @@/@qchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.961623^A 7A zA A A B 8>B ԍCB g%IB zBB ( =B B gDB ^;B #EI I O% >ԙ %2m,GɴY@AN[@NQQ@Nd8=ٱNQ] ^AHRS rotation from veh to nav: [[-0.793910,-0.593966,-0.130044],[0.606363,-0.789258,-0.096931],[-0.045064,-0.155808,0.986759]]NHgE`Sg? A xи@ÿ`?iN[@IN 8];NC d)f`Afνdddj`AijEIj@EhIlin`A n㥽n F)lp rz`Ar,pprCv`AIv)vSEit)tIv`AzzF xxzlA|i||i~C|)| IYY lBy V%IE] E]E] EY"E]a:*E]:VE]3ZEYBE]( checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465569 @M8m,Y@A2 V@2K@2q"9=ٱ2 $ :AHRS rotation from veh to nav: [[-0.793694,-0.593754,-0.132311],[0.606637,-0.788708,-0.099657],[-0.045183,-0.159362,0.986186]]2He@i?=I"eĿ`Վ?i2 V@I2N];0Y]kBy]U%IIe=)e<bDmVDm1y%K=ٔښ9Q->9Y=nGyFbE>Q 55t?Q 95)BYy8$@Q I[@DID=i=5yeBɮedAPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 100.01 m.R$Z$gO ProNav: ac range: 100.010086 m, nav range: 95.431557 m, bearing: 143.463402 deg, approach rate: -0.533563 m/s, LOS rate: -0.019905 deg/s, cmd heading: 143.025910 deg, new cmd heading: 143.007870 deg. BgOMHeadingCmd: 2.495958 target range: 100.010086 and range: 100.60 m.Mǽ@I*I"I QQQQYʎYYYjYZe9y@Eu EuEu%Eq"Eu:*Eui:VEu 4ZEqa}@a}@a}@a}@Bɢ;<) i)%=))i-[Ti=ǽ@=D;=b)I=ǽ@IA9@ @@1@i I checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719801) ^A] 7I I O >v>m,Y@AYeeBymN%IiMb@Mb@Mb@ 9K?I +?~jthY^?y94=DQA@ )AYAbD VD kyм%A=ٔ%Q-%>9!Y!=%nGy!-E->1Q 5=55?Q 9=55)5BY=?Q EE:yE#@Q IE[@5DI5;i5 ;55yMԢBɮMpcAME]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969722jygOFNOT Ignoring new targets: 100.01 m.RֹZֹgO ProNav: ac range: 100.010086 m, nav range: 95.182892 m, bearing: 143.454963 deg, approach rate: -0.687693 m/s, LOS rate: -0.023400 deg/s, cmd heading: 143.007864 deg, new cmd heading: 142.990942 deg. BL+gOHeadingCmd: 2.495663 target range: 100.010086 and range: 100.60 m.@*" eBʎjZD@QBɢ<) 촽i)T=imi@C;=I@IB6>BBN%IBfBBBBB^;B#EBUӍCBUԍCBQBU* =BU* =CU59@9 @A@E4@AyE} E}E}$Ey"E}:*E}e:VE}4ZEyBE})AQ Ia Iq O} >sEm,jY@A,21^@2S@2 9=ٱ2 ( NAHRS rotation from veh to nav: [[-0.793992,-0.592827,-0.134661],[0.606239,-0.788618,-0.102740],[-0.045289,-0.163212,0.985551]]2H@aho<Of?[<0M 0@Ŀ@?i21^@I2m];2CYVTByZ8%IbDbVDbNyj%j_=ٔj9Q-n>9lYl=nnGynFr:Er>tQ 5z5vMⳊ?Q 9z5vS )vBYxyz#@Q I~[@vDIv/;ivL;v5yʢBɮcAEj!gO-FNOT Ignoring new targets: 100.01 m.R5ؾZ5ؾgOE ProNav: ac range: 100.010086 m, nav range: 94.961639 m, bearing: 143.447359 deg, approach rate: -0.605440 m/s, LOS rate: -0.020856 deg/s, cmd heading: 142.990939 deg, new cmd heading: 142.975696 deg. BEgOMHeadingCmd: 2.495397 target range: 100.010086 and range: 100.60 m.M@I*I"I IIQQQʎYYYjYZ]0 @颅BɢK<) i)nP=顑i뎙i@vzC;ֺI@I-9@) @)@-/@)@5=@5=ԁEchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.473598Թ^A] 7A ؟AI I O >Ee  Ee Ee #Ea "Ee :*Ee &p:VEe 3ZEa am @am @am @am @Km,0Y@AF2`@FU@F)<=ٱF,$Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.725792 NAHRS rotation from veh to nav: [[-0.794043,-0.593156,-0.132899],[0.606124,-0.789136,-0.099389],[-0.045922,-0.159472,0.986134]]FHh! _e?@@qiĿh?iF2`@IF|`];FCY^PB\yb4%I ddiMMb@Mb@Mb@IIII I9MʡE?+?MbpYM?yM=MM AM @ M|A)MAIYMAbDVD0y值%:=ٔ4:Q->9"?Y"?=nGy9E> Q 55 Wϳ?Q 95 [) BY?Q E:yE#@Q I[@ DI : ;i . ; 5y%Bɮ%cA!jIgOMFNOT Ignoring new targets: 100.01 m.RUGZUGgOe ProNav: ac range: 100.010086 m, nav range: 94.691032 m, bearing: 143.439580 deg, approach rate: -0.615179 m/s, LOS rate: -0.017734 deg/s, cmd heading: 142.975694 deg, new cmd heading: 142.960092 deg. BegOuHeadingCmd: 2.495124 target range: 100.010086 and range: 100.60 m.u@y*" BʎjZt@Bɢ<) |i)%=iP i@B;ضI@I9@ @@/@mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.980446^A?BɺA Bu 1>Bu ӍCBu 5%IBu RBBu * =Bq Bu fDBu ^;Bu #EA .AI! I9 OU >Rm,JY@A:f@:b\@:hZ<=ٱ:$ FAHRS rotation from veh to nav: [[-0.794287,-0.593423,-0.130222],[0.605802,-0.789820,-0.095856],[-0.045968,-0.155026,0.986840]]:HjR b?@5F@-`ÿ`2?i:f@I:JZ];:CYLyLbDZVDZ0yb%b`=ٔb`9Q-b>9f ?Yf ?=fnGyfFjr:Ej>hQ 5r5j?Q 9r5j)jBYpyrM#@Q Ir[@j DIjY;ijT;j5yxɮzcAxjD!zD!E- E-E-0E)"E-:*E-g:VE-4ZE)BE-ԡ e checking for new query: numPingsReceived=0, elapsed TxPingTime=4.4816256Xm, \dY@A2i@2r_@2F;=ٱ2E :AHRS rotation from veh to nav: [[-0.794406,-0.593458,-0.129331],[0.605658,-0.790036,-0.094985],[-0.045806,-0.153787,0.987042]]2Hk@a?@G`Ps`Kÿؕ?i2i@I2Ӂ];2CYFFByF'%IbDNVDNyVF%VL=ٔV%ԹQ-V>9XYX=ZnGyX^h9E^>`Q 5f5bK?Q 9f5bt)bBYdyfP#@Q If[@bDIb:ib:bp 5ynBɮncAnEjgOFNOT Ignoring new targets: 100.01 m.R MZ MgO ProNav: ac range: 100.010086 m, nav range: 94.219658 m, bearing: 143.425755 deg, approach rate: -0.615327 m/s, LOS rate: -0.018174 deg/s, cmd heading: 142.946953 deg, new cmd heading: 142.932368 deg. B gO%HeadingCmd: 2.494640 target range: 100.010086 and range: 100.60 m.%0@!*!"! !!)))ʎ)11j9ZEl@ԁ5Bɢ=<)A M8iq)}=yin i0@>A;JI0@IE9 E=E=(E9"E9*E=i:VE=c44ZE9aE@aE@aE@aE@ԩ@ @@0@@\A@checking for new query: numPingsReceived=0, elapsed TxPingTime=4.734049^A Β{ A ؟AI I O >^m,5~Y@AY~>By~%II%=)%=iMb@Mb@Mb@ 9-?+?~jtxY5?yĻQA7@ )GAYAbDVDJy %;=ٔQ->9"?Y"?=nGyFE>Q 55a?Q 95)BY?Q E:yE#@Q I[@DI:i0;B5yɮcAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.989867PB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 100.01 m.RjZjgO ProNav: ac range: 100.010086 m, nav range: 93.949814 m, bearing: 143.417875 deg, approach rate: -0.579973 m/s, LOS rate: -0.016985 deg/s, cmd heading: 142.932363 deg, new cmd heading: 142.916559 deg. BgO%HeadingCmd: 2.494365 target range: 100.010086 and range: 100.60 m.%@!*!"! !!))-bBʎjZ@#\@B6>BԍCB%IB8BB) =BBgDB^;B#E=Bɢ=<)9 =iA)Eс=AAiE^xi@YWA;SI@ I9@ @@0@EE EEEE%EA"EE:*EEga:VEE 4ZEABEEm%xfm,k,Y@AYz)Byz%IbDVDyjս%K=ٔQ->9Y!=%nGy!!E%>)Q 555-?Q 9=5-)-BY9y9Q I=[@-"DI- ;i-m ;-5yEBɮE+dAMEԱjgO FNOT Ignoring new targets: 100.01 m.RZgO% ProNav: ac range: 100.010086 m, nav range: 93.701805 m, bearing: 143.410593 deg, approach rate: -0.630054 m/s, LOS rate: -0.018549 deg/s, cmd heading: 142.916558 deg, new cmd heading: 142.901956 deg. B%gO-HeadingCmd: 2.494110 target range: 100.010086 and range: 100.60 m.-~@)*)") )1111ʎ199j9Z=@@mBɢm(`<)i m9ii)u#=qqiu~閼i}~@}@;}I}~@I9@ @@4@checking for new query: numPingsReceived=0, elapsed TxPingTime=5.489970^AM+E  E E #E "E :*E i:VE 3ZE a @a @a @a @AQ Ia Iq O} >1 = G] checking for new query: numPingsReceived=0, elapsed TxPingTime=5.7421833-lm,{Y@A`]A$J-9J`]AYJSfAj7@j|@ja==ٱjhP" rAHRS rotation from veh to nav: [[-0.795472,-0.591473,-0.131848],[0.604223,-0.790757,-0.098071],[-0.046253,-0.157678,0.986407]]jHt YbU?@M+@.Ŀऐ?ij7@Iji];jCY~0By~ %IiMb@Mb@Mb@ 9S?ˡE?MbpY/?y'=~A A)AYfAbDVDf? y q<% ;=ٔn:Q->9Y=nGyFp;E>!Q 5-5%-w?Q 9-5%)%BY5?Q E5:y5#@Q I5[@%+DI%:i%v:%5y9ɮ=cA9jagOmFNOT Ignoring new targets: 100.01 m.Rm6ùZm6ùgO} ProNav: ac range: 100.010086 m, nav range: 93.434311 m, bearing: 143.401737 deg, approach rate: -0.642541 m/s, LOS rate: -0.021334 deg/s, cmd heading: 142.901955 deg, new cmd heading: 142.884193 deg. B}+gOHeadingCmd: 2.493800 target range: 100.010086 and range: 100.60 m.j@*" cBʎjZ:@Bɢ<) 'i)h=ipOij@(@;J:Ij@I}9@y @y@}/@y@=@=1checking for new query: numPingsReceived=0, elapsed TxPingTime=5.993669^Au9ԩAy A} AAB 3>B B %IB )BB B B fDB ^;B #EA I I O >ԩ sm,̵Y@A:=@:ʂ@:wB==ٱ:bEjET4rE>1EF EDEF)ED"EF:*EDVEFFA4ZEDBEFu9Y=nGyY{:E>Q 55f?Q 95)BYy#@Q I[@3DI;i;5yBɮdAEjgOFNOT Ignoring new targets: 100.01 m.RZgO ProNav: ac range: 100.010086 m, nav range: 93.199165 m, bearing: 143.393851 deg, approach rate: -0.613312 m/s, LOS rate: -0.020621 deg/s, cmd heading: 142.884197 deg, new cmd heading: 142.868385 deg. BgOHeadingCmd: 2.493524 target range: 100.010086 and range: 100.60 m.@*" ʎj Z  @5Bɢ5b<)9 =A 7ym,iY@A2@2z@2'?==ٱ2 :AHRS rotation from veh to nav: [[-0.796053,-0.591438,-0.128450],[0.603461,-0.791846,-0.093883],[-0.046186,-0.152251,0.987262]]2H Ey` q@O?V ` |ÿ?i2@I2W^;2CYBByB$IbDZ VDZ2yjK%jV=ٔn- Q-r>9pYp=vnGyvFz:Ez>|Q 5%5~U?Q 9-5~ )~BY9yE#@Q IE[@~:DI~ˑm,cY@AF`@F@Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.001667FC>=ٱFW VAHRS rotation from veh to nav: [[-0.795948,-0.592257,-0.125293],[0.603577,-0.792309,-0.089115],[-0.046492,-0.146555,0.988109]]FH`hx @P?Z 6жͧM¿?iF`@IF^;FCY^"Byb$IiMb@Mb@Mb@ 9~jt?I +?MbPY?y94=d@ |A)t AY\AbDVDy=%0=ٔ -:Q->9Y=nGy6E>Q 55 B?Q 95)BY?Q E:y$@Q I[@CDI ;i ;V!5yiBɮ>bAEPB*** querying acoustic contact *** j!gO-FNOT Ignoring new targets: 100.01 m.R5Z5gOE ProNav: ac range: 100.010086 m, nav range: 92.682144 m, bearing: 143.375093 deg, approach rate: -0.730975 m/s, LOS rate: -0.027944 deg/s, cmd heading: 142.852232 deg, new cmd heading: 142.830762 deg. BELBU0>BUӍCBU$IBUBBU* =BQBQBU^;BU#EigOuHeadingCmd: 2.492867 target range: 100.010086 and range: 100.60 m.u"@q*q"q qyyy}tBʎjZw@U}Bɢe r<)i m5ii)u"=qqiu\i"@@;>;I"@I9@9 @9@=/@9@E[A@E\AԙE EEE"Ea:*EX:VEZEBE( B†m,:YY@ABӍ@B`@BSN@=ٱBo JAHRS rotation from veh to nav: [[-0.795690,-0.592564,-0.125478],[0.603883,-0.792141,-0.088536],[-0.046932,-0.146221,0.988138]]BHKvHS?8YR`a¿Ӟ?iBӍ@IBjY^;BCYVByV$IIZa=)Z;XZAbD^VD^yfOv%j[=ٔj:Q-j>9n ?Yn ?=nnGynFn[En>tQ 5v5v2?Q 9z5v)vBYxyz$@Q Iz[@vJDIv:iv:v$5y|ɮbAj)gO-FNOT Ignoring new targets: 100.01 m.R54ԹZ54ԹgOE ProNav: ac range: 100.010086 m, nav range: 92.455208 m, bearing: 143.366452 deg, approach rate: -0.607542 m/s, LOS rate: -0.023191 deg/s, cmd heading: 142.830758 deg, new cmd heading: 142.813433 deg. BE)gOMHeadingCmd: 2.492565 target range: 100.010086 and range: 100.60 m.M.@I*I"Q QQQQYʎYYYjYZet@ {Bɢ j|<)  Hi )q=i̵i%.@-@;-6;I-.@I)checking for new query: numPingsReceived=0, elapsed TxPingTime=7.5061429@ @@h1@^A 7;E EE$E"E:*EL_:VE4ZEa@a@a @a @! A- ؟AI9 II OU >M checking for new query: numPingsReceived=0, elapsed TxPingTime=7.757567I >m,L6Y@A2@2$@2B=ٱ2| :AHRS rotation from veh to nav: [[-0.795588,-0.592355,-0.127106],[0.603975,-0.791930,-0.089780],[-0.047477,-0.148196,0.987818]]2HtuD@S?}WN ¿3?i2@I2K^;2CYvByv$IiuMb@Mb@Mb@qqqq q9uV-?&1?{GzYu?yuP=u#uhAq uA)u^AqYuAbDVDy읽%==ٔ:Q->9"?Y"?=nGyE>Q 55N?Q 95)BY}?Q E:y$@Q I[@SDI ;i ;^(5y`BɮbAEjgOFNOT Ignoring new targets: 100.01 m.RZgO  ProNav: ac range: 100.010086 m, nav range: 92.191383 m, bearing: 143.354969 deg, approach rate: -0.612362 m/s, LOS rate: -0.026729 deg/s, cmd heading: 142.813436 deg, new cmd heading: 142.790405 deg. B CgOHeadingCmd: 2.492163 target range: 100.010086 and range: 100.60 m.@*" !%HBʎ!!)j)Z-4@ xBɢ*<) pfi)w =!!i%i%@-F@;m]G;Im@Iq@ @@4@@ @ @ @ 9checking for new query: numPingsReceived=0, elapsed TxPingTime=8.009582B1A5<B=3>B=ԍCB=$IB=BB=) =B9B9B=^;B=#EBԍCBBB) =BC(5A>A>a I I O >E  E E !E "E :*E i:VE c3ZE BE #9tYt=znGyzFzEz>|Q 55~?Q 95~)~BY y $@Q I [@~ZDI~:i~:~+5yWBɮbAj9gOEFNOT Ignoring new targets: 100.01 m.REZEgO ProNav: ac range: 100.010086 m, nav range: 91.960365 m, bearing: 143.344886 deg, approach rate: -0.611826 m/s, LOS rate: -0.026769 deg/s, cmd heading: 142.790405 deg, new cmd heading: 142.770189 deg. BCgOHeadingCmd: 2.491810 target range: 100.010086 and range: 100.60 m.y@*" ʎjZQ @checking for new query: numPingsReceived=0, elapsed TxPingTime=8.261893=vBɢEa_<)A EkiA)E` =AIiM(+iUy@U@;UQ-O;IUy@IYԉ9@ @@ /@ I IO-N>Ա checking for new query: numPingsReceived=0, elapsed TxPingTime=8.513574 m,TiY@A2y@24o@27F=ٱ2R :AHRS rotation from veh to nav: [[-0.794892,-0.593508,-0.126077],[0.604820,-0.791633,-0.086658],[-0.048374,-0.145137,0.988228]]2Ho@H#Z?@U@7/Ĩܓ¿?i2y@\I2];2CYfByf$I hhn=n=bDrVDrβy<%I=ٔ x:Q->9!Y!=%nGy)=E=>YQ 5u5]?Q 9}5]+)]BYy$@Q I[@]bDI]0;i]j;]J/5yɮbAE EE(E"E>:*Ek:VEc44ZEa@a@a@a@jgO FNOT Ignoring new targets: 100.01 m.R5ڹZ5ڹgOm ProNav: ac range: 100.010086 m, nav range: 91.706566 m, bearing: 143.333881 deg, approach rate: -0.549594 m/s, LOS rate: -0.023897 deg/s, cmd heading: 142.770187 deg, new cmd heading: 142.748116 deg. Bu.gO}HeadingCmd: 2.491425 target range: 100.010086 and range: 100.60 m.}s@y*y"y yʎjZ!@sBɢ<)! %BZi!)]ǐ =YYi]qQims@m;@;md.;Ims@Iq-checking for new query: numPingsReceived=0, elapsed TxPingTime=8.766442=9@9 @9@=/@9IIOe>!A ۠m,򖃶Y@A2g@2.]@2G=ٱ2 :AHRS rotation from veh to nav: [[-0.794210,-0.594551,-0.125455],[0.605682,-0.791162,-0.084915],[-0.048768,-0.143426,0.988459]]2H ,j@a?3Q)[¿t?i2g@I2];0Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.017720YJByJ$IQiMb@Mb@Mb@ 9^I +?x&?MbYX?y7= )t AY3AbDVDky%A=ٔt:Q->9Y=nGyF2,E>Q 55겊?Q 95)BYP?Q E:yQ&@Q I[@jDIK ;i ;25yNBɮgbAEPB*** querying acoustic contact *** B 1>B ӍCB $IB BB * =B B B O^;B a#EjIgOUFNOT Ignoring new targets: 100.01 m.RU97Z]97gOu ProNav: ac range: 100.010086 m, nav range: 91.458061 m, bearing: 143.318726 deg, approach rate: -0.654863 m/s, LOS rate: -0.040047 deg/s, cmd heading: 142.748112 deg, new cmd heading: 142.717719 deg. BugOHeadingCmd: 2.490894 target range: 100.010086 and range: 100.60 m.j@*" NBʎjZG"@uqBɢuL<)y }^iy)}O =yyi}Pij@V@;O;Ij@IqE9@A @I@M/@IAQzAQE EE'E"E:*E~:VE'4ZEBEuԑ5checking for new query: numPingsReceived=0, elapsed TxPingTime=9.269577 3m,rY@A2U@2J@2#H=ٱ2 :AHRS rotation from veh to nav: [[-0.793519,-0.595412,-0.125743],[0.606582,-0.790474,-0.084906],[-0.048843,-0.143648,0.988423]]2H`d@ Zi?@K@h`c¿(?i2U@I2c];2CYRByR$IbDZVDZܲyT%U=ٔJ9Q->9 Y = nGy FAE>Q 5%5(ڲ?Q 9%5)BY!y%>&@Q I%[@rDI;i:G65y1ɮ5bA1jQgO]FNOT Ignoring new targets: 100.01 m.Re9+Ze9+gOm ProNav: ac range: 100.010086 m, nav range: 91.228149 m, bearing: 143.304797 deg, approach rate: -0.616179 m/s, LOS rate: -0.037423 deg/s, cmd heading: 142.717718 deg, new cmd heading: 142.689791 deg. BugOuHeadingCmd: 2.490407 target range: 100.010086 and range: 100.60 m.}b@y*y"y yʎjZ#@ԙ颽oBɢf<) hi)d< =iDՏib@e@;a:Ib@IU9@Q @Q@U/@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.521783^A8F;I 9IIOu>E EE%E"E:*E$:VE 4ZEaU @aU @aU @aU @E checking for new query: numPingsReceived=0, elapsed TxPingTime=9.773640Y /m,MY@A28@2t.@2VI=ٱ2Kp :AHRS rotation from veh to nav: [[-0.792466,-0.596281,-0.128247],[0.607934,-0.789170,-0.087331],[-0.049135,-0.147173,0.987890]]2H[ij@2t?@S[>( ¿ʜ?i28@I2^{];0Y^By^$IIb<)b9Y=nGy*E>Q 55ZDz?Q 95)~BY?Q E:yL&@Q I[@zDI ;i: :5y EBɮ bA E1j1gOEFNOT Ignoring new targets: 100.01 m.REP)ZEP)gOU ProNav: ac range: 100.010086 m, nav range: 90.968697 m, bearing: 143.288852 deg, approach rate: -0.600430 m/s, LOS rate: -0.037006 deg/s, cmd heading: 142.689796 deg, new cmd heading: 142.657814 deg. B]sgO]HeadingCmd: 2.489849 target range: 100.010086 and range: 100.60 m.]Y@a*a"a aaaiiʎiiqjqZu#@额lBɢ}C<) ,vi)b =顡iiY@&@;I3:IY@IM9@I @I@M/0@IaB%ԍCB%$IB%BB%) =B!B%gDB%I^;B!ԑ^Aq:A I I O% >D zD ?AE  E E )E "E :*E c:VE FA4ZE BE 3"#@>@>4pI=ٱ>E bAHRS rotation from veh to nav: [[-0.791656,-0.596969,-0.130034],[0.608986,-0.788135,-0.089327],[-0.049159,-0.149905,0.987477]]>H?U]|?@g8޶`m+0ÿ`j?i>"#@I> ];>CYjByj$IbDvVDvܲyz;%~Z=ٔ~8Q-~>9Y=nGyF ;hE >Q 55 ?Q 95)vBYy5&@Q I[@DIL;i;T=5y-Bɮ-aA-EjIgOUFNOT Ignoring new targets: 100.01 m.RU'ZU'gOm ProNav: ac range: 100.010086 m, nav range: 90.743492 m, bearing: 143.275135 deg, approach rate: -0.600686 m/s, LOS rate: -0.036676 deg/s, cmd heading: 142.657817 deg, new cmd heading: 142.630317 deg. Bm>gOuHeadingCmd: 2.489369 target range: 100.010086 and range: 100.60 m.uQ@q*q"q qqyyyʎjZ@5$@颵jBɢ<2Acoustic response timeout)9 =0qi9)= =99iE#iEQ@EĽ?;ML|7IMQ@IIԱ9@ @@4@^A"A?A?  2Acoustic response timeoutA I I O 9 pAm,Y@A2 @2@22H=ٱ2ɟ :AHRS rotation from veh to nav: [[-0.790842,-0.598500,-0.127934],[0.610052,-0.787635,-0.086416],[-0.049045,-0.146388,0.988011]]2HN&@"`?N4\qԼ¿ȝ?i2 @I2o];2CYZByZ$IbDjVDjyzp%~J=ٔ~Q-~>9Y=nGy YE > Q 55 |?Q 95 ) mBYy &@Q I[@ DI ;i ; @5y- Bɮ-"aA-EjgOFNOT Ignoring new targets: 100.01 m.R#Z#gO ProNav: ac range: 100.010086 m, nav range: 90.500816 m, bearing: 143.260476 deg, approach rate: -0.588298 m/s, LOS rate: -0.035633 deg/s, cmd heading: 142.630319 deg, new cmd heading: 142.600921 deg. BmgO HeadingCmd: 2.488856 target range: 100.010086 and range: 100.60 m.E EE&E"Ef;*EV:VE4ZEa@a@a@a@iI@*"  9AʎIq yyyjZ%@cG 5H91Y5\Ay.?Z~A颽hBɢ]<) 2Acoustic response timeout  i )=iiiI@-?;0*IiI@I9i }U= 9@9  @9 @E /@A @M [A@M [Aԑ  2Acoustic response timeoutB 5>B B $IB ݅BB B B B ^;B #E^AE9AqIIO?m,Y@AbEE4jEArEExE0E EE'E"ED:*EL_:VE'4ZEBE199Y9==nGy=FEHEE>YQ 5m5]B?Q 9m5]P)]`BYm?Q Em:ym&@Q Im[@]DI] ;i] ;]F5y}Bɮ}`A}~EPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 100.01 m.R'Z'gO ProNav: ac range: 100.010086 m, nav range: 90.110420 m, bearing: 143.236951 deg, approach rate: -0.605152 m/s, LOS rate: -0.036623 deg/s, cmd heading: 142.600922 deg, new cmd heading: 142.553669 deg. B gOHeadingCmd: 2.488031 target range: 100.010086 and range: 100.60 m.;@*" VBʎjZ@&@eBɢ4К<)  &ti ) W=  i \i;@e>; ̺I;@I % 9@  @ @ /@  2Acoustic response timeout9 ^A%yb]aE EE(E"E2:*EX:VEc44ZEa@a@a@a@AQIyIO ?:m,H3Y@A\b@bI@bF=ٱb  nAHRS rotation from veh to nav: [[-0.788535,-0.602125,-0.125134],[0.613076,-0.785677,-0.082760],[-0.048484,-0.141976,0.988682]]bH`;@D hQ?D$/ҨC,¿H?ib@Ib];`YvByv$IU2Acoustic response timeoutiMb@Mb@Mb@ 9On?X9v?y&1|?Y?y}=`;@ )YQAbDVDNy漼%!=ٔ6Q->9Y=nGyFkE>Q 55s?Q 95!)XBYh?Q E:yr%@Q I[@DIt;i;J5yɮ`Aj!gO%FNOT Ignoring new targets: 100.01 m.R-8Z-8gO= ProNav: ac range: 100.010086 m, nav range: 89.810410 m, bearing: 143.220611 deg, approach rate: -0.596815 m/s, LOS rate: -0.032614 deg/s, cmd heading: 142.553670 deg, new cmd heading: 142.520881 deg. B=ngOEHeadingCmd: 2.487459 target range: 100.010086 and range: 100.60 m.E2@A*A"A AʎjZ/'@cBɢ%<)A E4{iA)MU{=IIiM"iU2@Uw=;Ur+IU2@IYaa @ @@/@@8>@= 2Acoustic response timeoutB! A! 9 B5 7>B1 B5 $IB5 ҅BB5 ( =B1 B1 B5 ^;B5 #E^A NJκi EE EEEE'EA"EE:*EEAr:VEE'4ZEABEEm%AHRS rotation from veh to nav: [[-0.786882,-0.603412,-0.129270],[0.615219,-0.783432,-0.087979],[-0.048186,-0.148759,0.987699]]6H#.@&O? Ѕ@߫ ÿ:?i6Y@I6Ȟ];4YJByJ$IbDRVDRJyZ3%Z-=ٔ^%%Q-^>9\Y\=bnGy`b໻Eb>dQ 5j5f_?Q 9j5f/)fQBYlynE%@Q In[@fDIf;if;fO5=BDAT read: Response Not Received =*response not received=*DAT read: user:641> EBDAT read: Tx time:00:59:09.2703 E$Ping request sent.Mum,GmY@A2@28@2C=ٱ2 :AHRS rotation from veh to nav: [[-0.786797,-0.603477,-0.129483],[0.615360,-0.783221,-0.088872],[-0.047782,-0.149603,0.987591]]2Hp- O?$@Tv2&ÿ@X?i2@I2{];0YRۅByR$IIV%=)V49hYl=nnGynFeʹEm>ԁE EEE"E:*E]t:VEZEa@a@a@a@Q 555 M?Q 9u5)JBYyC%@Q I[@DIum,8Y@AB(B(B*$IB*ȅBB*' =B(B(B*(_;B*#EB B B B B ) =C ap5YeЅBye$IyiMb@Mb@Mb@ 9x&1?)\(?Mb`Y!?yGa= A A) AYG AbDVDyH%2=ٔQ->9% ?Y% ?=%nGy!%E%>)Q 5=5-9?Q 9=5-)-ABY=&"?Q E=:y=$@Q I=[@-DI-o;i-;-V5yIɮMaAIjigOuFNOT Ignoring new targets: 100.01 m.RufZ}fgO ProNav: ac range: 100.010086 m, nav range: 88.998215 m, bearing: 143.180617 deg, approach rate: -0.700769 m/s, LOS rate: -0.029156 deg/s, cmd heading: 142.463348 deg, new cmd heading: 142.440666 deg. BpUgOHeadingCmd: 2.486059 target range: 100.010086 and range: 100.60 m.@*" _BʎjZwl*@m]Bɢm}O<)q u5iq)u=qqi}i}@v:;"$pI@IEm EmEm$Ei"Em:*Em[:VEm4ZEiBEm#l#m,"Y@A>`@>@>#gE=ٱ>j FAHRS rotation from veh to nav: [[-0.786095,-0.603990,-0.131344],[0.616226,-0.782367,-0.090372],[-0.048175,-0.151978,0.987209]]>H'@S?& @"rtÿ7?i>`@I>sV];>CYNυByN$IbDVVDV1y^k%bb=ٔb":Q-b>9f"?Yf"?=fnGyfFfJEj>lQ 5r5n)?Q 9r5n\)n9BYpyr#@Q Ir[@nDInG:in;nY5yzBɮz`Az|EP B*** querying acoustic contact ***  jgOFNOT Ignoring new targets: 100.01 m.R%Z%gO= ProNav: ac range: 100.010086 m, nav range: 88.770370 m, bearing: 143.171283 deg, approach rate: -0.630170 m/s, LOS rate: -0.025882 deg/s, cmd heading: 142.440672 deg, new cmd heading: 142.421956 deg. B=w=gOEHeadingCmd: 2.485732 target range: 100.010086 and range: 100.60 m.E<@A*A"A AAIIIʎQQQjQZU%+@颅\Bɢ9<) i)=顉iEi<@f9;=^I<@IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258601-9@) @1@5/@1E EE&E"E*E:VE4ZEa@a@a@a@^Ayb]) checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509932A I! I1 OE >Q Hm,軷Y@A2@2{@2qF=ٱ2( :AHRS rotation from veh to nav: [[-0.785806,-0.604229,-0.131972],[0.616574,-0.782059,-0.090662],[-0.048429,-0.152613,0.987099]]2H@R%U@u? 5`˨ԈÿP?i2@I2::];0YBŅByF$I HHJ=J=iUMb@Mb@Mb@QQQQ Q9U}?5^I?v/?~jth?YUM"?yUxi=UD;UAU@ U1A)QQYU AbDmVDm0y}o:%}?=ٔ:Q->9Y=nGyE>Q 55|?Q 95z)1BY"?Q E:y5$@Q I[@DI;i:]5yBɮ}_ArEjgOFNOT Ignoring new targets: 100.01 m.RZgO ProNav: ac range: 100.010086 m, nav range: 88.499710 m, bearing: 143.159534 deg, approach rate: -0.634745 m/s, LOS rate: -0.027639 deg/s, cmd heading: 142.421957 deg, new cmd heading: 142.398386 deg. BSJgOHeadingCmd: 2.485321 target range: 100.010086 and range: 100.60 m.@*" dBʎ j Z +@1=ZBɢ=D<)A EiA)E=AAiE@iM@Mݥ8;M>IU@Im9@i @i@m/@iuchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763000yBU6>BQBU$IBUBBU( =BQBQBUE_;BU#Eԉ^AD zD AAE  E E E "E :*E T:VE ZE BE >Թ 0m,"շY@A2@24{@2fD=ٱ2 :AHRS rotation from veh to nav: [[-0.785810,-0.603953,-0.133208],[0.616601,-0.781775,-0.092907],[-0.048027,-0.155144,0.986724]]2H@Z%S 1?@Lȷ ÿ=?i2@I2 N];2CYFByF$IbDNVDN2yV %VY=ٔZ鋺Q-Z>9XYX=^nGy^Fbchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014093fNEf>hQ 5n5ju?Q 9n5j)j*BYlyr4$@Q Ir[@jDIj;ij;j`5yvBɮvn_AtjgOFNOT Ignoring new targets: 100.01 m.RZgO- ProNav: ac range: 100.010086 m, nav range: 88.259346 m, bearing: 143.149046 deg, approach rate: -0.634250 m/s, LOS rate: -0.027750 deg/s, cmd heading: 142.398393 deg, new cmd heading: 142.377360 deg. B-#KgO5HeadingCmd: 2.484954 target range: 100.010086 and range: 100.60 m.5{ @1*1"1 119AAʎAAIjIZM@1,@YBɢ)<) @i)=ifDi%{ @%n7;%XI%{ @I)ԑ9@ @@/@@=@=^Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267157Iq I O > [m,YY@AZ@Z@Z?=ٱZw" jAHRS rotation from veh to nav: [[-0.786288,-0.603209,-0.133754],[0.616098,-0.781794,-0.096034],[-0.046639,-0.157916,0.986350]]ZH E)`}M`?t@᧿6Ŀ.?iZ@IZs0];ZCYBy u$IEe EeEe$Ea"Ee:*Ee:VEe4ZEaa@a@a@a@bDVD0y'%9=ٔMQ->9Y= nGy :E>Q 5 5S?Q 95)"BYy?$@Q I[@DI;i;d5yɮ_A!jagOeFNOT Ignoring new targets: 100.01 m.RZgO ProNav: ac range: 100.010086 m, nav range: 87.961189 m, bearing: 143.135828 deg, approach rate: -0.620582 m/s, LOS rate: -0.027605 deg/s, cmd heading: 142.377356 deg, new cmd heading: 142.350830 deg. BJgOHeadingCmd: 2.484491 target range: 100.010086 and range: 100.60 m.@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518017*" ʎjZ  Լ-@WBɢ)8<) i)2<ici@6;LI@I9@ @@/@I ^A} rI I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770864B= 4>B9 B= g$IB= BB= ) =B9 B= fDB= =_;B= #EBn,{ Y@A6@6n@6O8=ٱ6A$ >AHRS rotation from veh to nav: [[-0.786907,-0.602485,-0.133374],[0.615430,-0.782019,-0.098456],[-0.044983,-0.159558,0.986163]]6H@X.Gc@?K@b4alĿ@?i6@I6d%];6CYJByJg$IIN>)N=LLi}Mb@Mb@Mb@yyyy y9}?J +?MbpY} ?y}H=}}A}@ y)}C AyY} AbDVDyPl%N=ٔuQ->9Y=nGyF;E>Q 552ొ?Q 95f)BY~ ?Q E:yx#@Q I[@DI:ie:'h5yBɮ_AqEjgOFNOT Ignoring new targets: 100.01 m.R׹Z׹gO ProNav: ac range: 100.010086 m, nav range: 87.731598 m, bearing: 143.127416 deg, approach rate: -0.642321 m/s, LOS rate: -0.023594 deg/s, cmd heading: 142.350828 deg, new cmd heading: 142.333961 deg. B,gOHeadingCmd: 2.484196 target range: 100.010086 and range: 100.60 m.@*" !!!%gBʎ)))j)Z5n.@]VBɢ]`;)Y eia)ecj:*Eee:VEe4ZEaBEeԩ ln,qU#Y@A6@6@6.=ٱ6VI"@ BAHRS rotation from veh to nav: [[-0.787932,-0.601819,-0.130297],[0.614279,-0.782913,-0.098534],[-0.042711,-0.157676,0.986567]]6H 6B,? `9 Dޥ`.Ŀ`?i6@I6<];6CY^BybY$IbDjVDj:yr2i%rW=ٔrMĻQ-v>9tYt=vnGytz܄;Ez>|Q 55~ϱ?Q 95~)~BYy#@Q I [@~DI~<;i~:~wk5yBɮ_ApEP-B*** querying acoustic contact ***) )jAgOEFNOT Ignoring new targets: 100.01 m.RMbعZMbعgO] ProNav: ac range: 100.010086 m, nav range: 87.494675 m, bearing: 143.118447 deg, approach rate: -0.622946 m/s, LOS rate: -0.023647 deg/s, cmd heading: 142.333957 deg, new cmd heading: 142.315969 deg. B]-gOeHeadingCmd: 2.483882 target range: 100.010086 and range: 100.60 m.e@a*a"a aiiiiʎqqqjqZu1/@颥UBɢX;) i)L1<顩iSi@5;6I@IEBDAT read: Rx Time:00:59:11.7955 MTRx dataTimestamp_ set to:1761699552.626167Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.276648Ա-9@) @)@-4@)Ee EaEe$Ea"Ee:*EaVEe4ZEaam@am@am@au@+G^AUe 9YAI I9 O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526053 4n,)?=Y@AhY-By-K$IUonly read 0 of 1 data item for BIT error. Device response is::TS,00050504473312,3.4, 0.0,1491.6, 0 aU@aU aU@aU aU@aU aU@aU bD]VD]Nym @%u'=ٔuQ-u>9yYy=}nGy}F}E}>Q 55?Q 95) BQ A+:YQ E:yQ I[@DI:i>n5yɮF`AjAgOEFNOT Ignoring new targets: 100.01 m.RMԹZMԹgO] ProNav: ac range: 100.010086 m, nav range: 87.189362 m, bearing: 143.106816 deg, approach rate: -0.606350 m/s, LOS rate: -0.023180 deg/s, cmd heading: 142.315966 deg, new cmd heading: 142.292623 deg. B])gOmHeadingCmd: 2.483475 target range: 100.010086 and range: 100.60 m.m@@i*i"i iiqqqʎqyyjyZ} 0@-TBɢ5;)1 5-i1)5<1DAT read: 00:59:11.7955 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 277,-0.07,-2.515, 2.004,-2.271,-2.609, PHS= 0.196,-1.625, 0.294, RAW= 152.6, 12.1, CAL= 152.6, 13.4, ROT= 357.4, -13.4 Ygot valid direction response: 00:59:11.7955 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 277,-0.07,-2.515, 2.004,-2.271,-2.609, PHS= 0.196,-1.625, 0.294, RAW= 152.6, 12.1, CAL= 152.6, 13.4, ROT= 357.4, -13.4 8DAT read: $Error in header *Received a bad header9ii@@M55;dI@@IB<A<B6>BBN$IBBBBBgDB"_;B#EX#Rx 1: Read direction message, but no range.%^direction in FSK: [0.971774,-0.044128,0.231748]yAE?񗦿] A?AAAA A)EIIE9H>iEпE+>Et*@E@X>Et*@ E|o>)E@IE|oAEt*\?;Qzf?pHh? E?)E=XIE9iE|o=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse1i@q @q@u 1@qbEjE 4rEϚ/Ee  Ee Ee &Ea "Ee :*Ee ą:VEe 4ZEa BEe u^n,ZY@An}@n@n-=ٱn vAHRS rotation from veh to nav: [[-0.789952,-0.600574,-0.123641],[0.612034,-0.784555,-0.099436],[-0.037285,-0.154222,0.987332]]nH IG7ȕ? t ÿ :?in}@InTZ];nC |)~`A~Ga~ F`Ai 0II i `A ^ )  ~`A94E̐Cn`AI㥽)i)!I%j`A%! !!-lA)i))i-C))1 1I1Y1Y=By=7$I AAbDUVDUye %eP=ٔedbQ-e>9iYi=mnGyiu(;Eu>yQ 55}?Q 95})}BQ A :YQ E^:y#@Q I[@}DI}:i}+b?}.q5yBɮ`AoEjgOFNOT Ignoring new targets: 100.01 m.R Z gO ProNav: ac range: 100.010086 m, nav range: 86.943764 m, bearing: 143.096905 deg, approach rate: -0.650921 m/s, LOS rate: -0.026343 deg/s, cmd heading: 142.292621 deg, new cmd heading: 142.272742 deg. B@gOHeadingCmd: 2.483128 target range: 100.010086 and range: 100.60 m.@*" ʎiijiZuq~0@颽SBɢx{:) 4оi)o<i3i@$$5;`y,;I@I@ @@4@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse^A"! A I I O >E  E E %E "E O:*E X:VE 4ZE a @a @a @a @on,tY@A@7@א =ٱ(( AHRS rotation from veh to nav: [[-0.791125,-0.599834,-0.119668],[0.610691,-0.785590,-0.099525],[-0.034311,-0.151817,0.987813]]HP1`Ȋ?#z8`nÿ)?i@I>];T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseY|By.$IIaa aa aa aa iMb@Mb@Mb@ 9Zd;?S㥫?:vY?y/]=ԼdA@ ^A)- AY3 AbDVD:2yj%*=ٔ{ʻQ->9Y=nGyFr;E>Q 55?Q 95)BQ AT:Y?Q E:y$@Q I[@DIp;i;bu5yɮ`AjygO}FNOT Ignoring new targets: 100.01 m.RZgO ProNav: ac range: 100.010086 m, nav range: 86.645325 m, bearing: 143.083801 deg, approach rate: -0.605069 m/s, LOS rate: -0.026659 deg/s, cmd heading: 142.272745 deg, new cmd heading: 142.246446 deg. B(CgOHeadingCmd: 2.482669 target range: 100.010086 and range: 100.60 m. @*" HBʎjZ0@=RBɢ VD;)  ־i)k<顡ii~i @W5;;I @Iyq@q @q@u4@q@}=@}= T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԹ B- 7>B) B- /$IB- |BB- ( =B) B) B- 8_;B- #E^A ] ; A .AI I O >D;$n,Y@A>v@>@>[=ٱ> FAHRS rotation from veh to nav: [[-0.792008,-0.599578,-0.115020],[0.609693,-0.786528,-0.098219],[-0.031576,-0.147918,0.988495]]>H!X/q?=+`$`*¿@?i>v@I>6];>CEl EnEn#El"El*Eną:VEn3ZElBEn 9] ?Y] ?=]nGyYeug;Ee>iQ 5u5m?Q 9}5mI)mBYyy}.$@Q I}[@m DIm#;im$;mx5yBɮ`AnEjgOFNOT Ignoring new targets: 100.01 m.RZgO ProNav: ac range: 100.010086 m, nav range: 86.411766 m, bearing: 143.073245 deg, approach rate: -0.640204 m/s, LOS rate: -0.029012 deg/s, cmd heading: 142.246449 deg, new cmd heading: 142.225280 deg. BaTgOHeadingCmd: 2.482299 target range: 100.010086 and range: 100.60 m.@*" ʎ jZ[1@QBɢW) E޾i)d<i|mT****** received valid address query ******mR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapseiu@uĪ5;u>;Iu@IyI)ZA9]9@a @a@m/@ia^A r; T****** received valid address query ****** R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapseԑ A I! I1 O= >nZ*n,lY@AR+@Rb!@RV<ٱR߆ jAHRS rotation from veh to nav: [[-0.792591,-0.599405,-0.111860],[0.609036,-0.787122,-0.097545],[-0.029578,-0.145440,0.988925]]RH`\S. آ 8}?0Iɝ¿E?iR+@IRTR];RCYr\Byr$IIz<)z9Y=nGyF;E%>)Q 5-5-q?Q 955-ˍ)-BY1y5>$@Q I5[@-DI-:i-:-|5y=XBɮE_AEeEPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 100.01 m.RZgO ProNav: ac range: 100.010086 m, nav range: 86.168213 m, bearing: 143.062014 deg, approach rate: -0.599244 m/s, LOS rate: -0.027711 deg/s, cmd heading: 142.225275 deg, new cmd heading: 142.202749 deg. BJgOEHeadingCmd: 2.481906 target range: 100.010086 and range: 100.60 m.E@I*I"I IIQQQʎYYԁjZ|1@OBɢ) i)%uG 81n,ŸY@AY[By%$IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseAYAYBe>>BeՍCBe$IBehBBe' =BaBaBeD_;Be#EB9B9B9B=( =B=( =C=;=5iMb@Mb@Mb@ 9-?V-?S㥛Y??yh=/ݼ7A@ A)Y AbDVDk1y%0=ٔQ->9 "?Y "?= nGy F5E5>9Q 5E5=]?Q 9E5=)=BYE?Q EE:yEe&@Q IM[@=DI=:i=:=55yuPBɮu_AudEjgOFNOT Ignoring new targets: 100.01 m.R:Z:gO ProNav: ac range: 100.010086 m, nav range: 85.894875 m, bearing: 143.043162 deg, approach rate: -0.589895 m/s, LOS rate: -0.040814 deg/s, cmd heading: 142.202749 deg, new cmd heading: 142.164925 deg. BcgOHeadingCmd: 2.481246 target range: 100.010086 and range: 100.60 m.@*" "BʎjZ92@NBɢh() >i)G<AiExiU@]6;;I@I!9@ @@/@E% E%E%'E!"E%;*E%k:VE%'4ZE!BE%A8n,*Y@A26V@2K@2u<ٱ2~` BAHRS rotation from veh to nav: [[-0.794220,-0.598200,-0.106635],[0.607027,-0.788938,-0.095370],[-0.027078,-0.140475,0.989714]]2H?j u$@kL`l?>*jP`?i26V@I2k];2CYNQByN#IbDVVDV:y^O%^Z=ٔ^ڻQ-^>9b ?Yb ?=bnGy`f;Ef>hQ 5n5jON?Q 9n5j$)jBYlyn&@Q In[@j$DIj;ij:jq5yvHBɮv_AvcEj gOFNOT Ignoring new targets: 100.01 m.RBZBgO ProNav: ac range: 100.010086 m, nav range: 85.679344 m, bearing: 143.027793 deg, approach rate: -0.595378 m/s, LOS rate: -0.042561 deg/s, cmd heading: 142.164923 deg, new cmd heading: 142.134109 deg. BțgOHeadingCmd: 2.480708 target range: 100.010086 and range: 100.60 m.@*" ʎjZ2@颅MBɢۻ) i)x<顉i8>n,Y@ARW@RSM@R<ٱR ZAHRS rotation from veh to nav: [[-0.794297,-0.598796,-0.102641],[0.606965,-0.789434,-0.091583],[-0.026189,-0.135043,0.990494]]RHj W)FAl? C`q Lњ`I?iRW@IR*V];RCY=MBy=#I AAM=M=iMb@Mb@Mb@ 97A`?ʡE?{GzY?y-=ף A GA) AY AbDVDk2y%%%6=ٔ-Q-->9-"?Y-"?=-nGy-F5_9E5>9Q 5E5=:?Q 9E5=)=BYM@?Q EM:yMX(@Q IM[@=,DI=a:i=3:=^5QyYɮ]_AYjgOFNOT Ignoring new targets: 100.01 m.RsZsgO ProNav: ac range: 100.010086 m, nav range: 85.415314 m, bearing: 143.003900 deg, approach rate: -0.586427 m/s, LOS rate: -0.053232 deg/s, cmd heading: 142.134106 deg, new cmd heading: 142.086172 deg. BºgOHeadingCmd: 2.479872 target range: 100.010086 and range: 100.60 m.7@*" BʎjZ 3@KBɢ8) li)J<iui7@8;k(B֍CB#IBSBB$ =BBhDB_;B#EԱ^A<A9 IA IY Oe > D D <E  E E E "E :*E x:VE ZE BE  O@>D@>6<ٱ> fAHRS rotation from veh to nav: [[-0.793987,-0.599450,-0.101216],[0.607398,-0.789207,-0.090657],[-0.025536,-0.133459,0.990725]]>H Wh. C鹿o?0AM5&,?i> O@I>N];91Y1==nGy9=eE=>AQ 5M5E*?Q 9M5Eހ)EBYQyUQ(@Q IU[@E4DIE:iE:E5y]@Bɮ]_AajgOFNOT Ignoring new targets: 100.01 m.RtZtgO ProNav: ac range: 100.010086 m, nav range: 85.196465 m, bearing: 142.984051 deg, approach rate: -0.588893 m/s, LOS rate: -0.053548 deg/s, cmd heading: 142.086171 deg, new cmd heading: 142.046372 deg. BúgOHeadingCmd: 2.479177 target range: 100.010086 and range: 100.60 m.ժ@*" ʎjZe3@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse-JBɢ5< )Q U.iQ)]S-9 )LKn,b/Y@AfI@f}?@f<ٱfhm  AHRS rotation from veh to nav: [[-0.793815,-0.599759,-0.100729],[0.607659,-0.788921,-0.091399],[-0.024650,-0.133763,0.990707]]fHf@:1@dɹq?>e=`'޳?ifI@IfXp];dY%FBy%#IbD=VD=N2yE%MH=ٔMvQ-M>9IYQ=UnGyUFUHE]>YQ 5e5]?Q 9m5]})]BYiymK(@Q Im\@];DI]:i]k:].5yyɮ}_AyPB*** querying acoustic contact *** jgOFNOT Ignoring new targets: 100.01 m.RtZtgO ProNav: ac range: 100.010086 m, nav range: 84.956947 m, bearing: 142.962264 deg, approach rate: -0.587019 m/s, LOS rate: -0.053547 deg/s, cmd heading: 142.046365 deg, new cmd heading: 142.002668 deg. BúgOHeadingCmd: 2.478414 target range: 100.010086 and range: 100.60 m.V@*" ʎjZ73@HBɢv ) i ) <  i QriV@:;02Rn,8IY@A :]F@:;@:n<ٱ: BT****** received valid address query ******BR****** received valid ping request ******Freceived new query, but waiting for acoustic response period to elapseBPAPBV9>BVՍCBV#IBV?BBV' =BTBVgDBV^;BV#E -AHRS rotation from veh to nav: [[-0.793702,-0.599880,-0.100897],[0.607848,-0.788556,-0.093274],[-0.023610,-0.135362,0.990515]]:H f82cԹ}s?;෿/-S@L?i:]F@I:`];8Y]EBy]#IIe=)e=iMb@Mb@Mb@ 9I +?kt?:vY9?y =TA@ A)Y AbDUVDUkye.%m-=qٔ| Q->9 ?Y ?=nGyE>Q 55 ?Q 95#z)BY?Q E:yh(@Q I\@DDI;i[;d5y8Bɮ_AbEjagOmFNOT Ignoring new targets: 100.01 m.RmrZurgO} ProNav: ac range: 100.010086 m, nav range: 84.678116 m, bearing: 142.936410 deg, approach rate: -0.568633 m/s, LOS rate: -0.052899 deg/s, cmd heading: 142.002665 deg, new cmd heading: 141.950787 deg. B}gOHeadingCmd: 2.477509 target range: 100.010086 and range: 100.60 m.@*" BʎjZL4@E EE#E"E:*E:VE3ZEBE<8Yn,gY@AJ2@J'@J<ٱJ= RAHRS rotation from veh to nav: [[-0.792964,-0.600815,-0.101141],[0.608838,-0.787649,-0.094470],[-0.022905,-0.136490,0.990377]]JH _ 9h乿`{? l44/@]tx *?iJ2@IJ|];JCYZBBy^#IbDfVDf:yn"%nM=ٔnQ-r>9r"?Yr"?=rnGyrFvVPEv>|Q 55~P?Q 9%5~5w)~BY!y%R(@Q I%\@~LDI~;i~;~̕5y)ɮ-_A1=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapsejagOeFNOT Ignoring new targets: 100.01 m.RmwZmwgO} ProNav: ac range: 100.010086 m, nav range: 84.452461 m, bearing: 142.915562 deg, approach rate: -0.584941 m/s, LOS rate: -0.054187 deg/s, cmd heading: 141.950783 deg, new cmd heading: 141.908975 deg. B}VƺgOHeadingCmd: 2.476779 target range: 100.010086 and range: 100.60 m.@*" ʎjZw4@DBɢE) ki)h<ini@<;¨1Q 1v`n,Y@A24@2@2<ٱ2f :AHRS rotation from veh to nav: [[-0.792196,-0.601745,-0.101623],[0.609858,-0.786700,-0.095788],[-0.022307,-0.137859,0.990201]]2H@YA`?,@ז`[@?i24@I2 n];2CYBFByF#Ii5Mb@Mb@Mb@1111 195l?ˡE?y&1|Y5?y5=5`11 1)5 A1Y5f AbDMVDM 3y]<%]B=ٔ]⹺Q-]>9aYa=enGyamJFEm>qQ 5}5uఊ?Q 9}5us)uBY}?Q E}:y'@Q I\@uTDIu:iu:uy5)y=0Bɮ=N_AeaEjgOFNOT Ignoring new targets: 100.01 m.R*[Z*[gO ProNav: ac range: 100.010086 m, nav range: 84.203293 m, bearing: 142.894079 deg, approach rate: -0.553957 m/s, LOS rate: -0.047902 deg/s, cmd heading: 141.908969 deg, new cmd heading: 141.865876 deg. BUgOHeadingCmd: 2.476027 target range: 100.010086 and range: 100.60 m.8w@*"   BʎjZV(5@=T****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseBM8>BMԍCBM#IBM:BBM( =BIBIBM^;BM#EuBBɢu) i)<顙ili8w@>;*8gn,9b ?Yb ?=bnGybFf˻Ef>hQ 555jΰ?Q 955jp)jBY9y='@Q I=\@j\DIj;ij&;j)5yE(BɮE_AE`EQjqgOuFNOT Ignoring new targets: 100.01 m.R}rZ}rgO ProNav: ac range: 100.010086 m, nav range: 83.953156 m, bearing: 142.872869 deg, approach rate: -0.624185 m/s, LOS rate: -0.053084 deg/s, cmd heading: 141.865870 deg, new cmd heading: 141.823325 deg. BLºgOHeadingCmd: 2.475284 target range: 100.010086 and range: 100.60 m. k@*" ʎjZ@#5@@Bɢ(5) Wi)<iUDki k@1>;B E=  E= E= )E9 "E= :*E= ]t:VE= FA4ZE9 aE @aE @aE @aE @]mn,Y@AV@VP@VR<ٱV|v zAHRS rotation from veh to nav: [[-0.790001,-0.604053,-0.104969],[0.612745,-0.783745,-0.101423],[-0.021004,-0.144444,0.989290]]VHG fT`Eߺ`?p`"#}¿C?iV@IVDw];TY5JBy5#IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsebDuVDuyJ<%1=ٔYQ->9"?Y"?=nGy E> Q 55 ߹?Q 95 l) BYyu'@Q I\@ eDI ;i ; Q5y%Bɮ%a]A%WEPeB*** querying acoustic contact ***a ajigOFNOT Ignoring new targets: 100.01 m.RiZigO ProNav: ac range: 100.010086 m, nav range: 83.671478 m, bearing: 142.849036 deg, approach rate: -0.602349 m/s, LOS rate: -0.051139 deg/s, cmd heading: 141.823318 deg, new cmd heading: 141.775490 deg. B-gOHeadingCmd: 2.474449 target range: 100.010086 and range: 100.60 m.`]@*" ʎjZ5@m>Bɢm)i miq)uB ՍCB B B B B B ^;B #E5 T****** received valid address query ******5 R****** received valid ping request ******5 received new query, but waiting for acoustic response period to elapse^Ae H<9 A I I O >ytn,ҹY@A2"@2@2ʉ<ٱ2 :AHRS rotation from veh to nav: [[-0.789378,-0.604825,-0.105211],[0.613547,-0.783120,-0.101405],[-0.021060,-0.144599,0.989266]]2HBZ@ﺿ`,?R А5¿?i2"@I2h];0YBLByF#IiMMb@Mb@Mb@IIII I9M-?~jt?~jthYM5?yM=MDM7AM@ I)M AIYM AbDeVDeyu{^<%uV=ٔu9Q-u>9yYy=}nGy}F4E>E EE$E"E:*E:VE4ZEBE9  2Acoustic response timeout?zn,Y@A2@2G@2R<ٱ2 :AHRS rotation from veh to nav: [[-0.788803,-0.605246,-0.107084],[0.614290,-0.782217,-0.103844],[-0.020912,-0.147694,0.988812]]2H=,^iC?@`i¿ Y?i2@I2|];2CYBTByF#IIJ=)J=bDNVDN0yVY=%ZW=ٔZ̹Q-Z>9Z ?Y^ ?=^nGy\^"E^>`Q 5f5bB?Q 9j5bf)b{BYhyjl&@Q Ij\@btDIb;ib;bڧ5ylɮn\ApjgOFNOT Ignoring new targets: 100.01 m.R 3UZ 3UgO ProNav: ac range: 100.010086 m, nav range: 83.208923 m, bearing: 142.814614 deg, approach rate: -0.625601 m/s, LOS rate: -0.046598 deg/s, cmd heading: 141.741465 deg, new cmd heading: 141.706460 deg. BgO%HeadingCmd: 2.473244 target range: 100.010086 and range: 100.60 m.%I@!*!") )))11ʎ111j9Z=26@u:Bɢu )y }iy)}=2Acoustic response timeoutYԉ Јn,oY@AJU@J@Jm<ٱJ ZAHRS rotation from veh to nav: [[-0.788034,-0.605755,-0.109832],[0.615269,-0.781058,-0.106735],[-0.021130,-0.151687,0.988203]]JH7Xb@H?`mR $@}jÿ [?iJU@IJ?p];JCYjUByj#IiMb@Mb@Mb@ 9Pn?Q?{Gzt?Y$?yu=ף;MA t A)Y3 AbDVDyv;%;=ٔ:Q->9"?Y"?=nGyF:E>Q 55H?Q 95b)wBY$?Q E:y$@Q I\@}DI:i:5yBɮ\AUEjgOFNOT Ignoring new targets: 100.01 m.R4"Z4"gO- ProNav: ac range: 100.010086 m, nav range: 82.928329 m, bearing: 142.799156 deg, approach rate: -0.641387 m/s, LOS rate: -0.035452 deg/s, cmd heading: 141.706454 deg, new cmd heading: 141.675435 deg. B5ÁgO5HeadingCmd: 2.472703 target range: 100.010086 and range: 100.60 m.=@@9*9"9 999AE"BʎAAIjIZM',7@B]?>BYB]#IB]?BB]' =BYBYB]^;B]#EB-ՍCq2Acoustic response timeoutB-ՍCB)B-' =B-' =C-«5颕7Bɢ٦) i);<顙i-ei@@A;-;IM@@IIԡ@ @@4@DD<E EE%E"E:*E[:VE 4ZEBE<8A e 2Acoustic response timeoutn,B Y@A 2^@2@2p̫<ٱ2}_ >AHRS rotation from veh to nav: [[-0.787737,-0.605894,-0.111185],[0.615654,-0.780495,-0.108615],[-0.020970,-0.154011,0.987847]]2H%5@|c@v`p?0λ&y`ÿ`p?i2^@I2];0YFPByF#IbDRVDRyVܼ%V^=ٔZQ-Z>9Z ?Y^ ?=^nGy\^Eb>`Q 5f5brs?Q 9j5b3_)btBYhyj$@Q Ij\@bDIb:ib:b5ylɮr\ApjgO FNOT Ignoring new targets: 100.01 m.R Z gO ProNav: ac range: 100.010086 m, nav range: 82.691788 m, bearing: 142.786127 deg, approach rate: -0.641756 m/s, LOS rate: -0.035452 deg/s, cmd heading: 141.675431 deg, new cmd heading: 141.649297 deg. B!gO%HeadingCmd: 2.472247 target range: 100.010086 and range: 100.60 m.%J9@)*)") )))11ʎ111jZ7@6Bɢ") =i)<iwciJ9@C^B;H];IJ9@Iq 9@  @ @ /@ 2Acoustic response timeoutA]؟AIaIqOY>Ա E  E E E "E :*E L_:VE ZE a @a @a @a @ߍn, 1:Y@AB@LB@B<ٱBˑ-2Acoustic response timeout =AHRS rotation from veh to nav: [[-0.787653,-0.606016,-0.111121],[0.615771,-0.780363,-0.108902],[-0.020718,-0.154202,0.987822]]BH t4zdhrd?`@໿.7@ÿ =?iB@IB];BCY}SBy}#I bDVDy ><%7=ٔ Q->9"?Y"?=%nGy%F-E5>Q 55]?Q 95Z)pBYy$@Q I\@DI:ik:5yߠBɮ^\APB*** querying acoustic contact *** j gO FNOT Ignoring new targets: 100.01 m.R"Z"gO% ProNav: ac range: 100.010086 m, nav range: 82.389648 m, bearing: 142.769405 deg, approach rate: -0.640885 m/s, LOS rate: -0.035600 deg/s, cmd heading: 141.649299 deg, new cmd heading: 141.615733 deg. B%MgO-HeadingCmd: 2.471661 target range: 100.010086 and range: 100.60 m.-/@)*)") 11119ʎ999j9ZE@28@m3Bɢmx)q u^iq)uLYBU֍CBU#IBUNBBU& =BQBUhDBU_;BU#E2Acoustic response timeout^Ae h%<Ae ?Ae ? A I I O >”n,nSY@A:@:@:R<ٱ:9  FAHRS rotation from veh to nav: [[-0.787600,-0.606057,-0.111277],[0.615845,-0.780241,-0.109358],[-0.020546,-0.154660,0.987754]]:H4d|? @ÿ?i:@I:];:CYNXByN$I|i-Mb@Mb@Mb@)))) )9-Pn?Zd;?~jth?Y)y-y=-D;-dA) - A)- A)Y- AbDEVDEkyU<%UV=ٔUQ-U>9YYY=]nGyYe~Ee>iQ 5u5mM?Q 9u5mW)mlBYu$?Q Eu:DyzD}?AE EE#E"E :*E]t:VE3ZEBEK" 2Acoustic response timeout/n,=mY@AF@Fl@FK<ٱF8F ZAHRS rotation from veh to nav: [[-0.787696,-0.605979,-0.111015],[0.615737,-0.780257,-0.109849],[-0.020054,-0.154884,0.987729]]FH4-d|k?@ :ÿ z?iF@IF];DYjSByn#IbDzVDzܲy [% O=ٔ >Q->9Y=nGyF%\9E%>)Q 5=5-};?Q 9=5-T)-hBYAyE$@Q IE\@-DI-@;i-;;-5yQɮU\AQYjgOFNOT Ignoring new targets: 100.01 m.R-Z-gO] ProNav: ac range: 100.010086 m, nav range: 81.905891 m, bearing: 142.742021 deg, approach rate: -0.667160 m/s, LOS rate: -0.038021 deg/s, cmd heading: 141.589781 deg, new cmd heading: 141.560810 deg. B])gOmHeadingCmd: 2.470702 target range: 100.010086 and range: 100.60 m.m@q*" ʎjZ8@0Bɢ) ܾi)̵<顑i _i@D;e BDAT read: Tx time:00:59:21.7202 $Ping request sent.n,&Y@AYrZByv$IIz=)z=imMb@Mb@Mb@iiii i9mn?Mb?Mb`YmV.?ym@=mii m A)m- AԁiYm( AbDVDy<%>=ٔQ->9 ?Y ?=nGyE>Q 55'?BB>BBBB% =BBBL_;B#EQ 95O)cBY.?Q E:y"@Q I\@DIO;iu;W5yBɮZAJEjgOFNOT Ignoring new targets: 100.01 m.R﹝echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.241540ZgO ProNav: ac range: 100.010086 m, nav range: 81.614067 m, bearing: 142.730856 deg, approach rate: -0.682470 m/s, LOS rate: -0.026206 deg/s, cmd heading: 141.560807 deg, new cmd heading: 141.538396 deg. B?gOHeadingCmd: 2.470311 target range: 100.010086 and range: 100.60 m.@*" EBʎjZ89@-.Bɢ-Aջ)1 5XԾiQ)]n,ˡY@A2@26@2<ٱ2 :AHRS rotation from veh to nav: [[-0.787604,-0.606735,-0.107481],[0.615914,-0.780337,-0.108280],[-0.018175,-0.151481,0.988293]]2H 4``j@烻?@9@Ycÿ?i2@I2Z];2CYFBByF#IbDNVDNyV%V]=ٔZQ-Z>9Z"?YZ"?=ZnGyZF^ E^>`Q 5f5b~?Q 9f5bK)b_BYhyj"@Q Ij\@bDIb:ib:b5ylɮnZAljgOFNOT Ignoring new targets: 100.01 m.R Z gO ProNav: ac range: 100.010086 m, nav range: 81.361870 m, bearing: 142.721169 deg, approach rate: -0.688674 m/s, LOS rate: -0.026534 deg/s, cmd heading: 141.538390 deg, new cmd heading: 141.518956 deg. B=BgOHeadingCmd: 2.469972 target range: 100.010086 and range: 100.60 m.@*" ʎjZ`9@],Bɢ]|()a e`ia)e8n,zY@AN+@N@N׳<ٱN9Y=nGynE>Q 55?Q 95:G)ZBYy"@Q I\@DI!;i:5yBɮfZA IEPEB*** querying acoustic contact ***A AjigOuFNOT Ignoring new targets: 100.01 m.RuZ}gO ProNav: ac range: 100.010086 m, nav range: 81.041122 m, bearing: 142.708879 deg, approach rate: -0.663447 m/s, LOS rate: -0.025521 deg/s, cmd heading: 141.518951 deg, new cmd heading: 141.494275 deg. B:gOHeadingCmd: 2.469541 target range: 100.010086 and range: 100.60 m. @*" ʎjZa :@5+Bɢ5)1 5i1)=(Ѭ<99i=«ZiE @E&1G;EBBBBBBBy_;B$Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.249629^A < A I! I1 O= > n,"UպY@A2:@2Č@2<ٱ2^ :AHRS rotation from veh to nav: [[-0.787265,-0.607335,-0.106573],[0.616381,-0.779883,-0.108894],[-0.016980,-0.151418,0.988324]]2HF1IocHd?u໿$caÿY?i2:@I2S^;2CYF=ByF#I HHbEjE4rEz:0EU EUEQEQ"EUO:*EUe:VEQZEQBEU 9Y=nGyF!E>Q 55Y?Q 95VC)UBY.1?Q E:y!@Q I\@DI:iU:5yBɮZAHEj)gO-FNOT Ignoring new targets: 100.01 m.R5Z5gOE ProNav: ac range: 100.010086 m, nav range: 80.783951 m, bearing: 142.701809 deg, approach rate: -0.715254 m/s, LOS rate: -0.019727 deg/s, cmd heading: 141.494281 deg, new cmd heading: 141.480095 deg. BEhgOMHeadingCmd: 2.469294 target range: 100.010086 and range: 100.60 m.M@I*I"Q QQQQ]2BʎYYYjYZe`qh:@颍)Bɢaa) i)'<顑iAYi@G; checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753649H;n,Y@Aj&@j@j<ٱj* zAHRS rotation from veh to nav: [[-0.786973,-0.607881,-0.105615],[0.616778,-0.779552,-0.109010],[-0.016067,-0.150929,0.988414]]jH . s `?@軿@sQÿ`?ij&@Ij[w^;jCYE4ByE#IbD] VD]2ym,%mR=ٔmQ-m>9qYq=unGyq}E}>Q 55گ?Q 95D?)OBYy!@Q I\@DIp:i$:W5yɮZAjgOFNOT Ignoring new targets: 100.01 m.RlZlgO= ProNav: ac range: 100.010086 m, nav range: 80.514854 m, bearing: 142.694455 deg, approach rate: -0.691214 m/s, LOS rate: -0.018952 deg/s, cmd heading: 141.480101 deg, new cmd heading: 141.465345 deg. B= gO=HeadingCmd: 2.469036 target range: 100.010086 and range: 100.60 m.E@A*A"A AAAIIʎIIQjqZ}`O:@颥(Bɢ=P) i)<顩iPWQiU@]~H;]L"#n,Y@A2@2\u@2rz<ٱ2 :AHRS rotation from veh to nav: [[-0.786405,-0.608742,-0.104884],[0.617521,-0.778956,-0.109066],[-0.015307,-0.150538,0.988486]]2H;*zٺ@?4뻿~YDÿ?i2@I25^;2C@Y^0Byb#Ii}Mb@Mb@Mb@yyyy y9}Zd;O? rh?QY}~*?y}C =}u}MA}@ y)} AyY} AbDBD>BB#IBDBBBBB_;B"$EVDy%E=ٔQ->9Y=nGyFE>Q 55ǯ?Q 95 ;)IBY*?Q E:yx!@Q I\@DI~:i:5yBɮZAGEjgOFNOT Ignoring new targets: 100.01 m.R%ލZ%ލgO5 ProNav: ac range: 100.010086 m, nav range: 80.238312 m, bearing: 142.688037 deg, approach rate: -0.665733 m/s, LOS rate: -0.015504 deg/s, cmd heading: 141.465348 deg, new cmd heading: 141.452467 deg. B5gO=HeadingCmd: 2.468811 target range: 100.010086 and range: 100.60 m.=@9*9"9 9AAAEBʎIIIjIZM b6;@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273765ԩ'Bɢ^|a) i)ף<ii4Vi%@%eI;% an,(#Y@A2k@2 a@2AHRS rotation from veh to nav: [[-0.785650,-0.609661,-0.105200],[0.618505,-0.777946,-0.110689],[-0.014357,-0.152029,0.988272]]2H` $Xc ?VTg`uÿ?i2k@I2[A_;2CYFByF#IbDNVDNyV%V[=ٔZ&XQ-^>9\Y\=^nGy\bXEb>dQ 5j5f?Q 9j5f;7)fCBYhync!@Q In\@fDIf;if;f>5ypɮrC[Apj gO FNOT Ignoring new targets: 100.01 m.Ru<Zu<gO ProNav: ac range: 100.010086 m, nav range: 79.988861 m, bearing: 142.682440 deg, approach rate: -0.666314 m/s, LOS rate: -0.014998 deg/s, cmd heading: 141.452466 deg, new cmd heading: 141.441237 deg. B۹gOHeadingCmd: 2.468615 target range: 100.010086 and range: 100.60 m.@*" ʎjZ૜;@u%Bɢ) i)h<顑i~Ti@`*J;\;I@I%9@! @!@%1@!checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778311 ^A<A9 9 II Ee  Ee Ee $Ea "Ee O:*Ee X:VEe 4ZEa am @am @am @am @Iq O} >n,9pYp=rnGyrFrEr>tQ 5 5v?Q 95v3!)v=BY)y5D!@Q I5\@]BDAT read: Rx Time:00:59:24.2352 eTRx dataTimestamp_ set to:1761699564.996701uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.035645vDIvdn,AVY@AEI EMEM%EI"EI*EM[:VEM 4ZEIBEM 9!Y!=-nGy-F-E->1Q 5=55p?Q 9=55.)53BY=h&?Q EE:yEh#@Q IE\@5DI5` ;i5 ;55yMGBɮMYAUie= ǿeI>e)@ePwV>e)@ ek>)e3@IekaaeW?4h?mU@? eo?)enUIeiekaaT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.YiQim@K;;Im@IIZA)[A@ @@4@^A #2; PExceeded connect timeout, disconnecting.  *DAT read: user:644> % BDAT read: Tx time:00:59:25.5202 % $Ping request sent.% tMn,ęsY@A8R @RK@Rh`<ٱR( zAHRS rotation from veh to nav: [[-0.782067,-0.612904,-0.112783],[0.623044,-0.772948,-0.119866],[-0.013709,-0.164012,0.986363]]RH`@]߼?``WĿ@I?iR @IRQ_;PYEByE#I QQU=U= Y]p;bD]VD]fymٽ%uM=ٔu"78Q-u>9yYy=}nGyy}E}>Q 55[|?Q 95*)*BYyE#@Q I\@DI:i:p5yɮTZA*_Y@AJ;BR;Bj`@\}T@aU>&2@reBr,#?܆ :?ZbkhrtOsJdH@Ԉ1@zn;=R?*0?2GB:s}"P堚?*E BߨBP堚??@9“3BBM@gO addTargetRange:: Added new target pos. range: 83.099998 m, deltaT: 28.493932 s, deltaX: -17.500000 m, approachRate: -0.614166 m/s, rangeRepo size: 4 gO Added new target pos. range: 82.616165 m, bearing: 141.786508 deg, lat: 36.779274 deg, lon: -121.859561 deg, deltaT: 28.493932 s, deltaX: -17.393921 m, approachRate: -0.610443 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 82.62 m.R Z gO ProNav: ac range: 82.616165 m, nav range: 79.544991 m, bearing: 142.803373 deg, approach rate: 0.000000 m/s, LOS rate: -0.033963 deg/s, cmd heading: 141.401486 deg, new cmd heading: 141.374181 deg. BgO%HeadingCmd: 2.467445 target range: 82.616165 and range: 83.10 m.%@!*!"! !))))ʎ111j5`fT@Z=@m?e Bɢeȵ)a mii)mBB F>B B #IB BB B B B `;B G$E,n,QY@AlYrByrt#Iechecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501984iMb@Mb@Mb@ 9rh|?V-?S㥛Y?yh=/ݼA@  A)C AY AbDVD:2y%D=ٔQ->9Y=nGyFE>Q 5 5,j?Q 9 5/') BY?Q E:y$@Q I\@DI;i;5y?BɮZA!jAgOMDNOT Ignoring new targets: 82.62 m.RM+ZM+gO] ProNav: ac range: 82.616165 m, nav range: 79.290329 m, bearing: 142.787894 deg, approach rate: -0.615272 m/s, LOS rate: -0.037518 deg/s, cmd heading: 141.374179 deg, new cmd heading: 141.343121 deg. BeSgOeHeadingCmd: 2.466903 target range: 82.616165 and range: 83.10 m.e@i*i"i iiiquŅBʎqyyjyZ}@B[?颥Bɢɼ) i)&#<顩i[7Mi@>^K;;I@I M9@I @I@M/@IE EE"E"E:*E1]:VE(3ZEBEDXn,1Y@A:@:@:>V<ٱ:C+ NAHRS rotation from veh to nav: [[-0.780427,-0.614736,-0.114163],[0.625109,-0.770968,-0.121847],[-0.013112,-0.166457,0.985961]]:HB@9?ū`]1`ڊwNſ ?i:@I:_;:CYZByZp#IbDbVDbyjy%j^=ٔjԺQ-j>9lYl=nnGylrEr>tQ 5z5v*Z?Q 9z5v#)vBYxyz$@Q I~\@vDIv];ivz;vM5yɮZAj)gO-DNOT Ignoring new targets: 82.62 m.R5}%Z5}%9gOM ProNav: ac range: 82.616165 m, nav range: 79.065742 m, bearing: 142.774618 deg, approach rate: -0.610178 m/s, LOS rate: -0.036171 deg/s, cmd heading: 141.343115 deg, new cmd heading: 141.316488 deg. BMdgOMHeadingCmd: 2.466438 target range: 82.616165 and range: 83.10 m.U@Q*Q"Q QQYYYʎYaajaZe`A?颕Bɢ) ni)/l<顙i@Ki@YK; I.;I@It>i5nManaging dock network, ignoring radio surface power offU9@Q @Q@U/@Quchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006422q^Auϩ;ԙE  E E &E "E *E k:VE 4ZE a @a @a @a @Ii I O >Թ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257853wBn,Y@Aԙ@r@XW<ٱ* AHRS rotation from veh to nav: [[-0.779104,-0.616408,-0.114186],[0.626757,-0.769721,-0.121264],[-0.013143,-0.166044,0.986031]]Hj`J;@e?`# ꊿ @ſ`?i@I^;CYބBym#II)%=!!i=Mb@Mb@Mb@9999 99=gfffff?RQ?QY=3?y====A9 = A)= A9Y= AUAAUAAbD] VD]2ym-%m'=ٔmv8Q-u>9qYq=unGyuF}E}>Q 55kE?Q 95@ ) BYd?Q E:y'@Q I\@DI: ;i ;5y8BɮZA;EPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 82.62 m.RrZrgO ProNav: ac range: 82.616165 m, nav range: 78.783585 m, bearing: 142.748735 deg, approach rate: -0.574733 m/s, LOS rate: -0.052910 deg/s, cmd heading: 141.316491 deg, new cmd heading: 141.264540 deg. BgOHeadingCmd: 2.465531 target range: 82.616165 and range: 83.10 m.D@*" ʎjZ@k?-Bɢ-0)1 5i1)5{<11i5Hi=D@E+K;E:IED@IIԹBG>BB#IBBB$ =BBB `;BK$E@ @@0@uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510016^A 2;Ia Iq O > E  E E #E "E [";*E Ar:VE 3ZE BE z9Y!=%nGy!%E%>)Q 555-4?Q 9=5-?)-BY9y9Q I=\@-DI-:i-:-5yAɮEZAIjigOuDNOT Ignoring new targets: 82.62 m.RubuZubugO ProNav: ac range: 82.616165 m, nav range: 78.557251 m, bearing: 142.727837 deg, approach rate: -0.579189 m/s, LOS rate: -0.053633 deg/s, cmd heading: 141.264541 deg, new cmd heading: 141.222624 deg. BNĺgOHeadingCmd: 2.464800 target range: 82.616165 and range: 83.10 m.H@*" ʎjZU@Bɢ+) 8i)~<iFiH@{K;|.;IH@Ii)9@ @@00@Q^A% 0:: checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015140I I O >y % cG= `]An,Y@AF쵿9F`]AYFQARo}@Rr@Rn]<ٱR2* ^AHRS rotation from veh to nav: [[-0.776589,-0.619514,-0.114505],[0.629862,-0.767380,-0.120007],[-0.013523,-0.165319,0.986147]]RH 2P`'?_˸`))ſ ?iRo}@IR<^;RC `)b`Abdddf`AifIdhIhij`A jyh)hl ln'llrCr`AIr)pip)tIv`Avt txxxixxizC|)| |I|Y|Y҄By ]#IbDVD1y-W+%-p=ٔ-Α:Q--?91Y1=5nGy5F=@E?Q 55%?Q 95)BYyB'@Q I\@DIF:i=: 5y1BɮZA:EjgO%DNOT Ignoring new targets: 82.62 m.R%kZ%kQgO] ProNav: ac range: 82.616165 m, nav range: 78.351349 m, bearing: 142.709322 deg, approach rate: -0.570006 m/s, LOS rate: -0.051390 deg/s, cmd heading: 141.222631 deg, new cmd heading: 141.185504 deg. B]gOeHeadingCmd: 2.464152 target range: 82.616165 and range: 83.10 m.e@a*a"a aiiiiʎqqqjyZ} C@E EE%E"EO:*Eg:VE 4ZEa@a@a@a@Bɢx) !i)<i Di@ߴJ;1!I@I!9@ @@4@ԁchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268494^A2;ԱI I! O5 >B M>B ׍CB m#IB ߄BB " =B B iDB _;B 7$E zo,Y@A:Z@:-P@:8Mh<ٱ:( RAHRS rotation from veh to nav: [[-0.775242,-0.621220,-0.114391],[0.631505,-0.766297,-0.118282],[-0.014178,-0.163936,0.986369]]:H@ H@I5?@G@g `Ŀ V?i:Z@I:@^;:CYքBy%b#I)-=Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517973iMb@Mb@Mb@ 9ʡE?Cl?S㥛Y-?y;=/ݼzA@  A) AY A p<<bDVDy-<%-;=ٔ-:Q-->91Y1=5nGy1=EE=>AQ 5M5E?Q 9M5Ee)EBYM?Q EM:yM(@Q IU\@E$DIEU:iE ;E5yYɮ]ZAYjgODNOT Ignoring new targets: 82.62 m.R^Z^gO ProNav: ac range: 82.616165 m, nav range: 78.110146 m, bearing: 142.683285 deg, approach rate: -0.578772 m/s, LOS rate: -0.062671 deg/s, cmd heading: 141.185502 deg, new cmd heading: 141.133266 deg. BcgOHeadingCmd: 2.463240 target range: 82.616165 and range: 83.10 m.@*" BԱʎjZƐ@Bɢj) i) y<iBi@|(J;)&I@Im9@i @q@u/@q^AE"IIDDbEIjEMŔ4rEM/E EE&E"E :*EVE4ZEBEK"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769898 9  o,6t(Y@A.>=@.2@.uw<ٱ.q@% :AHRS rotation from veh to nav: [[-0.774097,-0.622851,-0.113267],[0.632886,-0.765666,-0.114941],[-0.015133,-0.160661,0.986894]].Hg f `@?Ul Ŀ ?i.>=@I.r^;.CY5΄By5Y#IbDMVDMyU9$%]Y=ٔ]%;Q-]>9aYa=enGyeFe囻Em>iQ 5u5m?Q 9}5m)mBYyy}(@Q I}\@m+DIma;im];m5y*BɮZA9EjgODNOT Ignoring new targets: 82.62 m.RaZagO ProNav: ac range: 82.616165 m, nav range: 77.893913 m, bearing: 142.660052 deg, approach rate: -0.573618 m/s, LOS rate: -0.061802 deg/s, cmd heading: 141.133264 deg, new cmd heading: 141.086671 deg. B5gOHeadingCmd: 2.462427 target range: 82.616165 and range: 83.10 m.g@*" ʎjZ ~ @ Bɢ{)`p U!i)jDq<iE>@i%g@%܋I;%&I%g@I)9@ @@/@Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0228069^A!E EEE"E:*EX:VEZEa@a@a@a@q A I I O > checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273870*o,PBY@A u@@m<ٱ! -AHRS rotation from veh to nav: [[-0.772855,-0.624576,-0.112252],[0.634375,-0.764943,-0.111491],[-0.016232,-0.157377,0.987405]]H:@`L?iz@`$ĿӘ?iu@IH^;CY]̈́By]W#IiMb@Mb@Mb@ 9Q?y&1?~jtY\?y`=DA ) AY AbDVDk1y ̙% 2=ٔ;Q->9Y=nGy2E>!Q 5-5%&?Q 955%T)%BY5;?Q E5:y5[)@Q I5\@%3DI%<;i%;%5yAɮEZAAiPB*** querying acoustic contact *** jgO=DNOT Ignoring new targets: 82.62 m.RE͏ZE͏gOU ProNav: ac range: 82.616165 m, nav range: 77.634964 m, bearing: 142.629931 deg, approach rate: -0.538595 m/s, LOS rate: -0.062860 deg/s, cmd heading: 141.086669 deg, new cmd heading: 141.026224 deg. BUgO]HeadingCmd: 2.461372 target range: 82.616165 and range: 83.10 m.]@Y*a"a aaaimBʎiiqjqZu`xz @额BɢѼ) a i)@g<顩i=i@գH;;1I@II)BuL>BqBua#IBuԄBBu! =BqBqBu{_;Bu $E}9@y @y@}/@yԙ]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525960 ^A E  E E E "E :*E L_:VE ZE BE )$o,]Y@A6r@6@6<ٱ6 BAHRS rotation from veh to nav: [[-0.771797,-0.626151,-0.110746],[0.635639,-0.764407,-0.107907],[-0.017089,-0.153676,0.987973]]6H`m Y(W?`vğ`ÿz?i6r@I6\+^;6CYJ΄ByJY#IIN=)Np=RARAbDVVDV:y^;%^f=ٔ^;Q-b>9`Y`=bnGybFf՗Ef>hQ 5n5j!ᮊ?Q 9n5j)jBYlynC)@Q Ir\@j:DIj;ij;j95yvBɮvYAv/EjgODNOT Ignoring new targets: 82.62 m.RZgO- ProNav: ac range: 82.616165 m, nav range: 77.434639 m, bearing: 142.606708 deg, approach rate: -0.597901 m/s, LOS rate: -0.069491 deg/s, cmd heading: 141.026222 deg, new cmd heading: 140.979656 deg. B-ZgO5HeadingCmd: 2.460559 target range: 82.616165 and range: 83.10 m.5y@1*1"1 11999ʎAAAjAZE @checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777967 Bɢ<) i);`<iL;i y@ &G; ^I y@I@ @@0@)^A"5I  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030227I I O >Oo,xwY@A2g@2@2l<ٱ2, >AHRS rotation from veh to nav: [[-0.770194,-0.628124,-0.110731],[0.637564,-0.763024,-0.106331],[-0.017702,-0.152493,0.988146]]2Hm`Xf?j`{8o ÿ@?i2g@I2@^;0YF؄ByFf#IbDRVDRyVhN=%ZK=ٔZ:Q-Z>9\Y\=^nGy\b˻Eb>dQ 5j5f"Ю?Q 9j5f )fBYhyj)@Q Ij\@fADIf :if:f5ypɮrXApjgODNOT Ignoring new targets: 82.62 m.RZgO ProNav: ac range: 82.616165 m, nav range: 77.207642 m, bearing: 142.580667 deg, approach rate: -0.541545 m/s, LOS rate: -0.062307 deg/s, cmd heading: 140.979653 deg, new cmd heading: 140.927419 deg. BgOHeadingCmd: 2.459647 target range: 82.616165 and range: 83.10 m.j@*" E EEE"EO:*E1]:VEZEa@a@a@a@ʎjZ+@ Bɢ) 4i)ZX<i 8i j@ F;Ij@IQchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.282433e9ԁx>i>I@Q @Q@U/@Qԡ B B B B B # =B B B _;B $EBM׍CBM׍CBIBM# =BM# =CM5^A *A checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538571 IIO>Js%o,DܖY@AYByp#I %=!1iMb@Mb@Mb@ 9d;O?:v?MbpY?y=@  A) AYbDVD02y=%=ٔQ->9Y=nGyFE>Q 55?Q 95)BY?Q E:y'@Q I\@KDI ;iG ;L5yBɮPXA.EEU EUEU'EQ"EU:*EU$:VEU'4ZEQBEU<8+o,Y@AFO@Fٗ@F8<ٱF' RAHRS rotation from veh to nav: [[-0.768033,-0.630653,-0.111364],[0.640140,-0.761059,-0.104930],[-0.018580,-0.151878,0.988225]]FH`N.@^`|?Z@ܺ`pÿ ?iFO@IF];FCYZByZ#IbDfVDf 8yj=%j\=rchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.037944ٔ=;Q-=>99YA=EnGyAEEE>IQ 5U5M?Q 9u5M)MBYyy}'@Q I}\@MRDIM;iM;M5yBɮWAԙjgODNOT Ignoring new targets: 82.62 m.RֈZֈgO ProNav: ac range: 82.616165 m, nav range: 76.679008 m, bearing: 142.527246 deg, approach rate: -0.596416 m/s, LOS rate: -0.059817 deg/s, cmd heading: 140.865179 deg, new cmd heading: 140.820202 deg. BںgO HeadingCmd: 2.457776 target range: 82.616165 and range: 83.10 m. 4L@ * " 1199ʎ999jAZE )Y@颍Bɢּ) =i)yG<i"3i4L@D;?ɻI4L@I  Em EmEm$Ei"Em:*EmX:VEm4ZEiau@au@au@au@-9@1 @1@1@1checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289940! ^A5 yb]I I O >ߵ2o,N^˼Y@A6@6H@69<ٱ6[ JAHRS rotation from veh to nav: [[-0.767782,-0.631086,-0.110638],[0.640452,-0.760852,-0.104525],[-0.018215,-0.151111,0.988349]]6H 1R~?X,ºܦ Wÿ?i6@I6Q];4YRByR#Ii-Mb@Mb@Mb@)))) )9-$C?(\µ?{Gzt?Y-?y-=-ף;-dA) - A)-- A)Y-Q AbDEVDEAQAU?AB]I>BYB]g#IB]ڄBBYBYBYB]_;B]@$EԉyT<%9=ٔH_Q->9Y=nGyFtE>Q 55h?Q 95R)BY?Q E:y%@Q I\@[DI.:i:g 5yɮcWAP]B*** querying acoustic contact ***Y YjgODNOT Ignoring new targets: 82.62 m.R;HZ;HgO ProNav: ac range: 82.616165 m, nav range: 76.419365 m, bearing: 142.507958 deg, approach rate: -0.587126 m/s, LOS rate: -0.043764 deg/s, cmd heading: 140.820196 deg, new cmd heading: 140.781488 deg. B/gOHeadingCmd: 2.457100 target range: 82.616165 and range: 83.10 m."A@ * "    BʎjZ` @checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542126颥BɢǷ) i)\@<顩i1i"A@UbC;I"A@I!Թ@ @@4@E  E E 'E "E  :*E ga:VE '4ZE BE K" i1 I5 A= checking for new query: numPingsReceived=0, elapsed TxPingTime=5.7941868o,l$Y@AV@V@Vˆ<ٱV fAHRS rotation from veh to nav: [[-0.768242,-0.631002,-0.107888],[0.639942,-0.761391,-0.103726],[-0.016694,-0.148728,0.988737]]VHp ,1`fz? P]"@ ÿ@?iV@IV];TYBy#II%=)%=bD-VD-k1y==%=Q=ٔE~Q-E>9AYA=MnGyIM:EM>QQ 5]5U\?Q 9]5U)UBYaye%@Q Ie\@UbDIU;iU:U5ymޟBɮmVAm-EjgODNOT Ignoring new targets: 82.62 m.R\Z\gO ProNav: ac range: 82.616165 m, nav range: 76.182587 m, bearing: 142.490125 deg, approach rate: -0.639100 m/s, LOS rate: -0.048283 deg/s, cmd heading: 140.781482 deg, new cmd heading: 140.745706 deg. BgOHeadingCmd: 2.456476 target range: 82.616165 and range: 83.10 m.6@*" ʎjZ@Bɢ Ǽ) i)q:<i-/i 6@ gB; V珻I 6@I9@ @@/@!checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046035^A I1IAIO]>E%  E% E! E! "E% :*E% n:VE! ZE! a- @a- @a- @a- @y ?o,Y@AJp@J@J9t<ٱJ1a RAHRS rotation from veh to nav: [[-0.768554,-0.631117,-0.104960],[0.639611,-0.761764,-0.103022],[-0.014936,-0.146312,0.989126]]JH`2޺w?_`_V¿@?iJp@IJ];HYZByZ#IbDfVDf:2yn;%nQ=ٔrIQ-r>9pYp=rnGyrFv:Ev>xQ 5~5zRt?Q 9~5z)zBY|y%@Q I\@zjDIz;iz;z>5y ɮ VA j1gO5DNOT Ignoring new targets: 82.62 m.R=SSZ=SSgOM ProNav: ac range: 82.616165 m, nav range: 75.946045 m, bearing: 142.472113 deg, approach rate: -0.604682 m/s, LOS rate: -0.046189 deg/s, cmd heading: 140.745706 deg, new cmd heading: 140.709569 deg. BMgOUHeadingCmd: 2.455845 target range: 82.616165 and range: 83.10 m.U,@Q*Q"Q QQYYYʎaaajaZe!@颕Bɢ) #i)4<顙i-i,@ϫA;UVjI,@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=6.297798Y9@ @@@ԁB]H>BYB]#IB]BB]$ =BYB]hDB]K`;B]l$E^A}UAzAԱ checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553599A I I O > Eo,Y@A2s@2@2AHRS rotation from veh to nav: [[-0.769789,-0.629970,-0.102780],[0.638176,-0.762757,-0.104560],[-0.012526,-0.146080,0.989193]]2H (Ok?`h oĺd ò¿y?i2s@I2Ϥ];2CYFByF#IiEMb@Mb@Mb@AAAA A9ES㥛?J +?y&1|?YE$?yEH=E`;EAE/@ E- A)E AAYE AbD]VD]N2ym =%mA=ٔuغQ-u>9qYq=}nGyy};E}>Q 55a?Q 95)BYY%?Q E:y!@Q I\@sDI:i':5yןBɮAVA,EjgODNOT Ignoring new targets: 82.62 m.RKZKE EE&E"E:*Exv:VE4ZEBE9 Lo,2Y@A2checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053807jrGt591Y5A-q@-@-` &<ٱ- MAHRS rotation from veh to nav: [[-0.770821,-0.629179,-0.099844],[0.636971,-0.763692,-0.105082],[-0.010135,-0.144597,0.989439]]-H ;"[b?*p溿t`&¿`{?i-q@I-ާ];-CYBy#I bDVDy<%C=ٔkQ->9Y=nGy³Fx;E>Q 5-5N?Q 9-5)BY1y5!@Q I5\@{DIi Ro,CLY@A 6p @6@6}a<ٱ6 >AHRS rotation from veh to nav: [[-0.772234,-0.627729,-0.098034],[0.635288,-0.764858,-0.106773],[-0.007958,-0.144734,0.989439]]6H$[HT? yvU`$L¿`{?i6p @I6μ];6CYFByF#IB=L>B9B=#IB=BB9B9B=iDB=c`;B={$EimMb@Mb@Mb@iiii i9mQ?S㥛?Mb?Ym(?ym/9Y=nGyg;E>Q 55f=?Q 95^)Y)?Q E:y@Q I\@DI;i; 5yBɮ@TA"EPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 82.62 m.RTZTgO ProNav: ac range: 82.616165 m, nav range: 75.142754 m, bearing: 142.453691 deg, approach rate: -0.670630 m/s, LOS rate: -0.004654 deg/s, cmd heading: 140.676215 deg, new cmd heading: 140.672597 deg. BCgO HeadingCmd: 2.455200 target range: 82.616165 and range: 83.10 m. !@ *" Bʎ!j!Z%k@mBɢuvݪ)y }ܾiy)}"(Yo, kfY@A>&@>K@>\;ٱ>L RAHRS rotation from veh to nav: [[-0.773303,-0.626952,-0.094523],[0.634009,-0.766039,-0.105913],[-0.006006,-0.141831,0.989873]]>H@2I?cx '¿ ?i>&@I>];>CYZBy^#IbDfVDf:yn0=%nW=ٔnߧQ-r>9r ?Yr ?=rnGyróFv;Ev>xQ 5~5zv,?Q 9~5ze)xY|y~@Q I\@zDIz/;izn;z]!5y Bɮ SA !Ej1gO5DNOT Ignoring new targets: 82.62 m.R=ǸZ=ǸgOM ProNav: ac range: 82.616165 m, nav range: 74.891312 m, bearing: 142.451623 deg, approach rate: -0.661588 m/s, LOS rate: -0.005459 deg/s, cmd heading: 140.672595 deg, new cmd heading: 140.668446 deg. BMgOUHeadingCmd: 2.455127 target range: 82.616165 and range: 83.10 m.U @Q*Q"Q YYYYaʎaaajaZmcL @颕Bɢ-) ^Ծi)_<顙i&r'i @E@;@;I @Ii>i>U9@Q @Q@U4@Qchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.064833^Aq:9AE ؟AIQ Ia Om >a E  E E !E "E m:*E c:VE c3ZE a @a @a @a @7!`o,PY@A6B@6j8@6>;ٱ6 BAHRS rotation from veh to nav: [[-0.774396,-0.625987,-0.091929],[0.632686,-0.767184,-0.105534],[-0.004463,-0.139887,0.990157]]6Hई>?ŌN@Gr`^?i6B@I6];6CYJByJ#IIN4=)NC=RARAbDVVDV1y^%^J=ٔ^:zQ-b>9b"?Yb"?=bnGy`f&;Ef>hQ 5n5jt?Q 9n5j/)hYlyr@Q Ir\@jDIj;ij;j$5ytɮvSAtjgODNOT Ignoring new targets: 82.62 m.R%Z%gO5 ProNav: ac range: 82.616165 m, nav range: 74.624344 m, bearing: 142.449062 deg, approach rate: -0.660577 m/s, LOS rate: -0.006358 deg/s, cmd heading: 140.668443 deg, new cmd heading: 140.663304 deg. B5*:gO=HeadingCmd: 2.455038 target range: 82.616165 and range: 83.10 m.=W@9*9"9 99AAAʎAIIjIZM!@checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313886Bɢ X')1 =վi9)=5B؍CB#IBBB! =BBjDBq`;B$Eq^AE "5;} checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567162ԩ Au .AI I O >:fo,Y@A2Q@2G@20=;ٱ2 :AHRS rotation from veh to nav: [[-0.774983,-0.625630,-0.089377],[0.631976,-0.767831,-0.105082],[-0.002884,-0.137921,0.990439]]2H) nᶿ$9?`溿Cgf ?i2Q@I29];2CYFByF#IiMb@Mb@Mb@ 9Gz?Mb?Mb`?Y0?y<;A  A) AYz AbD-VD-ky5{%=E=ٔ=xQ-=>9E ?YE ?=EnGyEijFM9;EM>QQ 5U5U\?Q 9]5U)QY]0?Q Ee:ye@Q Ie\@UDIU;iU5;U(5ymBɮmSAm EԙD%=D4=E EE(E"E*E1]:VEc44ZEBES dlo,Y@A&checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070012Fa@F7W@F:ٱF NAHRS rotation from veh to nav: [[-0.775590,-0.624980,-0.088658],[0.631234,-0.768318,-0.105976],[-0.001884,-0.138158,0.990408]]FH``D`3? A!`V^'m?iFa@IF#];DYVByV#IbDbVDbyfG<%fQ=ٔj'Q-j>9j"?Yn"?=nnGyln ;Er>pQ 5v5rj?Q 9z5r5)rBYxyz@Q Iz\@rDIr:ir:r+5y|ɮSAj!gO-DNOT Ignoring new targets: 82.62 m.R-98Z-98gOE ProNav: ac range: 82.616165 m, nav range: 74.067886 m, bearing: 142.451169 deg, approach rate: -0.739054 m/s, LOS rate: 0.002536 deg/s, cmd heading: 140.665683 deg, new cmd heading: 140.667533 deg. BE8gOEHeadingCmd: 2.455112 target range: 82.616165 and range: 83.10 m.M @I*I"I IIIQQʎQQYjYZ]"@颅Bɢy) 4Ѿi)R& <顉i#i @3A;ڻ;I @I 59@1 @1@5/@1E EE%E"E:*Ega:VE 4ZEa@a@a@a@!^AU3;checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322906QAM .AIY Iy O >ԁ Lso,0ͽY@A2d@2HZ@2j:ٱ2# >AHRS rotation from veh to nav: [[-0.775709,-0.624942,-0.087879],[0.631089,-0.768395,-0.106282],[-0.001106,-0.137903,0.990445]]2H@ @:1?@L5R@Ѧ๱?i2d@I2];2CYFByF#I HHBbN>B`Bb#IBb!BB`B`BbiDBb`;Bb$EBBBBBCj5iMb@Mb@Mb@ 9oʡ?~jth?~jthY-?yD;DA\@  A) AY( AbD VD2yY%:=ٔQ->9 ?Y ?=nGyųF9E>Q 5 5ᭊ?Q 9 5K)BY -?Q E :y @Q I \@DIH:is:/5yBɮSAEP5B*** querying acoustic contact ***1 1jAgOEDNOT Ignoring new targets: 82.62 m.RMe9ZMe9QgOe ProNav: ac range: 82.616165 m, nav range: 73.770477 m, bearing: 142.456674 deg, approach rate: -0.674994 m/s, LOS rate: 0.012545 deg/s, cmd heading: 140.667527 deg, new cmd heading: 140.678582 deg. Be9gOmHeadingCmd: 2.455304 target range: 82.616165 and range: 83.10 m.m#@i*i"i iiqquBʎyyyjyZ}#@颭Bɢ) ۾i)<顱i"i#@hA;+;I#@IUchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.5740309@ @@@ԁD?AzDE EE#E"E :*EX:VE3ZEBEK" qyo,Y@AY By#IbD-VD-fy=C%=S=ٔEQ-E>9AYA=MnGyMƳFMEM>QQ 5]5UЭ?Q 9]5U)QYayaQ Ie\@UDIUo:iU:U(35yiɮmSAij gODNOT Ignoring new targets: 82.62 m.R%^9Z%^9gO5 ProNav: ac range: 82.616165 m, nav range: 73.509361 m, bearing: 142.461544 deg, approach rate: -0.649861 m/s, LOS rate: 0.012164 deg/s, cmd heading: 140.678579 deg, new cmd heading: 140.688354 deg. B59gO=HeadingCmd: 2.455475 target range: 82.616165 and range: 83.10 m.=&@9*9"9 9AAAAʎIIIjIZUg$@}Bɢ}h)y }ھiy)T<顁iV!i&@)A;;ԑI&@IQ@Q @Q@U00@QԹ= mo,Y@A:vl@:a@:q.ٱ:\v BAHRS rotation from veh to nav: [[-0.776007,-0.624358,-0.089394],[0.630724,-0.768023,-0.111029],[0.000665,-0.142542,0.989788]]:H ⶿.?`kl9E?>¿X?i:vl@I:S^;:CYNByN#IbDVVDVy^i%^S=ٔ^Q-b>9`Y`=bnGy`f:Ef>hQ 5n5j?Q 9n5j)jBYlyr@Q Ir]@jDIj;ij;j65yvPBɮv{RAvEjgODNOT Ignoring new targets: 82.62 m.Rn9Zn9gO- ProNav: ac range: 82.616165 m, nav range: 73.247963 m, bearing: 142.466363 deg, approach rate: -0.704787 m/s, LOS rate: 0.013039 deg/s, cmd heading: 140.688359 deg, new cmd heading: 140.698031 deg. B-9gO5HeadingCmd: 2.455644 target range: 82.616165 and range: 83.10 m.5E)@1*1"1 11999ʎAAAjAZM`W%%@2Acoustic response timeoutBɢgȼ) ii);i' iE)@B;k;IE)@IqI)@ @@4@!BK>B׍CB#IBBB# =BBB`;B$E^A ϩ;U 2Acoustic response timeouta Iq I O >ӗo,?Y@AYBy#II%C=)%<E EE'E"E;*E n:VE'4ZEBED9YYY=]nGy]dzFeEe>iQ 5m5md?Q 9u5mu)mBYu.?Q Eu:yu@Q I}]@mDIm~ ;im ;m:5yJBɮpRAjgODNOT Ignoring new targets: 82.62 m.R9Z9gO ProNav: ac range: 82.616165 m, nav range: 72.937027 m, bearing: 142.474583 deg, approach rate: -0.681517 m/s, LOS rate: 0.018094 deg/s, cmd heading: 140.698031 deg, new cmd heading: 140.714542 deg. Bt:gOHeadingCmd: 2.455932 target range: 82.616165 and range: 83.10 m.-@*" ؅BʎjZ&@ Bɢ к)  9i)Z;i7i-@uB;^;I-@I!Q2Acoustic response timeout9@ @@4@q^A&t;I1 IA OM >ԡ ] 2Acoustic response timeoutƌo,95Y@A2o@2d@2Bٱ2k >AHRS rotation from veh to nav: [[-0.776102,-0.624061,-0.090627],[0.630600,-0.767360,-0.116198],[0.002971,-0.147331,0.989083]]2H O@N3-?6`$RWh?@¿ ?i2o@I2x}^;2CYFByF{#IbDnVDnyvɽ%vc=ٔvIһQ-z>9xYx=~nGy|~ 9E~>Q 5 5o?Q 9 5\)BY y@Q I]@DI;i;=5yɮSAjagOmDNOT Ignoring new targets: 82.62 m.qRu9Zu9gO ProNav: ac range: 82.616165 m, nav range: 72.691917 m, bearing: 142.481094 deg, approach rate: -0.672951 m/s, LOS rate: 0.017936 deg/s, cmd heading: 140.714546 deg, new cmd heading: 140.727612 deg. BL:gOHeadingCmd: 2.456160 target range: 82.616165 and range: 83.10 m.1@*" ʎjZ`&@Bɢ) i)o;iHi1@B;f;I1@IM9@I @I@M/@QE EEE"E>:*Ega:VEZEa@a@a@a@ԙ^A ;I2Acoustic response timeoutIO> ˩o,d]OY@AB"<A"<B&L>B$B&#IB& BB&" =B$B$B& a;B&$EY%By%r#IiMb@Mb@Mb@ 9jt?/$?MbY ?y<A - A)t AY AbD VD :y)%9=ٔQ-%>9!Y!=%nGy%ȳF-E->1Q 5=55?Q 9=55)5BY= ?Q EE:yED@Q IE]@5DI5K ;i5v:5A5yMDBɮM SAMEPmB*** querying acoustic contact ***i ijqgO}DNOT Ignoring new targets: 82.62 m.R}Z}gO ProNav: ac range: 82.616165 m, nav range: 72.414581 m, bearing: 142.480699 deg, approach rate: -0.634139 m/s, LOS rate: -0.000908 deg/s, cmd heading: 140.727606 deg, new cmd heading: 140.726811 deg. BԷgOHeadingCmd: 2.456146 target range: 82.616165 and range: 83.10 m.1@*" BʎjZ@'@Bɢۼ) ji);iLDi1@C;JM;I1@2Acoustic response timeoutIe>i,> 9@ @@/@E EE&E"E:*E1]:VE4ZEBE %əo,V iY@A68i@6^@6eٱ6 >AHRS rotation from veh to nav: [[-0.775873,-0.623802,-0.094301],[0.630870,-0.765974,-0.123641],[0.004895,-0.155421,0.987836]]6H@/"$@0?ۂ`ꦿ t? ÿZ?i68i@I6H^;4YZτByZZ#I \\bDf VDf:2ynڽ%nc=ٔnQ-r>9r"?Yr"?=rnGypv퀺Ev>QQ 5]5U8y?Q 9]5U/)UBYYy]:@Q I]]@UDIU]:iU:UD5yiɮmSAijgODNOT Ignoring new targets: 82.62 m.R+Z+gO ProNav: ac range: 82.616165 m, nav range: 72.180580 m, bearing: 142.480474 deg, approach rate: -0.609495 m/s, LOS rate: -0.000586 deg/s, cmd heading: 140.726813 deg, new cmd heading: 140.726364 deg. B;gO%HeadingCmd: 2.456138 target range: 82.616165 and range: 83.10 m.I-_1@I*Q"Q QQQYYʎYYYjaZeq(@ޅBɢ)! %i!)Me;IIiMZim_1@mujC;m];Iu_1@Iq9@ @@/@ 11y,9YbA=2Acoustic response timeoutԡ^A% #2;E  E E #E "E :*E z:VE 3ZE a @a @a @a @AQ Ia Iq O} > bo,ӂY@A2q`@2U@2bٱ2" :AHRS rotation from veh to nav: [[-0.775534,-0.623933,-0.096200],[0.631286,-0.765239,-0.126046],[0.005028,-0.158483,0.987349]]2H- B@}3?|G"&t?+IĿ\?i2q`@I2@^;2CYb̄BybV#IbDvVDv02y%:%-F=ٔ5Q-5>91Y9==nGy=ɳFEjEM>QQ 5e5UJh?Q 9e5U")UBYiym0@Q Im]@UDIUd;iU)f;UKH5y}>BɮSAEBDAT read: Response Not Received *response not received*DAT read: user:645> BDAT read: Tx time:00:59:37.9701 $Ping request sent."o,XY@A62P@6E@6̧ٱ6#% >AHRS rotation from veh to nav: [[-0.774907,-0.624449,-0.097885],[0.632054,-0.764279,-0.128004],[0.005121,-0.161060,0.986931]]6H `}@`9?tpbt?Ŀ ?i62P@I6PO^;6CYJByJF#IiMb@Mb@Mb@ 9RQ?/$?/$Y"?y,=dA C A) AYQ AqbDVDβyQ%*=ٔKQ->9 ?Y ?=nGyjE>Q 5U5:S?Q 9]5e)BY]#?Q E]:ye!@Q Ie]@DIY=ۭo,Y@A2~Q@2G@2دٱ2& :AHRS rotation from veh to nav: [[-0.774956,-0.624294,-0.098489],[0.631992,-0.764138,-0.129147],[0.005366,-0.162327,0.986722]]2H`q66G9?@s u?"Ŀ:?i2~Q@I2{6^;2CYFByF&#IIJ<)J=N@AN@AbDRVDR1yZ %Z^=ٔZ.Q-Z>9\Y\=^nGy^ʳFb1d9Eb>dQ 5j5fvC?Q 9j5fڱ)fBYhyhQ Ij]@fDIf:ifp:fO5yr8BɮrTArEjagOmDNOT Ignoring new targets: 82.62 m.RmfZmfgO ProNav: ac range: 82.616165 m, nav range: 71.389015 m, bearing: 142.467173 deg, approach rate: -0.661443 m/s, LOS rate: -0.016327 deg/s, cmd heading: 140.711036 deg, new cmd heading: 140.699659 deg. B gOHeadingCmd: 2.455672 target range: 82.616165 and range: 83.10 m.)@*" ʎjZ@*@E EE'E"E:*EX:VE'4ZEa@a@a@a@E؅BɢE)A EiI)M;IIim 7iu)@uID;u0;I})@Iy@ @@S1@ checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0039849^Aه;A A @AB M>B B g#IB ڄBB B B B `;B $EI I O >a ´o,ӾY@A:%X@:M@:ٱ:% FAHRS rotation from veh to nav: [[-0.775213,-0.624112,-0.097619],[0.631677,-0.764562,-0.128178],[0.005361,-0.161029,0.986935]]:H@ 6?Iw`!h@u? Ŀ?i:%X@I:];:CYNByN-#Ii%Mb@Mb@Mb@!!!! !9%zG?X9v?MbY% ?y%}=%!%@ % A)%A!Y% AbD=VD=1yM<%MA=ٔMN7Q-M>9QYQ=UnGyQechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256114]{{:Ee>iQ 5u5m1?Q 9u5m1)mBY}?Q E}:y}#@Q I}]@mDIm ;imP ;mgS5yBɮRA EPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 82.62 m.1RuhZuhgO ProNav: ac range: 82.616165 m, nav range: 71.137581 m, bearing: 142.452905 deg, approach rate: -0.607962 m/s, LOS rate: -0.034622 deg/s, cmd heading: 140.699657 deg, new cmd heading: 140.671019 deg. Bs}gOHeadingCmd: 2.455173 target range: 82.616165 and range: 83.10 m.!@*" BʎjZ`+@]օBɢ]j)Y ] iY)eBT;aaieim!@m QD;s`;I!@I-9@) @)@-4@)@5=@5=aE EE(E"Ea:*E:VEc44ZEBE(Թ Bo,"Y@A2Y@2,O@2Vٱ2N$ :AHRS rotation from veh to nav: [[-0.775271,-0.624166,-0.096812],[0.631607,-0.764782,-0.127207],[0.005358,-0.159767,0.987140]]2H *ȸ6? yNHu? >sĿ?i2Y@I2,^;0YFByF##IbDNVDN0yVA*%VU=ٔZ7Q-Z>9XY\=^nGy^˳Fbw9Eb>dQ 5n5f!?Q 9n5f)fBYpyr#@Q Ir]@f DIfC;ifE;fV5yzBɮzRAzEj)gO-DNOT Ignoring new targets: 82.62 m.R=Z=gOU ProNav: ac range: 82.616165 m, nav range: 70.910332 m, bearing: 142.439895 deg, approach rate: -0.585947 m/s, LOS rate: -0.033653 deg/s, cmd heading: 140.671024 deg, new cmd heading: 140.644921 deg. BUZvgO]HeadingCmd: 2.454717 target range: 82.616165 and range: 83.10 m.]@a*a"a aaiiiʎqyyjyZ},@]ԅBɢ]b !)Y ]iY)ej;aaie8im@ԑD;9;I@II)[AE9@A @A@E/@Auchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761312Թ^Am፨;IIE EE%E"E:*Ec:VE 4ZEa@a@a@a@O >  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0125570o,Y@A2 ]@2R@2`mٱ2! :AHRS rotation from veh to nav: [[-0.775401,-0.624271,-0.095078],[0.631444,-0.765166,-0.125698],[0.005720,-0.157503,0.987502]]2HW4?<|mw?@ )Ŀ?i2 ]@I2y^;2CYFByF%#I HHHHbDRVDR0yV2 <%ZJ=ٔZkQ-Z>9\Y\=^nGy\bS:Eb>dQ 5j5f?Q 9j5fk)fBYhyj#@Q Ij]@fDIf:if:fGZ5yAɮERAAjgODNOT Ignoring new targets: 82.62 m.RZgO ProNav: ac range: 82.616165 m, nav range: 70.672096 m, bearing: 142.426106 deg, approach rate: -0.574403 m/s, LOS rate: -0.033357 deg/s, cmd heading: 140.644919 deg, new cmd heading: 140.617249 deg. B0tgOHeadingCmd: 2.454234 target range: 82.616165 and range: 83.10 m.+@*" ʎ   j Z a-@颭҅Bɢ) iBUO>BU؍CBUH#IBUBBU! =BQBQBU`;BU$EBBBB" =B" =C;5)dH;顡iLi+@E; ;I+@I!=9@9 @A@E/@A}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263936I ^AE #2;I I O >D =D %=E G E E E "E &|;*E n:VE ZE BE AHRS rotation from veh to nav: [[-0.775832,-0.624077,-0.092805],[0.630904,-0.765789,-0.124610],[0.006697,-0.155227,0.987856]]2H p ·]0?W@o濿n{? }ÿ?i2_h@I2L^;2CYFByF#IiMb@Mb@Mb@ 9S?+?~jtY?y=DA@  A)Y3 AbDVDܲy%7=ٔbQ->9 Y =nGy̳F5:E5>9Q 5E5=?Q 9E5=)=BYM?Q EM:yM%@Q IM]@=DI=7:i=@:=:^5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516011yBɮRAEjgODNOT Ignoring new targets: 82.62 m.R _Z _gO ProNav: ac range: 82.616165 m, nav range: 70.418724 m, bearing: 142.404021 deg, approach rate: -0.559660 m/s, LOS rate: -0.048959 deg/s, cmd heading: 140.617244 deg, new cmd heading: 140.572914 deg. B3gO%HeadingCmd: 2.453460 target range: 82.616165 and range: 83.10 m.%~@!*!"! )))15hBʎ111j9Z=`C.@QmυBɢm>!)i uiq)ul#);qqiu`i}~@}E;}CE;I~@I9@ @@/@y^A X;Iq I O >ԩ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768027\)o,e;Y@A2g@2%]@2bٱ2 >AHRS rotation from veh to nav: [[-0.775796,-0.624490,-0.090285],[0.630935,-0.765988,-0.123222],[0.007794,-0.152560,0.988263]]2H S`0?`B?ÿڟ?i2g@I2 ^;2C@Y^By^#IbDjVDjβyr@ʼ%r^=ٔrCQ-r>9tYt=vnGytv?Ez>xQ 55z﬊?Q 95z)z{BYy%@Q I]@z!DIzH;izT;zda5y BɮRAEj1gODNOT Ignoring new targets: 82.62 m.RFmZFmgO ProNav: ac range: 82.616165 m, nav range: 70.215546 m, bearing: 142.386184 deg, approach rate: -0.589029 m/s, LOS rate: -0.051861 deg/s, cmd heading: 140.572916 deg, new cmd heading: 140.537138 deg. BҽgOHeadingCmd: 2.452836 target range: 82.616165 and range: 83.10 m.C@*" ʎjZ .@E EE(E"E,:*E[:VEc44ZEa@a@a@a@ͅBɢ\*) i)@ ;iڵ iC@?F;Bq Bu 5#IBu BBq Bq Bu jDBu `;Bu $EA ؟AI) I9 Ou >o,@UY@A2g@2b]@2Zٱ2t :AHRS rotation from veh to nav: [[-0.775797,-0.624585,-0.089626],[0.630917,-0.765792,-0.124528],[0.009144,-0.153155,0.988160]]2HSx0?]῿ ڹ?`ÿ?i2g@I2^;2CYZBy^#IIb>)b9"?Y"?=nGyͳF8E>Q 55ݬ?Q 95ޝ)vBYI?Q E:y'@Q I]@)DI ;i? ;e5yɮRAPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 82.62 m.RYZYgO ProNav: ac range: 82.616165 m, nav range: 69.970718 m, bearing: 142.359307 deg, approach rate: -0.576751 m/s, LOS rate: -0.063536 deg/s, cmd heading: 140.537139 deg, new cmd heading: 140.483198 deg. BgOHeadingCmd: 2.451894 target range: 82.616165 and range: 83.10 m.@*" ]Bʎ  j Z /@˅Bɢ"7!) @i)f0:i i@F;{;o,oY@ARg@Rc]@R0ٱR+ ^AHRS rotation from veh to nav: [[-0.775784,-0.624669,-0.089146],[0.630906,-0.765476,-0.126508],[0.010787,-0.154386,0.987952]]RH9J?Ҷa0? ~k1{?`ÿ M?iRg@IR5^;P9YBy#IbD VD y9<%3=ٔ%|kQ-%>9!Y!=-nGy)- 5E->1Q 5=55sʬ?Q 9=55])5pBYAyE'@Q IE]@52DI5p:i5:5i5yMBɮMRAQjqgO}DNOT Ignoring new targets: 82.62 m.R}Z}gO ProNav: ac range: 82.616165 m, nav range: 69.706444 m, bearing: 142.330097 deg, approach rate: -0.578132 m/s, LOS rate: -0.064143 deg/s, cmd heading: 140.483194 deg, new cmd heading: 140.424552 deg. BgO%HeadingCmd: 2.450871 target range: 82.616165 and range: 83.10 m.%@!*!"! !))))ʎ111j1Z5 `0@i}DAT read: 00:59:40.4715 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 273, 0.14, 2.172, 0.429, 2.399, 2.003, PHS= 0.271,-1.529, 0.352, RAW= 152.2, 9.9, CAL= 151.9, 10.7, ROT= 358.1, -10.7 Ygot valid direction response: 00:59:40.4715 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 273, 0.14, 2.172, 0.429, 2.399, 2.003, PHS= 0.271,-1.529, 0.352, RAW= 152.2, 9.9, CAL= 151.9, 10.7, ROT= 358.1, -10.7 PDAT read: Bearing 307.4, -2.9 (Local) ~Local bearing/azimuth received: Bearing 307.4, -2.9 (Local) DAT read: Range 11 to 50 : 72.9 m (Round-trip 97.3 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [0.982073,-0.032578,0.185667]Fpublishing direction and range infoyIMy#m?  &K{?YM̑BIIII I)MIIM>iMFÿMX9>MP*@M;0>I Mt;?>)IIMt;?IIMͮ?T!?? M,?)MR0IIiMt;?IIT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.DžBɢM) bi):i{ i@ G;   BDAT read: Tx time:00:59:41.8701  $Ping request sent. o,Y@A6a@6rW@H6&qNٱ6P rAHRS rotation from veh to nav: [[-0.775539,-0.625370,-0.086325],[0.631174,-0.765372,-0.125799],[0.012600,-0.152048,0.988293]]6H 7@h2?@}@-͉?@Pvÿ ?i6a@I6 ^;6C |)~`A~P|||`Ai#II1i5`A 5Y1)19 =r`A=99AE~`AIEh)AiA)IIMr`AM+I Iٱٱٹiٹٹi) IYYyy#IB T>B B (#IB BB  =B B B 6a;B $EbDMVDMfy}:%}6=ٔQ->9 ?Y ?=nGyγF9OE>Q 55󶬊?Q 95ږ)kBY y '@Q I ]@:DI;i;m5yɮRAy}xY@AJ}BR}Bj}@}A5tQ@䆍݄ 8*@r}y#m?  &K{?Zyb}t;?}zqK84F@ 9-@z}x;述_7?,|?2})4B:}["}?*}(B}B}?} >“}B};B}@gO addTargetRange:: Added new target pos. range: 72.900002 m, deltaT: 16.379742 s, deltaX: -10.199997 m, approachRate: -0.622720 m/s, rangeRepo size: 4 gO Added new target pos. range: 72.478317 m, bearing: 140.627488 deg, lat: 36.779275 deg, lon: -121.859548 deg, deltaT: 16.379742 s, deltaX: -10.137848 m, approachRate: -0.618926 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 72.48 m.RZgO  ProNav: ac range: 72.478317 m, nav range: 70.116005 m, bearing: 141.517874 deg, approach rate: 0.000000 m/s, LOS rate: -0.064143 deg/s, cmd heading: 140.424550 deg, new cmd heading: 140.363683 deg. B gOHeadingCmd: 2.449808 target range: 72.478317 and range: 72.90 m.@*" 9999ʎAAAjE9R@ZM ?颕ąBɢiY) i)!:项i i@I;$Xo,m樿Y@A2Z@2P@2]lٱ2M :AHRS rotation from veh to nav: [[-0.775237,-0.626121,-0.083545],[0.631505,-0.765202,-0.125169],[0.014442,-0.149795,0.988612]]2H / 9cJ5?|@?y,ÿഢ?i2Z@I2];2CY%By%#I ))5=5=iMb@Mb@Mb@ 9X9v?EԸ?:vY?y=TMA@ - A)Y 54<5p;9bD=VD=yM$;%M?=ٔU~Q-U>9U"?YU"?=]nGyY]ZE]>aQ 5m5e?Q 9m5e)egBYu?Q Eu:yu'@Q Iu]@eBDIe:ie:ep5yBɮdRAEjgODNOT Ignoring new targets: 72.48 m.RQZQgO ProNav: ac range: 72.478317 m, nav range: 69.874275 m, bearing: 141.488039 deg, approach rate: -0.601155 m/s, LOS rate: -0.074452 deg/s, cmd heading: 140.363680 deg, new cmd heading: 140.303804 deg. BAgOHeadingCmd: 2.448763 target range: 72.478317 and range: 72.90 m.@*" aBʎQYjYZ]?…Bɢ!) i)8iJi@%]J;%*,o,T¿Y@AVxL@VB@VٱVF= vAHRS rotation from veh to nav: [[-0.774678,-0.627071,-0.081584],[0.632160,-0.764752,-0.124609],[0.015747,-0.148106,0.988846]]VH(ⴿ:?x _濿 ?!¿?iVxL@IV^;VCYBy:#IbDVDy=%Q=ٔ [Q->9 ?Y ?=nGyϳFE>Q 5E5o?Q 9E5)cBYAyE'@Q IM]@IDI[LBٍCB5#IBBBBBBWa;B$E^Ax/<A?A? checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258905A I I O > =o,ܿY@AYByE#IiMb@Mb@Mb@ 99v?ˡE?y&1|Y?y=`A  A)AY AbDVD02yD-=%M=ٔQ->9Y=nGyE>Q 55?Q 95p)aBYy?Q E:y&@Q I]@QDI ;iz ;w5yBɮOAEPB*** querying acoustic contact *** j gO DNOT Ignoring new targets: 72.48 m.R8Z8gO% ProNav: ac range: 72.478317 m, nav range: 69.416298 m, bearing: 141.436081 deg, approach rate: -0.598125 m/s, LOS rate: -0.062170 deg/s, cmd heading: 140.247840 deg, new cmd heading: 140.199555 deg. B%gO-HeadingCmd: 2.446944 target range: 72.478317 and range: 72.90 m.-@)*)") ))115{Bʎ999j9ZE0Q?bE=-4jE=» 4rE=V0E EE E"E:*Ega:VE3ZEBE1;o,Y@Afchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762891YByH#II ,>) >AbDVD0y-5S<%-K=ٔ)Q-5>95"?Y5"?=5nGy5гF9E=>AQ 5M5Er?Q 9M5E3)E_BYIyIQ IU]@EYDIE:iE:E({5yYɮ]OAYjgODNOT Ignoring new targets: 72.48 m.RZgO- ProNav: ac range: 72.478317 m, nav range: 69.181664 m, bearing: 141.411610 deg, approach rate: -0.558289 m/s, LOS rate: -0.058425 deg/s, cmd heading: 140.199550 deg, new cmd heading: 140.150442 deg. B-պgO5HeadingCmd: 2.446087 target range: 72.478317 and range: 72.90 m.5@1*1"1 1999AʎAAAjAZMW@uBɢu9)q uiy)}xyyi}i@*'M;_\Fp,28Y@AB.V>B,B.H#IB.BB. =B,B,B.a;B.%EYm΄BymY#IiMb@Mb@Mb@ 9/$?V-?~jthY?yh=DMA@ - A)AY= AbDVD0yLo=%%/=ٔ!Q-%>9- ?Y- ?=-nGy)1E5>9Q 5E5=9^?Q 9E5=)=^BIYM?Q EM:yM$@Q IM]@=bDI=5;i=4;=:5yUBɮ]OA]EjygODNOT Ignoring new targets: 72.48 m.RszZszgO ProNav: ac range: 72.478317 m, nav range: 68.896065 m, bearing: 141.387169 deg, approach rate: -0.637010 m/s, LOS rate: -0.054741 deg/s, cmd heading: 140.150441 deg, new cmd heading: 140.101356 deg. B\ȺgOHeadingCmd: 2.445230 target range: 72.478317 and range: 72.90 m.~@*" |BʎjZ @checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266913}Bɢ{) i)ƺ顡i֟i~@WN;AmQJI p,$+Y@AHY ܄By i#IbDVDy-=%-o=ٔ1Q-5?95"?Y="?==nGy=ѳF9E=?AQ 55ETO?Q 95E!)AYyQ I]@EhDIE%N*p,.DY@AE2 E2E2%E0"E2:*E2Ar:VE2 4ZE0a6@a6@a6@a6@r6!@r@rqٱr@ zAHRS rotation from veh to nav: [[-0.772963,-0.629248,-0.081090],[0.634168,-0.762458,-0.128410],[0.018974,-0.150681,0.988400]]rH@"@Q´K?fo`m? Iÿ?|ir6!@IrĠ_;pY%By-r#I 11bD]VD]βym =%mG=ٔmQ-u>9u ?Yu ?=nGyлE>Q 55C=?Q 95|)]BYyY$@Q I]@qDI|:i:iQIQ]BDAT read: Rx Time:00:59:44.3682 ]TRx dataTimestamp_ set to:1761699585.153366echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024199Ӆ5yiɮm5NAyjgODNOT Ignoring new targets: 72.48 m.RaZagO ProNav: ac range: 72.478317 m, nav range: 68.433121 m, bearing: 141.347694 deg, approach rate: -0.581110 m/s, LOS rate: -0.049287 deg/s, cmd heading: 140.065228 deg, new cmd heading: 140.022147 deg. BfgOHeadingCmd: 2.443847 target range: 72.478317 and range: 72.90 m.g@*" ʎ!!!j!Z%k @颕Bɢ) ̾i)4 顙iBig@NP;+2<BABEg#IBEڄBBE =BABABEa;BE!%EBٍCB؍CBB =B =C>5Y^AE hW< checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274895ԉ A ؟AI I O% >OUp,^Y@Ab@b@bٱbh AHRS rotation from veh to nav: [[-0.772731,-0.629561,-0.080870],[0.634427,-0.762106,-0.129213],[0.019715,-0.151153,0.988314]]bH6 \%`곴 :M? -c@ @F0?Xÿ D?ib@Ib_;bCYYBy}#ID@AzDiMb@Mb@Mb@ 9Zd;?)\(?~jth?Y?yGa=D;A@ C A)GAY AbD5VD5kyU=%U/=ٔUnкQ-U>9]"?Y]"?=]nGy]ҳF]DEe>Em EmEm(Ei"Em=;*Em]t:VEmc44ZEiBEmzIien¿e`>e*@ePwV>e*@ e,m>)eb@Ie,maae~aC?B??.? e4?)e(WIeQwVie,maaeT****** received valid address query ******eR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.Ա^A *:<A ?A ? A .AI I) O= >rp,sgxY@A2@2@2rͤٱ2e :AHRS rotation from veh to nav: [[-0.772242,-0.630137,-0.081048],[0.635010,-0.761510,-0.129868],[0.020116,-0.151756,0.988213]]2H5*Q?I^ S?`lÿ`q?i2@I2_;2CYBByF#In*DAT read: user:647> rBDAT read: Tx time:00:59:45.6701 r$Ping request sent.rQ W$p,~6Y@AB]>BڍCB#IBBB =BBkDBa;B/%E @@Ҩٱ -AHRS rotation from veh to nav: [[-0.772043,-0.630267,-0.081940],[0.635237,-0.761017,-0.131634],[0.020607,-0.153678,0.987906]]H%+S?`@Z^?@ÿ ?i @I]_;1Y=ByE#IIE=)E=iMb@Mb@Mb@ 9'1Z?Mb?Mb?Y"?y=<@  A)1AY AbDVDܲy<%/=ٔ܉Q->9Y=nGyӳF)E>Q 5 5?Q 95s)dBY#?Q E:yM @Q I]@DIm ;i ;ǐ5y%Bɮ%AMA!jAgOMDNOT Ignoring new targets: 70.09 m.RMZUgO] ProNav: ac range: 70.092728 m, nav range: 67.746208 m, bearing: 140.688045 deg, approach rate: -0.641086 m/s, LOS rate: -0.026724 deg/s, cmd heading: 139.958240 deg, new cmd heading: 139.933523 deg. BeCgOeHeadingCmd: 2.442301 target range: 70.092728 and range: 70.50 m.eN@i*i"i iiqquBʎqyyjyZ}`?checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502920eBɢe 8ͼ)i m%ii)m GiiiudiuN@uLuT;}Bj*p,Y@A2@2\@2Tٱ2R/ :AHRS rotation from veh to nav: [[-0.771524,-0.630812,-0.082620],[0.635860,-0.760338,-0.132543],[0.020791,-0.154795,0.987728]]2H T/&X? T.`/J?Sÿ`w?i2@I2n_;0YBByB#IbDnVDnyz<%za=ٔ~Q-~>9Y=nGy E >Q 5%5>?Q 9%5o)gBY)y-@ @Q I-]@DIOF;i%H;5y=nBɮEKAEEjygO}DNOT Ignoring new targets: 70.09 m.RZgO ProNav: ac range: 70.092728 m, nav range: 67.513725 m, bearing: 140.678480 deg, approach rate: -0.628740 m/s, LOS rate: -0.025958 deg/s, cmd heading: 139.933528 deg, new cmd heading: 139.914331 deg. B>gOHeadingCmd: 2.441966 target range: 70.092728 and range: 70.50 m.+I@*" ʎjZ@q?Bɢ M)  i )fVizi+I@hU;f;q E}  E} E} #Ey "E} :*E} VL:VE} 3ZEy a @a @a @a @^1p,mY@A2@2X@2gٱ2/! :AHRS rotation from veh to nav: [[-0.771139,-0.631027,-0.084553],[0.636334,-0.759616,-0.134393],[0.020578,-0.157440,0.987314]]2H+ `1A\?@N3`k?&Ŀ?i2@I2 `;2CYBByB#IbDNVDNkyR%|<%VP=ٔV:Q-V>9XYX=ZnGyZԳFZ\̺E^>`Q 5f5b\櫊?Q 9f5bl)bjBYdyj6 @Q Ij]@bDIb(:ib:be5yniBɮnPKAnEjygODNOT Ignoring new targets: 70.09 m.R Z 蹝checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258960gO ProNav: ac range: 70.092728 m, nav range: 67.264587 m, bearing: 140.668283 deg, approach rate: -0.617304 m/s, LOS rate: -0.025359 deg/s, cmd heading: 139.914335 deg, new cmd heading: 139.893866 deg. B9gOHeadingCmd: 2.441609 target range: 70.092728 and range: 70.50 m.QC@*" ʎjZL?Bɢ%6Ҽ)! % i!)%[Wg!)i-Izi-QC@5zV;59BiBm#IBmBBm =BiBmlDBma;Bm:%Eԁ^A*:<Ա] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511846AE ؟AII IY Om > ~7p,HY@A2Z@2@2ٱ2!$ :AHRS rotation from veh to nav: [[-0.771045,-0.630883,-0.086464],[0.636451,-0.759146,-0.136482],[0.020465,-0.160264,0.986862]]2Hg@10@"`]?J=x?@Ŀ_?i2Z@I2^_;0YBByB#I DDiMb@Mb@Mb@ 9K7A`?~jt?~jth?Y+?y<D;7A@ - A)YbDVDy[%9=ٔ29Q->9"?Y"?=nGy㱹E>Q 55ҫ?Q 958g)mBY+?Q E:y @Q I ]@DI:i:D5yɮZKAEy E}E}'Ey"Ey*E}1]:VE}'4ZEyBE}P>p,N Y@A2@2I@2;ٱ2) :AHRS rotation from veh to nav: [[-0.771069,-0.630381,-0.089853],[0.636439,-0.758552,-0.139803],[0.019971,-0.164983,0.986094]]2H ,@ ]?@F@Ns?+ſ`?i2@I2_;2CYB ByB#IbDNVDNJyV=%VV=ٔZԩ:Q-Z>9XYX=ZnGyZճF^8E^>`Q 5f5b?Q 9f5b!c)bpBYhyj@Q Ij]@bDIb;ib3;b5yndBɮnJAlP~B*** querying acoustic contact ***| |jgODNOT Ignoring new targets: 70.09 m.R Z gO ProNav: ac range: 70.092728 m, nav range: 66.715546 m, bearing: 140.656396 deg, approach rate: -0.714184 m/s, LOS rate: -0.015598 deg/s, cmd heading: 139.881058 deg, new cmd heading: 139.870002 deg. B]gO%HeadingCmd: 2.441192 target range: 70.092728 and range: 70.50 m.%~<@!*!") )))11ʎ119j9Z=@Б@Bɢe̼)! %ܐi))-ɿ))i-i5~<@5X;5 >B s>B ݍCB #IB BB  =B DDB nDB a;B D%E) 3Ep,Y@AEQ@E@EáٱEO, ]AHRS rotation from veh to nav: [[-0.771172,-0.630028,-0.091432],[0.636321,-0.758355,-0.141396],[0.019745,-0.167220,0.985722]]EHo/) h \?@rD?¿'8?`wgſ?iEQ@IE_;ECYmBym#IiMb@Mb@Mb@ 9 rh?y&1?Mb`?YC+?y`<;A@ )YbD VD 3yu\޼%u1=ٔ}@:Q-}>9yYy=nGyֳFű9E>Q 55?Q 959^)rBYj+?Q E:y@Q I]@DI:i:5y_BɮJAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.518985jgODNOT Ignoring new targets: 70.09 m.R ̹Z ̹gO ProNav: ac range: 70.092728 m, nav range: 66.406792 m, bearing: 140.646125 deg, approach rate: -0.667270 m/s, LOS rate: -0.022299 deg/s, cmd heading: 139.870007 deg, new cmd heading: 139.849371 deg. B=#gOHeadingCmd: 2.440832 target range: 70.092728 and range: 70.50 m.6@*" B ʎ jZ F@=BɢE)A EiA)MuDIIiMiU6@UY;U Fe checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770810[Kp,n/Y@AF @F@F<ٱF. RAHRS rotation from veh to nav: [[-0.771202,-0.629793,-0.092785],[0.636289,-0.758115,-0.142821],[0.019606,-0.169182,0.985390]]FHB' z\?{BG¿@? çſ P?iF @IF_;DYbByb#IIfC>)f4<bDr VDrf2yz%~g=ٔ9Q->9Y=nGy  9E >Q 55?Q 95sZ)tBY!y%@Q I%]@DIe;i;5y)ɮ-JA)jQgODNOT Ignoring new targets: 70.09 m.R4ϹZ4ϹgO ProNav: ac range: 70.092728 m, nav range: 66.169250 m, bearing: 140.638151 deg, approach rate: -0.672122 m/s, LOS rate: -0.022644 deg/s, cmd heading: 139.849366 deg, new cmd heading: 139.833361 deg. B%gOHeadingCmd: 2.440552 target range: 70.092728 and range: 70.50 m.2@*1"1 11999ʎ9AAjAZEJ @Bɢyм) ~i).i@i2@U[;NJ EM  EM EM $EI "EM :*EM 1]:VEM 4ZEI aU @aU @aU @aU @BRp,zIY@A2N@2@2`4ٱ2+ :AHRS rotation from veh to nav: [[-0.771203,-0.630055,-0.090971],[0.636269,-0.758378,-0.141504],[0.020165,-0.167011,0.985749]]2Hಭi) I`Q\?D¿@0?`ſ@A?i2N@I22_;2CPYjByn#IbDvVDvy~c<%~J=ٔQ->9Y=nGy׳F &8E >%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274985Q 5%5􊫊?Q 9-5)V)vBY)y)Q I-]@DI:f;ihg;=5y5Bɮ=3A=EjYgOeDNOT Ignoring new targets: 70.09 m.Re-ϹZe-ϹgOu ProNav: ac range: 70.092728 m, nav range: 65.899239 m, bearing: 140.629011 deg, approach rate: -0.666119 m/s, LOS rate: -0.022641 deg/s, cmd heading: 139.833356 deg, new cmd heading: 139.815001 deg. B}%gO}HeadingCmd: 2.440232 target range: 70.092728 and range: 70.50 m.,@*" ʎjZ@ W @颽Bɢzͼ) i)Bi~i,@2\;OBڍCB#IB!BB =BEDBlDBa;B^A}ON<IIO%>DAT read: 00:59:48.1653 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 417,-0.38,-0.106,-1.745, 0.104,-0.150, PHS= 0.146,-1.551, 0.210, RAW= 151.8, 13.7, CAL= 152.0, 15.3, ROT= 358.0, -15.3  Ygot valid direction response: 00:59:48.1653 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 417,-0.38,-0.106,-1.745, 0.104,-0.150, PHS= 0.146,-1.551, 0.210, RAW= 151.8, 13.7, CAL= 152.0, 15.3, ROT= 358.0, -15.3 - PDAT read: Bearing 311.0, -3.5 (Local) 5 ~Local bearing/azimuth received: Bearing 311.0, -3.5 (Local) = DAT read: Range 11 to 50 : 68.3 m (Round-trip 91.1 ms) speed 0.5 m/s E R#Rx 1: Read range and direction messages.M ^direction in FSK: [0.963970,-0.033663,0.263873]M Fpublishing direction and range infoyED?u;<&K?YB )DI>i+ƿ= W>)@Gt>)@ ܸ>)@Iܸݼ#h?5_e?iI^? >?)JuIQiܸe T****** received valid address query ******e R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.) oXp,bcY@AV@VF@VtٱVn2* jAHRS rotation from veh to nav: [[-0.771133,-0.630356,-0.089474],[0.636334,-0.758480,-0.140667],[0.020806,-0.165408,0.986006]]VH`+綿\?wE^¿@9N?,ſ[?iV@IVe_;VCYvByv#I|i}Mb@Mb@Mb@yyyy y9}ˡE?{Gz?~jth?Y}'?y}#<}D;}MA}@ y)}AyYybDVD2y%@=ٔiźQ->9Y=nGyjE>Q 55x?Q 95Q)zBY'?Q E:y@Q I]@DIX:i@:5yɮ3AE5 E5E1E1"E5:*E5rN:VE1ZE1BE5.1@rED?u;<&K?ZQbܸRIJuoD@&yh3@z.翾dB?J?2x#B:J"f#͚?*oBիBf#͚?“B=@gO addTargetRange:: Added new target pos. range: 68.300003 m, deltaT: 3.779544 s, deltaX: -2.199997 m, approachRate: -0.582080 m/s, rangeRepo size: 4 gO Added new target pos. range: 67.907341 m, bearing: 141.095995 deg, lat: 36.779279 deg, lon: -121.859541 deg, deltaT: 3.779544 s, deltaX: -2.185387 m, approachRate: -0.578214 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 67.91 m.RZgO ProNav: ac range: 67.907341 m, nav range: 65.554649 m, bearing: 140.579024 deg, approach rate: 0.000000 m/s, LOS rate: -0.022641 deg/s, cmd heading: 139.814997 deg, new cmd heading: 139.794702 deg. BgO-HeadingCmd: 2.439878 target range: 67.907341 and range: 68.30 m.-&@I*I"I IIIQUBʎQQYj]@3Q@Z]?颥Bɢ,) i)顩i+2i&@ɤ];tR MBDAT read: Tx time:00:59:49.4701 M$Ping request sent.Uԙ  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247155ʖ^p,0}Y@A2@2~@2f!ٱ2+) :AHRS rotation from veh to nav: [[-0.771126,-0.630502,-0.088501],[0.636312,-0.758447,-0.140946],[0.021743,-0.165001,0.986054]]2H@-\?3E ¿C?ſ`?i2@I2$_;0YBByB#I DDbDN VDN2yV̡%V\=ٔV%Q-Z>9XYX=ZnGyZسF^8E^>`Q 5f5bh?Q 9f5bM)b}BYdydQ Ij]@bDIb:ib:b55ynZBɮn$3AnEPzB*** querying acoustic contact ***x xjgO DNOT Ignoring new targets: 67.91 m.R Z gO ProNav: ac range: 67.907341 m, nav range: 65.310776 m, bearing: 140.576048 deg, approach rate: -0.700295 m/s, LOS rate: -0.008579 deg/s, cmd heading: 139.794698 deg, new cmd heading: 139.788722 deg. B4{gO%HeadingCmd: 2.439774 target range: 67.907341 and range: 68.30 m.%@%@!*)") )))11ʎ111j9Z=@?yeBɢm˖)i mEii)masqqii@%@7^;o'TB Z>B ٍCB #IB BB  =B B kDB Ua;B $EBuڍCBuۍCBuʔCBu =Bu =Cu26 ep,Y@AEA@E@E[ԹٱE|) AHRS rotation from veh to nav: [[-0.771315,-0.630440,-0.087280],[0.636049,-0.758655,-0.141009],[0.022682,-0.164277,0.986153]]EH@`,WZ?F@ ¿:?@ſ?iEA@IE_;AYBy|#IiUMb@Mb@Mb@QQQQ Q9UHzG?I +?MbYU=*?yU99Y=nGychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.751184`6:E>Q 55S?Q 95H)~BYX*?Q E:y@Q I]@DI~ ;i ;G5y[Bɮ3AjgODNOT Ignoring new targets: 67.91 m.R/Z/gO ProNav: ac range: 67.907341 m, nav range: 65.000900 m, bearing: 140.568087 deg, approach rate: -0.665499 m/s, LOS rate: -0.017178 deg/s, cmd heading: 139.788728 deg, new cmd heading: 139.772731 deg. BgOHeadingCmd: 2.439494 target range: 67.907341 and range: 68.30 m. @*"    uBʎ jZg?=BɢE߼)A EtiA)M霳IIiMiU @U1`;U?])EU EUEQEQ"EU>:*EU:VEQZEQBEU9] ?Y] ?=]nGy]ٳFeEe>iQ 5u5mC?Q 9u5mD)iYqyyQ I}]@mDIm;im* ;mu5yRBɮ3AEjgODNOT Ignoring new targets: 67.91 m.RVZVgO ProNav: ac range: 67.907341 m, nav range: 64.758934 m, bearing: 140.561818 deg, approach rate: -0.665371 m/s, LOS rate: -0.017304 deg/s, cmd heading: 139.772732 deg, new cmd heading: 139.760147 deg. BVgOHeadingCmd: 2.439275 target range: 67.907341 and range: 68.30 m.@*" ʎjZ;? Bɢ +) i)iKi%@%iia;%_ԉEe  Ee Ee %Ea "Ee O:*Ee &p:VEe 4ZEa am @am @am @am @Թ rp,Y@AF@FV@FmdǼٱF% RAHRS rotation from veh to nav: [[-0.770685,-0.631653,-0.084016],[0.636751,-0.758364,-0.139399],[0.024337,-0.160930,0.986666]]FHs6 @D`?@D`?YĿ Ē?iF@IF$^;FCYZByZx#I``bDfVDfyjM-%nS=ٔnϋQ-n>9r"?Yr"?=rnGypvAEv>tQ 5z5v2?Q 9~5v@checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507193)vBY y @Q I ]@vDIvg;ivh;vٺ5yɮR3Aj9gO=DNOT Ignoring new targets: 67.91 m.REZEgOU ProNav: ac range: 67.907341 m, nav range: 64.500847 m, bearing: 140.555283 deg, approach rate: -0.662271 m/s, LOS rate: -0.016838 deg/s, cmd heading: 139.760150 deg, new cmd heading: 139.747027 deg. BUgO]HeadingCmd: 2.439046 target range: 67.907341 and range: 68.30 m.]S@Y*Y"a aaaaiʎiiijiZu@wt?额Bɢ) ii)u)û顡iiS@ b;TBUڍCBU#IBUBBU =BQBQBU`;BU$E^ALM<A zA YAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.759382 I I1 O= > xp,צY@A:@:@: ˼ٱ:3$ BAHRS rotation from veh to nav: [[-0.770024,-0.632597,-0.082973],[0.637533,-0.757854,-0.138595],[0.024793,-0.159619,0.986867]]:H@<>=`f?W@@wqc?dnĿj?i:@I:7^;8YJByHiMb@Mb@Mb@ 9MbX9?ˡE?y&1Y!?y'=`eAz@  A)AYbD5VD5:yE%%EC=ٔMɎQ-M>9IYI=UnGyUڳFz E>Q 55?Q 95?<)~BY+"?Q E:y @Q I]@DI:i:5yIBɮ 3AߧEE EE&E"E:*EV:VE4ZEBE1 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263077~p,xY@A2(@2@2 μٱ2[# :AHRS rotation from veh to nav: [[-0.769515,-0.633262,-0.082621],[0.638131,-0.757340,-0.138654],[0.025232,-0.159419,0.986888]]2Hܟ@C &@k?!<gM֙?gĿ ?i2(@I2^;2C@YFByFr#IbDrVDryzϼ%zP=ٔzJQ-z>9|Y=nGy%E%>)Q 555-f?Q 955-~8)-}BY1y5 @Q I5]@-DI-:i-V;-5yE@BɮE2AAPeB*** querying acoustic contact ***a ajigOuDNOT Ignoring new targets: 67.91 m.RuZugO ProNav: ac range: 67.907341 m, nav range: 63.985134 m, bearing: 140.528966 deg, approach rate: -0.637671 m/s, LOS rate: -0.032566 deg/s, cmd heading: 139.718800 deg, new cmd heading: 139.694172 deg. BengOHeadingCmd: 2.438123 target range: 67.907341 and range: 68.30 m.6 @*" ʎjZ@@Bɢޠ) ri)<ԻiD^i6 @e;SJ:*E-x:VE)ZE)a5@a5@a5@a5@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515150IIO> BM \>BI BM #IBM BBM  =BI BI BM da;BM %EЅp,paY@Al=8@=@=pмٱ=d}$ AHRS rotation from veh to nav: [[-0.768733,-0.634169,-0.082936],[0.639063,-0.756481,-0.139049],[0.025442,-0.159893,0.986806]]=HvKC;4s?5@^`c ?^wĿ ?i=8@I=^;=CY߄Bym#I=p=uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767111i}Mb@Mb@Mb@yyyy y9}MbX9?X9v?QYyy}}=}u} Ay }t A)yyY}A p<<bDVD:2y%1=ٔQ->9Y=nGy۳F.E>Q 55;?Q 95.4){BY"?Q E:y"@Q I]@ DIP ;i ;5yɮ 3AjgODNOT Ignoring new targets: 67.91 m.R[Z[gO ProNav: ac range: 67.907341 m, nav range: 63.696140 m, bearing: 140.506015 deg, approach rate: -0.601807 m/s, LOS rate: -0.048011 deg/s, cmd heading: 139.694171 deg, new cmd heading: 139.648060 deg. BgOHeadingCmd: 2.437318 target range: 67.907341 and range: 68.30 m.@*" @BʎjZ@eBɢe# )a mii)mו޻iiim=iu@unf;uZE1E5 E5E5#E1"E5:*E5L_:VE53ZE1BE5)AHRS rotation from veh to nav: [[-0.767840,-0.635254,-0.082911],[0.640134,-0.755627,-0.138767],[0.025503,-0.159625,0.986848]]6H@%T 9{?.!@j?nĿB?i6^@I6d^;6CY^ބBy\bDjVDjkyr%%rm=ٔr9Q-r?9tYt=vnGytzyEz?|Q 55~쪊?Q 95~0)~zBYy"@Q I ]@~DI~H;i~:~5y7Bɮ2AާEA+GS9YAjygODNOT Ignoring new targets: 67.91 m.RZZZgO ProNav: ac range: 67.907341 m, nav range: 63.477863 m, bearing: 140.488815 deg, approach rate: -0.602928 m/s, LOS rate: -0.047672 deg/s, cmd heading: 139.648053 deg, new cmd heading: 139.613536 deg. B}gOHeadingCmd: 2.436716 target range: 67.907341 and range: 68.30 m.'@*" ʎjZ @Bɢ||)  i).ii'@[g;:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271151ԑ EE  EE EE $EA "EE :*EE X:VEE 4ZEA aM @aM @aM @aM @ޒp,p LY@A2@2 ~@2Ҽٱ2;# :AHRS rotation from veh to nav: [[-0.766903,-0.636437,-0.082509],[0.641247,-0.754773,-0.138272],[0.025725,-0.158950,0.986951]]2H`x]V?'@W?xXĿ@?i2@I2Z^;2CDAT read: 00:59:51.9621 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 416, 0.13, 2.173, 0.434, 2.346, 1.974, PHS= 0.301,-1.494, 0.328, RAW= 150.7, 9.6, CAL= 150.4, 10.4, ROT= 359.6, -10.4 Ygot valid direction response: 00:59:51.9621 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 416, 0.13, 2.173, 0.434, 2.346, 1.974, PHS= 0.301,-1.494, 0.328, RAW= 150.7, 9.6, CAL= 150.4, 10.4, ROT= 359.6, -10.4 %8DAT read: $Error in header %*Received a bad header}X#Rx 1: Read direction message, but no range.^direction in FSK: [0.983548,-0.006866,0.180519]ypr 8y?w|lE@?pppp p)rIIr>ird;r>raU(@r+>r'@ r9>)r@ԙIr9prs c?h ?+W? rY ?)rl+Irir9T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseY܄Byj#IbD-VD-1y]%]5=ٔ]Q-]>9aYa=enGyeܳFmREm>qQ 55uت?Q 95u,)uxBYym"@Q I]@uDIu:iu:u5yBɮ1AէEj9gOmDNOT Ignoring new targets: 67.91 m.RuoZuogO ProNav: ac range: 67.907341 m, nav range: 63.191765 m, bearing: 140.466465 deg, approach rate: -0.667617 m/s, LOS rate: -0.052391 deg/s, cmd heading: 139.613534 deg, new cmd heading: 139.568631 deg. BÿgOHeadingCmd: 2.435932 target range: 67.907341 and range: 68.30 m.P@B<A<B[>BٍCB#IBBB =BBBb;B\%E*)") )))11ʎ119j9Z=@@颅Bɢ3) i)A顩i]JiP@yyh;lD2T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse  p,eY@A2yt@2j@2Ӽٱ2ZV$ :AHRS rotation from veh to nav: [[-0.766115,-0.637311,-0.083078],[0.642183,-0.753867,-0.138873],[0.025876,-0.159744,0.986819]]2HdD`Œ?@@?rĿ?i2yt@I2D.^;0YfԄByf`#IiUMb@Mb@Mb@QQQQ Q9U1Zd?9Y=nGyUE>Q 55Ǫ?Q 95L))vBYG?Q E:y#@Q I]@!DI ;i2 ;55yBɮ1AԧEjgODNOT Ignoring new targets: 67.91 m.RZgO ProNav: ac range: 67.907341 m, nav range: 62.963837 m, bearing: 140.444636 deg, approach rate: -0.636612 m/s, LOS rate: -0.061190 deg/s, cmd heading: 139.568632 deg, new cmd heading: 139.524816 deg. BߺgOHeadingCmd: 2.435167 target range: 67.907341 and range: 68.30 m.bE4jE4rE6/E EE&E"E,:*Ei:VE4ZEBE T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseԡ 2p,{Y@A^X@^BN@^8ռٱ^# fAHRS rotation from veh to nav: [[-0.765023,-0.638706,-0.082424],[0.643476,-0.752940,-0.137912],[0.026025,-0.158544,0.987009]]^H {Hp@\? Y?*KĿ?i^X@I^5^;^CYrلByrf#IbDzVDz:2y<%R=ٔ ʹQ- >9  ?Y  ?= nGy ݳFǎE>Q 5%5V?Q 9%5%)sBY)y-#@Q I-]@)DIA:i:5y1ɮ51A1PUB*** querying acoustic contact ***Q QjagOeDNOT Ignoring new targets: 67.91 m.RuDZuDgO ProNav: ac range: 67.907341 m, nav range: 62.727779 m, bearing: 140.422217 deg, approach rate: -0.606516 m/s, LOS rate: -0.057818 deg/s, cmd heading: 139.524809 deg, new cmd heading: 139.479804 deg. BӺgOHeadingCmd: 2.434382 target range: 67.907341 and range: 68.30 m.@*" ʎjZ x@q颥|Bɢ$) _i)ߺ顩i=i@j; B ڍCB #IB BB  =B B B b;B %EA I I O > p,Y@AMC@MQ9@MzּٱM" AHRS rotation from veh to nav: [[-0.764196,-0.639728,-0.082169],[0.644451,-0.752165,-0.137590],[0.026215,-0.158100,0.987075]]MH Ltx V?`%ؚ?@<Ŀ?iMC@IMY^;MCYByo#I]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapsei]Mb@Mb@Mb@YYYY Y9]n?/$?MbY]?y]=Y]hAY ]t A)YYY]AbDuVDu0y<%(=ٔ ͹Q->9Y=nGyJ,E>Q 55٢?Q 95!)pBY?Q E:y$@Q I]@2DIm ;i ;5y BɮM1AӧEjgODNOT Ignoring new targets: 67.91 m.R%Z%gOe ProNav: ac range: 67.907341 m, nav range: 62.442341 m, bearing: 140.388931 deg, approach rate: -0.578144 m/s, LOS rate: -0.067728 deg/s, cmd heading: 139.479798 deg, new cmd heading: 139.412922 deg. BegOHeadingCmd: 2.433214 target range: 67.907341 and range: 68.30 m.ɹ@*" "BʎjZ@Y|@uyBɢ}r4ܼ)y }iy)ٻ顡i'iɹ@bk;ߎ :*E%[:VE% 4ZE!BE%Cp,QY@A2B+@2 @2ټٱ2h" JAHRS rotation from veh to nav: [[-0.763224,-0.640914,-0.081971],[0.645588,-0.751201,-0.137525],[0.026565,-0.157882,0.987101]]2H@Tl@] ? l 3?y5ĿT?i2B+@I2u^;2CYVByVq#If=fa=bDrVDr:2yz7<%zT=ٔ~ nQ-~>9~"?Y~"?=~nGy~޳F~E> Q 55 ?Q 95 ) mBYy$@Q I]@ 9DI ;i ; 75y!ɮ%;1A!1jIgOUDNOT Ignoring new targets: 67.91 m.RU؟Z]؟gOe ProNav: ac range: 67.907341 m, nav range: 62.216167 m, bearing: 140.362652 deg, approach rate: -0.599198 m/s, LOS rate: -0.069873 deg/s, cmd heading: 139.412917 deg, new cmd heading: 139.360169 deg. BmgOuHeadingCmd: 2.432294 target range: 67.907341 and range: 68.30 m.u@q*q"q qqyyyʎyjZ@颭wBɢ1%) i)p项ili@dk;-oԱ  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse''p,/kY@ABw@B@BۼٱB" JAHRS rotation from veh to nav: [[-0.762517,-0.641733,-0.082139],[0.646412,-0.750429,-0.137871],[0.026837,-0.158225,0.987038]]BH@f g?@ť 9{?`@Ŀ`ѕ?iBw@IB ^;BCYjBynx#IbDvVDvy~<%~J=ٔ0Q->9Y= nGy  )0E >Q 5=5?Q 9=53Q =EtI)jBYAyE$@Q IE^@ADI-;i;5yMBɮM0AUҧEjAA@AB`>BBBB =BBBc;B%EBaBeڍCBeCBe =Be =Cehy5gODNOT Ignoring new targets: 67.91 m.RZgO ProNav: ac range: 67.907341 m, nav range: 61.978828 m, bearing: 140.335114 deg, approach rate: -0.576616 m/s, LOS rate: -0.067159 deg/s, cmd heading: 139.360175 deg, new cmd heading: 139.304888 deg. BgOHeadingCmd: 2.431329 target range: 67.907341 and range: 68.30 m.@*1"1 11999ʎ9AAjAZE`@mtBɢݼ) &i)A 顙ii@l;9 E=  E= E= $E9 "E= :*E= V:VE= 4ZE9 BE= [ Qp,,FY@Aj` @j@j:ٱjO#" vAHRS rotation from veh to nav: [[-0.760990,-0.643649,-0.081299],[0.648165,-0.748915,-0.137874],[0.027857,-0.157616,0.987107]]jHZŘ@дĽ?ڥ j?,Ŀ`b?ij` @Ij_C_;jCY~By~#IiMb@Mb@Mb@ 9Q?㥛 ?~jthY?y=D~A  A)Y\AbDVD0y9&=%@=ٔQ->9 ?Y ?=nGy߳FE>Q 55o?Q 95)kBY?Q E:y#@Q I^@IDI :iv:x5T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsey]Bɮ]<0A]ѧEjgODNOT Ignoring new targets: 67.91 m.RZgO ProNav: ac range: 67.907341 m, nav range: 61.729034 m, bearing: 140.309846 deg, approach rate: -0.566198 m/s, LOS rate: -0.057505 deg/s, cmd heading: 139.304891 deg, new cmd heading: 139.254151 deg. B{ҺgOHeadingCmd: 2.430444 target range: 67.907341 and range: 68.30 m.c@* "  1115BBʎ999j9Z=a@颍qBɢ3м) 1i)2v顱i|ic@e6m;~8p,}Y@AqYBy#IAbDVDk2yZ;=%8=ٔQ->9Y=nGyE E1E)E"E :*Ef;VEFA4ZEa@a@a@a@E >Q 55p]?Q 95)YyQ I^@QDI[:it:`5y)ɮ-/A)PEB*** querying acoustic contact ***A AjQgOUDNOT Ignoring new targets: 67.91 m.R]Z]gOm ProNav: ac range: 67.907341 m, nav range: 61.467167 m, bearing: 140.283135 deg, approach rate: -0.617263 m/s, LOS rate: -0.063231 deg/s, cmd heading: 139.254156 deg, new cmd heading: 139.200506 deg. BmpgOuHeadingCmd: 2.429507 target range: 67.907341 and range: 68.30 m.u }@q*y"y yyyʎjZM @颵nBɢȼ) ei)[y项iHqi }@am;ɧBB#IBBBBBlDBmc;B &E^A Β;A ؟AI I  O! jp,"Y@A.T****** received valid address query ******.R****** received valid ping request ******2received new query, but waiting for acoustic response period to elapseE @EG@E0ٱE} UAHRS rotation from veh to nav: [[-0.758500,-0.646827,-0.079325],[0.651062,-0.746883,-0.135220],[0.028218,-0.154210,0.987635]]EH EϲN`?@vN?@'ÿച?iE @IEk_;EC a)e`Aeaaim`AimIiiIqiu`A uTu F)qy }~`A}yy؁؅`AI؅)؁i؁)فIٍ`A؍؉ ىٕCٕlAّiّّiڙڡ)ڡ ڡIڡYYBy#Ii-Mb@Mb@Mb@)))) )9-X9v? rh?~jth?Y-?y-C=-D;)- @ -A)))Y-AbDeVDe0yui<%uA=ٔuC_Q-u>9}"?Y}"?=nGyFE>Q 55L?Q 95)mBY?Q E:y"#@Q I^@YDI:iL:5yBɮ/Aj!gO-DNOT Ignoring new targets: 67.91 m.R-xZ5xgOe ProNav: ac range: 67.907341 m, nav range: 61.219116 m, bearing: 140.259707 deg, approach rate: -0.573104 m/s, LOS rate: -0.054348 deg/s, cmd heading: 139.200512 deg, new cmd heading: 139.153466 deg. BeƺgOeHeadingCmd: 2.428686 target range: 67.907341 and range: 68.30 m.mo@i*i"i iiiqu6BʎqjZC@%jBɢ%%)- -^Yi))-))i5q i5o@=^Vn;=q;I=o@I9E EEE"E:*Eg:VEZEBE1p,:Y@A2 @22@2Uٱ2Z* :AHRS rotation from veh to nav: [[-0.757462,-0.647974,-0.079880],[0.652268,-0.745776,-0.135511],[0.028235,-0.154748,0.987550]]2H =`4s b?f@pX@?ÿ`?i2 @I25E_;0YnByn#IbDvVDv:y~r=%~f=ٔLQ->9Y=nGy ME ?Q 55=?Q 95 )oBY!y%#@Q I%^@`DI:i_:(5y-ԚBɮ-z.A5ǧEjQgOUDNOT Ignoring new targets: 67.91 m.R]v{Z]v{gOm ProNav: ac range: 67.907341 m, nav range: 61.018375 m, bearing: 140.240911 deg, approach rate: -0.585073 m/s, LOS rate: -0.054961 deg/s, cmd heading: 139.153466 deg, new cmd heading: 139.115751 deg. Bm+ɺgOuHeadingCmd: 2.428028 target range: 67.907341 and range: 68.30 m.ud@q*q"q yyyyʎjZ #@颵hBɢǼ) Fi)w项il`id@n;3;Id@IMT****** received valid address query ******MR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseQE9@A @I@M/@I@U=@U=^A%0;A-?A-?yAm.AIyIO\>E  E E %E "E :*E i:VE  4ZE a@a@a@a@ԡ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse p,TY@AB"<A"4=B&d>B&ۍCB&#IB& BB$B$B$B&Ac;B&%EY By#I bD VD2yC<%?=ٔQ->9 ?Y ?=nGyFE>Q 55,?Q 95s )qBYyQ I^@hDI:i:5y˚Bɮ.AƧEjqgOuDNOT Ignoring new targets: 67.91 m.R}sZ}sgO ProNav: ac range: 67.907341 m, nav range: 60.771496 m, bearing: 140.217625 deg, approach rate: -0.562373 m/s, LOS rate: -0.053261 deg/s, cmd heading: 139.115749 deg, new cmd heading: 139.068987 deg. BºgOHeadingCmd: 2.427212 target range: 67.907341 and range: 68.30 m.pW@*" ʎjZ@@ԱeBɢ$6) 3i)6i1ipW@n;0U;IpW@Iu9@y @y@/@T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse ^A [R;D1 zD5 AAE=  E= E= $E9 "E= :*E= xv:VE= 4ZE9 BE= #9 p,nY@AbT****** received valid address query ******fR****** received valid ping request ******freceived new query, but waiting for acoustic response period to elapsery @r6o@rosٱr^ EAHRS rotation from veh to nav: [[-0.756139,-0.649475,-0.080228],[0.653785,-0.744357,-0.136008],[0.028616,-0.155293,0.987454]]rHJ2~ Љ? hgM?ÿ9?iry @Ir_;rCYBy#IieMb@Mb@Mb@aaaa a9eCl?V-?~jtx?Ye;?yem=e;eAeM@ a)efAaYeAbD}VD}yw=%>=ٔ6hQ->9"?Y"?=nGyiE>Q 55,?Q 95Y)tBY?Q E:yh!@Q I^@pDI ;i ;5yɮ-AjgODNOT Ignoring new targets: 67.91 m.RPZP !gO] ProNav: ac range: 67.907341 m, nav range: 60.503666 m, bearing: 140.198626 deg, approach rate: -0.640400 m/s, LOS rate: -0.045628 deg/s, cmd heading: 139.068990 deg, new cmd heading: 139.030825 deg. eԀGBeynManaging dock network, ignoring radio surface power offgOHeadingCmd: 2.426546 target range: 67.907341 and range: 68.30 m.%,9!Y%#aAML@I*I"a iiiiuABʎqqqjqZ}& @颥bBɢ@ɚ) $i)di`iL@N8o;Ʃ;IL@I9uT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapse eq 9@  @ @ /@ ԑ EM EMEIEI"EM:*EMrN:VEIZEIaU@aU@aU@aU@^AAzA-T****** received valid address query ******-R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapseAIIO%?(kp,jY@A^g @^\@^Ӛٱ^ס fAHRS rotation from veh to nav: [[-0.755392,-0.650357,-0.080123],[0.654637,-0.743606,-0.136015],[0.028878,-0.155195,0.987462]]^H*, 肴?hL?qÿ I?i^g @I^;^;^CYnByr#IIv=)v=bDzVDzfy3<% =ٔ Q- >9 Y =nGyF.E>Q 5%5C?Q 9%5u)xBY)y-V!@Q I-^@zDI1:i:5y5ÚBɮ5<-A9Buc>BqBu#IBu!BBu =BqBqBub;Bu%EPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 67.91 m.RGEZGEgO ProNav: ac range: 67.907341 m, nav range: 60.184872 m, bearing: 140.176137 deg, approach rate: -0.608010 m/s, LOS rate: -0.043119 deg/s, cmd heading: 139.030823 deg, new cmd heading: 138.985606 deg. BӝgOHeadingCmd: 2.425756 target range: 67.907341 and range: 68.30 m.?@*" ʎ!!j!Z%!@颍_Bɢ) i)顑ii?@{ro;=3;I?@IT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse-)9@ @@/@Q Du =Du <bEJ4jEr 4rE˨h0E  E E %E "E a:*E :VE 4ZE BE (9qYq=unGyuF}E}>Q 55멊?Q 95)}BY"?Q E:y@Q I^@DI;i6;*5yBɮ,AŧEjgODNOT Ignoring new targets: 67.91 m.RgZggO ProNav: ac range: 67.907341 m, nav range: 59.818451 m, bearing: 140.159884 deg, approach rate: -0.648447 m/s, LOS rate: -0.028939 deg/s, cmd heading: 138.985607 deg, new cmd heading: 138.952901 deg. BSgOHeadingCmd: 2.425186 target range: 67.907341 and range: 68.30 m.>6@a*a"a aiiimYBʎqqqjqZu"@[BɢI) ,i)   i Ai>6@o;;I>6@IaaaaԹT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse 9@  @ @ 4@  E  E E #E "E O:*E c:VE 3ZE a @a @a @a @^A ϩ; T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseA ?A >AAAAAABBڍCB#IB5BB =BBBb;B%EIIOTp,]Y@A6qB @67@6#ٱ6 >AHRS rotation from veh to nav: [[-0.753902,-0.652272,-0.078572],[0.656306,-0.742268,-0.135282],[0.029920,-0.153556,0.987687]]6H@i`Ct?``P`J?@ÿ`!?i6qB @I6 ^;6CYF)ByJ#IbDRVDRyZP =%Z+=ٔZQ-^>9\Y\=^nGy\b~Eb>dQ 5j5fש?Q 9j5f)fBYhyje@Q In^@fDIf;if;fI5ypɮr,ApjgO DNOT Ignoring new targets: 67.91 m.R.Z.gO% ProNav: ac range: 67.907341 m, nav range: 59.519257 m, bearing: 140.147109 deg, approach rate: -0.634577 m/s, LOS rate: -0.027231 deg/s, cmd heading: 138.952904 deg, new cmd heading: 138.927226 deg. B%XGgO-HeadingCmd: 2.424737 target range: 67.907341 and range: 68.30 m.-.@)*)") )qʎjZ`Z#@XBɢ)  E  E E &E "E :*E 1]:VE 4ZE BE )9 ?Y ?=nGyFT^E%>!Q 5-5% ĩ?Q 955%0)%BY5u&?Q E5:y5@Q I5^@%DI% ;i%. ;%25yEBɮEG,AEħEjagOmDNOT Ignoring new targets: 67.91 m.Rm"Zu"gO ProNav: ac range: 67.907341 m, nav range: 59.228535 m, bearing: 140.136002 deg, approach rate: -0.649392 m/s, LOS rate: -0.024931 deg/s, cmd heading: 138.927223 deg, new cmd heading: 138.904900 deg. B6gOHeadingCmd: 2.424348 target range: 67.907341 and range: 68.30 m.(@*"    QURBʎQQQjYZ]$@%VBɢ%)! %tiI)Mx#IIiMiU(@Uo;U;IU(@IY@ @@%/@!5DAT read: =2Acoustic response timeout9^Ae qZ;Y A I I O >_q, Y@A2|. @2$@2+ٱ2ê :AHRS rotation from veh to nav: [[-0.753091,-0.653249,-0.078227],[0.657215,-0.741463,-0.135285],[0.030372,-0.153293,0.987714]]2HR j`? Q?ÿ Z?i2|. @I2^;2CYB,ByB#IbDNVDN0yVu<%V\=ٔV;8Q-V>9XYX=ZnGyX^E^>`Q 5f5b?Q 9f5bO)bBYdyf@Q If^@bDIb:ib:bp 5ynBɮnW+AnEj|gODNOT Ignoring new targets: 67.91 m.R[Z [E= E=E=%E9"E=:*E=xv:VE= 4ZE9aE@aE@aE@aE@gO ProNav: ac range: 67.907341 m, nav range: 58.987305 m, bearing: 140.126898 deg, approach rate: -0.649886 m/s, LOS rate: -0.024628 deg/s, cmd heading: 138.904901 deg, new cmd heading: 138.886619 deg. BH4gOHeadingCmd: 2.424029 target range: 67.907341 and range: 68.30 m.J#@*" ʎ  jZ@̙%@颵TBɢV}) BmۍCBm#IBm?BBm =BiBiBmb;Bm%EB%ۍCB%ۍCB!B% =B% =C%ŋ]5!^A r;A zA  2Acoustic response timeoutA- ؟AY I I O >q,$Y@AY4By#IiMb@Mb@Mb@ 9/$?{Gz?~jtxY1(?yĻhA @ ^A)OAYAbDVD:2y=%:=ٔQ->9"?Y"?=%nGy%F-E->11Q 5=55J?Q 9E55)5BYE(?Q EE:yE@Q IE^@5DI52;i51;5^ 5yMBɮU*AUEPmB*** querying acoustic contact ***i ijygO}DNOT Ignoring new targets: 67.91 m.RmڹZmڹgO ProNav: ac range: 67.907341 m, nav range: 58.691425 m, bearing: 140.116182 deg, approach rate: -0.655793 m/s, LOS rate: -0.023871 deg/s, cmd heading: 138.886624 deg, new cmd heading: 138.865084 deg. B.gOHeadingCmd: 2.423653 target range: 67.907341 and range: 68.30 m.!@*" SBʎjZ`Nr&@QBɢff) xli)L+%i(/i!@Wo;;I!@IEU EUEU#EQ"EU:*EU:VEU3ZEQBEU q,w>Y@A2v @2@2fIٱ2g :AHRS rotation from veh to nav: [[-0.752275,-0.654147,-0.078572],[0.658123,-0.740488,-0.136201],[0.030914,-0.154171,0.987560]]2H @OY?  o ⧟?ÿ`?i2v @I2^;2CY@yB#IIF<)Fp;HJAbDNVDN1yVYg;%V^=ٔZIQ-Z>9Z ?YZ ?=ZnGy\^A`E^>`Q 5f5b?Q 9f5b)bBYhyj@Q Ij^@bDIb:ib=:b~5ylɮn*ApjgODNOT Ignoring new targets: 67.91 m.2Acoustic response timeoutR͹Z͹gO ProNav: ac range: 67.907341 m, nav range: 58.456341 m, bearing: 140.107876 deg, approach rate: -0.631797 m/s, LOS rate: -0.022411 deg/s, cmd heading: 138.865081 deg, new cmd heading: 138.848403 deg. B$gOHeadingCmd: 2.423362 target range: 67.907341 and range: 68.30 m.\@*" ʎjZ T6'@MOBɢU:c)Y ]@WiY)]<%aaie im\@u o;u"fL;Iu\@IyԹ@ @@0@Ee EeEe'Ea"Eem:*Eez:VEe'4ZEaam@am@am@am@^AoM; U 2Acoustic response timeoutA] ؟ABm b>Bm ڍCBm #IBm IBBi Bi Bi Bm b;Bm %EI I O >9 q,SXY@A2 @2v@2"ٱ2& :AHRS rotation from veh to nav: [[-0.751687,-0.654814,-0.078647],[0.658786,-0.739870,-0.136356],[0.031100,-0.154309,0.987533]]2H < 1"`?t؟?bÿ ߙ?i2 @I2Uq^;2CYB/ByB#IbDN VDN2yV5ۼ%VJ=ٔVVQ-V>9Z"?YZ"?=ZnGyZF^E^>`Q 5f5b~?Q 9f5bu)bBYdyf@Q Ij^@bDIb:ib:b5ynBɮn*AnEjgODNOT Ignoring new targets: 67.91 m.R ڹZ ڹgO ProNav: ac range: 67.907341 m, nav range: 58.190788 m, bearing: 140.098646 deg, approach rate: -0.684892 m/s, LOS rate: -0.023914 deg/s, cmd heading: 138.848402 deg, new cmd heading: 138.829857 deg. B/gO%HeadingCmd: 2.423038 target range: 67.907341 and range: 68.30 m.%@!*!"! !))))ʎ111j1Z5J'@NBɢcm) ti)&iHi@o;p3;I@I9@ @@4@2Acoustic response timeoutA^AcU;A?A?i A! I) I9 OM >Em  Em Em $Ei "Em 2:*Em c:VEm 4ZEi BEm "*BrY@A2 @2N@2ٱ2= NAHRS rotation from veh to nav: [[-0.751161,-0.655215,-0.080312],[0.659393,-0.739056,-0.137831],[0.030954,-0.156490,0.987194]]2H W ?Xp@K?Ŀ?i2 @I2\^;2CYZ0By^#Ii=Mb@Mb@Mb@9999 99=E?kt?{GzY=&?y= 0==#=QA=@ 9)=9A9Y=AbDUVDUyeC;%e>=ٔm9Q-m>9iYq=unGyuFu"Eu>yQ 55}Hl?Q 95})}BY '?Q E:y@Q I^@}DI}3;i} ;}5y~Bɮr*AEjgODNOT Ignoring new targets: 67.91 m.RZgO ProNav: ac range: 67.907341 m, nav range: 57.911003 m, bearing: 140.087926 deg, approach rate: -0.651852 m/s, LOS rate: -0.025095 deg/s, cmd heading: 138.829851 deg, new cmd heading: 138.808309 deg. B7gOHeadingCmd: 2.422662 target range: 67.907341 and range: 68.30 m. @*" :BʎjZ5(@颽KBɢa) \i)['ii  @ o; );I  @Ia9@ @@/@ԑBDAT read: Response Not Received *response not receivedTDAT read: user:650>Tx time:01:00:01.9200 "q,5 Y@A2 @2@2ٱ2" :AHRS rotation from veh to nav: [[-0.750908,-0.655364,-0.081461],[0.659675,-0.738539,-0.139243],[0.031092,-0.158296,0.986902]]2H`oڴ?`@֟?`CĿ?i2 @I2G^;2CYB*ByF#I DDJ=J=PbDRVDRyZ%ZW=ٔZ_Q-Z>9\Y\=^nGy\b₺Eb>dQ 5j5f[?Q 9j5f)dYhyj@Q In^@fDIf1:if(:f5ypɮr*Apj gO DNOT Ignoring new targets: 67.91 m.R0Z0E% E%E%#E!"E%>:*E%R:VE%3ZE!a-@a-@a-@a-@gO ProNav: ac range: 67.907341 m, nav range: 57.663330 m, bearing: 140.078456 deg, approach rate: -0.652188 m/s, LOS rate: -0.025046 deg/s, cmd heading: 138.808309 deg, new cmd heading: 138.789286 deg. BY7gOHeadingCmd: 2.422330 target range: 67.907341 and range: 68.30 m.t@*" ʎjZE)@=JBɢEPp)A E`~iA)E"(AAiMiMt@UDo;QIUt@IqDAT read: %2Acoustic response timeout 9@  @ @ /@ B `>B B #IB NBB  =B B kDB  c;B %E^AU ;) A .A 2Acoustic response timeoutI I! OU > )q,uY@A2 @2=@2)ٱ2# :AHRS rotation from veh to nav: [[-0.750346,-0.655995,-0.081557],[0.660306,-0.737948,-0.139386],[0.031252,-0.158441,0.986874]]2H`@ി:!?D@h`:?GĿ`x?i2 @I2hn^;2CY@yB#I|iEMb@Mb@Mb@AAAA A9Ew/?Q?y&1YE&?yE\=E`eEAE@ EA)EAAYEAbDeVDeNym%m?=ٔuxùQ-u>9} ?Y} ?=}nGy}F}dE>Q 55QI?Q 95c)BY0'?Q E:y @Q I^@DIG ;i ;5yvBɮa*AjgODNOT Ignoring new targets: 67.91 m.RZgO ProNav: ac range: 67.907341 m, nav range: 57.383766 m, bearing: 140.071577 deg, approach rate: -0.652737 m/s, LOS rate: -0.016139 deg/s, cmd heading: 138.789280 deg, new cmd heading: 138.775455 deg. BKgOHeadingCmd: 2.422089 target range: 67.907341 and range: 68.30 m.@*" *BʎjZp*@%HBɢ-jk)) -pi))-(11i5Ci=@=NFo;=:I=@IA9@ @@/@E5 E5E5$E1"E5a:*E5;J:VE54ZE1BE5(2/q,UY@A6 @62@6ڇٱ6a$ >AHRS rotation from veh to nav: [[-0.749943,-0.656330,-0.082569],[0.660767,-0.737365,-0.140282],[0.031188,-0.159762,0.986663]]6H `;#%?@?sĿདྷ?i6 @I6^;6CYJ+ByJ#IbDRVDRyZ<%ZW=ٔZ19Q-Z>9\Y\=^nGy\bӺEb>dQ 5j5f8?Q 9j5fR)dYhyj@Q In^@fDIf:if:f%"5yr\Bɮr)ArEPB*** querying acoustic contact *** j1gO=DNOT Ignoring new targets: 67.91 m.RE4ZE4agOm ProNav: ac range: 67.907341 m, nav range: 57.135788 m, bearing: 140.065581 deg, approach rate: -0.644493 m/s, LOS rate: -0.015650 deg/s, cmd heading: 138.775456 deg, new cmd heading: 138.763413 deg. Bm gOuHeadingCmd: 2.421878 target range: 67.907341 and range: 68.30 m.2Acoustic response timeout@*" ʎjZ v:+@}FBɢ}c)y }PRi))顁iNi@Bn;:I@I-9@) @)@)@)ԉE EE%E"E:*Ega:VE 4ZEa@a@a@a@Ա^Ai1 I1 5 2Acoustic response timeoutA I B B B #IB IBB  =B B B c;B %EI! O- >6q,FY@AJM @J@J-ٱJ$ RAHRS rotation from veh to nav: [[-0.749441,-0.656852,-0.082965],[0.661331,-0.736781,-0.140694],[0.031289,-0.160309,0.986571]]JH l .=)?F¿?Ŀ?iJM @IJ ^;JCYZ&ByZ#IIb=)bg?`bAbDfVDfynuϼ%nH=ٔr0Q-r>9pYt=vnGyvFvEv>xQ 5~5z['?Q 95z)xYy@Q I^@zDIz@;iz];z%5y TBɮ m)Aj1gO5DNOT Ignoring new targets: 67.91 m.R=Z=gOM ProNav: ac range: 67.907341 m, nav range: 56.868469 m, bearing: 140.059267 deg, approach rate: -0.661109 m/s, LOS rate: -0.015688 deg/s, cmd heading: 138.763407 deg, new cmd heading: 138.750720 deg. BMgOUHeadingCmd: 2.421657 target range: 67.907341 and range: 68.30 m.Um@Q*Y"Y YYYaaʎaaijiZm@,@颕DBɢ8n) (mi)S*顙iZ im@n;2Z:Im@I9@ @@M1@2Acoustic response timeout)^A0::YA% ؟AI) I9 OM >D zD @AbEjEɔ4rE١/E  E E &E "E :*E g:VE 4ZE BE #9}"?Y}"?=}nGyyE>Q 55?Q 95)YL ?Q E:y,@Q I^@DI ;iq ;l)5yɮ)AjgODNOT Ignoring new targets: 67.91 m.R=Z=gO ProNav: ac range: 67.907341 m, nav range: 56.603619 m, bearing: 140.052028 deg, approach rate: -0.625743 m/s, LOS rate: -0.017184 deg/s, cmd heading: 138.750717 deg, new cmd heading: 138.736170 deg. BgOHeadingCmd: 2.421403 target range: 67.907341 and range: 68.30 m.D@*" BʎjZ`,@-ABɢ5n)1 5yi1)=++99i=H iED@EQn;Exn:IED@IIԑI@I @I@M4@IԹ2Acoustic response timeout^Aq:A>A>A I I O- > ,Cq,P Y@A:F @:̪@:r;ٱ:M# FAHRS rotation from veh to nav: [[-0.748193,-0.658325,-0.082554],[0.662755,-0.735748,-0.139397],[0.031029,-0.159009,0.986789]]:H3@H"I5?> Ɵ?hZĿ@Ǔ?i:F @I:Z^;:CYLyLbDVVDVJy^7%bV=ٔbKB:Q-b>9`Yd=fnGyfFf>jEf>hQ 5n5j ?Q 9r5j)hYpyr@Q Ir^@jDIj;ij;j,5yvLBɮvL)AzEjgODNOT Ignoring new targets: 67.91 m.R֖Z֖gO- ProNav: ac range: 67.907341 m, nav range: 56.365250 m, bearing: 140.045779 deg, approach rate: -0.626147 m/s, LOS rate: -0.016484 deg/s, cmd heading: 138.736168 deg, new cmd heading: 138.723618 deg. B-WgO5HeadingCmd: 2.421184 target range: 67.907341 and range: 68.30 m.5@1*1"9EE EEEAEA"EE :*EEk:VEAZEAaM@aM@aM@aM@ 9QQQYʎYYajaZe#-@颍?Bɢn) ii)+顑i i@m; I@I2Acoustic response timeout 9@  @ @/@@@@@B_>BB#IBDBBBBBb;B%EA I! I1 OE >I  2Acoustic response timeout^ZIq,:'Y@AFE @F˙@FMٱFFJ$ NAHRS rotation from veh to nav: [[-0.747511,-0.659000,-0.083339],[0.663536,-0.734998,-0.139634],[0.030765,-0.159677,0.986690]]FH U;? 〟?GpĿ?iFE @IF^;FCYV*ByV#I ttz=z=imMb@Mb@Mb@iiii i9mZd;?:v?:vYm?ymT=imAm@ m1A)m9AiYmAbDVDyL=%==ٔ$ :Q->9Y=nGy@E>Q 55?Q 95n)Y?Q E:y@Q I^@DIq ;i:05yɮ )AjgODNOT Ignoring new targets: 67.91 m.RZgO ProNav: ac range: 67.907341 m, nav range: 56.095997 m, bearing: 140.031885 deg, approach rate: -0.622410 m/s, LOS rate: -0.032272 deg/s, cmd heading: 138.723615 deg, new cmd heading: 138.695693 deg. B>lgO HeadingCmd: 2.420696 target range: 67.907341 and range: 68.30 m. @*"  Bʎ!j!Z%` ~.@=Bɢ:T)  i)+g,i i@Fm;AI@IiEM EMEM%EI"EM:*EM&p:VEM 4ZEIBEM5 >Pq,JAY@AB& @B@BٱBPO$P VAHRS rotation from veh to nav: [[-0.747221,-0.659330,-0.083342],[0.663859,-0.734699,-0.139674],[0.030860,-0.159695,0.986684]]BH;`:UU>? ?pĿ ?iB& @IB^;BCYb'Byb#IbDvVDv0y ]%U=ٔ /Q- >9 Y=nGyFE%>)Q 555-㨊?Q 9E5-))YAyE@Q IE^@-DI-Ni;i-[;-35yMDBɮM(AUEeBDAT read: Rx Time:01:00:04.4015 eTRx dataTimestamp_ set to:1761699605.061302m2Acoustic response timeoutPB*** querying acoustic contact *** j gO DNOT Ignoring new targets: 67.91 m.R8 Z8 gOe ProNav: ac range: 67.907341 m, nav range: 55.855549 m, bearing: 140.019472 deg, approach rate: -0.591102 m/s, LOS rate: -0.030648 deg/s, cmd heading: 138.695693 deg, new cmd heading: 138.670759 deg. BeZ`gOmHeadingCmd: 2.420261 target range: 67.907341 and range: 68.30 m.m@i*i"i iiiʎjZ~T/@:Bɢ V) i),ib i@nl;I@Ie9@a @a@a@aE] EYE](EY"E]:*EYVE]c44ZEYam@am@am@am@AIIO> 2Acoustic response timeout! B <A p<B `>B B B B  =B B B b;B %EBmڍCBmڍCBiBm =Bm =Cmt5hVq,ZY@A6Ĉ @6J~@6gcٱ6'$ >AHRS rotation from veh to nav: [[-0.746398,-0.660235,-0.083545],[0.664792,-0.733918,-0.139341],[0.030682,-0.159544,0.986714]]6H`~ 9\Y\=^nGy\bOEb>dQ 5j5fiӨ?Q 9j5f)fBYhyj@Q In^@f DIf:if:fS75ypɮr(Ap|j gODNOT Ignoring new targets: 67.91 m.RZgO- ProNav: ac range: 67.907341 m, nav range: 55.611622 m, bearing: 140.007081 deg, approach rate: -0.655889 m/s, LOS rate: -0.033463 deg/s, cmd heading: 138.670763 deg, new cmd heading: 138.645873 deg. B-tgO5HeadingCmd: 2.419827 target range: 67.907341 and range: 68.30 m.5r@1*1"1 11199ʎAAAjAZE`d0@m8BɢuT F)q uiq)u'-yyi}v ir@J0l;ϛIr@I9@ @@0@A5DAT read: 01:00:04.4015 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 341,-0.23, 2.402, 0.652, 2.573, 2.205, PHS= 0.299,-1.507, 0.324, RAW= 150.7, 9.8, CAL= 150.3, 10.6, ROT= 359.7, -10.6 eYgot valid direction response: 01:00:04.4015 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 341,-0.23, 2.402, 0.652, 2.573, 2.205, PHS= 0.299,-1.507, 0.324, RAW= 150.7, 9.8, CAL= 150.3, 10.6, ROT= 359.7, -10.6 }PDAT read: Bearing 303.8, -0.4 (Local) II O-N>E~Local bearing/azimuth received: Bearing 303.8, -0.4 (Local) DAT read: Range 11 to 50 : 58.0 m (Round-trip 77.4 ms) speed 0.4 m/s TDAT read: user:651>Tx time:01:00:05.4700 R#Rx 1: Read range and direction messages. ^direction in FSK: [0.982922,-0.005147,0.183951] Fpublishing direction and range infoy@t??,u =η?YhB )FI>i`YT>%/>'@ q=>)@Iq=]$m?<?!?  ?) G.Iiq=2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.Em  Em Em %Ei "Em :*Em L_:VEm 4ZEi BEm +)%<)-AYiMb@Mb@Mb@ 9l?A`"?MbPY?yY=A A)/@Y AbDVDN2ٔՔ:Q->9Y=nGyF ME >Q 55?Q 95)BY(?Q E%:y% @Q I%^@DI:i:9;5y-;Bɮ-n(A-EOdY@AJfBRfBj@zsS9WL@JҿW͈07%@r@t??,u =η?Zbq=m[xEcL?B@@ݫ#t(@z#}y e@?9#?2B:+"?*֗BB?(“B`B@gO} addTargetRange:: Added new target pos. range: 58.000000 m, deltaT: 16.131048 s, deltaX: -10.300003 m, approachRate: -0.638520 m/s, rangeRepo size: 4 gO Added new target pos. range: 57.666267 m, bearing: 139.637166 deg, lat: 36.779275 deg, lon: -121.859532 deg, deltaT: 16.131048 s, deltaX: -10.241074 m, approachRate: -0.634867 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 57.67 m.bgOPowering the camera and arming the capture device at range: 58.00 m.2RZgO ProNav: ac range: 57.666267 m, nav range: 56.206711 m, bearing: 139.689705 deg, approach rate: 0.000000 m/s, LOS rate: -0.033463 deg/s, cmd heading: 138.645873 deg, new cmd heading: 138.615794 deg. BgOHeadingCmd: 2.419302 target range: 57.666267 and range: 58.00 m.@*" 2BʎjM@Z S>?5BɢzK=) @ri)`_-ii@bk;qI@I  &Changing to mode: 2ԉ]9@Y @Y@e0@a}2Acoustic response timeoutԱ^A ; IY Ii O} >cq,Y@A2f @2[@2~ٱ2Z! :AHRS rotation from veh to nav: [[-0.745005,-0.661934,-0.082532],[0.666384,-0.732968,-0.136714],[0.030002,-0.156851,0.987166]]2H``.@ S?xtḞ?`Ŀ ޖ?i2f @I2]];0YB(ByB#IbDjVDjNyr>i%r<ٔr9Q-v>9tYt=vnGytE~ E~E|E|"E~ :*E~P:VE|ZE|a@a @a @a @z~E >Q 55g?Q 95 )BY!y%@Q I%^@DI:i:>5y-"Bɮ-'A-EjQgOUDNOT Ignoring new targets: 57.67 m.bQgO]Powering the camera and arming the capture device at range: 58.00 m.2YRe3.Ze3.gOu ProNav: ac range: 57.666267 m, nav range: 55.983353 m, bearing: 139.675579 deg, approach rate: -0.599632 m/s, LOS rate: -0.038074 deg/s, cmd heading: 138.615793 deg, new cmd heading: 138.587429 deg. Bu\gO}HeadingCmd: 2.418807 target range: 57.666267 and range: 58.00 m.}@y*y"y y2yʎԑjZ#?颽3BɢހG) i)-i.i@1j;`I@I2Acoustic response timeout,8@ @@4@B5b>B1B1B1B5 =B1B5lDB5?c;B5%E^AeqIIO$> e 2Acoustic response timeout9 iq,Y¨Y@AVA @V7@V?ٱV fAHRS rotation from veh to nav: [[-0.743513,-0.663709,-0.081722],[0.668042,-0.731687,-0.135474],[0.030121,-0.155320,0.987405]]VH@=`봿``?`i8W מ?@ÿҘ?iVA @IV`;VCYrEByr#IimMb@Mb@Mb@iiii i9m`"?I +?Ym?ym94=mmAm@ m1A)mE@iYmAbDVD0y>%@=ٔQ->9Y=nGyFE>Q 5-5?Q 9-5)BY59?Q E5:y5@Q I5^@%DIԙ ݞpq,RY@AJ& @JU@J$'ٱJx VAHRS rotation from veh to nav: [[-0.742425,-0.664961,-0.081441],[0.669256,-0.730725,-0.134676],[0.030043,-0.154492,0.987537]]JH@ \G@Qٴj?b= Þ? cÿ?iJ& @IJ.`;JCY^OBy^#I ``b=b=bDjVDj:22Acoustic response timeouty=O=%=P=ٔ=_N9Q-E>9AYA=EnGyAMEM>QQ 5]5U ?Q 9]5U:)UBYYye@Q Ie^@U,DIU;iU ;UE5yiɮm[&AiPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 57.67 m.bgOPowering the camera and arming the capture device at range: 58.00 m.2RoZogO ProNav: ac range: 57.666267 m, nav range: 55.499123 m, bearing: 139.653468 deg, approach rate: -0.617697 m/s, LOS rate: -0.027915 deg/s, cmd heading: 138.564102 deg, new cmd heading: 138.543020 deg. BYLgOHeadingCmd: 2.418032 target range: 57.666267 and range: 58.00 m. @*" 2ʎjZ%?.Bɢr) =i)A,ihi  @ nh; s`I @Ip3@ @@/@E5 E5E5)E1"E5,:*E5]t:VE5FA4ZE1a=@a=@a=@a=@^AyI9IIO]>2Acoustic response timeout! A% @AA% AAB- c>B) B- #IB- NBB) B) B) B- c;B- &Evq,biY@A: @:@:zٱ:2 BAHRS rotation from veh to nav: [[-0.741615,-0.665983,-0.080462],[0.670151,-0.730141,-0.133385],[0.030083,-0.152842,0.987793]]:HOO)q?Q]"Ξ?@Qÿ?i: @I:і_;:CYJYByJ$IbDVVDVN2y^,W=%^S=ٔb׸Q-b>9`Y`=fnGyfFfwLEf>hQ 5n5j҂?Q 9n5j)jBYpyr@Q Ir^@j3DIj<;ijz;jI5yvBɮv%AvEjgODNOT Ignoring new targets: 57.67 m.bgO%Powering the camera and arming the capture device at range: 58.00 m.2!R%CZ%CgO5 ProNav: ac range: 57.666267 m, nav range: 55.269165 m, bearing: 139.643317 deg, approach rate: -0.594782 m/s, LOS rate: -0.026366 deg/s, cmd heading: 138.543024 deg, new cmd heading: 138.522637 deg. B5AgO=HeadingCmd: 2.417676 target range: 57.666267 and range: 58.00 m.E5@A*A"A A2AAIIIʎIQQjQZU!?颅+Bɢs3) =i)+顉ii5@g;SI5@IQ]0@Y @Y@]/@Y52Acoustic response timeoutԁ^A+I!I1OE>ԩ E5  E5 E5 &E1 "E5 m:*E5 ga:VE5 4ZE1 BE1 aE 2E1 aE JE5 ;aE :E5 ;aM C 2Acoustic response timeoutE EGS|q,IMY@A\A 696\AY:A@ynq?nA- @-K@-kiٱ-̛ ]AHRS rotation from veh to nav: [[-0.741272,-0.666501,-0.079322],[0.670520,-0.729988,-0.132368],[0.030319,-0.151308,0.988022]]-H@SvNt?`\ n ?@ ^ÿߝ?i- @I-^;-CYmdBym$IiMb@Mb@Mb@ 9$C?ˡE?Mbp?Y?y'=;A A)/@YAbD VD 02y@=%6=ٔ% Q-%>9!Y!=%nGy!-גE->1Q 5=55p?Q 9=55)5BYEx?Q EE:yE^@Q IE^@5AE ?Aq Iy I O >q,Y@A2 @2R@2cٱ2 :AHRS rotation from veh to nav: [[-0.740779,-0.667093,-0.078947],[0.671059,-0.729565,-0.131968],[0.030438,-0.150737,0.988105]]2Hv`X`5 Py?XV@+?@\Kÿ?i2 @I2= ^;2CYFlByF$IIJ>EN ENEN$EL"EN :*EN H:VEN4ZELaR@aR@aR@aV@T)J=XXbD^ VD^2yf1=%f]=ٔjAQ-j>9hYl=nnGynFnXEn>pQ 5v5rb?Q 9v5ru)rBYxyzR@Q Iz^@rCDIrY;ir;r.P5y~ Bɮ~$AEj!gO-DNOT Ignoring new targets: 57.67 m.b)gO-Powering the camera and arming the capture device at range: 58.00 m.2)R5ԹZ5ԹgOE ProNav: ac range: 57.666267 m, nav range: 54.775063 m, bearing: 139.624213 deg, approach rate: -0.603018 m/s, LOS rate: -0.023272 deg/s, cmd heading: 138.501469 deg, new cmd heading: 138.484257 deg. BE\*gOMHeadingCmd: 2.417006 target range: 57.666267 and range: 58.00 m.M;@I*I"I I2ʎjZj @%'Bɢ-@$U2Acoustic response timeout)Q U^ >iQ)]c'YYi]ie;@ee;eIe;@IiBd>BۍCB $IB^BBBBBc;B:&E%+@! @!@%0@!^A BDAT read: Rx Time:01:00:07.9485  TRx dataTimestamp_ set to:1761699608.589517 2Acoustic response timeout AY Ii Iy O >%q,*Y@A^ @^@^#hٱ^UG fAHRS rotation from veh to nav: [[-0.740834,-0.667233,-0.077240],[0.671004,-0.729979,-0.129942],[0.030318,-0.148094,0.988508]]^H Yųx? [ ?¿`ܡ?i^ @I^];^CYrnByr$IximMb@Mb@Mb@iiii i9mX9v?ˡE?~jtx?Ym?yim;mAm@ mA)m@iYmAbDVDNy;%9=ٔ{9Q->9Y=nGy89E> Q 55 P?Q 95 ) BYN?Q E:y@@Q I^@ LDI 2:i :  T5y!ɮ%$A)jQgO]DNOT Ignoring new targets: 57.67 m.bYgO]Powering the camera and arming the capture device at range: 58.00 m.2aRedչZmdչgO ProNav: ac range: 57.666267 m, nav range: 54.502438 m, bearing: 139.613950 deg, approach rate: -0.616361 m/s, LOS rate: -0.023320 deg/s, cmd heading: 138.484257 deg, new cmd heading: 138.463628 deg. B*gOHeadingCmd: 2.416646 target range: 57.666267 and range: 58.00 m.U@*" 2BʎjZ`Z{ @$Bɢ) >i)%iiU@c;IU@ID=D=bE5-4jE54rE5/E EE%E"E:*E1]:VE 4ZEBE#F q,jiDY@Aj2Acoustic response timeoutY @@ٱ^ AHRS rotation from veh to nav: [[-0.741241,-0.666906,-0.076151],[0.670545,-0.730536,-0.129173],[0.030516,-0.146811,0.988694]]H`>JW@~u?`@`x??@¿ a?i @I];CYuBy'$IbD-VD-kyE=%UE=ٔUQ-U>9YYY=enGyeFm:Em> Q 55 3>?Q 95 ) BYyJ@Q I^@ UDI :i : W5y%Bɮeh$AiPB*** querying acoustic contact ***A AjIgOUDNOT Ignoring new targets: 57.67 m.bQgOUPowering the camera and arming the capture device at range: 58.00 m.2QR]̹Z]̹gO} ProNav: ac range: 57.666267 m, nav range: 54.232586 m, bearing: 139.603514 deg, approach rate: -0.575607 m/s, LOS rate: -0.022371 deg/s, cmd heading: 138.463630 deg, new cmd heading: 138.442654 deg. B}#ԁgOHeadingCmd: 2.416280 target range: 57.666267 and range: 58.00 m.U@*" 2ʎjZ8 @"Bɢ,':) F'>i)/#iquiU@b;xIU@I]`&@Y @Y@]4@Y@eYA@eZAE EE#E"E:*E:VE3ZEa@a@a@a@ԩDAT read: 01:00:07.9485 LVL= 30400, 32753, 31138, 32755, AGC= 64, IDX= 406, 0.30, 0.605,-1.058, 0.823, 0.414, PHS= 0.293,-1.428, 0.365, RAW= 152.0, 8.8, CAL= 151.6, 9.5, ROT= 358.4, -9.5 Ygot valid direction response: 01:00:07.9485 LVL= 30400, 32753, 31138, 32755, AGC= 64, IDX= 406, 0.30, 0.605,-1.058, 0.823, 0.414, PHS= 0.293,-1.428, 0.365, RAW= 152.0, 8.8, CAL= 151.6, 9.5, ROT= 358.4, -9.5 PDAT read: Bearing 302.8, -1.4 (Local) ~Local bearing/azimuth received: Bearing 302.8, -1.4 (Local) DAT read: Range 11 to 50 : 55.8 m (Round-trip 74.4 ms) speed 0.5 m/s TDAT read: user:652>Tx time:01:00:09.0200 R#Rx 1: Read range and direction messages.^direction in FSK: [0.985901,-0.027539,0.165048]Fpublishing direction and range infoyimzb?X>3G ?Ym3_Bimvimy i)m@Im>imȶmH>m)@mnF>mV)@ m)>)m+@Im)iims?lx?P>? mc?)m,PImim)ii2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.B <A <B B B )$IB wBB B B B d;B V&E ^A A YAzA ZAA) I1 IA OU >嵗q,W`Y@A:! @:@:?iٱ:, NAHRS rotation from veh to nav: [[-0.742176,-0.665947,-0.075431],[0.669508,-0.731561,-0.128757],[0.030563,-0.146062,0.988803]]:HoOoOl?h{`K?@'¿F?i:! @I:ɉ];:C\YbByb7$IbDrVDr2y]3=%eI=ٔejQ-e>9iYi=mnGyiuXb;Eu>yQ 55}u.?Q 95})}BYya@Q I^@}\DI}-:i}:}6[5yBɮ"AEx VY@AJ]BR]BjO@E_CYK@ ar 7DP"@rzb?X>3G ?Zb)BEX"DPGB@%@zpt9VM;?bB?2<B:!"HG"횊?*7#BhBf#͚?G“BVB@gO% addTargetRange:: Added new target pos. range: 55.799999 m, deltaT: 3.777021 s, deltaX: -2.200001 m, approachRate: -0.582470 m/s, rangeRepo size: 4 gOu Added new target pos. range: 55.479572 m, bearing: 137.764136 deg, lat: 36.779279 deg, lon: -121.859532 deg, deltaT: 3.777021 s, deltaX: -2.186695 m, approachRate: -0.578947 m/s, posRepo size: 4 jygO}DNOT Ignoring new targets: 55.48 m.bygO}Powering the camera and arming the capture device at range: 55.80 m.2RZgO ProNav: ac range: 55.479572 m, nav range: 53.643406 m, bearing: 139.265640 deg, approach rate: 0.000000 m/s, LOS rate: -0.022371 deg/s, cmd heading: 138.442648 deg, new cmd heading: 138.426324 deg. BgOHeadingCmd: 2.415995 target range: 55.479572 and range: 55.80 m.@*" 2DAT read: 2Acoustic response timeoutaaiʎiiijm`fK@Zu c|?% Bɢ%o;)%iD %RE>i))- ))i-Bi@a;GI@I9U#@Q @Q@Uk4@YDzDE EE%E"E:*E1]:VE 4ZEBE>AHRS rotation from veh to nav: [[-0.743535,-0.664471,-0.075057],[0.667998,-0.732936,-0.128777],[0.030557,-0.145889,0.988829]]2H XC6=`?5t{BJ? {¿|?i2OB @I2S];0ԩ-BPC1B failed to parse battery data due to unrecognized msg size.YBy9$Ii}Mb@Mb@Mb@yyyy y9}$C?l?9 ?Y ?=nGyF{;E>Q 55T?Q 95)BYk?Q E:y?@Q I^@fDIi ;i:_5yɮ"AjgODNOT Ignoring new targets: 55.48 m.bgOPowering the camera and arming the capture device at range: 55.80 m.2R 5Z 5gO ProNav: ac range: 55.479572 m, nav range: 53.324005 m, bearing: 139.251233 deg, approach rate: -0.617568 m/s, LOS rate: -0.028022 deg/s, cmd heading: 138.426324 deg, new cmd heading: 138.397339 deg. B!MgO%HeadingCmd: 2.415489 target range: 55.479572 and range: 55.80 m.%`@!*!"! )2)))15-Bʎ111j9Z='?E2Acoustic response timeout颍Bɢ|8;) N>i)@顑ii`@`;A遺I`@I]?i]?> @ @@*4@ EE  EE EE "EA "EE :*EE R:VEE (3ZEA aM @aM @aM @aM @ 2Acoustic response timeout^A 0:D) B b>B ڍCB B$IB BB B B B d;B \&EBBBB =B =C4A]؟AIiIyO>q,Y@ABGc @BX@BcٱB NAHRS rotation from veh to nav: [[-0.744883,-0.662967,-0.074993],[0.666506,-0.734291,-0.128789],[0.030316,-0.145916,0.988832]]BH72`T?P@&|8 ?`\¿?iBGc @IB D];BChY5By5J$IbDE VDE2y=%I=ٔ:Q->9"?Y"?=nGyF;E>Q 55 ?Q 95)BYy`@Q I^@nDI;i;hc5yڙBɮ?"AEjgODNOT Ignoring new targets: 55.48 m.bgOPowering the camera and arming the capture device at range: 55.80 m.2R7Z7gO ProNav: ac range: 55.479572 m, nav range: 53.078495 m, bearing: 139.239507 deg, approach rate: -0.602262 m/s, LOS rate: -0.028898 deg/s, cmd heading: 138.397336 deg, new cmd heading: 138.373776 deg. BSgO HeadingCmd: 2.415078 target range: 55.479572 and range: 55.80 m. @ *" 2ʎ!j1Z=:?额Bɢ ;) Nm>i)Kc顩i_ i@U`;:I@I@ @@/@@=@=-2Acoustic response timeout1^AE "AM ?AM ?Y E  E E (E "E :*E 1]:VE c44ZE BE 1tѬq,iõY@A2 @2}@2Tٱ2 = :AHRS rotation from veh to nav: [[-0.746362,-0.661367,-0.074418],[0.664863,-0.735882,-0.128198],[0.030024,-0.145160,0.988953]]2H2 )  F?@Y@h{?¿?i2 @I2Z];2CiPIRAR2Acoustic response timeout9YEByEP$IiMb@Mb@Mb@ 9\(\?9Y=nGy (;E >Q 5=5R?Q 9E5h)BYE)?Q EE:yEX@Q IE^@vDI;iB;g5yIɮM"AQjgODNOT Ignoring new targets: 55.48 m.bgOPowering the camera and arming the capture device at range: 55.80 m.2RyZygO- ProNav: ac range: 55.479572 m, nav range: 52.825901 m, bearing: 139.227456 deg, approach rate: -0.573284 m/s, LOS rate: -0.027482 deg/s, cmd heading: 138.373772 deg, new cmd heading: 138.349555 deg. B--IgO5HeadingCmd: 2.414655 target range: 55.479572 and range: 55.80 m.5@1*9"9 92999AE+BʎAAIjIZM`&?uBɢ}D;)y }y>iy)}yi.}"i@`;L;I@Iiԑ仍]2Acoustic response timeoutM R@I  @I @M /@I ^A ?B: E5 E5E5%E1"E5>:*E5x:VE5 4ZE1a=@a=@a=@a=@AaIiIyO?Tq,K\Y@A6 @6@6Jٱ6?>2Acoustic response timeout FAHRS rotation from veh to nav: [[-0.749289,-0.658332,-0.071869],[0.661585,-0.739286,-0.125543],[0.029517,-0.141616,0.989482]]6H@- f+?<9?u ¿@թ?i6 @I6];6CYNByNT$IbDVVDV3y^TS<%b.=ٔb:Q-b>9`Yd=fnGyfFf<Ef>hQ 5n5j~姊?Q 9r5j|)jBYpyr@Q Ir^@jDIj:ij:j$k5yvәBɮv!AzEP B*** querying acoustic contact ***  jgODNOT Ignoring new targets: 55.48 m.bgO%Powering the camera and arming the capture device at range: 55.80 m.2!R%Z%AqAu@AB}d>B}ۍCB}[$IB}BB} =ByByB}c;B}H&EԑgO ProNav: ac range: 55.479572 m, nav range: 52.542725 m, bearing: 139.212449 deg, approach rate: -0.636143 m/s, LOS rate: -0.033895 deg/s, cmd heading: 138.349552 deg, new cmd heading: 138.319376 deg. BxgOHeadingCmd: 2.414129 target range: 55.479572 and range: 55.80 m.@*" 2ʎjZ@L@5Bɢ5(;)9 =ہ>i9)=p99i=r$iE@E_a;E};Im@IiE2@ @@/@-2Acoustic response timeout^A 2;) A1 IY I O >Dyq,Y@AZ @Z@Z=ٱZ fAHRS rotation from veh to nav: [[-0.751899,-0.655546,-0.070047],[0.658637,-0.742229,-0.123666],[0.029078,-0.139120,0.989849]]ZH< ?W`Ɲ? ֬?iZ @IZ>_;ZCYnByrY$IieMb@Mb@Mb@aaaa a9e+?l?~jthYev?ye=eDaa eA)e@aYeAbD}VD}NyD<%?=ٔP:Q->9Y=nGya<E>Q 55ӧ?Q 95x)BY?Q E:y@Q I^@DI:i:E EE'E"E:*EP:VE'4ZEBEi)si'ix@Ra;)33? (kpHeading = 0.700000I: (kiHeading = 0.001000}#9hYl=nnGynFn<En>pQ 5v5r?Q 9v5rs)rBYxyz @Q Iz^@rDIr;irz;rDs5y~˙Bɮ~Q!AEj!gO%DNOT Ignoring new targets: 55.48 m.b!R-9Z-9gO= ProNav: ac range: 55.479572 m, nav range: 51.967060 m, bearing: 139.178558 deg, approach rate: -0.656166 m/s, LOS rate: -0.040547 deg/s, cmd heading: 138.289529 deg, new cmd heading: 138.251210 deg. B=igOEHeadingCmd: 2.412939 target range: 55.479572 and range: 55.80 m.Em@A*A"A AIIE] E]E]#EY"E],:*E]c:VE]3ZEYae@ae@ae@ae@IaʎiiijiZua@额Bɢ"z<) >i)2 顡iF)im@a;^BBm$IBBB =BBBVc;B&E^AE<9AqIyIO\>q 2Acoustic response timeoutԙ 4eq,+Y@AU @U)@U߼ٱU1 AHRS rotation from veh to nav: [[-0.757081,-0.649641,-0.069243],[0.652749,-0.747722,-0.121781],[0.027339,-0.137396,0.990139]]UH@: 蹱Q?`W -@?`37?iU @IU!I_;UCYByR$IiiMb@Mb@Mb@ 9`"?Mb?9Y=%nGy!%;E%>)Q 555-?Q 955-o))Y=M?Q E=:y=g @Q I=^@-DI-*:i-:-sw5yEBɮM AMEjigOuDNOT Ignoring new targets: 55.48 m.bqRuiZ}igO ProNav: ac range: 55.479572 m, nav range: 51.683037 m, bearing: 139.154207 deg, approach rate: -0.592844 m/s, LOS rate: -0.051107 deg/s, cmd heading: 138.251211 deg, new cmd heading: 138.202242 deg. BgOHeadingCmd: 2.412084 target range: 55.479572 and range: 55.80 m._@*" BʎjZ@& @BɢZ <) >i)iƃ+i_@Ib; Tx time:01:00:12.5700 R#Rx 1: Read range and direction messages.u^direction in FSK: [0.975519,-0.066504,0.209619]uFpublishing direction and range infoys7?RĴk9h?YVB )DIJ>iſ>,@ D>o+@ @X>)>@I@X ? pʋ?'r{? M?)(EI)gi@X2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.^A h%<A ?A ?A .AI I O >4Iq,dEY@A2i @2@2F׼ٱ28 :AHRS rotation from veh to nav: [[-0.758922,-0.647579,-0.068401],[0.650648,-0.749856,-0.119888],[0.026346,-0.135491,0.990428]]2HI࿂`?` \?`W?i2i @I2^;2CY~By~W$IbDVDfy-<%-p=ٔ-i?;Q-5?95 ?Y5 ?=5nGeDAT read: e2Acoustic response timeouty5Fm<Em?qQ 55u?Q 95uk)qYy @Q I^@uDIu;ium;uyz5yɮt A158Y@AJ5TBR5TBj5:@5`MlI@)])L U䢜L&@r5s7?RĴk9h?Z5)gb5@X5@$,By A@:a)@z5EntOZF? xu?25P B:5i"5'?*50;B5eB5HG"횊?5֗“5eB5MB5@gO= addTargetRange:: Added new target pos. range: 53.500000 m, deltaT: 3.532072 s, deltaX: -2.299999 m, approachRate: -0.651176 m/s, rangeRepo size: 4 gOM Added new target pos. range: 53.193012 m, bearing: 137.178529 deg, lat: 36.779283 deg, lon: -121.859530 deg, deltaT: 3.532072 s, deltaX: -2.286560 m, approachRate: -0.647371 m/s, posRepo size: 4 jIgOuDNOT Ignoring new targets: 53.19 m.bqR}ZygO ProNav: ac range: 53.193012 m, nav range: 51.276917 m, bearing: 138.748291 deg, approach rate: 0.000000 m/s, LOS rate: -0.051107 deg/s, cmd heading: 138.202239 deg, new cmd heading: 138.165142 deg. BgOHeadingCmd: 2.411437 target range: 53.193012 and range: 53.50 m.T@*" ʎjJ@Z@+?5Bɢ53><)1 5>i1)=~99i=d-iET@E b;E/@! @!@%1@!@-=@-=^Am<E EE$E"E :*ET:VE4ZEa@a@a@a@AM؟AIYIiOu> 2Acoustic response timeout) B <A <B B B t$IB BB B B B %c;B %EZrq,;_Y@A2 @2N@2pҼٱ2 :AHRS rotation from veh to nav: [[-0.760813,-0.645292,-0.069006],[0.648462,-0.751699,-0.120190],[0.025686,-0.136190,0.990350]]2HX:@d`4?@ @ľ`M?n?i2 @I2%<^;2C@YbBybN$IIj=)j=bDzVDzy % M=ٔk:Q->9"?Y"?=nGy%;E->1Q 5E55?Q 9E55?h)1YIyM @Q IM^@5DI5Zr;i5s;5}5yBɮEP5B*** querying acoustic contact ***1 1j9gOEDNOT Ignoring new targets: 53.19 m.bAREOZMOgO] ProNav: ac range: 53.193012 m, nav range: 51.042618 m, bearing: 138.724448 deg, approach rate: -0.578580 m/s, LOS rate: -0.059148 deg/s, cmd heading: 138.165137 deg, new cmd heading: 138.117233 deg. B]~غgOeHeadingCmd: 2.410600 target range: 53.193012 and range: 53.50 m.eGG@a*a"a aaiiiʎiqqjqZu@Y#?颥Bɢ.<) >i)g8顩i?/iGG@uc; i9 I9 = 2Acoustic response timeoutq,yY@A> @> @>׿˼ٱ>x FAHRS rotation from veh to nav: [[-0.762381,-0.643271,-0.070552],[0.646651,-0.753087,-0.121257],[0.024869,-0.138066,0.990111]]>Hle\?I Nw?%?i> @I>];>CYVByVZ$Ili5Mb@Mb@Mb@1111 195A`"?L7A`?y&1Y5?y5+=5`e5C A5@ 5fA)5@1Y1bDUVDU1ye57=%eE=ٔe;Q-e>9iYi=mnGymFm;Eu>yQ 55}h|?Q 95}d)}BY?Q E:y"@Q I^@}DI}":i}:}5yɮ( AjgODNOT Ignoring new targets: 53.19 m.bR˺Z˺gO ProNav: ac range: 53.193012 m, nav range: 50.795826 m, bearing: 138.690158 deg, approach rate: -0.637616 m/s, LOS rate: -0.089022 deg/s, cmd heading: 138.117230 deg, new cmd heading: 138.048318 deg. B"gOuHeadingCmd: 2.409398 target range: 53.193012 and range: 53.50 m.}3@y*y"y yyy BʎjZ`?BɢjB<) x>i) i:1i3@ =d; @ @@/@12Acoustic response timeout^A }<A ZAzA a A9 IA IY Oe >hq,RY@A:1@:|'@:n¼ٱ:a FAHRS rotation from veh to nav: [[-0.763542,-0.641706,-0.072226],[0.645322,-0.754128,-0.121862],[0.023732,-0.139656,0.989916]]:Hnۈc}@z? !Z2>M?<c?i:1@I:];:CYNByNU$IbDVVDVk1y^%^U=ٔbB;Q-b>9`Yd=fnGydf;Ef>hQ 5n5jWl?Q 9n5j*a)jBYpyr"@Q Ir^@jDIjf;ij;j5yvBɮv AxjgODNOT Ignoring new targets: 53.19 m.bR=úZ=úgO- ProNav: ac range: 53.193012 m, nav range: 50.567207 m, bearing: 138.657644 deg, approach rate: -0.597393 m/s, LOS rate: -0.085345 deg/s, cmd heading: 138.048314 deg, new cmd heading: 137.982991 deg. B-1gO5HeadingCmd: 2.408257 target range: 53.193012 and range: 53.50 m.5 @1*1"9IEE EEEE#EA"EE[:*EEVL:VEE3ZEAaU@aU@aU@aU@ 9YYaaʎaaajiZmr?颕 BɢS<) |>i)E顙i2i @Td;Q 2Acoustic response timeout q,FάY@AE/I@E>@EhٱEV AHRS rotation from veh to nav: [[-0.764473,-0.640455,-0.073478],[0.644253,-0.754987,-0.122196],[0.022786,-0.140754,0.989782]]ԡEHv`~@nϲ?`(;HHU? 7¿ L?iE/I@IE];ECYByG$I iMb@Mb@Mb@ 9d;O?㥛 ?y&1Y?y=- At@ 9A)@Y@bDVDyZ4%*=ٔ;Q->9 ?Y ?=nGyF%YA;E%>)Q 555-X?Q 955-])-BY5?Q E=:y=#@Q I=_@-DI-6;i-~ ;-5yAɮEd AAjigOmDNOT Ignoring new targets: 53.19 m.biRuغZuغgO ProNav: ac range: 53.193012 m, nav range: 50.288685 m, bearing: 138.612397 deg, approach rate: -0.579578 m/s, LOS rate: -0.094677 deg/s, cmd heading: 137.982990 deg, new cmd heading: 137.891993 deg. BE-gOHeadingCmd: 2.406669 target range: 53.193012 and range: 53.50 m.@*" ؄BʎjZ@? BɢTY<) ^>i)/i4i@f;fq,Y@A>Y@>N@>ٱ> FAHRS rotation from veh to nav: [[-0.765124,-0.639474,-0.075223],[0.643533,-0.755619,-0.122088],[0.021232,-0.141820,0.989665]]>H`{ v A`ӗ?. "A? +'¿@U?i>Y@I>y];>CYByV$IbDEVDEe2Acoustic response timeouty}ς=%}h=ٔĐ;Q->9"?Y"?=nGy4;E>Q 5}5I?Q 9}5#Z)BYy$@Q I_@DI:i:)5yBɮAEjgODNOT Ignoring new targets: 53.19 m.bRo˺Zo˺gO ProNav: ac range: 53.193012 m, nav range: 50.084454 m, bearing: 138.578673 deg, approach rate: -0.536358 m/s, LOS rate: -0.088928 deg/s, cmd heading: 137.891998 deg, new cmd heading: 137.824275 deg. B"gOHeadingCmd: 2.405487 target range: 53.193012 and range: 53.50 m.@*" ʎjZ@ Bɢs\<) O>i) i6i%@%ff;%b\Bu ڍCBu m$IBu BBq Bq Bq Bu c;Bu &EB5ۍCB5ۍCB1B1B1C5j4A I) I9 OE >ԁ Tq,DY@AZ`@Z(V@Z'ٱZ1 nAHRS rotation from veh to nav: [[-0.765446,-0.638844,-0.077262],[0.643203,-0.755911,-0.122021],[0.019549,-0.143096,0.989516]]ZH~iqxdz? l0<?P¿?iZ`@IZ[];ZC zC)zn`Az̽zEx~̐C~~`Ai~uILFICids@ )  C z`A 94 E `AI-)Fi)3CIb`AhE %C%uA!i!!Y!Y-By5O$IbDE VDE:2yUݼ%UM=ٔU6;Q-]>9YYY=]nGy]Fey:Ee>iQ 5u5m{9?Q 9u5mV)mBYqy}$@Q I}_@mDIm;im;m5yɮAPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 53.19 m.bRWZWgO ProNav: ac range: 53.193012 m, nav range: 49.853409 m, bearing: 138.540074 deg, approach rate: -0.623367 m/s, LOS rate: -0.104624 deg/s, cmd heading: 137.824270 deg, new cmd heading: 137.746714 deg. By?gOHeadingCmd: 2.404134 target range: 53.193012 and range: 53.50 m.T@*" ʎjZ@  Bɢ MrZ<) B>i)jܻiP8iT@g;%r@U4>}BDAT read: Rx Time:01:00:15.0428 }TRx dataTimestamp_ set to:1761699615.654708}2Acoustic response timeoutyԹ^A <Em  Em Ei Ei "Em D:*Em :VEi ZEi BEm 1  2Acoustic response timeoutq,_Y@A2`@2)V@2ٱ2 >AHRS rotation from veh to nav: [[-0.765472,-0.638601,-0.079002],[0.643224,-0.755998,-0.121370],[0.017782,-0.143721,0.989459]]2H~kou9I?`"1a5? se¿ऩ?i2`@I2|];2CYyN$II%Y>)%p9Y=nGy5E>Q 55n(?Q 95\S)BY?Q E:y$@Q I_@DI ;i* ;P5yBɮAEj!gO-DNOT Ignoring new targets: 53.19 m.b)R5Z5gOE ProNav: ac range: 53.193012 m, nav range: 49.615723 m, bearing: 138.497926 deg, approach rate: -0.566717 m/s, LOS rate: -0.100974 deg/s, cmd heading: 137.746720 deg, new cmd heading: 137.662021 deg. BE8gOMHeadingCmd: 2.402656 target range: 53.193012 and range: 53.50 m.M@I*I"I IIQQQʎYYYjYZ]2@Ա]Bɢ]F<)a e>ia)eQXԻiii :i@i;;9=I@I%?@! @)@54@1}2Acoustic response timeout ^AE 8<9 Au .AIy I O >r,Y@A2M[@2P@2ٱ28 :AHRS rotation from veh to nav: [[-0.765285,-0.638617,-0.080674],[0.643492,-0.755889,-0.120624],[0.016052,-0.144224,0.989415]]2H`6}o |?`>01᾿ o? u¿@I?i2M[@I2np];0Eb EbE`E`"Ebm:*EbVL:VE`ZE`aj@aj@aj@aj@YByI$IbD5VD5:2yE%EM=ٔE;Q-E>9M ?YM ?=MnGyMFUVEU>YQ 5e5]J?Q 9e5]P)]BYayez$@Q Ie_@]DI];i]:]Ȗ5yqɮuAqjgO=DNOT Ignoring new targets: 53.19 m.b9R=ߺZ=ߺgOM ProNav: ac range: 53.193012 m, nav range: 49.390640 m, bearing: 138.457727 deg, approach rate: -0.544673 m/s, LOS rate: -0.097720 deg/s, cmd heading: 137.662026 deg, new cmd heading: 137.581261 deg. BM2DAT read: 01:00:15.0428 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 412, 0.01, 1.680, 0.002, 1.979, 1.577, PHS= 0.205,-1.530, 0.358, RAW= 154.2, 10.7, CAL= 154.1, 11.7, ROT= 355.9, -11.7 Be>BۍCBBBBBBcc;B&EYgot valid direction response: 01:00:15.0428 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 412, 0.01, 1.680, 0.002, 1.979, 1.577, PHS= 0.205,-1.530, 0.358, RAW= 154.2, 10.7, CAL= 154.1, 11.7, ROT= 355.9, -11.7 PDAT read: Bearing 304.8, -4.8 (Local) ~Local bearing/azimuth received: Bearing 304.8, -4.8 (Local) DAT read: Range 11 to 50 : 51.5 m (Round-trip 68.7 ms) speed 0.5 m/s TDAT read: user:654>Tx time:01:00:16.1200 R#Rx 1: Read range and direction messages.^direction in FSK: [0.976717,-0.070012,0.202787]Fpublishing direction and range infoyy}{CA?*Q챿 ?Y}NByyyy y)}EI}Q>i} ÿ}K>}9>,@}t;?>}!,@ }Q>)}@I}Qyy}J?պ2?xgj? }?)}7>I}ii}Qyy%2Acoustic response timeout%Querying Benthos address 50 with one ping in standard two-way mode.gOUHeadingCmd: 2.401246 target range: 53.193012 and range: 53.50 m.U@i*i" ʎjI@Z`E?EBɢmvA<)i mB>ii)u ?̻qqiuϰ;i}@}Oj;}7=I}@I!)@) @)@54@1I ^A <A zA YA5 DAT read: = 2Acoustic response timeoutA= ؟AIA IY y O >$L r,b/Y@AV@K@Ҝcٱ5 AHRS rotation from veh to nav: [[-0.765104,-0.638352,-0.084390],[0.643756,-0.755501,-0.121639],[0.013892,-0.147393,0.988980]]H{am ? - #@^s?¿`?iV@I}];CYByN$Ii}Mb@Mb@Mb@yyyy y9}kt?/$?MbY} ?y}=y}- A}1@ y)}@yY}@bDVD0yR<%3=ٔ;Q->9"?Y"?=nGyF 5;0E5>9Q 5E5=?Q 9E5=]L)=BYE?Q EE:yEg%@Q IM_@=DI= ;i= ;=5yUoBɮUAU{Eim&Y@AJmLBRmLBjm@msI@Vݜ 2.i$@rm{CA?*Q챿 ?ZmibmQmFmBap@@RV&@zm"$?r$v?2mB:mh"m҂㚊?E EEE"E:*Ez:VEZEBE)i9)=ÉĻ99i=H.=i@qk; =I@IM2Acoustic response timeout9}7@y @y@}/@@@\Aa ^A r=ԑ A I  2Acoustic response timeoutI O > r,6JY@AY%By%V$I ))5=5=bD=VD=k1yM5<%MU=ٔUQ-U>9QYY=]nGyY]E]>aQ 5m5e?Q 9m5evI)eBYqyqQ Iu_@eDIe:ie:e!5yyɮ}AjgODNOT Ignoring new targets: 51.20 m.bR Z gO ProNav: ac range: 51.204494 m, nav range: 49.693001 m, bearing: 137.564404 deg, approach rate: -0.571243 m/s, LOS rate: -0.122218 deg/s, cmd heading: 137.490164 deg, new cmd heading: 137.402359 deg. B_gOHeadingCmd: 2.398124 target range: 51.204494 and range: 51.50 m.z@*" ʎjZs7? Bɢ ݇<)  H>i)i>iz@wl;% =I%z@I!Թ=@ @@@E EE"E"E:*Eą:VE(3ZEa@a@a@a@2Acoustic response timeoutBA<Bd>BBa$IBBBBBBb;B%E^A]9= A .AI I O >r,:YdY@A2K@2JA@2,ٱ2 >AHRS rotation from veh to nav: [[-0.764731,-0.638158,-0.089114],[0.644265,-0.755028,-0.121886],[0.010499,-0.150623,0.988536]]2H`xk0жН?0)3h? Gÿ@?i2K@I2s];2CYFByFE$IbDRVDRyV%ZW=ٔZ 9^ ?Y^ ?=^nGy^FbغEb>dQ 5f5f榊?Q 9j5frF)fBYhyjZ%@Q Ij_@fDIf:ifg:fu5yrcBɮrArzEP~B*** querying acoustic contact ***| |j gO DNOT Ignoring new targets: 51.20 m.b R Z gO% ProNav: ac range: 51.204494 m, nav range: 49.480003 m, bearing: 137.518827 deg, approach rate: -0.559511 m/s, LOS rate: -0.120238 deg/s, cmd heading: 137.402355 deg, new cmd heading: 137.310810 deg. B% \gO-HeadingCmd: 2.396526 target range: 51.204494 and range: 51.50 m.-`@)*)") )1111ʎ999jAZE`2?mBɢmk<)i m{>iq)u}qqiu?i`@m;EG=I`@I!2Acoustic response timeoutQ3@ @@/@ԁ^A =A?A? eo>eCcGE  E E (E "E m:*E ga:VE c44ZE BE S 2Acoustic response timeout:r,6~Y@A2r<@21@2fٱ2X# :AHRS rotation from veh to nav: [[-0.764143,-0.638679,-0.090413],[0.644993,-0.754721,-0.119921],[0.008355,-0.149952,0.988658]]2H@spG%ǣ? &(_?1ÿ?i2r<@I2 ~];2C@YFByFQ$IiMb@Mb@Mb@ 9Q?x&?{GztY\?y7=ף A@ 9A)@Yp@bDVDN2y;=%9=ٔ;Q->9"?Y"?=nGy E>Q 5 5Ԧ?Q 9 5B)BYc?Q E:y#@Q I_@DI ;i ;W5yɮSA!jAgOEDNOT Ignoring new targets: 51.20 m.bIRMZMgO] ProNav: ac range: 51.204494 m, nav range: 49.232384 m, bearing: 137.473267 deg, approach rate: -0.557259 m/s, LOS rate: -0.103048 deg/s, cmd heading: 137.310804 deg, new cmd heading: 137.219225 deg. Be<gOeHeadingCmd: 2.394927 target range: 51.204494 and range: 51.50 m.e}F@a*i"i iiiq}քBʎyyyjZlR?MBɢMk<)i mU>iq)uSqqiu/;Ai}}F@}n;}=I}}F@IԱ1@ @ @ 0@ @>@>%2Acoustic response timeout^A- G= AY Ia Iq O >E%  E% E% $E! "E% :*E% P:VE% 4ZE! a- @a- @a- @a- @%r,RY@A> @>D@>>»ٱ>ސ FAHRS rotation from veh to nav: [[-0.763065,-0.639548,-0.093330],[0.646295,-0.753708,-0.119276],[0.005939,-0.151333,0.988465]]>Hk-w`s䷿@r?@a ؈`Sx?^ÿ ?i> @I>x];>CYNByRJ$IIR=)R>bDZVDZN`yf %f[=ٔf;Q-f>9hYh=jnGyjFjEn>pQ 5v5rIƦ?Q 9v5r?)rBYtyv#@Q Iv_@rDIrM:ir:r5y~\Bɮ~TA~yEjgO%DNOT Ignoring new targets: 51.20 m.b!R-Z-gO= ProNav: ac range: 51.204494 m, nav range: 49.025917 m, bearing: 137.435348 deg, approach rate: -0.557184 m/s, LOS rate: -0.102760 deg/s, cmd heading: 137.219224 deg, new cmd heading: 137.143068 deg. B=<gOEHeadingCmd: 2.393598 target range: 51.204494 and range: 51.50 m.E0@A*A"A AAIIIʎIQQjQZU @iYIYe2Acoustic response timeoutBiBiBiBiBiBiBiBmb;Bm%EBɢ5D<)9 =>i9)=,D99i=vNBiE0@Ep;E=IM0@II?@ @@4@^A5 = 2Acoustic response timeoutA Aa Ii Iy O >+r,Y@A9e@e@e+ыٱex AHRS rotation from veh to nav: [[-0.762849,-0.639334,-0.096507],[0.646563,-0.753302,-0.120384],[0.004267,-0.154232,0.988025]]eHAi mu@? yѾ!zq?ÿ?ie@Ie];eCYByQ$Ii%Mb@Mb@Mb@!!!! !9%m?Zd;?Y%?y%y=%% A%G@ %\@)!!Y%f@bDEVDE:yU<%U5=ٔUr;Q-U>9YYY=]nGyYeHEe>aQ 5u5e?Q 9}5e <)eBY}q?Q E}:y}"@Q I}_@e DIeY<;ie;;e5yɮ!AjgODNOT Ignoring new targets: 51.20 m.bR޺Z޺gO ProNav: ac range: 51.204494 m, nav range: 48.776085 m, bearing: 137.391715 deg, approach rate: -0.552895 m/s, LOS rate: -0.097058 deg/s, cmd heading: 137.143068 deg, new cmd heading: 137.055355 deg. DM=DM=bEUž4jEU™4rEUa0EU EUEU%EQ"EU :*EUk:VEU 4ZEQBEUL"i1)5 훻11i5Ci}@}q;}t=I}@I@ @@1@ԑ ^Aq Ay zA} ZA= 2Acoustic response timeoutA I I O >P3r,RY@A2@2@2oٱ2h NAHRS rotation from veh to nav: [[-0.762439,-0.639485,-0.098721],[0.647056,-0.752937,-0.120016],[0.002418,-0.155382,0.987851]]2Hev`E?@Vc?`ÿz?i2@I2];2CYVByVW$IbDbVDbk2yf;<%jK=ٔn;Q-n>9lYl=nnGyrFr6кEr>tQ 5~5v㤦?Q 9~5v8)vBY|y~"@Q I~_@vDIv1;iv3;v 5y VBɮ A j)gO5DNOT Ignoring new targets: 51.20 m.b1R=ߺZ=ߺgOM ProNav: ac range: 51.204494 m, nav range: 48.552361 m, bearing: 137.352434 deg, approach rate: -0.554727 m/s, LOS rate: -0.097848 deg/s, cmd heading: 137.055355 deg, new cmd heading: 136.976430 deg. BM3gOUHeadingCmd: 2.390690 target range: 51.204494 and range: 51.50 m.U@Q*Q"Q QYYYYʎYaajaZe @颕Bɢ#Ǧ<) >i)1͔顙ilDi@nr;=I@I-4@) @)@-/@)QE EE$E"E:*ErN:VE4ZEa@a@a@a@AAAAB`>BڍCBBB =BBkDBb;B%EBDAT read: Rx Time:01:00:18.5900 TRx dataTimestamp_ set to:1761699619.433091%2Acoustic response timeoutq^AM#=A ԡ I I O >9r,Y@A2 @2v@2ӓٱ2[! :AHRS rotation from veh to nav: [[-0.762296,-0.639370,-0.100551],[0.647228,-0.752769,-0.120148],[0.001128,-0.156667,0.987651]]2Hdu୽?`¾ tzR? Ŀ՚?i2 @I2σ];2C@YFByF\$I HH LNp<bDRVDRβyZ<%ZM=ٔZ6T;Q-Z>9\Y\=^nGy\bEb>dQ 5j5fQ?Q 9j5fg5)fBYhyj"@Q Ij_@fDIf:if:f5ypɮrApP B*** querying acoustic contact ***  jgODNOT Ignoring new targets: 51.20 m.bRZgO- ProNav: ac range: 51.204494 m, nav range: 48.331528 m, bearing: 137.313365 deg, approach rate: -0.552918 m/s, LOS rate: -0.098267 deg/s, cmd heading: 136.976425 deg, new cmd heading: 136.897931 deg. B-3gO5HeadingCmd: 2.389320 target range: 51.204494 and range: 51.50 m.5@1*9}2Acoustic response timeout" ʎjZYH @Bɢ <)1 =ի>i9)=99i=9EiE@Es;E^=IE@IIԱ6@ @@@DzDE EE%E"E:*E:VE 4ZEBE.Tx time:01:00:19.6699  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.980141,-0.085751,0.178802] Fpublishing direction and range infoy) -  P]?#󵿖?Y- EB) ) ) ) ) )- FI- lg>i- ſ- >- -\-@- +>- "-@ - X8>)- D@I- X8) ) - %Wv?`?5?$x >? - y?)- *I- i- X8) )  2Acoustic response timeout e Querying Benthos address 50 with one ping in standard two-way mode.A .AI I O >,@r,:Y@AlYByJ$IiMb@Mb@Mb@ 9v?v/?{GzY?yxi=#@ E@)@Y@bDVDN2yo}%7=ٔQ->9  ?Y  ?= nGy F E >Q 55؂?Q 9%5Z1)BY%?Q E%:y%!@Q I%_@#DI\:i :o5y-PBɮ5A5xEY]Y@AJ]vDBR]vDBj]O@]kEH@WP=g!@r] P]?#󵿖?Z]b]X8]qAW@@筃"@z]6ۺwa*z? w?2]B:] "]!?*]q-B]YB]HG"횊?]0;“]B]@B]B@gO addTargetRange:: Added new target pos. range: 49.400002 m, deltaT: 3.527705 s, deltaX: -2.099998 m, approachRate: -0.595287 m/s, rangeRepo size: 4 gO  Added new target pos. range: 49.115932 m, bearing: 136.356729 deg, lat: 36.779283 deg, lon: -121.859516 deg, deltaT: 3.527705 s, deltaX: -2.088562 m, approachRate: -0.592046 m/s, posRepo size: 4 j)gO5DNOT Ignoring new targets: 49.12 m.b1R5Z9gOE ProNav: ac range: 49.115932 m, nav range: 48.144806 m, bearing: 136.970132 deg, approach rate: 0.000000 m/s, LOS rate: -0.098267 deg/s, cmd heading: 136.897932 deg, new cmd heading: 136.806441 deg. BAgOmHeadingCmd: 2.387723 target range: 49.115932 and range: 49.40 m.us@*" ՄBʎj@3H@Zj?Bɢ~<) >i)&iCFis@v{u;4=Is@I DAT read: 2Acoustic response timeout5@ @@/@1^A =A ?A >a E  E E E "E :*E M:VE ZE a @a @a @a @B ^>B B B B  =B B B c;B &EBBڍCBBB =CI5A5 ؟A= 2Acoustic response timeoutII IY Oe >Fr,%Y@A2 @2(@2;ٱ2i" :AHRS rotation from veh to nav: [[-0.761610,-0.639615,-0.104130],[0.648031,-0.752295,-0.118777],[-0.002365,-0.157941,0.987446]]2H_w;?-h@^ci7Ŀ'?i2 @I25];0YBByBH$IbDNVDNfyV%vb=ٔz)9z"?Yz"?=~nGy|~x:E~>)Q 555s?Q 955-)BY9y=!@Q I=_@*DI;i;5yE0BɮeAmnEjgODNOT Ignoring new targets: 49.12 m.bRZgO ProNav: ac range: 49.115932 m, nav range: 47.924530 m, bearing: 136.933718 deg, approach rate: -0.602678 m/s, LOS rate: -0.100087 deg/s, cmd heading: 136.806435 deg, new cmd heading: 136.733273 deg. B%+7gOeHeadingCmd: 2.386446 target range: 49.115932 and range: 49.40 m.e@a*a"i iiqyyʎjZ~? BɢS<) <>i)XtiGiE@EDv;EN=IE@IIQ6@ @@/@2Acoustic response timeoutԉ^A4=Ա A .AI I1 O] > Lr,T6Y@ANr @N@N}q;ٱN[" VAHRS rotation from veh to nav: [[-0.761441,-0.639634,-0.105240],[0.648223,-0.752252,-0.117998],[-0.003692,-0.158068,0.987421]]NH`]`w>?r` 5 =n;Ŀ?iNr @INd];NCY^By^P$IIbp<)bp;iMMb@Mb@Mb@IIII I9M(\?{Gz?MbpYMz?yM#=MM AI M/@)IIYM@bDeVDek2yuJ<%}?=ٔ}O;Q-}>9 ?Y ?=nGyFE>E EE&E"Es:*Exv:VE4ZEBEf0i)lb顱i^Hiv@9#x;W"=Iv@I!e2@a @a@e0@iI^A [= 2Acoustic response timeoutq A ؟AI I O >Sr,G!PY@A2f @2@2`);ٱ2$ :AHRS rotation from veh to nav: [[-0.761078,-0.639711,-0.107379],[0.648639,-0.751879,-0.118089],[-0.005193,-0.159525,0.987180]]2HZx`.}`?@d;%EuSkĿ?i2f @I2];2CYFByF\$IbDNVDNβyvE=%vT=ٔv;Q-v>9z"?Yz"?=znGyx~E~>Q 5 5S?Q 9 5&)BYy+ @Q I_@9DI:it:5yɮ%LA!jAgOMDNOT Ignoring new targets: 49.12 m.bIRMĺZMĺgO] ProNav: ac range: 49.115932 m, nav range: 47.459164 m, bearing: 136.869941 deg, approach rate: -0.622934 m/s, LOS rate: -0.085981 deg/s, cmd heading: 136.666594 deg, new cmd heading: 136.605093 deg. Be[gOeHeadingCmd: 2.384209 target range: 49.115932 and range: 49.40 m.m@i*i"i iiiqqʎqqyjyZ?颭Bɢ۾<) ^>i)bR顱i0Ii@Gy;#=I@IYm?@q @q@u4@qE EEE"E:*EV:VEZEa@a@a@a@BA<B_>BBBBBBBd;BX&E2Acoustic response timeout^AU=AYzA]XAA .AI I O > Zr,iY@A2] @2@2f];ٱ2 # :AHRS rotation from veh to nav: [[-0.760953,-0.639731,-0.108146],[0.648775,-0.751927,-0.117030],[-0.006450,-0.159217,0.987222]]2H Yxx?`kz9aĿS?i2] @I2]];2CYBByFf$IbDNVDNyV2=%VO=ٔVHP;Q-V>9Z ?YZ ?=ZnGyZFZ(E^>`Q 5f5bLD?Q 9f5b #)bBYdyf( @Q If_@b@DIb:ib=:b+5yn$BɮnAnmEPzB*** querying acoustic contact ***x xjgO DNOT Ignoring new targets: 49.12 m.b RZZZe2Acoustic response timeoutgO ProNav: ac range: 49.115932 m, nav range: 47.230988 m, bearing: 136.838342 deg, approach rate: -0.575968 m/s, LOS rate: -0.080149 deg/s, cmd heading: 136.605095 deg, new cmd heading: 136.541591 deg. BgOHeadingCmd: 2.383100 target range: 49.115932 and range: 49.40 m.@*" ʎ j1Z=?颅Bɢ <) >i)=顉iJi@z;&=I@I@ @@4@E EE)E"E>:*EVEFA4ZEBEQ `r,Y@AY~By~W$I iMb@Mb@Mb@ 9K?kt?{GztY^?y 0=ףZA )@Y@bDVD:y6c%8=ٔQ->9"?Y"?=nGyE>Q 5 52?Q 95)BY?Q E:yK @Q I_@IDI;iB;5y!ɮ%:A!jAgOMDNOT Ignoring new targets: 49.12 m.bIRU9źZU9źgOe ProNav: ac range: 49.115932 m, nav range: 46.963123 m, bearing: 136.800162 deg, approach rate: -0.601423 m/s, LOS rate: -0.086212 deg/s, cmd heading: 136.541588 deg, new cmd heading: 136.464793 deg. BegOmHeadingCmd: 2.381760 target range: 49.115932 and range: 49.40 m.mn@i*i"i iqqquBʎyyyjyZ}ؤ@颭Bɢ<) s>i)u*顱idJin@5|;V*=In@I)u2Acoustic response timeout0@ @@/@Y^A% "=ԉ E  E E 'E "E :*E ga:VE '4ZE a @a @a @a @Au .AI I B `>B B B B B B B [d;B }&EO > 2Acoustic response timeoutgr,Y@A0R @Rq@RP<ٱR$ ^AHRS rotation from veh to nav: [[-0.760484,-0.639851,-0.110700],[0.649294,-0.751656,-0.115896],[-0.009052,-0.160014,0.987073]]RHU@y`V`? X `U{Ŀ?iR @IRH~];RCYdyfX$IbDrVDryzPb;%z[=ٔ~U;Q- >9 ?Y ?=nGyF%E%>1Q 5E55"?Q 9E55A)5BYAyM? @Q IM_@5PDI5T;i5e;5Z5y]Bɮ]AelEjgODNOT Ignoring new targets: 49.12 m.bR<ºZ<ºgOe ProNav: ac range: 49.115932 m, nav range: 46.737232 m, bearing: 136.767821 deg, approach rate: -0.590202 m/s, LOS rate: -0.084907 deg/s, cmd heading: 136.464789 deg, new cmd heading: 136.399795 deg. BecgO}HeadingCmd: 2.380625 target range: 49.115932 and range: 49.40 m.}+\@y*y"y yyʎjZ@@Bɢ!<) P>i)fiPKi+\@ 2}; +=I +\@Iԙm1@i @i@u/@qԹ}2Acoustic response timeout^A"=A?A ? I I O > +GVAmr,Y@A@P`nw˿9lYnA- @-@-<ٱ-cu$ =AHRS rotation from veh to nav: [[-0.760248,-0.640054,-0.111152],[0.649561,-0.751506,-0.115366],[-0.009691,-0.159907,0.987085]]-HSQ{rt@4?V `؃ wĿ@2?i- @I- ];-CYMByM^$IE EE#E"E:*E:VE3ZEBEn%9Y=nGy?OE>Q 557?Q 95)~BQ A+:YQ E:y9 @Q I_@YDIU:iW>5yɮAiIBDAT read: Rx Time:01:00:22.1372 TRx dataTimestamp_ set to:1761699622.9614942Acoustic response timeoutjgODNOT Ignoring new targets: 49.12 m.bRȺZȺgO ProNav: ac range: 49.115932 m, nav range: 46.467052 m, bearing: 136.728843 deg, approach rate: -0.604982 m/s, LOS rate: -0.087786 deg/s, cmd heading: 136.399793 deg, new cmd heading: 136.321384 deg. B gOUHeadingCmd: 2.379257 target range: 49.115932 and range: 49.40 m.UE@Q*Q"Q QYYYYʎaaajaZmY@颕Bɢ׽<) p>i)[0顙i$iLiE@7;.=IE@I=4@A @A@A@A^A C"=9  2Acoustic response timeoutI1 IA OU >U*tr,xY@A @@O@<ٱ% AHRS rotation from veh to nav: [[-0.759298,-0.640736,-0.113684],[0.650637,-0.750659,-0.114817],[-0.011771,-0.161147,0.986860]]H@+Lf ? fd`ExĿ[?i @I];CYy]$II>)=AAAAbDVD:y=%=O=ٔ=O;Q-E>9AYA=EnGyEFMmEM>QQ 5]5U ?Q 9]5U<)UzBQ Ae :YaQ Eef:ye! @Q Ie_@U`DIU:iUY?U5ymBɮuAukEjgODNOT Ignoring new targets: 49.12 m.bR2ȺZ2ȺgO ProNav: ac range: 49.115932 m, nav range: 46.229366 m, bearing: 136.694608 deg, approach rate: -0.604467 m/s, LOS rate: -0.087512 deg/s, cmd heading: 136.321382 deg, new cmd heading: 136.252560 deg. B( gOHeadingCmd: 2.378056 target range: 49.115932 and range: 49.40 m.2@*" ʎjZl @Bɢޒ<) >i)hm޺iyMi2@ kM; -=I 2@I A3@ @@/@E EE%E"E:*ER:VE 4ZEa@a@a@a@BM_>BIBIBIBM =BIBIBMcd;BM&E DAT read: 01:00:22.1372 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 419, 0.11,-1.497,-3.122,-1.182,-1.539, PHS= 0.144,-1.538, 0.313, RAW= 154.7, 12.2, CAL= 154.9, 13.5, ROT= 355.1, -13.5 Ygot valid direction response: 01:00:22.1372 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 419, 0.11,-1.497,-3.122,-1.182,-1.539, PHS= 0.144,-1.538, 0.313, RAW= 154.7, 12.2, CAL= 154.9, 13.5, ROT= 355.1, -13.5 PDAT read: Bearing 305.5, -7.8 (Local) %~Local bearing/azimuth received: Bearing 305.5, -7.8 (Local) -DAT read: Range 11 to 50 : 47.3 m (Round-trip 63.1 ms) speed 0.4 m/s 5TDAT read: user:656>Tx time:01:00:23.2199 =R#Rx 1: Read range and direction messages.E^direction in FSK: [0.968816,-0.083057,0.233445]EFpublishing direction and range infoy.aՊ?=5C%E?Y3=B )DIt>i/ĿA>3,@^ Z>c-@ :Fq>)DS@I:Fq Ѵ??f!Η? 3?)?vYI%i:Fqe2Acoustic response timeouteQuerying Benthos address 50 with one ping in standard two-way mode.q^A#'=I) I9 OM >ԙ Pzr,DY@AYByb$IbDVDy%Ҷ<%%^=ٔ-Q-->9)Y)=-nGy15E5>EDAT read: E2Acoustic response timeoutIQ 5U5M?Q 9U5M)MwBԙQ A9YQ E::yQ I_@MgDIMia)eaai?MiED@E.;M/2=IMD@II7@ @@@@@[AbEE-4jEE4rEEǓ/E EE'E"E[:*EVL:VE'4ZEBE}K9r, "Y@A2= @2±@2P<ٱ2% :AHRS rotation from veh to nav: [[-0.759037,-0.640891,-0.114545],[0.650922,-0.750499,-0.114241],[-0.012750,-0.161273,0.986827]]2HJ@.RZ?@`>Ŀ?i2= @I2%^;2CY^By^A$Iamam amam auau auau iuMb@Mb@Mb@qqqq q9u7A`? ףp= ?MbpYu?yuQ8=uuG AuO@ u @)u @qYqbDVDyb%C=ٔ;Q->9Y=nGyFqE>Q 55Gॊ?Q 95 )sBQ AT:Y?Q E:ys @Q I_@oDI;i;+5yBɮ;AaEPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 47.03 m.bRZgO ProNav: ac range: 47.027908 m, nav range: 45.674801 m, bearing: 136.519261 deg, approach rate: -0.658150 m/s, LOS rate: -0.103174 deg/s, cmd heading: 136.179820 deg, new cmd heading: 136.103293 deg. B<gOHeadingCmd: 2.375451 target range: 47.027908 and range: 47.30 m.b@*" ӄBʎjZ@?݄Bɢڢ<)! %.>i!)%:!!i%[Nimb@uρ;u5=Iub@IqU2Acoustic response timeout!-=@) @)@-4@)I^AM )=I I O >E  E E $E "E *E V:VE 4ZE a @a @a @a @BA BA BA BA BE  =BA BA BE c;BE C&Ey i I  2Acoustic response timeoutcr,zY@Av @v@vac<ٱv& ]AHRS rotation from veh to nav: [[-0.758701,-0.641110,-0.115542],[0.651291,-0.750281,-0.113571],[-0.013878,-0.161418,0.986789]]vH@HG`'`_? N @kTĿœ?iv @Iv\q^;vCYmBymV$I qq=bD VD2yߠ=%I=ٔh5;Q->9Y=nGy`E>Q 55ϥ?Q 95()oBYyk @Q I_@wDI%;i;5yBɮA`EjIgOMDNOT Ignoring new targets: 47.03 m.bIQRuNϺZuNϺgO ProNav: ac range: 47.027908 m, nav range: 45.436481 m, bearing: 136.481855 deg, approach rate: -0.574331 m/s, LOS rate: -0.090620 deg/s, cmd heading: 136.103294 deg, new cmd heading: 136.028089 deg. B%gOHeadingCmd: 2.374138 target range: 47.027908 and range: 47.30 m.@*" ʎjZ?5ۄBɢ5G<)1 5R>i1)=@Q99i=NiE@E;EH7=IE@IA?@ @@3@ԁ]2Acoustic response timeoutԩ^A- -|,=I I O > #r,8Y@A5o @5@5{6<ٱ5) MAHRS rotation from veh to nav: [[-0.757858,-0.641459,-0.119088],[0.652226,-0.749351,-0.114340],[-0.015894,-0.164326,0.986278]]5H^@`Ն@| ?` `EFſ ?i5o @I5^;5CYByQ$ID=D<E EE%E"E:*E:VE 4ZEBE9YYY=]nGyeFeBEe>iQ 5u5ml?Q 9u5m:)mkBY}?Q E}:y}w@Q I}_@mDImL:im:mr5yɮA2Acoustic response timeoutԱjgODNOT Ignoring new targets: 47.03 m.bRZgO ProNav: ac range: 47.027908 m, nav range: 45.191078 m, bearing: 136.447611 deg, approach rate: -0.584806 m/s, LOS rate: -0.082047 deg/s, cmd heading: 136.028094 deg, new cmd heading: 135.959235 deg. B'gOHeadingCmd: 2.372936 target range: 47.027908 and range: 47.30 m.0@*" ڄBʎjZ`?UلBɢ]<)y }l>iy)顁isOi0@o;6=I0@I4@ @@G0@ ] 2Acoustic response timeout^A .=A A ?1 A ؟AI I O >הr,QOTY@AF2 @F@F%ӌ<ٱF) NAHRS rotation from veh to nav: [[-0.757314,-0.641796,-0.120721],[0.652824,-0.748870,-0.114078],[-0.017190,-0.165203,0.986110]]FH;羿 ?@:4+]%ſ 6?iF2 @IF^;DYVByZV$IbDbVDb02yj<%jX=ٔj6`;Q-n>9n"?Yn"?=nnGylr Er>tQ 555v?Q 955v)vgBY1y5j@Q I5_@vDIvY$iq)uԃFqqiuOi}@} ;}7=I}@IE EE"E"ED:*ET:VE(3ZEa@a@a@a@B-b>B)B-[$IB-BB- =B)B-lDB-c;B-%EBڍCBBB =B =C-55@ @@/@2Acoustic response timeoutyԡ^AA I I) OE > r,nY@A22Acoustic response timeout^ @^{@^ҕ<ٱ^) jAHRS rotation from veh to nav: [[-0.756816,-0.642212,-0.121633],[0.653373,-0.748512,-0.113290],[-0.018288,-0.165211,0.986089]]^H@7@R#m?@%ſ ?i^ @I^h_;^CYzByzS$II~V>)~%=AbDVD0y-;%-E=ٔ5-;Q-5>91Y9==nGy=FEEE>IQ 5]5M?Q 9]5M)McBYaye^@Q Ie_@MDIMB;iM/;Mc5yuBɮuiAqjgODNOT Ignoring new targets: 47.03 m.bRĽZĽgO ProNav: ac range: 47.027908 m, nav range: 44.733383 m, bearing: 136.383449 deg, approach rate: -0.587634 m/s, LOS rate: -0.082954 deg/s, cmd heading: 135.897897 deg, new cmd heading: 135.830248 deg. BgOHeadingCmd: 2.370685 target range: 47.027908 and range: 47.30 m.N@*" ʎjZ3@ԱքBɢ<) !>i)L8iiPiN@;:9=IN@I@ @@/@DzDE  E E 'E "E :*E VL:VE '4ZE BE  9 r, Y@A:x @:[n@:c<ٱ:(* BAHRS rotation from veh to nav: [[-0.756270,-0.642633,-0.122795],[0.653967,-0.748114,-0.112485],[-0.019577,-0.165373,0.986037]]:H\3syo@L?@@˼ *ſ?i:x @I:W_;:CYNByNL$Ii%Mb@Mb@Mb@!!!! !9%`"?&1?{GzY%?y%P=%#%A%1@ %@)%\@!Y% @bD=VD=1yM&%MH=ٔMN;Q-M>9Y=nGyE>Q 55~?Q 95)]BYc?Q E:y @Q I_@DI :iU:5yBɮhA_EPB*** querying acoustic contact ***  jgODNOT Ignoring new targets: 47.03 m.bRZgO5 ProNav: ac range: 47.027908 m, nav range: 44.484673 m, bearing: 136.341510 deg, approach rate: -0.594482 m/s, LOS rate: -0.100808 deg/s, cmd heading: 135.830251 deg, new cmd heading: 135.745902 deg. B5}8gO=HeadingCmd: 2.369213 target range: 47.027908 and range: 47.30 m.=/@9*9"9 99AAEBʎAIIjIZU`@}ՄBɢ}A<) ޾>i)9顁iPi/@e;c;=I/@I u2Acoustic response timeout3@ @@ 00@ 1^A!A)zA-\Aa E  E E $E "E [:*E Ar:VE 4ZE a @a @a @a @B% c>B! B% T$IB% BB! B! B! B% zb;B% %EA} .AI I O >- BDAT read: Rx Time:01:00:25.6845 5 TRx dataTimestamp_ set to:1761699626.491004= 2Acoustic response timeoutVr,֡Y@A 6i @6^@6x_<ٱ6) NAHRS rotation from veh to nav: [[-0.755619,-0.643225,-0.123700],[0.654677,-0.747675,-0.111267],[-0.020918,-0.165059,0.986062]]6H .LЪ?{k` ſэ?i6i @I6t|_;6CYZByZE$IbDbVDbyj%jR=ٔ~_;Q-~>9~ ?Y ?=nGyF&E> Q 555 3?Q 9=5 ) WBY9y= @Q I=_@ DI 2;i ; `5yAɮEAIjgODNOT Ignoring new targets: 47.03 m.bRZgO ProNav: ac range: 47.027908 m, nav range: 44.261692 m, bearing: 136.303782 deg, approach rate: -0.577909 m/s, LOS rate: -0.098273 deg/s, cmd heading: 135.745898 deg, new cmd heading: 135.670063 deg. B3gOHeadingCmd: 2.367889 target range: 47.027908 and range: 47.30 m.@*" ʎjZ` @EԄBɢEι<)A Es>iA)MP::IIiM Qi@ք;%mF<=I%@IIq>@ @@2@2Acoustic response timeoutԙ^A 8= Au ؟AI I O >RTx time:01:00:26.7699 R#Rx 1: Read range and direction messages.%^direction in FSK: [0.961927,-0.092623,0.257133]%Fpublishing direction and range infoyn??(Fht?Y35B )GI= =i1̿+>-\-@k>-@ %>)z@I%4s?o?g 95"?Y5"?=5nGy5F]E]>aQ 5m5ej?Q 9m5e)ePBYmX?Q Eu:yub!@Q Iu_@eDIe:ie:e&5y}ۘBɮ}A}^EY@AJ(4BR(4Bj #@YkE@Nگ:N )'@rn??(Fht?Z)Ľb%o'Y|?1>@^xg&@zq֏^pm s?~Q?2A:" ?*BB!?“B.B57@gO  addTargetRange:: Added new target pos. range: 45.299999 m, deltaT: 3.528687 s, deltaX: -2.000000 m, approachRate: -0.566783 m/s, rangeRepo size: 4 gO= Added new target pos. range: 45.039764 m, bearing: 136.200016 deg, lat: 36.779285 deg, lon: -121.859518 deg, deltaT: 3.528687 s, deltaX: -1.988144 m, approachRate: -0.563423 m/s, posRepo size: 4 j9gOEDNOT Ignoring new targets: 45.04 m.bAREZAgOu ProNav: ac range: 45.039764 m, nav range: 43.680721 m, bearing: 136.270540 deg, approach rate: 0.000000 m/s, LOS rate: -0.098273 deg/s, cmd heading: 135.670069 deg, new cmd heading: 135.561867 deg. BygO}HeadingCmd: 2.366001 target range: 45.039764 and range: 45.30 m.}l@*" ܄Bʎj`fF@Z?%҄Bɢ%[<)! %>i!)-K:))i-&QiUl@U";U0kB=IUl@IY 3@  @ @ *0@  DAT read:  2Acoustic response timeout I ^Ai A.AIIO?r,Y@AE* E*E*#E("E*>:*E*VL:VE*3ZE(a.@a.@a.@a.@A0A2?AB6d>B6ۍCB6H$IB6BB6 =B4B4B6xb;B4ND @N::@Ntr<ٱNM3*T ZAHRS rotation from veh to nav: [[-0.754119,-0.644502,-0.126181],[0.656313,-0.746499,-0.109514],[-0.023612,-0.165401,0.985944]]NH!`&?@Q` @-+ſٌ?iND @INA_;NCYb|Byf/$IbDlVDlyvn%zT=ٔz;Q-z>9~ ?Y~ ?=~nGy|~E~>Q 5 5"\?Q 95r)KBYy=!@Q I_@DIb:i{:m5y-Bɮ-A5UEm2Acoustic response timeoutjgODNOT Ignoring new targets: 45.04 m.bRߺZߺgO ProNav: ac range: 45.039764 m, nav range: 43.468697 m, bearing: 136.230863 deg, approach rate: -0.520599 m/s, LOS rate: -0.097896 deg/s, cmd heading: 135.561865 deg, new cmd heading: 135.482125 deg. B(3gOHeadingCmd: 2.364609 target range: 45.039764 and range: 45.30 m.U@*" ʎ   j Z ?颽фBɢ^<) />i)h:i97QiU@ Rn; >=I U@I ;@ @@e3@ 2Acoustic response timeout^A C;=) A! 1 9 IQ cG x[AI vȿ9 x[AY ܫAO >&_r,Y@A06~2 @6(@6\<ٱ6{* >AHRS rotation from veh to nav: [[-0.753370,-0.645167,-0.127251],[0.657134,-0.745864,-0.108908],[-0.024648,-0.165669,0.985873]]6H 5I>? dỿd= 4ſ F?i6~2 @I6U_;4YFByF:$IbDVVDV0y=%2=ٔ I;Q- >99YA=EnGyMFE>E EE'E"Em:*Ez:VE'4ZEBEa2EaJE;a:E;aQ 5-5H?Q 9-5!)DBYQyU+!@Q IU_@DIv i)J:i/Qi7@bh;A=I7@IԹu>@q @q@u3@q  2Acoustic response timeout^A  A ؟AI I O >r,WY@A6d# @6@6X<ٱ6* JAHRS rotation from veh to nav: [[-0.752747,-0.645713,-0.128167],[0.657814,-0.745344,-0.108370],[-0.025552,-0.165885,0.985814]]6H@୩g ? b*;ſɋ?i6d# @I6^;4IYUByU6$IY]AiMb@Mb@Mb@ 9gfffff?y&1?{GzY3?y`e=# A @)/@Y@@AbDVDy I% &=ٔ :Q- >9"?Y"?=nGyE>Q 5-56?Q 9-5)i)r;项i(Qid@SV;oD=Id@I<@ @@4@@ZA@WAԡ^AQ  2Acoustic response timeoutA I I O >r,[2Y@A h)j`AjllnِCnz`AinhIlpIpirr@ pp)pt vr`AvTttxz`AIzY)xix)|I~v`A~'| ||uAiYY-uBy-&$IbDEVDEP)ԉy%F=ٔQ->9Y=nGy FE> Q 55 &?Q 95 c) 5BYyQ I_@ DI :i V: Y5y%Bɮ%A-SEjIgOUDNOT Ignoring new targets: 45.04 m.bQR]ZZ]ZgOm ProNav: ac range: 45.039764 m, nav range: 42.692299 m, bearing: 136.084650 deg, approach rate: -0.606316 m/s, LOS rate: -0.115713 deg/s, cmd heading: 135.278016 deg, new cmd heading: 135.187939 deg. BmSgOuHeadingCmd: 2.359475 target range: 45.039764 and range: 45.30 m.u@q*q"q qqyyyʎyjZ@T?颵̈́Bɢ<) >i);项i~2Qi@;I=I@IM1@I @Q@U/@QԹbE]J4jE]Ż 4rE]ż 0E EE'E"E>:*ER:VE'4ZEa@a@a@a@iI2Acoustic response timeoutnManaging dock network, ignoring radio surface power off^AK@=A I I  O% >r,~KY@AY=wBy=($IiMb@Mb@Mb@ 9kt? rh?QY ?yC=uG@ )9AY @bDVD02y0<%L=ٔQ->9Y=nGyE> Q 5 5 ?Q 95 ) -BY9?Q E:yj"@Q I_@ DI G;i ` ; 5y!ɮ%A!jIgOMDNOT Ignoring new targets: 45.04 m.bIRU=]2Acoustic response timeoutZU=gOm ProNav: ac range: 45.039764 m, nav range: 42.468029 m, bearing: 136.035001 deg, approach rate: -0.558790 m/s, LOS rate: -0.124357 deg/s, cmd heading: 135.187940 deg, new cmd heading: 135.088119 deg. BmcgO}HeadingCmd: 2.357733 target range: 45.039764 and range: 45.30 m.}@y*y"y y΄BʎjZd1@5̄Bɢ=<)9 =>i9)=a';AAiE96QiE@M;MhN=IM@I0@ @@@!YB<A4=BBB)$IBwBB =BBBc;B%EE EE&E"E:*Ei:VE4ZEBE)r,IeY@A>Q @>@>+g<ٱ>n*- FAHRS rotation from veh to nav: [[-0.749792,-0.648335,-0.132187],[0.661071,-0.742535,-0.107830],[-0.028244,-0.168235,0.985342]]>HK)@}'?@뜿ſ@?i>Q @I>-];>CY=oBy=$IbDMVDMy])%eT=ٔe;Q-e>9aYi=mnGym Fm#;Em>qQ 5}5u?Q 95u)u$BYy!"@Q I_@uDIu;iu;u95yBɮAREjgODNOT Ignoring new targets: 45.04 m.bR Z gO ProNav: ac range: 45.039764 m, nav range: 42.252918 m, bearing: 135.988223 deg, approach rate: -0.558435 m/s, LOS rate: -0.122058 deg/s, cmd heading: 135.088123 deg, new cmd heading: 134.994090 deg. Ba_QgO]HeadingCmd: 2.356091 target range: 45.039764 and range: 45.30 m.]3@Y*Y"Y YaaaaʎiiijiZm@Qd@颽˄Bɢ}<) ̣>i)8;iI Qi3@Ō;{D=I3@I@ @@@@>@!>u2Acoustic response timeoutԉ^A<H=ԱA ?A?A .AI) II Ou >D zD ?A9 &r,Y@AEb EbEb$E`"Ebm:*EbX:VEb4ZE`af@af@af@af@nBDAT read: Rx Time:01:00:29.2317 nTRx dataTimestamp_ set to:1761699630.020251n2Acoustic response timeout @@F<ٱ{- AHRS rotation from veh to nav: [[-0.748839,-0.649215,-0.133267],[0.662124,-0.741599,-0.107811],[-0.028838,-0.168973,0.985199]]H}^@0?-Çſ`?i @I^;CYkBy$Ii=Mb@Mb@Mb@9999 99=Q?x&?~jtY=\?y=7==D=pA=@ 9)=\@9Y9bDUVDU:ye r%e:=ٔmͱ:Q-m>9m ?Yu ?=unGyqu;TEu>yQ 55}?Q 95})}BYj?Q E%:y%"@Q I%_@}DI}ٮi)J;iPi@:;+G=I@I6@ @@/@2Acoustic response timeoutA ^A G=A ؟AI Ia y O >;r,$Y@AN @N@N<ٱN o. VAHRS rotation from veh to nav: [[-0.747816,-0.650191,-0.134250],[0.663250,-0.740634,-0.107524],[-0.029519,-0.169449,0.985097]]NH^ /W9?Eઆ5:ſ?iN @IN];NCYboByb$IbDjVDjk1yr<%r_=ٔr:Q-r>9v"?Yv"?=vnGyv FzWEz>|Q 55~m褊?Q 95~)~BYy !@Q I _@~DI~F:i~:~A5yBɮAPmB*** querying acoustic contact ***i ijgODNOT Ignoring new targets: 45.04 m.bR Z gO ProNav: ac range: 45.039764 m, nav range: 41.805626 m, bearing: 135.890903 deg, approach rate: -0.566603 m/s, LOS rate: -0.123940 deg/s, cmd heading: 134.887425 deg, new cmd heading: 134.798399 deg. BbgOHeadingCmd: 2.352676 target range: 45.039764 and range: 45.30 m.>@*" ʎjBBB$IBmBB =BBBMc;B%EBۍCBۍCBB =B =C5Z5 @ɄBɢ$<) >i)<5[;iPi->@M;IIM>@IQEu EuEu,Eq"Eu:*Eu[:VEug4ZEqDAT read: 01:00:29.2317 LVL= 31536, 32753, 31330, 32755, AGC= 66, IDX= 411, 0.10, 1.393,-0.271, 1.718, 1.276, PHS= 0.218,-1.502, 0.398, RAW= 154.9, 9.8, CAL= 154.7, 10.6, ROT= 355.3, -10.6 Ygot valid direction response: 01:00:29.2317 LVL= 31536, 32753, 31330, 32755, AGC= 66, IDX= 411, 0.10, 1.393,-0.271, 1.718, 1.276, PHS= 0.218,-1.502, 0.398, RAW= 154.9, 9.8, CAL= 154.7, 10.6, ROT= 355.3, -10.6 PDAT read: Bearing 300.0, -8.2 (Local) BEu1Tx time:01:00:30.3199 =R#Rx 1: Read range and direction messages.^direction in FSK: [0.979630,-0.080540,0.183951]Fpublishing direction and range infoyQ=!Y?NOK =η?Y,B0{bz )BId;_>iA>c-@%/>3,@ q=>)o@Iq=D,? Զr ?9w? ?).Iiq=2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.4@ @@ M0@ ^A- I=Q E DAT read: M 2Acoustic response timeoutA I I O >q r,}Y@A:^ @:~@:.<ٱ: 1 FAHRS rotation from veh to nav: [[-0.746442,-0.651334,-0.136341],[0.664783,-0.739050,-0.108946],[-0.029803,-0.171959,0.984653]]:H sE?K@㻿 ƿ`G?i:^ @I:];:CYNaByN$IbDZVDZyb%bI=ٔb6:Q-b>9dYd=fnGydfEj>hQ 5r5jؤ?Q 9r5jj)j BYpyr!@Q Ir_@jDIj`;ij;j5yxɮz!Ax.Y@AJ+BR+Bj2f@)3 E@Ƭ 6\.@rQ=!Y?NOK =η?Zbq=J&h;>Bp>=@K{@z}5 h?=QW8?2WA:"嚊?*ͰBBry?“B&B@gOE addTargetRange:: Added new target pos. range: 43.200001 m, deltaT: 3.531265 s, deltaX: -2.099998 m, approachRate: -0.594687 m/s, rangeRepo size: 4 gOU Added new target pos. range: 42.951912 m, bearing: 135.539614 deg, lat: 36.779284 deg, lon: -121.859518 deg, deltaT: 3.531265 s, deltaX: -2.087852 m, approachRate: -0.591248 m/s, posRepo size: 4 jQgOUDNOT Ignoring new targets: 42.95 m.bQRZgO ProNav: ac range: 42.951912 m, nav range: 41.711353 m, bearing: 136.017520 deg, approach rate: 0.000000 m/s, LOS rate: -0.123940 deg/s, cmd heading: 134.798400 deg, new cmd heading: 134.699569 deg. BgOHeadingCmd: 2.350951 target range: 42.951912 and range: 43.20 m.u@*" ʎ!!j%E@Z% Zd?ȄBɢ<) >i)j;ix[Piu@ZU;F=Iu@I!6@ @@4@@[A@\AE EE&E"E*EL_:VE4ZEa%@a-@a-@a-@9e2Acoustic response timeout^A|(H=i A .AI I O% >Kr,9Y@A:h @:@^@:<ٱ:*2@ FAHRS rotation from veh to nav: [[-0.745112,-0.652535,-0.137863],[0.666264,-0.737586,-0.109819],[-0.030025,-0.173680,0.984344]]:H@@R?`M 񾞿(;ƿ?i:h @I:^;:CYR]ByR $Ii-Mb@Mb@Mb@)))) )9-|?5^?V-?MbY- ?y-h=--A-G@ -@)-A)Y-QAbDEVDEyMЙ%UE=ٔU :Q-U>9U ?Y] ?=]nGy] F]Ee>aQ 5m5eȤ?Q 9u5e)eBYu?Q Eu:yuA"@Q Iu_@eDIea:ie:en5yBɮ$AGEjgODNOT Ignoring new targets: 42.95 m.bRZ2Acoustic response timeoutgO= ProNav: ac range: 42.951912 m, nav range: 41.483425 m, bearing: 135.966289 deg, approach rate: -0.555693 m/s, LOS rate: -0.125587 deg/s, cmd heading: 134.699568 deg, new cmd heading: 134.596544 deg. BEegOEHeadingCmd: 2.349153 target range: 42.951912 and range: 43.20 m.EX@I*I"I IIIQU΄BʎqqyjyZ}?DŽBɢo<) {>i)z;i4 PiX@r';m)F=IX@Iԩ;@ @@3@AAAABe>BB$IBcBBBBBJc;B%E^A tE=EM  EM EI EI "EM :*EM H:VEI ZEI BEM P}r,FY@A2dK @2@@2F"<ٱ2m3 :AHRS rotation from veh to nav: [[-0.743903,-0.653694,-0.138896],[0.667585,-0.736425,-0.109586],[-0.030651,-0.174246,0.984225]]2H@  Z@\?@ː c`Mƿ`~?i2dK @I2^;2CYZeByZ$IbDbVDbk2hyju=%nQ=ٔn:Q-n>9pYp=rnGyprWEr>xQ 5~5z?Q 9~5z)zBY|y~$"@Q I~_@zDIz$:iz:z5y ɮ A j)gO5DNOT Ignoring new targets: 42.95 m.b1R="Z="gOM ProNav: ac range: 42.951912 m, nav range: 41.268425 m, bearing: 135.917993 deg, approach rate: -0.550316 m/s, LOS rate: -0.124263 deg/s, cmd heading: 134.596541 deg, new cmd heading: 134.499446 deg. BMjcgOUHeadingCmd: 2.347458 target range: 42.951912 and range: 43.20 m.U<@Q*Q"Q QQYYYʎYaajaZeSH? ƄBɢ Z<) >i);iOi<@N;%~F=I%<@I=/@9 @9@E/@A2Acoustic response timeout)^AeG=Y A ؟AI I O >E  E E 'E "E >:*E T:VE '4ZE a @a @a @a @is,Y@A22Acoustic response timeoutr0 @r%@r<ٱrEC3 zAHRS rotation from veh to nav: [[-0.742775,-0.654869,-0.139401],[0.668812,-0.735420,-0.108849],[-0.031236,-0.174084,0.984235]]rH`f?ݻ`k@^Hƿ ~?ir0 @Ir@^;rCYaBy $I!iMb@Mb@Mb@ 9&1?Zd;?I +Y?yy=94A9@  @)SAYAbDVDN2y%<=ٔư:Q->9"?Y"?=nGy F{E>Q 55Ѩ?Q 95)BY?Q E:y @Q I_@DI ;i ;5y|BɮAjgODNOT Ignoring new targets: 42.95 m.bRZgO ProNav: ac range: 42.951912 m, nav range: 41.024281 m, bearing: 135.870329 deg, approach rate: -0.542373 m/s, LOS rate: -0.106518 deg/s, cmd heading: 134.499443 deg, new cmd heading: 134.403547 deg. BBgOHeadingCmd: 2.345784 target range: 42.951912 and range: 43.20 m.U!@*" ܄Bʎ j Z  ?ńBɢ/<) >i)@ ;ilOi U!@ ;  F=I U!@I1a5@ @@/@@=@=y2Acoustic response timeout^A 8F=A ?A ?ԩ I I O >s,#eY@A:B @:@:=ٱ:ș3 BAHRS rotation from veh to nav: [[-0.741536,-0.656046,-0.140454],[0.670144,-0.734293,-0.108261],[-0.032110,-0.174403,0.984151]]:HTcq?UpRƿ)~?i:B @I:/C^;:CYLyLbDVVDVy^:%^^=ٔbh;Q-b>9`Y`=fnGydf͡Ef>hQ 5n5j?Q 9n5j)jBYpyr @Q Ir_@jDIj;ij;j5yv8BɮvAtP B*** querying acoustic contact ***  jgODNOT Ignoring new targets: 42.95 m.bR%Z%gO- ProNav: ac range: 42.951912 m, nav range: 40.817024 m, bearing: 135.829956 deg, approach rate: -0.587681 m/s, LOS rate: -0.115058 deg/s, cmd heading: 134.403547 deg, new cmd heading: 134.322393 deg. B5RgO5HeadingCmd: 2.344368 target range: 42.951912 and range: 43.20 m.5 @9*9"9 9AAAAʎIIIjIZM@+"?yɢ}<)y }՜>iy)Uɔ;顁i#=Oi @;E=I @ԩBf>BB$IBYBBBBBUc;B&EIqE EEE"E:*Ega:VEZEBE % 2Acoustic response timeout) N s,@5Y@A2 @2 @2H_=ٱ23 :AHRS rotation from veh to nav: [[-0.740520,-0.657141,-0.140700],[0.671257,-0.733337,-0.107844],[-0.032312,-0.174306,0.984161]]2H`VLr¿z?@w @,Oƿ?~?i2 @I2v^;0YB_ByB $IbDJVDJyjg%%H==rGٔ=9Q-M>U`]Ai9iYq=unGyFſ9`]AYAfE>Q 55?Q 95˾)BYy @Q I_@DI:i;#5y1BɮAFEjgODNOT Ignoring new targets: 42.95 m.bRxZxgO ProNav: ac range: 42.951912 m, nav range: 40.574543 m, bearing: 135.782718 deg, approach rate: -0.563144 m/s, LOS rate: -0.110363 deg/s, cmd heading: 134.322391 deg, new cmd heading: 134.227350 deg. BIgO HeadingCmd: 2.342709 target range: 42.951912 and range: 43.20 m. @ * "  ʎj!Z%`@MĄBɢMC <)I Ut>iQ)Ud];QQiUANi]@]m;eE=Ie@Ia0@ @@?0@)E EE%E"E:*Ee:VE 4ZEa@a@a@a@2Acoustic response timeoutY^ASE=Iq I O >y xs,OY@A2H @2@2#=ٱ2C4 :AHRS rotation from veh to nav: [[-0.739634,-0.657912,-0.141748],[0.672205,-0.732471,-0.107829],[-0.032885,-0.175038,0.984012]]2H $¿@? fpச`=֠gƿ`}?i2H @I2H^;2CYN^ByR $Ii%Mb@Mb@Mb@!!!! !9%(\?Q?Mb`Y%?y%u=%%A%f@ %7@)%A!Y%AbD=VD=yM%MC=ٔUv:Q-U>9QYQ=nGyHNE>2Acoustic response timeoutQ 55`z?Q 95:)BY?Q E:y @Q I_@DI:i:7'5yɮAj!gO%DNOT Ignoring new targets: 42.95 m.b!R-UZ-UgO= ProNav: ac range: 42.951912 m, nav range: 40.347408 m, bearing: 135.737391 deg, approach rate: -0.551820 m/s, LOS rate: -0.110741 deg/s, cmd heading: 134.227356 deg, new cmd heading: 134.136192 deg. B=JgOEHeadingCmd: 2.341118 target range: 42.951912 and range: 43.20 m.E@A*A"A AIIIMBʎQQYYjYZ]"O@颅ÄBɢ<) .>i)j};顉iuNi@F;ɽF=I@I =@  @ @4@ԁB<A<Be>BBBB =BBBc;B%&EE] E]E]&EY"E]:*E]T:VE]4ZEYBE] BDAT read: Rx Time:01:00:32.7791  TRx dataTimestamp_ set to:1761699633.549110 2Acoustic response timeout >s,hY@A6 @6@6 =ٱ6 5 BAHRS rotation from veh to nav: [[-0.738706,-0.658725,-0.142813],[0.673197,-0.731562,-0.107809],[-0.033460,-0.175781,0.983860]]6Hy`FG¿ Պ? h@e!ƿ{?i6 @I6hG^;6CYJ\ByJ$IbDRVDR!yZgܻ%ZU=ٔ^L:Q-^>9`Y`=bnGybFbpEb>dQ 5j5fkl?Q 9j5f)fBYlyn @Q In_@fDIf&;ifv;fp*5yr*BɮvoAvEEj gODNOT Ignoring new targets: 42.95 m.bRZgO- ProNav: ac range: 42.951912 m, nav range: 40.143871 m, bearing: 135.696740 deg, approach rate: -0.552071 m/s, LOS rate: -0.110821 deg/s, cmd heading: 134.136186 deg, new cmd heading: 134.054472 deg. B-JgO5HeadingCmd: 2.339692 target range: 42.951912 and range: 43.20 m.5@1*1"1 11199ʎ9AAjAZE!A @iɢu<)q u;>iq)u;yyi}+'Ni@;F=I@IԱ55@1 @9@=/@92Acoustic response timeout^AG=IYIqO|>) bEe˞4jEe!4rEe20E}  E} Ey Ey "E} ,:*E} ;J:VEy ZEy a @a @a @a @9 s,3ނY@A DAT read: 01:00:32.7791 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417,-0.26, 3.024, 1.403,-2.907, 3.076, PHS= 0.051,-1.627, 0.257, RAW= 155.7, 14.6, CAL= 156.3, 16.7, ROT= 353.7, -16.7 ]Ygot valid direction response: 01:00:32.7791 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417,-0.26, 3.024, 1.403,-2.907, 3.076, PHS= 0.051,-1.627, 0.257, RAW= 155.7, 14.6, CAL= 156.3, 16.7, ROT= 353.7, -16.7 ePDAT read: Bearing 305.0, -10.9 (Local) e~Local bearing/azimuth received: Bearing 305.0, -10.9 (Local) mDAT read: Range 11 to 50 : 41.2 m (Round-trip 55.0 ms) speed 0.5 m/s ~ @@TDAT read: user:659>Tx time:01:00:33.8699 R#Rx 1: Read range and direction messages.^direction in FSK: [0.952038,-0.105106,0.287361]Fpublishing direction and range infoy$&vbw?p7躿gd?Y&$B$&$& $)&FI&`P= =ٱ ?5 AHRS rotation from veh to nav: [[-0.738187,-0.659234,-0.143146],[0.673757,-0.731056,-0.107737],[-0.033624,-0.175976,0.983820]]H:qR¿k?d*7aƿ t{?i~ @Iq^;i&Aп&>&'-@&w>&.@ &;>)&@I&;$$&ˍ $?u6?\"? &n?)&W~I&i0i&;$$}2Acoustic response timeout}Querying Benthos address 50 with one ping in standard two-way mode.YeBy$I i-Mb@Mb@Mb@)))) )9-/$?:v?Y-&?y-T=--A-O@ - @)-fA)Y-AbDEVDE 3yu>=%u=ٔu*9Q-u>9yYy=}nGyyコE>Q 55NX?Q 95B)BY?Q E:y{@Q I_@'DI:i: /5yɮ(A$& nY@AJ&#BR&#Bj&03@& bC@/8''@r&vbw?p7躿gd?Z&i0b&;&}$?|; $'<@| &@z&忸}9?rf:?2&=A:&"&??*&iB&sB&!?&i“&sB&B&@gO5 addTargetRange:: Added new target pos. range: 41.200001 m, deltaT: 3.529105 s, deltaX: -2.000000 m, approachRate: -0.566716 m/s, rangeRepo size: 4 gOe Added new target pos. range: 40.963570 m, bearing: 134.465985 deg, lat: 36.779285 deg, lon: -121.859515 deg, deltaT: 3.529105 s, deltaX: -1.988342 m, approachRate: -0.563413 m/s, posRepo size: 4 jagOmDNOT Ignoring new targets: 40.96 m.biRmZqgO ProNav: ac range: 40.963570 m, nav range: 39.924847 m, bearing: 135.153802 deg, approach rate: 0.000000 m/s, LOS rate: -0.110821 deg/s, cmd heading: 134.054470 deg, new cmd heading: 133.934835 deg. BgOHeadingCmd: 2.337604 target range: 40.963570 and range: 41.20 m.M@*" BʎjD@Z@Pn?)ɢ-<)) -|>i))-yX;11i5zM9i=M@EG6;EJK=IEM@IADAT read: 2Acoustic response timeout<@ @@4@a ^A5 <H=ԑ B c>B ڍCB #IB SBB  =B B B c;B K&EEm EmEm'Ei"Em:*EmP:VEm'4ZEiBEmu(s,;Y@Ab @b|@b =ٱb0n2Acoustic response timeout rAHRS rotation from veh to nav: [[-0.736265,-0.661881,-0.140810],[0.675845,-0.729661,-0.104058],[-0.033870,-0.171780,0.984553]]bH{ .¿?@bY bWſ u?ib @Ib! ^;bCxY~^By~ $I bDVDy%%%Y=ٔ%d+:Q-%>9- ?Y- ?=-nGy-F5E5>9Q 5E5=I?Q 9E5=ׯ)=BYIyMN@Q IM`@=.DI=:i=Ӓ<=U25yBɮ A;EPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 40.96 m.bR XZ XgO ProNav: ac range: 40.963570 m, nav range: 39.712513 m, bearing: 135.113664 deg, approach rate: -0.557428 m/s, LOS rate: -0.105937 deg/s, cmd heading: 133.934832 deg, new cmd heading: 133.854126 deg. BAgO%HeadingCmd: 2.336195 target range: 40.963570 and range: 41.20 m.%9@!*!"! !)))1ʎ111j1Z=?e„Bɢe<)a m*>ii)m;iiim4Miu9@u ;uMF=I}9@Iy1@ @@/@!Y^AA2Acoustic response timeoutAu ؟Ay I I O >,>.s,'Y@A>n @>bd@>lE =ٱ>- FAHRS rotation from veh to nav: [[-0.734765,-0.663861,-0.139317],[0.677457,-0.728551,-0.101317],[-0.034239,-0.168826,0.985051]]>H`1Y>%?JPﹿ̇ſ?i>n @I>*^;>CYNVByN$IbDZVDZyb%bQ=ٔb\w:Q-b>9f"?Yf"?=fnGydjEj>lQ 5r5n;?Q 9r5nF)nBYpyr+@Q Iv`@n5DIn_:inV:n55yxɮz AxjgODNOT Ignoring new targets: 40.96 m.bR%Z%gO5 ProNav: ac range: 40.963570 m, nav range: 39.491879 m, bearing: 135.072197 deg, approach rate: -0.589582 m/s, LOS rate: -0.111426 deg/s, cmd heading: 133.854127 deg, new cmd heading: 133.770730 deg. B5KgO=HeadingCmd: 2.334740 target range: 40.963570 and range: 41.20 m.=`l@9*9"9 9AAYIaʎiiqjyZ}@?频ɢ<)D=D4=E EE*E"E:*E^:VE(N4ZEa@a@a@a@ =ȓ>i9)m!$;iqiu3Li`l@ ؗ;ND=I`l@2Acoustic response timeoutIԁ4@ @@/@^A  2Acoustic response timeoutAi Iq I O >,E5s,Y@A26\ @2Q@2 W =ٱ2 W0 :AHRS rotation from veh to nav: [[-0.733992,-0.664342,-0.141085],[0.678293,-0.727544,-0.102943],[-0.034256,-0.171257,0.984631]]2H`| JB¿ ? H~Zſ`?i26\ @I2~ ^;2CYB[ByB$IiMMb@Mb@Mb@IIII I9M +?/$?YM?yM,=IMAMf@ M7@)MSAIYMAaabDeVDe0qy}<%};=ٔ!8Q->9Y=nGyF<+E>Q 550*?Q 95 )BY*?Q E:y@Q I`@=DI:i:95y Bɮs A:EjgODNOT Ignoring new targets: 40.96 m.bRsֺZsֺgO ProNav: ac range: 40.963570 m, nav range: 39.236282 m, bearing: 135.031591 deg, approach rate: -0.586249 m/s, LOS rate: -0.093743 deg/s, cmd heading: 133.770730 deg, new cmd heading: 133.688989 deg. B+gOHeadingCmd: 2.333313 target range: 40.963570 and range: 41.20 m.U@*" Bʎ j Z B?1ɢ=`<)9 =$>i9)=j;99iEeLiEU@MS;ME=IMU@II2@ @@0@AA@ABd>BۍCBBBBBB d;BW&EBiBiBiԹBiBiCmc`5E} E}E}"Ey"E}2:*E}V:VE}(3ZEyBE}"* k;s,XY@AYVBy$IbD-VD-k2y=ּ%=O=ٔEQ-E>9AYA=MnGyMFMEM>QQ 5e5U?Q 9e5U7)UBYayaQ Ie`@UEDIUD";iUr#;U=5yiɮu AqjgODNOT Ignoring new targets: 40.96 m.bRغZغgO ProNav: ac range: 40.963570 m, nav range: 39.004864 m, bearing: 134.994363 deg, approach rate: -0.585616 m/s, LOS rate: -0.094765 deg/s, cmd heading: 133.688987 deg, new cmd heading: 133.614090 deg. Bn-gOHeadingCmd: 2.332006 target range: 40.963570 and range: 41.20 m.?@*" ʎjZ n?ɢ9<) ϓ>i);i "Li ?@m;2Acoustic response timeout:J=I?@I!1@ @@/0@!QE EE(E"E:*EAr:VEc44ZEa@a@a@a@^A 2Acoustic response timeoutI I O% >y QBs,Q Y@AY~XBy~$IiMb@Mb@Mb@ 9-?+?Mb`Y??y=@ =A)AYAbDVDye;%B=ٔQ->9Y=nGyE>Q 55 ?Q 95&)BY?Q E:y@Q I`@MDI":i:@5yBɮ\ A9EjgODNOT Ignoring new targets: 40.96 m.bR%кZ%кgO5 ProNav: ac range: 40.963570 m, nav range: 38.760632 m, bearing: 134.956384 deg, approach rate: -0.581123 m/s, LOS rate: -0.090938 deg/s, cmd heading: 133.614087 deg, new cmd heading: 133.537649 deg. B5l&gO=HeadingCmd: 2.330672 target range: 40.963570 and range: 41.20 m.=)@9*9"9 9AAAEBʎIIIjIZM c@Q颁ɢ|<) <>i) ;顉iØKi)@R;#N=I)@IM>@I @I@M2@I-2Acoustic response timeoutԁ^A<H=ԩII O >B `>B ڍCB #IB NBB  =B B kDB c;B 8&EE  E E %E "E [:*E ga:VE 4ZE BE }9Y = nGy F ǻE >Q 55Y?Q 9%5{)BY!y%X@Q I%`@TDI;i;C5y)ɮ-A1PMB*** querying acoustic contact ***I IjQgO]DNOT Ignoring new targets: 40.96 m.bYReGͺZeGͺgOu ProNav: ac range: 40.963570 m, nav range: 38.540745 m, bearing: 134.922555 deg, approach rate: -0.579960 m/s, LOS rate: -0.089734 deg/s, cmd heading: 133.537643 deg, new cmd heading: 133.469599 deg. Bu9$gO}HeadingCmd: 2.329484 target range: 40.963570 and range: 41.20 m.}D@y*y"y yʎjZ l@=ÄBɢ=<)9 EC>iA)E;AAiE%KiMD@M&;MI=IMD@IyIZA)[AԱ ?@  @ @ 4@ @=@52Acoustic response timeout^AMG=IIO> 9 fNs,Pr=Y@A6& @6>@6 =ٱ6ئ4 JAHRS rotation from veh to nav: [[-0.731784,-0.666160,-0.143959],[0.680694,-0.724890,-0.105784],[-0.033885,-0.175403,0.983913]]6H`j.Q?m¿@??K2`@cYsƿ7|?i6& @I6_;6CYZEByZ#If=f=bDEVDENy<%@=ٔQ->9Y=nGy>E>E EE'E"E:*EV:VE'4ZEa@a@a@a@Q 5=5룊?Q 9E5L)BYqyuI@Q Iu`@\DI7S=iT=G5BDAT read: Rx Time:01:00:36.3264 TRx dataTimestamp_ set to:1761699637.0810432Acoustic response timeoutyBɮ AjagODNOT Ignoring new targets: 40.96 m.bR[Z[gO ProNav: ac range: 40.963570 m, nav range: 38.290543 m, bearing: 134.883955 deg, approach rate: -0.496459 m/s, LOS rate: -0.077092 deg/s, cmd heading: 133.469601 deg, new cmd heading: 133.391896 deg. B gOHeadingCmd: 2.328128 target range: 40.963570 and range: 41.20 m. @*" ʎjZ`@aɢe<)a m݁>ii)ms;iiimdJiu @u7;u˾K=Iu @IyA<@ @@4@i E 2Acoustic response timeout^AA I I O >_Us,MWY@A 2r @2@2 =ٱ2D5 >AHRS rotation from veh to nav: [[-0.731403,-0.666443,-0.144579],[0.681114,-0.724371,-0.106635],[-0.033663,-0.176468,0.983730]]2Hg@S¿?@ .@oL@B<ƿ`z?i2r @I2&`;2CYF@ByF#IiMb@Mb@Mb@ 95^I ? rh?{GzY?yC =#A 7@)YbD-VD-02y=ؼ%=Q=ٔ=Q-E>9AYA=EnGyEFM3EM>QQ 5]5U$ݣ?Q 9]5Uq)UBYeU?Q Ee:ye}@Q Ie`@UcDIU ;iUx;UK5yiɮm Aij)gOMDNOT Ignoring new targets: 40.96 m.bIRUغZUغgOe ProNav: ac range: 40.963570 m, nav range: 38.062908 m, bearing: 134.852684 deg, approach rate: -0.686150 m/s, LOS rate: -0.094822 deg/s, cmd heading: 133.391901 deg, new cmd heading: 133.328985 deg. Be-gOmHeadingCmd: 2.327030 target range: 40.963570 and range: 41.20 m.m@i*i"q qyyy}BʎjZ$ @ɢi)f; inJB=<A=4=BUa>BQBU#IBUDBBQBQBQBUhc;BU&Ei@%;M=I@IEm EmEiEi"Em:*Emz:VEiZEiBEm)Tx time:01:00:37.4199 R#Rx 1: Read range and direction messages.%^direction in FSK: [0.965607,-0.086178,0.245307]%Fpublishing direction and range infoyiA?ʟ'/;f?Y3B )CI>i/Ϳ->,@b>?-@ }>)6@I}8?i"?b[(? ?)ccIKi}=2Acoustic response timeoutEQuerying Benthos address 50 with one ping in standard two-way mode.A ^Aa A .AI I O >[s,rY@A2  @2@2e) =ٱ2 6 :AHRS rotation from veh to nav: [[-0.730975,-0.666781,-0.145182],[0.681582,-0.723819,-0.107389],[-0.033480,-0.177452,0.983560]]2H@&dFVO¿`?)}Z$໶ƿ`Ry?i2  @I2>`;2CYB2ByB#IbDNVDNyR؋%VM=ٔVQ-V>X9Z ?Y^ ?=^nGy\^0кE^>`Q 5f5bͣ?Q 9j5bo)bBYhyjr@Q Ij`@bkDIbS;ib`;bN5ynBɮr"Ar8Eae%eY@AJeKBReKBjeR@eLIsB@oI Z+#@reiA?ʟ'/;f?ZeKbe}e>t:%;@!@ze|*M8 6?I[Գ?2eA:e"e?*eBeBe?a“ae{Be@gO- addTargetRange:: Added new target pos. range: 39.299999 m, deltaT: 3.526839 s, deltaX: -1.900002 m, approachRate: -0.538726 m/s, rangeRepo size: 4 gO= Added new target pos. range: 39.073956 m, bearing: 134.576455 deg, lat: 36.779285 deg, lon: -121.859515 deg, deltaT: 3.526839 s, deltaX: -1.889614 m, approachRate: -0.535781 m/s, posRepo size: 4 jAgOEDNOT Ignoring new targets: 39.07 m.bARMZIDAT read: 2Acoustic response timeoutgO ProNav: ac range: 39.073956 m, nav range: 37.870819 m, bearing: 134.887412 deg, approach rate: 0.000000 m/s, LOS rate: -0.094822 deg/s, cmd heading: 133.328981 deg, new cmd heading: 133.256244 deg. BgOHeadingCmd: 2.325760 target range: 39.073956 and range: 39.30 m.A@*"   ʎj`fC@Z$?? Up>UC+Ge¿9YA5ĄBɢ5<)1 5[>i1)=;99i= pIieA@eН;e6O=IeA@Ii@ @@@@@E  E E %E "E  :*E rN:VE  4ZE a@a@a@a@^AE <H=e 2Acoustic response timeoutA A I I O >bs,CNjY@A2k @2@2 =ٱ26 :AHRS rotation from veh to nav: [[-0.730158,-0.667644,-0.145328],[0.682458,-0.723014,-0.107249],[-0.033470,-0.177489,0.983553]]2H u]V]¿`?"`t`"@ƿEy?i2k @I2C`;2CYB(ByF#IIJ=)Hi]Mb@Mb@Mb@YYYY Y9]`"?kt?~jtY]?y] 0=]DY]|@ ]d@)YYY]=AbDuVDu0y0%>=ٔӷQ->9Y=nGyF6E>Q 55'?Q 952)BY<?Q E:yK@Q I`@sDI:i:^R5yBɮ A.EQAggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBLQEntering USBL mode with 120.000000 count pings at 39.299999 m (mode 2.000000 count ).1jgODNOT Ignoring new targets: 39.07 m.bR׺Z׺gO  ProNav: ac range: 39.073956 m, nav range: 37.617229 m, bearing: 134.847293 deg, approach rate: -0.592329 m/s, LOS rate: -0.094339 deg/s, cmd heading: 133.256239 deg, new cmd heading: 133.175462 deg. B ,gOHeadingCmd: 2.324350 target range: 39.073956 and range: 39.30 m.(@*" !%քBʎ!!)j)Z-`?Qɢ]<)]? ]G>iY)]z;YaieHie(@mǞ;mP=Im(@IiIi@i @i@m/@i2Acoustic response timeoutq^AB c>B B #IB :BB B B lDB +c;B %Eԡ A I I E%  E% E! E! "E% 2:*E% Z:VE! ZE! BE% "*] 2Acoustic response timeouths,Y@A> @>g@>=ٱ>l7 FAHRS rotation from veh to nav: [[-0.729471,-0.668296,-0.145780],[0.683195,-0.722268,-0.107575],[-0.033401,-0.178069,0.983451]]>H@Wb¿?ƿ nx?i> @I>6_;>CYRByR#IbDZVDZ1yb%bV=ٔf=Q-f>9dYd=jnGyhjc-Ej>lQ 5r5ne?Q 9r5no)nBYtyv:@Q Iv`@nzDIn:in:nU5yzݖBɮ~A| ^@1qPB*** querying acoustic contact *** xj!gO%DNOT Ignoring new targets: 39.07 m.b!R-غZ-غgO= ProNav: ac range: 39.073956 m, nav range: 37.392326 m, bearing: 134.811614 deg, approach rate: -0.593266 m/s, LOS rate: -0.094684 deg/s, cmd heading: 133.175466 deg, new cmd heading: 133.103677 deg. B=H-gOEHeadingCmd: 2.323097 target range: 39.073956 and range: 39.30 m.E@A*A"A IIIQQʎQQQjYZ]?q颍ńBɢע<) +>i)<顑i1Hi@p;P=I@I >@ @@1@ԡ^A-G=2Acoustic response timeoutAY Ii Iy O > $os,8Y@AB @B$@B=ٱBue6 JAHRS rotation from veh to nav: [[-0.729042,-0.668890,-0.145198],[0.683652,-0.721961,-0.106738],[-0.033431,-0.177082,0.983628]]BHPTg`ܕ¿ y?M 6S@ƿy?iB @IB_;BCYRByR#I Z9hYh=jnGyjFnu˺En>pQ 5v5rŞ?Q 9v5rr)rBYtyv0@Q Iz`@rDIr:ir4:r9Y5y|ɮ~ A|qjgODNOT Ignoring new targets: 39.07 m.bbE'4jE4rEEC0E EE(E"E:*E1]:VEc44ZEa@a@a@a@RкZкgO  ProNav: ac range: 39.073956 m, nav range: 37.154053 m, bearing: 134.773559 deg, approach rate: -0.568090 m/s, LOS rate: -0.091311 deg/s, cmd heading: 133.103680 deg, new cmd heading: 133.027083 deg. B 'gO5HeadingCmd: 2.321761 target range: 39.073956 and range: 39.30 m.=@A*A"A IIʎjZp(?%2Acoustic response timeoutUƄBɢ]U<)Y ]+>iY)]@%0>I^A] \J= 2Acoustic response timeouty A ؟AI I O >Rvs,Y@A2 @2@26 =ٱ2+5 >AHRS rotation from veh to nav: [[-0.728052,-0.669981,-0.145144],[0.684692,-0.721104,-0.105863],[-0.033737,-0.176452,0.983731]]2H2L{p¿?GF ƿz?i2 @I2{ _;2CYF ByF#I HHiMb@Mb@Mb@ 9@5^I ??MbYb?yL=Af@ )AYAbD-VD-1y=͉%=;=ٔE7:Q-E>9E"?YE"?=MnGyIMWEM>QQ 5]5U?Q 9]5Uh)UvBYe?Q Ee:ye@Q Ie`@UDIU:iUȖBB#IB&BBBBkDB\c;B&EgO ProNav: ac range: 39.073956 m, nav range: 36.909164 m, bearing: 134.728927 deg, approach rate: -0.537064 m/s, LOS rate: -0.098532 deg/s, cmd heading: 133.027087 deg, new cmd heading: 132.937230 deg. BS4gO HeadingCmd: 2.320192 target range: 39.073956 and range: 39.30 m. ~@ *" Bʎ99AjAZE` ?颉ɢ͑<)  >i)R<顑i^gFi~@f;I~S=I~@IEe EeEe'Ea"Ee:*Ee:VEe'4ZEaBEeu9Y=nGyFQE%>)9Q 5M5=z?Q 9M5=o{)=jBYQyU@Q I]`@=DI=;i=Ö;=a5yiɮmAij gODNOT Ignoring new targets: 39.07 m.bRJZJgOE ProNav: ac range: 39.073956 m, nav range: 36.608089 m, bearing: 134.673590 deg, approach rate: -0.578624 m/s, LOS rate: -0.107225 deg/s, cmd heading: 132.937229 deg, new cmd heading: 132.825645 deg. BM;DgOMHeadingCmd: 2.318245 target range: 39.073956 and range: 39.30 m.U ^@Q*Q"Q QQQYYʎyjZ@DŽBɢ@؁<) =i)g<!i%1Ei- ^@-U;-W=I- ^@I1D9zD=@AEE EEEE#EA"EED:*EET:VEE3ZEAaM@aM@aM@aM@Y2Acoustic response timeout=y1@ @@/@ԩ % 2Acoustic response timeout^A dO=A zA ZA A)I9IIOU?ks,DY@AY5By5#IB_>BB#IB BBBBBc;B,&EBڍCBڍCBB =B =CW4i Mb@Mb@Mb@     9 V-?X9v?Zd;OY  ?y }= j (A @ =A) fA Y fAbD%VD%:y5/=%5=ٔ=Q-=>99YA=EnGyEFEEE>IQ 5U5Mf?Q 9]5Mv)M\BY]?Q E]:y]L@Q I]`@MDIMC:iM:Mnf5yeЖBɮmAu,EjgODNOT Ignoring new targets: 39.07 m.bRZgO ProNav: ac range: 39.073956 m, nav range: 36.312588 m, bearing: 134.608577 deg, approach rate: -0.564130 m/s, LOS rate: -0.125124 deg/s, cmd heading: 132.825651 deg, new cmd heading: 132.694567 deg. BdgOHeadingCmd: 2.315957 target range: 39.073956 and range: 39.30 m.8@*" EM EMEM!EI"EM>:*EMVL:VEMc3ZEIBEMY@A=s @=@i@=ј =ٱ= 0 AHRS rotation from veh to nav: [[-0.724311,-0.674610,-0.142388],[0.688655,-0.717916,-0.101742],[-0.033587,-0.171749,0.984568]]=H-h@9¿ v ?`* F2ſ?i=s @I=3_;9YBy{#IbD}VD}ya%=ٔ-Q->9Y=nGyE>E EE%E"E*E n:VE 4ZEa@a@a@a@Q 55R?Q 95q)NBYy@Q I`@DI;i;k5yɮ.AP5B*** querying acoustic contact ***1 1j9gOEDNOT Ignoring new targets: 39.07 m.bARMYZMYgO] ProNav: ac range: 39.073956 m, nav range: 36.018917 m, bearing: 134.544998 deg, approach rate: -0.546154 m/s, LOS rate: -0.119205 deg/s, cmd heading: 132.694566 deg, new cmd heading: 132.566371 deg. B](ZgOeHeadingCmd: 2.313720 target range: 39.073956 and range: 39.30 m.e@a*a"a aiiiiʎqqqjqZu^ @iI%DAT read: 01:00:39.8737 LVL= 31968, 32753, 30354, 32755, AGC= 67, IDX= 409,-0.08,-3.131, 1.392,-2.782, 2.990, PHS= 0.263,-1.553, 0.467, RAW= 155.2, 8.6, CAL= 154.9, 9.1, ROT= 355.1, -9.1 Ygot valid direction response: 01:00:39.8737 LVL= 31968, 32753, 30354, 32755, AGC= 67, IDX= 409,-0.08,-3.131, 1.392,-2.782, 2.990, PHS= 0.263,-1.553, 0.467, RAW= 155.2, 8.6, CAL= 154.9, 9.1, ROT= 355.1, -9.1 PDAT read: Bearing 296.0, -8.5 (Local) ɢI<) =i):a <iA2B~Local bearing/azimuth received: Bearing 296.0, -8.5 (Local) DAT read: Range 11 to 50 : 37.2 m (Round-trip 49.7 ms) speed 0.5 m/s TDAT read: user:661>Tx time:01:00:40.9699 R#Rx 1: Read range and direction messages.i@h;&U=I@IE^direction in FSK: [0.983805,-0.084342,0.158158]MFpublishing direction and range infoykT{?4k@\~>?YB|v )I>iƿ>-\-@`>c-@ ">)DS@I"g3U?³GfD?n? .?)LI%i"2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.2@ @@@)Q ^A mY= DAT read:  BDAT read: Tx time:01:00:41.2199  $Ping request sent. s,E\Y@A(FP @F.F@F] =ٱF/ AHRS rotation from veh to nav: [[-0.722831,-0.676279,-0.141993],[0.690199,-0.716604,-0.100519],[-0.033774,-0.170662,0.984751]]FHm!@,¿ ?jJ=ſ?iFP @IF^;FCBM<AM<BU`>BQBU#IBUBBQBQBQBUc;BUD&EԁYڄByh#I=E EE"E"Em:*E[:VE(3ZEBES9 ?Y ?=nGyFE>Q 55??Q 95qm)@BY ?Q E:y@Q I`@DI* ;i ;o5yBɮA"Equ GY@AJuBRuBjuޥ@u1,1B@̃`Wf@rukT{?4k@\~>?Zu%bu"u*9D7k:@r)7^A@zu =cn'?w=CN[?2uA:u."u?*uŊBuBu?u“uBuBu6@gO addTargetRange:: Added new target pos. range: 37.200001 m, deltaT: 3.530957 s, deltaX: -2.099998 m, approachRate: -0.594739 m/s, rangeRepo size: 4 gO% Added new target pos. range: 36.985859 m, bearing: 133.076536 deg, lat: 36.779285 deg, lon: -121.859512 deg, deltaT: 3.530957 s, deltaX: -2.088097 m, approachRate: -0.591368 m/s, posRepo size: 4 j!gO-DNOT Ignoring new targets: 36.99 m.b)R-Z1=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244851gOM ProNav: ac range: 36.985859 m, nav range: 35.936718 m, bearing: 134.130357 deg, approach rate: 0.000000 m/s, LOS rate: -0.119205 deg/s, cmd heading: 132.566377 deg, new cmd heading: 132.441597 deg. BIgOUHeadingCmd: 2.311542 target range: 36.985859 and range: 37.20 m.UN@Y*Y"Y YYYaeBʎaaajmB@Zm MK@s, {Y@A>* @>{ @>t =ٱ>$/ JAHRS rotation from veh to nav: [[-0.721231,-0.677958,-0.142123],[0.691852,-0.715148,-0.099522],[-0.034168,-0.170107,0.984833]]>HRԱ1¿#?~Bz@o~ ſ?i>* @I>^;>C L)N`AN}LPR̐CR~`AiR}IPPITiVr@ TT)XX Zj`AZXX\^~`AI^)^Fi\)`Ibr`Ab94` `dddiddYdYjׄBync#IbD~VD~1y1%X=ٔ%G:Q-%>191Y1=5nGy9=ŻEE>QQ 5]5U1?Q 9e5U2j)U6BYaym@Q Im`@UDIUi;iU`;U s5yyɮ}AjgODNOT Ignoring new targets: 36.99 m.bRqZqgOm ProNav: ac range: 36.985859 m, nav range: 35.734222 m, bearing: 134.079784 deg, approach rate: -0.527162 m/s, LOS rate: -0.132402 deg/s, cmd heading: 132.441603 deg, new cmd heading: 132.339885 deg. BmOrgOuHeadingCmd: 2.309767 target range: 36.985859 and range: 37.20 m.u8@q*q"q qyyyyʎyjZ?ɢ<+<) N s,4Y@A2c @2@2 =ٱ2g/ >AHRS rotation from veh to nav: [[-0.719384,-0.679803,-0.142666],[0.693764,-0.713335,-0.099221],[-0.034318,-0.170355,0.984785]]2H1@B¿Q3?@ f 0ſ[?i2c @I2^;2Cchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.000635Y ӄBy _#IԱiMb@Mb@Mb@ 9?㥛 ?9"?Y"?=nGyFkʻE>!Q 5-5%"?Q 9-5%f)%,BY5?Q E5:y5S @Q I5`@%DI% ;i%` ;%v5y=BɮEAE!EjagOmDNOT Ignoring new targets: 36.99 m.biRmW#ZuW#gO ProNav: ac range: 36.985859 m, nav range: 35.510540 m, bearing: 134.019705 deg, approach rate: -0.528344 m/s, LOS rate: -0.142803 deg/s, cmd heading: 132.339888 deg, new cmd heading: 132.218972 deg. BgOHeadingCmd: 2.307656 target range: 36.985859 and range: 37.20 m.@*" BʎjZ?ɢU#<)  i@է;S=I@I6@ @@4@Bb>BBm#IB߄BBBBBc;B;&EE} E}E}$Ey"E}:*E}P:VE}4ZEyBE}3?Ms,'gY@AF @F7@F/ =ٱFb2 RAHRS rotation from veh to nav: [[-0.717707,-0.681135,-0.144748],[0.695509,-0.711371,-0.101083],[-0.034119,-0.173222,0.984292]]FHt@¿`A?๿x,ƿ`Q?iF @IF1^;FCYu҄Byu]#II}>)}bDVDN2yٻ%Q=ٔQ->9 ?Y ?=nGy˻E>Q 55?Q 95kc)"BYy( @Q I`@DIV:i:4z5yɮAjgODNOT Ignoring new targets: 36.99 m.bR$ Z$ gO ProNav: ac range: 36.985859 m, nav range: 35.307255 m, bearing: 133.965311 deg, approach rate: -0.520256 m/s, LOS rate: -0.140008 deg/s, cmd heading: 132.218966 deg, new cmd heading: 132.109552 deg. BgOHeadingCmd: 2.305747 target range: 36.985859 and range: 37.20 m.Z@*" !!!!ʎ)))j)Z5j5?Yɢ] <)Y ]y  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7590716s,HY@A4 @@ =ٱk4 AHRS rotation from veh to nav: [[-0.716083,-0.682568,-0.146035],[0.697206,-0.709497,-0.102558],[-0.033609,-0.175257,0.983949]]H&@I¿O?2@A )5`nƿ|?i4 @I,_;CYńByN#IIiUMb@Mb@Mb@QQQQ Q9Up= ף?V-?y&1YU?yUh=U`eUAQ U=A)UAQYQbDmVDm1y}d%}==ٔ}Q->9Y=nGyF汻E>Q 55Y?Q 95_)BYg?Q E:y@Q I`@DI:i:}5y-Bɮ--A)PeB*** querying acoustic contact ***i ijqgOuDNOT Ignoring new targets: 36.99 m.byR}oZ}ogO ProNav: ac range: 36.985859 m, nav range: 35.083687 m, bearing: 133.906129 deg, approach rate: -0.493693 m/s, LOS rate: -0.131522 deg/s, cmd heading: 132.109546 deg, new cmd heading: 131.990428 deg. BpgOHeadingCmd: 2.303668 target range: 36.985859 and range: 37.20 m.Jo@*" ~BʎaajaZe@\k@颱ɢ<) i)ϲ <项iwp;iJo@;Q=IJo@I y4@ @@E0@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009310ԡ^A QO=A A B d>B B T#IB ʄBB  =B B lDB c;B H&E I I O >s,ޮY@AE> E>E<E<"E>:*E>T:VE<ZE<BE>̨;aF:E>̨;aFJ @J@JЇ =ٱJB5 RAHRS rotation from veh to nav: [[-0.714501,-0.684071,-0.146750],[0.698829,-0.707866,-0.102780],[-0.033570,-0.175990,0.983819]]JH@0@¿\?֦O`&0Նƿr{?iJ @IJ4_;JCYZʄBy^T#I b49pYp=rnGypv$ƻEv>xQ 5~5z#?Q 9~5z\)zBY|y@Q I`@zDIz_:iz:zC5y ɮ A j1gO5DNOT Ignoring new targets: 36.99 m.b1R=&Z=&gOM ProNav: ac range: 36.985859 m, nav range: 34.890018 m, bearing: 133.854993 deg, approach rate: -0.546703 m/s, LOS rate: -0.145153 deg/s, cmd heading: 131.990428 deg, new cmd heading: 131.887588 deg. BM҄gOUHeadingCmd: 2.301873 target range: 36.985859 and range: 37.20 m.UQ@Q*Y"Y YYYaaʎaaajiZmx@频ɢ}<) ;i)O <顙iSb:iQ@kk;OP=IQ@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2608081@9 @9@=/@9)^AmlT=III IY m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512846Ou >q s,A}Y@AJi @J^@Jg =ٱJN6 bAHRS rotation from veh to nav: [[-0.713008,-0.685350,-0.148037],[0.700354,-0.706236,-0.103610],[-0.033540,-0.177554,0.983539]]JH`c`¿ Li?|@4*,ƿ'y?iJi @IJU`;JCYjDŽByjP#I llbDrVDryzJ%zI=ٔ~Q-~>9Y=nGyFE> Q 55 颊?Q 95 _Y) BYy@Q I`@ DI * ;i 6; ф5y%Bɮ-A- EjIgOUDNOT Ignoring new targets: 36.99 m.bQR]Z]gOm ProNav: ac range: 36.985859 m, nav range: 34.679981 m, bearing: 133.799668 deg, approach rate: -0.516400 m/s, LOS rate: -0.136845 deg/s, cmd heading: 131.887592 deg, new cmd heading: 131.776273 deg. BmqzgOmHeadingCmd: 2.299930 target range: 36.985859 and range: 37.20 m.u 2@q*q"q qyyyyʎjZ@P@颩ɢz <) i)R <项i 9i 2@J;CNP=I 2@II)ZAQi@i @q@u/@qbE%û 4jE%r 4rE%èh0E EE%E"E:*ErN:VE 4ZEa@a@a@a@checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764775ԁ^AUQO=IIO>ԩ ,s,QY@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.016622:iI @:>@:J =ٱ::7 BAHRS rotation from veh to nav: [[-0.711655,-0.686673,-0.148418],[0.701732,-0.704868,-0.103607],[-0.033471,-0.177882,0.983482]]:H@`9]¿t?F #ƿ x?i:iI @I:a;:CYJ΄ByJY#IiMb@Mb@Mb@ 9(\?Zd;?y&1|Y?yy=`?A@ A)Y AbD5VD5yE=%EF=ٔE/Q-E>9IYI=MnGyIMMEU>QQ 5e5UKۢ?Q 9e5UU)UBYe?Q Ee:yeS@Q Im`@UDIU ;iU:Um5yqɮuAqj1gO=DNOT Ignoring new targets: 36.99 m.b9RE$ZE$gOM ProNav: ac range: 36.985859 m, nav range: 34.462234 m, bearing: 133.749163 deg, approach rate: -0.502446 m/s, LOS rate: -0.117276 deg/s, cmd heading: 131.776274 deg, new cmd heading: 131.674625 deg. BUVgO}HeadingCmd: 2.298156 target range: 36.985859 and range: 37.20 m.@*" ԹBʎjZ  @颥DŽBɢ<) iBۍCBN#IBńBB =BBBc;B?&E3@ @@@E EE$E"E>:*ET:VE4ZEBE9 s,.2Y@A2' @2n@2=ٱ297 >AHRS rotation from veh to nav: [[-0.710227,-0.688056,-0.148853],[0.703192,-0.703353,-0.103993],[-0.033143,-0.178531,0.983376]]2H`- ÿ`?ށH@+`ƿw?i2' @I2a;2CYF˄ByFU#ILLbDNVDNyV%VT=ٔZ^Q-Z>9XYX=^nGy^F%E>Q 5%5]͢?Q 9%5YR)BY!y%1@Q I%`@DIE:i:5y5Bɮ5A5EjQgO]DNOT Ignoring new targets: 36.99 m.bYReZegOu ProNav: ac range: 36.985859 m, nav range: 34.253376 m, bearing: 133.700847 deg, approach rate: -0.556188 m/s, LOS rate: -0.129450 deg/s, cmd heading: 131.674627 deg, new cmd heading: 131.577405 deg. BulgO}HeadingCmd: 2.296459 target range: 36.985859 and range: 37.20 m.}/@y*y"y yʎjZ @颹ɢE<)  @Q @Y@]4@YY^AudO=II O>ԉ E  E E E "E O:*E VL:VE ZE a @a @a @a @ checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774337s,LY@A4=X @=@==ٱ=: MAHRS rotation from veh to nav: [[-0.708838,-0.689086,-0.150699],[0.704614,-0.701631,-0.105992],[-0.032697,-0.181315,0.982881]]=Ḫ `Jÿ1?sD" U5ǿs?i=X @I=Shb;=CYYyaiMb@Mb@Mb@ 9MbX??Mbp?Y ?yL=;@ SA)AYAbD-VD-P)3y=z:%=3=ٔELQ-E>9AYI=MnGyIM\EU>QQ 5]5U?Q 9e5UJN)UBYeX ?Q Ee:ye@Q Ie`@UDIU:iU:UǏ5yuBɮu AuEPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 36.99 m.bR-Z-gO ProNav: ac range: 36.985859 m, nav range: 34.012856 m, bearing: 133.653002 deg, approach rate: -0.539360 m/s, LOS rate: -0.108050 deg/s, cmd heading: 131.577406 deg, new cmd heading: 131.481039 deg. BEgOHeadingCmd: 2.294777 target range: 36.985859 and range: 37.20 m.@*" BʎjZ@^@ԉ额ƄBɢ<) 'B B H#IB BB B B B c;B ;&EBIBIBIBM =BM =CMʆ|5A I I O >s,eY@AE2 E2E0E0"E2:*E21]:VE0ZE0BE2 9hYl=nnGynFnEr>pQ 5v5r ?Q 9z5r K)rBYxyz@Q Iz`@rDIr|:irR:r5yɮ Aj!gO-DNOT Ignoring new targets: 36.99 m.b)R-5Z55gOE ProNav: ac range: 36.985859 m, nav range: 33.820343 m, bearing: 133.614763 deg, approach rate: -0.540957 m/s, LOS rate: -0.108062 deg/s, cmd heading: 131.481046 deg, new cmd heading: 131.404133 deg. BEEgOMHeadingCmd: 2.293435 target range: 36.985859 and range: 37.20 m.M@I*I"I IIQQQʎQchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.276639jZ`F*@!ɢ-.X/<)) -p2s,Y@A2@2T@2P=ٱ2X|< :AHRS rotation from veh to nav: [[-0.706606,-0.691260,-0.151219],[0.706913,-0.699065,-0.107615],[-0.031322,-0.182941,0.982625]]2H``&[ÿ ?^@`h @jǿq?i2@I2/b;2CYBЄByF[#I HHbDNVDNkyVN%VL=ٔZQ-Z>9Z"?YZ"?=^nGy\^h}Eb>`Q 5f5b?Q 9f5baG)bBYhyj@Q Ij`@bDIb:ib:bb5ynBɮr ArEjgO DNOT Ignoring new targets: 36.99 m.b R Z gO% ProNav: ac range: 36.985859 m, nav range: 33.604412 m, bearing: 133.571931 deg, approach rate: -0.540234 m/s, LOS rate: -0.107849 deg/s, cmd heading: 131.404138 deg, new cmd heading: 131.317923 deg. B%`EgO-HeadingCmd: 2.291930 target range: 36.985859 and range: 37.20 m.-@)*)"1 11119ʎ999jAZEଳ@mńBɢm)&<)i u:*E[:VE 4ZEa@a@a@a@3@ @@/@Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.781184y^A1Aa Ii Iy O >ԡ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=5.032654t s,Y@A2@2 @2 <ٱ2ɮ= RAHRS rotation from veh to nav: [[-0.705966,-0.691828,-0.151611],[0.707585,-0.698200,-0.108809],[-0.030578,-0.184093,0.982433]]2H`F@t#@gÿ?`W ڻO_ǿ`p?i2@I2c;0Y^ׄBy^c#If=f=iEMb@Mb@Mb@AAAA A9EbX9?+?MbP?YEE?yE=E:EAA A)EAAYEAbD]VD]0qyu<%u>=ٔuQ-}>9yYy=}nGy}FF E>Q 55?Q 95B)BY?Q E:y@Q I`@DI~ ;i:$5yɮ AjgODNOT Ignoring new targets: 36.99 m.bR̺Z̺gO ProNav: ac range: 36.985859 m, nav range: 33.352455 m, bearing: 133.533152 deg, approach rate: -0.577214 m/s, LOS rate: -0.089510 deg/s, cmd heading: 131.317927 deg, new cmd heading: 131.239784 deg. B#gOHeadingCmd: 2.290566 target range: 36.985859 and range: 37.20 m.@*" aaeBʎiiijiZm؛@颽ĄBɢ*3<) =i)Ea <i1i@-;O=I@IB-h>B)B)B)B)B)B)B-c;B-8&Eԙ51@1 @1@1@1Eu EuEu$Eq"Eu:*Eu H:VEu4ZEqBEu s, ҴY@A>P@>Ҫ@>\F<ٱ>ļ= FAHRS rotation from veh to nav: [[-0.705367,-0.692544,-0.151129],[0.708220,-0.697475,-0.109331],[-0.029692,-0.184151,0.982449]]>H]R)0Xÿ`?Qg`@ǿ9p?i>P@I>Ld;>CYNӄByR_#IbDZVDZ1yb%bK=ٔbQ-b>9dYd=fnGydjEj>lQ 5r5n?Q 9r5n>)nBYpyr@Q Iv`@n DInB:in9:n5yzBɮzl AzEjgODNOT Ignoring new targets: 36.99 m.bR%ӺZ%Ӻ1gO= ProNav: ac range: 36.985859 m, nav range: 33.117416 m, bearing: 133.496803 deg, approach rate: -0.594254 m/s, LOS rate: -0.092555 deg/s, cmd heading: 131.239790 deg, new cmd heading: 131.166575 deg. B=b)gOEHeadingCmd: 2.289289 target range: 36.985859 and range: 37.20 m.E@A*A"A AIIIIʎQQQjQZ]@@颅ÄBɢW3<)  checking for new query: numPingsReceived=0, elapsed TxPingTime=5.803169Թ s,-Y@Af@f@f}<ٱf; nAHRS rotation from veh to nav: [[-0.704841,-0.693568,-0.148871],[0.708792,-0.697020,-0.108522],[-0.028498,-0.182009,0.982884]]fH11ÿm?`M@Ȼ .@Lǿs?if@Ifd;fCYzԄByz`#IԉiMb@Mb@Mb@ 99v?~jt?{Gz?Y?y<#<A A)YQAbDVD:y@;%9=ٔP1Q->9Y=nGy F\E>Q 559t?Q 95C:)BY ?Q E :y @Q I `@DIq ;i ;5yɮe AP5B*** querying acoustic contact ***1 1j9gOEDNOT Ignoring new targets: 36.99 m.bAR%Z%gO5 ProNav: ac range: 36.985859 m, nav range: 32.860821 m, bearing: 133.470529 deg, approach rate: -0.580800 m/s, LOS rate: -0.059933 deg/s, cmd heading: 131.166570 deg, new cmd heading: 131.113613 deg. B5^ۺgO=HeadingCmd: 2.288364 target range: 36.985859 and range: 37.20 m.=t@9*9"9 aaaamĄBʎiiijiZu%@E„BɢE1<)A E =iA)MFB B T#IB ʄBB  =B DDB B c;B T&E^A QO=9 E  E E 'E "E >:*E X:VE '4ZE BE s,Y@Achecking for new query: numPingsReceived=0, elapsed TxPingTime=6.304735YUȄByUR#IbDeVDeyu\e%uP=ٔ}Q-}>9yYy=}nGy}!FE>Q 55&f?Q 95%6)BYyQ I`@DIr;i;5yzBɮ AEjgODNOT Ignoring new targets: 36.99 m.bR_Z_gO ProNav: ac range: 36.985859 m, nav range: 32.632332 m, bearing: 133.446786 deg, approach rate: -0.582215 m/s, LOS rate: -0.060924 deg/s, cmd heading: 131.113609 deg, new cmd heading: 131.065790 deg. B޺gOHeadingCmd: 2.287529 target range: 36.985859 and range: 37.20 m.f@*" ʎjZBy@ɢB<)  WC}+G`]A9`]AYx|A^AMQ=IAQzAU[Achecking for new query: numPingsReceived=0, elapsed TxPingTime=6.557018Ia Iy O >q }t,\Y@AYf„ByfJ#IbDnVDn:2yv%vT=ٔxQ-z>9xYx=~nGy||E~>Q 5 5WX?Q 9 52)BYyQ I`@!DI:i :O5yɮ A!jAgOEDNOT Ignoring new targets: 36.99 m.bIRMZMgO] ProNav: ac range: 36.985859 m, nav range: 32.408127 m, bearing: 133.423161 deg, approach rate: -0.581294 m/s, LOS rate: -0.061675 deg/s, cmd heading: 131.065784 deg, new cmd heading: 131.018208 deg. B]gOeHeadingCmd: 2.286699 target range: 36.985859 and range: 37.20 m.eGY@a*i"i iiiqqʎqqqjZ@颭BɢF <)  ;i)u<顱i-iGY@8;5V=IGY@IQE EEE"E:*EC:VEZEa@a@a@a@E8@A @I@U/@Q=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.809390ԉ^A`R=ԩI I O > BDAT read: Response Not Received  *response not received 9Y=nGy"FE>ԱQ 55G?Q 95-)BY j?Q E :y @Q I `@B=j>B=܍CB9B9B9B9B9B=d;B=g&E*DIȮ t, 6Y@A2"@2}@2x<ٱ2D@= :AHRS rotation from veh to nav: [[-0.703509,-0.695197,-0.147571],[0.710261,-0.694948,-0.112145],[-0.024591,-0.183710,0.982673]]2H`$ ?¿u?@=t.˃ǿ`r?i2"@I2db;2CYBByBI#I DDbDNVDNyV;%Vq=ٔVoQ-Z?9XYX=^nGy\^vS:E^?`Q 5f5b%;?Q 9f5b9))bBYhyj@Q Ij`@b1DIbu*;ib>+;bF5ypɮr ApjgO DNOT Ignoring new targets: 36.99 m.b R!YZ!YgO ProNav: ac range: 36.985859 m, nav range: 31.924751 m, bearing: 133.388091 deg, approach rate: -0.641887 m/s, LOS rate: -0.047457 deg/s, cmd heading: 130.977975 deg, new cmd heading: 130.947527 deg. BgOHeadingCmd: 2.285465 target range: 36.985859 and range: 37.20 m.E@*" ʎjZ)@Bɢl6<)) -_;i))-<))i5!@,i5E@=;=]]T=I=E@I9checking for new query: numPingsReceived=0, elapsed TxPingTime=7.565009)52@1 @9@=/@9QbEU-4jEU-4rEUQ/E EE(E"E:*EP:VEc44ZEa@a@a@a@^A `T=y I I O >] checking for new query: numPingsReceived=0, elapsed TxPingTime=7.816785t,5OY@A0c@v@<ٱ)= -AHRS rotation from veh to nav: [[-0.703230,-0.695604,-0.146979],[0.710565,-0.694562,-0.112610],[-0.023754,-0.183629,0.982709]]H܀`bB 6¿ ?9`Լ`R(ǿ@Yr?ic@I(Ta;CYEByEC#IiMb@Mb@Mb@ 95^I ?y&1|?Y?y`; A@ A)AYAbDVDk1y%8=ٔQ->9Y=nGy#FrE>Q 55P+?Q 95X$)BY?Q E:y4@Q I`@9DIE@ @@/@checking for new query: numPingsReceived=0, elapsed TxPingTime=8.068901Ա^AlT=B) A) B5 k>B1 B1 B1 B5  =B1 B5 mDB5 (d;B5 m&EII IY Om > E  E E 'E "E :*E ;J:VE '4ZE BE 9xYx=znGyxz['Ez>Q 5 5&?Q 9 5I )BY y 0@Q I `@@DI:i:d5y%checking for new query: numPingsReceived=0, elapsed TxPingTime=8.320854ɮJ AjgODNOT Ignoring new targets: 36.99 m.bR(Z(gO- ProNav: ac range: 36.985859 m, nav range: 31.441463 m, bearing: 133.357762 deg, approach rate: -0.580668 m/s, LOS rate: -0.036865 deg/s, cmd heading: 130.914263 deg, new cmd heading: 130.886397 deg. B-gO5HeadingCmd: 2.284399 target range: 36.985859 and range: 37.20 m.53@Q*Q"Q QYYYYʎaaajaZe@ t,WY@A27@2x@2=<ٱ2$: :AHRS rotation from veh to nav: [[-0.703347,-0.696257,-0.143277],[0.710525,-0.694665,-0.112228],[-0.021390,-0.180737,0.983299]]2HсG V¿ ?`: P畿f"ǿ.w?i27@I2R`;2CYBByB(#IbDNVDN:2yVC%VN=ٔVb_Q-V>9XYX=ZnGyZ$F^e:E^>`Q 5f5b ?Q 9f5b)bBYdyf6@Q If`@bHDIb:ib:bٹ5ylɮn AlAjgODNOT Ignoring new targets: 36.99 m.bR)4Z)4gO ProNav: ac range: 36.985859 m, nav range: 31.206505 m, bearing: 133.342581 deg, approach rate: -0.604884 m/s, LOS rate: -0.039377 deg/s, cmd heading: 130.886396 deg, new cmd heading: 130.855805 deg. B gOHeadingCmd: 2.283865 target range: 36.985859 and range: 37.20 m.*@*" ʎjZ"@颁ɢʲ;) :i) <顉iQ)E EE&E"E%;*EX:VE4ZEa@a@a@a@i5*@5[;5ZX=I5*@I95checking for new query: numPingsReceived=0, elapsed TxPingTime=8.825262i4@ @@1@A.AI9IaO|>ԙ i I A checking for new query: numPingsReceived=0, elapsed TxPingTime=9.076976't,wY@Anx@nNn@n8<ٱnO9 vAHRS rotation from veh to nav: [[-0.702909,-0.696935,-0.142130],[0.710986,-0.694192,-0.112233],[-0.020446,-0.179942,0.983465]]nH;~IM M1¿d? 6@T`Vǿx?inx@InYU`;nCYBy#IiMb@Mb@Mb@ 9Q?~jt?{GzY?y<ףAԙ@ fA)AYAbDVD1yU%:=ٔ Q->9 ?Y ?=nGyɽE>Q 5U5U?Q 9U5O)BY]?Q E]:y]@Q I]`@PDIlBBA#IBBBBBBc;BQ&EB܍CB܍CBB =B =C5BgO HeadingCmd: 2.282905 target range: 36.985859 and range: 37.20 m.@*" Bʎ!j!Z%`"@MBɢUx;)Q UtiQ)U  ;/-t,LY@A2k@2Ca@2 <ٱ24W9 :AHRS rotation from veh to nav: [[-0.702354,-0.697582,-0.141695],[0.711556,-0.693533,-0.112694],[-0.019657,-0.179975,0.983475]]2Hy R#¿?k1@ټ `n ǿx?i2k@I2T`;2CYBByB#I J;J4<bDNVDN0yr<%rY=ٔr} Q-v>9v"?Yv"?=vnGyv%Fz Ez>|Q 55~?Q 95~U)~BYy@Q I `@~WDI~H;i~:~5yɮ Aj9gO=DNOT Ignoring new targets: 36.99 m.b9REÕZEÕgOU ProNav: ac range: 36.985859 m, nav range: 30.730703 m, bearing: 133.291898 deg, approach rate: -0.609752 m/s, LOS rate: -0.065467 deg/s, cmd heading: 130.800827 deg, new cmd heading: 130.753654 deg. BUgO]HeadingCmd: 2.282082 target range: 36.985859 and range: 37.20 m.] @Y*Y"Y aaaaiʎiiijiZu@=#@额Bɢ~{;) ̀i)98 <顡i*(i @};I @II)checking for new query: numPingsReceived=0, elapsed TxPingTime=9.5842144@ @@/@A-?A-?!Ae.AIiIyO9>QE EEE"E:*EL_:VEZEa@a@a@a@M checking for new query: numPingsReceived=0, elapsed TxPingTime=9.832738y 4t,;Y@AE_@E]U@En<ٱEq9 ]AHRS rotation from veh to nav: [[-0.701848,-0.698173,-0.141291],[0.712077,-0.692911,-0.113226],[-0.018851,-0.180078,0.983472]]EH@uoW`¿V?@T,fM` ǿx?iE_@IE`;ECYmByu #Ii%Mb@Mb@Mb@!!!! !9%B`"?+?~jtY%?y%=%ļ%lA! !)%A!Y%QAbDEVDENIyU\r%U5=ٔ]yQ-]>9e ?Yu ?=unGyy4кE>Q 55⡊?Q 95)BYT?Q E:y<@Q I`@_DI:i:5yABɮ AEPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 36.99 m.bR.ɺZ.ɺgO ProNav: ac range: 36.985859 m, nav range: 30.475977 m, bearing: 133.251779 deg, approach rate: -0.553745 m/s, LOS rate: -0.087942 deg/s, cmd heading: 130.753658 deg, new cmd heading: 130.672750 deg. B gO HeadingCmd: 2.280670 target range: 36.985859 and range: 37.20 m. ~@ * "   BʎjZ`ф$@MBɢMV3;)I MiI)U BB.#IBBB =BBBc;BZ&E^A E  E E $E "E >:*E F:VE 4ZE BE U:t,YY@An*DAT read: user:662> rBDAT read: Tx time:01:00:51.4698 r$Ping request sent.r9]"?Y]"?=]nGye&FeEe>iQ 5E5ԑmա?Q 95m5 )mBYyQ I`@mfDIm =im =m45yɮ AjgO%DNOT Ignoring new targets: 36.99 m.b!REZEgOU ProNav: ac range: 36.985859 m, nav range: 30.270098 m, bearing: 133.218859 deg, approach rate: -0.495827 m/s, LOS rate: -0.079823 deg/s, cmd heading: 130.672748 deg, new cmd heading: 130.606459 deg. BUgO]HeadingCmd: 2.279513 target range: 36.985859 and range: 37.20 m.]@Y*a" ʎjZ`]%@}Bɢ}0;) i)k <顁i7&i@ ;Y*_=I@IԹu1@y @y@}/@ychecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251216^A &V= A .AI I O >mAt,PY@A2H8@2-@2%<ٱ2[: >AHRS rotation from veh to nav: [[-0.700144,-0.699893,-0.141239],[0.713788,-0.690944,-0.114468],[-0.017473,-0.180959,0.983335]]2H`ge "¿Z?5`M`d䑿 )ǿ{w?i2H8@I2Ja;2CYF|ByF"IbDNVDNN2yVG%ZJ=ٔZ_Q-Z>9^ ?Y^ ?=^nGy\^ĻE^>`Q 5f5bǡ?Q 9j5b<)bBYhyj@Q Ij`@bmDIb;ib;b5yn;Bɮn ApjgO DNOT Ignoring new targets: 36.99 m.b R ZgO ProNav: ac range: 36.985859 m, nav range: 30.045427 m, bearing: 133.183483 deg, approach rate: -0.630551 m/s, LOS rate: -0.100028 deg/s, cmd heading: 130.606454 deg, new cmd heading: 130.535172 deg. B%7gO%HeadingCmd: 2.278269 target range: 36.985859 and range: 37.20 m.%'@)*)") ))111ʎ199j9Z=@&@E EE&E"E:*E[:VE4ZEa@a@a@a@ɢK) ti)\<iPg%i'@;Z=I'@IAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.5038560@ @@/@q^A-tY=ԙA1 I9 II Oe > checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756017 Gt,C Y@A2@2 @2w<ٱ289 :AHRS rotation from veh to nav: [[-0.698611,-0.701584,-0.140437],[0.715298,-0.689511,-0.113677],[-0.017079,-0.179870,0.983542]]2H[ as ?@z` 7}ǿ -y?i2@I2a;2CY^rByb"IIb%=)bp;iMb@Mb@Mb@ 9q= ףp? ףp= ?:vY ?yQ8=ԼA@ )|ABo>BB#IBBBBBBd;B\&EYzAbDVD:y/%8=ٔhQ->9Y=nGy'FE> Q 55 ?Q 95 ) BY%' ?Q E%:y%@Q I%`@ uDI {;i {; 5y)ɮ5AA1jYgO]DNOT Ignoring new targets: 36.99 m.bYRez޺Zez޺gOu ProNav: ac range: 36.985859 m, nav range: 29.804567 m, bearing: 133.140529 deg, approach rate: -0.540972 m/s, LOS rate: -0.097253 deg/s, cmd heading: 130.535174 deg, new cmd heading: 130.448573 deg. Bu1gO}HeadingCmd: 2.276757 target range: 36.985859 and range: 37.20 m.}c@y*y"y yhBʎjZ &@Ա颽BɢP-b)  i)^<iX[$ic@MG׽;UaY=IUc@IQE EEE"E[:*E;J:VEZEBE}echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006863^A  Ai I I G \AO > % O9% \AY% aA9 @Mt,?:Y@A2@2,@2Ê<ٱ2 : :AHRS rotation from veh to nav: [[-0.696805,-0.703114,-0.141751],[0.717061,-0.687538,-0.114521],[-0.016938,-0.181443,0.983256]]2H9L@$¿*?O:Q@HX9ǿ`v?i2@I2a;2CYFkByF"IbDNVDNNy~%~[=ٔ~=ƹQ->9Y=nGy ޻E >Q 55?Q 95w)BYy%@Q I%`@{DI(;i1;5y55Bɮ5JA=EjgODNOT Ignoring new targets: 36.99 m.bRRغZRغchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259647gO ProNav: ac range: 36.985859 m, nav range: 29.602156 m, bearing: 133.104926 deg, approach rate: -0.533955 m/s, LOS rate: -0.094562 deg/s, cmd heading: 130.448567 deg, new cmd heading: 130.376874 deg. B-gOHeadingCmd: 2.275506 target range: 36.985859 and range: 37.20 m.@*"   ʎ j)Z5Y'@UBɢ] )Y ]iY)]%XlTt,DSY@A(~@~@~<ٱ~(; ]AHRS rotation from veh to nav: [[-0.695355,-0.704477,-0.142104],[0.718470,-0.686066,-0.114521],[-0.016815,-0.181730,0.983205]]~H`Y@@ s0¿?`@ EQ 7Bǿiv?i~@I~ra;~CYiyiiMb@Mb@Mb@ 9K7A?y&1?I +Y ?y`e=9lA )YQA < bD VD :ٔQ->95"?Y5"?=5nGy5(F=E=>AQ 5M5E9?Q 9M5E)EBYU?Q EU:yU+@Q IU`@EDIE:iE:E5yYɮYYP}B*** querying acoustic contact ***y yjgODNOT Ignoring new targets: 36.99 m.bR`Z`gO= ProNav: ac range: 36.985859 m, nav range: 29.378559 m, bearing: 133.053653 deg, approach rate: -0.516015 m/s, LOS rate: -0.119229 deg/s, cmd heading: 130.376878 deg, new cmd heading: 130.273550 deg. B=3ZgOEHeadingCmd: 2.273702 target range: 36.985859 and range: 37.20 m.EW@I*I"I IIIQU\BʎQQQyjYZ@#(@BɢH) i)K<iC"iW@=W;=U=I=W@IAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.763907->@) @)@-4@)ԩBBB"IB~BBBBBc;BG&E ^AU lT=E  E E %E "E m:*E P:VE 4ZE BE S[t,pCnY@A2@2@2x<4ٱ2< >AHRS rotation from veh to nav: [[-0.693332,-0.706145,-0.143699],[0.720420,-0.683897,-0.115235],[-0.016903,-0.183420,0.982889]]2H/`d¿` ?} N@Kzǿs?i2@I2a;2CYJbByJ"IbDZVDZfyf.%j<ٔrw9Q->9Y=nGyE>Q 55e?Q 95>)~BYy@Q Ia@DIu ;i ;#5yɮAj1gO5DNOT Ignoring new targets: 36.99 m.b1R=-Z=-gOm ProNav: ac range: 36.985859 m, nav range: 29.180141 m, bearing: 133.008643 deg, approach rate: -0.494490 m/s, LOS rate: -0.112935 deg/s, cmd heading: 130.273550 deg, new cmd heading: 130.182918 deg. BmNgOuHeadingCmd: 2.272120 target range: 36.985859 and range: 37.20 m.ulj@q*q"q qqyʎjZ`Se)@-Bɢ5p)1 5%i1ԙ)9<顱i7!ilj@6;>Q=Ilj@IM4@I @I@M/@Q@]ZA@]ZAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267626^A5 `T= A) II Iq O >at,Y@ANv@Nk@NA<ٱNA= VAHRS rotation from veh to nav: [[-0.691641,-0.707703,-0.144185],[0.722045,-0.682198,-0.115142],[-0.016876,-0.183745,0.982829]]NH`!`t¿?`yHǿVs?iNv@INb;NCYbdByf"IpbD~VD~1y `,<% G=ٔ:Q->9Y=nGy)FƻE>!Q 5-5%ȃ?Q 9-5%)%vBY1y5@Q I5a@%DI%;i%;%5y=.BɮESAEEjagOmDNOT Ignoring new targets: 36.99 m.biRmZmbE4jE4rEA/E} E}E}(Ey"E}:*E}?:VE}c44ZEya@a@a@a@gO ProNav: ac range: 36.985859 m, nav range: 28.984592 m, bearing: 132.964603 deg, approach rate: -0.520221 m/s, LOS rate: -0.117949 deg/s, cmd heading: 130.182914 deg, new cmd heading: 130.094241 deg. BWgOHeadingCmd: 2.270573 target range: 36.985859 and range: 37.20 m.Q@*" ʎ111j9Z=+*@颅Bɢ$\a) i)ڕ;顩i3 iQ@,O;9O=IQ@IDDAT read: Rx Time:01:00:53.6381 TRx dataTimestamp_ set to:1761699654.225793%PDAT read: Bearing 298.0, -6.2 (Local) -~Local bearing/azimuth received: Bearing 298.0, -6.2 (Local) =DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed 0.5 eDAT read: 01:00:53.6381 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 302, 0.06, 1.720, 0.033, 1.973, 1.635, PHS= 0.187,-1.557, 0.294, RAW= 153.0, 11.9, CAL= 153.0, 13.2, ROT= 357.0, -13.2 uYgot valid direction response: 01:00:53.6381 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 302, 0.06, 1.720, 0.033, 1.973, 1.635, PHS= 0.187,-1.557, 0.294, RAW= 153.0, 11.9, CAL= 153.0, 13.2, ROT= 357.0, -13.2 uR#Rx 1: Read range and direction messages.}^direction in FSK: [0.972245,-0.050953,0.228351]Fpublishing direction and range infoyvΠ?\oI :?Y3A )BI|?>iKǿ+>*@ȭT>*@ k>)b@IkS;E?|b s?i֧!x? e7@i @i@m/@i :?) KUIQwVikchecking for new query: numPingsReceived=1, elapsed TxPingTime=2.5727109^A-lT=a Am .AIq I O > checking for new query: numPingsReceived=1, elapsed TxPingTime=2.771138ht,ӡY@A2L@20B@2a<ٱ2= :AHRS rotation from veh to nav: [[-0.689816,-0.709459,-0.144301],[0.723791,-0.680410,-0.114755],[-0.016770,-0.183603,0.982857]]2H@`px¿@K)?`@ ,`Oǿ`s?i2L@I2W:b;2C9BMp>BIBM"IBMjBBIBIBIBMd;BMi&EY^By"IaE EE%E"E*E$:VE 4ZEBE95 ?Y5 ?=5nGy15ۙE5>9Q 5E5= r?Q 9M5=K)=lBYMb?Q EM:yM@Q IMa@=DI= :i=:=65yQɮ]AYIMdsY@AJMARMAjMM@MOk<@gpT@rMvΠ?\oI :?ZMQwVbMkMD3j, Ef4@ed&n@zMC=[v2?Qow?2MA:M"M%?*MBMBII“MBMAMq@gO addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 13.114406 s, deltaX: -7.800001 m, approachRate: -0.594766 m/s, rangeRepo size: 4 gO Added new target pos. range: 29.231888 m, bearing: 133.144491 deg, lat: 36.779285 deg, lon: -121.859512 deg, deltaT: 13.114406 s, deltaX: -7.753971 m, approachRate: -0.591256 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 29.23 m.bRZgO ProNav: ac range: 29.231888 m, nav range: 28.713507 m, bearing: 132.894170 deg, approach rate: 0.000000 m/s, LOS rate: -0.117949 deg/s, cmd heading: 130.094244 deg, new cmd heading: 129.966344 deg. BgOHeadingCmd: 2.268341 target range: 29.231888 and range: 29.40 m.~,@*" YBʎj`ff=@Z?%DDAT read: Rx Time:01:00:54.1379 -TRx dataTimestamp_ set to:1761699654.7297395PDAT read: Bearing 299.8, -6.1 (Local) 5~Local bearing/azimuth received: Bearing 299.8, -6.1 (Local) EDAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed 0.4 DAT read: 01:00:54.1379 LVL= 32624, 32753, 32754, 32755, AGC= 65, IDX= 508, 0.41,-0.031,-1.705, 0.203,-0.078, PHS= 0.149,-1.582, 0.237, RAW= 152.5, 13.4, CAL= 152.7, 15.0, ROT= 357.3, -15.0 Ygot valid direction response: 01:00:54.1379 LVL= 32624, 32753, 32754, 32755, AGC= 65, IDX= 508, 0.41,-0.031,-1.705, 0.203,-0.078, PHS= 0.149,-1.582, 0.237, RAW= 152.5, 13.4, CAL= 152.7, 15.0, ROT= 357.3, -15.0 R#Rx 2: Read range and direction messages.^direction in FSK: [0.964854,-0.045502,0.258819]Fpublishing direction and range infoBɢJa!) %'i!)%;!!i-ji5~,@Uu;UV,O=IU~,@IYy!%Bx?DZKV!}?Y%Aԑ!%p!! !)%AI%u>i%~ʿ%!r>%X*@%|o>%J*@ % >)%Ѝ@I% !!%9RiD?]?r ? %?)%AHRS rotation from veh to nav: [[-0.686223,-0.713409,-0.141934],[0.727188,-0.677460,-0.110660],[-0.017209,-0.179150,0.983671]]6H@? *¿E?5T@'aƿ@9u"?Y}"?=}nGy*FԑPE>Q 55e?Q 95)dBY1y5@Q I=a@DI`~"%T ?*%nJB%B%%?%“%B%A%5@gO addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.503946 s, deltaX: -0.299999 m, approachRate: -0.595300 m/s, rangeRepo size: 4 gO Added new target pos. range: 28.933603 m, bearing: 133.434995 deg, lat: 36.779285 deg, lon: -121.859514 deg, deltaT: 0.503946 s, deltaX: -0.298285 m, approachRate: -0.591898 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 28.93 m.bRZgO ProNav: ac range: 28.933603 m, nav range: 28.333269 m, bearing: 133.095215 deg, approach rate: 0.000000 m/s, LOS rate: -0.117949 deg/s, cmd heading: 129.966342 deg, new cmd heading: 129.863854 deg. BgOHeadingCmd: 2.266552 target range: 28.933603 and range: 29.10 m./@*" ʎj =@Z `?UBɢU|yQ)Q U^$iY)]>F;Ee EeEaEa"Ee:*Ee:VEaZEaam@am@au@au@Yyi}i/@7L;uD=I/@IԹDDAT read: Rx Time:01:00:54.6376 TRx dataTimestamp_ set to:1761699655.233904 PDAT read: Bearing 298.1, -5.9 (Local) ~Local bearing/azimuth received: Bearing 298.1, -5.9 (Local) %DAT read: Range 11 to 50 : 28.7 m (trip time 19.1 ms) speed 0.4 51@1 @1@1@1MDAT read: 01:00:54.6376 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 506,-0.41,-1.783, 2.803,-1.537,-1.871, PHS= 0.189,-1.564, 0.290, RAW= 152.8, 12.0, CAL= 152.8, 13.3, ROT= 357.2, -13.3 ]Ygot valid direction response: 01:00:54.6376 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 506,-0.41,-1.783, 2.803,-1.537,-1.871, PHS= 0.189,-1.564, 0.290, RAW= 152.8, 12.0, CAL= 152.8, 13.3, ROT= 357.2, -13.3 ]R#Rx 3: Read range and direction messages.e^direction in FSK: [0.972017,-0.047539,0.230050]eFpublishing direction and range infoy7mt{?d6Wgz}"Er?YA )@I7A>i'1ȿz>*@PwV>*@ ,m>)@I,m8\Q?ʲ ? ? r?)\VI*Hi,mchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.557038^A% JM=! Ai I I O >vt, Y@Ar$@r@r<zchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.778983ٱrsB8 AHRS rotation from veh to nav: [[-0.684691,-0.714884,-0.141913],[0.728634,-0.675958,-0.110331],[-0.017053,-0.178945,0.983711]]rH`T6*¿P?r>xvƿz?ir$@Ira;rCԉYkBy"IiMb@Mb@Mb@ 9S㥛?9qYq=unGyy}֏E}>AABr>BݍCB"IB`BBBBBVd;B&EBiBiBiBm =Bm =CmÙ41Q 5u55T?Q 955)5\BY'?Q E:yM@Q Ia@5DI5[iD̿)\>uY+@b>v+@ }>)o@I}J?,? XP2? v)?) pcI5zi}= checking for new query: numPingsReceived=4, elapsed TxPingTime=4.083013 ^A B=AAII)OE>~t,Y@AN@N@N<ٱNm 8 ZAHRS rotation from veh to nav: [[-0.682861,-0.716595,-0.142105],[0.730347,-0.674200,-0.109757],[-0.017156,-0.178735,0.983748]]NHW~0¿@_? :`ƿz?iN@INa;NCchecking for new query: numPingsReceived=4, elapsed TxPingTime=4.283581Y-qBy-"I 11bD=VD= yG<%8=ٔ q9Q->9Y=nGy+FE>Q 55E?Q 95)VBYy$@Q Ia@DI$:i:5yBɮ AE$DY@AJRj,@DA˜;@k݊ƇJ@rٴ*?BAM/;f?Z5zb}=֣2_fy4@Lʬ@z.UBZv?~yZA?2KA:""?*^BޑBT ?“pA]d@!gO= addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.504630 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gOM Added new target pos. range: 28.535982 m, bearing: 132.227816 deg, lat: 36.779286 deg, lon: -121.859514 deg, deltaT: 0.504630 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jQgOUDNOT Ignoring new targets: 28.54 m.bQRYZYgOm ProNav: ac range: 28.535982 m, nav range: 27.804897 m, bearing: 132.847466 deg, approach rate: 0.000000 m/s, LOS rate: -0.117949 deg/s, cmd heading: 129.745372 deg, new cmd heading: 129.656492 deg. BigOuHeadingCmd: 2.262933 target range: 28.535982 and range: 28.70 m.u@q*y"y yyyʎjZ?颵Bɢ˨) i)SD;项i i@;9pC=I@I2@ @@/@@[A@YE- E-E-&E)"E-:*E-;J:VE-4ZE)a5@a5@a5@a5@yDDAT read: Rx Time:01:00:55.6374 TRx dataTimestamp_ set to:1761699656.241641PDAT read: Bearing 298.1, -6.0 (Local) ~Local bearing/azimuth received: Bearing 298.1, -6.0 (Local) DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed 0.4  DAT read: 01:00:55.6374 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 502, 0.05,-0.157,-1.845, 0.091,-0.241, PHS= 0.186,-1.559, 0.288, RAW= 152.8, 12.0, CAL= 152.8, 13.3, ROT= 357.2, -13.3  Ygot valid direction response: 01:00:55.6374 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 502, 0.05,-0.157,-1.845, 0.091,-0.241, PHS= 0.186,-1.559, 0.288, RAW= 152.8, 12.0, CAL= 152.8, 13.3, ROT= 357.2, -13.3  R#Rx 5: Read range and direction messages.% ^direction in FSK: [0.972017,-0.047539,0.230050]% Fpublishing direction and range infoy7mt{?d6Wgz}"Er?YA )Iv>>iPǿt>*@PwV>*@ ,m>)@I,m,40M?a?/4? M?)~9WI*Hi,mE checking for new query: numPingsReceived=5, elapsed TxPingTime=4.550973^A Ա AM .AIq I O >5t,Y@AhhQ@y@E\<ٱ7 AHRS rotation from veh to nav: [[-0.680904,-0.718368,-0.142536],[0.732164,-0.672344,-0.109044],[-0.017499,-0.178609,0.983765]]H@>¿@m?փ V껿L둿ƿz?iQ@I`;CYUsByU"Ichecking for new query: numPingsReceived=5, elapsed TxPingTime=4.786991iMb@Mb@Mb@ 9/$?Q?9- ?Y- ?=5nGy5,F5E5>9Q 5E5=^4?Q 9E5=e)=NBYMb ?Q EM:yM@Q IMa@=DI= ;i= ;=5yQɮU AYqu wY@AJuOARuOAjuy@u{:A;@RXSKu"@ru7mt{?d6Wgz}"Er?Zu*Hbu,mu&2i{ϯ%4@~ҙPm@zue"ba?G?2u-A:u'"u?*uxBuBuC?ux“quBABE"IBEeBBE =BABABE9d;BE|&E5@ @@/@QE  E E )E "E [:*E *:VE FA4ZE BE }ie ȿe >e J*@a e J*@ a )e Ѝ@Ia a a e `RX?b$C?mNwt,K4Y@ABxc@BX@By<ٱB7 jAHRS rotation from veh to nav: [[-0.679435,-0.719746,-0.142598],[0.733527,-0.670929,-0.108594],[-0.017513,-0.178382,0.983805]]BH(@@¿ y??x ̻@:ƿU{?iBxc@IBM_;BCYvpByv"IbDVD:y-n%-m=ٔ-/,81Q-U?9YYY=]nGyY]IEe?aQ 5m5eL(?Q 9u5e=)eHBYqyug@Q Iua@eDIe&;ieT;e5y Bɮ AEim/Y@AJmARmAjm@m3z:@wfUX@rmϰgSn?a cxgz}"Er?ZmQAbim[t, NY@A>D@>9@><ٱ>c?7 ZAHRS rotation from veh to nav: [[-0.678023,-0.721058,-0.142691],[0.734826,-0.669628,-0.107840],[-0.017791,-0.177971,0.983875]]>H\`@C¿`?mf7ƿ@{?i>D@I>e_;>CYfByf"IIh)j;vDDAT read: Rx Time:01:00:56.6370 vTRx dataTimestamp_ set to:1761699657.249779~PDAT read: Bearing 300.0, -6.5 (Local) ~~Local bearing/azimuth received: Bearing 300.0, -6.5 (Local)  DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.4 5DAT read: 01:00:56.6370 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 498,-0.21,-3.007, 1.610,-2.763,-3.036, PHS= 0.131,-1.592, 0.229, RAW= 152.7, 13.8, CAL= 153.0, 15.5, ROT= 357.0, -15.5 =Ygot valid direction response: 01:00:56.6370 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 498,-0.21,-3.007, 1.610,-2.763,-3.036, PHS= 0.131,-1.592, 0.229, RAW= 152.7, 13.8, CAL= 153.0, 15.5, ROT= 357.0, -15.5 =R#Rx 7: Read range and direction messages.E^direction in FSK: [0.962310,-0.050433,0.267238]EFpublishing direction and range infoytvM=? Jҩ֚n?YvAtttt t)v@Iv$>iv˿v~j>tvϢv>v*@ vc>)vb@IvcttvA4(#?'/?dUNt? v K?)vvIvQwVivcttechecking for new query: numPingsReceived=7, elapsed TxPingTime=5.559527bD]VD]yu=%uF=ٔ}m0:Q-}>9"?Y"?=nGy-FE>Q 55ԙ4?Q 95)BBYyH@Q Ia@DI-;i1.;5yɮR AtvaOY@AJvARvAjv@v2I{h:@*`o$B1 B5 "IB5 jBB5  =B1 B5 nDB5 d;B5 q&E^A= g@=IA.AIIE EE$E"E:*ErN:VE4ZEBEt,mY@AY~zBy~"IDDAT read: Rx Time:01:00:57.1369 TRx dataTimestamp_ set to:1761699657.758654PDAT read: Bearing 297.9, -5.7 (Local) ~Local bearing/azimuth received: Bearing 297.9, -5.7 (Local) DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.4 %DAT read: 01:00:57.1369 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 497, 0.12,-0.431,-2.131,-0.193,-0.523, PHS= 0.194,-1.563, 0.286, RAW= 152.5, 12.0, CAL= 152.5, 13.3, ROT= 357.5, -13.3 ԩiMb@Mb@Mb@Ygot valid direction response: 01:00:57.1369 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 497, 0.12,-0.431,-2.131,-0.193,-0.523, PHS= 0.194,-1.563, 0.286, RAW= 152.5, 12.0, CAL= 152.5, 13.3, ROT= 357.5, -13.3 R#Rx 8: Read range and direction messages.^direction in FSK: [0.972253,-0.042450,0.230050]Fpublishing direction and range infoy&?u˽񻥿gz}"Er?YA )?IF>ibȿn>X*@PwV>X*@ ,m>)i@I,m$sZd?gHI?Mc? X?)VIѸ2i,mUchecking for new query: numPingsReceived=8, elapsed TxPingTime=6.108008 9MbX?v/?Y ?yxi=VA |A)Y(AbDVDk2ym:%m =ٔuQ-u>9u ?Yu ?=}nGyy}E}>Q 55?Q 95)9E"?YE"?=MnGyM.FMwmEU>QQ 5]5UM?Q 9]5U*)U8BYayet@Q Iea@UDIU:iU:UJ5}DDAT read: Rx Time:01:00:57.6366 }TRx dataTimestamp_ set to:1761699658.261849PDAT read: Bearing 297.9, -5.6 (Local) ~Local bearing/azimuth received: Bearing 297.9, -5.6 (Local) DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.4 DAT read: 01:00:57.6366 LVL= 32608, 32753, 32754, 32755, AGC= 64, IDX= 511,-0.46,-3.004, 1.580,-2.771,-3.096, PHS= 0.193,-1.562, 0.280, RAW= 152.4, 12.1, CAL= 152.4, 13.4, ROT= 357.6, -13.4 Ygot valid direction response: 01:00:57.6366 LVL= 32608, 32753, 32754, 32755, AGC= 64, IDX= 511,-0.46,-3.004, 1.580,-2.771,-3.096, PHS= 0.193,-1.562, 0.280, RAW= 152.4, 12.1, CAL= 152.4, 13.4, ROT= 357.6, -13.4 R#Rx 9: Read range and direction messages.^direction in FSK: [0.971923,-0.040735,0.231748]Fpublishing direction and range infoyy}weRn?uBۤ] A?Y}Ay}`yy y)}@I}ˡE>i}ǿ})\>};*@}@X>};*@ }|o>)}@I}|oyy}k?X2E?aY? }t?)}WI}Q+i}|oyychecking for new query: numPingsReceived=9, elapsed TxPingTime=6.571142yɮ Ay}"Y@AJ}AR}Aj}*@}:@;QDn@r}weRn?uBۤ] A?Z}Q+b}|o}/n19IX3@ߑӹiZ@z}Pz(忟xg?ZM&?2}ĚA:}c"}9&?*}OB}2By}“}B}A}@gO addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.503195 s, deltaX: -0.500000 m, approachRate: -0.993651 m/s, rangeRepo size: 4 gO Added new target pos. range: 26.846079 m, bearing: 132.413134 deg, lat: 36.779288 deg, lon: -121.859516 deg, deltaT: 0.503195 s, deltaX: -0.497150 m, approachRate: -0.987988 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 26.85 m.bR!Z!gO5 ProNav: ac range: 26.846079 m, nav range: 26.325577 m, bearing: 132.387810 deg, approach rate: 0.000000 m/s, LOS rate: -0.117949 deg/s, cmd heading: 129.213259 deg, new cmd heading: 129.123001 deg. B1gO=HeadingCmd: 2.253622 target range: 26.846079 and range: 27.00 m.=V;@9*9"9 9yʎj;@Zm?BɢM;) Wi);iiV;@m;=C9=I=V;@I90@ @@O0@9% checking for new query: numPingsReceived=9, elapsed TxPingTime=6.807085Y ^A5 G=By By B} "IB} tBBy By By B} +d;B} w&EAi ԉ I I O >t,"Y@A^}@^@^&<ٱ^6 fAHRS rotation from veh to nav: [[-0.672458,-0.726196,-0.142967],[0.739912,-0.664345,-0.105720],[-0.018206,-0.176875,0.984065]]^Hń`=@L¿@[?OB{~`٣ƿu}?i^}@I^>k_;^CYnBy#IiMb@Mb@Mb@ 99Y=nGy+zE>Q 55蠊?Q 95)3BY?Q E:y@Q Ia@DI ;i:5yBɮ= AEPB*** querying acoustic contact *** jgO%DNOT Ignoring new targets: 26.85 m.b!R%Z%gO5 ProNav: ac range: 26.846079 m, nav range: 26.073374 m, bearing: 132.347210 deg, approach rate: -0.604626 m/s, LOS rate: -0.098274 deg/s, cmd heading: 129.123005 deg, new cmd heading: 129.041020 deg. B53EE EEEE(EA"EE,:*EErN:VEEc44ZEABEEi L7ɿ }> X*@  j> J*@ w>) Ѝ@I w   y/bF?؛s?:I"? 7g?) 3iI QAi w  checking for new query: numPingsReceived=10, elapsed TxPingTime=7.079820BɢӇ;)! %i!)%z;!!iE9iM#@M"H;U:=IU#@IQ 9@ @@0@9 ^A% 3= checking for new query: numPingsReceived=10, elapsed TxPingTime=7.311342a A I I O>!t,FY@A PExceeded connect timeout, disconnecting.]y@]@]Kv<ٱ]~7i uAHRS rotation from veh to nav: [[-0.671237,-0.727106,-0.144071],[0.741021,-0.662992,-0.106444],[-0.018122,-0.178209,0.983826]]]HztD@p¿@q?@:7? ƿ`{?i]y@I]_;]CYBy#IbDVD0yc<%2=ٔG?Q->9Y=nGy/F8kE>Q 55ؠ?Q 95)-BYys@Q Ia@DI;i;" 5yɮ Aqu\Y@AJqRqju3@u7YM9@.R~@ru*[B?dW!?ZuQAbuwu"g1 "R3@B=/@zu> GNT?lh?2uA:u"ua?*uBuaBqq“quxAu,@gO% addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.505446 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO5 Added new target pos. range: 26.846123 m, bearing: 132.175451 deg, lat: 36.779288 deg, lon: -121.859516 deg, deltaT: 0.505446 s, deltaX: 0.000044 m, approachRate: 0.000087 m/s, posRepo size: 4 j9gO=DNOT Ignoring new targets: 26.85 m.b9REZAgOU ProNav: ac range: 26.846123 m, nav range: 25.808811 m, bearing: 132.304757 deg, approach rate: 0.000000 m/s, LOS rate: -0.098274 deg/s, cmd heading: 129.041015 deg, new cmd heading: 128.950087 deg. BQgO]HeadingCmd: 2.250604 target range: 26.846123 and range: 27.00 m.] @Y*Y"Y YaaaiʎiiijiZu@A?5Bɢ=s;)9 =i9)];aaieN9im @m ;m:=Im @IibEjE{4rE\00E EEE"Em:*E?:VEZEa@a@a@a@ԙEDDAT read: Rx Time:01:00:58.6363 ETRx dataTimestamp_ set to:1761699659.269817MPDAT read: Bearing 296.2, -5.2 (Local) U~Local bearing/azimuth received: Bearing 296.2, -5.2 (Local) eDAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.4 DAT read: 01:00:58.6363 LVL= 32048, 32753, 32754, 32755, AGC= 63, IDX= 507, 0.24,-1.457, 3.098,-1.226,-1.596, PHS= 0.241,-1.545, 0.326, RAW= 152.3, 10.7, CAL= 152.1, 11.7, ROT= 357.9, -11.7 Ygot valid direction response: 01:00:58.6363 LVL= 32048, 32753, 32754, 32755, AGC= 63, IDX= 507, 0.24,-1.457, 3.098,-1.226,-1.596, PHS= 0.241,-1.545, 0.326, RAW= 152.3, 10.7, CAL= 152.1, 11.7, ROT= 357.9, -11.7 T#Rx 11: Read range and direction messages.^direction in FSK: [0.978565,-0.035882,0.202787]Fpublishing direction and range infoyAEgP?>c,_ ?YEAAE0}AA A)E?IEv>iEſEy>E*@Et;?>E)@ EQ>)E@IEQAAEze?&?. ? EW?)E:?IEQ iEQAAchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.579376;@ @@4@^A l;=A [AzA \A A .AI I O >Bt,Y@ABr@B@B2<ٱB7 JAHRS rotation from veh to nav: [[-0.670426,-0.727840,-0.144144],[0.741764,-0.662106,-0.106775],[-0.017723,-0.178506,0.983779]]BH@"tvJ`Ns¿`?/ U&`Eƿ{?iBr@IB_;Rchecking for new query: numPingsReceived=11, elapsed TxPingTime=7.814998@YfByf#IIj<)jC=iMb@Mb@Mb@ 9zG?+?MbpY ?y=A@ )AYAbDmVDmBx>BލCB"IBBBBBByd;B&EyE;%m4=ٔ}bQ->9 ?Y ?=nGy0FE>Q 5%5Ǡ?Q 9-5)(BY-_?Q E-:y-@Q I-a@DI@c,_ ?Z}Q b}Q}D1o1J\}@3@Inb@z}p1忇 K?݆"?2}A:}x"}c ?*};;B}B}a?}q“}RB}7A}@gO addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.502522 s, deltaX: -0.400000 m, approachRate: -0.795984 m/s, rangeRepo size: 4 gO Added new target pos. range: 26.448463 m, bearing: 132.160544 deg, lat: 36.779287 deg, lon: -121.859515 deg, deltaT: 0.502522 s, deltaX: -0.397659 m, approachRate: -0.791327 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 26.45 m.bRZ!gO5 ProNav: ac range: 26.448463 m, nav range: 25.651930 m, bearing: 132.419112 deg, approach rate: 0.000000 m/s, LOS rate: -0.098274 deg/s, cmd heading: 128.950092 deg, new cmd heading: 128.854168 deg. B1gO5HeadingCmd: 2.248930 target range: 26.448463 and range: 26.60 m.=v@9*9"9 99aBʎj:@Z`Y?颵BɢQ;) @ei9)=;99iEUxiEv@Ed;M<=IMv@IIE EE%E"E>:*EC:VE 4ZEBEieɿe)\>ae@X>e*@ e|o>)e@Ie|oaaeKIp?}? l? et?)eWIeQl$ie|oaachecking for new query: numPingsReceived=12, elapsed TxPingTime=8.085114>@ @@4@Y ^A ԉAE؟AIIIYOm?Rt,mYY@A>@><@>q<ٱ>e7 FAHRS rotation from veh to nav: [[-0.669630,-0.728593,-0.144045],[0.742494,-0.661247,-0.107023],[-0.017273,-0.178618,0.983767]]>HmPp¿?(e`ƿ{?i>@I>_;<Nchecking for new query: numPingsReceived=12, elapsed TxPingTime=8.318955YVByV#I\^AAbDbVDb0yfe7%j@=ٔjQ-j>9n"?Yn"?=nnGylr +Er>pQ 5v5r>?Q 9z5r>)r$BYxyz@Q Iza@rDIr;ir;r5yɮ& Ay}Y@AJyRyj}m@}b+9@p8M6𿀸.{@r}k?_C] A?Z}Ql$b}|o}]bX1<3U3@T)@z}YlY r ?|?2}A:}Ê"}Q?*}U{B}B}?}“}2B}A}ɣ@gOU addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.505151 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO] Added new target pos. range: 26.448463 m, bearing: 132.221705 deg, lat: 36.779287 deg, lon: -121.859513 deg, deltaT: 0.505151 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 jagOeDNOT Ignoring new targets: 26.45 m.baRiZigO} ProNav: ac range: 26.448463 m, nav range: 25.580587 m, bearing: 132.174009 deg, approach rate: 0.000000 m/s, LOS rate: -0.098274 deg/s, cmd heading: 128.854169 deg, new cmd heading: 128.777170 deg. BygOHeadingCmd: 2.247586 target range: 26.448463 and range: 26.60 m.q@*" ʎjZ?Bɢ;) i);iiq@k;e==Iq@IQ6@ @@/@nManaging dock network, ignoring radio surface power offyE EE$E"E:*EX:VE4ZEa@a@a@a@^AC;=UDDAT read: Rx Time:01:00:59.6360 ]TRx dataTimestamp_ set to:1761699660.278646mPDAT read: Bearing 298.9, -5.5 (Local) m~Local bearing/azimuth received: Bearing 298.9, -5.5 (Local) DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.4 ԡDAT read: 01:00:59.6360 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 504,-0.01,-2.236, 2.363,-2.026,-2.303, PHS= 0.169,-1.573, 0.233, RAW= 151.8, 13.1, CAL= 151.9, 14.6, ROT= 358.1, -14.6 Ygot valid direction response: 01:00:59.6360 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 504,-0.01,-2.236, 2.363,-2.026,-2.303, PHS= 0.169,-1.573, 0.233, RAW= 151.8, 13.1, CAL= 151.9, 14.6, ROT= 358.1, -14.6 T#Rx 13: Read range and direction messages.^direction in FSK: [0.967177,-0.032084,0.252069]Fpublishing direction and range infoyY]|?5Zm!?Y]AY]YY Y)YI]V->i]Xɿ]n>])@] j>])@ ]w>)]3@I]wYY] L}?`j?uM3? ]w ?)]^jI]i]wYY checking for new query: numPingsReceived=13, elapsed TxPingTime=8.596342I I O% > tFt,QY@A%Nm@%b@%Ly<ٱ%[8 5AHRS rotation from veh to nav: [[-0.668342,-0.729693,-0.144458],[0.743657,-0.659920,-0.107146],[-0.017147,-0.179038,0.983693]]%Hc`Y}¿` ?@m 񎑿ƿ@iz?i%Nm@I%{`;!YmBym #IԙiMb@Mb@Mb@checking for new query: numPingsReceived=13, elapsed TxPingTime=8.823004 9 ףp= ?y&1?MbYQ?y`<A A)YAbDVDJ2y=%#=ٔQ->9Y=nGy1FbE>Q 55?Q 95)BY?Q E:y1@Q Ia@DI:iH:45yBɮ AEy}VY@AJ}AR}Aj}G@}Fy9@Z꿪n*@r}|?5Zm!?Z}b}w}~aw1s"2@\B<@z};U80F?Y?2}A:}"}Z?*}yB}ߐB}c ?y“y}A}&@gOE addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.503678 s, deltaX: -0.500000 m, approachRate: -0.992698 m/s, rangeRepo size: 4 gOU Added new target pos. range: 25.951313 m, bearing: 132.747170 deg, lat: 36.779286 deg, lon: -121.859513 deg, deltaT: 0.503678 s, deltaX: -0.497150 m, approachRate: -0.987040 m/s, posRepo size: 4 jQgO]DNOT Ignoring new targets: 25.95 m.bYRYZYgO  ProNav: ac range: 25.951313 m, nav range: 25.340935 m, bearing: 132.294185 deg, approach rate: 0.000000 m/s, LOS rate: -0.098274 deg/s, cmd heading: 128.777165 deg, new cmd heading: 128.678367 deg. BgOMHeadingCmd: 2.245861 target range: 25.951313 and range: 26.10 m.M1@Q*Q"Y YaBz>BB#IBBBBBBd;B&EB}ݍCB}ݍCByB} =B} =C}Ņ/5)9eBʎiqyj:@ZU?Bɢ|;) @i);i i1@x;,==I%1@I!>@ @@4@@@[AE  E E %E "E *E rN:VE 4ZE BE  w79K?YU AQ Q Q Q Q )Q IU C>iU tÿU ףp>U )@U z0a>U )@ U 5z>)U U@IU 5zQ Q U ??k׸3?w1? U ?)U QaIU ޹iU 5zQ ! Q  checking for new query: numPingsReceived=14, elapsed TxPingTime=9.114653^A ==A ?A ?IyIO>t,8Y@ABM@BC@B<<ٱBi:X ^AHRS rotation from veh to nav: [[-0.666898,-0.730683,-0.146115],[0.744952,-0.658283,-0.108210],[-0.017118,-0.181013,0.983332]]BH@;Wa@¿?@@Kr+ǿtw?iBM@IB_;@YMByU#I aabD}VD}y$#%F=ٔ>Q->9Y=nGyE>Q 55?Q 95)BYy-@Q I5a@DI0UB@r=ߝ ?> w79K?Z=޹b=5z=i,81ŧ-%a2@BlK@z={~dQ忥C{?\X?2= A:=lj"=.횊?*=HB=.B=Z?9“=.B=A=@gO addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.503119 s, deltaX: -0.100000 m, approachRate: -0.198761 m/s, rangeRepo size: 4 gO% Added new target pos. range: 25.851976 m, bearing: 133.138217 deg, lat: 36.779285 deg, lon: -121.859513 deg, deltaT: 0.503119 s, deltaX: -0.099337 m, approachRate: -0.197442 m/s, posRepo size: 4 j!gO-DNOT Ignoring new targets: 25.85 m.b)R)Z)gO= ProNav: ac range: 25.851976 m, nav range: 25.133835 m, bearing: 132.374446 deg, approach rate: 0.000000 m/s, LOS rate: -0.098274 deg/s, cmd heading: 128.678373 deg, new cmd heading: 128.592767 deg. BYgOeHeadingCmd: 2.244367 target range: 25.851976 and range: 26.00 m.e@a*i"i iiiqqʎqqqj}:@Z}Y?Bɢı;) Џi)pZ;ivi@d;;=I@I!echecking for new query: numPingsReceived=14, elapsed TxPingTime=9.3270290@ @@/@^A ==I I1 1 OE >E]  E] E] )EY "E] [:*E] ;J:VE] FA4ZEY ae @ae @ae @am @ DDAT read: Rx Time:01:01:00.6357  TRx dataTimestamp_ set to:1761699661.285704% PDAT read: Bearing 296.4, -4.7 (Local) % ~Local bearing/azimuth received: Bearing 296.4, -4.7 (Local) 5 DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.4 vt,oRY@ADAT read: 01:01:00.6357 LVL= 29744, 32753, 32754, 32755, AGC= 64, IDX= 501,-0.15, 1.752, 0.034, 1.956, 1.617, PHS= 0.238,-1.538, 0.296, RAW= 151.6, 11.1, CAL= 151.5, 12.2, ROT= 358.5, -12.2 Ygot valid direction response: 01:01:00.6357 LVL= 29744, 32753, 32754, 32755, AGC= 64, IDX= 501,-0.15, 1.752, 0.034, 1.956, 1.617, PHS= 0.238,-1.538, 0.296, RAW= 151.6, 11.1, CAL= 151.5, 12.2, ROT= 358.5, -12.2 .T#Rx 15: Read range and direction messages.2^direction in FSK: [0.977081,-0.025586,0.211325]6Fpublishing direction and range infoyQUDF?D?IO13\ ?YUAQU0tQQ Q)U@IUFs>iU/ĿUP>UV)@UaF>U%:)@ U^ Z>)Uc9@IU^ ZQQU-[J?tm*s?b/ ? U) ?)UFIUwּiU^ ZQQBchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.602903j_7@j,@j<ٱj9:  AHRS rotation from veh to nav: [[-0.665893,-0.731539,-0.146413],[0.745857,-0.657212,-0.108492],[-0.016858,-0.181448,0.983256]]jH`N`h¿?@'ƻ@CC9ǿv?ij_7@Ij6`;jCY]Bye"I imp;bDVD:yU %UA=ٔe Q-e>9iYi=nGy2FLE>Q 55؉?Q 95)BYy@Q Ia@DI;i <5y=ҕBɮEk AE٦EQQUHRY@AJUmARUmAjU< @U1 8@<&C ~@rUDF?D?IO13\ ?ZUwּbU^ ZU7:0dw2@@zU=E6忟\?}?2UA:U"UL{?*UHgBUBUQ?UHg“UBUAU@gO  addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.503939 s, deltaX: -0.299999 m, approachRate: -0.595309 m/s, rangeRepo size: 4 gO= Added new target pos. range: 25.553686 m, bearing: 132.528782 deg, lat: 36.779285 deg, lon: -121.859512 deg, deltaT: 0.503939 s, deltaX: -0.298290 m, approachRate: -0.591917 m/s, posRepo size: 4 jAgOEDNOT Ignoring new targets: 25.55 m.bARIZIgO} ProNav: ac range: 25.553686 m, nav range: 24.953339 m, bearing: 132.265344 deg, approach rate: 0.000000 m/s, LOS rate: -0.098274 deg/s, cmd heading: 128.592764 deg, new cmd heading: 128.493634 deg. BygOHeadingCmd: 2.242637 target range: 25.553686 and range: 25.70 m.]@*" ʎj@39@Z ?Bɢ%;)! %i!)%t;!)i-i-]@5W;}checking for new query: numPingsReceived=15, elapsed TxPingTime=9.830856yMV==I]@I5 9@9  @9 @= .3BU <AU <Bu |>Bq Bu #IBu BBu  =Bq Bq Bu d;Bu &E@A ԡ Eu  Eu Eu "Eq "Eu ;*Eu L_:VEu (3ZEq BEu bt,CqY@A6DDAT read: Rx Time:01:01:01.1355 6TRx dataTimestamp_ set to:1761699661.789586>PDAT read: Bearing 298.9, -5.7 (Local) >~Local bearing/azimuth received: Bearing 298.9, -5.7 (Local) FDAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed 0.4 VDAT read: 01:01:01.1355 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 499,-0.23,-1.277,-2.974,-1.062,-1.338, PHS= 0.163,-1.591, 0.232, RAW= 151.9, 13.3, CAL= 152.1, 14.8, ROT= 357.9, -14.8 ^Ygot valid direction response: 01:01:01.1355 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 499,-0.23,-1.277,-2.974,-1.062,-1.338, PHS= 0.163,-1.591, 0.232, RAW= 151.9, 13.3, CAL= 152.1, 14.8, ROT= 357.9, -14.8 ^T#Rx 16: Read range and direction messages.b^direction in FSK: [0.966174,-0.035428,0.255446]bFpublishing direction and range infoy46?3#l39Y?Y63A4644 4)4I6y&>i6˿6hm>6)@6,m>6)@ 6 A>)6@I6 A446%F]bo?$v?ho? 6c?)6mI6Q i6 A44rchecking for new query: numPingsReceived=16, elapsed TxPingTime=10.098359M @Mp@M<ٱMJ; }AHRS rotation from veh to nav: [[-0.663919,-0.733276,-0.146689],[0.747625,-0.655159,-0.108735],[-0.016372,-0.181860,0.983188]]MH >@v¿?ֻÐ1GǿFv?iM @IMA_;MCY{By"I1iMb@Mb@Mb@ 95^I ?y&1?y&1|Y?y`VA@ |A)AYAbDVDy%=ٔjoQ->9Y=nGy3F-ͣE->1Q 5=55tw?Q 9=553)5BY=>?Q EE:yE@Q IEa@5DI5:i5:5;!5yɮ Aa46rY@AJ6 AR6 Aj6@6Ef8@AyС@@r6?3#l39Y?Z6Q b6 A6+}0D 2@C~l@z6_lC??26A:6"6 ?*6veB6B46ve“6.B6rA6&@gO addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.503882 s, deltaX: -0.300001 m, approachRate: -0.595380 m/s, rangeRepo size: 4 gO- Added new target pos. range: 25.255533 m, bearing: 132.292690 deg, lat: 36.779285 deg, lon: -121.859514 deg, deltaT: 0.503882 s, deltaX: -0.298153 m, approachRate: -0.591712 m/s, posRepo size: 4 j)gO5DNOT Ignoring new targets: 25.26 m.b1R1Z1gOe ProNav: ac range: 25.255533 m, nav range: 24.556023 m, bearing: 132.420069 deg, approach rate: 0.000000 m/s, LOS rate: -0.098274 deg/s, cmd heading: 128.493630 deg, new cmd heading: 128.399077 deg. BagOmHeadingCmd: 2.240987 target range: 25.255533 and range: 25.40 m.mSl@i*q"q qqqvBʎj`ff9@Z? Bɢ ;)  i);11i5i=Sl@=;;E@2:=IESl@IAchecking for new query: numPingsReceived=16, elapsed TxPingTime=10.335376ԑ1@ @@{1@ ^A K@=Iy I O >_t,$'Y@A2D@2@2KDž<ٱ2wG: :AHRS rotation from veh to nav: [[-0.662610,-0.734571,-0.146125],[0.748786,-0.653976,-0.107863],[-0.016330,-0.180887,0.983368]]D<zD<EB EBEB&E@"EBy:*EBC:VEB4ZE@aF@aF@aF@aF@2H@4;¿?_᜻Q'ǿw?i2D@I2_;0YNoByR"IbDZVDZfyb%bn=ٔbxQ-b?9dYd=fnGydjEj?lQ 5r5nk?Q 9r5no)n BYpyr@Q Ira@n DIn6:in-:n)$5yz̕Bɮz AzئEP B*** querying acoustic contact ***  jgO%DNOT Ignoring new targets: 25.26 m.b!R%UZ%UQgO ProNav: ac range: 25.255533 m, nav range: 24.356831 m, bearing: 132.406822 deg, approach rate: -0.694652 m/s, LOS rate: -0.046576 deg/s, cmd heading: 128.399073 deg, new cmd heading: 128.372362 deg. BzgOHeadingCmd: 2.240520 target range: 25.255533 and range: 25.40 m.d@*" !!!ʎ!)=DDAT read: Rx Time:01:01:01.6352 =TRx dataTimestamp_ set to:1761699662.293774EPDAT read: Bearing 297.3, -5.6 (Local) M~Local bearing/azimuth received: Bearing 297.3, -5.6 (Local) ]DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.5 }DAT read: 01:01:01.6352 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 496,-0.18,-1.287,-3.023,-1.059,-1.385, PHS= 0.200,-1.593, 0.282, RAW= 152.2, 12.1, CAL= 152.2, 13.4, ROT= 357.8, -13.4 Ygot valid direction response: 01:01:01.6352 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 496,-0.18,-1.287,-3.023,-1.059,-1.385, PHS= 0.200,-1.593, 0.282, RAW= 152.2, 12.1, CAL= 152.2, 13.4, ROT= 357.8, -13.4 T#Rx 17: Read range and direction messages.^direction in FSK: [0.972059,-0.037343,0.231748]Fpublishing direction and range infoy9=(?êW] A?Y=3A9999 9)9I=L>i=m˿=Nb>=P*@=@X>=P*@ =|o>)=M@I=|o99=S~7y?@٢ʸ?uZ? =?)=WI=Fi=|o99checking for new query: numPingsReceived=17, elapsed TxPingTime=10.606866)j`f8@Z`{?EBɢE(+;)a e_ii)my;iiim\iud@u;u$6=Iud@Iyԁ0@ @@/@Ա^Al;= checking for new query: numPingsReceived=17, elapsed TxPingTime=10.838945 A1 IY I B ~>B B #IB BB B B oDB =e;B 'EOM >t,}Y@A6@6q@6<ٱ6E: BAHRS rotation from veh to nav: [[-0.661729,-0.735337,-0.146264],[0.749571,-0.653047,-0.108044],[-0.016069,-0.181131,0.983328]]6H ,@`ɸ¿{?ǨGtO/ǿkw?i6@I6_;6CYJiByJ"IimMb@Mb@Mb@iiԩii i9m9Y=nGy4F.E>Q 5 5\?Q 95)BY?Q E:yp@Q Ia@(DI ;i ;(5yɮ A!im1͒Y@AJmARmAjm)@m;8@[=6]n@rm(?êW] A?ZmFbm|om0K2@ 5@zm&I(GK?u ] ?2m0A:m"mUfx?*m 8BmABmZ?i“imAmm@gO addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.504188 s, deltaX: -0.500000 m, approachRate: -0.991694 m/s, rangeRepo size: 4 gO Added new target pos. range: 24.758480 m, bearing: 131.747128 deg, lat: 36.779285 deg, lon: -121.859514 deg, deltaT: 0.504188 s, deltaX: -0.497053 m, approachRate: -0.985849 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 24.76 m.bR%Z!gO5 ProNav: ac range: 24.758480 m, nav range: 24.086201 m, bearing: 132.351103 deg, approach rate: 0.000000 m/s, LOS rate: -0.046576 deg/s, cmd heading: 128.372367 deg, new cmd heading: 128.330815 deg. B1gO=HeadingCmd: 2.239795 target range: 24.758480 and range: 24.90 m.=X@9*9"A Aaaim^BʎiiijqZu`j?E EEE"E[:*ErN:VEZEBE}iEѿE>E;*@Ek>Et*@ E A>)E@IE AAAEǓM?7J>J?rK? E?)EvlIE9iE AAAchecking for new query: numPingsReceived=18, elapsed TxPingTime=11.1122754@ @@/@@@ =GQi9Y6fA^A 3=9 A I I O >t,hY@Achecking for new query: numPingsReceived=18, elapsed TxPingTime=11.350909QE @E@E=<ٱEV< eAHRS rotation from veh to nav: [[-0.661100,-0.735658,-0.147494],[0.750131,-0.652202,-0.109253],[-0.015823,-0.182867,0.983010]]EH`'¿?@3.hǿ t?iE @IE_;AYufBy}"I ==bDVDy4L%5=ٔQ->9Y=nGyE>Q 55M?Q 95)BYya@Q Ia@0DI;i;+5yƕBɮ AצEoY@AJRjr@lj7@O_CwXi)\Ͽt>@X>;*@ |o>)@I|o"l?Up(?^? ?)XIQ+i|oUchecking for new query: numPingsReceived=19, elapsed TxPingTime=11.619621^A ·3= A IA Iq O >0t,%Y@AAM@Mp@M<ٱMl; ]AHRS rotation from veh to nav: [[-0.659946,-0.736800,-0.146960],[0.751148,-0.651158,-0.108495],[-0.015755,-0.181989,0.983174]]MHGܓ¿f ?HMƻ`,"lKǿ*v?iM@IM`;MCYYBy"IiMb@Mb@Mb@ 9V-?{Gz?MbYh?yף<A@ A)YAbD5VD5NyE1t%EI=ٔEU.Q-E>9IYI=MnGyM5FUxEU>QQ 5e5U@?Q 9e5U:)UBYe?Q Ee:ye@Q Ima@U8DIU ;iU2 ;U/5yqɮub AqY@AJARAj%@@7@j;F>( @rweRn?uBۤ] A?ZQ+b|o /r/e 1@q̷n@zͨ俴g?rI'?2A:{"?*jBBR? 8“ABAG3@checking for new query: numPingsReceived=19, elapsed TxPingTime=11.855020gO addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.511866 s, deltaX: -0.400000 m, approachRate: -0.781454 m/s, rangeRepo size: 4 gO} Added new target pos. range: 24.360754 m, bearing: 131.426893 deg, lat: 36.779286 deg, lon: -121.859511 deg, deltaT: 0.511866 s, deltaX: -0.397726 m, approachRate: -0.777012 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 24.36 m.bRZAAAAqBm>BmߍCBm"IBmyBBm =BiBiBmke;Bm'EgO ProNav: ac range: 24.360754 m, nav range: 23.692381 m, bearing: 131.780560 deg, approach rate: 0.000000 m/s, LOS rate: -0.046576 deg/s, cmd heading: 128.288684 deg, new cmd heading: 128.251043 deg. BgOHeadingCmd: 2.238403 target range: 24.360754 and range: 24.50 m.A@*" TBʎ j 8@Z ?UBɢ]w:)Y ]xiY)] j;aaieG iA@O ;2=IA@I5@ @@0@ԙE EE$E"Em:*EV:VE4ZEBETi} Ͽ} 7>} )@} f>} P*@ } >)} M@I} y y } /&Em?%:z?F? } )U?)} gI} Fi} y y  checking for new query: numPingsReceived=20, elapsed TxPingTime=12.149550A .AI I O% >t,_Y@Ab@bb@b<ٱb;l AHRS rotation from veh to nav: [[-0.658706,-0.737863,-0.147192],[0.752237,-0.649917,-0.108384],[-0.015690,-0.182117,0.983152]]bH 1¿`S? @ Oǿu?ib@Ib_;bCYEKByM"IbDeVDeyM%H=ٔ&Q->9 ?Y ?=nGyVE>Q 553?Q 9 5)BY y r@Q I a@?DI;iW;#35yɮ AY@AJARAj"@=踞J7@\^쿚: @rg?޻ l?ZFb\/!s1@K)@ziUr#۱俟z5?_7 8?2A:x"^?*9BBUfx?“BtA@gO addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503980 s, deltaX: -0.299999 m, approachRate: -0.595260 m/s, rangeRepo size: 4 gO Added new target pos. range: 24.062588 m, bearing: 131.722518 deg, lat: 36.779286 deg, lon: -121.859511 deg, deltaT: 0.503980 s, deltaX: -0.298166 m, approachRate: -0.591623 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 24.06 m.bRZgO ProNav: ac range: 24.062588 m, nav range: 23.431774 m, bearing: 131.701204 deg, approach rate: 0.000000 m/s, LOS rate: -0.046576 deg/s, cmd heading: 128.251049 deg, new cmd heading: 128.211233 deg. BgOHeadingCmd: 2.237708 target range: 24.062588 and range: 24.20 m.6@*" !AAʎIIIjM@338@ZM@V ?颕Bɢ) ٽi)L;i i6@;./=I6@Ichecking for new query: numPingsReceived=20, elapsed TxPingTime=12.361720=@ @@4@@ =@ =)^AY Y Aa zAe \AbEE-4jEE-4rEEʇ 0E  E E &E "E ,:*E n:VE 4ZE a @a @a @a @Iq I O >fu,N Y@ADDAT read: Rx Time:01:01:03.6343 TRx dataTimestamp_ set to:1761699664.317829PDAT read: Bearing 297.6, -5.5 (Local) ~Local bearing/azimuth received: Bearing 297.6, -5.5 (Local) "DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4 6DAT read: 01:01:03.6343 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 504, 0.08, 1.719,-0.038, 1.943, 1.629, PHS= 0.193,-1.621, 0.270, RAW= 152.1, 12.5, CAL= 152.1, 13.8, ROT= 357.9, -13.8 :Ygot valid direction response: 01:01:03.6343 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 504, 0.08, 1.719,-0.038, 1.943, 1.629, PHS= 0.193,-1.621, 0.270, RAW= 152.1, 12.5, CAL= 152.1, 13.8, ROT= 357.9, -13.8 :T#Rx 21: Read range and direction messages.>^direction in FSK: [0.970482,-0.035586,0.238533]BFpublishing direction and range infoyFO8d0?ɼR8iC?YA )AIˡE>i|Ͽq=>f_>)@ Ϣv>)@IϢv5){?N:?? @?)C^IQ iϢvbchecking for new query: numPingsReceived=21, elapsed TxPingTime=12.631295x-@-ex@-|<ٱ-; AHRS rotation from veh to nav: [[-0.657652,-0.738803,-0.147187],[0.753164,-0.648844,-0.108382],[-0.015428,-0.182133,0.983153]]-H| E ¿?S뾻ǘ$Pǿu?i-@I-t_;-CY-FBy-"II5=)5<bDEVDEyUZü%U<=ٔ] Q-]>9YYY=]nGy]6Fe$VEe>Q 55$?Q 95)BYy[@Q Ia@GDI:i:65yBɮd AͦEOWY@AJARAj@8>ɬ6@FK}7]G |@rFO8d0?ɼR8iC?ZQ bϢv4˖.ZOZ(1@V64,N@z@N-(M?BA BE "IBE eBBE  =BA BA BE e;BE ,'Ey ^A 31=E  E E *E "E :*E ga:VE (N4ZE ԩ BE #GJ u,r3Y@AFDAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.4 VDAT read: 01:01:04.1342 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503, 0.13,-3.069, 1.465,-2.856, 3.137, PHS= 0.180,-1.626, 0.246, RAW= 151.8, 13.0, CAL= 151.9, 14.4, ROT= 358.1, -14.4 ^Ygot valid direction response: 01:01:04.1342 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503, 0.13,-3.069, 1.465,-2.856, 3.137, PHS= 0.180,-1.626, 0.246, RAW= 151.8, 13.0, CAL= 151.9, 14.4, ROT= 358.1, -14.4 ^T#Rx 22: Read range and direction messages.b^direction in FSK: [0.968051,-0.032113,0.248690]bFpublishing direction and range infoy<>aE?*'ql?Y>̼A<<<< <)>@I>Q8>i> п>m{>>)@>Vh>>)@ >>)>3@I><<>?>."Fl?T? > ?)>hI>i><<rchecking for new query: numPingsReceived=22, elapsed TxPingTime=13.128009u_@u#U@ub<ٱu: AHRS rotation from veh to nav: [[-0.656028,-0.740282,-0.146999],[0.754575,-0.647350,-0.107490],[-0.015587,-0.181439,0.983279]]uH@/d`¿{%?` { 쏿b9ǿw?iu_@Iu_;uCYBBy"IiMb@Mb@Mb@ 9x&?X9v?I +Y7 ?y<94lA@ A)AYA)-BAbD5VD5Ny=8f%E=ٔEY9Q-E>9IYI=MnGyIU솻EU>YQ 5]5]?Q 95])]BYy ?Q E:y@Q Ia@]PDI] ;i];]t;5yɮ A<>4Y@AJ>AR>Aj>9@>d6@RAG迋nW@r>aE?*'ql?Z>b>>~e6g. 6s1@&Z@z>Xa6 qL/?]gL?2>A:>=s">l?*>{B>MB>l?>9“>MB>A>2@gO addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.502601 s, deltaX: -0.100000 m, approachRate: -0.198966 m/s, rangeRepo size: 4 gO Added new target pos. range: 23.466112 m, bearing: 131.802372 deg, lat: 36.779287 deg, lon: -121.859512 deg, deltaT: 0.502601 s, deltaX: -0.099316 m, approachRate: -0.197603 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 23.47 m.bRZgO- ProNav: ac range: 23.466112 m, nav range: 22.859436 m, bearing: 131.685852 deg, approach rate: 0.000000 m/s, LOS rate: -0.046576 deg/s, cmd heading: 128.169046 deg, new cmd heading: 128.120836 deg. B)gO5HeadingCmd: 2.236130 target range: 23.466112 and range: 23.60 m.5@Q*Q"Y YYYaeLBʎaaajm7@Zm?|BɢǠ) i);i i@g;x*=I@I @@ @@4@MDDAT read: Rx Time:01:01:04.6339 ]TRx dataTimestamp_ set to:1761699665.077512uPDAT read: Bearing 298.3, -5.2 (Local) }~Local bearing/azimuth received: Bearing 298.3, -5.2 (Local) checking for new query: numPingsReceived=22, elapsed TxPingTime=13.378563ԙԱ ^A r.=I I) O5 >,u,rQMY@A2C@2^9@2 3<ٱ2Ȯ9 :AHRS rotation from veh to nav: [[-0.654748,-0.741539,-0.146375],[0.755685,-0.646225,-0.106458],[-0.015649,-0.180317,0.983484]]2H @l¿ .?`߭@6ǿx?i2C@I2q>_;2CYB5ynBɮn Ar̦EP}B*** querying acoustic contact ***y yjgODNOT Ignoring new targets: 23.47 m.bR΂Z΂E EE%E"El;*E;J:VE 4ZEa@a@a@a@gO ProNav: ac range: 23.466112 m, nav range: 22.689003 m, bearing: 131.668814 deg, approach rate: -0.567720 m/s, LOS rate: -0.057180 deg/s, cmd heading: 128.120839 deg, new cmd heading: 128.086507 deg. BJѺgOHeadingCmd: 2.235531 target range: 23.466112 and range: 23.60 m.@*" ʎjZ?ezBɢes)i m`ii)mh;iiiupB ԑi@ ;/'=I@IDAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.5 DAT read: 01:01:04.6339 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 500, 0.27, 1.917, 0.165, 2.123, 1.839, PHS= 0.179,-1.629, 0.239, RAW= 151.6, 13.1, CAL= 151.7, 14.6, ROT= 358.3, -14.6 Ygot valid direction response: 01:01:04.6339 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 500, 0.27, 1.917, 0.165, 2.123, 1.839, PHS= 0.179,-1.629, 0.239, RAW= 151.6, 13.1, CAL= 151.7, 14.6, ROT= 358.3, -14.6 T#Rx 23: Read range and direction messages.^direction in FSK: [0.967283,-0.028709,0.252069]Fpublishing direction and range infoy?0Nle!?Y̸A )AIK7>iпjt>V)@ j>Us)@ w>)@IwfV#?) e DDAT read: Rx Time:01:01:05.1337 u TRx dataTimestamp_ set to:1761699665.581457 PDAT read: Bearing 297.8, -4.6 (Local)  ~Local bearing/azimuth received: Bearing 297.8, -4.6 (Local)  DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.4  Z#Rx 24: Read range message, but no direction.yi Ym fAi  checking for new query: numPingsReceived=24, elapsed TxPingTime=13.891812A lYu,6gY@AB<A4=B">B B""IB"PBB B B B"e;B"B'EBߍCBߍCBB =B =CIg5f6(@f@f΁<ٱf|8 AHRS rotation from veh to nav: [[-0.653469,-0.742754,-0.145927],[0.756787,-0.645106,-0.105409],[-0.015845,-0.179317,0.983664]]fH8@¿7?൤` 9`ƿ`,z?if6(@If_;fCYe.Bye"I ii iMb@Mb@Mb@ 9Zd;O?~jt?I +Y~ ?y=A@ fA)|AY(AbDMVDM:2y][i%]&=ٔ]9Q-e>9aYa=enGy\E>Q 55?Q 95[)BY ?Q E:yM@Q Ia@^DI:i:B5yɮ A6eY@AJ]AR]Aj;@[5@B׹ (@r?0Nle!?Zbw«;\\-ךяi0@jy=֏@zѺ0Vs*?fVo?2MA:j"b%?*YBB^?{“BAC*@E EEE"E:*E?:VEZEBE i̿Hz>[(@z0a>[(@ 5z>)Hd@I5z} .?[G,??;5X? {c ?)#|aIi5z checking for new query: numPingsReceived=25, elapsed TxPingTime=14.136556@ @@@@@@@ԉ I I OU >A u,Y@A,6 @6&@6<ٱ68 >AHRS rotation from veh to nav: [[-0.652055,-0.744016,-0.145821],[0.758003,-0.643793,-0.104699],[-0.015980,-0.178802,0.983755]]6HB¿A?@ͺ*]ƿ@z?i6 @I6~^;6CYF0ByJ"I RpԱDzDE EE&E"Em:*E H:VE4ZEa@a@a@a@ DAT read: 01:01:05.6335 LVL= 26288, 32209, 29906, 32755, AGC= 63, IDX= 496,-0.08, 2.953, 1.200, 3.136, 2.789, PHS= 0.267,-1.544, 0.303, RAW= 151.0, 10.7, CAL= 150.8, 11.7, ROT= 359.2, -11.7  Ygot valid direction response: 01:01:05.6335 LVL= 26288, 32209, 29906, 32755, AGC= 63, IDX= 496,-0.08, 2.953, 1.200, 3.136, 2.789, PHS= 0.267,-1.544, 0.303, RAW= 151.0, 10.7, CAL= 150.8, 11.7, ROT= 359.2, -11.7  Z#Rx 27: Read direction message, but no range. ^direction in FSK: [0.979127,-0.013672,0.202787]y  /U?qf ? f } t ) ?I 9>i ˡſ "> +(@ t;?> q(@ Q>) y@I Q Jf?N‰/?nK ? g ?) >I Ddi Q checking for new query: numPingsReceived=27, elapsed TxPingTime=14.6369922i&u,Y@AJ@J@JU<ٱJ]7 ZAHRS rotation from veh to nav: [[-0.650501,-0.745424,-0.145574],[0.759334,-0.642361,-0.103844],[-0.016103,-0.178090,0.983882]]JH -¿wL?8@[}@ƿ{?iJ@IJ^;JC`Y-3By-"IbDEVDEyMY<%MA=ٔUS9Q-U>9QYY=]nGyYeEe>aQ 55e9㟊?Q 95ew)eBYy @Q Ia@ekDIed;ie;eI5yBɮ AIMemY@AJMARMAjMW@MD5@/Zn!wӿ|[%@rM/U?qf ?ZMDdbMQM"%]-*[0@$Xh@zM=3̟jf?Xʼn?2MނA:Mj"M?*MBMBIM“MBMAM0@gO% addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.503345 s, deltaX: -0.299999 m, approachRate: -0.596011 m/s, rangeRepo size: 4 gOe Added new target pos. range: 22.372370 m, bearing: 131.907652 deg, lat: 36.779287 deg, lon: -121.859513 deg, deltaT: 0.503345 s, deltaX: -0.298298 m, approachRate: -0.592631 m/s, posRepo size: 4 jagODNOT Ignoring new targets: 22.37 m.bRZgO ProNav: ac range: 22.372370 m, nav range: 21.938229 m, bearing: 131.771634 deg, approach rate: 0.000000 m/s, LOS rate: -0.073896 deg/s, cmd heading: 127.986475 deg, new cmd heading: 127.922207 deg. BgOHeadingCmd: 2.232664 target range: 22.372370 and range: 22.50 m.@*" ʎj6@Z-&?颽qBɢ*Y) \i)AQ;iv%DDAT read: Rx Time:01:01:06.1334 5TRx dataTimestamp_ set to:1761699666.588882MPDAT read: Bearing 300.1, -3.9 (Local) U~Local bearing/azimuth received: Bearing 300.1, -3.9 (Local) uDAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.4 Z#Rx 28: Read range message, but no direction.y)Y-3A)checking for new query: numPingsReceived=28, elapsed TxPingTime=14.896995i@f;=I@IBE>BABE"IBEABBABABABEe;BEX'E2@ @@/@AzAZAI I! O5 >A E  E E 'E "E :*E rN:VE '4ZE BE i2Rο2R>26'@2w>2g'@ 2>)2B@I202 %?[i?r$? 2 ?)2ݎI2di2Zchecking for new query: numPingsReceived=29, elapsed TxPingTime=15.140276^@^@^I<ٱ^6 fAHRS rotation from veh to nav: [[-0.649228,-0.746645,-0.144996],[0.760428,-0.641168,-0.103213],[-0.015903,-0.177268,0.984034]]^Hy@<¿@lU?s.lHƿ 5}?i^@I^^;\Yr*Byr"IIv<)vp<iMb@Mb@Mb@ 9#~j??MbY?yL=lA |A)YAbDVDye(!%e:=ٔeQ-e>9iYi=mnGym9FmzE>Q 550՟?Q 95s)BY?Q E:y@Q Ia@rDI:i:L5yɮ AY]>Y@AJ]/AR]/Aj]@]˄2`5@%]TQ@r]YQU?VM^rkrwkq?Z]db]]>*uu-@GQ/@L@z]L )=H?~?2]zA:]k"]?*]ΏB]ЏB]l?]“Y]A] '@QgOE addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.504080 s, deltaX: -0.100000 m, approachRate: -0.198382 m/s, rangeRepo size: 4 gO Added new target pos. range: 22.272991 m, bearing: 133.248738 deg, lat: 36.779287 deg, lon: -121.859513 deg, deltaT: 0.504080 s, deltaX: -0.099379 m, approachRate: -0.197148 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 22.27 m.bRZgO ProNav: ac range: 22.272991 m, nav range: 21.705296 m, bearing: 131.737805 deg, approach rate: 0.000000 m/s, LOS rate: -0.073896 deg/s, cmd heading: 127.922203 deg, new cmd heading: 127.852024 deg. BgOHeadingCmd: 2.231439 target range: 22.272991 and range: 22.40 m.@*" %Bʎ  j `ff6@Z  ?UnBɢ].X)Y ]iY)}A;顁ii@;[=I@I=4@9 @9@=0@9yi!I!EDDAT read: Rx Time:01:01:06.6332 eTRx dataTimestamp_ set to:1761699667.095236PDAT read: Bearing 299.2, -3.1 (Local) ~Local bearing/azimuth received: Bearing 299.2, -3.1 (Local) I1 II OU >m DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.4  DAT read: 01:01:06.6332 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 509,-0.33,-0.494,-2.204,-0.366,-0.580, PHS= 0.188,-1.579, 0.170, RAW= 149.5, 13.8, CAL= 149.6, 15.3, ROT= 0.4, -15.3  Ygot valid direction response: 01:01:06.6332 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 509,-0.33,-0.494,-2.204,-0.366,-0.580, PHS= 0.188,-1.579, 0.170, RAW= 149.5, 13.8, CAL= 149.6, 15.3, ROT= 0.4, -15.3  T#Rx 30: Read range and direction messages. \direction in FSK: [0.964534,0.006734,0.263873] Fpublishing direction and range infoyIM*:v?S{?&K?YM3AIMII I)M=IM@>iMʿM{.>M<&@MϢv>M'@ Mܸ>)M;IMܸIIMS ?~-?f? Mw?)MvIM;iMܸIIE checking for new query: numPingsReceived=30, elapsed TxPingTime=15.454530ԡ {3u,˜Y@A2S@2Ӥ@2v<ٱ2 7 :AHRS rotation from veh to nav: [[-0.647868,-0.747726,-0.145507],[0.761589,-0.639765,-0.103364],[-0.015803,-0.177783,0.983943]]2H V_¿^?x v .ƿu|?i2S@I2_;2CYN$ByR"ITVAAbDZVDZ1yf %fh=ٔfܕQ-f>9hYh=jnGyhjEn>!Q 5-5%ɟ?Q 9-5%0p)%BY)y-z@Q I-a@%xDI%:i%:%O5E EEE"E[:*E n:VEZEa@a@a@a@ԑyBɮ A˦Ey}YY@AJ}4AR}4Aj}-@}$J5@@Zy?K#v@r}*:v?S{?&K?Z};b}ܸ}K`C- i ٝ.@i.@z}Omb\f^~?MV8!?2}tA:}h"}*?*} B}B}?}Y“y}#A}@gOE addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.506354 s, deltaX: -0.500000 m, approachRate: -0.987451 m/s, rangeRepo size: 4 gOu Added new target pos. range: 21.775827 m, bearing: 133.551590 deg, lat: 36.779286 deg, lon: -121.859515 deg, deltaT: 0.506354 s, deltaX: -0.497164 m, approachRate: -0.981850 m/s, posRepo size: 4 jqgO}DNOT Ignoring new targets: 21.78 m.byRyZgO ProNav: ac range: 21.775827 m, nav range: 21.392309 m, bearing: 132.244368 deg, approach rate: 0.000000 m/s, LOS rate: -0.073896 deg/s, cmd heading: 127.852030 deg, new cmd heading: 127.801699 deg. BgOHeadingCmd: 2.230561 target range: 21.775827 and range: 21.90 m.@*" ʎj`f5@Zc?uchecking for new query: numPingsReceived=30, elapsed TxPingTime=15.635022颅kBɢ) i)ok;顩i1 i@;=I@Iԩe@@a @a@e4@a^A +,=I) I9 Oe > e DDAT read: Rx Time:01:01:07.1332 u TRx dataTimestamp_ set to:1761699667.601829 PDAT read: Bearing 300.7, -3.9 (Local)  ~Local bearing/azimuth received: Bearing 300.7, -3.9 (Local)  DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.4 B% >B! B% "IB% 2BB! B! B! B% (f;B% }'E= Z#Rx 31: Read range message, but no direction.yi Yi i E checking for new query: numPingsReceived=31, elapsed TxPingTime=15.9237549u,uvY@AB@B@B g<ٱB4 7 JAHRS rotation from veh to nav: [[-0.646252,-0.749067,-0.145795],[0.762958,-0.638195,-0.102965],[-0.015918,-0.177777,0.983942]]BH`\@h¿&j?l@[`L@eƿt|?iB@IBW_;BCYf#Byf"IiuMb@Mb@Mb@qqqq q9u/$?S㥫?:vYu1?yu/]=uTuAq uA)uAqYuAbDVDkyq%/=ٔˀ9Q->9Y=nGy:FmE>Q 55?Q 95k)BY?Q E:y@Q Ia@DI:i: T5y Bɮ- A-EPmB*** querying acoustic contact ***i igO addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.506593 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jgODNOT Ignoring new targets: 21.78 m.bRӺZӺgO ProNav: ac range: 21.775827 m, nav range: 21.145176 m, bearing: 132.203607 deg, approach rate: -0.555261 m/s, LOS rate: -0.092652 deg/s, cmd heading: 127.801705 deg, new cmd heading: 127.719231 deg. B)gO5HeadingCmd: 2.229121 target range: 21.775827 and range: 21.90 m.5@1*1"1 999Ae#BʎiiijqZux?E EE%E"Em:*E:VE 4ZEBETI)\>iӿq= >p'@ԇ>ϩ'@ >)@I闾KF?gx?O|? l?)I"i闾checking for new query: numPingsReceived=32, elapsed TxPingTime=16.155855 %G1AYׅ9Y{gAy?A^Ae =Am ?Am ?I I O >Y @u,UY@A2ft@2i@2^|<ٱ2a7 :AHRS rotation from veh to nav: [[-0.645128,-0.750017,-0.145889],[0.763918,-0.636987,-0.103329],[-0.015431,-0.178108,0.983890]]2H#¿r?2b@sy<ƿ|?i2ft@I2n_;2C9UDDAT read: Rx Time:01:01:07.6329 ]TRx dataTimestamp_ set to:1761699668.112516PDAT read: Bearing 296.9, -2.8 (Local) ~Local bearing/azimuth received: Bearing 296.9, -2.8 (Local) mDAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.4 DAT read: 01:01:07.6329 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 505, 0.06, 2.403, 0.659, 2.540, 2.259, PHS= 0.247,-1.554, 0.237, RAW= 149.7, 11.9, CAL= 149.6, 13.1, ROT= 0.4, -13.1 eYgot valid direction response: 01:01:07.6329 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 505, 0.06, 2.403, 0.659, 2.540, 2.259, PHS= 0.247,-1.554, 0.237, RAW= 149.7, 11.9, CAL= 149.6, 13.1, ROT= 0.4, -13.1 mT#Rx 33: Read range and direction messages.m\direction in FSK: [0.973952,0.006800,0.226651]uFpublishing direction and range infoyQU|ݝ*?fE{?+#?YUAQQQQ Q)U?IU|>iUyƿU!r>Um7'@UȭT>U'@ U j>)U;IU jQQUge1?V ?Y&{a? U?)UʔTIU;iU jQQchecking for new query: numPingsReceived=33, elapsed TxPingTime=16.491329aY5 By5"I YYbDmVDm:2y};%}=ٔqQ->9Y=nGy7E>Q 55-?Q 95f)BYy@Q Ia@DI;i`;X5yBɮq AQUv3Y@AJUARUAjUS~@UBeCBe"IBe(BBe =BaBepDBeof;Be'EyDAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed 0.4 DAT read: 01:01:08.1328 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 504, 0.42,-2.837, 1.698,-2.662,-2.893, PHS= 0.158,-1.647, 0.187, RAW= 150.8, 14.2, CAL= 151.0, 15.8, ROT= 359.0, -15.8 Ygot valid direction response: 01:01:08.1328 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 504, 0.42,-2.837, 1.698,-2.662,-2.893, PHS= 0.158,-1.647, 0.187, RAW= 150.8, 14.2, CAL= 151.0, 15.8, ROT= 359.0, -15.8 T#Rx 34: Read range and direction messages.^direction in FSK: [0.962071,-0.016793,0.272280]Fpublishing direction and range infoy A J?ݱ̓=2 ^ m?YfA )=I!>iҿ|?>q(@}>+(@ 0> )`A 0Ei,I>F!I!i! !!)!) -~`A-'))15`AI5L)1i1)9I=v`A=9 99AAiAAYA)@I0[??U9Y=nGy;FE> Q 55 Ƙ?Q 95 Xa) BY% ?Q E%:y%l@Q I%a@ DI @;i >; >]5EE EEEAEA"EEy:*EE?:VEAZEABEE2@ ^A=AzA)MDDAT read: Rx Time:01:01:08.6326 ]TRx dataTimestamp_ set to:1761699669.118528}PDAT read: Bearing 297.9, -3.1 (Local) ~Local bearing/azimuth received: Bearing 297.9, -3.1 (Local) DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed 0.4 DAT read: 01:01:08.6326 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 502,-0.06,-0.371,-2.109,-0.229,-0.482, PHS= 0.214,-1.582, 0.209, RAW= 149.9, 12.9, CAL= 149.9, 14.2, ROT= 0.1, -14.2 Ygot valid direction response: 01:01:08.6326 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 502,-0.06,-0.371,-2.109,-0.229,-0.482, PHS= 0.214,-1.582, 0.209, RAW= 149.9, 12.9, CAL= 149.9, 14.2, ROT= 0.1, -14.2 T#Rx 35: Read range and direction messages.\direction in FSK: [0.969444,0.001692,0.245307]Fpublishing direction and range infoyQUkl(?ﱧø[?/;f?YUAQQQQ QA؟AIIO?2Ru,8IY@A0)I"[>i~ʿV>p'@f>p'@ }>):I}' ??F֨? Xl?)HfI:i}zchecking for new query: numPingsReceived=35, elapsed TxPingTime=17.468927E @EJ@Et<ٱE 6 AHRS rotation from veh to nav: [[-0.640196,-0.754352,-0.145266],[0.768066,-0.632207,-0.101924],[-0.014952,-0.176825,0.984129]]EH{| #¿?@ ;@鞎5ƿ}?iE @IE-`;ECYU ByU"II]<)]<bDmVDmP)yy%4=ٔoQ->9"?Y"?=nGyQ 55?Q 95\)BYy@Q Ia@DI:i:5a5yBɮB AEGY@AJ AR AjQ@P9>4@ mɮ?9}@rkl(?ﱧø[?/;f?Z:b}Z=u+@Jb.@tںڦ@zf_ xw'? ?2pA:[" ?*DBB“A:@gO} addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.503376 s, deltaX: -0.299999 m, approachRate: -0.595974 m/s, rangeRepo size: 4 gO Added new target pos. range: 20.881113 m, bearing: 132.462632 deg, lat: 36.779285 deg, lon: -121.859517 deg, deltaT: 0.503376 s, deltaX: -0.298300 m, approachRate: -0.592598 m/s, posRepo size: 4 ԉjgODNOT Ignoring new targets: 20.88 m.bRZgO ProNav: ac range: 20.881113 m, nav range: 20.339705 m, bearing: 132.702618 deg, approach rate: 0.000000 m/s, LOS rate: -0.092652 deg/s, cmd heading: 127.521531 deg, new cmd heading: 127.439418 deg. BgOHeadingCmd: 2.224237 target range: 20.881113 and range: 21.00 m.Y@*" ʎj5@Z`?m\Bɢm$h6)i mii)uRS;qqiu ci}Y@};}=I}Y@IbEjE{4rEē/E EE(E"E:*E H:VEc44ZEa@a@a@a@%1@! @!@%4@!checking for new query: numPingsReceived=35, elapsed TxPingTime=17.663181 ^AE "=Iq I O >mXu,.dY@A0DDAT read: Rx Time:01:01:09.1324 TRx dataTimestamp_ set to:1761699669.622153PDAT read: Bearing 299.5, -4.7 (Local) ~Local bearing/azimuth received: Bearing 299.5, -4.7 (Local) DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed 0.4 B>BB"IB#BB =BBBkf;B'E5DAT read: 01:01:09.1324 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.18, 2.775, 1.027, 2.955, 2.732, PHS= 0.145,-1.660, 0.179, RAW= 150.9, 14.5, CAL= 151.2, 16.2, ROT= 358.8, -16.2 EYgot valid direction response: 01:01:09.1324 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.18, 2.775, 1.027, 2.955, 2.732, PHS= 0.145,-1.660, 0.179, RAW= 150.9, 14.5, CAL= 151.2, 16.2, ROT= 358.8, -16.2 ET#Rx 36: Read range and direction messages.Ut@U@UEq<ٱUh5 eAHRS rotation from veh to nav: [[-0.638822,-0.755551,-0.145086],[0.769214,-0.630854,-0.101651],[-0.014726,-0.176538,0.984184]]m^direction in FSK: [0.960083,-0.020111,0.278991]mFpublishing direction and range infoy⤕!?Oe񗔿?YA )Iz>izԿK7>(@>[(@ Ð>)Hd@IÐE ?}?^*K? - ?)ہIiÐUH@:qx-)¿f?`/`x(Ϙƿn~?iUt@IU:`;UCchecking for new query: numPingsReceived=36, elapsed TxPingTime=17.943172ԁY'By"IiMb@Mb@Mb@ 9uV?X9v?I +Yr?y94A )AYQA!%@AbD-VD-N2y]V<%] =ٔeLQ-e>9iYi=mnGyiudE>Q 55Fy?Q 95W)BYe ?Q E:y@Q Ia@DI{;i;e5yɮ A[gY@AJARAj@fr3@K$}ڿeAIA@r⤕!?Oe񗔿?ZbÐI**G-@<@zX!'so俛{Zz!?:?2 nA:OR"{%?*{BB ?D“AC@ԱgO addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.503625 s, deltaX: -0.299999 m, approachRate: -0.595680 m/s, rangeRepo size: 4 E EE%E"E,:*ER:VE 4ZEBE?WBɢpR) i);iGiv=@;=Iv=@I M checking for new query: numPingsReceived=36, elapsed TxPingTime=18.163628 4@  @ @ 0@ ^AK=A?A ?II!9O ?au,Y@ABDDAT read: Rx Time:01:01:09.6322 FTRx dataTimestamp_ set to:1761699670.125980JPDAT read: Bearing 298.4, -3.1 (Local) N~Local bearing/azimuth received: Bearing 298.4, -3.1 (Local) VDAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.4 fDAT read: 01:01:09.6322 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 498,-0.28,-0.879,-2.627,-0.743,-0.976, PHS= 0.199,-1.606, 0.189, RAW= 149.7, 13.5, CAL= 149.8, 14.9, ROT= 0.2, -14.9 zYgot valid direction response: 01:01:09.6322 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 498,-0.28,-0.879,-2.627,-0.743,-0.976, PHS= 0.199,-1.606, 0.189, RAW= 149.7, 13.5, CAL= 149.8, 14.9, ROT= 0.2, -14.9 ~T#Rx 37: Read range and direction messages.\direction in FSK: [0.966370,0.003373,0.257133]Fpublishing direction and range infoyDF #/?l Hk?Fht?YF3ADDDD D)F<IFK>iFhͿF7A>Fm7'@F:Fq>FT'@ F%>)Fd;IF%DDFC?O,s?ɤ? FC?)FupIFd;iF%DDEchecking for new query: numPingsReceived=37, elapsed TxPingTime=18.443443M@M@MTn<ٱM3 uAHRS rotation from veh to nav: [[-0.637091,-0.757246,-0.143852],[0.770651,-0.629316,-0.100294],[-0.014581,-0.174756,0.984504]]MH c@\;i¿`+?[#ହ ܍f^ƿ ?iM@IM-`;IY By"I bDVDk1y%.=ٔ-Q->9Y=nGy=F%E%>)Q 555-Fj?Q 955-VS)-BY9y=@Q I=a@-DI-;i-;-i5yeBɮm AmEDFY@AJFFARFFAjF@FTˋ63@cV?sjc@rF #/?l Hk?Fht?ZFd;bF%F`͔*Vxi-@z`QY@zFTOyQ4?B-!?2FhA:FT"FL ?*F?BF͍BFL ?D“F͍BF.AF@gO addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.503827 s, deltaX: -0.300001 m, approachRate: -0.595445 m/s, rangeRepo size: 4 gO% Added new target pos. range: 20.284561 m, bearing: 132.428790 deg, lat: 36.779286 deg, lon: -121.859516 deg, deltaT: 0.503827 s, deltaX: -0.298304 m, approachRate: -0.592075 m/s, posRepo size: 4 j!gO-DNOT Ignoring new targets: 20.28 m.b)R)Z1gO= ProNav: ac range: 20.284561 m, nav range: 19.772942 m, bearing: 132.234145 deg, approach rate: 0.000000 m/s, LOS rate: -0.092652 deg/s, cmd heading: 127.339943 deg, new cmd heading: 127.257680 deg. BagOeHeadingCmd: 2.221066 target range: 20.284561 and range: 20.40 m.m%@i*i"i iiiqqʎqqyj}`ff4@Z}?TBɢ) Ͻi) ;ii%@+;=I%@IE EE#E"E:*EVE3ZEa@a@a@a@<@ @@4@checking for new query: numPingsReceived=37, elapsed TxPingTime=18.667173! ^A '=I9 IQ Oe >gu,vàY@AN@Nj@Nm<ٱN.|3 ZAHRS rotation from veh to nav: [[-0.635695,-0.758451,-0.143685],[0.771804,-0.627973,-0.099839],[-0.014507,-0.174364,0.984574]]NH W:E`Cd¿@?Z ̵Qƿ@?iN@INn_;LYb"Byb"IbDjVDjyr*<%rw=ٔviQ-v?9|Y=nGyE?1Q 5M55R_?Q 9U55P)5BYaye@Q Ima@5DI5;i5B;5l5yBɮ APB*** querying acoustic contact *** QDDAT read: Rx Time:01:01:10.1321 TRx dataTimestamp_ set to:1761699670.627389PDAT read: Bearing 299.5, -4.1 (Local) ~Local bearing/azimuth received: Bearing 299.5, -4.1 (Local) DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed 0.4 BBBBBBBBf;B'EBCBCBB =B =C2^5DAT read: 01:01:10.1321 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 497, 0.03, 1.845, 0.095, 2.005, 1.793, PHS= 0.154,-1.653, 0.168, RAW= 150.4, 14.5, CAL= 150.6, 16.2, ROT= 359.4, -16.2 Ygot valid direction response: 01:01:10.1321 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 497, 0.03, 1.845, 0.095, 2.005, 1.793, PHS= 0.154,-1.653, 0.168, RAW= 150.4, 14.5, CAL= 150.6, 16.2, ROT= 359.4, -16.2 T#Rx 38: Read range and direction messages. ^direction in FSK: [0.960241,-0.010056,0.278991] Fpublishing direction and range infoybK?N?YfA )>I->iӿ1,>'@>8(@ Ð>)@IÐ ?J}(U?Ļ? ?) ID+iÐj)gO-DNOT Ignoring new targets: 20.28 m.b)R5ǺZ5ǺgOE ProNav: ac range: 20.284561 m, nav range: 19.592060 m, bearing: 132.201075 deg, approach rate: -0.472696 m/s, LOS rate: -0.087219 deg/s, cmd heading: 127.257680 deg, new cmd heading: 127.190930 deg. BEgOmHeadingCmd: 2.219901 target range: 20.284561 and range: 20.40 m.m@i*i"i iqqqqʎyyyj}L4@Z}`?%checking for new query: numPingsReceived=38, elapsed TxPingTime=18.941530QBɢպ) i) ;ii@ ; =I@Iy?@ @@4@E EE%E"E:*EVE 4ZEBEo%mu,`Y@A9IYQ=UnGyU>FUEU>YQ 5e5]P?Q 9e5]K)]BQ Ae+:YiQ Em:yiQ Ima@]DI]:i]<>]o5ysBɮ AE$'Y@AJ{AR{Aj2@!a3@ղdɿBw@rbK?N?ZD+bÐ4)Q -@\f1@zs,txNu?==>?2ehA:O"w ?*:BЎBw ?“ЎBA@gO- addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.501409 s, deltaX: -0.100000 m, approachRate: -0.199439 m/s, rangeRepo size: 4 gO= Added new target pos. range: 20.185141 m, bearing: 131.777950 deg, lat: 36.779286 deg, lon: -121.859516 deg, deltaT: 0.501409 s, deltaX: -0.099421 m, approachRate: -0.198282 m/s, posRepo size: 4 j9gOEDNOT Ignoring new targets: 20.19 m.bAREZIgO] ProNav: ac range: 20.185141 m, nav range: 19.363516 m, bearing: 132.079225 deg, approach rate: 0.000000 m/s, LOS rate: -0.087219 deg/s, cmd heading: 127.190936 deg, new cmd heading: 127.121288 deg. BYgO]HeadingCmd: 2.218685 target range: 20.185141 and range: 20.30 m.e @a*a"a aaiiiʎiqqjqZun?额NBɢH߹:) 8iԩ);顩ii @>/;^Q=I @IM5@Q @Q@]/@DDAT read: Rx Time:01:01:10.6318 TRx dataTimestamp_ set to:1761699671.130904PDAT read: Bearing 297.4, -2.9 (Local) ~Local bearing/azimuth received: Bearing 297.4, -2.9 (Local) DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed 0.4 DAT read: 01:01:10.6318 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510, 0.37, 1.184,-0.577, 1.322, 1.062, PHS= 0.224,-1.594, 0.216, RAW= 149.8, 12.7, CAL= 149.7, 14.0, ROT= 0.3, -14.0 Ygot valid direction response: 01:01:10.6318 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510, 0.37, 1.184,-0.577, 1.322, 1.062, PHS= 0.224,-1.594, 0.216, RAW= 149.8, 12.7, CAL= 149.7, 14.0, ROT= 0.3, -14.0 T#Rx 39: Read range and direction messages.\direction in FSK: [0.970282,0.005080,0.241922]Fpublishing direction and range infoy ?ͳ8t?79K?YfA )=IB`e>i1̿/]>T'@b>m7'@ 5z>);I5z>?J6-h?#;vk? E?)LbI;i5zEchecking for new query: numPingsReceived=39, elapsed TxPingTime=19.447784 ^Ae #=I I O >E  E E E "E :*E X:VE ZE a @a @a @a @Mtu,VY@A2?y@2n@2k<ٱ22 :AHRS rotation from veh to nav: [[-0.633353,-0.760444,-0.143489],[0.773730,-0.625710,-0.099148],[-0.014386,-0.173818,0.984673]]2H mDU`]¿`d? @a v`?ƿp?i2?y@I2ԯ^;0YN$ByN"IIRC=)R=bDZVDZ02yb@Ͻ%bg=ٔbyQ-f>9dYd=fnGydjI Ej>lpQ 5r5rE?Q 9v5r*H)rBQ Av :YtQ Ev:yv@Q Iva@rDIr]:irL?rq5y~mBɮ~E A~E`Y@AJARAj@BW3@&ޤ"?x C @r ?ͳ8t?79K?Z;b5zYW<{)},@˜I@zq)BD~'?Eot?2cA:M" ?*wBBL ?w“͍BA@gOE addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.503515 s, deltaX: -0.500000 m, approachRate: -0.993019 m/s, rangeRepo size: 4 gO Added new target pos. range: 19.687969 m, bearing: 132.069948 deg, lat: 36.779286 deg, lon: -121.859516 deg, deltaT: 0.503515 s, deltaX: -0.497171 m, approachRate: -0.987401 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 19.69 m.bRZgO ProNav: ac range: 19.687969 m, nav range: 19.187918 m, bearing: 132.061241 deg, approach rate: 0.000000 m/s, LOS rate: -0.087219 deg/s, cmd heading: 127.121282 deg, new cmd heading: 127.061668 deg. Bchecking for new query: numPingsReceived=39, elapsed TxPingTime=19.674915gOHeadingCmd: 2.217644 target range: 19.687969 and range: 19.80 m. @*" ʎ  j 3@Z e?}KBɢ} e)y }i)z;顁iz=i @2; =I @I M0@I @I@M/@I9^AW=IQ Iq O} > DDAT read: Rx Time:01:01:11.1318  TRx dataTimestamp_ set to:1761699671.633719 PDAT read: Bearing 300.7, -3.7 (Local)  ~Local bearing/azimuth received: Bearing 300.7, -3.7 (Local)  DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed 0.4 B >B B B B B B B f;B 'E DAT read: 01:01:11.1318 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510,-0.27, 1.359,-0.385, 1.493, 1.332, PHS= 0.129,-1.672, 0.117, RAW= 149.7, 15.7, CAL= 149.9, 17.5, ROT= 0.1, -17.5  Ygot valid direction response: 01:01:11.1318 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510,-0.27, 1.359,-0.385, 1.493, 1.332, PHS= 0.129,-1.672, 0.117, RAW= 149.7, 15.7, CAL= 149.9, 17.5, ROT= 0.1, -17.5  T#Rx 40: Read range and direction messages. \direction in FSK: [0.953715,0.001665,0.300706] Fpublishing direction and range infoy  m]ք?9~!E[?->?Y ) >I >i ֿ = m7'@ K> p'@ a>) :I a Y4?c ?ǰQN? &?) Q1I :i a - checking for new query: numPingsReceived=40, elapsed TxPingTime=19.946896a = {u,ZY@A2xi@2^@2`i<ٱ283 :AHRS rotation from veh to nav: [[-0.632609,-0.760946,-0.144110],[0.774340,-0.624878,-0.099623],[-0.014244,-0.174613,0.984534]]2HU>Y@4r¿e?@+YƿM?i2xi@I2$^;2CYf)Byf"I9aa aa aa aa iMb@Mb@Mb@ 9m?p= ף?I +Y?E EE&E"E:*EVL:VE4ZEBE[ 9)Y)=-nGy5?F5E5>9Q 5E5=J5?Q 9E5=4C)=BQ AMT:YM?Q EM:ymz@Q Ima@=DI=;i=g;=v5yqɮu" AyڎY@AJARAjB@>-O2@ȈnrǠ?Mlb@rm]ք?9~!E[?->?Z:ba5mN)J&+@L8@z͛j\ػ保Ldݣ?8E<?2^A:L"fT?*BEB“ЎBYAu@gO addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.502815 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO5 Added new target pos. range: 19.688009 m, bearing: 132.483403 deg, lat: 36.779286 deg, lon: -121.859516 deg, deltaT: 0.502815 s, deltaX: 0.000040 m, approachRate: 0.000080 m/s, posRepo size: 4 j1gO=DNOT Ignoring new targets: 19.69 m.b9R9Z9agOu ProNav: ac range: 19.688009 m, nav range: 18.918932 m, bearing: 132.010700 deg, approach rate: 0.000000 m/s, LOS rate: -0.087219 deg/s, cmd heading: 127.061668 deg, new cmd heading: 126.975585 deg. BqgO}HeadingCmd: 2.216142 target range: 19.688009 and range: 19.80 m.}E @y*y"y yBʎjZ 5?checking for new query: numPingsReceived=40, elapsed TxPingTime=20.179028颥HBɢHL:) vi)Ζ;顩iiE @P; =IE @II)m4@q @q@u/@q@}[A@}[Aԙ ^A G= DDAT read: Rx Time:01:01:11.6315  TRx dataTimestamp_ set to:1761699672.137946 PDAT read: Bearing 298.1, -2.6 (Local)  ~Local bearing/azimuth received: Bearing 298.1, -2.6 (Local)  DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.4  DAT read: 01:01:11.6315 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 507, 0.09, 0.424,-1.314, 0.544, 0.318, PHS= 0.208,-1.587, 0.182, RAW= 149.3, 13.4, CAL= 149.3, 14.8, ROT= 0.7, -14.8  Ygot valid direction response: 01:01:11.6315 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 507, 0.09, 0.424,-1.314, 0.544, 0.318, PHS= 0.208,-1.587, 0.182, RAW= 149.3, 13.4, CAL= 149.3, 14.8, ROT= 0.7, -14.8  T#Rx 41: Read range and direction messages. \direction in FSK: [0.966751,0.011812,0.255446] Fpublishing direction and range infoy   G?b\ 0?l39Y?Y 3A ) =I T>i "˿ 5^:> &@ |o> &@ A>) +Hu,cb Y@AUGU@UJ@Uj"`<ٱUw4 mAHRS rotation from veh to nav: [[-0.631659,-0.761676,-0.144419],[0.775126,-0.623793,-0.100315],[-0.013680,-0.175308,0.984419]]UH 6_@R|¿ ?E ~pƿ`[?iUGU@IUs^;UCY%By"IbDVD:y%?=ٔQ->9Y=nGy@F<E>Q 55&?Q 95>)zBYyf@Q Ia@DI:i:y5y5gBɮ5 A5EY@AJRARRAj@ 2@4*?Bʋ@r G?b\ 0?l39Y?Z+H<b A'rT)|8+@մl9@z.jtzl?i):?2]A:J"7?*4RBAB ?4R“͍B A7@gO addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.504227 s, deltaX: -0.400000 m, approachRate: -0.793293 m/s, rangeRepo size: 4 gO Added new target pos. range: 19.290272 m, bearing: 132.505292 deg, lat: 36.779286 deg, lon: -121.859517 deg, deltaT: 0.504227 s, deltaX: -0.397738 m, approachRate: -0.788806 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 19.29 m.bRZgO- ProNav: ac range: 19.290272 m, nav range: 18.630081 m, bearing: 132.119554 deg, approach rate: 0.000000 m/s, LOS rate: -0.087219 deg/s, cmd heading: 126.975580 deg, new cmd heading: 126.900998 deg. B)gO5HeadingCmd: 2.214840 target range: 19.290272 and range: 19.40 m.5 @1*1"1 19999ʎ9aaje`ff3@Zm`T?颵EBɢ9) 8i);项iE EE%E"E[:*E n:VE 4ZEa@a@a@a@i @y;! =I @I2@ @@0@checking for new query: numPingsReceived=41, elapsed TxPingTime=20.683077) ^A V =A .AI! Q I O >wu,'Y@AJDDAT read: Rx Time:01:01:12.1313 NTRx dataTimestamp_ set to:1761699672.641866RPDAT read: Bearing 302.1, -4.2 (Local) BZ>BXBZ"IBZ(BBXBXBXBZg;BZ'Eb~Local bearing/azimuth received: Bearing 302.1, -4.2 (Local) jDAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed 0.4 MDAT read: 01:01:12.1313 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 505, 0.32, 1.074,-0.638, 1.210, 1.091, PHS= 0.084,-1.685, 0.075, RAW= 149.7, 17.0, CAL= 150.2, 19.0, ROT= 359.8, -19.0 UYgot valid direction response: 01:01:12.1313 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 505, 0.32, 1.074,-0.638, 1.210, 1.091, PHS= 0.084,-1.685, 0.075, RAW= 149.7, 17.0, CAL= 150.2, 19.0, ROT= 359.8, -19.0 ]T#Rx 42: Read range and direction messages.e^direction in FSK: [0.945513,-0.003301,0.325568]Fpublishing direction and range infoyHJUZA?rJ k`FI?YJ̘AHHHH H)J>IJ1=iJ׿J=Jm7'@J>Jg'@ Jɩ>)JB@IJɩHHJ~S?Uދ]?? J?)J헾IJdiJɩHH%9@.@Ychecking for new query: numPingsReceived=42, elapsed TxPingTime=20.981537(c<ٱ*d4 AHRS rotation from veh to nav: [[-0.630325,-0.762736,-0.144651],[0.776207,-0.622516,-0.099881],[-0.013864,-0.175237,0.984429]]H@+Uh¿?ӑd`(nƿp?i%9@IY^;CY(By"I ==iEMb@Mb@Mb@AAAA A9EDl?)\(?{GztYEO ?yEGa=EףElAA EA)EAAYEAbDVDky :<%=ٔ9Q->9  ?Y ?=nGyASE>Q 5%5j?Q 9%5C9)tBY-?Q Em:ymW@Q Ima@DI';B:?!s?2JUA:JB"JA?*JBJۏBHH“JЎBJAJӈ@E  E E #E "E :*E :VE 3ZE BE vBaU(@ BJ>)Bū@IBJ@@Bi0W?!b??{Ng? B1?)BcIBD+HiBJ@@checking for new query: numPingsReceived=43, elapsed TxPingTime=21.475906 AHRS rotation from veh to nav: [[-0.629538,-0.763224,-0.145505],[0.776845,-0.621656,-0.100273],[-0.013923,-0.176160,0.984263]]2H+%Tl¿? `lƿ ?i2(@I2^;2CY3By"IbDMVDMNy]L=%]A=ٔeV9Q-e>9e"?Ye"?=nGyAFEE>Q 55e?Q 954Q =tI)oBYyF@Q Ib@DI;i;35yaBɮu AE@BTIY@AJBARBAjBz@B|1@cQo˿7@rBM?t H{P]?ZBD+HbBJBڭ̂'M:*@bk[@zB;俌mr?bY\ ?2BQA:B="Bg#?*BBB~B@B“BEBBqABe@gO addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503922 s, deltaX: -0.300001 m, approachRate: -0.595333 m/s, rangeRepo size: 4 gO Added new target pos. range: 18.693701 m, bearing: 132.027908 deg, lat: 36.779286 deg, lon: -121.859518 deg, deltaT: 0.503922 s, deltaX: -0.298306 m, approachRate: -0.591968 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 18.69 m.bRZgO ProNav: ac range: 18.693701 m, nav range: 18.055630 m, bearing: 132.169150 deg, approach rate: 0.000000 m/s, LOS rate: -0.087219 deg/s, cmd heading: 126.807940 deg, new cmd heading: 126.733390 deg. BgO HeadingCmd: 2.211915 target range: 18.693701 and range: 18.80 m.  @ * "    ʎj2@Z)?E>BɢM4>;)I MiI)Mﴒ;QQiUiU @];]=I} @IE EE&E"E,:*EF:VE4ZEa @a @a @a @4@ @@/@II!-checking for new query: numPingsReceived=43, elapsed TxPingTime=21.690907O5>! 5u, bY@A0Y~(By~"I =4<9bD}VD}ky=@%E>=ٔEQ-M>9IYI=UnGyQUEU>YQ 5e5]?Q 9e5]i0)]jBYayiQ Imb@]DI]:i]:]5yqɮu AyDDAT read: Rx Time:01:01:13.1310 TRx dataTimestamp_ set to:1761699673.649707PDAT read: Bearing 302.1, -4.4 (Local) ~Local bearing/azimuth received: Bearing 302.1, -4.4 (Local) DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5 DAT read: 01:01:13.1310 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 502,-0.24, 0.915,-0.791, 1.060, 0.940, PHS= 0.077,-1.685, 0.076, RAW= 150.0, 17.1, CAL= 150.4, 19.2, ROT= 359.6, -19.2 Ygot valid direction response: 01:01:13.1310 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 502,-0.24, 0.915,-0.791, 1.060, 0.940, PHS= 0.077,-1.685, 0.076, RAW= 150.0, 17.1, CAL= 150.4, 19.2, ROT= 359.6, -19.2 T#Rx 44: Read range and direction messages.^direction in FSK: [0.944353,-0.006593,0.328867]Fpublishing direction and range infoyաX$8?k{{f& ?Y )>I-=i׿㥛=6'@Θ>'@ >)@I?L?\h? Y?)Iichecking for new query: numPingsReceived=44, elapsed TxPingTime=21.958691BA<B%>B!B%"IB%-BB!B!B!B%]g;B%(E͔iY@AJRj@NYL1@<ϧL@rաX$8?k{{f& ?Zb(g'^22Y*@zgN@zd俯散7?k]?2RA:>"W ?*NBЏBW ?N“ЏBA@gO addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503919 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 18.693760 m, bearing: 132.124413 deg, lat: 36.779286 deg, lon: -121.859518 deg, deltaT: 0.503919 s, deltaX: 0.000059 m, approachRate: 0.000117 m/s, posRepo size: 4 jgOeDNOT Ignoring new targets: 18.69 m.baRaZigOu ProNav: ac range: 18.693760 m, nav range: 17.762426 m, bearing: 132.124349 deg, approach rate: 0.000000 m/s, LOS rate: -0.087219 deg/s, cmd heading: 126.733395 deg, new cmd heading: 126.656429 deg. BygO}HeadingCmd: 2.210572 target range: 18.693760 and range: 18.80 m.z @*" ʎjZ@?ME checking for new query: numPingsReceived=44, elapsed TxPingTime=22.195000bKu,{Y@A>l@>@>|a<ٱ>h4 FAHRS rotation from veh to nav: [[-0.627873,-0.764672,-0.145093],[0.778194,-0.620066,-0.099657],[-0.013762,-0.175482,0.984386]]>H 2xd¿? [/1vƿ?i>l@I>j^;>CYN0ByN"I1iMb@Mb@Mb@ 9K7?I +?MbPYI ?y94=A A)|AYbDVDy%7=%%]=ٔ-Q-->9IYI=UnGyUBFUEU>YQ 5e5]힊?Q 9e5],)]gBYm ?Q Em:ym@Q Imb@]DI]J;i]B;]&5yPBɮ AEPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 18.69 m.bR TFZ TFgO ProNav: ac range: 18.693760 m, nav range: 17.557957 m, bearing: 132.109486 deg, approach rate: -0.589477 m/s, LOS rate: -0.043348 deg/s, cmd heading: 126.656432 deg, new cmd heading: 126.626361 deg. BgO%HeadingCmd: 2.210047 target range: 18.693760 and range: 18.80 m.%iq @!*!"! !IIIM+BʎQQQjQZU@%Y?颥:Bɢ=;) 0i)%;iiiq @";\ =Iiq @Iim?@i @q@u4@qA ?A?IIOL>DDAT read: Rx Time:01:01:13.6307 TRx dataTimestamp_ set to:1761699674.153964PDAT read: Bearing 298.3, -3.1 (Local) ~Local bearing/azimuth received: Bearing 298.3, -3.1 (Local) DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.5 DAT read: 01:01:13.6307 LVL= 26256, 32753, 32434, 32755, AGC= 60, IDX= 499,-0.10, 0.484,-1.299, 0.616, 0.391, PHS= 0.195,-1.645, 0.181, RAW= 149.6, 13.7, CAL= 149.7, 15.2, ROT= 0.3, -15.2 Ygot valid direction response: 01:01:13.6307 LVL= 26256, 32753, 32434, 32755, AGC= 60, IDX= 499,-0.10, 0.484,-1.299, 0.616, 0.391, PHS= 0.195,-1.645, 0.181, RAW= 149.6, 13.7, CAL= 149.7, 15.2, ROT= 0.3, -15.2 T#Rx 45: Read range and direction messages.\direction in FSK: [0.965003,0.005053,0.262189]Fpublishing direction and range infoyN?|i\ҿX9>'@Gt>m7'@ ԇ>);Iԇ:?X߰pȹ?Y{Iin? Y?)uI;iԇEchecking for new query: numPingsReceived=45, elapsed TxPingTime=22.467167ԑԹ bE˻ 4jEO4rE./E  E E )E "E :*E *5:VE FA4ZE a% @a- @a- @a- @@u,Y@A2[@2@2e<ٱ2m4 :AHRS rotation from veh to nav: [[-0.626727,-0.765585,-0.145232],[0.779113,-0.618998,-0.099119],[-0.014014,-0.175273,0.984420]]2H`% ¿`~?_@u Yoƿ^?i2[@I2!Q^;2CYN/ByPbDZVDZ:2y% \=ٔ 2:Q- >9Y=nGyLE>Q 5%5➊?Q 9-5()dBY)y-@Q I-b@DI:i:[5y1ɮ= A9Թchecking for new query: numPingsReceived=45, elapsed TxPingTime=22.698832ډY@AJARAj?@SL1@윉?d1Xs@rN?|@ @@4@qiߙ Iߙ  DDAT read: Rx Time:01:01:14.1306  TRx dataTimestamp_ set to:1761699674.663546B >B B "IB 2BB B B B g;B 1(E PDAT read: Bearing 296.1, -2.6 (Local)  ~Local bearing/azimuth received: Bearing 296.1, -2.6 (Local)  DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.4 E DAT read: 01:01:14.1306 LVL= 29552, 32753, 32754, 32755, AGC= 61, IDX= 498,-0.00, 2.995, 1.214, 3.129, 2.842, PHS= 0.254,-1.583, 0.243, RAW= 149.7, 11.8, CAL= 149.6, 13.0, ROT= 0.4, -13.0 M Ygot valid direction response: 01:01:14.1306 LVL= 29552, 32753, 32754, 32755, AGC= 61, IDX= 498,-0.00, 2.995, 1.214, 3.129, 2.842, PHS= 0.254,-1.583, 0.243, RAW= 149.7, 11.8, CAL= 149.6, 13.0, ROT= 0.4, -13.0 M T#Rx 46: Read range and direction messages.U \direction in FSK: [0.974346,0.006802,0.224951]] Fpublishing direction and range infoy  ?U-?w^{?:/2?Y A ps  ) =I J >i ʿ x> m7'@ BR> '@ Vh>) ;I Vh y/~L4?>_ ?(LC? ?) SI ;i Vh u checking for new query: numPingsReceived=46, elapsed TxPingTime=22.980396y ^A I I O% >Alu,6Y@A@(@Ke<ٱ!&3 AHRS rotation from veh to nav: [[-0.625504,-0.766739,-0.144417],[0.780095,-0.617917,-0.098134],[-0.013995,-0.174042,0.984639]]H!`?|¿ ?M&Gƿ )?i@I^;CYm1Bym"IQE EE'E"E:*EL_:VE'4ZEBE91Y1=5nGy5CF5XE5>9Q 5E5=Ӟ?Q 9M5=h#)=`BYM?Q EM:yU@Q IUb@=DI=!;i='!;=5yiɮmAqwY@AJǐARǐAjG@B31@­?)RH@r?U-?w^{?:/2?Z;bVhml'+Q@*@'> @ze-{"S{?l ]t?2zTA:c;"{+?*SBB“AA@gO addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.509582 s, deltaX: -0.099998 m, approachRate: -0.196236 m/s, rangeRepo size: 4 gO- Added new target pos. range: 18.097179 m, bearing: 131.409869 deg, lat: 36.779286 deg, lon: -121.859518 deg, deltaT: 0.509582 s, deltaX: -0.099405 m, approachRate: -0.195072 m/s, posRepo size: 4 j)gO5DNOT Ignoring new targets: 18.10 m.b1R1Z1gOm ProNav: ac range: 18.097179 m, nav range: 17.089903 m, bearing: 132.102217 deg, approach rate: 0.000000 m/s, LOS rate: -0.043348 deg/s, cmd heading: 126.591409 deg, new cmd heading: 126.552949 deg. BigOmHeadingCmd: 2.208766 target range: 18.097179 and range: 18.20 m.uk\ @q*q"q qqqy}6Bʎyyj@332@ZP?checking for new query: numPingsReceived=46, elapsed TxPingTime=23.20300355Bɢ5;)9 =i9)e;iiimciuk\ @u"9;}=ԁI}k\ @IU0@Q @Q@U/@Qԩ^A  = I I O- >Qu,,Y@A&DDAT read: Rx Time:01:01:14.6303 *TRx dataTimestamp_ set to:1761699675.161748.PDAT read: Bearing 296.0, -2.9 (Local) .~Local bearing/azimuth received: Bearing 296.0, -2.9 (Local) 6DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.5 JDAT read: 01:01:14.6303 LVL= 29088, 32753, 32754, 32755, AGC= 61, IDX= 495, 0.13, 2.410, 0.598, 2.556, 2.259, PHS= 0.254,-1.616, 0.253, RAW= 150.0, 11.8, CAL= 149.9, 13.0, ROT= 0.1, -13.0 NYgot valid direction response: 01:01:14.6303 LVL= 29088, 32753, 32754, 32755, AGC= 61, IDX= 495, 0.13, 2.410, 0.598, 2.556, 2.259, PHS= 0.254,-1.616, 0.253, RAW= 150.0, 11.8, CAL= 149.9, 13.0, ROT= 0.1, -13.0 NT#Rx 47: Read range and direction messages.R\direction in FSK: [0.974369,0.001701,0.224951]VFpublishing direction and range infoy$&L*.?\[?:/2?Y&A$&q$$ $)$I$i&ο&7>&6'@$&p'@ $)&:I$$$&(BE!? c!K?xX6F? &6?n&@n@nr*c<ٱn.3 zAHRS rotation from veh to nav: [[-0.624528,-0.767521,-0.144485],[0.780879,-0.616936,-0.098073],[-0.013865,-0.174075,0.984635]]nH"@@z~¿?`Qe`Hƿ!?in&@In^;nC)&SI&:i$$$checking for new query: numPingsReceived=47, elapsed TxPingTime=23.478357Y3By%"I-=-=bD5VD5fyE<%Eo=ٔMMǹQ-M?9IYI=MnGyIUApEU?AQ 5M5ElǞ?Q 9M5EM)E]BYIyM@Q IMb@EDIE":iE :E5yJBɮAԱ$&ZY@AJ&̌AR&̌Aj&`@&m&1@V?V![Q@r&L*.?\[?:/2?Z&:b$&=%&D )@~8]> @z&_iQm?Ȍi?2&OA:&4"&?*&iB&B$&A“&B&A&@gO% addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.498202 s, deltaX: -0.500000 m, approachRate: -1.003609 m/s, rangeRepo size: 4 gOU Added new target pos. range: 17.600004 m, bearing: 131.044603 deg, lat: 36.779286 deg, lon: -121.859515 deg, deltaT: 0.498202 s, deltaX: -0.497175 m, approachRate: -0.997939 m/s, posRepo size: 4 jQgO]DNOT Ignoring new targets: 17.60 m.bYRYZYgO ProNav: ac range: 17.600004 m, nav range: 17.084209 m, bearing: 131.496227 deg, approach rate: 0.000000 m/s, LOS rate: -0.043348 deg/s, cmd heading: 126.552955 deg, new cmd heading: 126.520368 deg. BgOHeadingCmd: 2.208197 target range: 17.600004 and range: 17.70 m.S @*" ʎj-@31@Z-/?3Bɢ;) i)H;igiS @';1=IS @IE EE&E"E*EV:VE4ZEa@a@a@a@@ @@@ checking for new query: numPingsReceived=47, elapsed TxPingTime=23.708906 ^A A zA 9 A I I! O >u,AY@A5DDAT read: Rx Time:01:01:15.1302 5TRx dataTimestamp_ set to:1761699675.669110=PDAT read: Bearing 295.8, -2.4 (Local) E~Local bearing/azimuth received: Bearing 295.8, -2.4 (Local) AIAIBU>BUCBU"IBU7BBU =BQBUqDBUg;BUX(EB!B!B!B% =B% =C%G_5uDAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.5 DAT read: 01:01:15.1302 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510, 0.22,-1.347,-3.132,-1.218,-1.508, PHS= 0.263,-1.579, 0.245, RAW= 149.5, 11.7, CAL= 149.4, 12.8, ROT= 0.6, -12.8 Ygot valid direction response: 01:01:15.1302 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510, 0.22,-1.347,-3.132,-1.218,-1.508, PHS= 0.263,-1.579, 0.245, RAW= 149.5, 11.7, CAL= 149.4, 12.8, ROT= 0.6, -12.8 T#Rx 48: Read range and direction messages.\direction in FSK: [0.975096,0.010212,0.221548]Fpublishing direction and range infoy15=I3?JK?@|[?Y5̌A1511 1)5>I5>i5ʿ5Hz>5<&@5Q>5&@ 5d>)5+?)5PI5+9Y=nGyDFE>Q 55y?Q 9 5)UBY ?Q E :y @Q Ib@DI'iɿ= >m7'@9>mx@ %K>)I%K݆Z??H%?_B2? ?)9Ii%Kchecking for new query: numPingsReceived=49, elapsed TxPingTime=24.515770mm@me<ٱm:b4 AHRS rotation from veh to nav: [[-0.621131,-0.770003,-0.145915],[0.783581,-0.613506,-0.098035],[-0.014033,-0.175229,0.984428]]mHNޣY¿?`סmƿn?imx@Imh^;iY%.By%"IbDuVDu1yos%;=ٔ 9Q->9 ?Y ?=nGyEF!E>Q 55|?Q 9E5)OBYIyMW@Q IMb@DISgu,E'Y@AU)^@US@U g<ٱU4(4B>BBBBBBB h;Bu(EDDAT read: Rx Time:01:01:16.1298 -TRx dataTimestamp_ set to:1761699676.691373I]PDAT read: Bearing 296.3, -2.6 (Local) ]~Local bearing/azimuth received: Bearing 296.3, -2.6 (Local) mDAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.4 AHRS rotation from veh to nav: [[-0.619893,-0.770995,-0.145942],[0.784560,-0.612321,-0.097615],[-0.014102,-0.175011,0.984466]]UH)`6¿ ?"Tጿfƿཀ?iU)^@IUk^;UCY,By"II=)=-DAT read: 01:01:16.1298 LVL= 32688, 32753, 32754, 32755, AGC= 62, IDX= 506,-0.26, 1.999, 0.190, 2.126, 1.852, PHS= 0.250,-1.617, 0.230, RAW= 149.5, 12.2, CAL= 149.4, 13.5, ROT= 0.6, -13.5 5Ygot valid direction response: 01:01:16.1298 LVL= 32688, 32753, 32754, 32755, AGC= 62, IDX= 506,-0.26, 1.999, 0.190, 2.126, 1.852, PHS= 0.250,-1.617, 0.230, RAW= 149.5, 12.2, CAL= 149.4, 13.5, ROT= 0.6, -13.5 }T#Rx 50: Read range and direction messages.\direction in FSK: [0.972317,0.010182,0.233445]Fpublishing direction and range infoy7?6!ڄ?%E?YA )I>iοk><&@^ Z> :Fq>)I:FqūN:?}?1Ƅ? S?)pJZIi:Fqchecking for new query: numPingsReceived=50, elapsed TxPingTime=25.047907iUMb@Mb@Mb@QQQQ Q9UʡE?Q?~jtYU?yU\=UDUAQ UA)UAQYUAaaibDuVDu0ya̻%=ٔ+9Q->9"?Y"?=nGy=E>Q 55I?Q 95 )HBY?Q E:y@Q I%b@ DIԋ:*E V:VE '4ZE BE iU,>ԙM checking for new query: numPingsReceived=50, elapsed TxPingTime=25.220015 :@  @ @ O4@ ^A G<A-.AI9IQO] ?lu,(JY@A2@@2{6@2r<ٱ2Dy3 :AHRS rotation from veh to nav: [[-0.618488,-0.772105,-0.146034],[0.785654,-0.611110,-0.096396],[-0.014815,-0.174352,0.984572]]2HA¿$? 6cW@,Qƿ?i2@@I2];2CYB&ByB"IJDDAT read: Rx Time:01:01:16.6295 NTRx dataTimestamp_ set to:1761699677.177824RPDAT read: Bearing 296.0, -2.7 (Local) V~Local bearing/azimuth received: Bearing 296.0, -2.7 (Local) ^DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.4 nDAT read: 01:01:16.6295 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503,-0.05, 0.644,-1.185, 0.773, 0.489, PHS= 0.256,-1.629, 0.239, RAW= 149.6, 12.0, CAL= 149.4, 13.3, ROT= 0.6, -13.3 rYgot valid direction response: 01:01:16.6295 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503,-0.05, 0.644,-1.185, 0.773, 0.489, PHS= 0.256,-1.629, 0.239, RAW= 149.6, 12.0, CAL= 149.4, 13.3, ROT= 0.6, -13.3 vT#Rx 51: Read range and direction messages.v\direction in FSK: [0.973126,0.010191,0.230050]zFpublishing direction and range infoyLNz#?ͅoބ?gz}"Er?YNALNLL L)N=INo>iNпNjt>N'@NPwV>L N,m>)LIN,mLLN?9?.?!Ћkk? Nh?)NWILiN,mLL checking for new query: numPingsReceived=51, elapsed TxPingTime=25.486910bD%VD%y5%5O=ٔ5:Q-=>9= ?Y= ?==nGy=FFE瓻EE>IQ 5U5M爞?Q 9U5M )MCBYQyU@Q I]b@M'DIM :iM:M5ye3B!ɮkALNxaKY@AJNAARNAAjNI@N/@ $f?A?͎2@rNz#?ͅoބ?gz}"Er?ZLbN,mNJ'x:%}j'(@v @zN/a)h {n?K6R?2N>AA:N("Nq?*NBN BN s ?N“NKBNANQ@gOM addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.486451 s, deltaX: -0.500000 m, approachRate: -1.027853 m/s, rangeRepo size: 4 gO Added new target pos. range: 16.407019 m, bearing: 131.151117 deg, lat: 36.779286 deg, lon: -121.859512 deg, deltaT: 0.486451 s, deltaX: -0.497183 m, approachRate: -1.022061 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 16.41 m.bRZgO ProNav: ac range: 16.407019 m, nav range: 16.199905 m, bearing: 130.991472 deg, approach rate: 0.000000 m/s, LOS rate: -0.043348 deg/s, cmd heading: 126.383006 deg, new cmd heading: 126.345930 deg. BgOHeadingCmd: 2.205153 target range: 16.407019 and range: 16.50 m.8! @*"   ʎ  j50@Z5N?颵)Bɢ;;) һi)Ò;项ilMi8! @8;%u,^fY@Aa5H'@5@5[y<ٱ52DDAT read: Rx Time:01:01:17.1294 TRx dataTimestamp_ set to:1761699677.686141PDAT read: Bearing 296.1, -2.8 (Local) ~Local bearing/azimuth received: Bearing 296.1, -2.8 (Local) B<A4=B>BB"IB2BB =BBB h;Bv(EuDAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.4 DAT read: 01:01:17.1294 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 502, 0.15,-3.015, 1.455,-2.882, 3.121, PHS= 0.249,-1.622, 0.235, RAW= 149.6, 12.2, CAL= 149.5, 13.4, ROT= 0.5, -13.4 Ygot valid direction response: 01:01:17.1294 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 502, 0.15,-3.015, 1.455,-2.882, 3.121, PHS= 0.249,-1.622, 0.235, RAW= 149.6, 12.2, CAL= 149.5, 13.4, ROT= 0.5, -13.4 T#Rx 52: Read range and direction messages.\direction in FSK: [0.972739,0.008489,0.231748]Fpublishing direction and range infoy$33 ?+Yb?] A? AHRS rotation from veh to nav: [[-0.617251,-0.773104,-0.145984],[0.786618,-0.610016,-0.095459],[-0.015253,-0.173756,0.984671]]5H D¿`+??o==ƿk?i5H'@I5-];1Y3A )I~>iϿףp>^ Z><&@ |o>)59QYQ=UnGyUGF]2)E]>Q 55_u?Q 95):BY?Q E:y@Q Ib@2DI:i:_5yɮTAkY@AJvARvAjjL@h/@VC;?H;@r$33 ?+Yb?] A?Z5<b|o10$A(@("w @zb 쨜?\?2@A:4'" y?* BBB y?u“Bc~An@gOm addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.508317 s, deltaX: -0.100000 m, approachRate: -0.196728 m/s, rangeRepo size: 4 gO Added new target pos. range: 16.307625 m, bearing: 130.973222 deg, lat: 36.779285 deg, lon: -121.859512 deg, deltaT: 0.508317 s, deltaX: -0.099394 m, approachRate: -0.195535 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 16.31 m.bRZgO ProNav: ac range: 16.307625 m, nav range: 15.899256 m, bearing: 131.092552 deg, approach rate: 0.000000 m/s, LOS rate: -0.043348 deg/s, cmd heading: 126.345932 deg, new cmd heading: 126.296045 deg. ԹBgOHeadingCmd: 2.204282 target range: 16.307625 and range: 16.40 m. @*" BʎE EE&E"E:*EVE4ZEBE[ @Q  @Q @U 4@Q ^A55t<AaIiIyO ?(u, Y@A2B@2 @2H<ٱ2_J1 :AHRS rotation from veh to nav: [[-0.616381,-0.773944,-0.145206],[0.787291,-0.609376,-0.093985],[-0.015746,-0.172250,0.984927]]2Hc@'¿|1? `h`K ƿ`?i2B@I2v];2CYFByF"IbDRVDRyV|%Vd=Xٔ^i:Q-^>9\Y\=bnGy`bHEb>dQ 555fDj?Q 955f)f5BY1y=@Q I=b@f8DIfdfi]\ҿ]Mb>]ۋ&@]k]>]Bo&@ ]s>)]5IMu,ҢY@AF@F-@F{؄<ٱF0 VAHRS rotation from veh to nav: [[-0.615146,-0.774899,-0.145352],[0.788246,-0.608266,-0.093169],[-0.016216,-0.171886,0.984983]]FHF`¿`P9?v`ٷߚZƿ?iF@IFXM];DYjByn"I)bDAVDAy}'<%?=ٔ:Q->9"?Y"?=nGyHFkE>Q 5u5o\?Q 9u5)/BYyy}n@Q I}b@@DI<B5yɮsAPB*** querying acoustic contact *** jgODNOT Ignoring new targets: 15.81 m.bR6Z6gO ProNav: ac range: 15.810442 m, nav range: 15.412538 m, bearing: 130.936164 deg, approach rate: -0.586441 m/s, LOS rate: -0.039974 deg/s, cmd heading: 126.263423 deg, new cmd heading: 126.229980 deg. BPgO HeadingCmd: 2.203129 target range: 15.810442 and range: 15.90 m.5 @1*9"9 AAIqqʎqqqjyZ}{0?QDDAT read: Rx Time:01:01:18.1291 TRx dataTimestamp_ set to:1761699678.695355PDAT read: Bearing 296.6, -2.0 (Local) ~Local bearing/azimuth received: Bearing 296.6, -2.0 (Local) B >B CB "IB (BB B B B g;B q(EuDAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.4 DAT read: 01:01:18.1291 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 499,-0.13, 1.145,-0.673, 1.242, 0.992, PHS= 0.255,-1.620, 0.206, RAW= 148.7, 12.5, CAL= 148.6, 13.8, ROT= 1.4, -13.8 Ygot valid direction response: 01:01:18.1291 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 499,-0.13, 1.145,-0.673, 1.242, 0.992, PHS= 0.255,-1.620, 0.206, RAW= 148.7, 12.5, CAL= 148.6, 13.8, ROT= 1.4, -13.8 T#Rx 54: Read range and direction messages.\direction in FSK: [0.970844,0.023727,0.238533]Fpublishing direction and range infoy >(?K?iC?Y )<I\>i)\ϿR>x&@f_>%@ Ϣv>)+9Y=nGyGoE> Q 55 K?Q 95 y) (BY ?Q E:y\@Q Ib@ IDI z:i n: 5y%(Bɮ%'A%E󲀬Y@AJRj @Ev.@Bn6?ST`+@r >(?K?iC?Z+<bϢv W$\5'@g @zf]O俨TxY[?@Qn?28A:2$"Ꚋ?*BB y?u“rA:]@gO addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.509550 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO% Added new target pos. range: 15.810521 m, bearing: 131.646024 deg, lat: 36.779285 deg, lon: -121.859512 deg, deltaT: 0.509550 s, deltaX: 0.000079 m, approachRate: 0.000155 m/s, posRepo size: 4 j)gO-DNOT Ignoring new targets: 15.81 m.b)R5Z1gOe ProNav: ac range: 15.810521 m, nav range: 15.164719 m, bearing: 131.032012 deg, approach rate: 0.000000 m/s, LOS rate: -0.039974 deg/s, cmd heading: 126.229983 deg, new cmd heading: 126.186974 deg. BagOmHeadingCmd: 2.202378 target range: 15.810521 and range: 15.90 m.m @i*i"i iiqquBʎqyDDAT read: Rx Time:01:01:18.6289 TRx dataTimestamp_ set to:1761699679.193834PDAT read: Bearing 298.2, -2.5 (Local) ~Local bearing/azimuth received: Bearing 298.2, -2.5 (Local) DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.4 DAT read: 01:01:18.6289 LVL= 32240, 32753, 32754, 32755, AGC= 60, IDX= 496, 0.14, 0.727,-1.088, 0.825, 0.621, PHS= 0.207,-1.664, 0.159, RAW= 148.7, 13.9, CAL= 148.7, 15.4, ROT= 1.3, -15.4 Ygot valid direction response: 01:01:18.6289 LVL= 32240, 32753, 32754, 32755, AGC= 60, IDX= 496, 0.14, 0.727,-1.088, 0.825, 0.621, PHS= 0.207,-1.664, 0.159, RAW= 148.7, 13.9, CAL= 148.7, 15.4, ROT= 1.3, -15.4 T#Rx 55: Read range and direction messages.\direction in FSK: [0.963847,0.021873,0.265556]Fpublishing direction and range infoyg^2?De?<?YxA} )IS>iԿ">Ulx>x&@ >)޹%u,*XY@A(2@2@2ې<ٱ2s2 >AHRS rotation from veh to nav: [[-0.612668,-0.776401,-0.147782],[0.790142,-0.605895,-0.092553],[-0.017682,-0.173473,0.984680]]2HF¿`H?~c@; `4ƿ@?i2@I2S];2CYFByFt"IbDRVDRk1yZϛ%ZT=ٔZ:Q-^>9\Y\=^nGy^IFb@Eb>dQ 5j5f??Q 9j5fo)f"BYhyjI@Q Inb@fPDIf;if;fZ5ypɮrApgY@AJvARvAjT4@0% -@^?Z9/_@rg^2?De?<?Z޹<b(#>jRO&@#S9 @z;#俿(??2z2A:}"??*pBBp“mA@gO= addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.498479 s, deltaX: -0.400000 m, approachRate: -0.802440 m/s, rangeRepo size: 4 gOu Added new target pos. range: 15.412772 m, bearing: 131.784241 deg, lat: 36.779285 deg, lon: -121.859513 deg, deltaT: 0.498479 s, deltaX: -0.397749 m, approachRate: -0.797925 m/s, posRepo size: 4 jqgOuDNOT Ignoring new targets: 15.41 m.bqRyZygO ProNav: ac range: 15.412772 m, nav range: 14.857171 m, bearing: 131.339244 deg, approach rate: 0.000000 m/s, LOS rate: -0.039974 deg/s, cmd heading: 126.186980 deg, new cmd heading: 126.154664 deg. BgOHeadingCmd: 2.201814 target range: 15.412772 and range: 15.50 m. @*" ʎAjAZM`h?ԁ!BɢV/;) ˼i)5t;11i5߻i= @eiK;e$BYB]"IB]#BB] =BYB]rDB]g;B]a(EDAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.4 ԱZ#Rx 56: Read range message, but no direction.y Y tA checking for new query: numPingsReceived=56, elapsed TxPingTime=28.023350@ @@@ ^A <E]  E] E] &EY "E] >:*E] [:VE] 4ZEY BE] lu,Y@Achecking for new query: numPingsReceived=56, elapsed TxPingTime=28.2429566E@6İ@65<ٱ6/ fAHRS rotation from veh to nav: [[-0.612024,-0.777244,-0.146007],[0.790635,-0.605543,-0.090634],[-0.017969,-0.170908,0.985123]]6H/[¿L?@`@3~f`Qſ ?i6E@I6<];6CYnByns"IieMb@Mb@Mb@aaaa a9eˡE?Mb?{GztYe?ye@=eףaa eA)e|AaYe(AbD}VD}:ys%/=ٔ :Q->9Y=nGy E>Q 55z1?Q 95)BYy?Q E:y(@Q Ib@XDI ;i2 ;q5yBɮOAEgO addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.508848 s, deltaX: -0.200000 m, approachRate: -0.393044 m/s, rangeRepo size: 4 jgODNOT Ignoring new targets: 15.41 m.bRHpZHpgO ProNav: ac range: 15.412772 m, nav range: 14.607901 m, bearing: 131.317068 deg, approach rate: -0.580415 m/s, LOS rate: -0.052518 deg/s, cmd heading: 126.154659 deg, new cmd heading: 126.109550 deg. B:gOHeadingCmd: 2.201027 target range: 15.412772 and range: 15.30 m. @*" Bʎj.@Z`( ?%Bɢ0;) 0ļi) Ў;i ޻i- @5 ;=ҳiu2@q @q@q@q@y@}[ADDAT read: Rx Time:01:01:19.6286 TRx dataTimestamp_ set to:1761699680.201735PDAT read: Bearing 300.0, -1.9 (Local) ~Local bearing/azimuth received: Bearing 300.0, -1.9 (Local) DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.4 DAT read: 01:01:19.6286 LVL= 29488, 32753, 32754, 32755, AGC= 59, IDX= 509, 0.00,-1.795, 2.699,-1.729,-1.861, PHS= 0.168,-1.678, 0.088, RAW= 147.8, 15.5, CAL= 147.9, 17.2, ROT= 2.1, -17.2 %Ygot valid direction response: 01:01:19.6286 LVL= 29488, 32753, 32754, 32755, AGC= 59, IDX= 509, 0.00,-1.795, 2.699,-1.729,-1.861, PHS= 0.168,-1.678, 0.088, RAW= 147.8, 15.5, CAL= 147.9, 17.2, ROT= 2.1, -17.2 %T#Rx 57: Read range and direction messages.-\direction in FSK: [0.954637,0.035005,0.295708]5Fpublishing direction and range infoy z,rb?M*?-?YpA0s );I1,>iֿX9=%@c>4%@ `>)Q =I`H4E?8K?l&? fs>)銾IQ =i`uchecking for new query: numPingsReceived=57, elapsed TxPingTime=28.515940! ^A qv,Y@AE. E.E.$E,"E.:*E.L_:VE.4ZE,a6@a6@a6@a6@J=@J@J3<ٱJ/ RAHRS rotation from veh to nav: [[-0.610810,-0.778229,-0.145845],[0.791562,-0.604489,-0.089570],[-0.018456,-0.170156,0.985244]]JH @@¿yT? W 撿ſ ?iJ=@IJAY];JCY^By\b=b= fp9tYt=vnGyvJFv;yEz>Q 55<%?Q 95s)BY!y%@Q I%b@_DIΊ;i;5y=Bɮ=AEEim: Y@AJmnARmnAjm;@m(Edz,@;Ck9?O8>@rm z,rb?M*?-?ZmQ =bm`mWq~#C9e%@@/@zm*hB B "IB BB B B B g;B \(EBeCBeCBaBe =Be =CeʡN5 DDAT read: Rx Time:01:01:20.1284 ] TRx dataTimestamp_ set to:1761699680.731470A I  PDAT read: Bearing 300.7, -1.9 (Local)  ~Local bearing/azimuth received: Bearing 300.7, -1.9 (Local) I O > = DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.4 v,q1Y@A>DAT read: 01:01:20.1284 LVL= 30960, 32753, 32754, 32755, AGC= 59, IDX= 507, 0.30,-1.109,-2.902,-1.048,-1.158, PHS= 0.151,-1.699, 0.066, RAW= 147.7, 16.1, CAL= 147.7, 17.8, ROT= 2.3, -17.8 rYgot valid direction response: 01:01:20.1284 LVL= 30960, 32753, 32754, 32755, AGC= 59, IDX= 507, 0.30,-1.109,-2.902,-1.048,-1.158, PHS= 0.151,-1.699, 0.066, RAW= 147.7, 16.1, CAL= 147.7, 17.8, ROT= 2.3, -17.8 rT#Rx 58: Read range and direction messages.v\direction in FSK: [0.951362,0.038211,0.305695]vFpublishing direction and range infoyAED yq?X?ќ?YE3kAAExAA A)A%@%g@%<ٱ%t-IE>iExٿE+=E$@Eޏ>E$@ E>)El$=IEAAE#8?{?~bq.? E>>)E YIEl$=iEAAMchecking for new query: numPingsReceived=58, elapsed TxPingTime=29.108217 ]AHRS rotation from veh to nav: [[-0.610020,-0.779005,-0.145007],[0.792169,-0.603838,-0.088585],[-0.018552,-0.168909,0.985457]]%HH ¿rY?R l͞ſ@݈?i%@I%V];%CYmBymp"Ii]Mb@Mb@Mb@YYYY Y9]K7?Zd;O?y&1|Y] ?y]j<=]`YY ]fA)]AEu EuEu%Eq"EuI:*Eu]t:VEu 4ZEqBEu9Y=nGyKFEEM>QQ 55U?Q 95U)UBY= ?Q E:y@Q Ib@UhDIU v,wOY@AQUiQQ Q)U:IUJ>iUӿU=Ul$@U%>UO$@ UC>)U4QO=IUCQQU5ct?HQTgI?jx? U:>)UFIU4QO=iUCQQNchecking for new query: numPingsReceived=59, elapsed TxPingTime=29.563257Zox@Zm@Z<ٱZ\(- bAHRS rotation from veh to nav: [[-0.608783,-0.780000,-0.144857],[0.793111,-0.602733,-0.087678],[-0.018921,-0.168264,0.985560]]ZH&{ઊ¿`*a?`Ir` ſ?iZox@IZ?/];ZCY= By=j"IbDMVDMy}qԼ%}L=ٔ}q:Q->9 ?Y ?=nGy~E>Q 55 ?Q 95) BYy@Q Ib@nDIt:ik:5y Bɮ 0AEQUkMY@AJUcARUcAjU@UL?+@RP;?%@rU3ʢ? $٨?Ix?ZU4QO=bUCUV"_$@LW1ѩ @zU?I/忷Ff?Z_nE ?2U A:U"Uh[?*UBU6BQUM“QU$^AUv@@gO addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.478231 s, deltaX: -0.400000 m, approachRate: -0.836415 m/s, rangeRepo size: 4 gO Added new target pos. range: 14.219637 m, bearing: 133.164434 deg, lat: 36.779283 deg, lon: -121.859516 deg, deltaT: 0.478231 s, deltaX: -0.397752 m, approachRate: -0.831715 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 14.22 m.bRZgO ProNav: ac range: 14.219637 m, nav range: 13.883875 m, bearing: 132.721910 deg, approach rate: 0.000000 m/s, LOS rate: -0.052518 deg/s, cmd heading: 126.010816 deg, new cmd heading: 125.970221 deg. BgOHeadingCmd: 2.198595 target range: 14.219637 and range: 14.30 m.ȵ @*" ʎ   j ,@Z ?]Bɢ];)Y ]iY)Ԍ;顡i4ػiȵ @;J:*EU;J:VEU'4ZEQae@ae@ae@ae@9@A @A@E,0@A}checking for new query: numPingsReceived=59, elapsed TxPingTime=29.755131i^AY ԡ Ia Iq O} >v,AiY@AԁB<A<B>BBs"IBBBBBBg;Br(EDDAT read: Rx Time:01:01:21.1280 TRx dataTimestamp_ set to:1761699681.738280PDAT read: Bearing 300.2, -1.5 (Local) ~Local bearing/azimuth received: Bearing 300.2, -1.5 (Local) DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.5 EDAT read: 01:01:21.1280 LVL= 30384, 32753, 32754, 32755, AGC= 59, IDX= 504,-0.08,-1.962, 2.515,-1.910,-2.031, PHS= 0.171,-1.692, 0.077, RAW= 147.4, 15.7, CAL= 147.4, 17.3, ROT= 2.6, -17.3 Ygot valid direction response: 01:01:21.1280 LVL= 30384, 32753, 32754, 32755, AGC= 59, IDX= 504,-0.08,-1.962, 2.515,-1.910,-2.031, PHS= 0.171,-1.692, 0.077, RAW= 147.4, 15.7, CAL= 147.4, 17.3, ROT= 2.6, -17.3 T#Rx 60: Read range and direction messages.\direction in FSK: [0.953778,0.043311,0.297375]Fpublishing direction and range infoyY2jPY?pQ,?+0?YaAv );I/>iuؿ-=$@ԡK>$@ #>)9=I# KW? }!R4c??CN? w%>).I9=i#checking for new query: numPingsReceived=60, elapsed TxPingTime=30.111889YBym"II=)C= A E] E]E]&EY"E]:*E]1]:VE]4ZEYBE]9 Y = nGy LF E > Q 5% 5 b?Q 9% 5 ) BY- K ?Q E- :y- X@Q I- b@ zDI ;i P ; }5y1 ɮ= A9 ?oY@AJU`ARU`Ajf@2n־*@ù>n?UoN@rY2jPY?pQ,?+0? checking for new query: numPingsReceived=60, elapsed TxPingTime=30.258980Z9=b#]oQo"7I#@<@zʑC i?^7"?2A:"#P횊?*hUBBhU“BWA@gO  addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.528579 s, deltaX: -0.200000 m, approachRate: -0.378373 m/s, rangeRepo size: 4 gO  Added new target pos. range: 14.020803 m, bearing: 133.032934 deg, lat: 36.779283 deg, lon: -121.859517 deg, deltaT: 0.528579 s, deltaX: -0.198833 m, approachRate: -0.376166 m/s, posRepo size: 4 j gO DNOT Ignoring new targets: 14.02 m.b R Z gO5  ProNav: ac range: 14.020803 m, nav range: 13.489977 m, bearing: 132.946730 deg, approach rate: 0.000000 m/s, LOS rate: -0.052518 deg/s, cmd heading: 125.970217 deg, new cmd heading: 125.903284 deg. B1 gO= HeadingCmd: 2.197427 target range: 14.020803 and range: 14.10 m.= @9 *9 "9  9 9 A a e Bʎa i i jm @33,@Zm R?颵 Bɢ lY;) i  ) ;  i ջi @ t; k8ۭ?ؼʿ?YM\AIMII I)IIM+>iMD̿MK7>M$@Mz0a>MS$@ MUlx>)M¸2=IMUlxIIMv?fFD?j? M4a>)MaIM¸2=iMUlxIIchecking for new query: numPingsReceived=61, elapsed TxPingTime=30.536013II O?9$v,cY@A6L@6QB@6l<ٱ6s* rAHRS rotation from veh to nav: [[-0.606668,-0.781933,-0.143299],[0.794726,-0.600887,-0.085702],[-0.019094,-0.165876,0.985962]]6HiW¿`en?w:`Ko;ſ`?i6L@I6%];4 t)v`Atxx11i594I99I9i=nr@ 99)AA AE,AAIM`AIMT)IiIq)QIޑݕ#ݑ ޑޙޙޙiޙޙYYBye"IbDVD0y %L=ٔ 9Q->9Y=nGyܻE>!Q 5-5%Ꝋ?Q 955%)%BY9y=-@Q I=b@%DI%4;i%5;%5yU BɮU#AUEaY@AJ[AR[Aj@*@Vݗ?=I_ @rq?>8ۭ?ؼʿ?Z¸2=bUlxoZ="#@22@zW#俢{E0?Bh_ ?2A:"'?*lN<BԉB“kTAW@gO addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.480371 s, deltaX: -0.300000 m, approachRate: -0.624518 m/s, rangeRepo size: 4 gO Added new target pos. range: 13.722488 m, bearing: 132.146479 deg, lat: 36.779283 deg, lon: -121.859517 deg, deltaT: 0.480371 s, deltaX: -0.298315 m, approachRate: -0.621010 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 13.72 m.bRZgOM ProNav: ac range: 13.722488 m, nav range: 13.276177 m, bearing: 132.980267 deg, approach rate: 0.000000 m/s, LOS rate: -0.052518 deg/s, cmd heading: 125.903281 deg, new cmd heading: 125.861413 deg. BIgOUHeadingCmd: 2.196696 target range: 13.722488 and range: 13.80 m.U @Q*Q"Q QYYYYʎaaaj+@Z@6;?DzDAABɢ ޴;)  i)g^;iL4ԻiM @M;M` `*v,DY@A2*@@25@2<ٱ2* :AHRS rotation from veh to nav: [[-0.606051,-0.782377,-0.143487],[0.795192,-0.600306,-0.085457],[-0.019276,-0.165891,0.985956]]2Hd: ]¿@6r?`5@ൿ`*;ſ?i2*@@I2J];2CY Byj"IbD-VD-1UDDAT read: Rx Time:01:01:22.1277 ]TRx dataTimestamp_ set to:1761699682.723096PDAT read: Bearing 300.1, -1.7 (Local) ~Local bearing/azimuth received: Bearing 300.1, -1.7 (Local) =DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed 0.4 yK<%>=B>BCB`"IBBB =BBB^h;B(EٔE9}DAT read: 01:01:22.1277 LVL= 30576, 32753, 32754, 32755, AGC= 59, IDX= 500, 0.48,-0.608,-2.437,-0.549,-0.676, PHS= 0.170,-1.716, 0.083, RAW= 147.7, 15.7, CAL= 147.7, 17.3, ROT= 2.3, -17.3 Ygot valid direction response: 01:01:22.1277 LVL= 30576, 32753, 32754, 32755, AGC= 59, IDX= 500, 0.48,-0.608,-2.437,-0.549,-0.676, PHS= 0.170,-1.716, 0.083, RAW= 147.7, 15.7, CAL= 147.7, 17.3, ROT= 2.3, -17.3 T#Rx 62: Read range and direction messages.Q-M>9Y=nGyMFXE>Q 55*ݝ?Q 95)B\direction in FSK: [0.953992,0.038316,0.297375]Fpublishing direction and range infoyQUQyy?5p0?+0?YU3[AQUpwQQ Q)QIU{.>iUۿU=QUK>U$@ U#>)Ul$=IU#QQUL8GJ?%Ck͚?hH? UG(>)UBY y  @Q I b@DIf1v,EY@Av2@'@<ٱ* -AHRS rotation from veh to nav: [[-0.605387,-0.782974,-0.143029],[0.795700,-0.599688,-0.085060],[-0.019173,-0.165303,0.986056]]H@U_ N¿`v?0Ƶ`(ſ@ƍ?iv2@IE0];CQYByb"I =a=iMb@Mb@Mb@ 9/$? ףp= ?MbpY ?yQ8=?A@ A)AYzAbDVDܲy%:=ٔ2Q->9Y=nGySE>Q 55dН?Q 95)BY ?Q E:yC@Q Ib@DIj:is:5yɮ A P%B*** querying acoustic contact ***! !j1gO5DNOT Ignoring new targets: 13.62 m.b1R=lz:Z=lz:UDDAT read: Rx Time:01:01:22.6274 UTRx dataTimestamp_ set to:1761699683.225861ePDAT read: Bearing 297.8, -0.7 (Local) ~Local bearing/azimuth received: Bearing 297.8, -0.7 (Local) DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.4 DAT read: 01:01:22.6274 LVL= 24976, 32753, 30530, 32755, AGC= 57, IDX= 498,-0.09, 2.506, 0.692, 2.547, 2.363, PHS= 0.245,-1.626, 0.140, RAW= 147.1, 13.5, CAL= 147.0, 14.9, ROT= 3.0, -14.9 Ygot valid direction response: 01:01:22.6274 LVL= 24976, 32753, 30530, 32755, AGC= 57, IDX= 498,-0.09, 2.506, 0.692, 2.547, 2.363, PHS= 0.245,-1.626, 0.140, RAW= 147.1, 13.5, CAL= 147.0, 14.9, ROT= 3.0, -14.9 T#Rx 63: Read range and direction messages.\direction in FSK: [0.965052,0.050576,0.257133]Fpublishing direction and range infoyQUy:?JA ?Fht?YU3SAQUaQUBw Q)U9IUHz>iU пU)\>UO$@U:Fq>UY3$@ U%>gO  ProNav: ac range: 13.623126 m, nav range: 12.801624 m, bearing: 133.023066 deg, approach rate: -0.590692 m/s, LOS rate: 0.054734 deg/s, cmd heading: 125.812344 deg, new cmd heading: 125.854455 deg. B W:gOHeadingCmd: 2.196575 target range: 13.623126 and range: 13.70 m. @*" )UPwV=IU%QQU Q?m0a?bf@? Uq>)U6$rIUPwV=iU%QQMchecking for new query: numPingsReceived=63, elapsed TxPingTime=31.551529QUBʎQQYj]`ff*@Z]*?ԁBɢ;) мi)8;iwлi @J;?o7v,wIY@A2H#@2@2<ٱ290* :AHRS rotation from veh to nav: [[-0.604646,-0.783483,-0.143376],[0.796256,-0.598995,-0.084744],[-0.019486,-0.165404,0.986033]]2HBYK'Z¿z?*±?+ſ?i2H#@I2];2CYBByFU"IbDNVDN1ynmp%nq=ٔrr:Q-r?9pYt=vnGyvNFvS3Ev?xQ 5~5zŝ?Q 95z)zBYy4@Q Ib@zDIz;izB;zz5y Bɮ AEtY@AJRARRAj-@FU)@n:?W>?ڀB8 @ry:?JA ?Fht?ZPwV=b%}U2S!36*"@$^E@zKO( G??r?2qA: "7뚊?*BBy“6BKA@ԹgO addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.502765 s, deltaX: -0.500000 m, approachRate: -0.994500 m/s, rangeRepo size: 4 gO Added new target pos. range: 13.125932 m, bearing: 132.656125 deg, lat: 36.779283 deg, lon: -121.859515 deg, deltaT: 0.502765 s, deltaX: -0.497194 m, approachRate: -0.988920 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 13.13 m.bRZgO ProNav: ac range: 13.125932 m, nav range: 12.723732 m, bearing: 132.590367 deg, approach rate: 0.000000 m/s, LOS rate: 0.054734 deg/s, cmd heading: 125.854459 deg, new cmd heading: 125.893270 deg. BgOHeadingCmd: 2.197252 target range: 13.125932 and range: 13.20 m.ǟ @*" ʎ   j Z ?颽Bɢ _:) x.i)T;iλiǟ @;%BBZ"IBBBBBBh;B(E^A8<II O >9 >v,1Y@AE. E.E.(E,"E.:*E.C:VE.c44ZE,BE.1;a6B@B@B}٢<ٱB* JAHRS rotation from veh to nav: [[-0.603831,-0.784070,-0.143604],[0.796865,-0.598259,-0.084221],[-0.019878,-0.165288,0.986045]]BH@R@@a¿? $yZ`)(ſ@?iB@IBt];BCYjBynX"Ichecking for new query: numPingsReceived=64, elapsed TxPingTime=32.275017iMb@Mb@Mb@ 9|?5^?ˡE?MbpY ?y'= fA)AY(AbDVD1y <%9=ٔh:Q->9Y=nGyfE> Q 55 b?Q 95 ) BY7?Q E:y@Q I%b@ DI 3;i H: S5y)ɮ-A)gO] addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.507419 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jYgO]DNOT Ignoring new targets: 13.13 m.bYRe:Ze:gOu ProNav: ac range: 13.125932 m, nav range: 12.479296 m, bearing: 132.616388 deg, approach rate: -0.575544 m/s, LOS rate: 0.062467 deg/s, cmd heading: 125.893268 deg, new cmd heading: 125.946328 deg. Bu:gO}HeadingCmd: 2.198178 target range: 13.125932 and range: 13.20 m.} @y*y" BʎjZ`Y?=Bɢ=m:)9 = iA)EW;AAiE̻im @m(;mJiu ѿu d;=u (#@u r>u #@^A < u K>)u s=Iu Kq q u Xd? Y^T=?Gܣ? u -i>)u Iu s=iu Kq q  checking for new query: numPingsReceived=65, elapsed TxPingTime=32.567699ԙ A5 ؟AI9 IQ O] >Ev,Y@AB @B< @B<ٱB) ZAHRS rotation from veh to nav: [[-0.603399,-0.784463,-0.143273],[0.797191,-0.597878,-0.083836],[-0.019893,-0.164802,0.986126]]BH@ ORV¿?!Hv^=ſX?iB @IB ];BCYfByfG"IIz<)z=~A~AbDVD:yI%Y=ٔH,8Q->9"?Y"?=nGyOF%E%>)Q 5U5-ʬ?Q 9U5-)-BYQyU@Q IUb@-DI-;i-d;-5yeBɮe5AeEY@AJKARKAj˨@J ȫv(@MȽ#A?+h؍ @rZjuL}?8d;?RlyQ?Zs=bKyl ?"@N+Kv,.Y@A&DDAT read: Rx Time:01:01:24.1268 *TRx dataTimestamp_ set to:1761699684.7417372PDAT read: Bearing 296.1, 0.0 (Local) 2~Local bearing/azimuth received: Bearing 296.1, 0.0 (Local) >DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4 mDAT read: 01:01:24.1268 LVL= 23600, 32753, 25122, 32755, AGC= 55, IDX= 509,-0.03, 1.629,-0.171, 1.661, 1.436, PHS= 0.295,-1.563, 0.181, RAW= 146.9, 12.0, CAL= 146.6, 13.2, ROT= 3.4, -13.2 B>BBN"IBBB =BBBh;B(EYgot valid direction response: 01:01:24.1268 LVL= 23600, 32753, 25122, 32755, AGC= 55, IDX= 509,-0.03, 1.629,-0.171, 1.661, 1.436, PHS= 0.295,-1.563, 0.181, RAW= 146.9, 12.0, CAL= 146.6, 13.2, ROT= 3.4, -13.2 T#Rx 66: Read range and direction messages.U\direction in FSK: [0.971865,0.057739,0.228351]Fpublishing direction and range infoy(*Uz ?? :?Y*HA(*0\(*"b ()*7I*= >i*bȿ*X9>*$@*PwV>( *k>)(I*k((*Vn;:?1H?` ;? *> >)*VI(i*k((%checking for new query: numPingsReceived=66, elapsed TxPingTime=33.128078M?Mt @MX<ٱM(J) eAHRS rotation from veh to nav: [[-0.602381,-0.785204,-0.143496],[0.797947,-0.596978,-0.083059],[-0.020446,-0.164535,0.986159]]MHFd ^¿Lj?p WC`ſ?iM?IM\;MCYByM"IiMb@Mb@Mb@ 9q= ףp??Mb`Y ?y<VA@ A)E EE$E"E:*E H:VE4ZEBE9yYy=}nGy}PFE>Q 55؛?Q 95)BY ?Q E:y@Q Ib@DI;i;5yɮA(*x/Y@AJ*FAR*FAj*L@*R_)(@MGa?R@r*Uz ?? :?Z(b*k*~ _;J!@ jx@z*H;必 ??2*A:*"*䚊?**OoB*҈B*7뚊?*“*B*F@A*S@gOU addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.507243 s, deltaX: -0.300000 m, approachRate: -0.591433 m/s, rangeRepo size: 4 gO Added new target pos. range: 12.429945 m, bearing: 132.581457 deg, lat: 36.779282 deg, lon: -121.859515 deg, deltaT: 0.507243 s, deltaX: -0.298270 m, approachRate: -0.588022 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 12.43 m.bRZchecking for new query: numPingsReceived=66, elapsed TxPingTime=33.282936gO ProNav: ac range: 12.429945 m, nav range: 12.017173 m, bearing: 132.789172 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 125.995175 deg, new cmd heading: 126.067464 deg. BgOHeadingCmd: 2.200292 target range: 12.429945 and range: 12.50 m. @*" %Bʎ!!!j%)@Z-t?颕 Bɢ:) 1i) -;顙iǻi @;ci$ƿ?5^>l$@aF>$@ ^ Z>)k]=I^ ZB?_?0wv? 2>)FIk]=i^ Z checking for new query: numPingsReceived=67, elapsed TxPingTime=33.551247AIIO?Tv,TY@A1:?: @:<ٱ: ( ]AHRS rotation from veh to nav: [[-0.601911,-0.785684,-0.142843],[0.798291,-0.596676,-0.081914],[-0.020872,-0.163335,0.986350]]:H@BR$H¿?@U_`-Ŀ`-?i:?I:];:CYBy?"I==bDVDk2ye@%1=ٔ2l:Q->9Y=nGyIE>1Q 5=55͍?Q 9=553)5BY9y=@Q I=b@5DE EE%E"E,:*ErN:VE 4ZEa@a@a@a@I5:i5A<55yBɮ;AzOY@AJBARBAj=@AH:'@&?!\1|@r0-F;?!"?\ ?Zk]=b^ Z ]ݿ퀱!@+'-j@zkqb`^?[?2 A:"뚊?*9-BDB뚊?Y“BABEA"IBEBA.AIBABABEsDBEh;BE(EBCBCBB =B =C͚15IO?\v,HPuY@ADAT read: 01:01:25.1265 LVL= 25328, 32753, 24978, 32755, AGC= 54, IDX= 506,-0.46, 2.535, 0.719, 2.574, 2.316, PHS= 0.321,-1.551, 0.215, RAW= 147.1, 11.1, CAL= 146.8, 12.2, ROT= 3.2, -12.2 Ygot valid direction response: 01:01:25.1265 LVL= 25328, 32753, 24978, 32755, AGC= 54, IDX= 506,-0.46, 2.535, 0.719, 2.574, 2.316, PHS= 0.321,-1.551, 0.215, RAW= 147.1, 11.1, CAL= 146.8, 12.2, ROT= 3.2, -12.2 T#Rx 68: Read range and direction messages.\direction in FSK: [0.975892,0.054561,0.211325]JFpublishing direction and range infoy<:?e?\ ?Y@Aba )IZ>i+ƿ(\>O$@(#@ )d=I#kX\?+Z?/? C>)n5GId=iZchecking for new query: numPingsReceived=68, elapsed TxPingTime=34.1493345?5T @5j<ٱ5s% eAHRS rotation from veh to nav: [[-0.600949,-0.786635,-0.141655],[0.798999,-0.595980,-0.080052],[-0.021452,-0.161290,0.986674]]5H@:`, !¿@g?CB~"Ŀ@Ւ?i5?I5j`];5CqY}By}9"IE EE&E"E:*E;J:VE4ZEBE 9 ?Y ?=nGyQFE>!Q 5-5%~?Q 9-5%N)%BY5 ?Q E5:y5@Q I5b@%DI%u:i%:%5y=Bɮ=Ae{EԡoY@AJ>AR>Aj@xyMJ'@5e(?#so,@r<:?e?\ ?Zd=b+MNxm!@GI@z}忡u^?ɖ ?2n A:"7皊?*0B(B7皊?Oo“҈B9A#@gO addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.504699 s, deltaX: -0.200000 m, approachRate: -0.396275 m/s, rangeRepo size: 4 checking for new query: numPingsReceived=68, elapsed TxPingTime=34.290985gO% Added new target pos. range: 11.932802 m, bearing: 132.075652 deg, lat: 36.779282 deg, lon: -121.859513 deg, deltaT: 0.504699 s, deltaX: -0.198824 m, approachRate: -0.393946 m/s, posRepo size: 4 j!gO%DNOT Ignoring new targets: 11.93 m.b!R)Z)gO] ProNav: ac range: 11.932802 m, nav range: 11.618503 m, bearing: 132.621416 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.130057 deg, new cmd heading: 126.195275 deg. BYgOeHeadingCmd: 2.202523 target range: 11.932802 and range: 12.00 m.e# @a*a"a aiiimԃBʎqqqju(@Z ?BɢkH)Ht $i) ;i=N»i# @;Ʉi +ǿ A`> D> #@ PwV>) k=I PwV ~?n?I(Pw? 4>) DI k=i PwV e checking for new query: numPingsReceived=69, elapsed TxPingTime=34.564938!AAIIIaOm>ȩdv,Y@AYmӃBym$"IbDVDN2y e% G=ٔQ->9Y=nGyE>!Q 5M5%Ir?Q 9M5%)%BYQyQQ IUb@%DI%;i%;%'5yYɮ]AYY@AJ8AR8AjA@~M&@;z[?.E/@r{??'Ԭ?hٜ?Zk=bPwV_zh6 @n(@zRWR#p\?S-j?2A:"&B-?*j]cB݇Bj]c“DB6A @gOU addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.503158 s, deltaX: -0.400000 m, approachRate: -0.794978 m/s, rangeRepo size: 4 gO Added new target pos. range: 11.535042 m, bearing: 132.140684 deg, lat: 36.779282 deg, lon: -121.859513 deg, deltaT: 0.503158 s, deltaX: -0.397760 m, approachRate: -0.790528 m/s, posRepo size: 4 jE EE$E"E :*ErN:VE4ZEa@a@a@a@gODNOT Ignoring new targets: 11.54 m.bRZgO ProNav: ac range: 11.535042 m, nav range: 11.429327 m, bearing: 132.540834 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.195272 deg, new cmd heading: 126.247692 deg. BgOHeadingCmd: 2.203438 target range: 11.535042 and range: 11.60 m.  @*" 99AAʎAAIjM@33'@ZMa?颕Bɢܖ) i)|;项ii  @oK;% Akv,3Y@AiBuCBu."IBu܃BBu =BqBqBu)i;Bu)EYԃBy%"IqIe<)eiDFu>F$@Fq=>FO$@ F4QO>)F4QO=IF4QODDF[W?!?3o_\? F>)F=IF4QO=iF4QODDchecking for new query: numPingsReceived=70, elapsed TxPingTime=35.164673iMb@Mb@Mb@ 9HzG?+?y&1|Y= ?y=`A@ fA)AYԑE EEE"E%;*E:VEZEBE*9AYA=EnGyMRFMƩEM>QQ 5]5UOa?Q 9]5U )UBYe ?Q Ee:ye.@Q Ieb@UDIU:iU:U 5yBɮgADFDRY@AJFa5ARFa5AjF@ @FDS.&@sm?Y<@rFzWgN?4_?o?ZF4QO=bF4QOF^Ӗó @W?zF8=KB"Ғ?3?2FA:F"FI&?*FXBFBF뚊?F9-“F(BF1AF@gO] addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.505294 s, deltaX: -0.200001 m, approachRate: -0.395811 m/s, rangeRepo size: 4 gO Added new target pos. range: 11.336243 m, bearing: 131.633587 deg, lat: 36.779282 deg, lon: -121.859512 deg, deltaT: 0.505294 s, deltaX: -0.198799 m, approachRate: -0.393433 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 11.34 m.bRZgO ProNav: ac range: 11.336243 m, nav range: 11.116938 m, bearing: 132.209441 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.247687 deg, new cmd heading: 126.318176 deg. BgOHeadingCmd: 2.204668 target range: 11.336243 and range: 11.40 m.H @*"    ăBʎj&@Zמ?-checking for new query: numPingsReceived=70, elapsed TxPingTime=35.299034}Bɢ㞺) Ti)v;顩i/iH @{;uiiʿxi>"$@ D>Y3$@ @X>)PwV=I@X Ο?Rޞ?4>|?  F>)EIPwV=i@Xchecking for new query: numPingsReceived=71, elapsed TxPingTime=35.572475A؟AIIO ?[tv,DY@A}Ā?} @} <ٱ}$ԑ AHRS rotation from veh to nav: [[-0.599790,-0.787561,-0.141418],[0.799840,-0.595091,-0.078251],[-0.022529,-0.160046,0.986853]]}H{1`3¿I? = ``|ĿK?i}Ā?I}];}CYăBy"IbDVDy%%%E=ٔ̔:Q->9"?Y"?=nGySFӺE>Q 55T?Q 95!)BYy#@Q Ib@DI;i>;5y!ɮ%A!?Y@AJ0AR0Aj/@L`I%@Mg7? U@r??bf`3?9h?ZPwV=b@X8P{7q\t&4 @3?z%:~?~SA?2A:"Ͱ?*ӂBBI&?ӂ“݇B2.AU@gOm addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.503783 s, deltaX: -0.299999 m, approachRate: -0.595493 m/s, rangeRepo size: 4 gO Added new target pos. range: 11.037922 m, bearing: 131.765620 deg, lat: 36.779283 deg, lon: -121.859512 deg, deltaT: 0.503783 s, deltaX: -0.298321 m, approachRate: -0.592161 m/s, posRepo size: 4 jE EE&E"E:*ErN:VE4ZEa@a@a@a@ԹgODNOT Ignoring new targets: 11.04 m.bRZgO  ProNav: ac range: 11.037922 m, nav range: 10.887406 m, bearing: 131.901620 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.318174 deg, new cmd heading: 126.374610 deg. B gO HeadingCmd: 2.205653 target range: 11.037922 and range: 11.10 m.k) @*" ʎ!!j%@33&@Z%@k?mBɢuh)q u ߽i)hLp;顙i/ ik) @Λ;UBB"IBǃBBBBBdi;B-)E^AEjb<mDAT read: 01:01:27.1258 LVL= 25120, 32753, 25570, 32755, AGC= 54, IDX= 499,-0.29, 3.044, 1.192, 3.071, 2.802, PHS= 0.344,-1.565, 0.225, RAW= 146.8, 10.8, CAL= 146.5, 11.8, ROT= 3.5, -11.8 Ygot valid direction response: 01:01:27.1258 LVL= 25120, 32753, 25570, 32755, AGC= 54, IDX= 499,-0.29, 3.044, 1.192, 3.071, 2.802, PHS= 0.344,-1.565, 0.225, RAW= 146.8, 10.8, CAL= 146.5, 11.8, ROT= 3.5, -11.8 T#Rx 72: Read range and direction messages. \direction in FSK: [0.977042,0.059758,0.204496]MFpublishing direction and range infoyБC?H?rG,?Y0A bc )6I >iQȿfff>(#@A>_#@ BR>)5z=IBR[#?1N[?c˪? &>)~^@I5z=iBRmchecking for new query: numPingsReceived=72, elapsed TxPingTime=36.149471iAIIO? C }v, Y@A4DPfq9dYjfAE  E E "E "E >:*E ;J:VE (3ZE BE 9Y=nGy:E>Q 55@?Q 95)BY ?Q E:y@Q Ib@DIa:ij:5y۔BɮAzE!%Y@AJ%/AR%/Aj%p@%b-J_%@>?2 "@r%БC?H?rG,?Z%5z=b%BR%a&J_@tz?z%9%_4忎?V?T!6i?2%B@:%"%6 ޚ?*%=GB%B!%0“%B%(A%@@gO addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.503804 s, deltaX: -0.100000 m, approachRate: -0.198491 m/s, rangeRepo size: 4 gOM Added new target pos. range: 10.938511 m, bearing: 132.260226 deg, lat: 36.779283 deg, lon: -121.859511 deg, deltaT: 0.503804 s, deltaX: -0.099411 m, approachRate: -0.197321 m/s, posRepo size: 4 jYgODNOT Ignoring new targets: 10.94 m.bRZgOm ProNav: ac range: 10.938511 m, nav range: 10.553469 m, bearing: 131.827917 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.374605 deg, new cmd heading: 126.453198 deg. BqgOHeadingCmd: 2.207025 target range: 10.938511 and range: 11.00 m.? @*"    Bʎj&@Z.?颅Bɢ) \ɽi)vg;顉i Ѵi? @h;pUi rȿ B`e> ) I  ?Ha? ,"? a>) -AI i  checking for new query: numPingsReceived=73, elapsed TxPingTime=36.589424 9] 2@Y  @Y @] /@Y @e =@e =QEu EuEu%Eq"Euغ:*EuR:VEu 4ZEqa}@a}@a}@a}@^ANJN<ԉchecking for new query: numPingsReceived=73, elapsed TxPingTime=36.811768AIIO'?Qv,#Y@Al? @w<ٱ" AHRS rotation from veh to nav: [[-0.600717,-0.787164,-0.139684],[0.799157,-0.596073,-0.077747],[-0.022062,-0.158333,0.987139]]H9`r0(?@9糿vBDĿ?i?I];YBy"IbD- VD-:2y=k;%==ٔ=좹Q-E>9AYA=MnGyMTFM9EM>QQ 5]5U.?Q 9]5U`)UBYYye@Q Ieb@UDIU:iU;U5ym̔BɮmAmpEqY@AJ'AR'Aj@p6g$@Njr?!@rБC?H?rG,?ZbVw_u@TaSɊ?zCGr3ꮁXV?^?2@:]"蚊?*BHB“B#AM@gO addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.503227 s, deltaX: -0.500000 m, approachRate: -0.993587 m/s, rangeRepo size: 4 gO Added new target pos. range: 10.441306 m, bearing: 132.253858 deg, lat: 36.779283 deg, lon: -121.859511 deg, deltaT: 0.503227 s, deltaX: -0.497205 m, approachRate: -0.988033 m/s, posRepo size: 4 jgODNOT Ignoring new targets: 10.44 m.bRZgOe ProNav: ac range: 10.441306 m, nav range: 10.226169 m, bearing: 131.872366 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.453193 deg, new cmd heading: 126.526650 deg. BagOmHeadingCmd: 2.208307 target range: 10.441306 and range: 10.50 m.mT @i*i"q qqqyyʎyj%@ZH?Bɢv) ,i)_;i-iT @;%/FBCB"IBBB =BBtDBi;BP)EDAT read: 01:01:28.1254 LVL= 25824, 32753, 24290, 32755, AGC= 54, IDX= 510, 0.25,-3.123, 1.302,-3.096, 2.914, PHS= 0.348,-1.567, 0.229, RAW= 146.8, 10.7, CAL= 146.5, 11.6, ROT= 3.5, -11.6 Ygot valid direction response: 01:01:28.1254 LVL= 25824, 32753, 24290, 32755, AGC= 54, IDX= 510, 0.25,-3.123, 1.302,-3.096, 2.914, PHS= 0.348,-1.567, 0.229, RAW= 146.8, 10.7, CAL= 146.5, 11.6, ROT= 3.5, -11.6 T#Rx 74: Read range and direction messages. \direction in FSK: [0.977748,0.059802,0.201078]Fpublishing direction and range infoyRxI?R?o?Yf&Ad^ )6I->iuȿ~j>t;?> 4QO>)I4QOSc?b G`?k"? >)>I)i4QO5checking for new query: numPingsReceived=74, elapsed TxPingTime=37.087128! @!  @! @- /@) Y E  E E 'E "E :*E خ:VE '4ZE BE E-2@`?G`t`ÿ?iBѴ?IBH];BCYRByV!IZAZAi}Mb@Mb@Mb@yyyy y9}/$?~jt?9 ?Y ?=nGyUFT:E>Q 55'?Q 95)BY?Q E:y(@Q Ib@DI':i/: 5yɮAY1Y@AJx%ARx%Aj@>9$@q$v? @rRxI?R?o?Zb4QO]e3@f@~i?z@1i[Q\?A?2@:/";ݚ?*B*B蚊?X“Bv A@gO% addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.505262 s, deltaX: -0.100000 m, approachRate: -0.197918 m/s, rangeRepo size: 4 gO5 Added new target pos. range: 10.341933 m, bearing: 132.212948 deg, lat: 36.779282 deg, lon: -121.859511 deg, deltaT: 0.505262 s, deltaX: -0.099373 m, approachRate: -0.196676 m/s, posRepo size: 4 j1gO=DNOT Ignoring new targets: 10.34 m.b9RAZAgOU ProNav: ac range: 10.341933 m, nav range: 10.028861 m, bearing: 132.150127 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.526645 deg, new cmd heading: 126.593918 deg. BQgOUHeadingCmd: 2.209481 target range: 10.341933 and range: 10.40 m.]"h @Y*Y"Y YYaaeBʎaiijm$@Zm 7?颕BɢZʎ) ^i)U1V;顙ii"h @ ;<>i/Ϳ-2>1#@PwV>4"@  j>)Q =I jn7(?X?%9? _>)UIQ =i jmchecking for new query: numPingsReceived=75, elapsed TxPingTime=37.586758q@q @q@y@y 9 ^A /C<DM =DM =bEɻ 4jE( 4rEϚ/EU  EU EU %EQ "EU I:*EU rN:VEU 4ZEQ ae @ae @ae @ae @A I I O >ߗv,1aY@A&checking for new query: numPingsReceived=75, elapsed TxPingTime=37.818932VZ?V @V<ٱV` ^AHRS rotation from veh to nav: [[-0.601017,-0.787715,-0.135217],[0.798954,-0.596637,-0.075472],[-0.021226,-0.153392,0.987937]]VH;4`N@?R@'`Zÿ.?iVZ?IV];VCYfByj!IbDrVDrk1yz̀%zX=ٔzaZQ-~>9|Y|=~nGyNPE> Q 55 ?Q 95 ) BYy'@Q Ib@ DI ;i ; 5y!ɮ%D A!)-QY@AJ-AR-Aj-}@-8( $ #@o,x?mn2@r-VoBb?kB?+#?Z-Q =b- j-ݘԺhּWE6@ѢL?z-ųuʮܝ?Hk.?2-@:-E"-b皊?*-(B-mB-b皊?-“-mB-A-c@gO addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.503803 s, deltaX: -0.500000 m, approachRate: -0.992451 m/s, rangeRepo size: 4 gO Added new target pos. range: 9.844725 m, bearing: 133.110189 deg, lat: 36.779282 deg, lon: -121.859511 deg, deltaT: 0.503803 s, deltaX: -0.497209 m, approachRate: -0.986911 m/s, posRepo size: 4 jgOBNOT Ignoring new targets: 9.84 m.bgO6Short final. Range: 9.90 m.gO%VTransitioning guidance mode to: SHORT_FINAL:%@@QRQZQgOe ProNav: ac range: 9.844725 m, nav range: 9.802423 m, bearing: 132.340469 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.593923 deg, new cmd heading: 126.642099 deg. BagOm|HeadingCmd: 2.210322 target range: 9.844725 and range: 9.90 m.mu @*" ʎj#@Z`? Bɢ H\ۻ)  ~i )dDN;isiu @;]3iʿ^A *:<A zA ԩ Zd;>"@M>j"@ z0a>)|٠=Iz0aQ,`5?pza?RE? }X>)MI|٠=iz0a checking for new query: numPingsReceived=76, elapsed TxPingTime=38.153095A ؟AI I O > v,zY@A2_?2 @2<ٱ28 :AHRS rotation from veh to nav: [[-0.600781,-0.788281,-0.132947],[0.799147,-0.596507,-0.074448],[-0.020618,-0.150972,0.988323]]2H99i?@@  SÿW?i2_?I2^;2C9="?Y="?==nGyEVFE"'EE>Uchecking for new query: numPingsReceived=76, elapsed TxPingTime=38.322952YQ 5e5]?Q 9e5]Z)]BYe ?Q Ee:yeX@Q Ieb@]DI]*:i]v:]5yƔBɮAoEԩ15qY@AJ5AR5Aj5@5*dPi"@߻?3}@r5"?E?'$?Z5|٠=b5z0a5cDD0G@bH?z5imtM~r ?P?25'@:5$"5fTܚ?*5(*B5>B56 ޚ?1“5HB5A5t@gO addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.503272 s, deltaX: -0.099999 m, approachRate: -0.198699 m/s, rangeRepo size: 4 gOe Added new target pos. range: 9.745288 m, bearing: 133.280237 deg, lat: 36.779281 deg, lon: -121.859511 deg, deltaT: 0.503272 s, deltaX: -0.099437 m, approachRate: -0.197581 m/s, posRepo size: 4 jbgOzIgnoring new targets. Set target to previous: 9.75 m. 9.84 m.RZgOM ProNav: ac range: 9.844725 m, nav range: 9.538573 m, bearing: 132.401949 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.642103 deg, new cmd heading: 126.702577 deg. BQgO|HeadingCmd: 2.211377 target range: 9.844725 and range: 9.80 m.4 @*" Bʎ!))j-#@Z5@9 ?颽Bɢn) >i)eF;iq%i4 @+;oV#i ̿ X9> Q> "@ b>) nF=I b [ l0?af?GEU0?} PExceeded connect timeout, disconnecting. ">) PI nF=i b  checking for new query: numPingsReceived=77, elapsed TxPingTime=38.591789^A x/<ԩ AII1OE>iv, Y@AYBy!I !!-=-p= -p<-4<EE EEEE"EA"EE:*EEF:VEE(3ZEAaM@aM@aM@aM@bD5VD51ԑy;;%4=ٔQ->9Y=nGyWFE>Q 553?Q 95Xz)BYyQ Ib@DI:iR:5yɔBɮ AIMY@AJMARMAjMv@M`!@Q&?#3C@rM% ?|LI~(?F#?ZMnF=bMbM֥V[C@eD?zM;ƅ忯8d?%R k?2M@:M "MF 욊?*MXBMBMb皊?M(*“M>BMAMLJ@gOM addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.503541 s, deltaX: -0.500000 m, approachRate: -0.992968 m/s, rangeRepo size: 4 gO] Added new target pos. range: 9.248079 m, bearing: 133.197517 deg, lat: 36.779282 deg, lon: -121.859512 deg, deltaT: 1.006813 s, deltaX: -0.596645 m, approachRate: -0.592608 m/s, posRepo size: 4 jYbYgOezIgnoring new targets. Set target to previous: 9.25 m. 9.84 m.RaZagOu ProNav: ac range: 9.844725 m, nav range: 9.289869 m, bearing: 132.463101 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.702577 deg, new cmd heading: 126.757533 deg. BygO}|HeadingCmd: 2.212336 target range: 9.844725 and range: 9.30 m.} @*" ʎj"@Z (~?颽Bɢ )  i),@;ii @L5;BA BE !IBE BBA BA BA BE i;BE |)EBCBCBB =B =Cˣ5e PDAT read: Bearing 296.3, 1.9 (Local) e ~Local bearing/azimuth received: Bearing 296.3, 1.9 (Local) u DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed 0.4  DAT read: 01:01:30.1248 LVL= 26976, 32753, 26098, 32755, AGC= 54, IDX= 504,-0.41, 1.845,-0.049, 1.813, 1.602, PHS= 0.345,-1.606, 0.167, RAW= 145.3, 11.7, CAL= 144.9, 12.7, ROT= 5.1, -12.7  Ygot valid direction response: 01:01:30.1248 LVL= 26976, 32753, 26098, 32755, AGC= 54, IDX= 504,-0.41, 1.845,-0.049, 1.813, 1.602, PHS= 0.345,-1.606, 0.167, RAW= 145.3, 11.7, CAL= 144.9, 12.7, ROT= 5.1, -12.7 A  T#Rx 78: Read range and direction messages. \direction in FSK: [0.971672,0.086719,0.219846] Fpublishing direction and range infoy) - 9 ?I?3?F#?Y) ) - `i) - e ) )) I- ף>i- hͿ- +> I! I1 O >v%:M"@!%!@ !)%K=I!!!%"kV??.?8t? %>)%QI%K=i!!! checking for new query: numPingsReceived=78, elapsed TxPingTime=39.128250,h?Y@A=u?=l @y=sf<ٱ=' AHRS rotation from veh to nav: [[-0.599559,-0.789409,-0.131769],[0.800085,-0.595273,-0.074252],[-0.019823,-0.149945,0.988496]]=H`/B`L? z 0@wLb1ÿ?i=u?I=^;9YBy!IE EE&E"E:*EVE4ZEBE9qYq=unGyq}j>E}>ԡQ 55蜊?Q 95t)BY?Q E:y@Q Ib@DI:i:5yÔBɮ AnEEchecking for new query: numPingsReceived=78, elapsed TxPingTime=39.330940!%]OY@AJ!R!j%dp@%j!@-n3?-tC@r%9 ?I?3?F#?Z%K=b!%z'gc>@8+a?z%AN_G?fǭ̯?2%@:%="% ֚?*%NB% B%;ݚ?%N“%*B%yA%@gO addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.504381 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 9.248094 m, bearing: 133.784776 deg, lat: 36.779281 deg, lon: -121.859512 deg, deltaT: 1.511194 s, deltaX: -0.596631 m, approachRate: -0.394808 m/s, posRepo size: 4 jbgOzIgnoring new targets. Set target to previous: 9.25 m. 9.84 m.RZgO  ProNav: ac range: 9.844725 m, nav range: 9.006227 m, bearing: 132.530553 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.757533 deg, new cmd heading: 126.826579 deg. BgOM|HeadingCmd: 2.213541 target range: 9.844725 and range: 9.30 m.M @Q*" BʎjZ?Bɢse)  i ) 5;  i ri @ 7; Q;I @I 3@  @ @ /@  DDAT read: Rx Time:01:01:30.6245  TRx dataTimestamp_ set to:1761699691.289668PDAT read: Bearing 298.4, 1.5 (Local)  ~Local bearing/azimuth received: Bearing 298.4, 1.5 (Local) DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed 0.4 =DAT read: 01:01:30.6245 LVL= 27888, 32753, 30530, 32755, AGC= 56, IDX= 501,-0.14, 1.543,-0.375, 1.511, 1.361, PHS= 0.284,-1.691, 0.106, RAW= 145.3, 13.7, CAL= 145.0, 14.9, ROT= 5.0, -14.9 EYgot valid direction response: 01:01:30.6245 LVL= 27888, 32753, 30530, 32755, AGC= 56, IDX= 501,-0.14, 1.543,-0.375, 1.511, 1.361, PHS= 0.284,-1.691, 0.106, RAW= 145.3, 13.7, CAL= 145.0, 14.9, ROT= 5.0, -14.9 MnManaging dock network, ignoring radio surface power offMT#Rx 79: Read range and direction messages.}\direction in FSK: [0.962699,0.084225,0.257133]Fpublishing direction and range infoy  Zm?Lȏ?Fht?Y fA l Bw ) 8I sh>i rؿ = Gt> p!@ %>) ¸=I % ep.??k);? S>) ,tI ¸=i % checking for new query: numPingsReceived=79, elapsed TxPingTime=39.606480^AH<A  ?A >1A}.AIIO?gKv,fY@ALYBy!II)bDVD1E EE%E"E:*ET:VE 4ZEa@a@a@a@y<%/=ٔQ->9 ?Y ?=nGyXF E >Q 55ۜ?Q 9%5o)BY!y!Q I%b@DI=:i:!5y-BɮUAUeEY@AJ AR AjA@n#AW !@EY|?M%Ӧ4@rZm?Lȏ?Fht?Z¸=b%5ؕV:@͂t?zUй,ʯn?!+y?2@:"H.⚊?*܀BBH.⚊?(“>B Al@gO addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.503574 s, deltaX: -0.400001 m, approachRate: -0.794323 m/s, rangeRepo size: 4 gO  Added new target pos. range: 8.850326 m, bearing: 134.025593 deg, lat: 36.779281 deg, lon: -121.859513 deg, deltaT: 2.014768 s, deltaX: -0.994399 m, approachRate: -0.493555 m/s, posRepo size: 4 j bgOzIgnoring new targets. Set target to previous: 8.85 m. 9.84 m.RZgO% ProNav: ac range: 9.844725 m, nav range: 8.764012 m, bearing: 132.591613 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.826573 deg, new cmd heading: 126.883836 deg. B)gOM|HeadingCmd: 2.214541 target range: 9.844725 and range: 8.90 m.U @Q*Q"Q QQYYYʎYYaje!@Ze>?ރBɢڤ) i)/;ifi @checking for new query: numPingsReceived=79, elapsed TxPingTime=39.835018e4;e];Ie @Ii%2@! @)@)@1! ^A P; DDAT read: Rx Time:01:01:31.1244  TRx dataTimestamp_ set to:1761699691.793623 PDAT read: Bearing 298.6, 1.1 (Local)  ~Local bearing/azimuth received: Bearing 298.6, 1.1 (Local)  DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.4  DAT read: 01:01:31.1244 LVL= 28768, 32753, 31458, 32755, AGC= 56, IDX= 500, 0.11,-1.889, 2.467,-1.912,-2.062, PHS= 0.275,-1.709, 0.106, RAW= 145.6, 13.8, CAL= 145.3, 15.1, ROT= 4.7, -15.1  Ygot valid direction response: 01:01:31.1244 LVL= 28768, 32753, 31458, 32755, AGC= 56, IDX= 500, 0.11,-1.889, 2.467,-1.912,-2.062, PHS= 0.275,-1.709, 0.106, RAW= 145.6, 13.8, CAL= 145.3, 15.1, ROT= 4.7, -15.1  T#Rx 80: Read range and direction messages. \direction in FSK: [0.962226,0.079109,0.260505] Fpublishing direction and range infoy  k?DbG@?QfJ0?Y 3 A `p z ) I ̌>i ڿ "@ Ϣv> :M"@ V>) =I V ^v?o ?Ŕ4 ? յ>) owI =i V  checking for new query: numPingsReceived=80, elapsed TxPingTime=40.103039B) B) B- !IB- BB) B) B) B- 4j;B- )EQ A ؟AI I O5>gv,9Y@AAYyE EE&E"Eg:*EV:VE4ZEBE;a2E;aJE;a:E;aiMb@Mb@Mb@ 9K7?Mb?{Gzt?Y ?yף;(A@ |A)AYAbDVD1ٔQ->9"?Y"?=nGyYFE> Q 555 ˜?Q 955 j) BY= ?Q E=:y=@Q I=b@ (DI ;i ; c&5yEBɮE~AMdEY@AJl ARl Ajj@Rou7 @?[@rk?DbG@?QfJ0?Z=bV >P0W@J\?z>׎o<>|?=J?2@:"?*BB?“Aj@checking for new query: numPingsReceived=80, elapsed TxPingTime=40.338955gO% addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.503955 s, deltaX: -0.200000 m, approachRate: -0.396860 m/s, rangeRepo size: 4 gOU Added new target pos. range: 8.651441 m, bearing: 133.762776 deg, lat: 36.779281 deg, lon: -121.859513 deg, deltaT: 2.518723 s, deltaX: -1.193284 m, approachRate: -0.473765 m/s, posRepo size: 4 jQbQgO]zIgnoring new targets. Set target to previous: 8.65 m. 9.84 m.RYZYigO ProNav: ac range: 9.844725 m, nav range: 8.478513 m, bearing: 132.669078 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.883837 deg, new cmd heading: 126.950624 deg. BgO|HeadingCmd: 2.215706 target range: 9.844725 and range: 8.70 m." @*" Bʎ19j=`ff!@ZE?颅كBɢ]Z) нi)(;顉imi" @+;~R;I" @IԡU 9@Y  @Y @Y @Y @a @e \A  DDAT read: Rx Time:01:01:31.6245  TRx dataTimestamp_ set to:1761699692.297648 PDAT read: Bearing 300.6, 0.9 (Local)  ~Local bearing/azimuth received: Bearing 300.6, 0.9 (Local)  DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed 0.4  DAT read: 01:01:31.6245 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 497, 0.46, 3.017, 1.073, 2.983, 2.898, PHS= 0.221,-1.780, 0.041, RAW= 145.3, 15.6, CAL= 145.0, 17.1, ROT= 5.0, -17.1 % Ygot valid direction response: 01:01:31.6245 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 497, 0.46, 3.017, 1.073, 2.983, 2.898, PHS= 0.221,-1.780, 0.041, RAW= 145.3, 15.6, CAL= 145.0, 17.1, ROT= 5.0, -17.1 % T#Rx 81: Read range and direction messages.- \direction in FSK: [0.952156,0.083303,0.294040]- Fpublishing direction and range infoy  cLx?GUS??Y fA   ) 9I Mb>i 㿉 '= :M"@ 'g> p!@ Θ>) ¸=I Θ U?_?_@? h>) sI ¸=i Θ Echecking for new query: numPingsReceived=81, elapsed TxPingTime=40.629745^A][R;AYzAYA.AIIO ?}v,9Y@AB?B| @B履<ٱB" ZAHRS rotation from veh to nav: [[-0.597366,-0.790344,-0.136052],[0.801732,-0.592655,-0.077364],[-0.019488,-0.155292,0.987676]]BHJ)j ʧ? γ `ÿ ?iB?IB@];@YfByf!IbD~VD~k1y לּ% <ٔzBQ->9 ?Y ?=nGyǻE>!Q 5-5%?Q 9-5%*e)%BYQyU\@Q IUc@%0DI%K;i%;%U*5yYɮ]AaqE EE(E"E[:*EVEc44ZEa@a@a@a@ Y@AJ AR Ajr@ @_?k@rcLx?GUS??Z¸=bΘ]o@,x@N\!U@z9i 俉 o; ?!@ r> K!@ >) +=I Q?8?? p]>) WI +=i % checking for new query: numPingsReceived=82, elapsed TxPingTime=41.116318IQ Ia O >v,25Y@Ab?b @b<ٱb jAHRS rotation from veh to nav: [[-0.597245,-0.790436,-0.136047],[0.801821,-0.592549,-0.077262],[-0.019543,-0.155230,0.987685]]bHAKi?(wdz+ÿ?ib?Ibm];`YvBy5!Iq cGbDVD%>9!Y% dAye/,<%e%=ٔm&8Q-m>9iYq=unGyuZFuEu>yQ 55}E?Q 95}_)}BYyZ@Q Ic@}8DI}:i}$:}.5yɮAQU]3Y@AJUARUAjU@Uɋ2 @Ji?33@rUrAN? +7ŷ?uY?ZU+=bUUoBJ_P&H@R:F@zU_j忥0p?`|MR?2UA@:UR"U31Ś?*U.TBU>BU ֚?UN“UBUAU@EE EEEE#EA"EE,:*EEVL:VEE3ZEABEEi-+濉-h<-0"@-q>-!@ -|>)-K=I-|))-"JM?|J7??_v? -lK>)-FI-K=i-|))checking for new query: numPingsReceived=83, elapsed TxPingTime=41.615414ԩIIO>v,UY@A22?2 @2<ٱ2H :AHRS rotation from veh to nav: [[-0.597915,-0.789786,-0.136879],[0.801319,-0.593143,-0.077911],[-0.019655,-0.156268,0.987519]]2H"`E`>f? Ŀ?i22?I2K];2CY@yF!I5only read 1 of 4 data items for bottom velocity. Device response is::BS, +543, a=@a= a=@a= a=@a= aE@aE E49Y=nGy#:EM>QQ 5]5U.?Q 9]5UZ)UBQ Ae+:YaQ Ee:yeh@Q Iec@UADIU:iU4>U 25yBɮAcE}SY@AJARAjU>@p@5D?\ E@r]t0j?M0?-{#?ZK=b|,؏(9*@%@zI2*YA.?t ׸?2V@:L"/ך?*DkBۇB/ך?Dk“ۇB@S>@gO addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.503164 s, deltaX: -0.500000 m, approachRate: -0.993712 m/s, rangeRepo size: 4 gOM Added new target pos. range: 8.054796 m, bearing: 134.504957 deg, lat: 36.779280 deg, lon: -121.859512 deg, deltaT: 4.030855 s, deltaX: -1.789928 m, approachRate: -0.444057 m/s, posRepo size: 4 jQbQgOUzIgnoring new targets. Set target to previous: 8.05 m. 9.84 m.RYZYgO ProNav: ac range: 9.844725 m, nav range: 7.710790 m, bearing: 132.920512 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 127.068703 deg, new cmd heading: 127.128310 deg. BgO|HeadingCmd: 2.218808 target range: 9.844725 and range: 8.10 m.@*" ʎE EE%E"E:*E;J:VE 4ZEa@a@a@a@j@33 @ZW:?MσBɢMR)I MŽiI)U ;QQiUi]@]2;]Q;I]@IDDAT read: Rx Time:01:01:33.1240 -TRx dataTimestamp_ set to:1761699693.561748=checking for new query: numPingsReceived=83, elapsed TxPingTime=41.858231M5@I @Q@Y@YI ^A] m;Ae ?Ae ?I I O >+v,nY@A>[?> @>m<ٱ>< JAHRS rotation from veh to nav: [[-0.598903,-0.789184,-0.136028],[0.800576,-0.594226,-0.077290],[-0.019835,-0.155190,0.987686]]>H6*`@`YiQ?@Jɳ`O Aÿ?i>[?I> ];>CYZByZ!IbDfVDfyrj%rn=ٔv :Q-v?9xYx=znGyz[F~zk;E? Q 55 ?Q 95  W) BQ A :YQ E%:y%|@Q I%c@ FDI P;i P? 35y1ɮ5A1PB*** querying acoustic contact *** j!b!gO%zIgnoring new targets. Set target to previous: 9.84 m. 9.84 m.R-^X;Z-^X;ePDAT read: Bearing 301.9, 0.8 (Local) e~Local bearing/azimuth received: Bearing 301.9, 0.8 (Local) }DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed 0.4 B>BBBB =BBBj;B)EDAT read: 01:01:33.1240 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509,-0.46, 2.774, 0.862, 2.738, 2.692, PHS= 0.184,-1.785, 0.002, RAW= 145.2, 16.7, CAL= 144.9, 18.3, ROT= 5.1, -18.3 Ygot valid direction response: 01:01:33.1240 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509,-0.46, 2.774, 0.862, 2.738, 2.692, PHS= 0.184,-1.785, 0.002, RAW= 145.2, 16.7, CAL= 144.9, 18.3, ROT= 5.1, -18.3 T#Rx 84: Read range and direction messages.\direction in FSK: [0.945667,0.084399,0.313992]Fpublishing direction and range infoyY]íB?V#?v9s?YYYYYY Y)]7I]j<>i]z俉]o;Y];>Y ]Ƈ>)YI]ƇYY]?p?0c? ]B6>)]6IYi]ƇYYchecking for new query: numPingsReceived=84, elapsed TxPingTime=42.121593gO ProNav: ac range: 9.844725 m, nav range: 7.533952 m, bearing: 132.983346 deg, approach rate: -0.520171 m/s, LOS rate: 0.189165 deg/s, cmd heading: 127.128317 deg, new cmd heading: 127.256934 deg. B;gO%|HeadingCmd: 2.221052 target range: 9.844725 and range: 8.10 m.%%@!*!"! !!!))QʎiqqjqZuݔ?=̃Bɢ= )9 EiA)Ey;AAiKWim%@u;}:I}%@Iy0@ @@/@E EE'E"ED:*ER:VE'4ZEBE1v,숈Y@A6,?6 @6$<ٱ6dH RAHRS rotation from veh to nav: [[-0.600612,-0.788173,-0.134346],[0.799287,-0.596116,-0.076065],[-0.020133,-0.153066,0.988011]]6H@688<2“?`a@x@ɝ ÿȝ?i6,?I6C];6CYjByj!IIl)n9Y=nGy;E>Q 55?Q 9 5,R)BQ A T:Y ?Q E:y@Q Ic@NDI0;i;75yBɮ`AbEjsY@AJRjΏ@Xx@ ?}`!;@ríB?V#?v9s?ZbƇfbap\x@R`m@z#%b忺{1?^-?2@:k"'9?*gCBBIĔǚ?.T“BS@S*@gOm addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.502864 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO} Added new target pos. range: 8.054836 m, bearing: 134.789880 deg, lat: 36.779279 deg, lon: -121.859512 deg, deltaT: 4.533719 s, deltaX: -1.789888 m, approachRate: -0.394795 m/s, posRepo size: 4 jybygOzIgnoring new targets. Set target to previous: 8.05 m. 9.84 m.RZ:gO ProNav: ac range: 9.844725 m, nav range: 7.292966 m, bearing: 133.089729 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 127.256929 deg, new cmd heading: 127.308070 deg. B:gO|HeadingCmd: 2.221945 target range: 9.844725 and range: 8.10 m.Y4@*" !AAMBʎIIIjIZU?额ɃBɢk) i)1 ;顩i팻iY4@;n.;IY4@IiyIyDAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed 0.4 DAT read: 01:01:33.6237 LVL= 32752, 32753, 32066, 32755, AGC= 55, IDX= 506,-0.07, 1.554,-0.343, 1.529, 1.503, PHS= 0.154,-1.801,-0.018, RAW= 145.5, 17.4, CAL= 145.2, 19.1, ROT= 4.8, -19.1 Ygot valid direction response: 01:01:33.6237 LVL= 32752, 32753, 32066, 32755, AGC= 55, IDX= 506,-0.07, 1.554,-0.343, 1.529, 1.503, PHS= 0.154,-1.801,-0.018, RAW= 145.5, 17.4, CAL= 145.2, 19.1, ROT= 4.8, -19.1 T#Rx 85: Read range and direction messages.\direction in FSK: [0.941635,0.079071,0.327218]Fpublishing direction and range infoyy}b!?'1)>?#e#?Y}f@yyy}B} y)yI}->i}+濉}t}j"@}|>}0"@ }㭪>)}=I}㭪yy}LǑ?J;??+? }\>)}›I}=i}㭪yychecking for new query: numPingsReceived=85, elapsed TxPingTime=42.6199769@ @@41@^A ] ; Ia Iq O} >bEjE4rE5/E  E E %E "E :*E Ǚ:VE 4ZE a @a @a @a @).v,OY@A6$?6 @6<ٱ6K >AHRS rotation from veh to nav: [[-0.602780,-0.786986,-0.131560],[0.797654,-0.598492,-0.074534],[-0.020081,-0.149867,0.988502]]6HI . b?&`.ÿ`ϡ?i6$?I6 ];6CYVByV!IDDAT read: Rx Time:01:01:34.1236 TRx dataTimestamp_ set to:1761699694.569472-PDAT read: Bearing 306.5, -2.2 (Local) 5~Local bearing/azimuth received: Bearing 306.5, -2.2 (Local) Echecking for new query: numPingsReceived=85, elapsed TxPingTime=42.870525QaabD}VD}0yR<%UJ=ٔeQ-m>9iYi=mnGym\Fu;Eu>yQ 55}~?Q 95}vM)yYy@Q Ic@}VDI}W:i}-:}`;5yBɮAYEY@AJ@R@j}@(4@=MC_? +R @rb!?'1)>?#e#?Z=b㭪rp ( @e@z`2Vʩ?{WQ?2w@:ߤ"]̚?*8RBB8R“B@@gO addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.504221 s, deltaX: -0.400001 m, approachRate: -0.793304 m/s, rangeRepo size: 4 gO Added new target pos. range: 7.657066 m, bearing: 134.724125 deg, lat: 36.779279 deg, lon: -121.859511 deg, deltaT: 5.037940 s, deltaX: -2.187659 m, approachRate: -0.434237 m/s, posRepo size: 4 jbgOzIgnoring new targets. Set target to previous: 7.66 m. 9.84 m.RZ!gOU ProNav: ac range: 9.844725 m, nav range: 7.059782 m, bearing: 133.194536 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 127.308074 deg, new cmd heading: 127.363922 deg. BQgOU|HeadingCmd: 2.222920 target range: 9.844725 and range: 7.70 m.UQD@Y*Y"Y YYYaaiʎaj@Z?ƃBɢ/ >) i);iBiQD@?;);IQD@IM<@I @I@M4@IԑDAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed 0.4 DAT read: 01:01:34.1236 LVL= 32752, 32753, 27762, 32755, AGC= 54, IDX= 505, 0.21,-2.434, 2.043,-2.418,-2.398, PHS= 0.067,-1.797,-0.064, RAW= 146.4, 19.4, CAL= 147.4, 22.9, ROT= 2.6, -22.9 B>BB!IBBBBBBj;B)EYgot valid direction response: 01:01:34.1236 LVL= 32752, 32753, 27762, 32755, AGC= 54, IDX= 505, 0.21,-2.434, 2.043,-2.418,-2.398, PHS= 0.067,-1.797,-0.064, RAW= 146.4, 19.4, CAL= 147.4, 22.9, ROT= 2.6, -22.9 T#Rx 86: Read range and direction messages.\direction in FSK: [0.920237,0.041788,0.389124]Fpublishing direction and range infoyFr?@^r93e?i+h?Y@rl )6IL7=i濉oƇ#@-\>$@ >)9=I̾  ?=h?yt?? >)qFI9=i̾ checking for new query: numPingsReceived=86, elapsed TxPingTime=43.127567^AE 2; I I O >g\v,;Y@AԙE EE&E"E:*Exv:VE4ZEBE];C DDAT read: Rx Time:01:01:34.6234 TRx dataTimestamp_ set to:1761699695.0736065PDAT read: Bearing 305.5, -1.9 (Local) =~Local bearing/azimuth received: Bearing 305.5, -1.9 (Local) ]DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed 0.4 =DAT read: 01:01:34.6234 LVL= 32752, 32753, 25906, 32755, AGC= 53, IDX= 503,-0.27, 0.241,-1.551, 0.271, 0.267, PHS= 0.076,-1.773,-0.040, RAW= 146.8, 18.9, CAL= 147.4, 21.8, ROT= 2.6, -21.8 EYgot valid direction response: 01:01:34.6234 LVL= 32752, 32753, 25906, 32755, AGC= 53, IDX= 503,-0.27, 0.241,-1.551, 0.271, 0.267, PHS= 0.076,-1.773,-0.040, RAW= 146.8, 18.9, CAL= 147.4, 21.8, ROT= 2.6, -21.8 ET#Rx 87: Read range and direction messages.M\direction in FSK: [0.927530,0.042119,0.371368]MFpublishing direction and range infoy  rS?)m?% ~}?Y f@    2e ) 5I 㥛=i ⿉  # (#@ [>  >) I ¾    ?1trnJ?<ĺ? d>) ᨾI i ¾  checking for new query: numPingsReceived=87, elapsed TxPingTime=43.466633Y-By-!I 11iU Mb@Mb@Mb@Q Q Q Q Q 9U M?Zd;O?Mb?YU n?yU j9 Y = nGy ]F ;E > Q 5 5 =k?Q 9 5 F) BY ?Q E :y @Q I c@ aDI .Q->9"?Y"?=nGy;E>Q 55p]?Q 95@)BYy@Q Ic@iDI:i9:D5yɮ7AgO addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.503722 s, deltaX: -0.100000 m, approachRate: -0.198522 m/s, rangeRepo size: 4 jbgO%zIgnoring new targets. Set target to previous: 9.84 m. 9.84 m.R%n;Z%n;)gOU ProNav: ac range: 9.844725 m, nav range: 6.440734 m, bearing: 133.520325 deg, approach rate: -0.588413 m/s, LOS rate: 0.331227 deg/s, cmd heading: 127.442041 deg, new cmd heading: 127.728952 deg. BU<gO]|HeadingCmd: 2.229291 target range: 9.844725 and range: 7.10 m.]@Y*Y"a aaaaiʎj`ff@Z?Bɢ9冻)  i )s:ii@;%Z;I%@II2@ @@0@AAB>BCB!IBBB =BCDBBj;B)EB!B%CB!B% =B% =C%5DAT read: 01:01:35.1233 LVL= 32752, 32753, 28770, 32755, AGC= 54, IDX= 502, 0.02, 2.220, 0.443, 2.282, 2.272, PHS= 0.050,-1.784,-0.035, RAW= 147.7, 19.2, CAL= 148.8, 22.8, ROT= 1.2, -22.8 Ygot valid direction response: 01:01:35.1233 LVL= 32752, 32753, 28770, 32755, AGC= 54, IDX= 502, 0.02, 2.220, 0.443, 2.282, 2.272, PHS= 0.050,-1.784,-0.035, RAW= 147.7, 19.2, CAL= 148.8, 22.8, ROT= 1.2, -22.8 Z#Rx 89: Read direction message, but no range.\direction in FSK: [0.921661,0.019306,0.387516]yaeNk'?~?F&ē?h%?aaaebp a)e6IeL=ieZ俉e)\e$@e>e6&@ e%>)e)e֫Ie1 {w,uUY@ArDDAT read: Rx Time:01:01:35.6230 zTRx dataTimestamp_ set to:1761699696.081680PDAT read: Bearing 307.5, -4.9 (Local) %~Local bearing/azimuth received: Bearing 307.5, -4.9 (Local) MDAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed 0.5 M@Mx@M⼔<ٱM UDAT read: 01:01:35.6230 LVL= 32752, 32753, 29682, 32755, AGC= 54, IDX= 499, 0.34, 0.945,-0.777, 1.058, 1.033, PHS= 0.014,-1.766,-0.019, RAW= 149.1, 19.5, CAL= 150.6, 23.8, ROT= 359.4, -23.8 ]Ygot valid direction response: 01:01:35.6230 LVL= 32752, 32753, 29682, 32755, AGC= 54, IDX= 499, 0.34, 0.945,-0.777, 1.058, 1.033, PHS= 0.014,-1.766,-0.019, RAW= 149.1, 19.5, CAL= 150.6, 23.8, ROT= 359.4, -23.8 eT#Rx 90: Read range and direction messages.m^direction in FSK: [0.914910,-0.009581,0.403545]mFpublishing direction and range infoytvdqLF? MiQ?Yv3@tt AHRS rotation from veh to nav: [[-0.610801,-0.782703,-0.119576],[0.791576,-0.607099,-0.069553],[-0.018155,-0.137136,0.990386]]MHୋ T?`[m 2α@Y=?iM@IMO+];MCtvs t)tIvB`ev8(@ vȭ>)v@IvȭԾttvJCW[?OEN?` JSi? v?)vȨIvD+ivȭԾttchecking for new query: numPingsReceived=90, elapsed TxPingTime=44.440048Y5By5!IiMb@Mb@Mb@ 9kt?~jt?I +?Y ?yD<94<A@ )YAbD-VD-ky=%==ٔeTͺQ-e>9iYi=mnGym^Fm;Em>qQ 5}5uM?Q 95u:)qY0?Q E:y@Q Ic@usDIu;iuF;uxI5yBɮ:AWEtv?:Y@AJv@Rv@jv@vU@c?ߨkH0@rvdqLF? MiQ?ZvD+bvȭԾvK1T{u4m@ݯ.@zv:d)/㿃'v?ଏ?2vn@:v{"v%?*vեBvBv/ך?v8R“tv8@v.o@gO% addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.504352 s, deltaX: -0.500000 m, approachRate: -0.991371 m/s, rangeRepo size: 4 gO5 Added new target pos. range: 6.563268 m, bearing: 130.502045 deg, lat: 36.779280 deg, lon: -121.859511 deg, deltaT: 6.806780 s, deltaX: -3.281456 m, approachRate: -0.482086 m/s, posRepo size: 4 j1b1gO=zIgnoring new targets. Set target to previous: 6.56 m. 9.84 m.9R]Z]:gOm ProNav: ac range: 9.844725 m, nav range: 6.143125 m, bearing: 133.738954 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 127.728950 deg, new cmd heading: 127.795798 deg. Bm:gOu|HeadingCmd: 2.230458 target range: 9.844725 and range: 6.60 m.uѿ@q*q"y Bʎj`ff@Zz?eBɢe.p)a eii)mGz:iiimЀi}ѿ@];w;Iѿ@I}checking for new query: numPingsReceived=90, elapsed TxPingTime=44.623283/@ @@/@@@=i ԑ ^A r;E  E E )E "E a:*E g:VE FA4ZE a @a@a@a@Ae.AIIO?w,$Y@A"DDAT read: Rx Time:01:01:36.1228 *TRx dataTimestamp_ set to:1761699696.585715ZPDAT read: Bearing 309.6, -6.6 (Local) ^~Local bearing/azimuth received: Bearing 309.6, -6.6 (Local) =DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed 0.4 DAT read: 01:01:36.1228 LVL= 30016, 32753, 29794, 32755, AGC= 54, IDX= 498,-0.16,-2.205, 2.460,-2.050,-2.071, PHS=-0.032,-1.707,-0.023, RAW= 150.3, 20.4, CAL= 152.4, 25.9, ROT= 357.6, -25.9 Ygot valid direction response: 01:01:36.1228 LVL= 30016, 32753, 29794, 32755, AGC= 54, IDX= 498,-0.16,-2.205, 2.460,-2.050,-2.071, PHS=-0.032,-1.707,-0.023, RAW= 150.3, 20.4, CAL= 152.4, 25.9, ROT= 357.6, -25.9 T#Rx 91: Read range and direction messages.^direction in FSK: [0.898769,-0.037669,0.436802]Fpublishing direction and range infoy$&x?6|cI~h?Y&@$&@u$&bt $)$I&oi&~ڿ@g@<ٱu -AHRS rotation from veh to nav: [[-0.613808,-0.781496,-0.111823],[0.789287,-0.610419,-0.066452],[-0.016327,-0.129049,0.991504]]HP@ gA?``f?i@&j&'@&K>&;*@ &q>)&@I&q義$$& ?GS>?A? &:?)&ڵI&Q+i&q義$$checking for new query: numPingsReceived=91, elapsed TxPingTime=44.956516IB];CY%~By%!IIR=)=bDVDܲy- }%-'=ٔ5 wQ-5>95 ?Y5 ?=5nGy9=^;E=>AQ 5m5E ??Q 9m5EC5)AYqyuX@Q Iuc@E|DIE :iEo:EM5yyɮ}Ay$&[|%Y@AJ&z@R&z@j&k-@&Z/ޅ@v5οl@r&x?6|cI~h?Z&Q+b&q&B 3q]9@cGS6@z&^jCF[ ?@0sC?2&@:&d"&֌?*&\B&̈B&皊?&gC“&|B&@&mg@gO  addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.504035 s, deltaX: -0.300000 m, approachRate: -0.595196 m/s, rangeRepo size: 4 gOm Added new target pos. range: 6.264938 m, bearing: 129.074334 deg, lat: 36.779282 deg, lon: -121.859509 deg, deltaT: 7.310815 s, deltaX: -3.579787 m, approachRate: -0.489656 m/s, posRepo size: 4 jibigOuzIgnoring new targets. Set target to previous: 6.26 m. 9.84 m.RyZygO ProNav: ac range: 9.844725 m, nav range: 5.870818 m, bearing: 133.948729 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 127.795804 deg, new cmd heading: 127.856893 deg. BgO|HeadingCmd: 2.231524 target range: 9.844725 and range: 6.30 m.I@*" ʎj%@33@Z%~?mBɢm@)q uiq)u!z:qi{iI@h;;II@Ichecking for new query: numPingsReceived=91, elapsed TxPingTime=45.127468B>BB!IBBB =BBuDBj;B)E9@ @@/@Q ^A X;ԁ Em  Em Em (Ei "Em :*Em =:VEm c44ZEi BEm #bw,M/CY@A1UDDAT read: Rx Time:01:01:36.6226 ]TRx dataTimestamp_ set to:1761699697.092973Y}By!I PDAT read: Bearing 312.4, -9.0 (Local) ~Local bearing/azimuth received: Bearing 312.4, -9.0 (Local) %DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.5 DAT read: 01:01:36.6226 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 495, 0.12,-2.463, 2.262,-2.237,-2.258, PHS=-0.103,-1.718,-0.023, RAW= 152.4, 21.5, CAL= 155.1, 28.9, ROT= 354.9, -28.9 Ygot valid direction response: 01:01:36.6226 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 495, 0.12,-2.463, 2.262,-2.237,-2.258, PHS=-0.103,-1.718,-0.023, RAW= 152.4, 21.5, CAL= 155.1, 28.9, ROT= 354.9, -28.9 T#Rx 92: Read range and direction messages.^direction in FSK: [0.871999,-0.077824,0.483282]Fpublishing direction and range infoyQUi?+NJfE쳿%)?YUf@QUQU Q)U7IUҽiUmۿQU;*@U7 >U?-@ U^ ?)U6@IU^ QQU_$?c?1Ssp? Ut?)U2IUKiU^ QQ]checking for new query: numPingsReceived=92, elapsed TxPingTime=45.453117iMb@Mb@Mb@ 9> ףp=?Mb?Mb`?Y?y=;A A)AYAYbDeVDeβyeF%e=ٔeQ-e>9iYi=mnGym_FmEu>Q 55.?Q 95i/)BY&?Q E:yl@Q Ic@DIq:i::R5yBɮLAMEQUEEY@AJUL@RUL@jU @U1`@OL<|޿h l@rUi?+NJfE쳿%)?ZUKbU^ UŦ @|Z@9m@zUT *pF?ۧ]f?2Uӊ@:UP"U}!?*U|HMBUXBU%?Uե“UBU@U@gO] addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.507258 s, deltaX: -0.100000 m, approachRate: -0.197139 m/s, rangeRepo size: 4 gO Added new target pos. range: 6.165543 m, bearing: 126.907771 deg, lat: 36.779285 deg, lon: -121.859509 deg, deltaT: 7.818073 s, deltaX: -3.679182 m, approachRate: -0.470600 m/s, posRepo size: 4 jbgOzIgnoring new targets. Set target to previous: 6.17 m. 9.84 m.RZgO ProNav: ac range: 9.844725 m, nav range: 5.576083 m, bearing: 134.100277 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 127.856893 deg, new cmd heading: 127.921422 deg. BgO|HeadingCmd: 2.232650 target range: 9.844725 and range: 6.20 m.@*" Bʎj@Z V?UBɢU)Q U@iQ)]2:YYi]9Y=nGy`F2;E>!Q 5-5%; ?Q 9-5%B*)%BY1y5@Q I5c@%DI%b:i%8:%6V5yyɮ}AyPB*** querying acoustic contact *** gO addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.501185 s, deltaX: -0.200000 m, approachRate: -0.399054 m/s, rangeRepo size: 4 jbgOzIgnoring new targets. Set target to previous: 9.84 m. 9.84 m.R;Z;gO ProNav: ac range: 9.844725 m, nav range: 5.315946 m, bearing: 134.241383 deg, approach rate: -0.574338 m/s, LOS rate: 0.326782 deg/s, cmd heading: 127.921425 deg, new cmd heading: 128.217442 deg. B5<gO=|HeadingCmd: 2.237817 target range: 9.844725 and range: 6.00 m.=c8@9*9"9 AAAAAʎIIIjM@ZU ?颽Bɢ)  i)л:i qic8@n;Ɏ;Ic8@I@ @@/@!BA<B>BB!IB{BBBBDAT read: 01:01:37.1225 LVL= 32752, 32753, 29874, 32755, AGC= 55, IDX= 511,-0.47, 2.503, 1.121, 2.792, 2.815, PHS=-0.211,-1.650,-0.068, RAW= 154.7, 24.2, CAL= 158.2, 35.2, ROT= 351.8, -35.2 Ygot valid direction response: 01:01:37.1225 LVL= 32752, 32753, 29874, 32755, AGC= 55, IDX= 511,-0.47, 2.503, 1.121, 2.792, 2.815, PHS=-0.211,-1.650,-0.068, RAW= 154.7, 24.2, CAL= 158.2, 35.2, ROT= 351.8, -35.2 Z#Rx 94: Read direction message, but no range.^direction in FSK: [0.808791,-0.116549,0.576432]y'?}>"ֽN^F:"r?t )IbXi33ӿC3,@@> 0@ nF?)p{@InFo8F?oWd?$Z+gC? ?)9ؾITinFchecking for new query: numPingsReceived=94, elapsed TxPingTime=46.144573Bj;B)E CQ rG^A ; `]A 5 95 `]AY= iAA ؟AI I O ># w,ꔀY@AE2 E2E2$E0"E2:*E2 n:VE24ZE0BE29"?Y"?=nGyE>Q 55?Q 95%)BY?Q E:y @Q Ic@DI;i ;RZ5yɮABY@AJ4@R4@j= @)@)'P俺A @r'?}>"ֽN^F:"r?ZTbnF&5 + @" @z.F ޿XbPp?x';f?2n@:X'"؞4?*JBщB֌?“̈B @@gO addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 0.503624 s, deltaX: -0.400000 m, approachRate: -0.794244 m/s, rangeRepo size: 4 gO Added new target pos. range: 5.568887 m, bearing: 125.024110 deg, lat: 36.779286 deg, lon: -121.859509 deg, deltaT: 8.822882 s, deltaX: -4.275838 m, approachRate: -0.484631 m/s, posRepo size: 4 jbgOzIgnoring new targets. Set target to previous: 5.57 m. 9.84 m.RZ:gO% ProNav: ac range: 9.844725 m, nav range: 5.048373 m, bearing: 134.327799 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 128.217445 deg, new cmd heading: 128.277096 deg. B%:gO%|HeadingCmd: 2.238858 target range: 9.844725 and range: 5.60 m.-rI@)*)") )))QUBʎQYYj]`ff@Z]@?BɢL) i):QQiUzki]rI@]Z;]z;I]rI@Iae 2@a  @a @e /@a ! e DAT read: 01:01:37.6222 LVL= 31216, 32753, 24850, 32755, AGC= 55, IDX= 508,-0.11, 0.180,-1.060, 0.536, 0.546, PHS=-0.263,-1.561,-0.054, RAW= 157.4, 25.2, CAL= 160.7, 37.4, ROT= 349.3, -37.4 m Ygot valid direction response: 01:01:37.6222 LVL= 31216, 32753, 24850, 32755, AGC= 55, IDX= 508,-0.11, 0.180,-1.060, 0.536, 0.546, PHS=-0.263,-1.561,-0.054, RAW= 157.4, 25.2, CAL= 160.7, 37.4, ROT= 349.3, -37.4 m Z#Rx 96: Read direction message, but no range.u ^direction in FSK: [0.780602,-0.147496,0.607376]y9 = ^?o(¿oo?9 = y9 = a 9 )9 I= 𧆾i= ǿ= /]= F/@= z0>= 3@ = '?)= @I= '9 = Wxw?y?U_3? = &?)= )I= t;?i= ' checking for new query: numPingsReceived=96, elapsed TxPingTime=46.648457Q ^A vт;E EEE"E:*ER:VEZEa@a@a@a@A.AI!I1O=?>C(w,Y@A6 @6#@6K><ٱ6) 5AHRS rotation from veh to nav: [[-0.616962,-0.779171,-0.110678],[0.786907,-0.612840,-0.072145],[-0.011614,-0.131604,0.991234]]6H' bUW.?a`x=ɇf1?i6 @I6p];6CDDAT read: Rx Time:01:01:38.1221 TRx dataTimestamp_ set to:1761699698.602379PDAT read: Bearing 308.6, -18.6 (Local)  ~Local bearing/azimuth received: Bearing 308.6, -18.6 (Local) =DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.4 mDAT read: 01:01:38.1221 LVL= 28352, 32225, 19042, 32755, AGC= 52, IDX= 507, 0.15, 2.634, 1.429,-3.047, 2.968, PHS=-0.232,-1.494, 0.225, RAW= 164.9, 19.0, CAL= 166.1, 25.4, ROT= 343.9, -25.4 uYgot valid direction response: 01:01:38.1221 LVL= 28352, 32225, 19042, 32755, AGC= 52, IDX= 507, 0.15, 2.634, 1.429,-3.047, 2.968, PHS=-0.232,-1.494, 0.225, RAW= 164.9, 19.0, CAL= 166.1, 25.4, ROT= 343.9, -25.4 uT#Rx 97: Read range and direction messages.}^direction in FSK: [0.867906,-0.250508,0.428935]}Fpublishing direction and range infoy0?EpYSпhVs?Y̬@n}bJ )4Ihmid;fff>18@ɩ>9@ >)@I⾩0셻q?MX?U!89? {H?)Iޏi⾩checking for new query: numPingsReceived=97, elapsed TxPingTime=46.920105Y^By!II<)bDVDfyI7%#=ٔsQ->9 ?Y ?=nGyaFa%W;Em>iQ 5u5m?Q 9}5m)m{BYyy}9@Q I}c@mDIm:imt:m^5yBɮ AaY@AJ׫@R׫@j$>@|@W'$ZaRm@r0?EpYSпhVs?ZޏbbaRwM@R|?@z9ؿ`q?yV?2l@:C"E fQ?*IڭB-B}!?\“ޏ@@gO addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.504597 s, deltaX: -0.200000 m, approachRate: -0.396356 m/s, rangeRepo size: 4 gO Added new target pos. range: 5.369998 m, bearing: 115.704113 deg, lat: 36.779288 deg, lon: -121.859509 deg, deltaT: 9.327479 s, deltaX: -4.474727 m, approachRate: -0.479736 m/s, posRepo size: 4 jbgOzIgnoring new targets. Set target to previous: 5.37 m. 9.84 m.RZgO ProNav: ac range: 9.844725 m, nav range: 4.766764 m, bearing: 134.424222 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 128.277100 deg, new cmd heading: 128.339760 deg. BgO|HeadingCmd: 2.239951 target range: 9.844725 and range: 5.40 m.][@*" ʎj@ZR ?颅Bɢ)  i)}:顉i)Ffi][@I;;I][@IԑM4@I @I@M/@IB- >B) B- !IB- gBB) B) B) B- ij;B- )Ee checking for new query: numPingsReceived=97, elapsed TxPingTime=47.143139Թ ^Aq A ؟AI I O%>y0w,tbY@AE^ E^E^%E\"E^:*E^C:VE^ 4ZE\BE^ ;a~Ym\Bym!IDDAT read: Rx Time:01:01:38.6218 TRx dataTimestamp_ set to:1761699699.106582EPDAT read: Bearing 297.4, -25.5 (Local) M~Local bearing/azimuth received: Bearing 297.4, -25.5 (Local) DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed 0.4 DAT read: 01:01:38.6218 LVL= 28640, 32753, 17282, 32755, AGC= 52, IDX= 505,-0.48, 0.415,-0.776, 1.397, 0.758, PHS=-0.241,-1.489, 0.596, RAW= 173.5, 12.4, CAL= 173.6, 15.1, ROT= 336.4, -15.1 Ygot valid direction response: 01:01:38.6218 LVL= 28640, 32753, 17282, 32755, AGC= 52, IDX= 505,-0.48, 0.415,-0.776, 1.397, 0.758, PHS=-0.241,-1.489, 0.596, RAW= 173.5, 12.4, CAL= 173.6, 15.1, ROT= 336.4, -15.1 T#Rx 98: Read range and direction messages.^direction in FSK: [0.884723,-0.386526,0.260505]Fpublishing direction and range infoyQO?;ؼؿQfJ0?Y@oC )Iviu?&A@k]>A@ V>)@IVN E?A(?znc? o?)YY^i%Mb@Mb@Mb@!!!! !9%Fx?i|?5?~jtxY% ?IJҾiV]checking for new query: numPingsReceived=98, elapsed TxPingTime=47.474812y%q=%Ļ%(A%l@ !)!!Y! ep9"?Y"?=nGybFE>Q 55=?Q 95)uBY ?Q E:y@Q Ic@DIn:i:lc5y-{Bɮ-A5LE=Y@AJ@R@jD?͂<@Qx)H ?rQO?;ؼؿQfJ0?ZJҾbVM:]/@V?zBѿuA?h?2x@:"*|?*}cBTB؞4?|HM“'@r@gO addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.504203 s, deltaX: -0.400000 m, approachRate: -0.793331 m/s, rangeRepo size: 4 gO Added new target pos. range: 4.972233 m, bearing: 106.654323 deg, lat: 36.779290 deg, lon: -121.859508 deg, deltaT: 9.831682 s, deltaX: -4.872492 m, approachRate: -0.495591 m/s, posRepo size: 4 jbgOzIgnoring new targets. Set target to previous: 4.97 m. 9.84 m.RZgO- ProNav: ac range: 9.844725 m, nav range: 4.466414 m, bearing: 134.443873 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 128.339760 deg, new cmd heading: 128.406760 deg. B)gO5|HeadingCmd: 2.241121 target range: 9.844725 and range: 5.00 m.5n@1*1"1 1119=uBʎ99AjE@Ze@?颍Bɢ) :i)N:顙i`in@1;s[;In@IA] 3@Y  @Y @] /@Y  checking for new query: numPingsReceived=98, elapsed TxPingTime=47.647167q ^A r;A zA ԡAIIO?$8w,MY@AbEE4jEE4rEEJ0E EE(E"E:*EVL:VEc44ZEa&@a&@a&@a&@>P@>E@>;ٱ>b FAHRS rotation from veh to nav: [[-0.619267,-0.776833,-0.114189],[0.785160,-0.613733,-0.082800],[-0.005760,-0.140932,0.990003]]>H @};@ ?ೣ`Y2`w ¿?i>P@I>];>CYRJByR|!IbDZVDZ02ybT%bc=ٔfQ-f>9dYd=jnGyhn <En>pQ 5~5r㛊?Q 9~5rO)rrBY y @Q Ic@rDIr;ir;rf5y1ɮ= AAj b gOzIgnoring new targets. Set target to previous: 9.84 m. 9.84 m.RF9ZF9gO% ProNav: ac range: 9.844725 m, nav range: 4.272663 m, bearing: 134.451174 deg, approach rate: -0.527868 m/s, LOS rate: 0.020794 deg/s, cmd heading: 128.406764 deg, new cmd heading: 128.422029 deg. B-8:gOM|HeadingCmd: 2.241387 target range: 9.844725 and range: 5.00 m.Ur@Q*Q"Q QQQYYʎYYajaZe`?uDDAT read: Rx Time:01:01:39.1218 uTRx dataTimestamp_ set to:1761699699.605377DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed 0.4 Z#Rx 99: Read range message, but no direction.yqYqqchecking for new query: numPingsReceived=99, elapsed TxPingTime=47.902370 Bɢ 8L) 9i)]^:iyA]ir@8);;I%r@I!0@ @@/@Q^Ayb];A A B >B CB !IB WBB B B B j;B )E% checking for new query: numPingsReceived=99, elapsed TxPingTime=48.150970q A I I O >*)>w, eY@A:]\@:Q@:wo;ٱ: JAHRS rotation from veh to nav: [[-0.619864,-0.776311,-0.114501],[0.784701,-0.613903,-0.085838],[-0.003656,-0.143057,0.989708]]:HOE?@rmO¿?i:]\@I:];8Y^LBy^~!I ``df=bDjVDjNyr<%rI=ٔvQ-v>9tYt=vnGyzcFz':Ez>Q 55֛?Q 95)oBY)y- @Q I-c@DIg;iA;j5yQɮUu AaYPmB*** querying acoustic contact ***i igO addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.498795 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jbgO%zIgnoring new targets. Set target to previous: 9.84 m. 9.84 m.R%e9Z%e9EU EUEU"EQ"EU:*EU1]:VEU(3ZEQBEU<fEw,Y@Achecking for new query: numPingsReceived=100, elapsed TxPingTime=48.654938z?j@z_@z:ٱz#; AHRS rotation from veh to nav: [[-0.620532,-0.775845,-0.114040],[0.784180,-0.614212,-0.088350],[-0.001499,-0.144252,0.989540]]zHe `1? @Xv¿O?iz?j@Iz];zCY-NBy5!IiMb@Mb@Mb@ 9Fx?L7A`?y&1Yy+=`e?A 5A)AYA@AAAbDVDk1y,;%1=ٔQ->!9e ?Ye ?=mnGyim5:Em>qQ 5}5u2Ǜ?Q 9}5uD )uiBY} ?Q E:y@Q Ic@uDIu ;iu ;u2n5ymBɮABEgO addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.504628 s, deltaX: -0.500000 m, approachRate: -0.990829 m/s, rangeRepo size: 4 jbgOzIgnoring new targets. Set target to previous: 9.84 m. 9.84 m.R ɺZ ɺgO ProNav: ac range: 9.844725 m, nav range: 3.789160 m, bearing: 134.423291 deg, approach rate: -0.613472 m/s, LOS rate: -0.088102 deg/s, cmd heading: 128.436995 deg, new cmd heading: 128.362232 deg. BKw,0Y@AFp@F_f@F˹ٱF NAHRS rotation from veh to nav: [[-0.620850,-0.775901,-0.111902],[0.783929,-0.614422,-0.089114],[0.000389,-0.143050,0.989715]]FH`@/?`W1жa9?`sO¿?iFp@IF];DYVDByVt!IbDbVDbyf_S%j^=ٔjQ-j>9n"?Yn"?=nnGyndFr:Er>pQ 5v5r?Q 9z5r )rdBYxyz@Q Izc@rDIrQ;ir;rOq5yɮI AgO- addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.503286 s, deltaX: -0.400000 m, approachRate: -0.794777 m/s, rangeRepo size: 4 j1b1gO=zIgnoring new targets. Set target to previous: 9.84 m. 9.84 m.R=ԺZ=ԺgOM ProNav: ac range: 9.844725 m, nav range: 3.593299 m, bearing: 134.392234 deg, approach rate: -0.556122 m/s, LOS rate: -0.092990 deg/s, cmd heading: 128.362231 deg, new cmd heading: 128.296730 deg. BM.*gO|HeadingCmd: 2.239200 target range: 9.844725 and range: 4.10 m.O@*" ʎj`ff@Z?i额BɢML) <5i) 9顡iFTB>BB!IBMBB =BBB k;B *EBuCBuCBqBu =Bu =CuB4iO@h$;j X8@ > }l9@ B>) 7 @I BҾ ' :?C? mq?b1? r^H?) 4I :i BҾ  checking for new query: numPingsReceived=102, elapsed TxPingTime=49.440170I I O >wRw,JY@A,B0{@Bp@Bd ٱBW JAHRS rotation from veh to nav: [[-0.621342,-0.775581,-0.111391],[0.783537,-0.614645,-0.091002],[0.002113,-0.143822,0.989601]]BH``?,K Pa?h¿`Ъ?iB0{@IB];BCYf9Y=nGy:E>Q 55S?Q 95)`BYZ ?Q E:y4@Q Ic@DI:i':au5ygBɮ[ AAEAE(GY@AJEq@REq@jE5@E1b9 @!:i)υ9顙iDRiN`@S(;O/Xw,dY@A9lYl=nnGyneFrč:Er>tQ 5v5v㠛?Q 955vk)v]BY1y5;@Q I5c@vDIv$BqBqBqBu =BqBuvDBuUk;Bu4*E checking for new query: numPingsReceived=103, elapsed TxPingTime=50.167782I) IA OU > v^w,P~Y@AF@F4@F=ٱF8{p zAHRS rotation from veh to nav: [[-0.622031,-0.775284,-0.109595],[0.782979,-0.615089,-0.092785],[0.004524,-0.143526,0.989636]]FH@ !`m`*?Ϯr? _¿?iF@IF~];DY-:By-h!IbDVDEM EMEM(EI"EMm:*EMVL:VEMc44ZEIBEMT9)Y1=5nGy1E:E>Q 55Ɛ?Q 95v)YBYyC@Q Ic@ DI7`fw,>?Y@AYEBy u!I iMb@Mb@Mb@ 9#~j?L7A`?{GztY?y+=ףAV@ A)AYfAbDVDkyYN=%G=ٔQ->9Y=nGyfFE>Q 55?Q 95)VBY?Q E:y\@Q Ic@DI:i:5ybBɮA@EP B*** querying acoustic contact ***  jbgOzIgnoring new targets. Set target to previous: 9.84 m. 9.84 m.R%`Z%`gO5 ProNav: ac range: 9.844725 m, nav range: 2.677861 m, bearing: 134.041760 deg, approach rate: -0.599242 m/s, LOS rate: -0.327633 deg/s, cmd heading: 128.284995 deg, new cmd heading: 128.063009 deg. B5gO=|HeadingCmd: 2.235121 target range: 9.844725 and range: 3.30 m.=: @9*9"9 9AAAMxBʎIIIjIZU`>?}Bɢ}:O)y }Hi)顁ieMi : @ T; ړQԙ lw,?Y@A2(@2~@2Pٱ2 :AHRS rotation from veh to nav: [[-0.622002,-0.775444,-0.108629],[0.782997,-0.615002,-0.093210],[0.005472,-0.143033,0.989703]]2H@p p@ϻ O?ܷjv?N¿@?i2(@I2;];2C9 Y = nGy E>!Q 555%x?Q 955%)%TBY9y9Q IEc@%DI%;i%A;%o5yQɮU AYchecking for new query: numPingsReceived=105, elapsed TxPingTime=51.175758y}NY@AJ}q@R}q@j},G @}Nwc@ϸ3h&A@r}X?7ÿ.H?Z}b}Z;i}O}zX?WtòJg@z}ιտ?\ܵ?2}?:}|"} ?*}yB}ZB}7.?y“y}&@}vA?gO addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.503920 s, deltaX: 0.500000 m, approachRate: 0.992221 m/s, rangeRepo size: 4 gO Added new target pos. range: 3.778960 m, bearing: 124.688157 deg, lat: 36.779290 deg, lon: -121.859504 deg, deltaT: 13.354864 s, deltaX: -6.065765 m, approachRate: -0.454199 m/s, posRepo size: 4 jgOTStarting intercept timer at range: 3.80 m.\Ab)]肿9]\AY]aAgOmzIgnoring new targets. Set target to previous: 3.78 m. 9.84 m.RuZu:gO ProNav: ac range: 9.844725 m, nav range: 2.477867 m, bearing: 133.923689 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 128.063014 deg, new cmd heading: 128.112533 deg. B:gO|HeadingCmd: 2.235986 target range: 9.844725 and range: 3.80 m.c@*" ʎj`ff@Z D?ԩ-Bɢ-:m+)1 5~i1)511i=Li=c@=j;E6;sw,2Y@AY5CBy5r!IiMb@Mb@Mb@ 9sh|??y&1?Y ?y`e=A@ KA)AYAbDVD1y<%4=ٔQ->9 ?Y ?=nGygFE>Q 55j?Q 95j)SBY ?Q E:y  @Q I c@DI:if:c5y\BɮA?EgOE addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.503687 s, deltaX: -0.500000 m, approachRate: -0.992680 m/s, rangeRepo size: 4 jEgOERStopped intercept timer at range: 3.30 m.bIgOzIgnoring new targets. Set target to previous: 9.84 m. 9.84 m.RRZRgO ProNav: ac range: 9.844725 m, nav range: 2.232618 m, bearing: 133.878649 deg, approach rate: -0.563278 m/s, LOS rate: -0.114810 deg/s, cmd heading: 128.112533 deg, new cmd heading: 128.012558 deg. BRgO|HeadingCmd: 2.234241 target range: 9.844725 and range: 3.30 m.@ * "    kBʎj`ff @Z@J?ichecking for new query: numPingsReceived=106, elapsed TxPingTime=51.680058额BɢZ&) ~i)n׹顩ḭKi@;5T9"?Y"?=nGy%:E%>)Q 5U5-]?Q 9U5-h)-RBYQyU@Q I]c@-DI-;i-`;-Ԋ5yeSBɮe&Ae6EgO addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.503856 s, deltaX: -0.100000 m, approachRate: -0.198469 m/s, rangeRepo size: 4 jbgOzIgnoring new targets. Set target to previous: 9.84 m. 9.84 m.R$%Z$%gO  ProNav: ac range: 9.844725 m, nav range: 2.019316 m, bearing: 133.826197 deg, approach rate: -0.531038 m/s, LOS rate: -0.144378 deg/s, cmd heading: 128.012553 deg, new cmd heading: 127.896568 deg. BgO|HeadingCmd: 2.232216 target range: 9.844725 and range: 3.20 m.@*" !!!ʎj @Z ,?A颭Bɢa ) i)q项iD8Ki@k; dvBB!IBRBBBBBkk;B?*Eqchecking for new query: numPingsReceived=107, elapsed TxPingTime=52.183380ԡ ^A= hW<E5  E5 E5 'E1 "E5 :*E5 x:VE5 '4ZE1 BE5 3Ћw,(|Y@A2՘@2Q@2׺ػٱ2@ :AHRS rotation from veh to nav: [[-0.622746,-0.774822,-0.108804],[0.782396,-0.615498,-0.094968],[0.006614,-0.144269,0.989516]]2H@ W`ڻ`c ?(OM{? gw¿`?i2՘@I2"];2CYBKByF}!I=DDAT read: Rx Time:01:01:43.6205 =TRx dataTimestamp_ set to:1761699704.141352EDAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.3 M\#Rx 108: Read range message, but no direction.y9Y=9@9Uchecking for new query: numPingsReceived=108, elapsed TxPingTime=52.438354iuMb@Mb@Mb@qqqq q9u(\? ףp= ?Yu?yuQ8=qu?Aq u5A)qqYuA 4<;bDVDβy:~%7=ٔQ->9 ?Y ?=nGyhFP:E>Q 55=O?Q 95)QBY?Q E:y@Q Ic@DI:i':5yNBɮA5EgO addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.504045 s, deltaX: -0.300000 m, approachRate: -0.595185 m/s, rangeRepo size: 4 jbgOBIntercept lockout. Range: 2.90 m.gObTransitioning guidance mode to: INTERCEPT_LOCKOUT:@*"    oBʎj@33@Z'0?EBɢE)I UiQ)UBQQiU8JiY].;]ײsw,B Y@A2\@2؟@2?ٱ2_ >AHRS rotation from veh to nav: [[-0.623581,-0.773982,-0.109996],[0.781727,-0.616070,-0.096751],[0.007118,-0.146319,0.989212]]2H@_u(? ٶĸ@'}?¿?i2\@I2|];2CYFMByF!IbDNVDNyV`+<%V\=ٔZQ-Z>9Z"?YZ"?=ZnGyX^|<;E^>`Q 5f5bMC?Q 9f5b)`Yhyj@Q Ijc@bDIb:ibN:b5ylɮnAlP~B*** querying acoustic contact ***| |jgO TStarting intercept timer at range: 2.90 m.b   * "  ʎjZ%`C? Bɢ )bE-4jE-4rE20E EE&E"E,:*EVL:VE4ZEa-@a-@a-@a-@ i1)5W299i=lJiAE;EB5 >B1 B5 !IB5 WBB1 B1 B1 B5 j;B5 )Ei I  checking for new query: numPingsReceived=109, elapsed TxPingTime=53.191193ۍw, :Y@A9Y=%nGy%iF% :E%>)Q 555-5?Q 955-5)-PBY9y=@Q I=c@- DI-;i-;-5yAɮEAAgOu addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.503889 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 jugO}RStopped intercept timer at range: 2.90 m.byyy*y"y yʎjZ@#?颽BɢZ) ,ǽi)Ôw,SY@A2F@2²@2ٱ2 :AHRS rotation from veh to nav: [[-0.624483,-0.773346,-0.109350],[0.781007,-0.617040,-0.096387],[0.007067,-0.145595,0.989319]]2H`?@_?`ʾ`ج |?`ߢ¿ ?i2F@I2~n];0YFWByF!IliUMb@Mb@Mb@QQQQ Q9Um?+?Mbp?YU?yU=U;UAQ UKA)U|AQYUAaeAAbDmVDmk1yg<%C=ٔCQ->9Y=nGye:E>Q 55c(?Q 95)QBY?Q E:y0@Q Ic@DIAp;ifs;R5yHBɮA4Echecking for new query: numPingsReceived=110, elapsed TxPingTime=53.698692gO addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.504070 s, deltaX: -0.300000 m, approachRate: -0.595156 m/s, rangeRepo size: 4 jb*"  Bʎ  )j5@Z5/?BɢȻ) i)[iJiyQ;1w,mY@A>@>r@>ٱ>^ FAHRS rotation from veh to nav: [[-0.625611,-0.772124,-0.111512],[0.780102,-0.617853,-0.098478],[0.007139,-0.148600,0.988872]]>H`> `?`s5H>}?Qÿ ֤?i>@I>E];>CYN]ByR!IbDZVDZkyb3 =%bY=ٔbIQ-b>9f ?Yf ?=fnGyfjFj[};En>pQ 5v5r?Q 9z5r)pYxy~H@Q I~c@rDIr7;irG;r5yIBɮ [A gOU addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.504529 s, deltaX: 0.300000 m, approachRate: 0.594614 m/s, rangeRepo size: 4 jUgO]TStarting intercept timer at range: 2.90 m.bYYY*Y"Y Yaaiiqʎiyyj}@33@Z?UBɢU⽻)Y ]iY)]gYYi]|Jiae4|;pB CB !IB bBB B B B j;B )EBCBCBB =B =C 4checking for new query: numPingsReceived=111, elapsed TxPingTime=54.199043^A <A ؟AI  Em  Em Em &Ei "Em :*Em ~:VEm 4ZEi BEm 2ˡw,wY@AJ@J @JL ٱJ RAHRS rotation from veh to nav: [[-0.626733,-0.771127,-0.112113],[0.779200,-0.618850,-0.099355],[0.007234,-0.149627,0.988716]]JH 3n`5? To}?`&ÿ?iJ@IJ];JCY^\By^!IIb4=)b4>=DDAT read: Rx Time:01:01:45.6201 =TRx dataTimestamp_ set to:1761699706.157293EDAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 M\#Rx 112: Read range message, but no direction.y9Y=3@9Uchecking for new query: numPingsReceived=112, elapsed TxPingTime=54.454308imMb@Mb@Mb@iiii i9m"~? rh?~jth?Ym?ymC =mD;mAml@ mA)iiYmAbDVDkyŻ%==ٔEfQ->9"?Y"?=nGyC[;E>Q 55h?Q 95)Y9?Q E:y@Q Ic@#DI:iv:T5yCBɮ7AgO addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503453 s, deltaX: -0.600000 m, approachRate: -1.191770 m/s, rangeRepo size: 4 jgORStopped intercept timer at range: 2.30 m.b*" ʎj`ff@Z%ƪ?e}Bɢe%)a e@ia)mn?viiimF>Kiqu;u犘cw,AHY@A2t@2@2Tٱ2W :AHRS rotation from veh to nav: [[-0.627869,-0.770093,-0.112861],[0.778284,-0.619833,-0.100403],[0.007365,-0.150878,0.988525]]2H``q伿?` o*~?`Oÿ@?i2t@I2'];2CY\y` df<bDjVDj:y %J=ٔxQ->9 ?Y ?=nGykFl;E>Q 55*?Q 958)RBYy@Q Ic@+DI:i:ۣ5y;BɮA*EP B*** querying acoustic contact ***  E EEE"EI:*E H:VEZEa%@a-@a-@a-@j9b999*9"9 9AAAAʎAIIjIZM ?Q{Bɢ() zi)liEKi ; aB CB !IB gBB B B B j;B )EA] ؟AIa Iy O > % checking for new query: numPingsReceived=113, elapsed TxPingTime=55.210911w,%Y@A2r@2 @2Uٱ2  :AHRS rotation from veh to nav: [[-0.628627,-0.769510,-0.112615],[0.777670,-0.620570,-0.100607],[0.007532,-0.150822,0.988532]]2H`ӟZԼ?^7~?@ Nÿ`?i2r@I2];2CYFXByF!IbDLVDLyV%V[=ٔVQ-Z>9Z"?YZ"?=ZnGyX^+;E^>`Q 5f5b?Q 9f5b)`Yhyj@Q Ijc@b2DIb:ib:b5ylɮnApgO  addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.504809 s, deltaX: 0.300000 m, approachRate: 0.594284 m/s, rangeRepo size: 4 j gOTStarting intercept timer at range: 2.60 m.b*" !ʎ!!!j%@Z-`+?yBɢ34) 삽i)ţ顑iWLi+;Q1 w,Y@A2g@2@2,ٱ2 :AHRS rotation from veh to nav: [[-0.629146,-0.769143,-0.112226],[0.777248,-0.621085,-0.100687],[0.007741,-0.150574,0.988568]]2H !ќԺ 8?@ƹ?Fÿ@Z?i2g@I2<];2CYb^Byb!I ddiMb@Mb@Mb@ 9d;O?/$?{Gzt?Y?y,=ף;VA@ KA)AYAbD VD2yG<%8=ٔQ->9Y=nGylF.:E>Q 55嚊?Q 9 5 )SBY !?Q E :y @Q I c@:DIH:is:5y5BɮAchecking for new query: numPingsReceived=114, elapsed TxPingTime=55.7150347Y@AJ@R@j3u?/zgi?t\D@r|?)Aqֿi?Zb;-KEe?t9Y8?Bb@zvxm{?TH?Jp?2!?:/>"?*+nBB)?“BE?A%"?gOU addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.507711 s, deltaX: -0.200000 m, approachRate: -0.393925 m/s, rangeRepo size: 4 gOe Added new target pos. range: 2.386711 m, bearing: 78.539003 deg, lat: 36.779289 deg, lon: -121.859504 deg, deltaT: 17.894913 s, deltaX: -7.458014 m, approachRate: -0.416767 m/s, posRepo size: 4 jmgORStopped intercept timer at range: 2.40 m.b*" wBʎj@33@Zb?mwBɢm8)q uxLiq)uԍqqi}Liybv;ũ?Y 3@ f Rd ) I vi Ȧ  Km@ PwV?^A R5< @ m0v?) ؕ@I m0v aԿi?VN? h@) VI ̿i m0v 5 checking for new query: numPingsReceived=115, elapsed TxPingTime=55.988754ԙ A I I O>O w,$Y@Ab=@b:3@bٱbBk ~AHRS rotation from veh to nav: [[-0.630582,-0.768071,-0.111506],[0.776079,-0.622495,-0.100997],[0.008161,-0.150224,0.988618]]bH-?{ڹശ?@:ÿ¢?ib=@IbS];`Y `By !I99bDE VDE2yu9N<%u7=ٔ}vQ-}>9yYy=}nGy}mF ;E>ԱQ 55֚?Q 95)TBYy@Q Ic@BDI;iQ;5yɮA  ,+Y@AJ b@R b@j ? ࣿ4I/7.1?r ~aIfL8%>?Z ̿b m0v wޅp=?R_?yg@z  Q?p§ţ?߰?2 <?: Q?" ?* nB zB ? “  i? s>gO addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504697 s, deltaX: -0.100000 m, approachRate: -0.198139 m/s, rangeRepo size: 4 AA@ABBB!IBlBBBBBj;B*EgO= Added new target pos. range: 2.287265 m, bearing: 35.950330 deg, lat: 36.779288 deg, lon: -121.859504 deg, deltaT: 0.504697 s, deltaX: -0.099446 m, approachRate: -0.197042 m/s, posRepo size: 4 jAbAAA*"  C5checking for new query: numPingsReceived=115, elapsed TxPingTime=56.220005Ai 9YneAʎj`ff@Z 9?uuBɢuxl) $i)6项i]Ni;{w,)Y@A8vtK@v@@v ٱv  %AHRS rotation from veh to nav: [[-0.631230,-0.767756,-0.109996],[0.775549,-0.623262,-0.100336],[0.008478,-0.148642,0.988855]]vH3u`( M?@\?ÿ?ivtK@Iv];vCԡY^By!IiMb@Mb@Mb@ 9V-?~jt?MbP?Yh?y<:l@ )AYfAbDVD0y%=ٔQ->9Y=nGy:E>Q 55Ś?Q 9 5)UBY }?Q E :y b@Q I c@LDIH:i:߳5checking for new query: numPingsReceived=116, elapsed TxPingTime=56.722740y/BɮA)Ez Y@AJRjqs>#$ٿqᘩfHe?r#Lƿ~3?e.?Z+b5g&-;|?%:?"-!?*hVBSB+n“?iB>gO% addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504847 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO5 Added new target pos. range: 2.287269 m, bearing: 17.955394 deg, lat: 36.779288 deg, lon: -121.859503 deg, deltaT: 0.504847 s, deltaX: 0.000004 m, approachRate: 0.000007 m/s, posRepo size: 4 j1b111*9"9 999AEBʎAAAjIZM@a?usBɢu6w)y }(iy)}~yyi}9NOiN&;Xw,8f-Y@AYgot valid direction response: 01:01:48.1203 LVL= 22576, 18833, 14306, 20307, AGC= 47, IDX= 506,-0.03, 1.800,-2.985,-2.575,-2.219, PHS=-2.162,-0.721,-0.400, RAW= 260.2, 35.5, CAL= 262.5, 44.1, ROT= 247.5, -44.1 V#Rx 117: Read range and direction messages.`direction in FSK: [-0.274815,-0.663462,0.695913]Fpublishing direction and range infoy Dѿ3[};9D?Yf&@0XI7 SO)/I5^ iu8̾R@?@ j E?):@Ij Emc$e/8Ww?#? G@)(ISij EvQ@vF@v ٱvY; mAHRS rotation from veh to nav: [[-0.631496,-0.767611,-0.109485],[0.775332,-0.623568,-0.100118],[0.008580,-0.148111,0.988933]]uchecking for new query: numPingsReceived=117, elapsed TxPingTime=57.013729vH 65D= ?@DO G?P¿W?ivQ@Iv~];vC ۡ)ۡڡڡڡ۩۩i۩IIi-r@ ) ~`A'I)i)Ir`A# )1i11Y1Y=\By=!IbDUVDUye4L%eV=ٔe1Q->9Y=nGynFg:E>Q 55Ҹ?Q 95D)Yyh@Q Ic@TDIr%=bCIr"IC+?r Dѿ3[};9D?ZSbj E2˥)?C-?X$+8@z `rqi?pV?^?2`>:?"3gO addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.505137 s, deltaX: 0.300000 m, approachRate: 0.593898 m/s, rangeRepo size: 4 gO Added new target pos. range: 2.585608 m, bearing: 12.182743 deg, lat: 36.779288 deg, lon: -121.859502 deg, deltaT: 0.505137 s, deltaX: 0.298339 m, approachRate: 0.590611 m/s, posRepo size: 4 jgOTStarting intercept timer at range: 2.60 m.b*!"! !!!))ʎ)))j5@Z5?颵rBɢ,f) P0i)iBCBBB =BBBDk;B0*Echecking for new query: numPingsReceived=117, elapsed TxPingTime=57.2270247@ @@/@ԁ^A <Թ I EM  EM EM &EI "EM >:*EM i:VEM 4ZEI BEM w,<0HY@ADDAT read: Rx Time:01:01:48.6203 TRx dataTimestamp_ set to:1761699709.185877PDAT read: Bearing 57.6, -52.7 (Local) ~Local bearing/azimuth received: Bearing 57.6, -52.7 (Local) DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed -0.4  DAT read: 01:01:48.6203 LVL= 22224, 19569, 11506, 20947, AGC= 47, IDX= 506, 0.13, 2.579,-1.878,-1.709,-1.557, PHS=-2.045,-0.275,-0.196, RAW= 267.8, 26.2, CAL= 269.8, 34.5, ROT= 240.2, -34.5 Ygot valid direction response: 01:01:48.6203 LVL= 22224, 19569, 11506, 20947, AGC= 47, IDX= 506, 0.13, 2.579,-1.878,-1.709,-1.557, PHS=-2.045,-0.275,-0.196, RAW= 267.8, 26.2, CAL= 269.8, 34.5, ROT= 240.2, -34.5 V#Rx 118: Read range and direction messages.%`direction in FSK: [-0.409569,-0.715148,0.566406]%Fpublishing direction and range infoy{qDb6ڿM|~濃?5?YVqL, Q)IHǐ9HW@ >K@ %?)*'@I%l1Pϙ?@7?  "%@)Iai%Echecking for new query: numPingsReceived=118, elapsed TxPingTime=57.495907WS@H@ٱ eAHRS rotation from veh to nav: [[-0.631604,-0.767549,-0.109296],[0.775247,-0.623751,-0.099634],[0.008301,-0.147661,0.989003]]H6 ? ?¿ ?iWS@IJ];CY5TBy5!IiEMb@Mb@Mb@AAAA A9En?Q?~jth?YE?yE9Y=nGy9E>AQ 5m5t?Q 9m5)VBYm6?Q Em:ym@Q Iuc@]DIz:iv:5y}"Bɮ}pA}EiKY@AJ{%@R{%@jDx="sY$n?r{qDb6ڿM|~濃?5?Zab%J]u?-9/_?sHg?zb?Zóv?B12?2>>:?"=J?*UBB-!?hV“jBh?r@gO  addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.501383 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 2.585643 m, bearing: 5.524505 deg, lat: 36.779288 deg, lon: -121.859502 deg, deltaT: 0.501383 s, deltaX: 0.000035 m, approachRate: 0.000070 m/s, posRepo size: 4 jgO]RStopped intercept timer at range: 2.60 m.bYYa*a"a aaaim^BʎiiijqZu.?pBɢ*) ^i)i'Qi%&;%Ȼw,eY@AbEjE4rE/E% E%E%$E!"E%:*E%rN:VE%4ZE!aE@aE@aE@aE@I2Z@O@Wٱwk AHRS rotation from veh to nav: [[-0.631928,-0.767323,-0.109001],[0.774982,-0.624107,-0.099464],[0.008293,-0.147328,0.989053]]H8@v绿?`uv ?¿`R?i2Z@IF];CYmPBym!IbD}VD}y%Y=ٔ 7Q->9Y=nGyoF:E>Q 55󛚊?Q 95M)WBYy@Q Ic@dDId:i|:5yɮAPB*** querying acoustic contact *** j gO TStarting intercept timer at range: 2.60 m.b   * " ʎj!Z%@?MnBɢMݾ)I UsiQ)UFQQiUyQmDDAT read: Rx Time:01:01:49.1206 mTRx dataTimestamp_ set to:1761699709.689800}PDAT read: Bearing 82.4, -47.4 (Local) }~Local bearing/azimuth received: Bearing 82.4, -47.4 (Local) DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed -0.4 DAT read: 01:01:49.1206 LVL= 29728, 20625, 11586, 20579, AGC= 48, IDX= 509,-0.15, 0.111, 2.462, 1.980, 2.065, PHS=-1.851, 0.442,-0.129, RAW= 283.8, 14.7, CAL= 282.4, 21.9, ROT= 227.6, -21.9 Ygot valid direction response: 01:01:49.1206 LVL= 29728, 20625, 11586, 20579, AGC= 48, IDX= 509,-0.15, 0.111, 2.462, 1.980, 2.065, PHS=-1.851, 0.442,-0.129, RAW= 283.8, 14.7, CAL= 282.4, 21.9, ROT= 227.6, -21.9 UV#Rx 119: Read range and direction messages.Y}`direction in FSK: [-0.625642,-0.685166,0.372988]}Fpublishing direction and range infoyimƸBz忈0?Ym@@im tmPmB- mcP)m0ImimM>mm@mG\>mϸ@ mE>)mM;~@ImEþiim9Dui =:?EZG? m?7@)m6ImhimEþiii0 ;B B !IB gBB B B B k;B T*E^Au  <Ա I I  checking for new query: numPingsReceived=119, elapsed TxPingTime=58.234837O- >$w,c~Y@AYrRByr!IbDzVDzk1y-\<%-h=ٔ-Q-->91Y1=5nGy15E=>AQ 5M5EE?Q 9M5EE)AYIyIQ IMc@EkDIE:iE:E5yQԙɮ}A%lY@AJ>@R>@jb@˘fi'pyeZ.?rƸBz忈0?ZhbEþYg@=+ҿ\+1.?z-!,?&.n?2:(@"qm?*BB3?颍mBɢ) Ti)\顱iV8RiT;c33 S_)1IGѿiZd;?>#@`={@ )M@I< 1QD0?-? /@)I i<%T****** received valid address query ******%R****** received valid ping request ******-Querying Benthos address 50 with 120 pings in terminal homing one-way mode.^A <1 A .AI I O >w,Y@A6_@6 U@6Vٱ6" RAHRS rotation from veh to nav: [[-0.632184,-0.766570,-0.112758],[0.774778,-0.623941,-0.102058],[0.007880,-0.151882,0.988367]]6H:`ݼ?Sy _#?pÿ@?i6_@I6+];6CYXyZ!IiMb@Mb@Mb@ 9㥛 ?Mb?MbP?Y?y=:AV@ )AYABA2Acoustic response timeoutbDVDNyu%>=ٔb{:Q->9 ?Y ?=nGypFF:E> Q 55 ?Q 95 `) XBY?Q E:y@Q Ic@ sDI h;i ; 5y%Bɮ%RA%EgY@AJRjHZ=wT%N˕>}dr.QM]5=_2qZ b<n/톰@NrkD?_6m?z?\e?v m?2W>:=@"Wc{?*{ כBB=J?0\“B@@gO  addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.504033 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 2.983423 m, bearing: 4.066452 deg, lat: 36.779293 deg, lon: -121.859500 deg, deltaT: 0.504033 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 j!b!!!*!"! !))15pBʎ111j9Z=?kBɢ阻) Ki)7"iRih;0x @ 5z= @ Q ) ۂ@I Q = p+} ?oiծ? /@) pvI h i Q =  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.^A ]<A% ?A% ?y I I) O= >w,GY@ARi@R^@R17ٱR m zAHRS rotation from veh to nav: [[-0.632633,-0.765848,-0.115118],[0.774411,-0.624047,-0.104180],[0.007948,-0.155056,0.987874]]RH>ӁXx@?0F?ÿ ?iRi@IR];RCYCByr!IbD=VD=1yMK%mW=ٔu8Q-u>9qYy=}nGyy}>:E}>Q 55=u?Q 9 5)Yy@Q Ic@zDIޚ:]@"?*FBڃBqm?U“B'?@@gO= addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.503776 s, deltaX: 0.500000 m, approachRate: 0.992505 m/s, rangeRepo size: 4 BiBiBm!IBmbBBm =BiBiBmk;Bm*EB=CB=CB9B9B9C=É_5gO Added new target pos. range: 3.480661 m, bearing: 3.375018 deg, lat: 36.779296 deg, lon: -121.859499 deg, deltaT: 0.503776 s, deltaX: 0.497237 m, approachRate: 0.987021 m/s, posRepo size: 4 jb*" ʎj @Z`%?jBɢrzڻ) =蛽i9)=kAAiED?SiAM;M/w,amY@A.DDAT read: Rx Time:01:01:50.6209 6TRx dataTimestamp_ set to:1761699711.206468BPDAT read: Bearing 65.0, -61.6 (Local) B~Local bearing/azimuth received: Bearing 65.0, -61.6 (Local) JDAT read: Range 11 to 50 : 3.6 m (trip time 2.4 ms) speed -0.5 jDAT read: 01:01:50.6209 LVL= 27488, 14177, 13218, 25411, AGC= 49, IDX= 513, 0.24,-0.878, 0.675, 1.020, 0.861, PHS=-1.636,-0.141, 0.115, RAW= 262.2, 19.7, CAL= 264.1, 26.4, ROT= 245.9, -26.4 rYgot valid direction response: 01:01:50.6209 LVL= 27488, 14177, 13218, 25411, AGC= 49, IDX= 513, 0.24,-0.878, 0.675, 1.020, 0.861, PHS=-1.636,-0.141, 0.115, RAW= 262.2, 19.7, CAL= 264.1, 26.4, ROT= 245.9, -26.4 rR#Rx 1: Read range and direction messages.-`direction in FSK: [-0.365746,-0.817636,0.444635]-Fpublishing direction and range infoy02oA7ch׿IQ*꿑϶t?Y2ff@02`k2a723 2Cc)21I2shѿi2Nb2=2p@2x >2S@ 2>)2#V@I2뾩002U8|L,s?σ>? 2@)2WI2i2뾩00E2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.Go@d@ٱ5 AHRS rotation from veh to nav: [[-0.632928,-0.765522,-0.115664],[0.774172,-0.624292,-0.104485],[0.007777,-0.155675,0.987778]]H@(+?4?)ÿ?iGo@IT\;YAByp!IiMb@Mb@Mb@ 9tV?{Gz?Mb`Y?y#=?A?@ )AYGA 4<bD VD NyH %#=ٔJ9Q-%>9!Y!=%nGy%qF-cH:E->1Q 555d?Q 955)5WBY ?Q E:y@Q Ic@5DI5h2=/3WPejg,x?r2oA7ch׿IQ*꿑϶t?Z2b22 @r[ƺi!Si^;&@ @@4@ I ^A <A zA EM  EM EM 'EI "EM :*EM R:VEM '4ZEI aU @aU @aU @aU @Ii Iy O >w,!Y@A2q@2f@2ٱ2 >AHRS rotation from veh to nav: [[-0.633013,-0.765803,-0.113315],[0.774103,-0.624710,-0.102482],[0.007692,-0.152590,0.988260]]2HAt6 s?` E<Ɓ?ÿҟ?i2q@I2];0YFBByFq!IbD~VD~Jy O;% n=ٔ9Q-?9Y=nGy9E?!Q 5-5%oY?Q 9-5%ē)%VBY1y5@Q I5c@%DI% ;i% ;%g5y9ɮEAAP]B*** querying acoustic contact ***Y Yjibiii*i"i iqqqqʎyyyjyZ?颭gBɢRP) i))˺顱iSi;@>@ k>)my@IkݾϲפxF͵?,^@? Q;@)[IikݾE2Acoustic response timeoutm4@i @i@m/@iQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.^A*<IIA AAA Bƿ>BB!IBWBB =BBwDB;l;B*EO->I 2Acoustic response timeoutq x,Y@A2x@2m@2rٱ2P :AHRS rotation from veh to nav: [[-0.633343,-0.765685,-0.112263],[0.773830,-0.625118,-0.102052],[0.007962,-0.151506,0.988424]]2HXD}G`7?  `FN? dÿ+?i2x@I2];2CYF:ByFh!IbDjVDjy % K=ٔ}/Q->9Y=nGyrF:E>Y Q 5m5 K?Q 9m5 ) UBYqyu@Q Iud@ DI R:*EX:VE4ZEBEEB< ECf)E1IEAiE= >Eh-E@EJ>E.@ E>)EOc@IE澩AAE ~T @0' ? E@)E&IE.iE澩AA2Acoustic response timeoutQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.edBɢeW׻)i mii)mH׺iiimkTiqu;uwx,BY@Ai I 2Acoustic response timeout6z{@6p@68ٱ6y BAHRS rotation from veh to nav: [[-0.633503,-0.765586,-0.112037],[0.773699,-0.625302,-0.101912],[0.007966,-0.151244,0.988464]]6HE@`p %?`z[P?[ÿ?i6z{@I6(];6CYn6Bync!IieMb@Mb@Mb@aaaa a9eQ?kt?MbpYe\?ye 0=eeAa eA)eAaYeAy}@AbD}VD}ky%<=ٔQ->9Y=nGy:E>Q 55=?Q 95)TBY?Q E:y8@Q Id@DIG ;i ;5yɮA_ Y@AJy@Ry@j9{@9 kˈd?r@ku-)ֿ2T?Z.bC-pÜo@vC -?z??ZݿG/i?2b:|C@"Q??*߻BBA`?“Bk`@(@gO  addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.506855 s, deltaX: 0.200000 m, approachRate: 0.394590 m/s, rangeRepo size: 4 gO Added new target pos. range: 4.077373 m, bearing: 328.522060 deg, lat: 36.779295 deg, lon: -121.859493 deg, deltaT: 0.506855 s, deltaX: 0.198896 m, approachRate: 0.392412 m/s, posRepo size: 4 j!b!!!*!"! !!)IUBʎj`ff@Z ?ecBɢV) Ti)޺iSi%VM;--M@ f>)K@Ifci1 W9ݿ[TS1? I))I" GifM2Acoustic response timeoutUQuerying Benthos address 50 with 120 pings in terminal homing one-way mode.ԩ^A} 8< A ؟AI I O >p x,=`8Y@A2^u@2j@2[ٱ2 :AHRS rotation from veh to nav: [[-0.633216,-0.765766,-0.112427],[0.773938,-0.625051,-0.101641],[0.007561,-0.151372,0.988448]]2HNC`'Ǽ`?k@!~?`'`ÿ]?i2^u@I2-];0YB3ByB_!IBbʿ>BbCBb!IBbMBBb =B`B`Bb"l;Bb*EbD~VD~fyMM%]E=ٔm1~:Q-}>9"?+GY"?=nGysFcE>q9YxpAQ 55/?Q 95)SBYy2@Q Id@DI6-;i-;5y%Bɮ%~A%E2Acoustic response timeoutim}-Y@AJm4@Rm4@jmD@mI/N!Q'mC@>G ?rm[ B.*?Zm" Gbmfm _X@0^Ā ԓ6-?zm(gGV?z@OYZπ?2mT:m$@"m!Y?*m>'BmYBmW?mTDҟ“imi@mZ@gO addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.501106 s, deltaX: 0.400000 m, approachRate: 0.798235 m/s, rangeRepo size: 4 gO Added new target pos. range: 4.475212 m, bearing: 307.742851 deg, lat: 36.779294 deg, lon: -121.859495 deg, deltaT: 0.501106 s, deltaX: 0.397839 m, approachRate: 0.793921 m/s, posRepo size: 4 jb*"     ʎj@Z&?EbBɢE)A EiI)M#IIiMSiQU%;UKUx,0.RY@A2^direction in FSK: [-0.951412,0.079892,0.297375]2Fpublishing direction and range infoy:qWys?+0?Yf@|q9; sq)3IFi(\?I@Ulx>@ #>)EC@I#Wy鿄BSٹ ? 3")wIEC@i#>2Acoustic response timeoutB{m@Bb@BFٱB9 JAHRS rotation from veh to nav: [[-0.632847,-0.765673,-0.115107],[0.774247,-0.624470,-0.102858],[0.006875,-0.154214,0.988014]]BHH@ew?`T(|?IÿΝ?iB{m@IB\;BC=Querying Benthos address 50 with 120 pings in terminal homing one-way mode.Y*ByT!IqiMb@Mb@Mb@ 9oʡ?/$?{GztY ?y,=ףVA(@ )AYGAbDmVDmNy}%}!=ٔ} :Q->9Y=nGytFT{E>Q 55?Q 95ˀ)QBYx ?Q E:y@Q Id@DI;i[;5y ɮ A:NY@AJ@R@j@̻5?U.I=?r:qWys?+0?ZEC@b#`pPe@͍tڠ?zQ6??4%FBØ?2nt2Acoustic response timeoutԱ:@"[i皊?*f@BBQ??߻“@n@gO addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.508581 s, deltaX: 0.200000 m, approachRate: 0.393251 m/s, rangeRepo size: 4 gO Added new target pos. range: 4.674109 m, bearing: 301.803555 deg, lat: 36.779291 deg, lon: -121.859507 deg, deltaT: 0.508581 s, deltaX: 0.198898 m, approachRate: 0.391084 m/s, posRepo size: 4 jbkO XTarget missed at range: 4.70 m. Rolling out.2 gO NTransitioning guidance mode to: ROLLOUT: @  *;"L? 2:Bʎ)))j5@Z5?额`BF) սi)B顡ii)L? (kpHeading = 0.800000I; (kiHeading = 0.004000] @ ] %>)] ?B@I] %Y Y ] 63-J#"o/] `? ] )] I] ?B@i] %Y Y  2Acoustic response timeout Querying Benthos address 50 with 120 pings in terminal homing one-way mode.^A8<ԡA=.AIQIiO}?x,vY@A%\@%R@%ٱ%z Q }AHRS rotation from veh to nav: [[-0.632050,-0.765981,-0.117419],[0.774907,-0.623615,-0.103070],[0.005726,-0.156134,0.987719]]%H9'` ?@bsw?4ÿ`e?i%\@I%^;%CBABǿ>BBm!IB>BB =BBBk;B*EYybDVDk1y%'=ٔ;Q->9 ?Y ?=nGy E>Q 5M5k?Q 9M5{)OBYQyU @Q IUd@DIH#'“eYBeA@eg=@gO- addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.499351 s, deltaX: 0.400000 m, approachRate: 0.801040 m/s, rangeRepo size: 4 gO= Added new target pos. range: 5.071884 m, bearing: 300.046934 deg, lat: 36.779285 deg, lon: -121.859521 deg, deltaT: 0.499351 s, deltaX: 0.397775 m, approachRate: 0.796583 m/s, posRepo size: 4 gO=BNOT Ignoring new targets: 5.07 m.99*A"A a2aaaiiqm#JmAggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancymCJm@Uninitialize Buoyancy Component.qqju`ff@Zu?2Acoustic response timeout) i9)iiAAE':*E1]:VE4ZEBE e DDAT read: Command 'bl' not found m bunknown deviceResponse_: Command 'bl' not found } "DAT read: Error  @unknown deviceResponse_: Error  *DAT read: user:664>  BDAT read: Tx time:01:01:54.0695  $Ping request sent. ,$x,>^Y@AY5.By5Y!IiMb@Mb@Mb@ 9!rh?y&1?Mb`Yl?y`e=AV@ A)|AYAbD-VD-βy=<%=.=ٔ=Q-=>9EYE=EnGyAMEM>QQ 5]5Uz?Q 9]5Uw)UMBY].?Q E]:y]@Q I]d@UDIUN;iUt;U)5ymBɮmwAmEBN@?qgOBNOT Ignoring new targets: 5.07 m.*" 299AEMBAIjIZM?.?.?4=4@) ui=9)Ʋ6iipbEɻ 4jEO4rEɖ/E=  E= E= #E9 "E= غ:*E= X:VE= 3ZE9 aE @aM @aM @aM @*x,Y@A&checking for new query: numPingsReceived=0, elapsed TxPingTime=0.4902000:e@:R[@:S`ٱ:k BAHRS rotation from veh to nav: [[-0.632490,-0.765699,-0.116880],[0.774547,-0.624104,-0.102814],[0.005779,-0.155557,0.987810]]:H[=뽿? Rw?Nÿ#?i:e@I:!`;8Yb(BybR!I ddbDnVDnyz %zc=ٔ~Q-~>9Y=nGy :E >Q 5%5?Q 9%5s)KBY!y-@Q I-d@DI<;i=;Q5y1ɮ=A9JY]1]"aeegOBNOT Ignoring new targets: 5.07 m.*" 2  j Z  ?aaae@S`) i9)顥?*aii=BBf!IB9BB =BBBk;B|*EԹchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.745635^A}<IIO> 1x,Y@A6u@6bk@6λٱ6^ BAHRS rotation from veh to nav: [[-0.633247,-0.766088,-0.110033],[0.773924,-0.625634,-0.098103],[0.006315,-0.147281,0.989075]]6H`C˃%+ ?1Iy?¿?i6u@I6X_;4YJ1ByJ]!IbDRVDRyZ;=%ZN=ٔ^JQ-^>`9`Y`=bnGydfT";Ef>hQ 5n5jg陊?Q 9n5jo)jJBYpyr@Q Ird@jDIjr;ij];j5yvBɮvAvED|zD|E EE*E"E[:*EF:VE(N4ZEBE~A  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2463108x,\Y@A2 @2t@2E4ɻٱ2x :AHRS rotation from veh to nav: [[-0.633679,-0.766447,-0.104926],[0.773572,-0.626727,-0.093809],[0.006140,-0.140613,0.990046]]2HG hܺ ?&@~&y?@@t?i2 @I2^;2CY^2By^^!Ii}Mb@Mb@Mb@yyyy y9}"~j?Mb?~jthY}S?y}=}D}Ay }A)}AyY}AbDVD02yC;%<=ٔ 9Q->9Y=nGy:E>Q 55ۙ?Q 95k)HBYY?Q E:yD@Q Id@DI:i:5yɮAgOBNOT Ignoring new targets: 5.07 m.*" 2  VB  jZ?EY?EY?E0=ED@UE4ɻ)Q U\i]9)Y]c]iYiaaeԡ A @AA B ˿>B B Z!IB /BB B B B k;B n*EBCBCBB =B =C_549>x,PY@A2@2z@2zٱ2 :AHRS rotation from veh to nav: [[-0.633941,-0.767047,-0.098776],[0.773360,-0.627796,-0.088234],[0.005668,-0.132324,0.991190]]2H?I `I`^?y 7w?Է?i2@I2^;2CYB0ByB\!IIF=)F>bDNVDN1yV%V\=ٔV8:Q-V>9XYX=ZnGyX^l:E^>`Q 5f5bЙ?Q 9f5b h)bFBYdyfM@Q Ifd@bDIb9:ib:b5ylɮnAlgOBNOT Ignoring new targets: 5.07 m.*"  2   jZk@1ychecking for new query: numPingsReceived=0, elapsed TxPingTime=1.750102115 M@z) pi9)ii 7 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004344 #Ex, Y@AF@F)w@FٱF, VAHRS rotation from veh to nav: [[-0.633808,-0.767919,-0.092677],[0.773474,-0.628434,-0.082519],[0.005126,-0.123985,0.992271]]FH&Hɒ`@L?!t?s?iF@IFF];DYf3Byf_!IiuMb@Mb@Mb@qqqq q9urh|?T㥛 ?MbP?Yu>yu=u:uAu?@ q)qqYuAbDVDy<%6=ٔg:Q->9 Y = nGyQUȹEU>YQ 5e5] ™?Q 9e5]c)]EBYm>Q Em:ym@Q Imd@]DI] ;i]` ;]5yuBɮ}A}EgOBNOT Ignoring new targets: 5.07 m.*" 28BjZ I@>>i>Ƒ@) i9)ѼiiQE5  E5 E5 &E1 "E5 :*E5 i:VE5 4ZE1 aU @aU @aU @aU @Y LKx,Rb/Y@A&DDAT read: Rx Time:01:01:56.2063 *TRx dataTimestamp_ set to:1761699716.7501322PDAT read: Bearing 94.3, -23.8 (Local) 2~Local bearing/azimuth received: Bearing 94.3, -23.8 (Local) >DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed -0.4 r|@rq@rٱr`*%DAT read: 01:01:56.2063 LVL= 18928, 14769, 23538, 26275, AGC= 58, IDX= 59, 0.25, 1.774,-2.428, 2.657, 3.114, PHS=-1.238, 0.787,-0.501, RAW= 308.9, 10.7, CAL= 307.0, 13.4, ROT= 203.0, -13.4 5Ygot valid direction response: 01:01:56.2063 LVL= 18928, 14769, 23538, 26275, AGC= 58, IDX= 59, 0.25, 1.774,-2.428, 2.657, 3.114, PHS=-1.238, 0.787,-0.501, RAW= 308.9, 10.7, CAL= 307.0, 13.4, ROT= 203.0, -13.4 5R#Rx 1: Read range and direction messages.=`direction in FSK: [-0.895445,-0.380094,0.231748]=Fpublishing direction and range infoy(*mu"|~YtSؿ] A?Y*̼@(*I*9*[ *f)*:I*vi*xI?*A*@*t;?>*v@ *|o>)*b@I*|o((*& YRYÿ)%? *?)*?I*^/i*|o((]checking for new query: numPingsReceived=1, elapsed TxPingTime=2.545583 AHRS rotation from veh to nav: [[-0.633546,-0.768874,-0.086329],[0.773690,-0.628874,-0.076950],[0.004874,-0.115543,0.993290]]rHF``?s?A ?ir|@Ir];pQYm5Byma!IbDVD02y<%<=ٔ :Q->9Y=nGy% OE%>1Q 5E55?Q 9M55`)1Yqyu@Q Iud@5DI5"@`Z2#R*R?z*-҈?3.޿ ]C?2*1:*@"*L"T?**ۨB*_B((“(*B@*(A@gO addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 3.028486 s, deltaX: 0.800000 m, approachRate: 0.264158 m/s, rangeRepo size: 4 gO  Added new target pos. range: 5.867502 m, bearing: 330.675658 deg, lat: 36.779285 deg, lon: -121.859521 deg, deltaT: 3.028486 s, deltaX: 0.795618 m, approachRate: 0.262711 m/s, posRepo size: 4 gOBNOT Ignoring new targets: 5.87 m.*" 2AAAjE@ZE#?ԁBп>BCBBB =BBxDBk;B*E @) i)iiO5Rx,CIY@AEz EzExEx"EzV:*EzL_:VExZExBEz99Y=nGyޚE>DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed -0.4 aQ 5e5e?Q 9m5e[)eDBYiym@Q Imd@eDIe:ie:e5yuBɮ}ADAT read: 01:01:56.7064 LVL= 18752, 15457, 22770, 28115, AGC= 55, IDX= 508,-0.09,-0.695, 1.347, 0.060, 0.556, PHS=-1.149, 0.837,-0.539, RAW= 312.6, 9.7, CAL= 310.8, 11.3, ROT= 199.2, -11.3 Ygot valid direction response: 01:01:56.7064 LVL= 18752, 15457, 22770, 28115, AGC= 55, IDX= 508,-0.09,-0.695, 1.347, 0.060, 0.556, PHS=-1.149, 0.837,-0.539, RAW= 312.6, 9.7, CAL= 310.8, 11.3, ROT= 199.2, -11.3 R#Rx 2: Read range and direction messages.`direction in FSK: [-0.926069,-0.322491,0.195946]Fpublishing direction and range infoyy} ,\JղԿ>x_?Y}@y}@I}a<}X }m)}7I}oi}EV?} }@}-\->}^@y}/PY@AJ}@R}@j}D@ }I>)}/^@I}Iyy}/)Ckl˿/P^? } ;)}--I}3i}Iyychecking for new query: numPingsReceived=2, elapsed TxPingTime=3.124022},tE(?r} ,\JղԿ>x_?Z}3b}I}C[@+\i4 ]}?z}224?ӿ`̪U5?2}I:}\@"} G]B?*}?[B}Byy“}PB}@}$b@gO} addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.508241 s, deltaX: 0.100000 m, approachRate: 0.196757 m/s, rangeRepo size: 4 gO Added new target pos. range: 5.967027 m, bearing: 327.186489 deg, lat: 36.779285 deg, lon: -121.859521 deg, deltaT: 0.508241 s, deltaX: 0.099524 m, approachRate: 0.195821 m/s, posRepo size: 4 gOBNOT Ignoring new targets: 5.97 m.*" 2j@Z?@P) wi39)԰ii>kYx,hY@ALEE EEEE'EA"EE:*EE;J:VEE'4ZEAae@ae@ae@ae@uDf@u[@u윻ٱumԽ AHRS rotation from veh to nav: [[-0.632514,-0.770694,-0.077182],[0.774535,-0.628737,-0.069179],[0.004789,-0.103536,0.994614]]uH=+³?෵s?]?iuDf@Iuu];uCY1ByE\!IiMb@Mb@Mb@ 9tV?Mb?Mb`?Y>y=;tAV@ A)|AYQAbDVD1yû%==ٔeQ->9Y=nGyE > Q 55 U?Q 95 :X) CBY>Q E:y@Q I%d@ DI 3;i 2; `5y)ɮ5A1JRj)@,tE(?r ,\JղԿ>x_?Zb^R@g6;65 Z<^?zPPj6?we"?2I:j@"<6?DDAT read: Rx Time:01:01:57.2066 TRx dataTimestamp_ set to:1761699717.758426PDAT read: Bearing 95.4, -19.8 (Local) ~Local bearing/azimuth received: Bearing 95.4, -19.8 (Local) DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed -0.4 DAT read: 01:01:57.2066 LVL= 21888, 16337, 23954, 29267, AGC= 55, IDX= 510, 0.29,-3.138,-1.094,-2.383,-1.877, PHS=-1.158, 0.828,-0.550, RAW= 312.6, 10.0, CAL= 310.9, 11.9, ROT= 199.1, -11.9 }Ygot valid direction response: 01:01:57.2066 LVL= 21888, 16337, 23954, 29267, AGC= 55, IDX= 510, 0.29,-3.138,-1.094,-2.383,-1.877, PHS=-1.158, 0.828,-0.550, RAW= 312.6, 10.0, CAL= 310.9, 11.9, ROT= 199.1, -11.9 R#Rx 3: Read range and direction messages.`direction in FSK: [-0.924641,-0.320186,0.206204]Fpublishing direction and range infoy,eN],}ԿFa5d?Yf@U?] Sr)IX9iS? ¸2>@ ȭT>)e^@IȭTˠX,r˿X\@? :)2I3iȭTchecking for new query: numPingsReceived=3, elapsed TxPingTime=3.551112* >B݅B<6??[“B}@J@gO addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.500053 s, deltaX: 0.200000 m, approachRate: 0.399957 m/s, rangeRepo size: 4 gOBNOT Ignoring new targets: 5.97 m.*" 2 !B j@Z5 ?>>:n >@윻) BBT!IB*BB =BBBk;B CU Gi 9 Y (A9 ] checking for new query: numPingsReceived=3, elapsed TxPingTime=3.770421^A <I I O >؜`x,ڑY@ARKU@RJ@RȞٱRͽ ZAHRS rotation from veh to nav: [[-0.631711,-0.771588,-0.074792],[0.775189,-0.628148,-0.067168],[0.004846,-0.100409,0.994934]]RH@6ٰ%`Y?`1`s?k?iRKU@IRZ];RCYb7Byfd!IbDnVDn:yv=%vt=ٔvL1Q-v?9xYx=znGyx~JE~?AQ 5E5E>?Q 9M5EFU)AYIyM@Q IMd@EDIE:iE#:E_5y}ݓBɮ}/Ay pY@AJO@RO@jW@4*0OjbTW?r,eN],}ԿFa5d?Z3bȭT@4Ȏz "M?zG?!?dT?2P:@"\h8?*r]&BB\h8?r]&“B@X@gOBNOT Ignoring new targets: 5.97 m.*" 2    jZd?m@Ȟ) 8.=i19)顭y2iiP`direction in FSK: [-0.940137,-0.303656,0.154710]Fpublishing direction and range infoy.u/oӿj?Y@@^qQh })8I)\i^i?q= P@V>=O@ >)q]@Il8"QnmzοL2"*q? ,9)@ ID5i checking for new query: numPingsReceived=4, elapsed TxPingTime=4.099340 fx,zmY@A6R@6jH@6*3ٱ6zͽ >AHRS rotation from veh to nav: [[-0.631599,-0.771676,-0.074826],[0.775280,-0.628045,-0.067076],[0.004767,-0.100376,0.994938]]6H6@ '?`+``s?@C`?i6R@I66];4YN>ByRl!IIV=)Vy-q=-D;-A-@ -A)-A)Y)bDEVDE1yU<%UD=ٔ]E9Q-]>9YYa=enGyaeEe>iQ 5u5m?Q 9u5mQ)iY}t>Q E}:y}r@Q I}d@mDImq ;im ;m 5yדBɮAE Y@AJ~@R~@j!@"῏-pd?r.u/oӿj?ZD5ԹbIqv@_j~ V,{ ?zu/!?Qh#ğ?2[:@"-Ծ3?*v#;BB“B@Ru@gO addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.507963 s, deltaX: 0.100000 m, approachRate: 0.196865 m/s, rangeRepo size: 4 gO Added new target pos. range: 6.265448 m, bearing: 326.107386 deg, lat: 36.779291 deg, lon: -121.859500 deg, deltaT: 1.008016 s, deltaX: 0.298421 m, approachRate: 0.296048 m/s, posRepo size: 4 gOBNOT Ignoring new targets: 6.27 m.*"iI%checking for new query: numPingsReceived=4, elapsed TxPingTime=4.274686 2qqqy}.Byyj@33@Z?t>t>:>r@*3)  DDAT read: Rx Time:01:01:58.2069  TRx dataTimestamp_ set to:1761699718.766240 DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed -0.4  X#Rx 5: Read range message, but no direction.y Y 3@  checking for new query: numPingsReceived=5, elapsed TxPingTime=4.5318299 Elx,DY@A^@@^e6@^$ϩٱ^Vѽ vAHRS rotation from veh to nav: [[-0.630745,-0.772267,-0.075928],[0.775973,-0.627051,-0.068361],[0.005182,-0.102037,0.994767]]^H/h p@? @9u? !?i^@@I^(A];^CY4Bya!IbDVDyE8%EK=ٔMQ-M>9IYI=UnGyQU|3EU>Q 55x?Q 95ZN)Yy`@Q Id@DI|:i:5yϓBɮAEgO] addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.499851 s, deltaX: 0.300000 m, approachRate: 0.600178 m/s, rangeRepo size: 4 gO]BNOT Ignoring new targets: 6.27 m.Ya*a"a a2aaaiiiiju`ff@B}׿>B}CB}Z!IB}/BB} =ByB}yDB}l;B}*EZa?M`@$ϩ) ;in9)2ii]E}  E} Ey Ey "E} :*E} T:VEy ZEy BE} ?YZ@XZ`QZ@Z2Y Z3l)Z;I'0];Y%8By-e!IIZ\iZd?ZpZX$@ZQ >Zc@ Z">)Z$_@IZ"XXZI(2iIɿ>? Z;)ZyIZ2iZ"XXchecking for new query: numPingsReceived=6, elapsed TxPingTime=5.124914iEMb@Mb@Mb@AAAA A9Em?Zd;?Mbp?YE>yEy=E;EG AE@ E5A)EfAAYAbD]VD]k1yB<%=ٔQ->9Y=nGyԡ3jE>Q 55{i?Q 95I)Y>Q E:y@Q Id@ DI:i/:B5yɓBɮAEXZY@AJZh@RZh@jZ$S@Zt2Se};rM ?rZ4^d)տ@\~>?ZZ2bZ"Z惗@f3 äY*P?zZS?s#P࿕<?2Z_:Z@"Z$+mE?*Z6eBZ…BXX“Z݅BZ@Z@gO addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.508635 s, deltaX: 0.200000 m, approachRate: 0.393210 m/s, rangeRepo size: 4 gO Added new target pos. range: 6.762758 m, bearing: 328.241742 deg, lat: 36.779291 deg, lon: -121.859500 deg, deltaT: 1.008486 s, deltaX: 0.497310 m, approachRate: 0.493125 m/s, posRepo size: 4 gOBNOT Ignoring new targets: 6.76 m.*" 2(Bj@33@Z u?U>U>UH>U΅@m7P)i mzx,S]Y@A2K@26A@2VWǻٱ2ؽ :AHRS rotation from veh to nav: [[-0.631254,-0.771625,-0.078184],[0.775553,-0.627228,-0.071437],[0.006083,-0.105731,0.994376]]2H@;3'S?@Ix?( ?i2K@I2Fs_;2CYF4ByF`!I HHbDNVDN yVʼ%V=ٔZjsQ-Z?99XYQ=UnGyQ]l;E] ?aQ 55ew`?Q 95e G)aYy@Q Id@eDIe;ie*;e5yɮADDAT read: Rx Time:01:01:59.2072  TRx dataTimestamp_ set to:1761699719.774688PDAT read: Bearing 98.7, -21.8 (Local) ~Local bearing/azimuth received: Bearing 98.7, -21.8 (Local) 5DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed -0.4 UDAT read: 01:01:59.2072 LVL= 24560, 15505, 22866, 30451, AGC= 56, IDX= 499, 0.38, 1.757,-2.407, 2.591, 3.019, PHS=-1.160, 0.902,-0.473, RAW= 310.9, 8.1, CAL= 308.8, 8.7, ROT= 201.2, -8.7 ]Ygot valid direction response: 01:01:59.2072 LVL= 24560, 15505, 22866, 30451, AGC= 56, IDX= 499, 0.38, 1.757,-2.407, 2.591, 3.019, PHS=-1.160, 0.902,-0.473, RAW= 310.9, 8.1, CAL= 308.8, 8.7, ROT= 201.2, -8.7 eR#Rx 7: Read range and direction messages.e`direction in FSK: [-0.921596,-0.357464,0.151261]mFpublishing direction and range infoyBtƺ}1 ֿni\?Y3@_<RY v)8Iziyf?-@>iw@ |>)`@I|d2Lև UǿtK? <)ގIa1i|checking for new query: numPingsReceived=7, elapsed TxPingTime=5.552244}Y@AJ@R@jq@K~#ۣV1!}~?rBtƺ}1 ֿni\?Za1b|f[@J7OQ u,?zf}?@ ࿌c_?2b:@"+W?*gF=BȅB >“ȅB@@gO addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.499813 s, deltaX: 0.300000 m, approachRate: 0.600224 m/s, rangeRepo size: 4 gOe Added new target pos. range: 7.061115 m, bearing: 329.341924 deg, lat: 36.779291 deg, lon: -121.859500 deg, deltaT: 0.499813 s, deltaX: 0.298357 m, approachRate: 0.596937 m/s, posRepo size: 4 gOBNOT Ignoring new targets: 7.06 m.*" j`ff@Z` s?a@VWǻ) BBBBBBBl;B*Eԑ ;9 checking for new query: numPingsReceived=7, elapsed TxPingTime=5.787807Թ @  @ @ @ E EE'E"EO:*EP:VE'4ZEBE 9pYp=rnGypv%:Ev>xQ 5~5ztR?Q 9~5zB)xY|y~@Q Id@zDIz:iz:z?5yɮA5DDAT read: Rx Time:01:01:59.7072 =TRx dataTimestamp_ set to:1761699720.282682ePDAT read: Bearing 99.6, -22.2 (Local) m~Local bearing/azimuth received: Bearing 99.6, -22.2 (Local) DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed -0.4 DAT read: 01:01:59.7072 LVL= 24560, 15329, 22578, 28659, AGC= 56, IDX= 500,-0.02,-0.097, 2.051, 0.760, 1.170, PHS=-1.165, 0.926,-0.455, RAW= 310.5, 7.6, CAL= 308.4, 7.8, ROT= 201.6, -7.8 gOBNOT Ignoring new targets: 7.06 m.*" Ygot valid direction response: 01:01:59.7072 LVL= 24560, 15329, 22578, 28659, AGC= 56, IDX= 500,-0.02,-0.097, 2.051, 0.760, 1.170, PHS=-1.165, 0.926,-0.455, RAW= 310.5, 7.6, CAL= 308.4, 7.8, ROT= 201.6, -7.8  R#Rx 8: Read range and direction messages.1999AIjIZMp?U`direction in FSK: [-0.921174,-0.364719,0.135716]]Fpublishing direction and range infoy9=Q_AzKW׿ M _?Y999=;=2X =o)9I=i=Vm?=辩=yj@=>=9>@ ='g >)=z0a@I='g 99=e2_0`!ǿ@`o? =gV=)=I=;0i='g 99checking for new query: numPingsReceived=8, elapsed TxPingTime=6.127547 @fk) i9)ii!!%-Vx,,'Y@AN>U@NJ@NٱN˽ VAHRS rotation from veh to nav: [[-0.631694,-0.771917,-0.071466],[0.775173,-0.627973,-0.068965],[0.008356,-0.098963,0.995056]]NH6 K7?`[ '?U?iN>U@INr^;NCYb>Bybm!Ii Mb@Mb@Mb@9E EE&E"E:*E|:VE4ZEa@a@a@a@     9 y&1??y&1|?Y `>y L= `; A  A) A Y AbDVDJy%=%%+=ٔ%Q-->9)Y)=5nGy1M :EU>QQ 5]5UlE?Q 9e5U?)UEBYe>Q Ee:yex@Q Ied@UDIUj:iU:Uq5yu“Bɮu#AuEy}vY@AJyRyj}C@}P ɦ?T>i?r}Q_AzKW׿ M _?Z};0b}'g }ٞ@I޹' hw?z}"&7Q?~ r,߿E?2}l_:}@"}jA?*}֚B}B}jA?}6e“}…B}@}4@gO- addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.507994 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO] Added new target pos. range: 7.061106 m, bearing: 329.924940 deg, lat: 36.779292 deg, lon: -121.859497 deg, deltaT: 0.507994 s, deltaX: -0.000009 m, approachRate: -0.000018 m/s, posRepo size: 4 gOeBNOT Ignoring new targets: 7.06 m.ii*i"i iqqy}9ByjZ?>>= x@5DDAT read: Rx Time:01:02:00.2075 5TRx dataTimestamp_ set to:1761699720.781795=PDAT read: Bearing 100.5, -22.3 (Local) E~Local bearing/azimuth received: Bearing 100.5, -22.3 (Local) UDAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed -0.4 a}DAT read: 01:02:00.2075 LVL= 32752, 17553, 30530, 32755, AGC= 56, IDX= 503,-0.39, 0.766, 2.894, 1.616, 2.007, PHS=-1.139, 0.932,-0.434, RAW= 310.4, 7.1, CAL= 308.3, 6.9, ROT= 201.7, -6.9 Ygot valid direction response: 01:02:00.2075 LVL= 32752, 17553, 30530, 32755, AGC= 56, IDX= 503,-0.39, 0.766, 2.894, 1.616, 2.007, PHS=-1.139, 0.932,-0.434, RAW= 310.4, 7.1, CAL= 308.3, 6.9, ROT= 201.7, -6.9 R#Rx 9: Read range and direction messages.`direction in FSK: [-0.922403,-0.367069,0.120137]Fpublishing direction and range infoy15-S ~׿rjƹI?Y5@155D5Bw 5)1I5ʑi5n?5?5޾5-\@5=5/@) ;ib9)页ݥ0ii< 5Ϣ=)5Ma@I5Ϣ1158]!:ӗǿY#>? 5:f=)52I50i5Ϣ11checking for new query: numPingsReceived=9, elapsed TxPingTime=6.562898II?i>}9@ @@ 0@@=@ԑB ؿ>B B `!IB 4BB B B B m;B +EBCBCBB =B =CɊ5^A m<I Թ I O >Cx,mAY@A>checking for new query: numPingsReceived=9, elapsed TxPingTime=6.794243Yz2Byz^!II~<)|bD VD :2y=%=o=ٔ=Q-=?9AYA=EnGyAMEM?QQ 5]5U8Ș?z]-3p?\.߿I8M?2]?k:]@"]2)W?*]>B]hB]$+mE?]gF=“]B]@]ڶ@gO addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.499113 s, deltaX: 0.400000 m, approachRate: 0.801422 m/s, rangeRepo size: 4 gO Added new target pos. range: 7.458944 m, bearing: 330.112561 deg, lat: 36.779292 deg, lon: -121.859497 deg, deltaT: 0.499113 s, deltaX: 0.397839 m, approachRate: 0.797091 m/s, posRepo size: 4 gOBNOT Ignoring new targets: 7.46 m.*" j@Z`?) i9)Zii!!%5DDAT read: Rx Time:01:02:00.7075 5TRx dataTimestamp_ set to:1761699721.285688EPDAT read: Bearing 101.0, -22.7 (Local) E~Local bearing/azimuth received: Bearing 101.0, -22.7 (Local) UDAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed -0.4 DAT read: 01:02:00.7075 LVL= 24784, 17633, 23474, 29619, AGC= 57, IDX= 503, 0.14, 0.861, 3.019, 1.734, 2.113, PHS=-1.150, 0.952,-0.423, RAW= 310.1, 6.8, CAL= 307.9, 6.4, ROT= 202.1, -6.4 Ygot valid direction response: 01:02:00.7075 LVL= 24784, 17633, 23474, 29619, AGC= 57, IDX= 503, 0.14, 0.861, 3.019, 1.734, 2.113, PHS=-1.150, 0.952,-0.423, RAW= 310.1, 6.8, CAL= 307.9, 6.4, ROT= 202.1, -6.4 T#Rx 10: Read range and direction messages.`direction in FSK: [-0.920754,-0.373880,0.111469]  Fpublishing direction and range infoy15LvQit׿ -V:?Y115`5D5[ 5s)59I533i5Fs?5uؾ5I1@5=5@ 5=)5ua@I5佩115,/HAJuEƿrӴ/? 5=)5 I5@`0i5佩11} checking for new query: numPingsReceived=10, elapsed TxPingTime=7.0884659 Qlx,ZY@A2`i@2^@2Y(ٱ2h\Ž :AHRS rotation from veh to nav: [[-0.632634,-0.771456,-0.068036],[0.774382,-0.628966,-0.068803],[0.010286,-0.096213,0.995308]]2H >@ůj?} ?@r@?i2`i@I26^;2CNPExceeded connect timeout, disconnecting. Y5*By=T!Ichecking for new query: numPingsReceived=10, elapsed TxPingTime=7.298182iMb@Mb@Mb@ 9A`"?I +?~jtx?Y>y94=;^A A)YbDVDy%&=ٔIQ->9Y=nGy/;E>Q 55?/?Q 95.8)GBYF>Q E:y @Q Id@(DI:i:&5yBɮAEaeHRY@AJaRaje @e xa!N[OW))?reLvQit׿ -V:?Ze@`0beex8@pʍ nk=,Dg?ze2r?-f߿%Cߗ?2eg:e@"eۆM?*e',pBe7BeۆM?e>“ae@e@gO addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.503893 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 7.458944 m, bearing: 330.647586 deg, lat: 36.779293 deg, lon: -121.859494 deg, deltaT: 0.503893 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gOBNOT Ignoring new targets: 7.46 m.* "    %BjZO?5F>5F>54=5r @MY()I M;iM`9)QUJ0QiQiYY]g Fpublishing direction and range infoyI M uۧggؿU]k?YM AI M P`M =M bW M #o)I IM iM y?M ƾM @M B=M @ M =)M 1b@IM I I M Ux^<7ſdW^? M ->)M WӽIM /iM I I  checking for new query: numPingsReceived=11, elapsed TxPingTime=7.575088Bx,tY@A Eq@f@4ٱý -AHRS rotation from veh to nav: [[-0.633002,-0.771271,-0.066698],[0.774071,-0.629358,-0.068716],[0.011022,-0.095126,0.995404]]H@A A`1?#[ऒ?+ZZ?iEq@I*^; y)}`A}yyyۅِCۅv`Aiۅ}IہہI܁i܍r@ ܉ۉ)܉܉ ݍj`Aܕ}`AI+)i)Iv`A CiYY/By[!IbD%VD%ܲy5<%5X=ٔ={Q-=>99YA=EnGyAE :EE>iqQ 5}5u%?Q 9}5uG5)uHBYyy}@Q Id@u-DIu :iu:u*5B<A<Bۿ>BBBB =BBBJm;B@+EyɮgA-rY@AJ@R@j@l4'LYEܵM?ruۧggؿU]k?Z/bJ鮺@F\Vs.[N?za1K?sv޿{{ ?2s:@" n?* dBB2)W?֚“hB^@X@@gOU addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.504606 s, deltaX: 0.500000 m, approachRate: 0.990872 m/s, rangeRepo size: 4 gO Added new target pos. range: 7.956250 m, bearing: 331.230953 deg, lat: 36.779294 deg, lon: -121.859493 deg, deltaT: 0.504606 s, deltaX: 0.497306 m, approachRate: 0.985533 m/s, posRepo size: 4 gOBNOT Ignoring new targets: 7.96 m.*" j @Z`~?I@4) ym#=mmG Am@ mA)mAiYmA 4<bDVDk1yӼ%=ٔQ->9Y=nGyE>Q 55-?Q 950)Y>Q E;y@Q Id@4DI:i:.5yɮA  h!Y@AJ AR Aj ׵@  l 8p?r ר-׿b$ݵ?Z |0b % ^1a@R$R r?z wU?}߿_X??2 z: {@" үd?* HB B  d“ 7B @ 3@gO addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.508620 s, deltaX: 0.100000 m, approachRate: 0.196611 m/s, rangeRepo size: 4 gO- Added new target pos. range: 8.055703 m, bearing: 330.722538 deg, lat: 36.779294 deg, lon: -121.859492 deg, deltaT: 0.508620 s, deltaX: 0.099453 m, approachRate: 0.195535 m/s, posRepo size: 4 gO-BNOT Ignoring new targets: 8.06 m.)1*1"1 1119=B99jE@33 @ZES:?e>e>e=e@q)q uL=iu9)y}'2yiyi x,j.Y@A6DDAT read: Rx Time:01:02:02.2081 :TRx dataTimestamp_ set to:1761699722.797734>PDAT read: Bearing 102.6, -22.1 (Local) >~Local bearing/azimuth received: Bearing 102.6, -22.1 (Local) FDAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed -0.4 zy@zo@zOٱzm  AHRS rotation from veh to nav: [[-0.633384,-0.771484,-0.060311],[0.773734,-0.630094,-0.065704],[0.012688,-0.088280,0.996015]]zHD@ᮿm?`)Ѱ D?`Z?izy@Iz^;zC%DAT read: 01:02:02.2081 LVL= 29600, 17249, 25314, 32755, AGC= 57, IDX= 509, 0.07, 1.276,-2.872, 2.120, 2.477, PHS=-1.098, 0.980,-0.400, RAW= 310.7, 5.7, CAL= 308.5, 4.5, ROT= 201.5, -4.5 -Ygot valid direction response: 01:02:02.2081 LVL= 29600, 17249, 25314, 32755, AGC= 57, IDX= 509, 0.07, 1.276,-2.872, 2.120, 2.477, PHS=-1.098, 0.980,-0.400, RAW= 310.7, 5.7, CAL= 308.5, 4.5, ROT= 201.5, -4.5 -T#Rx 13: Read range and direction messages.5`direction in FSK: [-0.927549,-0.365372,0.078459]5Fpublishing direction and range infoy4Y=*By=T!I6(ح{gl@?b׿5;?Y6fA46s6aC6b 6)69I6Di6Hz?6̾6@6%=6L@ 6|٠=)6a@I6|٠44ԱbDVDy;<%Y=ٔQ->9Y=nGy:E>Q 55?Q 956(HVDǿOx? 6=)6̽I6 1i6|٠44checking for new query: numPingsReceived=13, elapsed TxPingTime=8.642749.)Yy@Q Id@9DI;i;J25yBɮ AE46Y@AJ6AR6Aj6}@6lwo[/kB}v?r6(ح{gl@?b׿5;?Z6 1b6|٠6kn@%"rv\=&^?z6†#?n<߿:??26:6$@"6϶o?*6\B6ЄB6үd?4“6B6A6\@gO addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.498820 s, deltaX: 0.299999 m, approachRate: 0.601418 m/s, rangeRepo size: 4 gO Added new target pos. range: 8.354062 m, bearing: 330.328480 deg, lat: 36.779295 deg, lon: -121.859492 deg, deltaT: 0.498820 s, deltaX: 0.298359 m, approachRate: 0.598129 m/s, posRepo size: 4 gOBNOT Ignoring new targets: 8.35 m.*" aiiiqqju @Zu@?B>BCBBB =BBzDB^m;BN+E-`]AAmb9m`]AYuAyyy}6@O) ^=iB9)页 3iiq$x,Y@Afw@ffm@fқWٱf. nAHRS rotation from veh to nav: [[-0.633300,-0.771716,-0.058187],[0.773794,-0.630138,-0.064564],[0.013159,-0.085913,0.996216]]fHC`ʭ?*E@G?g?ifw@If^;fCYv#ByvL!IE EE'E"E[:*E;J:VE'4ZEBE91Y9==nGy9=ƙE=>AQ 5M5E?Q 9M5Es+)AYQyU@Q IUd@E>DIE :iE|:E\55yYɮ]YAagOBNOT Ignoring new targets: 8.35 m.*" jZ)X?@қW) %=i59)03ii%Qi % checking for new query: numPingsReceived=14, elapsed TxPingTime=9.314105~x,aY@A02>m@2b@2ؓ]ٱ23 :AHRS rotation from veh to nav: [[-0.632793,-0.772285,-0.056121],[0.774203,-0.629766,-0.063276],[0.013524,-0.083489,0.996417]]2H`?廬E? '2C?_?i2>m@I2^;2CYvByvF!IIzp<)z<~A~AiuMb@Mb@Mb@qqqq q9uPn?yut=uףu Au@ u5A)qqYuAbDVDkyЪ%E=ٔ[fQ->9Y=nGy$κE>Q 55?Q 95q()Y>Q E ;y J@Q I d@CDI>=J@ؓ]) E\=iEx9)AM3IiIiQQUTZ@t;>.@ :F>)Oc@I:Fs+;Y"ejf? z(A)饿I.i:Fchecking for new query: numPingsReceived=15, elapsed TxPingTime=9.632156 A A AAB >B CB Z!IB /BB =B B B zm;B _+E^A] <Ii Iy O >U#x,R~Y@A6b@6_X@6Ucٱ6Ù >AHRS rotation from veh to nav: [[-0.632300,-0.772824,-0.054213],[0.774599,-0.629398,-0.062086],[0.013860,-0.081250,0.996597]]6H ;`?@$ɯb?̴ ?i6b@I6^;6C\Yb*BybT!IbDjVDjNyrkm=%vW=ٔvhQ-v>9tYx=znGyxzٺEz>|Q 55~p?Q 95~%)~GBY y A@Q I d@~HDI~-:i~|:~M<5yɮ"AfY@AJ AR Ajw@L9AQI/( {@rbC%KF ֿD7.?Z.b:Fkj\$@r@zH &?vۿfUG?2w:%@"B0?*qB|B“ A <@gOe addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.504043 s, deltaX: 0.299999 m, approachRate: 0.595186 m/s, rangeRepo size: 4 gOu Added new target pos. range: 8.851563 m, bearing: 330.287194 deg, lat: 36.779296 deg, lon: -121.859492 deg, deltaT: 0.504043 s, deltaX: 0.298486 m, approachRate: 0.592183 m/s, posRepo size: 4 gO}BNOT Ignoring new targets: 8.85 m.yy*y"y yj!@Z *?NA@Uc) |=iJ9)ة3iiyW DDAT read: Rx Time:01:02:03.7084  TRx dataTimestamp_ set to:1761699724.311721 PDAT read: Bearing 97.1, -15.4 (Local)  ~Local bearing/azimuth received: Bearing 97.1, -15.4 (Local)  DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed -0.4  DAT read: 01:02:03.7084 LVL= 26944, 18145, 25458, 32755, AGC= 59, IDX= 513,-0.34, 2.906,-1.152,-2.726,-2.109, PHS=-1.166, 1.002,-0.662, RAW= 317.2, 8.5, CAL= 315.5, 9.1, ROT= 194.5, -9.1 I  Ygot valid direction response: 01:02:03.7084 LVL= 26944, 18145, 25458, 32755, AGC= 59, IDX= 513,-0.34, 2.906,-1.152,-2.726,-2.109, PHS=-1.166, 1.002,-0.662, RAW= 317.2, 8.5, CAL= 315.5, 9.1, ROT= 194.5, -9.1  T#Rx 16: Read range and direction messages. `direction in FSK: [-0.955962,-0.247229,0.158158] Fpublishing direction and range infoy  MM>=1Ͽ@\~>?Y A @i F rc ) ;I }?i A? x) m(@ > \5@ ">) 3BY@I " ~T>UB#R>ҿl$n? 5) I 8i " % checking for new query: numPingsReceived=16, elapsed TxPingTime=10.150942 x,[Y@A2fX@2M@2ʙgٱ2l :AHRS rotation from veh to nav: [[-0.631802,-0.773385,-0.051987],[0.775001,-0.629051,-0.060562],[0.014135,-0.078554,0.996810]]2H7 ?@0!  ?@`?i2fX@I2'];2C-FBattery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-FBattery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-JBattery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-NBattery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0.-RBattery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-RBattery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-VBattery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-ZBattery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0.-^Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.-nBattery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.-rBattery stick #61 (s/n: 0278) reported OVER_TEMP_ALARM. Status code: 0x1717.-vBattery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.vCalculating totals. Valid battery stick count: 26. Valid reserve battery stick count: 1.B?H)B`A@@ɶBA]Failed to receive data from 31 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 24, 26, 27, 28, 33, 34, 36, 39, 44, 47, 54, 58, 62.Y ByG!IiUMb@Mb@Mb@QQQQ Q9Ukt?l?Mb`YU >yU=UU AU@ UA)QQYQbDeVDe0y-"%- =ٔ5 Q-5>91Y9==nGy9=E=>IAQ 5m5E阊?Q 9m5Eq")AYu%>Q Eu;yu@Q Iud@EMDIE:iE:E@5y}Bɮ}EAE=Y@AJ7AR7AjX@cM!&tK?rMM>=1Ͽ@\~>?Z8b"Q%-@u MX۶l?z..? \X?2h:i@"%o;?*B䂮B Bүd?“B7 Ad@ checking for new query: numPingsReceived=16, elapsed TxPingTime=10.322358gO- addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.504995 s, deltaX: 0.100000 m, approachRate: 0.198023 m/s, rangeRepo size: 4 gO= Added new target pos. range: 8.951020 m, bearing: 322.911213 deg, lat: 36.779295 deg, lon: -121.859492 deg, deltaT: 0.504995 s, deltaX: 0.099457 m, approachRate: 0.196946 m/s, posRepo size: 4 gOeBNOT Ignoring new targets: 8.95 m.aa*a"a aiiimBqqju"@Zu`?%>%>to=g@-ʙg)) -`=i-q9))531i1i1Y];x,L3Y@A2DDAT read: Rx Time:01:02:04.2085 2TRx dataTimestamp_ set to:1761699724.8137896PDAT read: Bearing 104.1, -20.7 (Local) :~Local bearing/azimuth received: Bearing 104.1, -20.7 (Local) BDAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed -0.4 RDAT read: 01:02:04.2085 LVL= 20320, 13281, 15474, 26995, AGC= 61, IDX= 3,-0.02, 1.357,-2.802, 2.150, 2.499, PHS=-1.040, 1.026,-0.394, RAW= 312.2, 4.5, CAL= 309.9, 2.6, ROT= 200.1, -2.6 ZYgot valid direction response: 01:02:04.2085 LVL= 20320, 13281, 15474, 26995, AGC= 61, IDX= 3,-0.02, 1.357,-2.802, 2.150, 2.499, PHS=-1.040, 1.026,-0.394, RAW= 312.2, 4.5, CAL= 309.9, 2.6, ROT= 200.1, -2.6 ZT#Rx 17: Read range and direction messages.^`direction in FSK: [-0.938127,-0.343306,0.045363]^Fpublishing direction and range infoy02n#Jտ99?Y23A02`O232r< 2si)2=I2i2S?2^ɾ2]@2|٠=2@ 29=)2_@I29002:.fʿNDE? 2m;)2 I2)2i2900rchecking for new query: numPingsReceived=17, elapsed TxPingTime=10.591366 G@ <@ kٱ GϘq MAHRS rotation from veh to nav: [[-0.630981,-0.774262,-0.048800],[0.775666,-0.628461,-0.058140],[0.014347,-0.074537,0.997115]] H 0A@?`Y}ĭa?]?i G@I [^; CYBy:!I =bDVD y y%u=ٔ%Q-?9)Y)=-nGy)5LE5?9Q 5=5=☊?Q 9E5=F )9YAyE @Q IEd@=QDI=C;i=;=C5yqɮuAq024Y@AJ2fAR2fAj2 @2ڜh*!“;! b?z?r2n#Jտ99?Z2)2b292iO@jl&_?z2/`?&>ws"^?22:2@"2Ƭv?*2B2"B20ll?2\“2ЄB2A2ҷ@gO- addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.502068 s, deltaX: 0.200000 m, approachRate: 0.398352 m/s, rangeRepo size: 4 gO= Added new target pos. range: 9.149931 m, bearing: 328.975477 deg, lat: 36.779296 deg, lon: -121.859493 deg, deltaT: 0.502068 s, deltaX: 0.198911 m, approachRate: 0.396183 m/s, posRepo size: 4 gOEBNOT Ignoring new targets: 9.15 m.qq*q"q qqqyyy9j=`ff"@ZE4? @k) K=iR9B>BCBM!IB%BB =BB{DBm;Bz+EԹ)/3iix,eMY@A2'1@2&@2Iiٱ2:ؑ :AHRS rotation from veh to nav: [[-0.629943,-0.775260,-0.046309],[0.776511,-0.627623,-0.055856],[0.014238,-0.071146,0.997364]]2H}(ٵ-?|`,(?6h?i2'1@I2];0YBByB@!IbDJVDJyRo<%Rd=ٔV9Q-V>9TYX=ZnGyXZwEZ>\Q 5b5^ۘ?Q 9b5^)\Ydyf@Q Ifd@^UDI^:i^:^F5yhD|zD~@AE EE:E"E:*ER:VE(4ZEBE: % checking for new query: numPingsReceived=18, elapsed TxPingTime=11.330165Y Gx,fY@A2@2P@2\fٱ2 :AHRS rotation from veh to nav: [[-0.628933,-0.776131,-0.045432],[0.777332,-0.626699,-0.054800],[0.014060,-0.069781,0.997463]]2H8 `B? @ Wˌ?`-ݱ8?i2@I2x*^;2CYnBynA!Ii Mb@Mb@Mb@     9 ʡE?L7A`?Mb`?Y >y +=9 ; x A @ A) =A Y AbDmVDm0y;%/=ٔ9Q->9Y=nGy[2E>Q 5 5Ҙ?Q 9m5@)HBYm>Q Em+;ym@Q Iud@ZDIe sUD?r4iտs!D?Zb+H>PŰB@V*+r=>=4==S@U\f)Y ]=i]g9)Y]&%4aiaiiimB <A B >B B G!IB BB =B B B m;B +EBmCBmCBmʔCBm =Bm =Cm6Թ /x,ŀY@A6 @63@6cٱ6x jAHRS rotation from veh to nav: [[-0.628122,-0.776790,-0.045377],[0.777990,-0.625912,-0.054449],[0.013893,-0.069503,0.997485]]6H@@w@;@L? y૿s?ʱe?i6 @I6L];6CYnByr@!IIv=)v;bDzVDzy%h=ٔ ^9Q- >9 Y = nGyHE?Q 5%5]̘?Q 9%5H)IBY)y-@Q I-d@]DI*:iX:M5y5Bɮ5EA1 tY@AJARAjw@y%H@^!snD7I 3?r0`5 F@1տ ۷p?Z¸2b+1:@꣈q 2/?zׅM?-o4Mު?2:@"roe?*W聗BBd“2BA@gO addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.507473 s, deltaX: 0.100000 m, approachRate: 0.197056 m/s, rangeRepo size: 4 gO Added new target pos. range: 9.249528 m, bearing: 328.698618 deg, lat: 36.779295 deg, lon: -121.859491 deg, deltaT: 0.507473 s, deltaX: 0.099499 m, approachRate: 0.196067 m/s, posRepo size: 4 gOBNOT Ignoring new targets: 9.25 m.*" j"@Z{?7@checking for new query: numPingsReceived=19, elapsed TxPingTime=11.834249]c)Y ]x=i]9)ae\@4aiaiiimvz DDAT read: Rx Time:01:02:05.7086  TRx dataTimestamp_ set to:1761699726.326179 PDAT read: Bearing 104.6, -20.9 (Local)  ~Local bearing/azimuth received: Bearing 104.6, -20.9 (Local)  DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed -0.3 % DAT read: 01:02:05.7086 LVL= 30624, 18353, 25810, 32755, AGC= 59, IDX= 501,-0.49,-0.559, 1.606, 0.252, 0.592, PHS=-1.049, 1.058,-0.385, RAW= 312.0, 4.1, CAL= 309.7, 1.8, ROT= 200.3, -1.8  Ygot valid direction response: 01:02:05.7086 LVL= 30624, 18353, 25810, 32755, AGC= 59, IDX= 501,-0.49,-0.559, 1.606, 0.252, 0.592, PHS=-1.049, 1.058,-0.385, RAW= 312.0, 4.1, CAL= 309.7, 1.8, ROT= 200.3, -1.8  T#Rx 20: Read range and direction messages.- `direction in FSK: [-0.937426,-0.346764,0.031411]5 Fpublishing direction and range infoy  <}'e}Sc1ֿIz?Y w G d ) ;I Ei l? ž @@ C= @ =) _@I aA7h-0ʿ_Ei1? E;) mI b2i ! 5 checking for new query: numPingsReceived=20, elapsed TxPingTime=12.172233]x,ްY@A6@6O@6^ٱ6 BAHRS rotation from veh to nav: [[-0.627085,-0.777622,-0.045475],[0.778833,-0.624905,-0.053978],[0.013557,-0.069267,0.997506]]6H@GH`2?8@ Ë?`u?i6@I6];6CYzBy~=!IiEMb@Mb@Mb@AAAA A9En?ˡE?Mbp?YE>yE'=E;E AE@ A)EAAYE3AbDVD02y %.=ٔ;:Q->9Y=nGy:E%>)Q 555-Ø?Q 955-)-JBY=}>Q E=3;y=@Q I=d@-bDI-.:i-n:-R5yaɮeTAiY@AJRj~@VpAnlW!*Ĩ I*?r<}'e}Sc1ֿIz?Zb2beFF@ 8_ncJ>?zQ d?I4r{˂%Kե?2v:b@"7_?*BB“"BAw@gO addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.499882 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 9.249528 m, bearing: 328.964588 deg, lat: 36.779295 deg, lon: -121.859491 deg, deltaT: 0.499882 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gO BNOT Ignoring new targets: 9.25 m.  * "  BjZ ?]}>]}>]]>]H@^) =i9)顕\4iiާ]x,{Y@A.DDAT read: Rx Time:01:02:06.2089 2TRx dataTimestamp_ set to:1761699726.831459:PDAT read: Bearing 104.4, -20.5 (Local) :~Local bearing/azimuth received: Bearing 104.4, -20.5 (Local) FDAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed -0.3  DAT read: 01:02:06.2089 LVL= 29520, 18513, 26306, 32755, AGC= 57, IDX= 503,-0.39, 0.579, 2.722, 1.368, 1.715, PHS=-1.034, 1.053,-0.391, RAW= 312.5, 4.1, CAL= 310.1, 1.9, ROT= 199.9, -1.9 Ygot valid direction response: 01:02:06.2089 LVL= 29520, 18513, 26306, 32755, AGC= 57, IDX= 503,-0.39, 0.579, 2.722, 1.368, 1.715, PHS=-1.034, 1.053,-0.391, RAW= 312.5, 4.1, CAL= 310.1, 1.9, ROT= 199.9, -1.9 T#Rx 21: Read range and direction messages.-`direction in FSK: [-0.939771,-0.340192,0.033155]-Fpublishing direction and range infoy,. JտB3?Y.A,.Ps.QH.f ,).9I.Zi.Ȇ?.'1Ⱦ.n@,.I1@ .=).ZJ_@I.,,.쮽)_D˿]]S$? .;).AI.[2i.,,Echecking for new query: numPingsReceived=21, elapsed TxPingTime=12.655266Y By1!IbDVDy5F%5G=ٔ=Q-=>99Y9=EnGyAEEE>QIQ 55M^?Q 95M)MKBYyQ Id@MfDIM"%BQBUA!IBUBBU =BQBQBU@n;BU+EgO addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.505280 s, deltaX: 0.500000 m, approachRate: 0.989550 m/s, rangeRepo size: 4 gO Added new target pos. range: 9.746814 m, bearing: 328.558410 deg, lat: 36.779295 deg, lon: -121.859491 deg, deltaT: 0.505280 s, deltaX: 0.497286 m, approachRate: 0.984179 m/s, posRepo size: 4 gOBNOT Ignoring new targets: 9.75 m.*" j#@ZK?I)I M=iM9)IU4r4QiQiQY]C-kx,VY@A2@2@2sQٱ2d :AHRS rotation from veh to nav: [[-0.624343,-0.779800,-0.045918],[0.781046,-0.622218,-0.053040],[0.012789,-0.068979,0.997536]]2H` `@S?4(?1? ?i2@I21];2C@YBByF=!I HHJ=J= Np;N;Er ErEr#Ep"Er[:*Erga:VEr3ZEpBEr  checking for new query: numPingsReceived=22, elapsed TxPingTime=13.346118x,4Y@A2@2i@2Kٱ2ɍ :AHRS rotation from veh to nav: [[-0.622955,-0.780881,-0.046385],[0.782159,-0.620838,-0.052797],[0.012431,-0.069171,0.997527]]2H?ƿ`r?58u? *?i2@I2`.^;2CY`y`pE EE'E"E>:*EV:VE'4ZEa@a@a@a@ i=Mb@Mb@Mb@9999 99=5^I ? rh?Y=>y=C ==99 =A)=A9Y9bD}VD}1ٔD5:Q->9Y=nGybE>Q 55?Q 95)MBY>Q E1;y@Q Id@nDI:i:']5yJBɮAEkY@AJARAj%V@|IR"*Ez% 륅?r8. ]dտIz?ZbS5 @=<}sJ?ze(q0? -V?2:A"f?*/BBW聗“BA,7@gO5 addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.503237 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gO Added new target pos. range: 9.746847 m, bearing: 328.262738 deg, lat: 36.779295 deg, lon: -121.859491 deg, deltaT: 0.503237 s, deltaX: 0.000033 m, approachRate: 0.000066 m/s, posRepo size: 4 gOBNOT Ignoring new targets: 9.75 m.*" !)))1j1uDDAT read: Rx Time:01:02:07.2090 }TRx dataTimestamp_ set to:1761699727.839121PDAT read: Bearing 104.6, -20.7 (Local) ~Local bearing/azimuth received: Bearing 104.6, -20.7 (Local) DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed -0.2 ZP?DAT read: 01:02:07.2090 LVL= 31104, 19537, 26418, 32755, AGC= 58, IDX= 505,-0.44, 1.125,-3.009, 1.922, 2.260, PHS=-1.033, 1.060,-0.382, RAW= 312.3, 3.9, CAL= 309.9, 1.5, ROT= 200.1, -1.5 Ygot valid direction response: 01:02:07.2090 LVL= 31104, 19537, 26418, 32755, AGC= 58, IDX= 505,-0.44, 1.125,-3.009, 1.922, 2.260, PHS=-1.033, 1.060,-0.382, RAW= 312.3, 3.9, CAL= 309.9, 1.5, ROT= 200.1, -1.5  T#Rx 23: Read range and direction messages.`direction in FSK: [-0.938772,-0.343542,0.026177]Fpublishing direction and range info1E>E>ETo=Ek@yqukmvhl 0տP!Κ?YufAquyuQLu2g q)qIuX9iu?uþuk@u'g=u@ uPw<)u_@IuPwּqquVFo1ᅲZ9˿[G? uP;)umWIu)2iuPwּqqmchecking for new query: numPingsReceived=23, elapsed TxPingTime=13.632461K) =i9)ē4iiτa BQ BQ BQ BQ BQ BQ BU n;BU +E /(9 Y pAy ? @sAԙ checking for new query: numPingsReceived=23, elapsed TxPingTime=13.850698^A-<I9IqO}>y,̘Y@A2|@2#r@2X*Hٱ2nZ :AHRS rotation from veh to nav: [[-0.621367,-0.782141,-0.046460],[0.783425,-0.619273,-0.052405],[0.012217,-0.068960,0.997545]]2H<M`ɧ?@Ԫ@"?@`?i2|@I2`^;2CYBBy5!IbD VD2y=h%M<ٔ]s:Q-]>9Y=nGy߬E%>A9Q 5u5=?Q 95= )9Yy@Q Id@=qDI=Y$ y,kE Y@A2VW@2L@2{Dٱ2 :AHRS rotation from veh to nav: [[-0.619582,-0.783571,-0.046206],[0.784840,-0.617533,-0.051758],[0.012023,-0.068333,0.997590]]2HM`h? H? A~ B?i2VW@I2/^;2CYnByn8!IIp)ry=: A@ A)=AY AbD%VD%y5D<%5==ٔ=9Q-=>99Y9=EnGyAE赻EE>IQ 5u5M?Q 9u5M )IY}:>Q E}7;y}@Q I}d@MuDIM;iM);Md5yɮAchecking for new query: numPingsReceived=24, elapsed TxPingTime=14.354182ԹY@AJRjAp@7v"aQ &?rVYm~2ֿ{J?Zb2b+ȼR @hoS)0?z=lτ@?HӠiWע?2Ť:'A"a?*B̓B}w“BAJ@gOE addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.503656 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gOu Added new target pos. range: 9.846253 m, bearing: 328.445353 deg, lat: 36.779296 deg, lon: -121.859491 deg, deltaT: 0.503656 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gO}BNOT Ignoring new targets: 9.85 m.yy*y"y yyۂBjZ?:>:>:>q@5{D)1 5H=i=9)9=ͬ49i9iAAe1.O9 y, :Y@AY] By]1!IbDmVDmy%T=ٔQ->9Y=nGyE>Q 55:?Q 95 )NBYyQ Id@yDI:i:vg5yɮAB>BCB;!IBBB =BBzDB o;B&,E/6Y@AJO"ARO"Aj0@_Y<."U 6!?r8iࣅkĞֿ4?Z1bd}"]!@?Tl&l?zEb?KHvyz?2: A"("s?*bBB@@g?“҃B A<@gO addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.503895 s, deltaX: 0.300000 m, approachRate: 0.595362 m/s, rangeRepo size: 4 gO Added new target pos. range: 10.144447 m, bearing: 328.885523 deg, lat: 36.779296 deg, lon: -121.859491 deg, deltaT: 0.503895 s, deltaX: 0.298194 m, approachRate: 0.591778 m/s, posRepo size: 4 gODNOT Ignoring new targets: 10.14 m.*" j`ff$@Z@?))))Y)Y ]=ieS9)ae 4aiaiiNSE  E E %E "E غ:*E T:VE 4ZE BE ٱ~ꌽ AHRS rotation from veh to nav: [[-0.615420,-0.786794,-0.047040],[0.788113,-0.613375,-0.051469],[0.011642,-0.068748,0.997566]]5DDAT read: Rx Time:01:02:08.7092 =TRx dataTimestamp_ set to:1761699729.351127MPDAT read: Bearing 105.0, -21.7 (Local) M~Local bearing/azimuth received: Bearing 105.0, -21.7 (Local) eDAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.3 DAT read: 01:02:08.7092 LVL= 29552, 19185, 27026, 32755, AGC= 60, IDX= 506, 0.35, 1.660,-2.447, 2.501, 2.807, PHS=-1.045, 1.073,-0.351, RAW= 311.2, 3.5, CAL= 308.8, 0.7, ROT= 201.2, -0.7 5Ygot valid direction response: 01:02:08.7092 LVL= 29552, 19185, 27026, 32755, AGC= 60, IDX= 506, 0.35, 1.660,-2.447, 2.501, 2.807, PHS=-1.045, 1.073,-0.351, RAW= 311.2, 3.5, CAL= 308.8, 0.7, ROT= 201.2, -0.7 =T#Rx 26: Read range and direction messages.E`direction in FSK: [-0.932254,-0.361598,0.012217]EFpublishing direction and range infoy15~zi$׿I:?Y115ps5J5i 1)5<I5…i5X?5F5έ@15iw@ 5+H<~H j-88?`Ġ*Z@ׇ?{?i~@I~_;|YeBye4!I)5`@I5+H115 ٔSc@Mȿ*4? 5}<)5WyI5a1i5+H11checking for new query: numPingsReceived=26, elapsed TxPingTime=15.166814ԙbDVDy5<<%='=ٔEK:Q-m>9yYy=nGy(E>Q 5M5D?Q 9M5)YIyMa@Q IMd@~DI;iW;k5y]EBɮ]AY15xVY@AJ1R1j5̷@5e" }X /?r5~zi$׿I:?Z5a1b5+H5jf!@#V,m?z5˗@q?y4Y o!LҚ?25:55 A"5`ol?*58ՏB5B15b“5̓B5"A5X@gOe addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.504455 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 gOu Added new target pos. range: 10.144447 m, bearing: 329.087265 deg, lat: 36.779296 deg, lon: -121.859490 deg, deltaT: 0.504455 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 gO}DNOT Ignoring new targets: 10.14 m.yy*y" jZ`n?Թa@%>)! %=i%&9)!%I4)i)i)15)2y,nY@AJ@J@J ;ٱJc VAHRS rotation from veh to nav: [[-0.613304,-0.788394,-0.047884],[0.789765,-0.611235,-0.051604],[0.011417,-0.069466,0.997519]]JH/:`1E?=ka?@ȱ?iJ@IJ_;HYbByb8!I dbEJ4jE#4rE%1E= E=E9E9"E=:*E=[:VE9ZE9aU@aU@aU@aU@d]=]p=iMb@Mb@Mb@ 9(\?+?y&1|?Y>y=`; A@ )YbDVDky͗<%j=ٔ):Q-?9 Y = nGy E ?Q 5%5?Q 9%5<)OBY%0>Q E-F;y-<@Q I-d@DI2 ;iz ;n5y1ɮ5A1gO]DNOT Ignoring new targets: 10.14 m.YY*a"a aajZ-?au0>u0>u>un<@DDAT read: Rx Time:01:02:09.2093 TRx dataTimestamp_ set to:1761699729.854507PDAT read: Bearing 104.6, -22.2 (Local) ~Local bearing/azimuth received: Bearing 104.6, -22.2 (Local) DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed -0.3 DAT read: 01:02:09.2093 LVL= 32752, 21937, 28850, 32755, AGC= 61, IDX= 507, 0.34, 1.431,-2.663, 2.294, 2.596, PHS=-1.064, 1.069,-0.346, RAW= 310.7, 3.7, CAL= 308.3, 1.0, ROT= 201.7, -1.0 Ygot valid direction response: 01:02:09.2093 LVL= 32752, 21937, 28850, 32755, AGC= 61, IDX= 507, 0.34, 1.431,-2.663, 2.294, 2.596, PHS=-1.064, 1.069,-0.346, RAW= 310.7, 3.7, CAL= 308.3, 1.0, ROT= 201.7, -1.0 T#Rx 27: Read range and direction messages. `direction in FSK: [-0.928991,-0.369690,0.017452] Fpublishing direction and range infoyȺK_0׿W7) ߑ?Yf&AUp )=I'1iԈ?&@ A=/@ 5<)Ma@I5|a+(iǿ Yb?  =)+I0i5-checking for new query: numPingsReceived=27, elapsed TxPingTime=15.630970] ;)Y ]H=i]9)ae.4aiaiiimN;IiIq9@ @@?0@ԑ^Az<II Om>BIAIBQBQBQBQBU =BQBQBUoo;BUV,EԹ ] checking for new query: numPingsReceived=27, elapsed TxPingTime=15.8661874 "y,Y@AT=ɰ@=D@=8ٱ=A AHRS rotation from veh to nav: [[-0.611578,-0.789724,-0.048055],[0.791105,-0.609524,-0.051317],[0.011236,-0.069401,0.997526]]=H jEP?9`FF? Dı?i=ɰ@I=_;=CYBy4!IbD VD2y%q%%G=ٔ-9Q-->9)Y1=5nGy15E5>9Q 5E5=R?Q 9E5=;)=QBYIyM@Q IMd@=DI=:i=[:=^r5yQɮUAQ>vY@AJ~%AR~%Aj]@$7#4?xz&?rȺK_0׿W7) ߑ?Z0b5zL|{!@Wzڱ%DP?zG?Y\Uٚ?2:3A"/Dp?*`BB`ol?“BU&AWW@gO addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.503380 s, deltaX: 0.200000 m, approachRate: 0.397314 m/s, rangeRepo size: 4 gO Added new target pos. range: 10.343333 m, bearing: 329.285428 deg, lat: 36.779296 deg, lon: -121.859489 deg, deltaT: 0.503380 s, deltaX: 0.198886 m, approachRate: 0.395101 m/s, posRepo size: 4 gODNOT Ignoring new targets: 10.34 m.*" j$@Z_?@8) =is9)顭H4ii;IIE5 E5E1E1"E5m:*E5P:VE1ZE1BE5U1 o?(y,Y@AR@R {@RB1ٱRQ ZAHRS rotation from veh to nav: [[-0.609495,-0.791323,-0.048206],[0.792716,-0.607478,-0.050719],[0.010851,-0.069127,0.997549]]RHRk`]?`upK9? H?iR@IR,q_;RCY~By~6!IiMb@Mb@Mb@ 9|?5^?X9v?Yҍ>y<A@ )AYAbDVDy ;% N=ٔ w}:checking for new query: numPingsReceived=28, elapsed TxPingTime=16.370253Q->